Purdue University

School of Electrical and Computer Engineering

ECE 382 Final Exam
Date and Time: Wednesday, December 15, 2021, 10:30am-12:30pm
Prof. Sundaram

Instructions:

1. There are no aids allowed.

2. Please clearly circle your answer for each question. Ambiguous answers will not be given points.

3. There are 22 questions. Unless otherwise stated, each question is worth 1 point.

4. There is a blank sheet for calculations and a formula sheet attached to the back of the exam.

5. Unless stated otherwise, all Laplace transforms are one-sided (from t = 0− to t = ∞).

6. Good luck!

NAME (Printed):

PUID:

SIGNATURE:
 s+1
1. Consider a linear time-invariant system with transfer function H(s) = s+2 . Suppose we apply
the input u(t) = cos(2t) to the system. Which of these describes the output of the system as
t → ∞?
q
5 π


(a) 8 cos 2t + 4

(b) 12 cos 2t + π4

(c) The output goes to 0

(d) The output goes to 12
q
5 −1 (2) − π


(e) 8 cos 2t + tan 4
(f) The output goes to ∞
 The following TWO questions are related.
s−1
2. Consider a system with transfer function H(s) = s(s2 +6s+13)
, with zero initial conditions. Sup-
1
pose we apply the input U (s) = s−4to the system. Which of these shows the correct form of
the output y(t) (for some appropriate coefficients A, B, C and D)?

(a) y(t) = A1(t) + Be4t + C cos(2t) + D sin(2t)

(b) y(t) = A1(t) + Be−4t + Ce−3t cos(t) + De−3t sin(t)
(c) y(t) = A1(t) + Be−4t + Ce−3t
(d) y(t) = A1(t) + Be4t + Ce−3t cos(2t) + De−3t sin(2t)
(e) y(t) = A1(t) + Be4t + Ce−t cos(2t) + De−t sin(2t)
√ √
(f) y(t) = A1(t) + Be4t + Ce−6t cos( 13t) + De−6t sin( 13t)
(g) None of the above

3. Let A be the coefficient of the 1s term, and B be the coefficient of the s−4
1
term in the partial
fraction expansion of the output Y (s) in the previous question. What are the values of A and
B?

(a) A = − 41 , B = − 35
1 3
(b) A = 52 , B = 212
1 3
(c) A = 52 , B = − 20
(d) A = − 14 , B = − 2123

1 4
(e) A = − 52 , B = 20
1 7
(f) A = 52 , B = 4
1 4
(g) A = 52 , B = 5
(h) None of the above
4. Consider the following four systems:
16
System A: HA (s) =
s2
+ 4s + 16
16(−s + 1)
System B: HB (s) = 2
s + 4s + 16
25
System C: HC (s) = 2
s + 8s + 25
25
System D: HD (s) = 2
s + 6s + 25

Suppose we consider the step responses of each of the above four systems. Which of these is the
correct ordering of the above systems, from largest overshoot (first) to smallest overshoot
(last)?

(a) D, C, B, A
(b) D, B, A, C
(c) A, C, B, D
(d) B, A, D, C
(e) C, D, A, B
(f) B, A, C, D
(g) A, B, C, D
(h) None of the above.
5. Consider a system with transfer function
25
H(s) =
s2 + 8s + 25

Which of these is the approximate 2% settling time of the system? This question is worth 0.5
points.

(a) 1 second
(b) 2 seconds
(c) 4 seconds
(d) 5 seconds
(e) 8 seconds
(f) 25 seconds
(g) None of the above

6. Consider the same system as above, with transfer function

25
H(s) =
s2 + 8s + 25

Which of these is the peak time of the system? This question is worth 0.5 points.
π
(a) 5 seconds
π
(b) 25 seconds
π
(c) 8 seconds
π
(d) 3 seconds
π
(e) 4 seconds
(f) 4 seconds
(g) None of the above
 (s+1)2
7. Consider a system whose step response is given by s2 (s+2)2 (s+3)
. What is the steady state
value of the impulse response?

(a) The impulse response goes to ∞

(b) The impulse response oscillates and does not have a constant steady state value
(c) 1/6
(d) 1/12
(e) 0
(f) 1
(g) None of the above
8. Consider the standard unity feedback loop shown below. The controller is a constant gain K.

R(s) 1
Y (s)
K s2 +6s+1
−

The closed loop system (from input R(s) to output Y (s)) is a second order system. For what
range of values of K will the closed loop system be underdamped?

(a) For all values of K such that 0 < K < 4

(b) For all values of K such that K > 8
(c) For all values of K
(d) For no values of K
(e) For all values of K such that K > 4
(f) For all values of K such that K < 8
(g) For all values of K such that K > 0
(h) None of the above.
9. Consider the standard unity feedback loop shown below. This is the same setup as in the previous
question, except with a disturbance input added.

