ENS5253: Assignment 1 Problem Solving Questions

Problem solving assignment 1 is worth 20% weightage in final grades. This is an individual
assignment.
Students must complete these questions and submit by 12th May, 11.59 pm at the Canvas
unit site. Ensure all proper and through steps are presented in the solutions.
Students may submit typed or handwritten solutions. Please use plain white paper for
handwritten work which should be very neat and clean in presentation. Untidy submission
and late submission without proper extension will seek penalty. Turnitin submission
requires at least 20 typed words for submission so make sure to include a cover page with
your name and student id with every submission. Keep a record of your rough work. Students
may be asked to come for oral examination to explain and validate their solutions. Failure to
attend an oral type of examination if asked by unit coordinator, with reasonable notice
already given, may result in a mark of zero for the assessment and / or the student being
referred for an Academic Misconduct Investigation

Question 1 (20 marks)

Two carts with negligible rolling friction are connected as shown in Figure (1). An input force ( ) is
applied. The masses of the two carts are and and their displacements are ( ) and
( ), respectively. The carts are connected by a spring k and a damper b. Answer the following
questions:

(a) By using Newton’s Second Law, derive two mathematical equations that describe the motion
of the two carts.
(10 marks).
( ) ( )
(b) Hence derive the following two transfer functions: ( )= and ( )= .
( ) ( )
(10 marks)

Figure 1
QUESTION 2 (20 marks)
( )
(a) Simplify and determine for the block diagram of Figure (2). Use block-diagram reduction
( )
method. A in the figure is the last digit of your student id. If the last digit is o, then take A as
5.
(10 marks)

Figure 2

(b) Consider the above bock-diagram of Figure (2). You are now required to derive the transfer
( )
function, by using the signal flow graph method. Label in your working, the paths and loops
( )
associated with the block-diagram.
(10 marks)

Question 3 (20 marks)

A system with unity feedback is shown in Figure (3) where ( ) = ( )

Figure 3

(a) Determine the closed-loop transfer function of the systems. (5 marks).

(b) Derive the output (i.e., y(t) of the system when the input is a unit step input, ( ) = (5 marks)

(c) The open-loop transfer function is now replaced by ( ) =

( )
A in part c is the last digit of your student id. If the last digit is 0, then take A as 5. Carefully explain in
terms of the percentage overshoot, damping ratio and steady state value, how you would expect the
response of the output of the system when the input is a unit step input. Use MATLAB to plot the
response of the output to a unit-step input. Include in all the MATLAB codes in your answers.

(10 marks)

Question 4 (20 marks)

A feedback system is shown in Figure 4.

Figure 4

(a) Determine the steady state error for a unit step when K = 0.4 and ( ) = 1.

(10 marks)

(b) Select an appropriate value for ( ) so that steady state error is equal to zero for unit step
input.

(10 marks)

Question 5 (10 marks)

A system with unity feedback is shown in Figure (5).

Figure 5
Use the Routh-Hurwitz stability criterion, determine if closed-loop system is stable or not, where:

( )
( )=
( )

( ) = 100( + 2)( + 3)

( ) = ( + 5)( + 6)( + 18 + 20)

Question 6 (20 marks)

A closed-loop control system is shown in Figure (6), where ( ) is the transfer function of the system,

&( ) is the transfer function of the controller, '( )is a disturbance, ( ) and (( ) are the input and

output, respectively. The open-loop system is unstable with a transfer function of ( )=

( ) )

Figure 6
The objectives of the controller, &( ), are to ensure that the closed-loop system is stable and at the

same time the effect of the disturbance is minimized. Consider a proportional-integral (PI) controller
*( )
with a transfer function &( )=
( )

Answer the following questions:

(a) Select an appropriate value for the gain K such that the closed-loop system is stable.
(5 marks)
(b) Find the steady-state error for the case where ( ) = 1/ and '( ) = 0
(5 marks)
(c) Find the steady-state output of the system when ( ) = 0 and '( ) = 1/
(5 marks)
(d) Based on the above analysis, explain whether the objectives of the controller have been met.
(5 marks)
Question 7 (15 marks)

A control system as shown in Figure (7) has a transfer function of ( ) =

( ) )

Figure 7

(a) Let &( ) = ,. By sketching the root-locus, show that the closed-loop system is always unstable.

(5 marks)

(b) Let &( ) = ,( + 2). Sketch the root-locus and show that the closed-loop system can be
stabilized. Determine the range of K for the closed-loop system to remain stable.

(10 marks)