TSHWANE UNIVERSITY OF TECHNOLOGY Semester Test I March 2011

SUBJECT NAME CONTROL SYSTEMS IV

SUBJECT CODE: CSY401T DURATION: 2 HOURS TOTAL MARKS: 55 NUMBER OF PAGES: 10 ANNEXURE PAGES: 0 THIS IS THE ONLY PAPER SPECIAL REQUIREMENTS: Access to a personal computer with MATLAB A copy of Control Systems Engineering by Norman S Nise INSTRUCTIONS TO CANDIDATES: 1. The Examination regulations of the Tshwane University of Technology apply 2. Answers must be fully backed by explicit calculations. 3. All program files, figures and other material you wish to have marked must be copied to test paper sheet. The test is an open book test. 4. No storage medium, magnetic, optical or electronic, except that supplied by the supervisor may be inserted into your computer. 5. Should more space be required, use the reverse side of the paper .

SURNAME & INITIALS: STUDENT NO: ......

COURSE:
B-TECH: ELECTRICAL ENGINEERING

EXAMINER:
Mr. Adedayo Ademola Yusuff Prof. Guoyuan. Qi

Question 1

[10 marks]

1.1 Define state variable 1.2 Explain the reason why it might be necessary to model a system in state space 1.3 Find the transfer function of the system whose state space representation is given by

Solutions 1
1.1 That smallest set of variables that completely describe the system 1.2 Can model systems other than linear, constant coefficients; (2) Used for digital simulation 1.3

Question 2

[6 marks]

A system is represented by the state and output equations given below. Without solving the state equation, find

2.1 the characteristic equation 2.2 the pole of the system

Solution 2 2.1

2.2

Question 3

[8 marks]

By using MATLAB, solve for for the following system represented in state space, where is the unit step. Use the Laplace transform approach to solve the state equation

; Solution 3

Question 4

[7 marks]

Using Laplace method solve for the state transition matrix, the state vector and the output of the system represented by
 , 

Solution 4
1 s ( sI  A) ! , 10 s  7 s2 ( s I  ) 1 ! s2 s7  7 s  10 10  7 s  10 1 s  7 s  10 s s 2  7 s  10
2

2 5 t 5 2 t  3 e  3e * (t ) ! 10 e 5t  10 e 2 t 3 3

x ( t ) ! * (t ) x (0) ! 1 1 2 5 t 5 2 t  e 5 t  e 2 t  3 e  3 e 1 3 3 10 e 5t  10 e 2 t 5 e 5t  2 e 2 t 0 3 3 3 3 2 5 t 5 2 t  3 e  3 e ! 10 e 5t  10 e 2 t 3 3

Output
2 5 t 5 2 t  3 e  3e y (t ) ! Cx (t ) ! ?1 2A 10 e 5 t  10 e 2 t 3 3 5 t 2 t ! 6e  5e

Question 5 5.1 Name Four (4) representations of systems in state space

5.2 Given the system below, represent the system in state space in phase variable form and the

1 1  e 5 t  e 2 t 3 3 5 5 t 2 2 t e  e 3 3

[14 marks]

Cascade form, and draw signal flow graphs respectively.

5.3 Given the system represented in state space as follows

; Convert the system to the one where the new state vector z is

Solution 5 5.1 Signals, systems, summing junction, pick off points 5.2

The vector-matrix form

The vector matrix form

5.3

Question 6

[10 marks]

For the following closed loop system, by using the final value theorem, find the steady state error for

; (i) (ii) unit step and unit ramp inputs

Solutions 6

The solution does not use B and C. ? The solution uses B and C in getting the final values for e