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One and A Half Hours

The document is a past exam paper for a Control Systems I exam. It contains 6 questions related to control systems design and analysis. The questions cover topics like PI, PD, and PID controller design; analyzing closed-loop system response to step inputs and disturbances; using concepts like root locus and Nyquist criteria to analyze stability; and sketching Bode and Nyquist plots. It also includes a table of common Laplace transforms provided as an appendix.

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28 views

One and A Half Hours

The document is a past exam paper for a Control Systems I exam. It contains 6 questions related to control systems design and analysis. The questions cover topics like PI, PD, and PID controller design; analyzing closed-loop system response to step inputs and disturbances; using concepts like root locus and Nyquist criteria to analyze stability; and sketching Bode and Nyquist plots. It also includes a table of common Laplace transforms provided as an appendix.

Uploaded by

MHUM84
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 6

Paper Number EEEN20030T

One and a half hours

Mathematical formulae tables booklets supplied by the Examinations Office

UNIVERSITY OF MANCHESTER

Faculty of Engineering and Physical Science


School of Electrical and Electronic Engineering

Control Systems I

23 May 2007
9:45 to 11:15

Answer THREE questions

Only the Casio FX 85ES, Casio FX 83ES, Casio FX 83MS or the Casio FX 83WA
calculators may be used in this examination.
Mathematical formulae tables booklets may be used in this examination.
A table of Laplace transforms is appended to the back of this paper

PTO

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Paper Number EEEN20030T

Q1 A PI controller has transfer function


⎛ 1 ⎞
C ( s ) = k p ⎜⎜1 + ⎟⎟
⎝ Ti s ⎠

(a) What is the role of Ti ?


[2 marks]
(b) Sketch the Bode plot of C (s ) when k p = 10 and Ti = 1 . Ensure you
label the axes.
[4 marks]
A PD γ controller has transfer function
⎛ Td s ⎞
C ( s ) = k p ⎜⎜1 + ⎟⎟
⎝ γTd s + 1 ⎠
(c) What are the roles of Td and γ ?
[4 marks]
(d) Sketch the Bode plot of C (s ) when k p = 10 , Td = 1 and γ = 0.1 . Ensure
you label the axes.
[6 marks]
(e) A PID γ controller has transfer function
⎛ 1 Td s ⎞
C ( s ) = k p ⎜⎜1 + + ⎟⎟
⎝ Ti s γTd s + 1 ⎠
State briefly how the controller should be modified to deal with
actuator saturation.
[2 marks]
(f) State briefly how the controller should be modified to ensure zero
steady state error in the presence of ramp input disturbances.
[2 marks]

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Paper Number EEEN20030T

Q2 Consider the system shown with


16
G ( s) = 2
s + 4s
and with the controller a simple gain k p .
The output is given by y (t ) with Laplace transform Y (s ) , the set-point is
given by r (t ) with Laplace transform R (s ) and the input disturbance is
given by d (t ) with Laplace transform D (s ) .

Figure Q2. Block diagram of closed-loop system.

(a) Find the closed-loop transfer functions that express Y (s ) in terms of


R (s ) and D (s ) .
[4 marks]
(b) Suppose r (t ) is a unit step and d (t ) = 0 . What is the steady state
value of y (t ) ?
[4 marks]
(c) Suppose d (t ) is a unit step and r (t ) = 0 . What is the steady state
value of y (t ) ?
[4 marks]
(d) Suppose the set-point is fixed at r (t ) = r and the input disturbance is
fixed at d (t ) = d . The specification for closed-loop behaviour is that
the steady state error should satisfy
y − r ≤ 0.1 d
What is the maximum closed-loop damping ratio with this
specification?
[6 marks]
(e) Comment on the closed-loop behaviour with such a specification.
[2 marks]

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Paper Number EEEN20030T

Q3 Consider the closed loop system below with


5
G ( s) =
(s − 1)(s + 3)

Figure Q3. Block diagram of closed-loop system.

(a) If the controller is chosen as C ( s ) = k p , for what values of k p is the


closed-loop system stable?
[3 marks]
(b) Sketch the root locus of the forward loop transfer function G ( s )C ( s ).
[5 marks]
(c) Why might it be a bad idea to choose a controller C ( s ) = k p with k p
large?
[2 marks]

It is proposed instead to choose a controller of the form


⎛ s +1 ⎞
C ( s) = k p ⎜ ⎟ for some k p .
⎝ s + 2⎠

(d) Sketch the root locus of the forward loop transfer function G ( s )C ( s ).
You may find it useful to exploit the following polynomial
factorization:
( )
2s 3 + 7 s 2 + 8s + 7 ≈ (s + 2.45) 2s 2 + 2.10s + 2.86
[10 marks]

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Paper Number EEEN20030T

Q4 A plant with transfer function


1
G(s) =
s ( s + 1) 2
is to be controlled with proportional feedback with gain k p .

(a) Where are the poles and zeros of G (s ) ?


[5 marks]
(b) Sketch the Bode plot of G (s ) . Ensure your axes are appropriately
labelled.
[5 marks]
(c) Sketch the Nyquist plot of G (s ) . Ensure your axes are appropriately
labelled.
[5 marks]
(d) Use the Nyquist criterion to determine for which values of controller
gain k p the closed-loop system is stable.
[5 marks]

END OF EXAMINATION PAPER

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Paper Number EEEN20030T

Table of Laplace transforms

x (t ), t ≥ 0 X (s )
δ (t ) 1
1 1
s
tn n!
s n +1
e − at 1
s+a
1 − e − at a
s (s + a )
e − at − e − bt 1
b−a (s + a )(s + b )
sin ωt ω
s +ω2
2

cos ωt s
s +ω2
2

e − at sin ωt ω
(s + a ) 2 + ω 2
e − bt cos ωt s+a
(s + a )2 + ω 2
1−
1
(
e −ζωnt sin ω n 1 − ζ 2 t + cos −1 ζ ) ωn 2
*for ζ < 1
1−ζ 2 ( )
s s 2 + 2ζω n s + ω n
2

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