Control System 2014 Midterm Exam.

1
(2 pages, 38 points in total)
Problem 1: (6 points)
The Lapalce transform is defined as F ( s ) = L{ f (t )} =

f (t )e st dt , Re(s ) > ,

(a) prove L{ f (t )} = sF ( s ) f (0 ) ;
(b) prove L{t f (t )} =

dF ( s )
.
ds

Problem 2: (8 points)
Find the Laplace transform and its region of convergence for each of the following
functions
(a) f (t ) = cos(2t +

), t 0 ;
3
(b) f (t ) = sin(t ) cos(2t ), t 0 ;
T
2T

t
1
3
3
(c) periodic function f (t ) = f (t + T ) , f (t ) = f1 (t ) =
;
T
2T
0 0 < t < or
<t <T
3
3

0 < t T /3
t
T / 3 T / 3 < t 2T / 3

(d) piecewise linear function f (t ) =

.
T t 2T / 3 < t T
0
otherwise
Problem 3: (4 points)
Find the convolution integral y (t ) = h(t ) * u (t ), t 0 for each of the following cases:
1 0 < t < T
(a) h(t ) = e at , t 0 and u (t ) =
;
0 otherwise

e at
(b) h(t ) =
0

T t 3T
1 0 < t < T
and u (t ) =
.
otherwise
0 otherwise

Problem 4: (8 points)
Consider a linear time-invariant system with system transfer function
( s + b)
and zero initial conditions,
G (s) =
s(s + a)

(a) find the output response

(b) find the output response
(c) find the output response
(d) find the output response

y (t ) , t 0 , for system input u (t ) = e bt , t 0 ;

y (t ) , t 0 , for system input u (t ) = e at , t 0 ;
y (t ) , t 0 , for system input u (t ) = 1 , t 0 ;
y (t ) , t 0 , for system input u (t ) = cos bt , t 0 .

Problem 5: (6 points)
(a) Consider the RLC circuit as shown below, in which R1 = R2 = 1 , L = 1H , C = 1F ,
input is the current source u (t ) = is (t ) , and output is the current in R2 ,

y (t ) = iR 2 (t ) , find the system transfer function G ( s ) =

x1 = iL

u = is
current
source

x2 = vC

y = iR 2

Y (s)
.
U (s)

R2

R1

(b) Find y (t ) , t 0 for input current source is (t ) = sin t , t 0 , and zero initial
conditions.
(c) Find y (t ) , t 0 for initial conditions vC (0 ) = 1V and iL (0 ) = 1A , and zero
input current source is (t ) = 0 , t 0 .
Problem 6: (6 points)
(a) Consider the mechanical system as shown below, in which M 1 = M 2 = 1 Kg ,
K = 1 nt/m , B1 = B2 = 1 nt - sec/m , find system transfer function G ( s ) =
following car

Y (s)
.
U (s)

input force driving car

u (t )
M1

M2

B2

B1

output displacement

(b) Find y (t ) , t 0 for system with initial conditions x(0 ) = y (0 ) = 1 and

x (0 ) = y (0 ) = 0 , and zero input force u (t ) = 0 , t 0 .

Control System 2014 Midterm Exam. 2 (there are totally 36 points in 2 pages)
Problem 1: (6 points)
Consider the following system block diagram, where output Y (s ) can be represented as

Y ( s) = T1 ( s) R( s ) + T2 ( s )W ( s ) + T3 ( s ) N ( s ) ;
(a) find transfer function T1 ( s ) = ?
(b) find transfer function T2 ( s ) = ?
(c) find transfer function T3 ( s ) = ?
H 3 (s)

disturbance
input

C1 ( s )

R (s )

C2 (s)

W (s )

output

G1 ( s )

G2 ( s )

Y (s )

H 1 (s)

H 2 (s)

noise input
N (s )

Problem 2: (6 points)
Draw a signal-flow diagram and find system transfer functions Gi ( s ) =

X i (s)
, i=1,2,3 for the
U (s)

following linear time-invariant system

x1 = x1 + x2 + x3 + u

x 2 = x1 x2 + x3 , where u is the input signal and xi , i=1,2,3, are state variables.

x = x + x x
1
2
3
3
Problem 3: (6 points)
Consider the following control system, where K,P,D > 0 are all positive parameters;
(a) find systems characteristic equation ( s ) = 0 ;
(b) find the condition that the closed-loop system to be unstable?
(c) find the condition that the closed-loop system to be marginally stable?

