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 CONTROL SYSTEMS N6
(8080016)

20 April 2020 (X-paper)

09:00–12:00

This question paper consists of 7 pages, 2 diagram sheets, a Nichols chart, a formula
sheet of 2 pages and a Laplace transform table of 3 pages.

309Q1A2020
Copyright reserved Please turn over
(8080016) -2-

DEPARTMENT OF HIGHER EDUCATION AND TRAINING

REPUBLIC OF SOUTH AFRICA
NATIONAL CERTIFICATE
CONTROL SYSTEMS N6
TIME: 3 HOURS
MARKS: 100

INSTRUCTIONS AND INFORMATION

1. Answer all the questions.

2. Read all the questions carefully.

3. Number the answers according to the numbering system used in this question
paper.

4. The completed Nichols chart must be inserted into the ANSWER BOOK
before handing it in.

5. Write neatly and legibly.

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(8080016) -3-

QUESTION 1

Indicate whether the following statements are TRUE or FALSE by writing only 'True' or 'False'
next to the question number (1.1–1.10) in the ANSWER BOOK.

1.1 Output is a quantity that must be maintained at a prescribed value.

1.2 A linear variable differential transformer is an electromagnetic device that can detect
mechanical rotary motion.

1.3 A steady-state error is a slow variation of the output voltage or current of the
amplifier when the input signal is maintained at a constant level.

1.4 A gain margin means the gain corresponds to the point where the phase crosses the
180° line.

1.5 A control system is a mathematical expression describing the transfer of data from
the applied input to the output of the system.

1.6 Overshoot is that part of the total response which approaches zero as time
approaches infinity.

1.7 In a closed-loop system output has an effect on input in order to maintain the output
at a desired value.

1.8 Overdamping is defined as the amount of damping that reduces the overshoot to
zero when a system is excited by a change in the control value.

1.9 A second-order control system cannot become unstable because there are feedback
elements that adjust and make the output uncontrollable.

1.10 A stable system remains at rest unless excited by an external source and returns to
rest once all excitations are removed.
(10 × 1) [10]

QUESTION 2

2.1 Determine, with the aid of block diagram algebra, the controlled output (C) for the
block diagram in FIGURE 1.
R C
G1 G2

G3

G4

FIGURE 1 (6)

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(8080016) -4-

2.2 Convert the Laplace transform function below to a function of time.

(2)

2.3 Convert the function of time below to a Laplace transform function.

(2)
[10]

QUESTION 3

DIAGRAM SHEET 1 (attached) shows a point-by-point Bode diagram of the gain and
phase values of a system with the frequency varying from 0.1 to 100 radians
per second.

Determine each of the following from the graph:

3.1 Gain crossover frequency (1)

3.2 Phase crossover frequency (1)

3.3 Phase margin (1)

3.4 Gain and phase values at a frequency of 10 rad/s (2)

3.5 Gain corner frequencies (2)

3.6 Gain cut-off rates (3)

[10]

QUESTION 4

4.1 Plot the gain and phase values for an open-loop control system on the
attached Nichols chart using the data in the table below.

ω(rad/sec) Magnitude in dB Phase in degrees

0.1 27 - 60°
0.6 18 - 95º
1 9 - 130º
12 -2 - 150º
19 - 13 - 175º
24 - 24 - 195 º (5)

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(8080016) -5-

4.2 Use the Nichols chart to determine each of the following:

4.2.1 Gain margin

4.2.2 Phase margin

4.2.3 Gain crossover frequency

4.2.4 Phase crossover frequency

4.2.5 Undamped natural resonant frequency

(5 × 1) (5)
[10]

QUESTION 5

DIAGRAM SHEET 2 (attached) illustrates the root locus plot of a system as an

amplifier gain varies from zero to infinity.

Use the plot to determine each of the following:

5.1 Open-loop poles and zeros (3)

5.2 Smallest value of damping ratio that the system could have (2)

5.3 Damped resonant frequency at the smallest damping ratio (1)

5.4 Undamped resonant frequency at the smallest damping ratio (1)

5.5 Gain constant at the smallest damping ratio (2)

5.6 Frequency at which the system becomes unstable (1)

[10]

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(8080016) -6-

QUESTION 6

6.1 Name TWO types of resistive transducers. (2)

6.2 Identify the terminals of an operational amplifier shown in the diagram in

FIGURE 2. Write only the answer next to the letter (A–C) in the
ANSWER BOOK.

