Controls Problems for Qualifying Exam - Spring 2014

Problem 1
Consider the system block diagram given in Figure 1. Find the overall transfer function T (s) =
C(s)/R(s). Note that this transfer function will have a quadratic polynomial of the form
D(s) = s2 + 2ζωn s + ωn2 in the denominator. Determine the value of k such that the damping
π−β
ratio ζ is 0.5. Then obtain the rise time tr to an unit-step reference, which is given by tr = ,
p ωd
where cos β = ζ (β in radians) and ωd = ωn 1 − ζ 2 . Also obtain the numerical values of the

Figure 1: Block diagram of system.

peak time tp and the maximum overshoot Mp , which are given by the formulas (9)
 πζ 
−
π
p
tp = and Mp = e 1 − ζ2 .
ωd

Problem 2
Consider the following linear time-invariant system in state space form:

ẋ =Ax + Bu,
  
−2 0 1
y =Cx, with A = , B= , C = [0 1].
1 0 0

where x = [x1 x2 ]T is the state vector, u is the system input, and y is the system output. It
is desired to place the closed-loop poles at s = −2 ± 2. Determine the required linear state
variable feedback control law, assuming full state feedback.

1
 Problem 3
The following polynomial is the characteristic equation of a closed-loop control system:

a4 s4 + a3 s3 + a2 s2 + a1 s + a0 = 0.

Assuming the coefficient a4 is a nonzero positive number and a0 > 0. Determine the conditions
of the coefficients of the equation such that the control system is stable. The resulting conditions
must be reduced to the simplest polynomials.

Problem 4
Assume A is a state matrix  
2 1 4
A = 0 2 0 .
0 3 1
Compute the exponent matrix eAt where t is the independent variable representing time.

[Hint: You may use the Sylvesters interpolation formula eAt = α0 (t)I + α1 (t)A + α2 (t)A2 to
solve the problem. You may also use another method such as eAt = EeDt E−1 .]

2
 Qualifying  Exam  Control  Problems  (Fall  2013)    
(solve  only  3  from  the  following  4  problems!!)  
1. Consider  a  lag-­‐lead  compensator defined  by  

Assume   and      are  nonzero.  Find  an    such  that  at    the  phase  angle  of  the  
compensator  is  zero.    
[Hint:  consider  that    is  equivalent  to   ]  

2. Obtain  the  response  of  the  following  linear  system:  

assuming  that  the  control  input    is  a  unit-­‐step  function  and  the  initial  condition  of  the  
system  is   .  

3.  

 4.  

   
Name ___________________________ Spring 2010

Qualifying Exam: Controls

CLOSED BOOK
This portion of the qualifying exam is closed book.  You may have a calculator. 

Work 3 of the 4 problems.  Be very clear which 3 you want graded (see below).  It is not acceptable to 
work all 4 problems and hope that the graders pick out the best worked three.  

I want problems #____, #____, and #____ graded. 

Be sure to put your name on all papers handed in, including this cover sheet. 

1. A control system is to be designed to control the short period mode of the next generation stealth 
fighter (the F44 Chupacabra). The initial design is to be done using an approximation defined by a 
second order model.  For the design flight condition, the numerical values to be used in the model 
are shown in the equation below, where   and   are the two states and   is the control. 
 

−0.5 1 0
= +  
−2 1.5 −2.5

a. For the numerical values given, determine whether the math model for the uncontrolled 
airplane ( = 0) yields a stable or an unstable motion. 
 
b. Use full state feedback to determine control constants that will move the eigenvalues such that 
the overshoot (in response to a step input) is 30% and the oscillation frequency is 3 / . 
   

 
Name ___________________________ Spring 2010

Qualifying Exam: Controls

CLOSED BOOK
2. A radar tracking dish is to track an airplane, such that if the airplane moves across the sky at the fixed angular rate 
( ) = 3°/ , the steady‐state tracking error is 0.1° or less. In addition, the largest system time constant should be 
less than or equal to 0.5 .   A PD controller is proposed to control the radar dish motion,  ( ) = + .  If 
= 20, = 5, = 10, and = 1, all in appropriate units, determine whether the design specifications are 
realized. 

   

 
Name ___________________________ Spring 2010

Qualifying Exam: Controls

CLOSED BOOK
3. The differential equation of a linear SISO system is 

( ) ( ) ( ) ( ) ( )
+4 +3 +5 + ( )= ( )+2  

where y(t) is the output and r(t) is the input. 

a. Write the transfer function  ( )/ ( ) . 
b. Draw the block diagram for the controllable canonical form and write the corresponding 
state space equations.  Be sure to label all states in the block diagram. 
c. Draw the block diagram for the observable canonical form and write the corresponding 
state space equations.  Be sure to label all states in the block diagram. 
d. Find the steady state value of  ( ) if  ( ) is a unit step input using the final value theorem. 
e. If the plant model above is subjected to negative unity feedback, derive an expression for 
the error  ( ) = ( ) − ( ) and find the steady‐state error to a unit step input using the 
final value theorem. 

