W1-2-60-1-6 ‘OMO KENYATTA UNIVERSITY OF AGRICULTURE AND TECHNOLOGY UNIVERSITY EXAMINATIONS 2022/2023 THIRD YEAR SECOND SEMESTER EXAMINATION FOR THE BACHELOR OF SCIENCE IN ELECTRICAL AND ELECTRONIC ENGINEERING/ BACHELOR OF SCIENCE IN ELECTRONIC AND COMPUTER ENGINEERING EEE 2403: CONTROL ENGNEERING I DATE: APRIL 2023 TIME: 2 HOURS. Instructions: This paper consists of FIVE questions Answer question ONE and any other TWO questions QUESTION ONE (COMPULSORY)[30 MARKS a) The closed-loop transfer function of a system is given by YO st] Rs) st@+4s4+4 The feedback elements consist of a resistor in series with an inductor. Determine the values of the resistor and inductance (4 mks) b) The impulse response of a system is sin 3¢. Determine and sketch its unit step response (4mks) ©) Aunity feedback system has the open loop transfer function 100 60) = E45) Determine its peak overshoot, rise time, peak time, and settling time given a 2% tolerance (6 mks) Page 1 of 4function £2 (4 mks) = vs 4) For the block diagram of Figure QI d) and given that R(s) = 0, determine the transfer > C(s) Fis) Figure QI d) ¢) Obtain the transfer function for the signal flow graph of Figure Qle)~ (6 mks) Figure QI e) f) Test for the stability of a control system with the characteristic equation given below, using the Routh stability criterion . s5 + 2st + 2453 + 48s? — 255-50 =0 (mks) |UESTION TWO [20 MARKS) a) Explain the concept of stability in control systems (@ mks) b) A unity feedback system has the open loop transfer function v e____ik R(s) _ s(s.+ 10)(s? + 4s + 5) Determine the range of k for the closed-loop system to be stable (6 mks) SAF US* HSS 1105" thos +50 SUSE 4582 F108 4 Los? t SoS 4 SFIS tsstesos Page ors IGA 14©) Construct the Bode plots on a semi-log graph paper for a system defined by 15 SOMO EEDETH From the Bode plot, determine the gain crossover and phase crossover frequencies (12 mks) QUESTION THREE [20 MARKS} 8) Anetwork consists of a coil having an inductance Land resistance R shunted by a capacitor C. The poles and zeros of the driving impedance function Z(s) of this network are; |. Determine the values of R, L and C (4 mks) poles at —2:4 jS zero at ~ b) A unity feedback system has the open loop transfer function s+4 GQ) = ay aed Determine the response of the system when subjected to a unit step input (mis) ©) Model the circuit of Figure Q3 c) in the signal flow graph and use it to determine the transfer function 2 given that Ry = Ry =10,L, = Ll) = 1HandC =1F (8 mks) Figure Q3 ¢) 1 QUESTION FOUR [20 MARKS) 1) Define the following terms as used in frequency domain analysis i, Resonant frequency Peak response Bandwidth @mks) b) Fora second-order system with unity feedback has its open loop transfer function given by Page 3 ofDetermine its resonant frequency, resonant peak, and bandwidth SY mks) Re Ve ©) Sketch the root locus diagram of a unity feedback control system with the open loop transfer function (10 mks) Kis +4) GCS) = Gre 654 1d) From the root locus, determine the gain at which the damping fhetor is 0.25 QUESTION FIVE 20MARKS) . 2) Drawatt standard block diagram ofa closed-loop system and derive the expression for its _Seslosed-loop transfer function Gms) x b) A unity feedback system has the open loop transfer function ~ (s+) oO = Ca DE Itis to be designed to give a steady state error of 0.1 for unit step input, a damping ratio of 0.5, and a natural frequency of oscillation of Y10. Determine the values of k,« and f for these specifications to be met (8 mks) ¢), Obtain the mathematical model of the mechanical systems of Figure QS c) and use it to X determine its electrical equivalent using the Force-current analogy (8 mks) B (25 F K er Figure Q5 ¢) z eKrzy aor oxng — 4K an poeetett‘Table of Laplace Transforms L=LUF(S)} FC) =£1F(} a Roa : 2 oP, nett a 5. vt & 7. sin(at) Far 2as 9. tsin(at) @rey 11. sin(at)-atcos(at) pay 1 cofa)-ania) 1) 15. sin(ar+2) ssin(}+aees(8) 17. sinh(ar) oe b 19. et sin(6r) aoe b 21. esinh(bs) (s-a)-2 23. te", n=1,2,3.- as, %()=H(i-2) ‘Heaviside Function s 27. ue(OS (te) oF (s) - a. os), (se) a. 140) sree 33. (fis(t-t)8(*)a° F(s)G(s) 35. S'0) 2F(s)-40) 37. 0) L=L"F(s)} 2 ef 4. pret 6 tt, n=1,2,3... 8. cos(at) 10, t¢0s(at) 12, sin (at) +atcos(at) 14, cos(at)+arsin(at) 16. cos(at+b) 18. cosh(at)_. 20. e%cos(ét) 22, cosh (bt) 24. f (ct) 5(t-c) Dirac Delta Function 28. u.(t)g(1) 26. 30. F(t), 2=12,3.- 32. fi F(v)av 34. f(47)=F() 36. f*(¢) F(s)=£(F(0} 1 s(s?+3a*) (e+e) seos(b)—asin(b) +a s sad sa (s-ay ad sa (s-ay (3) ra e2{g(t+c)} (2 Fs) F(s) s flews (at Ie" #F(s)-s(0)-F'(0) SF()— 84 (0) °F (0) sf (0)- F (0)