College of Professional and Continuing Education (CPCE), an affiliate of PolyU
SCHOOL OF PROFESSIONAL EDUCATION AND EXECUTIVE DEVELOPMENT
Programme Title : Bachelor of Engineering (Honours) in Electrical Engineering (84065 & 84066)
Subject Title : Control System Analysis Subject Code : SEHS4653
Semester : Semester 1, 2023/24
Date : 11 December 2023 Time : 19:30 – 21:30
Time Allowed : 2 hours Subject : Dr Kenneth LO
Examiner(s)
This question paper has 6 pages (including this covering page).
Instructions to Candidates:
1. This paper consists of 5 questions. Answer ALL questions in the answer book provided.
2. Begin each question on a fresh page in the answer book provided.
3. Show all your workings clearly and neatly. Reasonable steps should be shown.
4. Candidates are NOT allowed to retain this paper.
5. Metric-size graph paper and semi-log graph papers are available from invigilator.
6. Laplace Transform table is provided on pages 6 to 7.
Authorised Materials:
YES NO Remark
CALCULATOR [] [ ] NO programme should be stored in
the calculator.
SPECIFICALLY PERMITTED ITEMS [ ] []
DO NOT TURN OVER THE PAGE UNTIL YOU ARE TOLD TO DO SO
Page 1 of 6
College of Professional and Continuing Education (CPCE), an affiliate of PolyU
Answer ALL questions in the answer book provided.
Question 1
The differential equation of a control system is, 𝑦𝑦̈ (𝑡𝑡) + 7𝑦𝑦̇ (𝑡𝑡) + 10𝑦𝑦(𝑡𝑡) = 2𝑟𝑟(𝑡𝑡) where r(t) and
y(t) are the system input and output respectively.
(a) (i) Determine the unit-impulse response of the system with zero initial condition by using
Laplace transform. (5 marks)
(ii) Comment on the stability of the system under unit-impulse input.
[Hint: Use final value theorem.] (3 marks)
(b) The above differential equation can also be described by the following state-space model,
𝑥𝑥̇ (𝑡𝑡) = 𝐴𝐴𝐴𝐴(𝑡𝑡) + 𝐵𝐵𝐵𝐵(𝑡𝑡)
𝑦𝑦(𝑡𝑡) = 𝐶𝐶𝐶𝐶(𝑡𝑡)
(i) Find the matrices A and B if 𝐶𝐶 = [1 0]. (6 marks)
(ii) Hence, find the state transition matrix in s-domain. (4 marks)
(Total: 18 marks)
Question 2
𝐶𝐶
Use Mason’s rule to find the transfer function, 𝐺𝐺 = 𝑅𝑅 , for the following signal flow graph.
(Total: 10 marks)
−H3
1 G1 G2 G3 1
R C
−H2
−H1
Figure Q2
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College of Professional and Continuing Education (CPCE), an affiliate of PolyU
Question 3
A unity feedback control system with rate-feedback loop is shown in Figure Q3 below.
+ + 10
R(s) C(s)
− − s(s+5)
Ks
Figure Q3
(a) In the absence of the rate-feedback (i.e. K = 0), determine the maximum overshoot (%) under
unit-step input, and steady-state error under unit-ramp input. (10 marks)
(b) Compute the rate-feedback constant (K) if the maximum overshoot is now reduced to 1% under
unit-step input. Hence, find the steady-state error under unit-ramp input. (14 marks)
(Total: 24 marks)
Question 4
A unity negative feedback control system (with K > 0) has the following open-loop transfer
function,
𝐾𝐾
𝐺𝐺(𝑠𝑠) = .
(𝑠𝑠 + 1)(𝑠𝑠 + 2)(𝑠𝑠 + 4)
(a) Use Routh–Hurwitz stability criterion to find the range of K such that the system is stable.
(8 marks)
(b) Draw the root-locus of the system on the metric-size graph paper provided. Show all your steps
clearly. (14 marks)
(c) Identify the location of closed-loop pole such that a desired damping ratio of 0.5 is required.
(6 marks)
(Total: 28 marks)
Page 3 of 6
College of Professional and Continuing Education (CPCE), an affiliate of PolyU
Question 5
A series phase-lag compensator is added in the forward path of the position control system, as shown
in Figure Q5 below, to enhance the stability of the system. The transfer function of the compensated
system is listed as,
𝑠𝑠 + 0.4 100
𝐺𝐺𝑐𝑐 (𝑠𝑠)𝐺𝐺(𝑠𝑠) = � �� �.