D(s)
R(s) + + 1
Y (s)
K s2 +6s+1
−

The output is of the form

Y (s) = Hry (s)R(s) + Hdy (s)D(s)
where Hry (s) is the transfer function from R to Y , and Hdy (s) is the transfer function from D
to Y .
Suppose R(s) = 1s and D(s) = 2s . Suppose that K is chosen so that the closed loop system is
stable. What is the steady state value of y(t)?

(a) There is no steady state value.

(b) 0
1
(c) K
(d) 1
K+2
(e) K+1
K
(f) K+1
(g) None of the above.
10. Consider the unity feedback loop with a plant P (s) and controller C(s), as shown below.

R(s) Y (s)
C(s) P (s)
−

Suppose the plant is given by

1
P (s) = .
s2 + s − 2
KI
Suppose we want to use a PI controller to control the system, i.e., C(s) = Kp + s .
For what values of KP and KI will the closed loop system be stable?

(a) KI < 0, KP > 0

(b) KI < 0, KP > KI + 2
(c) KI > 0, KP > KI + 2
(d) KI < 0, KP > KI − 2
(e) KI > 0, KP > KI
(f) KI > 0, KP > 2
(g) None of the above.
11. The Bode magnitude plots for six systems are shown below.

Magnitude Plot 1 Magnitude Plot 2

0
-20
-10
-30
(dB)

(dB)
-20
-40

-50 -30

-60 -40
10-2 100 102 10-2 100 102 104
(rad/s) (rad/s)
Magnitude Plot 3 Magnitude Plot 4
40 -40

30
-45
(dB)

(dB)
20

10 -50
0

100 101 102 103 104 10-2 100 102 104

(rad/s) (rad/s)
Magnitude Plot 5 Magnitude Plot 6
0 20

-5 10
(dB)

(dB)

-10 0

-15 -10

-20 -20
10-1 100 101 10-2 10-1 100 101 102
(rad/s) (rad/s)

For each of the following systems, indicate which magnitude plot corresponds to that system
(each match is worth 0.25 points).

System Magnitude Plot

100s
s+100

−10
s+1

s+1
s+100

s2 −s+1
100s(s+10)

s+1
(−s+1)2

0.01(s+10)2
(s+1)(s+100)
 Consider a system L(s) which is put in the standard unity feedback loop. The Bode plot of
L(s) is shown below. The following four questions are all related to this Bode plot, and are each
worth 0.25 points.

Bode Diagram
60
40
20
0
Magnitude (dB)

-20
-40
-60
-80
-100
-120
-140
-160
-180
-90

-135
Phase (deg)

-180

-225

-270
10-3 10-2 10-1 100 101 102 103
Frequency (rad/s)

12. What is the gain crossover frequency of the system?

(a) 10−3 rad/s

(b) 10−2 rad/s
(c) 10−1 rad/s
(d) 100 rad/s
(e) 101 rad/s
(f) 102 rad/s
(g) 103 rad/s
13. What is the phase crossover frequency of the system?

(a) 10−3 rad/s

(b) 10−2 rad/s
(c) 10−1 rad/s
(d) 100 rad/s
(e) 101 rad/s
(f) 102 rad/s
(g) 103 rad/s

14. What is the approximate gain margin?

(a) 0 dB
(b) 40 dB
(c) 25 dB
(d) −65 dB
(e) 65 dB
(f) ∞
(g) None of the above

15. What is the approximate phase margin?

(a) −90◦
(b) 90◦
(c) 45◦
(d) −45◦
(e) −270◦
(f) 25◦
(g) ∞
16. Consider again the same system L(s) from the previous set of questions, which is put in the
standard unity feedback loop. The Bode plot of L(s) is again shown below.

Bode Diagram
60
40
20
0
Magnitude (dB)

-20
-40
-60
-80
-100
-120
-140
-160
-180
-90

-135
Phase (deg)

-180

-225

-270
10-3 10-2 10-1 100 101 102 103
Frequency (rad/s)

Suppose the closed loop system is stable, and that we apply the reference input r(t) = tm , t ≥ 0,
for some positive integer m. What is the largest integer m for which we can obtain zero steady
state tracking error? This question is worth 0.5 points.

(a) m = 0
(b) m = 1
(c) m = 2
(d) m = 3
(e) m = 4
(f) None of the above.
17. Consider a system L(s) whose Nyquist plot is shown below.

Nyquist Diagram
10

4
Imaginary Axis

-2

-4

-6

-8

-10
-6 -4 -2 0 2 4 6 8 10
Real Axis

Suppose you are told that L(s) has three poles in the ORHP, and that it is placed in the standard
unity feedback loop. Which of these is true?

(a) The closed loop system is stable.

