University of Basra College of Engineering Electrical Engineering Department Subject: Control (2) Exam: First Semester Class: Fourth Year Date: 31/01/2013 Examiner: Dr. Ammar A. Aldair Time: 1.5 Hours QI/ A) Consider the closed loop control system shown in Figure 1. Determine the range of K for the system to be stable (using Routh stability test). B) Prove that the unit step response of the system shown in Figure 2 is given by the following expression: Le ) ce)=1 ae clef “Fit +cos*@) where the range of £ is0<¢ <1. (7 Marks) Q2/ A) Find the overall transfer function of the system shown in Figure 3. B) If the Root Locus of the following system shown in Figure 4: Ko+a) KGG).HG) = —————_—_ G+ bes? +ds+e) Find the value of parameters (a,b,c, and e). (7 Marks) Q3/ Investigate the stability of the following closed loop system, with: K KGG).H G) = ———_———__, ,s + Ws + 1)" TT 70 Using Nyquist criterion (6 Marks) (Good Luck) < Mpa- ie ict ae Examiner Head of Electrical Eng. DepartRG) RG) r@) 1 sG?#54+14G+2) Figure | on 364200,) et) Figure 2 208 Gy 5) GG) > CG) rag Aus GG) Ga) BS { Gs(s) a 4G) HG) HG) Figure 3 Por cus 2Figure 4 cG)Nae }) University of Basrah ZZ, clollege of Engineering - Department of Electrical Engineering SS O\ Subject: PSOE © Sy Exam: 2" Semester Class: 4" Year Date: 09-05-2013 Time: 1.5 Hours Examiner: Dr. Ammar Aldair QI: The transfer function of the system is given as: 2s +20 G(s) = Tey =“ GFDG+ ATA ‘The Unit-step response of the given system is shown below Ui sap Response alte epenkop Sate 2 Outpt Reeponee a i biiiii ii i "Foz on ag on 1 iz te ie 1a 2 2224 2626 3 3234 38 3H A ADA ASAE S S254 56 88 6 Tone) Determine the values of Kp, T; and Ty using: a) The first method of Ziegler-Nichols formula. b) The second method of Ziegler-Nichols formula. Then, Draw the modification structure of the classical PID control to omit the step change phenomenon in the Unit-step Response of closed loop control system. (15 Marks) Q2: Given the following system: 2 69) = GaDEsD Find the values of gains K to set the damping ratio ¢ = 0,3 and natural frequency w_ = 10 (for the closed loop system) using Ackermann’s formula. (5 Marks) DP. Lorman Hate TR, Chee HO MgatUniversity of Basrah — College of Engineering Department of Electrical Engineering Subject: Control Engineering (EEE 406) Second Semester t | Class: 4" year Date: 06/05/2014 | Examiner: Dr. Ammar A, Aldair Time: 1.5 Hours | | | | | Answer ALL Questions Q1] (6 Marks) Consider the digital filter defined by: 6G) = Y@)_ 4(@-1)@? +1.2z24+1) ”)*X(@) ~ @+0.1)(@? 0.32 +08) Draw a parallel realization diagram. Q2] (6 Marks) Consider the discrete time unity feedback control system whose open loop pulse transfers function: Ga) = KO-4z + 0.25) ON) Tae tA Determine the range of K for stability by use of Jury stability test. Q3] (8 Marks) Consider the control system shown in Figure below. Design a digital controller such that the damping ration of the dominant closed loop poles is 0.5 and the number of samples per cycle of damped sinusoidal oscillation is 8. Assume that the sampling period is 0.1 sec. Determine the static velocity error constant. RZ Digital controller] 7 1-—e77s 1 C(z) . . —~ Digital controller = — sD D a Good Luck A. Examiner Head of the Department Dr. Ammar A. Aldair Dr. Abbas H. AbbasUniversity of Basrah — College of Engineering Department of Electrical Engineering Subject: Control Engineering (EEE 406) First Semester Class: 4" year Date: 07/01/2014 Examiner: Dr. Ammar A. Aldair Time: 1.5 Hours Answer ALL Questions Q1] (8 Marks) For the following system 0 1 0 0 A=|0 0 1}: »= [oh c=[1 0 0) -6 -11 -6. 