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Solution - IntroCtrlSys - Midterm Exam - Fall Semester - 1213

The document contains solutions to a midterm exam for an Introduction to Control Systems course, detailing problems related to transfer functions, state equations, root locus, and Bode diagrams. Each problem includes calculations and explanations for determining system stability and transfer functions. The solutions are structured with points assigned for each part, indicating a grading scheme for the exam.

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0% found this document useful (0 votes)
13 views4 pages

Solution - IntroCtrlSys - Midterm Exam - Fall Semester - 1213

The document contains solutions to a midterm exam for an Introduction to Control Systems course, detailing problems related to transfer functions, state equations, root locus, and Bode diagrams. Each problem includes calculations and explanations for determining system stability and transfer functions. The solutions are structured with points assigned for each part, indicating a grading scheme for the exam.

Uploaded by

Tiến Bùi Văn
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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HCM City University of Technology SOLUTION TO MIDTERM EXAM

Faculty of EE Engineering Fall Semester, Academic year 2012-2013


Department of Automatic Control Subject: Introduction to Control Systems
Exam date: 24/10/2012. Exam duration: 60 min
---o0o--- (Students are allowed to use references)
Y ( s)
Problem 1: (2.5 points) Calculate the equivalent transfer function G N ( s )  of the control
N ( s) R ( s ) 0

system shown in the figure 1.

N(s)
G6(s)

R(s) _ _ Y(s)
+_ G1(s) + G2(s) +_ G3(s) ++

G4(s) G5(s) Figure 1

Solution:
 Signal flow graph (0.5 điểm) (other signal flow graphs are also accepted)

1
N(s)
1
G6

1
R(s) G1 G2 1 G3 1 1 Y(s)

G4 G5

 Forward path from N(s) to Y(s) : (0.5 point)  Loop : (0.5 point)
P1 = G2G3 L1 = G2G4G1
P 2 = G6 L2 = G3G5
L3 = G2G3G1
 Determinant and cofactors : (0.5 point)
∆ = 1 – (L1 + L2 + L3) + L1L2
∆1 = 1
∆2 = 1 – L1
 The equivalent transfer function from N(s) to Y(s) : (0.5 point)
Y (s) 1
GN ( s )   ( P11  P2  2 )
N ( s) R ( s )0 
1
 (G2G3  G6 (1  G2G4G1 ))
1  (G2G4G1  G3G5  G2G3G1 )  G1G2G3G4G5
Problem 2: (1.5 points - 2.0 points) Write the state equations of the control system with the pre-
specified state variables in the Figure 2:

r(t) 2 x2 1 x1 y(t)
+_ +_
s5 s2
Figure 2
x3 3
s 1

Solution:
From the block diagram, we have the following relationship:
1
X 1 (s)  ( X 2 ( s)  X 3 ( s )) => x1 (t )  2 x1 (t )  x2 (t )  x3 (t ) (0.5 point)
s2
2
X 2 (s)   R( s)  X 1 ( s )  => x2 (t )  2 x1 (t )  5 x2 (t )  2r (t ) (0.5 point)
s5
3
X 3 ( s)  X 1 (s) => x3 (t )  3 x1 (t )  x3 (t ) (0.5 point)
s 1

The state space equation in matrix form:

 2 1 1 0
x (t )   2 5 0  x(t )   2  r (t )
 
(0.5 extra point)
 3 0 1  0 
y (t )  1 0 0 x(t )

Problem 3: (3.0 points) Given a unity negative feeback control system with the open loop TF:
K ( s  1)
G( s) 
s 2 ( s  10)
Draw the root locus of the system when 0  K   . Give your comment about the stability of the
closed loop control system based on the root locus.
Solution:
+ Poles: p1  p2  0; p3  10 (0.5 point)
+ Zeros: z1  1 ;

+ Break-in/break-away points:
s 3  10 s 2
K 
s 1
 0   3s 2  20 s   s  1  s 3  10 s 2  0
dK
ds
 2 s 3  13s 2  20s  0
s  0 ( accepted )
 (0.5 point)
  s  2.5 ( accepted )
 s  4 ( accepted )

Asymptotes:
180
+ Angles: q  900 ;
3 2
0  0  10  1
+ Intersection with the real axis: OA   4.5 (0.5 point)
3 1

Root locus: (1 point)

Root Locus
8

2
Imaginary Axis

-2

-4

-6

-8
-12 -10 -8 -6 -4 -2 0 2
Real Axis

+ Based on the root locus, we can conclude the the system is stable with all K satisfying K>0
(0.5 point)

Problem 4: (3.0 points) Given the control system in the Figure 3.


R(s) Y(s)
+_ KC G(s)
100( s  0.5)e 0.1s
G( s) 
Figure 3 s 2 ( s  10)( s  5)

4.1 With KC =1, plot the Bode diagram (magnitude and phase) of G(s) in the frequency range
[0.0120rad/s]. Determine the gain margin and phase margin of the open loop system. Is the closed-
loop system stable? Why?
4.2 Find the range of KC so that the closed loop system is stable.

Solution:
4.1 With KC =1, the open loop transfer function is:
100( s  0.5)e 0.1s (1s  1)e 0.1s
G( s)  2  G( s)  2
s ( s  10)( s  5) s (0.1s  1)(0.2s  1)
Corner frequencies: 1  0.5( rad / s ), 2  5(rad / s ), 3  10(rad / s ) (0.25 point)

Point A: (0.25 point)


  0.01( rad / s )
A:  0
 L(0 )  20 log(1)  2 * log(0.01)  80dB
Phase formula: (0.25 point)
180
 ( )  180  arctan(2 )  arctan(0.1 )  arctan(0.2 )  0.1

Phase table: (0.25 point)

 (rad/s) 0.1 0.5 1 5 10 20


() (deg) -171 -146 -139 -196 -259 -345

Bode diagram (1.0 point)

Gain crossover frequency: C  2( rad / s ) ,


Phase crossover frequency:   2( rad / s )
Gain margin: GM  5( dB ) , phase margin: M  300
Using Bode criterion, we can conclude that the closed-loop system is stable. (0.5 point)
4.2 (0.5 point)
GM 5
Critical gain: KC  10 20
 10 20
 1.8
 0  KC  1.8

(End)

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