R (s )

1
s

+
K

+
P

Y (s )

1
s ( s + 1)
2

Ds

Problem 4: (8 points)
Given a negative unity-feedback control system with loop transfer function L( s ) =

K ( s + 1)
, K > 0,
s ( s 1)

determine the system stability by

(a) draw the Nyquist D-Contour in the s-plane;
(b) draw the Nyquist plot L(s) in the L(s)-plane;
(c) apply Nyquist stability criterion Z = N+P = ? N = ? P = ?
(d) find the region of K such that the closed-loop system is unstable.

Problem 5: (10 points)

Given a negative unity-feedback control system with the loop transfer function L( s ) =

s +1
,
s ( s + 10)
2

use Bode plot or analytic method to solve the following questions:

(a) gain crossover frequency cg = ?

Hint: L( jcg ) = 1 or 20 log L( jcg ) = 0 dB

(b) phase margin PM = ?

Hint: PM = L( jcg ) +

(c) phase crossover frequency cp = ?

Hint: L( jcp ) =

(d) gain margin GM = ?

Hint: GM = L( jcg ) 1 or 20 log L( jcg ) dB

(e) is the closed-loop system stable and why?

Bode Diagram
150

Magnitude (dB)

100
50
0
-50
-100
-150
0

Phase (deg)

-50
-100
-150
-200
-2
10

-1

10

10

10

10

10

Frequency (rad/sec)
4

Control System 2014 Final Exam.

(35 Points in Total)
Problem 1 (9 points, 1 point each):
Consider an unity negative feedback control system with a loop transfer function
G (s ) as shown in Fig. 1, the Bode plot of G (s ) and the closed-loop step response
y (t ) for reference input r (t ) = 1, t > 0 are shown in Fig. 2, respectively. Answer the
following short questions, and no computing or reasoning is required.
(a) determine the system-type of loop transfer function G (s ) ?
(b) determine the position error constant K p = lim G ( s ) of the system ?
s 0

(c) determine the dc-gain of the closed-loop system T (0) = lim T ( s ) ?

s 0

(d) determine the output steady-state error ess = lim(r (t ) y (t ) ) when r (t ) = 1, t > 0 ?
t

(e) determine the rise time tr (refer to final output value) of step response y (t ) ?
(f) determine the maximum overshoot M p (refer to final output value) of step
response y (t ) ?
(g) determine the output steady-state error ess , when input r (t ) = t , t > 0 ?
(h) determine the gain crossover frequency cg of loop transfer function G (s ) ?
(i) determine the phase margin PM of loop transfer function G (s ) ?

r (t )

e(t )

G (s )

y (t )

Fig. 1 An unity negative feedback control system

Problem 2 (10 points, 2 point each):

You are asked to design a simple gain controller K in the forward path to the
control system of the Problem 1, as shown in Fig. 3.
(a) design K such that the steady-state error ess 0.01 , for input r (t ) = 1, t > 0 .
(b) design K such that the phase margin of L( s ) = KG ( s ) is PM = 45 .
(c) design K such that the gain crossover frequency of L( s ) = KG ( s ) is cg = 10 .
(d) design K such that the rise time of the step response is tr 0.2 seconds.
(e) design K such that the maximum overshoot of the step response is M p 25% .
simple gain controller

r (t )

e(t )

+ _

G (s )

y (t )

Fig. 3 An unity negative feedback control system with a simple gain controller.
Problem 3 (10 points):
Given an unity negative-feedback control system with loop transfer function
s +1
, < K <,
L( s ) = KG ( s ) = K
( s + 2)( s 2 + 2 s + 2)
(a) plot the root-locus for gain K 0 as detail as possible, (4 points)
(b) plot the root-locus for gain K < 0 as detail as possible, (4 points)
(c) determine the region of gain K such that the system is stable? (2 points)
Problem 4 (6 points):
We are going to design a cascade controller Gc (s ) for the control system in
Problem 3 as shown in Fig. 4, where G ( s ) =

s +1
, such that the
( s + 2)( s 2 + 2s + 2)

closed-loop step response has (1) zero steady-state error, ess = 0 , (2) maximum
overshoot M p 5% , and (3) rise time tr 0.5 seconds.
controller to be designed

r (t )

e(t )

Gc (s )

G (s )

y (t )

+ _

Fig. 4. An unity negative feedback control system with a cascade controller Gc (s ) .

6

Bode Diagram
10

Magnitude (dB)

0
-10
-20
-30
-40
-50
-60
0

-90
-135
-180
-2
10

-1

10

10

10

10

Frequency (rad/sec)

Step Response
1
0.9
0.8
0.7
0.6
Amplitude

Phase (deg)

-45

0.5
0.4
0.3
0.2
0.1
0

0.2

0.4

0.6

0.8

1.2

1.4

1.6

1.8

Time (sec)

Fig. 2(a) Bode plot of G (s ) , and (b) closed-loop system step response y (t ) .