QUESTION 1 (20 marks)

Consider the following system:

𝑥̇ −1 −1 𝑥1 1 1 𝑢1
[ 1] = [ ] [𝑥 ] + [ ][ ]
𝑥̇ 2 6.5 0 2 1 0 𝑢2
𝑦1 1 0 𝑥1
[𝑦 ] = [ ][ ]
2 0 1 𝑥2

a) Determine the transfer function, 𝐺(𝑠) = 𝑌(𝑠)/𝑈(𝑠). (5)

b) For the conditions 𝑢2 = unit step signal and 𝑢1 = 0, obtain the step response, 𝑦2 (𝑡), (5)
respectively.

c) Determine the peak time, 𝑇𝑝 , percent overshoot, 𝑃𝑂 and settling time, 𝑇𝑠 of the system’s (10)
response 𝑦2 (𝑡) obtained in part (b).

QUESTION 2 (20 marks)

a) Consider a closed-loop system given in Figure 1: (10)

Figure 1

Design the controller values of K1 and K2 to meet the following specifications:

1) Steady-state error due to a unit step disturbance D(s) is -0.000012
2) Steady-state error due to a unit ramp input R(s) is 0.003

b) For the system shown in Figure 2,

+ +
_ _

Figure 2
 J = 2 kg m2 and b = 1 Nm s.

Determine the values of the gain, K and velocity feedback constant, Kh so that the maximum (10)
overshoot is 0.2 and the peak time is 1 s.

QUESTION 3 (20 marks)

Figure 3 below shows the block diagram of an innovative ship steering system. Y(s) is the ship’s
course, R(s) is the desired course and A(s) is the rudder angle.

H2(s)

-
R(s) E(s) W(s) A(s)
+ Z(s) Y(s)
+ K G1(s) G2(s) 1/s
+
- - -

H3(s)

H1(s)

Figure 3

a) Determine the equivalent transfer function of the system, G(s) = Y(s) / R(s), given that
20 7 1 s2
G1  , G2  2s , H 1  , H2  and H 3  . (11)
s 400 50 20

b) Using the Routh-Hurwitz table, determine the range of K that yields stability to the system. (4)

c) The closed-loop transfer function of a different system is

𝑠 3 + 2𝑠 2 + 7𝑠 + 21
𝑇(𝑠) = 5
𝑠 − 2𝑠 4 + 3𝑠 3 − 6𝑠 2 + 2𝑠 − 4 (5)
Using the Routh-Hurwitz table, determine how many closed-loop poles lie in the right half- plane
(RHP), in the left half-plane (LHP) and on the jω-axis.

QUESTION 4 (20 marks)

A servo mechanism position control has a transfer function
2
 10
G( s)  .
s ( s  1)( s  10)
a) Sketch the root locus of the system. (5)

b) From the root locus sketched in part (a), discuss the stability and the expected time response of (3)
the resulting unity feedback system.

c) Design a lead compensator that will result in overall system response to a reference step input to (6)
have 15% overshoot and a rise time of no more than 0.35 s.

d) Design an ideal derivative compensator that will result in similar performance as with part (c) (6)
(15% overshoot and a rise time of less than 0.35 s).

QUESTION 5 (20 marks)

(For QUESTION 5b) only, you MUST use the given logarithmic papers given at page 6 of this
question paper and ATTACH it to the answer scripts.)

Consider the block diagram model of a magnetic tape-drive speed-control is shown given in
Figure 4. The speed-measurement time constant m = 0.5 s; the reel time constant, r = J/b = 4 s,
where the output shaft damping constant b = 1 Nms; and the motor time constant 1 = 1s.
Amplifier &
motor Tape drive
c  
K 1
( 1 s  1) ( Js  b)

Sensor
1
( m s  1)

Figure 4
a) Determine the gain, K, required to maintain the steady-state speed error to less than 7% of the
(4)
reference speed setting, 𝜔𝑐 .

(7)
b) Sketch the Bode plot for the system obtained in part (a).

c) Determine the gain and phase margins using the sketch in part (b). (3)

d) Discuss the result of using larger value of gain, say K =100, in terms of steady-state error as well (3)
as the gain and phase margins.

3
e) Qualitatively evaluate the compromise required in choosing a suitable amplifier gain, K. (3)

4
Bode diagram

5
 Unit Step Response

 Settling time (to within 2% of the final value)

4
𝑇𝑠 =
𝜁𝜔𝑛

 Percent overshoot

−𝜁𝜋 −𝜁𝜋
⁄ ⁄
√1−𝜁 2 √1−𝜁 2
𝑀𝑃 = 1 + 𝑒 and 𝑃. 𝑂 = 100𝑒

 Time To Peak
𝜋
𝑇𝑝 =
𝜔𝑛 √1 − 𝜁 2

 Rise time (time to rise from 10% to 90% of final value)

2.16𝜁 + 0.60
𝑇𝑟1 = (0.3 ≤ 𝜁 ≤ 0.8)
𝜔𝑛

6
Table 1: Important Laplace Transform Pairs

END OF PAPER