Solution - IntroCtrlSys - Midterm Exam - Fall Semester - 1213
Solution - IntroCtrlSys - Midterm Exam - Fall Semester - 1213
N(s)
G6(s)
R(s) _ _ Y(s)
+_ G1(s) + G2(s) +_ G3(s) ++
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 ) ( P11 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)
+_ +_
s5 s2
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 )) => x1 (t ) 2 x1 (t ) x2 (t ) x3 (t ) (0.5 point)
s2
2
X 2 (s) R( s) X 1 ( s ) => x2 (t ) 2 x1 (t ) 5 x2 (t ) 2r (t ) (0.5 point)
s5
3
X 3 ( s) X 1 (s) => x3 (t ) 3 x1 (t ) x3 (t ) (0.5 point)
s 1
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
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)
4.1 With KC =1, plot the Bode diagram (magnitude and phase) of G(s) in the frequency range
[0.0120rad/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)
(End)