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1.

Consider the block diagram shown below. Suppose that the open-loop system G(s) has 2 poles at

- a, -

c and a zero at

-b. Giving that a, b, c are all positive numbers and a <b < c.

K

l~s)

G(s)

Y(s)

1.1.

What is the DC gain of the open-loop system? Hint: write in terms of a, b, c

(1 point)

1.2. Plot the locations of the closed-loop poles when varying K

(1 point)

1.3. When K = 1, where are the closed loop poles? Hint: write in terms of a, b, c

(1 point)

1.4. What range of K that can give an underdamped response from a step input

(1 point)

1.5. What range of K that can make the system unstable

(1 point)

2. The input signals and the steady state output signals from a filter have been shown in the table below.

V,n (f)

5

3sin(t)

sin(5 t)

4cos (lOt-27°)

2cos(100 t-30°)

vout (t)

0

0.5883 sin(t + 79°)

0.7071sin(5t+ 45°) 3.5777cos (lOt)

2cos(100 t -30°)

2.1. Sketch the Bode plot of the filter

(1 point)

2.2. Sketch the Nyquist plot of the filter

(1 point)

2.3. Is it a low pass or high pass filter? Explain your answer

(1 point)

2.4. Find the cutoff frequency of the filter. How do it relate to the system pole?

(1 point)

2

3.

Consider stability of the 3 different closed-loop systems having the same structure shown below

K

{,{s)

G(s)

Y(s)

3.1. When K = 0, the Nyquist plot of the 1st system has been shown below. If there is no open-

loop pole on the right half plane, is the closed-loop system stable when K is varied? If not,

find a range of K that makes the closed-Loop system stable.

(2 points)

Nyquist Diagram

.!II

~

~

ti!

c:

-~

.E

0.1

0.05

System Gs

I

System Gs

Real: -0.133

j

Real: 0.056

lmag: -1.63e-17

lmag: 0.00247

.

Frequency (rad/s): -1e-20

('\

Frequency (rad/s). -2.42

0 ----·----------·------------------·-------- ·--•---------·---·-----------------·

-0.05

-0.1

~.6

~.5

~A

System: Gs Real: -0.00242 lmag: 0.00166 Frequency (rad/s): -18

~-3

~.2

~.1

Real Axis

0

0.1

0.2

0.3

0.4

3

3.2.

When K =0, the Bode plot of the 2nd system has been shown below. Is the closed-loop system stable when K is varied? If not, find a range of K that makes the closed-loop system

~~

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-40

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0

180

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0

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100

Frequency (rad/s)

4

3.3.

The Root Locus plot of the 3rd system has been shown below. Is the closed-loop system stable when K is varied? If not, find a range of K that makes the closed-Loop system stable. (2 points)

,

";'ti)

't:J

c:

0

0

Q)

<II

c:

·51

<II

5

5

4

3

2

Root Locus

System: Gs Gain: 2.99 Pole: -0.00148 + 3.3i Da!1l>ing: 0.000449 Overshoot(%): 99.9 Frequency (rad/s): 3.3

I\

I

0 1------------·--·-------H-----------

-1

-2

-3

-4

-5

-12

System Gs

Gain: 14.7 Pole: -5.87 + 7.39e-08i Da!1l>ing: 1 Overshoot(%): O Frequency (rad/s): 5.87

-10

-8

-6

-4

Real Axis (seconds- 1 )

5

-2

0

2

4.

From the closed-loop system below

C(s) U(s)

1

s (s + 3)

Y(s)

4.1. Design a P-controller in C(s) that leads to a critically damped response

(2 points)

4.2. What is the settling time approximated from the poles associated with the gain in problem 4.1

 

(2 points)

4.3. What

is the

%OS associated with the gain in problem 4.1

(2 points)

4.4. What is the steady state error associated with the gain in problem 4.1

(2 points)

4.5. Is it necessary to add the I-term in the controller? If so, design a Pl-controller to satisfy your

requirement.

(5 points)

4.6. Is it necessary to add the D-term in the controller? If so, design a PD-controller to get "the best"

response. Define your "best" response.

6

(5 points)