𝑽𝒄𝒄

𝑹𝟏 𝑹𝟐
A
C

B
𝑹𝒆𝒆

𝑽𝒆𝒆

FIGURE 2 (3)

6.3 A summing operational amplifier is subjected to three input voltages of

8 V, 12 V and 24 V respectively. The feedback resistance is 11 KΩ and all
input resistance is 50 Ω.

Calculate the value of the output voltage. (2)

6.4 State THREE components of an optical relay. (3)

[10]

QUESTION 7

7.1 Name THREE types of systems in which synchros may be used. (3)

7.2 State FOUR advantages of using AC servo motors. (4)

7.3 Explain breakaway voltage with regard to servo motors. (2)

7.4 Name the type of rotary synchro that consists of three stators and three rotor
windings connected to two transmitter stators. (1)
[10]

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(8080016) -7-

QUESTION 8

8.1 Draw a neat, labelled schematic diagram of a reversible half-wave universal

speed-control circuit. (6)

8.2 Define feedback with regard to a closed-loop control system. (2)

8.3 Name TWO conditions which can be improved.in the design and performance
of a system. (2)
[10]

QUESTION 9

9.1 Name TWO types of spur-gear rotary pumps. (2)

9.2 A certain type of rotary hydraulic pump is shown in the diagram in FIGURE 3.

FIGURE 3

9.2.1 Name the pump. (1)

9.2.2 Identify the indicated parts of the pump by writing the answer next
to the letter (A–C) in the ANSWER BOOK. (3)

9.2.3 Explain the operation of the pump. (4)

[10]

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(8080016) -8-

QUESTION 10

10.1 Name the type of control required on a basic pneumatic control system to
counteract each of the following problems:

10.1.1 Sluggishness

10.1.2 Offset and steady-state errors

(2 × 1) (2)

10.2 Define hunting with regard to proportional control. (1)

10.3 A proportional pneumatic controller is shown in the diagram in FIGURE 4.

Explain the working principle of this type of controller.

Bellows

Output

Flapper
Input

FIGURE 4 (7)
[10]

TOTAL: 100

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 (8080016)

60 0°

50

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- 15°

40 - 30°
DIAGRAM SHEET 1

30 - 45°

20 - 60°
Gain Frequency Curve

10 - 75°

0 - 90°

- 10

GAIN (dB)
- 105°
-1-

- 20 - 120°
PHASE (Degrees)

- 30 - 135°

- 40 - 150°

- 50 Phase Frequency Curve

- 165°

- 60 - 180°

- 70 - 195°

- 80
- 210°

0.1 1 10 100
FREQUENCY (rad/s)
 (8080016) -2-

DIAGRAM SHEET 2

Jω

J9

J6

J3

- J3

- J6

- J9

- Jω
- 18 - 15 - 12 -9 -6 -3 0

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(8080016)
NICHOLLS CHART (DETACH AND HAND IN WITH EXAMINATION BOOK)

EXAMINATION NUMBER:
EKSAMMENOMMER:
-210° -180° -150° -120° -90° -60° -30° 0°
30 30

0°

0 dB
25 25
+0,5dB

20 20
+1,0dB

15 15

+2dB

10 +3dB 10

+4dB

+5dB
in dB

+6dB
5 5
+9dB
𝑮 𝒋𝝎

+12dB

NICHOL’S CHART
Forward path modulus

0 0

-5 -5

-10 -10

-15 -15
- 18dB

-20 -20
- 180°
- 200°

- 190°

-25 -25
-210° -180° -150° -120° -90° -60° -30° 0°

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(8080016) -1-

CONTROL SYSTEMS N6

FORMULA SHEET

√
[ ]

√
[ ]

√ √

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(8080016) -2-

AMPLIFIERS BODE AND NICHOLS CHARTS

[ ]

[ ] [ ]

[ ] [ ]

∫ [ ]

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(8080016) -1-

LAPLACE TRANSFORM TABLE

No F(s) f(t)

1. 1

2.

3.

4.

5.

6.

7.

8(a).

8(b).

9(a). [ ]

9(b).

[ ]
10(a).

10(b).

11. √
√

12(a).

12(b).
[ ]
13(a).

13(b).

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(8080016) -2-

14(a). √
where
=

14(b). √
where

15(a). [ ]

15(b). [ ]

16(a). [ ]

16(b).

17. [ √ ]
√
where
√
(0 < < )

18(a). [ ]

18(b). [ ]

[ ]
19(a).

[ ( ) ]
19(b).

20. [ √ ]
√
where
√
(0 < < )

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(8080016) -3-

21(a). [

where

21(b). [

where

(0 < < )

[ ]
22(a).

where

22(b). [ ]

23.

√
[ ]
√

where

[ ]

and

Copyright reserved