Faculty of FET.

Academic Year: 15/16

Examination Period: Summer

Module Leader: Quan Zhu

Module Code: UFMFV7-15-2
Module Title: CONTROL
Work Item Code: CC1

Duration: 2 Hours

Standard materials required for this examination:

Examination Answer Booklet Yes

Multiple Choice Answer Sheet No
Type of paper e.g. G3, G14 G3
Graph Paper
Number of sheets per student 1

Additional materials required for this examination:

Details of additional material supplied by UWE:

To be collected with Answer Booklet (please delete as appropriate) No

Details of approved material supplied by Student:

To be collected with Answer Booklet (please delete as appropriate) No

University approved Calculator
Candidates permitted to keep Examination Question Paper

Candidates are NOT permitted to turn the page

over until the exam starts

Instructions to Candidates:
All questions (4) carry EQUAL marks, that is, 25% each.

UFMFW7-15-3 Page 1 of 8
 QUESTION 1 [Total Marks 25]

Identify the following basic characteristics in dynamic system modelling and

control.

1) Figure Q1.1 shows the Bode amplitude plots for two different systems.
Estimate the type and order for the two systems. [2+2 marks]

dB
lo g 
dB

lo g 

-4 0 d B /d e c a d e
+ 2 0 d B /d e c a d e

Figure Q1.1

2) Figure Q1.2 shows a first order dynamic system response to a unit step
input

a) What is the system time constant? [3 marks]

b) What is the steady state gain of the system? [2 marks]
c) What is the 95% settling time? [2 marks]

Step Response

4.5

3.5

3
Amplitude

2.5

1.5

0.5

0
0 5 10 15 20 25
Time (sec.)

Figure Q1.2

UFMFW7-15-3 Page 2 of 8
3) Figure Q1.3 shows a simple feedback system in terms of G and H.

a) What is the open loop transfer function? [1 marks]

b) What is the closed loop transfer function? [3 marks]
c) What is the error transfer function? [3 marks]

In + O ut
 G
-
H
Figure Q1.3

4) Figure Q1.4 shows a root locus plot for a system.

a) What is the approximate frequency of oscillation on the verge of instability?

[2 marks]
b) What is the approximate value of critical gain K that will result in the system
becoming unstable?
[5 marks]

2
Imag Axis

0 X X X

-2

-4

-6
-6 -5 -4 -3 -2 -1 0 1 2
Real Axis

Figure Q1.4

UFMFW7-15-3 Page 3 of 8
QUESTION 2 [Total Marks 25]
A typical RC circuit in Figure Q2 has been identified as the 1 st order transfer
function below

Vo ( s ) k
=
Vi (s ) Ts + 1

where Vo is output voltage and Vi is the input voltage.

The tasks to analyse the system are specified below.

1) Discuss the functions of time constant and gain. [5 marks]

2) Let k = 2 and T =3, work out its poles, zeros, and frequency response
transfer function in terms of its amplitude and angle. [5 marks]

3) Work out the amplitude and phase shift at its corner frequency. [5 marks]

4) Plot the approximate Bode diagrams of the transfer function. [5 marks]

5) Let k = 2 and T =3, work out its time response to a unite impulse input with
reference to the formulations provided in the Exam Data in Appendix.
[5 marks]

R
(resistance)

Vo (output)
Vi (input)
I (current)
C
(capacitance)

Figure Q2

UFMFW7-15-3 Page 4 of 8
QUESTION 3 [Total Marks 25]

A simplified suspension system for an aircraft landing gear is shown in Figure

Q3

R(s) Y(s)
+ k1
- s ( s + 2)

1 + k2 s

Figure Q3

where k1 and k2 are constant gains. The task is to analyse and design the
control system as specified below:

1) Determine the order, poles and zeros of the open loop transfer function.
[5 marks]

2) Workout the closed loop transfer function. [6 marks]

3) Design the control system by selecting gains k1 and k2 such that it has a
damping ratio z of 0.5 and undamped natural frequency n of 4 rad/sec.
[8 marks]

lim f (t ) = lim sF( s) ) determine the

4) With reference to the final theorem ( t  s0
designed system output steady state response to a unite step stimulation.
[6 marks]

UFMFW7-15-3 Page 5 of 8
QUESTION 4 [Total Marks 25]

Consider a typical electrical system, its LRC circuit shown in Figure Q4. The
circuit consists of an inductor of value L (henry), a resistor of value R (ohm),
and a capacitor of value C (farad). The input is the supplied voltage ei and the
output is the voltage drop cross the capacitor eo .

Figure Q4

The tasks for the dynamic system modelling and performance evaluation are
specified below.

1) By Kirchhoff’s voltage law, derive the input-output dynamic model in terms

of differential equation. [7 marks]

2) Apply Laplace transform to determine the model transfer function, and then
formulate the undamped nature frequency and damping ratio in terms of L, R,
and C with reference to the standard 2nd order transfer function
Eo ( s ) n2
=
Eo ( s ) s 2 + 2zn s + n2
[7 marks]
3) While L=1, R=3, and C=0.5, find poles and zeros and show their positions
on S plane. Then analyse the system dynamic response and stability to an
input stimulation. [4 marks]

4) While L=1, R=3, and C=0.5, determine the system output time response to
a unit step input, by inversing the output transfer function with reference to the
formulations provided in the Exam Data in Appendix. [7 marks]

UFMFW7-15-3 Page 6 of 8
Exam Data
Table of Laplace and Z transforms

x(t) X(s) x(i) X(z)

(t) 1 (i) 1
1(t) 1 1(i) z
s z 1
t 1 iT Tz
s 2
 z  1 2
t2 2  iT 2 T 2 z z + 1
s3
 z  1 3
e  at 1 i z
s+a z
1e at a 1  i  1   z
s s + a   z  1 z  
te  at 1 iT i T z
 s + a 2
 z   2
sin t   sin i sin  z
s + 2
2
z  2 cos  z + 1
2

cos t  s cos i  1  cos  z

2 2
s + z  2 cos  z + 1
2

e  at sin t    i sin i  sin  z

 s + a 2
+ 2
z  2 cos  z +  2
2

e  at cos t  s+a  i cos i 1   cos  z

 s + a 2
+ 2 z  2 cos  z +  2
2

 = e  at  = t

Notes:
1
The first three time functions represent, in order, Impulse, Unit step and Unit
ramp functions.
2
z-1may be thought of as a delay operator of 1 sample period.

UFMFW7-15-3 Page 7 of 8
 Standard second order system step responses
1.8
zeta= 0.1

1.6 0.2
0.3
1.4
0.4
1.2 0.5
0.6
amplitude c(s)

1 0.7
0.8
0.8
1.0

0.6
2.0
0.4

0.2

0
0 2 4 6 8 10 12
omega"n"*time

UFMFW7-15-3 Page 8 of 8