American International University- Bangladesh (AIUB)

Faculty of Engineering

Course Name: Modern Control Systems Course Code: EEE 4101

Semester: Term: Final
Total Marks: 30 Submission Date: Exam Day
Faculty Name: Md Sajid Hossain Assignment: OBE

Course Outcome Mapping with Questions

Obtained
Item COs POIs K P A Marks
Marks
Q1-Q5 CO3 P.a.4.C3 K4 P1, P3, P7 30

Student Information:
Student Name: Student ID:

Section: Department:

Marking Rubrics (to be filled by Faculty):

Indicat Excellent Acceptable Poor

Objectives Marks
or [10-8] [7-6] [5-1]
Depth of
• Student was able to apply
knowledge • Design process is not • Design process contains
in-depth engineering
displayed completely supported by mistakes and does not
knowledge about modern
through in-depth engineering display enough in-depth
control systems to design
proper P1 knowledge about modern engineering modern
an appropriate
design of control systems, some but control systems. Most of
compensator correctly and
appropriate not all of the design the design criteria are
fulfilled all design
compensato criteria are fulfilled. not fulfilled.
criteria.
r
• Student’s attempts to
• Student defended the analyze the diversified
diversified approach taken approach taken to solve the • Student did not attempt
Depth of to solve the problem with problem is not enough in- any in-depth analysis of
analysis P3 well-justified in-depth depth, some of design the designed system and
analysis that choices do not displayed no abstract
demonstrated abstract demonstrate adequate thinking.
thinking. abstract thinking and are
not properly justified.
• Student correctly identified
• Student was able to
the type of compensator • Student was only able to
Level of identify the type of
he/she is supposed to identify the type of
integration compensator correctly and
design and successfully compensator correctly but
of multiple integrated the
integrated the could not integrated the
stage interdependent parts into a
P7 interdependent parts into a interdependent parts into a
analysis for high-level design using a
high-level design using a high-level design.
solution of block diagram.
block diagram. • Compensator was not a
high-level • Compensator was not a
• Compensator was at best match with the given
problem proper match with the
match with the given problem.
given problem.
problem.

Comments
Total marks (out of 30)
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Page 1 of 6
1) A boat is circling a ship that is using a tracking radar. The speed of the boat is 20 knots, and it is circling
the ship at a distance of 1 nautical mile, as shown in Figure 1(a). A simplified model of the tracking system is
shown in Figure 1(b). Calculate the value of ‘K’ so that the boat is kept in the center of the radar beam with
no more than 0.1 degree error.

Figure 1: Boat tracked by ship’s radar (a) physical arrangement, and (b) block diagram of the tracking
system.

2) A space station, shown in Figure 2(a), will keep its solar arrays facing the Sun. If we assume that the
simplified block diagram of Figure 2(b) represents the solar tracking control system that will be used to rotate
the array via rotary joints called solar alpha rotary joints (Figure 2(c)). Find,
1.1 The steady-state error for step commands,
1.2 The steady-state error for ramp commands,
1.3 The steady-state error for parabolic commands,
𝐾𝑐
1.4 The range of to make the system stable.
𝐽

Page 2 of 6
Figure 2: A space station: (a) configuration, (b) simplified block diagram, and (c) alpha joint drive train and
control system.

3) Figure 3(a) shows a robot equipped to perform arc welding. A similar device can be configured as a six-
degrees-of-freedom industrial robot that can transfer objects according to a desired program. Assume the block
diagram of the swing motion system shown in Figure 3(b). If ‘K’ = 64510, make a second-order approximation
and estimate the following:
2.1 Damping ratio,
2.2 Percent overshoot,
2.3 Natural frequency,
2.4 Settling time,
2.5 Peak time,

Page 3 of 6
 Figure 3: (a) Robot equipped to perform arc welding, and (b) Block diagram for swing motion system.

4) Industrial robots, such as that shown in Figure 4, require accurate models for the design of high
performance. Many transfer function models for industrial robots assume interconnected rigid bodies with the
drive-torque source modeled as a pure gain, or first-order system. Since the motions associated with the robot
are connected to the drives through flexible linkages rather than rigid linkages, past modeling does not explain
the resonances observed. An accurate, small motion, linearized model has been developed that takes into
consideration the flexible drive. The transfer function:
(𝒔𝟐 + 𝟖. 𝟗𝟒𝒔 + 𝟒𝟒. 𝟕𝟐 )
𝑮(𝒔) = 𝟗𝟗𝟗. 𝟏𝟐
(𝒔 + 𝟐𝟎. 𝟕)(𝒔𝟐 + 𝟑𝟒. 𝟖𝟓𝟖𝒔 + 𝟔𝟎. 𝟏𝟐 )
relates the angular velocity of the robot base to electrical current commands. Make a Bode plot of the
frequency response and identify the resonant frequencies. Use any computational aids e.g. MATLAB at your
disposal

Figure 4: Robot performing construction of computer memory units.

Page 4 of 6
5) Wind turbines, such as the one shown in Figure 5(a), are becoming popular as a way of generating
electricity. Feedback control loops are designed to control the output power of the turbine, given an input
power demand. Blade-pitch control may be used as part of the control loop for a constant-speed, pitch-
controlled wind turbine, as shown in Figure 5(b). The drivetrain, consisting of the windmill rotor, gearbox,
and electric generator (see Figure 5(c)), is part of the control loop. The torque created by the wind drives the
rotor. The windmill rotor is connected to the generator through a gearbox. The transfer function of the
drivetrain is

where 𝑃𝑜 (𝑠) is the Laplace transform of the output power from the generator and 𝑇𝑅 (𝑠) is the Laplace
transform of the input torque on the rotor. Substituting typical numerical values into the transfer function
yields

Do the following for the drive-train dynamics, making use of any computational aids at your disposal:
5.1 Sketch a root locus that shows the pole locations of 𝑮𝒅𝒕 (𝒔) for different values of gear ratio, 𝑁.

Page 5 of 6
 (a)

Figure 5: (a) Wind turbines generating electricity, Bangladesh, (b) control loop for a constant speed
pitch-controlled wind turbine, and (c) drive-train.
Page 6 of 6