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INTERNATIONAL ISLAMIC UNIVERSITY MALAYSIA

MIDTERM EXAMINATION
SEMESTER III, 2007/2008 SESSION
KULLIYYAH OF ENGINEERING


Name :
Matric No. :



Course Code : ECE 3232/3341 Control Systems Time : 2.00-4.00pm
Date : 27 May 2008
Duration : 2 Hours



DO NOT OPEN UNTIL YOU ARE ASKED TO DO SO

INSTRUCTION(S) TO CANDIDATES
(1) Time Allowed: 120 minutes
(2) Answer all questions. Total marks = 100.
(3) Marks are as indicated. All questions do NOT have equal marks.
(4) All answers are to be written in the space provided in this question paper.
(5) A table of Laplace transforms of relevant sequences is attached.
(6) This question paper consists of 10 pages (including cover page) and 4 questions.








Any form of cheating or attempt to cheat is a serious offence
which may lead to dismissal.



Exam. Committee: Dr. Teddy Surya Gunawan

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Q1. [25 marks]
(a). A block diagram model of a four-wheel brake control system is shown in Fig. Q1(a),
where ( ) s F
f
and ( ) s F
R
are the breaking force of the front and rear wheels,
respectively, and ( ) s R is the desired automobile response on an icy road. Find
( ) ( ) s R s F
f
. (10 marks)
G
1
(s)
H
2
(s)
G
2
(s)
G
3
(s)
H
2
(s)
R(s)
F
f
(s)
F
R
(s)

Fig. Q1(a). Brake control system



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(b). A simple feedback control system is shown in Fig. Q1(b), with 1 = K .
( )( ) 2 1
1 . 0
+ + s s

Fig. Q1(b)

(i) Obtain the overall transfer function ( ) ( ) ( ) s R s Y s T = . (5 marks)


















(ii) Obtain the closed-loop poles and open-loop poles. (5 marks)



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(iii) Obtain the expression of the output, i.e. ( ) t y , for step response input. (5 marks)





















Q2. [25 marks]
(a). Find the transfer function for ( ) ( ) ( ) s R s Y s T = for the idle speed control system for a fuel-
injected engine as shown in Fig. Q2(a) using Mason's gain formula OR block diagram
reduction method. (15 marks)
G
1
(s) G
2
(s)
K
5
H
2
(s)
R(s)
K
6
G
3
(s)
H
1
(s)
K
4
Speed
Command
Y(s)
Engine
Speed
Fuel gain
Dynamics
Spark gain
Pressure
Manifold
Air bypass

Fig. Q2(a). Idle speed control system



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Q2 continued
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(b). A single loop control system is shown in Fig. Q2(b), find the closed-loop transfer
function, and sketch the signal flow graph using phase variable form. (10 marks)

Fig. Q2(b). A unity feedback control loop system



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Q3. [25 marks]
(a). A unity feedback control system is shown in Fig. Q3(a).
( )
( ) 1
10
+
=
s s
s G

Fig. Q3(a)

(i) If 001 . 0 = second, calculate the steady state error for a step input. (5 marks)















(ii) If 1 = K , calculate the sensitivity of this system for a small change in , i.e.
T
S

.
(Hints:
T
T
S
T

= ) (5 marks)























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(iii) Calculate the required K to yield a steady state error of
4
10

m, for a ramp input

of 0.1 m/s. (5 marks)












(b). A single-input, single-output system has the matrix equations u

=
1
0
4 3
1 0
x x
and [ ]x 0 10 = y . Determine the transfer function ( ) ( ) ( ) s U s Y s T = . (10 marks)









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Q4. [25 marks]
The speed control of a racing vehicle is represented by the model shown in Fig. Q4.
( )
( )( ) 5 2
100
+ +
=
s s
s G

Fig. Q4. Racing car speed control

(i) Calculate the steady state error of the car to a step command in speed. (6 marks)






















(ii) Calculate and
n
. (6 marks)

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(iii) Calculate the settling time, peak time and percentage overshoot. (9 marks)


























(iv) Plot the pole(s) and zero(s) for this system in the s-plane. (4 marks)