𝑠𝑠 + 4 𝑠𝑠(𝑠𝑠 + 3)(𝑠𝑠 + 5)
+
θR(s) Gc(s) G(s) θ (s)
−
Figure Q5
Given the following open-loop frequency response of the compensated system (Gc(s)G(s)).
Table 1
𝝎𝝎 (rad/ s) Gain (dB) Phase (°)
0.2 11.4 −72.4
0.4 7.3 −62.9
0.8 4.8 −61.9
1 4.2 −65.6
3 −1.8 −120.4
5 −8.4 −160
8 −17.1 −193.7
10 −22 −207.2
20 −38.6 −237.3
(a) Plot the Bode diagrams of the compensated system in the semi-log graph paper provided.
(8 marks)
(b) Hence, find the gain margin and phase margin of the compensated system. (4 marks)
(c) Identify the new gain margin and phase margin if a gain of magnitude 2 is added before Gc(s).
How will be the system stability affected? (8 marks)
(Total: 20 marks)
Page 4 of 6
College of Professional and Continuing Education (CPCE), an affiliate of PolyU
Appendix I: Laplace Transform Table
Time Function 𝑓𝑓(𝑡𝑡) Laplace Transform 𝐹𝐹(𝑠𝑠)
1 Unit-impulse function 𝛿𝛿(𝑡𝑡) 1
1
2 Unit-step function 𝑢𝑢𝑠𝑠 (𝑡𝑡)
𝑠𝑠
1
3 Unit-ramp function t
𝑠𝑠 2
𝑛𝑛!
4 𝑡𝑡 𝑛𝑛 (𝑛𝑛 = positive integer)
𝑠𝑠 𝑛𝑛+1
1
5 𝑒𝑒 −𝑎𝑎𝑎𝑎
𝑠𝑠 + 𝑎𝑎
1
6 𝑡𝑡𝑡𝑡 −𝑎𝑎𝑎𝑎
(𝑠𝑠 + 𝑎𝑎)2
𝑛𝑛!
7 𝑡𝑡 𝑛𝑛 𝑒𝑒 −𝑎𝑎𝑎𝑎 (𝑛𝑛 = positive integer)
(𝑠𝑠 + 𝑎𝑎)𝑛𝑛+1
𝜔𝜔
8 sin 𝜔𝜔𝜔𝜔
𝑠𝑠 2 + 𝜔𝜔 2
𝑠𝑠
9 cos 𝜔𝜔𝜔𝜔
𝑠𝑠 2 + 𝜔𝜔 2
1 1
10 (1 − 𝑒𝑒 −𝑎𝑎𝑎𝑎 )
𝑎𝑎 𝑠𝑠(𝑠𝑠 + 𝑎𝑎)
1 1
11 (𝑒𝑒 −𝑎𝑎𝑎𝑎 − 𝑒𝑒 −𝑏𝑏𝑏𝑏 ) (𝑎𝑎 ≠ 𝑏𝑏)
