Sana'a university Control systems- I

Faculty of engineering Final examination

 Explain your answer with neat sketches.

Question 1
A) Given a control system described by a third order transfer function:
0.05 𝑆 2 + 110.6 𝑆 + 115
𝐺(𝑠) =
(𝑆 + 1)(𝑆 2 + 12 𝑆 + 100)
a) Find the reduced model of the system then :
b) Find the dominant poles of the system.
c) Estimate the system settling time, the system peak time, rise time and the maximum percent
overshoot in the step response.
d) Approximately, find and sketch c(t),if the input 𝑟(𝑡) = 10 𝑢(𝑡), indicate some numerical
values on both amplitude axis and time axis.
Question 2
A) For the control system shown in the figure,
10 1
𝐺𝑝 (𝑠) = 𝐺𝐶 (𝑆) = 1 𝐺𝑑 = 𝐻𝑘 = 1
(𝑆 + 1)(𝑆 + 10) (𝑆 + 1)

D(S) Gd(S)

- C(S)
R(S) + Gc(S) Gp(S)
+
-

Hk
a) With r(t) = 5 u(t) and d(t) = 0, find the steady state error in c(t) due to r(t) as percent of r(t).
b) With r(t) = 0 and d(t) = 10 u(t), find the steady state error in c(t) due to d(t) as percent of d(t).
c) In (a) and (b) the percentage errors for both disturbance signal (d(t)) and control input signal (r(t)) are
equals, will this always be true? Prove your answer.
d) With Gc(S) = K and d(t) is step function, find the value of K that limits the steady state error in c(t) due
to d(t) to one percent of d(t).
B) Study the stability of the control system with characteristic equation:
𝑄(𝑆) = 𝑆 4 + 𝑆 2 + 1 = 0
Question 3
A) for the system with the loop function:
20𝐾
𝐾𝐺𝑝 (𝑆)𝐻(𝑆) = (𝑆+1)(𝑆+4)(𝑆+!0) 0 ≤ 𝐾 < ∞.
a) Plot the root locus of the system
b) Find the poles of closed loop system for which the system is marginally stable.
c) At breakaway point, write the terms appear in the transient response.
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B) An unity feedback control system with loop function: 𝐺𝑃 (𝑠) = 𝑆(𝑆+2)
Design a suitable compensator to meet the following requirements:
Steady state error for unit ramp input =0.4 , Settling time = 2 Sec,
Maximum overshoot Mpt % = 4.32.
Dr.Eng. / Amin Mahyob

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