EMT2402 Control Engineering I
EMT2402 Control Engineering I
INSTRUCTIONS
1
SECTION A
Question One (30 Marks)
1. (a) Many Luxury automobiles have thermostatically controlled air-conditioning systems
for the comfort of the passengers. Sketch a block diagram of an air-conditioning
system where the driver sets the desired interior temperature on a dashboard panel.
Identify the various components and variables and classify using standard control
terms, and also identify possible sources of disturbances to the system. [8 Marks]
(b) i. A novice control engineer was attempting to model rocket flight.
• Characterize the mathematical model developed. [2 Marks]
• How appropriate would be a transfer function be for this model. Explain
[2 Marks]
ii. The fuzzy controller design schematically illustrated in Figure Q2b ii require
two inputs, namely velocity error and acceleration in order to generate the
appropriate output. Fuzify the two inputs into three levels and draw their
membership functions. [6 Marks]
Fig Q1c
2
SECTION B: (Answer only ONE question from this section)
Fig Q2a.
i. Find the time constant τ of the response y(t) in terms of b and k . [8 Marks]
ii. Plot the response y(t). [2 Marks]
iii. Use the final value theorem to find the steady state value yss = lim inf y(t) [2
Marks]
(b) Given the system shown in Figure Q2b, find J and D to yield 20% overshoot and a
settling time of 2 seconds for a step input of torque T (t) [8 Marks]
Fig Q2b.
3
Figure Q3(a)
(b) Rotor mounted in bearings is shown in the figure below. External torque T (t ) is
applied to the system.
Fig Q4a
i. Sketch the root locus for the plant G1. What type of feedback gains K would
you use for these plants, large or small? why? [5 Marks]
s2 − 4s + 10
G1 =
s(s + 2)(s + 8)
ii. Suppose that as a feedback designer you are allowed to use only either very large
K or unity K. Which would you choose for each of the following two plants? (If
4
you opt for unity K you need to justify your answer by Rouths criterion.) [5
Marks]
2(s + 10)
G3 =
(s + 5)(s2 + 2s − 3)
(b) The Bode plots of a system G(s) are
Figure Q4(b)
Fig Q5a
i. Suppose
s+4
C(s) =
s + 20
which is a phase-lead compensator. Sketch the root locus of the closed-loop
system. [5 Marks]
5
ii. Using Routh Hurwitz method find the range of the gain K (K > 0) for which
the feedback system is asymptotically stable. [5 Marks]
(b) i. Plot the Nyquist diagram of the system
1
G(s) =
s(s + 2)2
and determine exactly the gain margin, GM(not in decibels but in regular linear
units) gain margin, GM (not in decibels but in regular, ‘linear units). [5
Marks]
ii. Sketch the Bode plots for the system
s+1
P (s) =
(s − 1)2 (1 + 0.1s)2
[5 Marks]