(b) The closed loop system has one pole in the ORHP.
(c) The closed loop system has two poles in the ORHP.
(d) The closed loop system has three poles in the ORHP.
(e) The closed loop system has four poles in the ORHP.
(f) The closed loop system has five poles in the ORHP.
(g) None of the above.
18. Consider the standard unity feedback loop, where the plant is given by P (s) = s+1s+5 . Which of
the following controllers can achieve finite steady state tracking error for the reference input
r(t) = t2 + 3t + 5, t ≥ 0?
10(s−2)
(a) C(s) = s3
4(s−1)
(b) C(s) = s+2
s+1
(c) C(s) = s+10
s+1
(d) C(s) = s(s−4)
s+1
(e) C(s) = s(s+10)
4(s+5)
(f) C(s) = s2
(g) None of the above.
19. Consider the unity feedback loop with controller C(s) = K and plant

1
P (s) = s3 (s+1)24 (s+3)24 (s+4)3
.

Which of the following is true?

(a) The point s̄ = −2 + 10j is not on the positive root locus, but the point s̄ = −0.5 is on the
positive root locus.
(b) The point s̄ = −2 + 10j is on the positive root locus, but the point s̄ = −0.5 is not.
(c) Neither s̄ = −2 + 10j nor s̄ = −0.5 are on the positive root locus.
(d) Both s̄ = −2 + 10j and s̄ = −0.5 are on the positive root locus.
(e) None of the above.
 s+1
20. Consider the plant P (s) = s(s−1) placed in the unity feedback loop with a proportional controller
C(s) = K. Which of the following is true?

(a) The closed loop system is stable for all values of K.

(b) The closed loop system is unstable for small positive values of K, stable and underdamped
for moderate positive values of K, and stable and overdamped for large positive values of
K.
(c) The closed loop system is unstable for all positive values of K.
(d) The closed loop system is unstable for small positive values of K, stable and overdamped
for moderate positive values of K, and stable and underdamped for large positive values of
K.
(e) The closed loop system is stable for small positive values of K, and unstable for large
positive values of K.
 s+1
21. Consider the standard unity feedback loop, with a plant P (s) = s(s−1) and a proportional
controller C(s) = K. Which of the following is true of the positive root locus?

(a) There are no breakaway points on the positive root locus.

(b) There is a breakaway point at −1.
√
(c) There are breakaway points at −1 ± 2.
(d) There are breakaway points at 0.5 and −2.
(e) There are breakaway points at −1 ± j.
(f) None of the above.
22. Consider the standard unity feedback loop, where the plant is given by
1
P (s) = .
(s − 2)45

Which of the following controllers cannot stabilize the closed loop system with appropriate K?
K(s+2)45
(a) C(s) = s
K(s+1)40 (s+2)6
(b) C(s) = s2
K(s+1)23 (s+3)22
(c) C(s) = s−2
K(s+1)45
(d) C(s) = (s+90)2
K(s+1)45
(e) C(s) = (s+45)2
(f) All of the above controllers can stabilize the closed loop system.
 R∞
LAPLACE TRANSFORM: F (s) = L {f (t)} = 0− f (t)e−st dt.

TABLE OF LAPLACE TRANSFORMS

f (t) F (s)

1
1(t) s

e−at 1
s+a

ω
sin ωt s2 +ω 2

s
cos ωt s2 +ω 2

m!
tm sm+1

δ(t) 1

e−at sin ωt ω
(s+a)2 +ω 2

(s+a)
e−at cos ωt (s+a)2 +ω 2

TABLE OF LAPLACE TRANSFORM PROPERTIES

Signal Laplace Transform

f (t) F (s)

f (t − T ), T > 0 e−sT F (s)

d
tf (t) − ds F (s)

e−at f (t) F (s + a)

d
dt f (t) sF (s) − f (0− )
Rt 1 1
R 0−
−∞ f (τ )dτ s F (s) + s −∞ f (τ )dτ

1 s
f (at), a > 0 aF(a)

ELECTRIC CIRCUIT COMPONENTS

1 t
Rt
Capacitor: i(t) = C dv di 1
R
dt (t), v(t) = C −∞ i(τ )dτ Inductor: v(t) = L dt (t), i(t) = L −∞ v(τ )dτ
STEP RESPONSE METRICS

• First order system: H(s) = b

s+a , a>0
ln 9 3.91
◦ tr = a , ts ≈ a
2
ωn
• Second order system: H(s) = 2,
s2 +2ζωn s+ωn
0 < ζ < 1, ωn > 0
p
◦ Poles: s = −ζωn ± jωn 1 − ζ 2 = −σ ± jωd
√−ζπ
◦ OS = e 1−ζ 2 , ts ≈ σ4 , tr ≈ 1.8
ωn , tp = π
ωd

ROOT LOCUS
open loop poles− open loop zeros
P P
• Centroid: α = n−m .

• Breakaway points: N dD dN
ds − D ds = 0.

NYQUIST PLOTS

N =Z −P