   

 
Name ___________________________ Spring 2010

Qualifying Exam: Controls

CLOSED BOOK
4. For the closed loop system shown below: 
a. Define the root locus of a closed loop system in terms of the characteristic equation. How 
does the root locus vary with K in terms of the poles and zeros of  ( ) ( )? 
b. What portions of the real axis are on the root locus? 
c. What is the rule for the asymptotic angles as   approaches infinity? 
d. What is the rule for the centroid of the asymptotes? 
e. What is the rule for breakaway points in terms of  ? 
f. What are the rules for the angles of departure and approach? 
g. How are the values of   at which the locus crosses the imaginary axis determined? 
h. Sketch the root locus for: 

+ 0.5
. ( ) ( ) =  
( + 1)( + 2)

+2
. ( ) ( ) =  
( + 1)( + 0.5)
 
. ( ) ( ) =  
( + 0.5)( + 1)( + 2)

 
Name ___________________________ Fall 2008

Qualifying Exam: Controls

CLOSED BOOK

This portion of the qualifying exam is closed book. You may have a calculator.

Work 3 of the 4 problems. Be very clear which 3 you want graded (see below). It is not acceptable to
work all 4 problems and hope that the graders pick out the best worked three.

I want problems #____, #____, and #____ graded.

Be sure to put your name on all papers handed in, including this cover sheet.

1. The following block diagram represents a closed-loop linear control system

D (s )
R (s) C (s )
Gc (s) G (s)

N (s)

Circle the correct answer to each of the following ten questions. Note: multiple circles to one
question will be considered as a wrong answer.

1.1. In order to have a better disturbance-rejection capability, the gain of the controller Gc (s ) should
be
a) large; b) small; c) does not matter.

1.2. In order to have a better noise-attenuation capability, the gain of the controller Gc (s ) should be
a) large; b) small; c) does not matter.

1.3. If a point s (which is a complex number in the s plane) satisfies the conditions
 Gc ( s )G ( s )  180 and Gc ( s )G ( s )  1
then it is: a) an open-loop zero; b) a closed-loop zero;
c) an open-loop pole; d) a closed-loop pole

1.4. Is any point of the root loci of Gc ( s )G ( s ) a closed-loop pole of the system?
a) yes; b) no.
Name ___________________________ Fall 2008

Qualifying Exam: Controls

CLOSED BOOK

1.5. When the open-loop gain K varies from 0 to , the root locus goes
a) from a zero to a pole;
b) from a pole to a zero or infinity;
c) depending.
1.6. The component of a PID controller which can help reduce the steady-state error is
a) the proportional component;
b) the integral component;
c) the differential component;
d) all of them.

1.7. Which of the following techniques is best for analyzing the transient response of a
control system:
a) Root-locus; b) Bode diagram; c) Nyquist diagram; d) any one of these

1.8. For a minimum-phase control system to be stable, its Nyquist diagram must
a) clockwise encircle (-1, 0) of the s plane once;
b) counterclockwise encircle (-1, 0) of the s plane once;
c) not encircle (-1, 0) of the s plane;
d) depending;

1.9. When designing a control system, which of the following phase margin is most
appropriate
a) 0º; b) 15º; c) 45º; d) 90º

1.10. Assume the close-loop transfer function of the system is

K ( s m  b1s m 1    bm 1s  bm )
and the system is stable, then the coefficients of the
s n  a1s n 1    an 1s  an
denominator, a1 , a2 ,, an ,
a) must be all negative; b) must be all positive;
c) can be positive or negative depending on the transfer function
Name ___________________________ Fall 2008

Qualifying Exam: Controls

CLOSED BOOK

2. Given the closed-loop transfer function

Y ( s) 2 s 2  8s  6
T ( s)   3
U ( s ) s  8s 2  16s  6

a. Draw a block diagram for the system in which each block is either a constant gain or an
integration.

b. Write the state space model corresponding to the block diagram in a. in the form

x  Ax  Bu (t )
y (t )  Cx  Du (t )

(specifying the matrices A,B,C, and D) where x(t), u(t), and y(t) are the state vector, input
vector, and output vector, respectively.

3. A feedback control system has a characteristic equation

s 3  (4  K ) s 2  6s  (16  8K )  0

a) Use the Routh-Hurwitz stability criterion to find the maximum value of K for stability.

b) For K set equal to the maximum value, what are the resulting three roots?
Name ___________________________ Fall 2008

Qualifying Exam: Controls

CLOSED BOOK

4. The following control system involves a velocity feedback. Determine the amplifier gain K
and the velocity feedback gain K h such that the closed-loop system
a. is critically damped and
b. has an undamped natural frequency of 2 rad/s.
What is the condition on K and K h such that the system is stable?

R(s) C(s)
K 1
+ +
- - 2s  1 s

Kh