TSHWANE UNIVERSITY OF

TECHNOLOGY
SEMESTER TEST 1
SUBJECT
CONTROL SYSTEMS III
CSY321T SEMESTER TEST 1 SEPTEMBER 2016
DURATION: 2 HRS
TOTAL MARKS: 63
SPECIAL REQUIREMENTS: NONE
INSTRUCTIONS TO CANDIDATE:
1. The examination rules and regulations of the university apply
2. Answers must be fully backed by explicit calculations
3. Only answers in the spaces provided will be marked.
4. Should more space be required, use the reverse side of the paper
NUMBER OF PAGES: 7

EXAMINERS: S.NYOKA

MODERATOR :
COURSE: N.Dip: ELECTRICAL ENGINEERING

SURNAME & INITIAL: …………………………………………………………………………………………………………………

STUDENT NUMBER: …………………………………………………………………………………………………………………..

DATE: ……………………………………………………………………………………………………………..………………………..

Q1 Q2 Q3 Q4 Q5 Total
Marks 17 10 11 13 12 63
allowed
Marks
obtained

1
Question 1 (17 marks)
1.1 What are the characteristics of negative feedback systems? (3)
1.2 For each of the forms stated above, how do you find the transfer function for each
(control systems interconnections/combinations) and support your answer with
diagrams? (6)
1.3 Under what conditions does the Routh Hurwitz table have a row of zeros? (2)
1.4 What pole locations characterize (1) the under damped system, (2) the over
damped system and (3) the critically damped systems? (6)

1.1 Reduction in the gain at the expense of better stability if the system.
Rejection of disturbance signals in the system.
Low sensitivity to parameter variations.
Accuracy in tracking the steady state value
1.2 Cascade Form
𝑇(𝑠) = 𝐺1 (𝑠). 𝐺2 (𝑠). 𝐺3 (𝑠) … … …

𝑅(𝑠) 𝐺1 (𝑠) 𝐺2 (𝑠)

ccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccc 𝐶(𝑠)
C(S)lklx;kl;axmcType equation here.

Feedback Form
𝐺(𝑠)
𝑇(𝑠) =
1 ± 𝐺(𝑠). 𝐻(𝑠)

𝑅(𝑠)
𝐺(𝑠)
𝐶(s)

𝐻(𝑠)

2
Parallel Form

𝑇(𝑠) = 𝐺1 (𝑠) + 𝐺2 (𝑠 + 𝐺3 (𝑠) … … ..

1.3. Marginally stable system with poles lying on the 𝑗𝜔 − 𝑎𝑥𝑖𝑠 of the s-plane.

1.4.

3
1.4.

Question 2 (10 marks)

2.1. For the feedback system below (find,T(s), design the gain for the system and
find the number of poles on the left half-plane, the right half-plane and on the j𝜔-axis
for the closed loop transfer system below.
(10)
𝐾
G(s) = 4
𝑠 +6𝑠3 +11𝑠2 +6𝑠+100

𝐾
𝑇(𝑠) =
𝑠4 + 6𝑠 3 + 11𝑠 2 + 6𝑠 + 100 + 𝐾
Draw the Ruth Array Table

𝑠4 1 11 100 + K
𝑠3 6 6 0
𝑠2 10 100 + K 0
𝑠1 −540 − 6𝐾 0 0
10
𝑠0 100 +K 0 0

0 > 𝐾 ≥ −90

RH s-plane LHS of the s-plane 𝑗𝜔 − 𝑎𝑥𝑖𝑠 𝑜𝑓 𝑡𝑒ℎ 𝑠 − 𝑝𝑙𝑎𝑛𝑒

2 2

4
Question 3 (11 marks)

3.1 For the closed loop transfer function below, find the location of poles and zeros
and plot them on an s-plane. (4)
20
T(s)= 2
𝑠 +6𝑠+144
3.2 Determine what type of system is stated above. (1)
1
3.3 Given G(s) = , find 𝜔𝑛 , 𝜔𝑑 , 𝑇𝑟 , 𝑇𝑝 , 𝑎𝑛𝑑 %𝑂𝑆 (6)
𝑠2 +2𝑠+4

−𝑏±√𝑏2 −4𝑎𝑐
3.1 𝑠=
2𝑎
𝑠 = −3 ± 11.62𝑗𝜔

𝑗𝜔

11.62
*

𝜎
-3

* -11.62

3.2 Second Order system

1 1
3.3. G(s) = ( )
4 𝑠2 +2𝑠+4
𝜔𝑛 = 2 𝑟𝑎𝑑𝑠/𝑠𝑒𝑐
𝛿 = 0. .5

5
 𝜔𝑑 = 1.73 𝑟𝑎𝑑𝑠/𝑠𝑒𝑐
1
𝑇𝑟 = (1.76𝛿 3 − 0.417𝛿 2 + 1.039𝛿 + 1 ) = 0.82𝑠
𝜔𝑛
𝜋
𝑇𝑝 = = 0.182𝑠
𝜔𝑑
𝛿𝜋
−( )
𝑂𝑆% = 𝑒 √1−𝛿2 𝑥 100% = 16.3%

Question 4 (13 marks)

4.1 Determine the transfer function for the following RLC circuit with the voltage
across R2 as Vout
(10)

4.2. Find the transfer function of a system with an output, y(t) and input, x(t)
variables described by the following differential equation. (3)