𝑏𝑏−𝑎𝑎 (𝑠𝑠 + 𝑎𝑎)(𝑠𝑠 + 𝑏𝑏)
1 𝑠𝑠
12 (𝑏𝑏𝑒𝑒 −𝑏𝑏𝑏𝑏 − 𝑎𝑎𝑒𝑒 −𝑎𝑎𝑎𝑎 ) (𝑎𝑎 ≠ 𝑏𝑏) (𝑠𝑠 + 𝑎𝑎)(𝑠𝑠 + 𝑏𝑏)
𝑏𝑏 − 𝑎𝑎
1 1
13 (1 − 𝑒𝑒 −𝑎𝑎𝑎𝑎 − 𝑎𝑎𝑎𝑎𝑒𝑒 −𝑎𝑎𝑎𝑎 )
𝑎𝑎2 𝑠𝑠(𝑠𝑠 + 𝑎𝑎)2
1 1
14 (𝑎𝑎𝑎𝑎 − 1 + 𝑒𝑒 −𝑎𝑎𝑎𝑎 )
𝑎𝑎2 𝑠𝑠 2 (𝑠𝑠 + 𝑎𝑎)
𝜔𝜔
15 𝑒𝑒 −𝑎𝑎𝑎𝑎 sin 𝜔𝜔𝜔𝜔
(𝑠𝑠 + 𝑎𝑎)2 + 𝜔𝜔 2
𝑠𝑠 + 𝑎𝑎
16 𝑒𝑒 −𝑎𝑎𝑎𝑎 cos 𝜔𝜔𝜔𝜔
(𝑠𝑠 + 𝑎𝑎)2 + 𝜔𝜔 2
𝜔𝜔𝑛𝑛 𝜔𝜔𝑛𝑛2
17 𝑒𝑒 −𝜁𝜁𝜔𝜔𝑛𝑛𝑡𝑡 sin 𝜔𝜔𝑛𝑛 �1 − 𝜁𝜁 2 𝑡𝑡
�1 − 𝜁𝜁 2 𝑠𝑠 2 + 2𝜁𝜁𝜔𝜔𝑛𝑛 𝑠𝑠 + 𝜔𝜔𝑛𝑛2
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College of Professional and Continuing Education (CPCE), an affiliate of PolyU
1
− 𝑒𝑒 −𝜁𝜁𝜔𝜔𝑛𝑛𝑡𝑡 sin(𝜔𝜔𝑛𝑛 �1 − 𝜁𝜁 2 𝑡𝑡 − 𝜙𝜙) 𝑠𝑠
18 �1 − 𝜁𝜁 2 𝑠𝑠 2 + 2𝜁𝜁𝜔𝜔𝑛𝑛 𝑠𝑠 + 𝜔𝜔𝑛𝑛2
where 𝜙𝜙 = cos −1 𝜁𝜁
1
1− 𝑒𝑒 −𝜁𝜁𝜔𝜔𝑛𝑛𝑡𝑡 sin(𝜔𝜔𝑛𝑛 �1 − 𝜁𝜁 2 𝑡𝑡 + 𝜙𝜙) 𝜔𝜔𝑛𝑛2
19 �1 − 𝜁𝜁 2
𝑠𝑠(𝑠𝑠 2 + 2𝜁𝜁𝜔𝜔𝑛𝑛 𝑠𝑠 + 𝜔𝜔𝑛𝑛2 )
where 𝜙𝜙 = cos −1 𝜁𝜁
𝜔𝜔2
20 1 − cos 𝜔𝜔𝜔𝜔
𝑠𝑠(𝑠𝑠 2 + 𝜔𝜔 2 )
𝑑𝑑
21 𝑓𝑓(𝑡𝑡) 𝑠𝑠𝑠𝑠(𝑠𝑠) − 𝑓𝑓(0)
𝑑𝑑𝑑𝑑
𝑑𝑑 2
22 𝑓𝑓(𝑡𝑡) 𝑠𝑠 2 𝐹𝐹(𝑠𝑠) − 𝑠𝑠𝑠𝑠(0) − 𝑓𝑓 ′ (0)
𝑑𝑑𝑑𝑑 2
𝑠𝑠 𝑛𝑛 𝐹𝐹(𝑠𝑠) − 𝑠𝑠 𝑛𝑛−1 𝑓𝑓(0) − 𝑠𝑠 𝑛𝑛−2 𝑓𝑓 ′ (0) …
𝑑𝑑 𝑛𝑛
23 𝑓𝑓(𝑡𝑡) − 𝑠𝑠𝑓𝑓 (𝑛𝑛−2) (0)
𝑑𝑑𝑑𝑑 𝑛𝑛 − 𝑓𝑓 (𝑛𝑛−1) (0)
𝐹𝐹(𝑠𝑠) 1
24 � 𝑓𝑓(𝑡𝑡)𝑑𝑑𝑑𝑑 + �� 𝑓𝑓(𝑡𝑡)𝑑𝑑𝑑𝑑�
𝑠𝑠 𝑠𝑠
25 𝑓𝑓(𝑡𝑡 − 𝑇𝑇) 𝑒𝑒 −𝑇𝑇𝑇𝑇 𝐹𝐹(𝑠𝑠)
26 𝑓𝑓(∞) = lim 𝑓𝑓(𝑡𝑡) = lim 𝑠𝑠𝑠𝑠(𝑠𝑠)
𝑡𝑡→∞ 𝑠𝑠→0
27 𝑓𝑓(0+ ) = lim+ 𝑓𝑓(𝑡𝑡) = lim 𝑠𝑠𝑠𝑠(𝑠𝑠)
𝑡𝑡→0 𝑠𝑠→∞
- END OF PAPER -
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