PRIFYSGOL ABERTAWE

SWANSEA UNIVERSITY
School of Engineering
SEMESTER 2 EXAMINATIONS
MAY/JUNE 2010

EG-243
CONTROL SYSTEMS
LEVEL 2

UNIVERSITY CALCULATORS ONLY

Translation dictionaries are not permitted, but an English dictionary may be

borrowed from the invigilator on request.
Time allowed:

2 hours
Answer Question 1 and TWO other questions

Formulae and Transform Tables included

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1.

Attempt all parts

For all parts in Question 1 assume a third order control system with forward path G(s) and
negative feedback path, H(s), shown in Figure Q1 and given by:

GH ( s ) =

K
( s + 1) 2 ( s + 10)

(a) Derive the transfer functions: (i) C(s)/R(s) and (ii) E(s)/R(s).

Assume H(s) = 1.
[5 marks]

(b) Derive an expression for the closed loop frequency response as 0 . Assume H(s) = 1.
[4 marks]
(c) Sketch the root-locus diagram incuding any asymptotes. Indicate the point of instability.
[5 marks]
(d) Sketch the Nyquist diagram giving values for

GH ( j ) | 0 and GH ( j ) |
[5 marks]
(e) Sketch the Bode diagrams showing

GH ( j ) | 0 and GH ( j ) |
[6 marks]

R(s)

E(s)

C(s)
G(s)

H(s)

Figure Q1
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2. (a) The term PID (proportional, integral and derivative) controller applies to negative
feedback control systems. Explain the contributions that each of the three terms makes to
the performance of a closed loop control system.
[7 marks]
(b) A remote position control system with unity negative feedback can be represented by an
open loop transfer function given by:
GH (s ) =

K
( s + 1)( s + 3)

Determine the value of K to give a steady state error to a step input of 5%.
[7 marks]
(c) Compensation is to be designed to reduce the steady state error. What form of PID
compensation might be added to the system to achieve this? If the form of the compensation
is ( s + c) then give a typical value for c. Comment on your choice.

( s + 1)
[5 marks]
(d) Describe the nature of the system output for 0<K<1
(i) without the compensation
(ii) with the compensation and your chosen value of c.
[3 marks]
(e) Describe the nature of the system output for K
(i) without the compensation
(ii) with the compensation and your chosen value of c.
[3 marks]

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3. (a) Describe briefly the important features that distinguish feedback control systems within
the general field of dynamic systems. Include comments on loop gain, speed of response,
errors, and stability.
[8 marks]
(b) An inherently unstable tracking system, GT, can be approximated by a gain term, K, and
two poles that cause instability at s = 1 and s = 3:

GT ( s ) =

K
( s 1)( s 3)

Consider GT to be the forward path of a feedback control system that includes a feedback
unit having a zero at s = -5 and a pole at s = -p. Find the range of p to give system
stability.
[9 marks]
(c) It is decided to use two identical feedback units in cascade; each has a zero at s = -5 and
a pole at s = -p. Sketch the root locus of the complete system. Indicate how the shape
changes with values of p.
[8 marks]

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4. (a) With reference to Figure Q4, describe what is meant by the canonical form of a feedback
control system. Define the characteristic equation and explain its importance in studying
feedback control systems.
(b) Given:

K
G (s) =
( s + 1)( s + 2)

1
and H ( s ) =
(s + 3)

[8 marks]

derive an expression for the characteristic equation..

[3 marks]
(c) For the above transfer functions, sketch the Nyquist diagram for the case where the
system is at the stability limit, indicating values of the open-loop gain as 0 and as

[8 marks]
(d) A cascade compensation is to be designed to improve the stability margin. The new
transfer function is than

GH (s ) =

K
( s + a)
( s + 1)( s + 2)( s + 3) ( s + b)

Sketch the Nyquist diagram under these conditions showing the influence of the
compensation. Suggest suitable values for a and b.
[6 marks]
C(s)
R(s)
E(s)
G(s)
+

H(s)

Figure Q4

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EG-243: Control Systems

Formulae and Transform Tables for Examination Use

Steady-state Performance
For a system with open-loop transfer function G(s) and unity-gain feedback the steady-state error
[sse] is related to system type according to the following table:

Type 0
sse

Type of input

1
Kv
1
Ka

Ramp
Parabola
The error constants are:

Type 2

position error velocity error acceleration error

1
1+ K p

Step

SYSTEM TYPE
Type 1

1
1+ K p

1
Kv

1
Ka

position error constant,

velocity error constant,
acceleration error constant,

Kp = G(s) at s = 0;
Kv = s G(s) at s = 0;
Ka = s2 G(s) at s = 0.

Second order Transient Response

Second order Transfer Function

n2
Y (s )
= 2
X (s ) s + 2 n s + n2
=

or

X(s)

+
.
(s + d )2 + d2
2
d

2
d

n is the undamped natural frequency;

n2
s 2 + 2 n s + n2

Y(s)

is the damping ratio;

d = n(1 2) is the damped natural frequency;

d = n is the exponential damping frequency;

frequencies are in rad s-1.

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Laplace and Z-Transforms

Transform Pairs
f(t)

F(s)

F(z)

(t )

(t )

1
s
1
s2
2
s3

z
z 1
t z
( z 1) 2

1
s+a
1
(s + a)2

z
z e t
t ze at
( z e a t ) 2
z sin bt
2
z 2 z cos bt + 1
z ( z cos bt )
2
z 2 z cos bt + 1
z [ z sin + sin(bt ) ]

t
t2

e at
te at
sin bt

t 2 z ( z + 1)

( z 1)

b
s + b2
s
2
s + b2
s sin + b cos
s 2 + b2
s cos b sin
s2 + b2
b
(s + a) 2 + b2
s+a
(s + a) 2 + b2
a
s( s + a )
2

cos bt
sin(bt + )
cos(bt + )
e at sin bt
e at cos bt
1 e at

z 2 2 z cos bt + 1
z [ z cos + cos(bt ) ]
z 2 2 z cos bt + 1
ze at sin bt
z 2 2 ze at cos bt + e2 at
z ( z e at sin bt )
z 2 2 ze at cos bt + e2 at
z (1 e at )
( z 1)( z e at )

a2
s 2 (s + a)

z at ( z e at ) ( z 1)(1 e at )

(t mt )

e smt

z m

(t mt )

e smt
s
1 e st
s

z ( m1)
z 1
1

at 1 + e at

(t ) (t t )

( z 1) 2 ( z e at )

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