Faculty of Environment and

Technology
Academic year: 2023/2024
Assessment Period: 1

Module Leader: Anuththara Ariyarathne

Module Code : UFMFYJ-15-2
Module Title : Control Engineering
Duration : 3 Hours

Standard materials required:

Examination Answer Booklet Yes
Multiple Choice Answer Sheet No
Engineering
Type of graph paper
graph papers
Number of graph paper sheets per student 3

Additional materials required for this examination

To be supplied by UWE Bristol
Please list any additional material and whether or not To be collected
they need to be collected. Yes/No
Formula Sheet Yes

To be supplied by the student

Please list any additional material and whether or not To be collected
they need to be collected. Yes/No

University approved calculator (non-programmable) Yes

Students permitted to keep this examination paper No
Students are not permitted to turn this page over until the examination
starts

Instruction to Candidates:
Candidates must answer all the questions.

QUESTION 1 [20 marks]

A. Describe the temperature controlling process of an air conditioner inside a cabin

through a block diagram. (Consider the feedback controlling). Identify the controller,
the process, the feedback, and the disturbance with relevant physical components in
the system.
[7 marks]

B. A system is shown in Figure Q1.b.

a. Find the closed-loop transfer function Y(s)/R(s) when G(s) is given by

b. Determine Y(s) when the input R(s) is a unit step.

c. Compute y(t).

Figure Q1.b [7 marks]

C. Figure Q1.c shows a first order dynamic system response to a unit step input.
 Figure Q1.c
a) What is the maximum overshoot %?
b) What is the steady state gain of the system?
c) What is the 95% settling time?
[6 marks]

QUESTION 2 [20 Marks]

A. A system has the closed loop transfer function:

a) Evaluate the system time response to a step input of amplitude 3 units.

[6 marks]
b) Go on to give approximate values for rise time, peak time and 5% settling time.
[3 marks]
c) Using the final value theorem, find the final value of the above system when
subjected to a step input of 3 units.
[3 marks]

B. Figure Q2.b shows a block diagram of a ship steering system. Using block diagram
reduction techniques, evaluate the system closed loop transfer function.
 Figure Q2.b
[8 marks]

QUESTION 3 [20 Marks]

A system containing a three-term controller has the transfer function shown:

1.6 ki
G ( s )= 3 2
0.2 s + ( 0.7+kd ) s +kp s+ 1.6 ki

a) Draw the pole-zero diagram for the given transfer function [9 marks]

b) Derive the Characteristic equation for the given Transfer Function [5 marks]

c) Evaluate values of KP, KD and KI to give the performance defined below:

 A second order dominant response

 overshoot ≤ 10%
 rise time ≤1 seconds
[6 marks]

QUESTION 4 [20 Marks]

 A negative feedback system is shown in Figure Q4.b.

Figure Q4
Where:

R=Input signal
C=Output signal
(2+ s)
G ( s )=
s 2 (4 + s)
H ( s )=1
K=Gain controller

With reference to the formulations provided in the Exam Data in Appendix and the
knowledge learnt from the class, complete the following.

a) Determine poles and zeros of the open loop transfer function and the
characteristic equation for this system.
[4 marks]
b) Determine the asymptotes (the angles to the real axis and the point S at
intersecting real axis.
[4 marks]
c) Determine the break away points and the imaginary axis crossing points.
[4 marks]
d) Using the graph paper provided, show the path traced by the closed loop poles
as the gain K is varied from zero to infinity.

[8 marks]

QUESTION 5 [20 Marks]

A typical closed loop control system is shown in Figure Q5.

Figure Q5

a) Determine its overall Laplace transfer function. [4

marks]
b) Work out its frequency response transfer function in terms of its amplitude and
angle. [6
marks]
c) Sketch the frequency response (Bode diagram) of the given control system.

[10 marks]
Exam Data

Table of Laplace and Z transforms

x(t) X(s) x(i) X(z)

(t) 1 (i) 1
1(t) 1 1(i) z
s z 1
t 1 iT Tz
s 2
z  1 2
t2 2 iT 2 T 2 z z  1
s3 z  1 3
e  at 1 i z
sa z 
1 e  at a 1  i 1  z
ss  a  z  1z  
te  at 1 iT i T z
s  a  2
z    2
sint   sini sinz
2 2
s  z  2 cosz  1
2

cost  s cosi 1  cosz

s2   2 z  2 cosz  1
2

e  at sint    i sini  sinz

s  a  2
 2
z  2 cosz   2
2

e  at cost  sa  i cosi 1   cosz

s  a  2
 2
z  2 cosz   2
2

 e  at  t

Notes:
1
The first three time functions represent, in order, Impulse, Unit step and Unit ramp
functions.
2
z-1 may be thought of as a delay operator of 1 sample period.
Root locus - rules
RULE 1
The number of loci is equal to the order of the characteristic equation

RULE 2
Each locus starts at an open loop pole when K = 0 and finishes at an open loop zero or infinity
when K = 

RULE 3
Loci either run along the real axis or occur as complex conjugate pairs - this is shown by the
diagram being symmetrical about the real axis.

RULE 4
A point on the real axis is part of the loci if the sum of poles and zeros to the right of that point is
ODD.

RULE 5
Away from the open loop poles and zeros, the loci become asymptotic to lines making angles αn to
the real axis, where:
n
n 
P Z where n = 1, 3, 5 ....etc.

P is the number of open loop poles

Z is the number of open loop zeros

RULE 6
The asymptotes intersect the real axis at a point S given by:
poles  zeros
S
P Z
(S is called the centroid of the pole zero map)

RULE 7
The breakaway point between two poles is the point at which the variable of interest (K) is at a
maximum along the real axis. This can be found graphically, or analytically. (Break in points are
when K is a minimum)

RULE 8
The crossing point of the imaginary axis is given by using Routh's criteria ensuring no sign change
in the first column of the array.

RULE 9
The angle of departure of a locus from a complex pole is given by:

qd = 180 - sum of angles of vectors from other poles + sum of vectors from zeros

similarly the angle of arrival at a complex zero is given by:

qa = 180 - sum of angles of vectors from other zeros + sum of angles from poles
 Standard second order system step responses
1.8
zeta= 0.1

1.6 0.2
0.3
1.4
0.4
1.2 0.5
0.6
amplitude c(s)

1 0.7
0.8
0.8
1.0

0.6
2.0
0.4

0.2

0
0 2 4 6 8 10 12
omega"n"*time

Standard second order system responses to an unit step input.

  
y (t ) 1  e   nt   n sin d t  cos d t 
 d 
where
d n 1   2
1  n2
G ( s)  
2 s2 s 2  2 n s   n2
1 s 2
Second order Transfer function n n