𝑑3 𝑦 𝑑2 𝑦 𝑑𝑦 𝑑3 𝑥 𝑑2 𝑥 𝑑𝑥
+ 5 𝑑𝑡 2 + 7 𝑑𝑡 + 𝑦 = + 6 𝑑𝑡 2 + 2 𝑑𝑡 + 8𝑥
𝑑𝑡 3 𝑑𝑡 3

6
4.1 𝐼1 (𝑠)(𝑅1 + 𝐿𝑠) − 𝐼2 (𝑠)𝐿𝑠 = 𝑉𝑖 (𝑠)
1
−𝐼1 (𝑠)𝐿𝑠 + 𝐼2 (𝑠) ( + 𝑅2 + 𝐿𝑠) = 0
𝐶𝑠

𝑉𝑖 (𝑠) 𝑅1 + 𝐿𝑠 −𝐿𝑠 𝐼
[ ]=[ 1 ] [ 1]
0 −𝐿𝑠 + 𝑅2 + 𝐿𝑠 𝐼2
𝐶𝑠

Solve for 𝐼2

|𝑅1 +𝐿𝑠 𝑉𝑖 (𝑠)|

−𝐿𝑠 0 Δ1
𝐼2 = 𝑅1 +𝐿𝑠 −𝐿𝑠 = Δ
| 1 |
−𝐿𝑠 +𝑅2 +𝐿𝑠
𝐶𝑠

Δ1 = 𝐿𝑠. 𝑉𝑖 (𝑠)
𝑅1 𝐿𝑠
Δ = 𝑅1 . Ls + 𝑅1 . 𝑅2 + + 𝑅2 . 𝐶𝑠 +
𝐶𝑠 𝐶𝑠

𝐿𝑠. 𝑉𝑖(𝑠)
∴ 𝐼2 = 𝑅 𝐿𝑠
𝑅1 . Ls + 𝑅1 . 𝑅2 + 𝐶𝑠1 + 𝑅2 . 𝐶𝑠 + 𝐶𝑠

𝑅2 .𝐿𝑠.𝑉𝑖 (𝑠)
But 𝑉𝑜 (𝑠) = 𝑅2 . 𝐼2 = 𝑅 𝐿𝑠
𝑅1 .Ls+𝑅1 .𝑅2 + 𝐶𝑠1 +𝑅2 .𝐶𝑠+ 𝐶𝑠

𝑉𝑜 (𝑠) 𝑅2 .𝐼2
But 𝐺 (𝑠) = = 𝑅1 𝐿𝑠
𝑉𝑖 (𝑠) 𝑅1 .Ls+𝑅1 .𝑅2 + +𝑅2 .𝐶𝑠+
𝐶𝑠 𝐶𝑠

4.2 𝑠 3 𝑌(𝑠) + 5𝑠 2 𝑌(𝑠) + 7𝑠𝑌(𝑠) + 𝑌(𝑠) = 𝑠 3 𝑋(𝑠) + 6𝑠 2 𝑋(𝑠) + 2𝑠𝑋(𝑠) + 8𝑋(𝑠)

Y(s)[ 𝑠 3 + 5𝑠 2 + 7𝑠 + 1] = 𝑋(𝑠)[𝑠 3 + 6𝑠 2 + 2𝑠 + 8]

𝑌(𝑠) 𝑠3 +6𝑠2 +2𝑠+8

=
𝑋(𝑠) 𝑠3 +5𝑠2 +7𝑠+1

7
Question 5(12 marks)

Determine the closed loop transfer function for the system below using Mason’s Rule
Criterion.

8
Forward Paths:

2
𝑇1 =
𝑠
8
𝑇2 = 2
𝑠
6
𝑇3 = 3
𝑠
Loop Gains

−8
𝑃11 =
𝑠
16
𝑃12 = − 2
𝑠
6
𝑃13 =− 3
𝑠

Non touching loops taken two at a time = 0

Non touching loops taken three at a time = 0

Δ1 = Δ2 = Δ3 = 1
Δ = 1 − 𝞢𝒍𝒐𝒐𝒑 𝒈𝒂𝒊𝒏𝒔 + 𝞢 𝒏𝒐𝒏 𝒕𝒐𝒖𝒄𝒉𝒊𝒏𝒈 𝒍𝒐𝒐𝒑𝒔 𝒕𝒂𝒌𝒆𝒏 𝒕𝒘𝒐 𝒂𝒕 𝒂 𝒕𝒊𝒎𝒆
− 𝞢 𝒏𝒐𝒏 𝒕𝒐𝒖𝒄𝒉𝒊𝒏𝒈 𝒍𝒐𝒐𝒑𝒔 𝒕𝒂𝒌𝒆𝒏 𝒕𝒉𝒓𝒆𝒆 𝒂𝒕 𝒂 𝒕𝒊𝒎𝒆 + ⋯ … … …
8 16 6
Δ = 1 − (− − 2 − 3 ) + 0 + 0 ..
𝑠 𝑠 𝑠
𝑠3 + 8𝑠2 + 16𝑠 + 6
Δ=( ) + 0 + 0 ..
𝑠3
𝑇1 Δ1 + 𝑇2 Δ2 + 𝑇3 Δ3
∴ 𝐺(𝑠) =
Δ

9
 𝞢𝑇𝑘 Δk
𝐺(𝑠) =
Δ
2𝑠 2 + 8𝑠 + 6
(𝑠) = 3
𝑠 + 8𝑠 2 + 16𝑠 + 6

10