1, Design a regulator system by the pole-placement-with observer approach. Assume that the desired closed-loop poles for pole placement are located at S,=-1+j, Sg=-1-j, s3=-5 While, the desired observer poles are located at 53 Q2] (5 Marks) Consider the following system: A Gps) = s(s+1)(s+5) Design a PID controller for the present system using a Ziegler-Nichols tuning rule for the determination of the values of parameters K,,7; and Ty. Then obtain a unit-step response curve. Q3] (7 Marks) Determine the parameters of the compensator system that should be connected with the following plant so that the maximum overshoot Hp = 0.163 and the settling time t, = 2 sec (for 5% tolerance). 10 (9) = Sea (mn —s-{ iner > Head of the Department Dr. Ammar A. Aldair Dr. Abbas H. AbbasUniversity of Basrah — College of Engineering Department of Electrical Engineering Subject: Control Engineering (EEE 406) Exam: Final 2013 Class: 4" year Date: 09/06/2013 Examiner: Dr. Ammar A. Aldair Time: 3 Hours Attempt SIX Questions Qj] (10 Marks) A controlled process is given as: 200K G(s) = s(s + 10)(s + 1) It is connected in the negative unity feedback system a) Derive the expression of steady state error. b) Find the steady state error for the following input r(t) = 90u(t) + 200¢?. ¢) If the input r(t) = 150¢, Find the value of K such that the steady state error is 25 degree. Q2] (5+5 Marks) A- the following figure represent the node configuration of a system: % %» % %% % YX ¥, e e e e e e * e If the following equations is used to describe the given system Y= GY, — HY Ys = G2¥p + GaYg Yq = G3¥3 — HoYs Ys = G2¥4 + GroYe Yo = GsYs Y, = Gee Yq = G7Y, + GoY3 — H2Yo Draw the complete SFG, and then find the overall transfer function (¥;/Y;). B- Full the following blanks: 1. If the control action is independent on the output of the system, then the control system is called - 2. The - -- is the number of degree arg(GH(w)) is above -180 degree at the gain crossover frequency. 1-33. The system is called unstable system if ~ lie -— ma 4, If the roots of the characteristic equation on the imaginary axis of the s-plane; into Routh table. Q3] (10 Marks) A controlled process is represented by the following DE: Y+ 16H + 192y + 640y = 160% + 640u The control system is obtained through state feedback with u(t) = —kyx1() — kx (t) — kaxa(t) + r() where ky.ky and ky are real constant, and r(t) is the reference input. Find the values of ky,k, and kg which should be set to move the poles of the closed loop system to the following location at s-plane: 5, =-1+ 2s, -1-2j,s3=-5 Q4j (10 Marks) For the circuit shown in figure below Find the value of L and C to set the value of the damping ratio ¢ = 0.6 and the natural frequency @, = 100 rad/sec (assume that R = 10). If the input voltage is unit step input, caleulate: a) Percentage overshot, b) the value of the first peak and its time, c) rise time, 4) settling time for (5% tolerance), e) the expression of the output voltage and plot its approximate response for >0. Q5] (10 Marks) Tf K is changed from zero to infinity, draw the poles movement of the following system: KG?) 69) =G_-DG-D i i ble. If the value of K is find the range of K which keeps the given system stal spreased more than its critical value, which pole(s) will move to the RHS of s-plane? Q6] (10 Marks) For the following system 2-3\ s+8 69) = Ger s+a . Find the range of a at which the first method of the Ziegler-Nicholas formula can’t be used. If a = 10, using second method of Ziegler-Nicholas formula to design the PID controller. Draw and design an electronic circuit which can be used to implement the obtained PID controller. Q7) (10 Marks) Using the Linearization method to obtain the state space model of the following > _ [hi] - nonlinear system around given point X = iE] sa: dx, <3 = qyxgu— cox? ap = ute Cat dx caXy dt c,+% y= c5xt If q=c.=0;=%=1, observability of the system. fl and @=3, study the controllability and mma Qua __—— Examiner Head of the Department Dr. Ammar A. Aldair Dr. Rabee H. Thejel