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EM/APR 2009/KJM597

UNIVERSITI TEKNOLOGI MARA FINAL EXAMINATION

COURSE COURSE CODE EXAMINATION TIME

CONTROL SYSTEMS KJM597 APRIL 2009 3 HOURS

INSTRUCTIONS TO CANDIDATES 1. 2. 3 4. This question paper consists of five (5) questions. Answer ALL questions in the Answer Booklet. Start each answer on a new page. Do not bring any material into the examination room unless permission is given by the invigilator. Please check to make sure that this examination pack consists of: i) ii) iii) the Question Paper an Answer Booklet - provided by the Faculty a Graph Paper - provided by the Faculty

DO NOT TURN THIS PAGE UNTIL YOU ARE TOLD TO DO SO

This examination paper consists of 6 printed pages
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CONFIDENTIAL QUESTION 1 a)

EM/APR 2009/KJM597

Obtain the of a linear time invariant dynamic system which is given by the differential equation transfer function and state space representation below. y + 2y + ly + 5y = u where y is the output and u is the input. (8 marks)

b)

Determine the controllability and observability of the linear system given by the equation below.
X,

~o -:zTx," "0"
l + _2_

"*i(0)"

_*2(0)_

"0" and 0

y = [o

if*1"
\x2_
(8 marks) (4 marks)

c)

Obtain the response y(t) of the above system if a unit step u(t) is applied at f =0,

QUESTION 2 a) Given a close loop transfer function of a system as: C(s) _ K R(s) ~ CT +1 where K and r are the system's constants. Find the response to a unit step and discuss the effect of varying the value of K and x on the system's transient response. (8 marks) b) A second order control system is represented by a transfer function given below. C(s) R{s)
=

1 Js2 +Cs + K

where C(s) is the proportional output and R(s) is the input torque. A step input 5 Nm is applied to the system and the test results are as given below:

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CONFIDENTIAL i) ii) iii) Peak overshoot, Mp = 5 % Peak time, tp = 0.5 s

EM/APR 2009/KJM597

The steady-state error is 0.05 radian.

Determine the value of J, C and K. What can you deduce from the results? (12 marks)

QUESTION 3 a) i) ii) iii) What is a type number of a transfer function of a dynamic system and explain its practical significance of these numbers. Define the error contants Kp, KVl and Ka. A unity feedback system has an open loop transfer function given by. G(s) = 1

Is the system possesses a satisfactory steady state error due to both step and ramp input signal? Comment on this. (5 marks) b) i) Sketch the root locus for the control system shown in Figure Q3. Calculate the breakaway value of K and its location. Comment on the stability of the system. G(s) = 1 and Gc(s) = K

0 + 1)0 + 2)

where K is a positive constant.

R(s)
^

C(s)

V .

G,(s)

G(s)

Fiqure Q3

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CONFIDENTIAL

EM/APR 2009/KJM597

ii)

If the control system is modified by an addition of an open loop pole at s = -6 such that

G(s) =
a) b) c)

1
(J + 1)(J + 2)(J + 6 )

, sketch the new root locus showing clearly

The breakaway point. Point of intersection with the imaginary axis. Comments on the system stability. (15 marks)

QUESTION 4 a) Explain the significance of the terms phase margin and gain margin as applied to the design of feedback systems. (5 marks) Sketch the Bode asymptotic plot showing the magnitude in dB as a function of log frequency for the transfer function given in Figure Q4 for K = 5. From your sketch approximately determine the phase margin and gain margin. With the above vale of K Is the system stable?.

b)

R(s)

-* + ^
i

K s(\ + 0.2s)(\ + 0.ls)

C(s)

Figure Q4 (15 marks)

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CONFIDENTIAL

EM/APR 2009/KJM597

QUESTION 5 a) Briefly explain how you obtain an overshoot value from step response graph and Bode diagram. You may use example to support your answer. (5 marks) Consider a control system depicted in Figure Q5(a). R(s)
> +

b)

- >

C(s)

9
/ \

>

<

s(s + 2(o)

Figure Q5(a) The open-loop frequency response was experimentally obtained as in Figure Q5(b).

Bode Diagram
' 1 ' ' 1 1 1 1 1 1 1 . . 1 1 1 1 1 1

X3

20 -

-2G -40

I I
-180 10 10 Frequency (radfeec) 1C

ic

Figure Q5(b)

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CONFIDENTIAL

EM/APR 2009/KJM597

i)

Prove that the phase margin for an open-loop system is given by OV=tan-' ^

ii) iii)

Estimate the percentage overshoot and steady-state error of the closed-loop system, Estimate the transfer function of the closed-loop system. (15 marks)

END OF QUESTION PAPER

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