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The Chinese University of Hong Kong

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Course Examination 1st Term, 2013-14

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Course Code & Title:

MAEG 3050 - Introduction to Control

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Time allowed

"u"'.-o...... ,,

71-~

minutes

hours

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StudentI.D. No.

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Seat No. :

1. Answer ALL the questions on answer book (4 problems totally). Be sure to hand in Figure 4
together with your answer book.
2. Full mark is 100.
3. This is a closed-book but open-note examination. Two sheets of A4 size, double-sided notes are
allowed.
4. Calculators are permitted.
5. Solve all problems using the answer book provided.
6. Write your student number clearly on the front page of your answer book.
7. Question papers should be returned after the examination.
8. Do not tum over this page until instructed to do so.

Cont'd.. .12

Course Code # El foJn~ : "."..................MAEG...3..Q.5.Q.......""................".."".

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Ji) Page 2 ofS

1. You are to sketch the root locus of the control system in Fig. 1, with

G(s) =
S(S2

for K varying from 0 to

(s+4)

+ 8s + 32) ,

00.

a) Determine the asymptotes of the loci, ifany.

b) Determine the angle of departure from the complex pole pair, if any.
c) Is the point s == -3 on the root locus? If yes, determine the corresponding
value ofK.
. d) Sketch the root locus with the information above. Determine (roughly) a point
on your root locus satisfying the design specification P.o. =16%.
e) For your design in part d), determine the steady state error when the system is
SUbjected to a unit ramp input.

2. The imity feedback system of Fig. 1 has a plant transfer function of

1
G(s) ==
3

(s + 1)

a) Obtain the expressions ofthe real and imaginary parts ~f G(j OJ) .

b) Obtain the values of GUOJ) for OJ ~ 0 and OJ ~

CIJ.

c) Are there special points at 'Yhich the real or imaginary part of G(j OJ) would
be zero? If so, determine the corresponding values of OJ and GUOJ) at those
points.
d) With K=l, sketch the Nyquist plot of GUOJ) for the contour

rs of Fig. 2.

e) Apply the Nyquist stability criterion to determine the range of K for stable
closed loop system.

Cont'd .. .13

Course Code

f+ fj ~~ :

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MAEQ..3..Q.5..Q....................................

Page 3 of5

3. Consider the unity feedback system of Fig. 1, with

1
s(s + 1)(s + 5) .

G(s)=---
Figure 3 presents the root locus of the system.

a) Determine exactly the breakaway pOInt on the root locus.

b) Determine exactly the cross-overs points where the loci move into the right
half complex plane.
c). Use the root locus in Fig. 3 to determine tne complex pole pair that satisfies
the specification Tp 5; 1.5 .
d) Suppose that a PD-controller of the form C (s) = K (s + z) is used in Fig. 1
instead of the gain controller K. Determine the value of z so that the point
So = -2 3j is on the resulting root locus.
e) Comment on the advantages of using So = -2 3 j as design point over that
of part c) in terms of peak time, settling time, and percent overshoot.

4. Figure 4 presents the Bode plots of the open loop transfer function G(s) of Fig. 1.
a) Find the Gain Margin and Phase Margin of G(joi).
b) What is the type number of the closed loop system? What is the corresponding

error constant of the system when K=l?

c) Determine the value of K such that the damping coefficient of the closed loop

system is C; =0.2.

d) Suppose that a dynamic controller: C(s)

(rzo+ 1)
s/

(;7200+ 1)

is used, instead of the

gain controller K, in Fig. 1. Sketch the Bode plot of CG(j(j)) on Fig. 4.

(Be sure to hand in Fig. 4 together with your Exam Book)

Cont'd .. .l4

Course Code

f+ ~ Mailt : .......................MAEG... 3..Q.5..D....................................

R(s}

G(s)

i----.---lo>-

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Y(s)

Figure 1

Figure 2

1j
~;;:
'0,

OJ

-1

-j

-1

-2j

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-6

-5

-4

-3

Real Axis

-2

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-1

Figure 3

Cont'd .. .15

Course Code

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Page 5 of5

40
20

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Magnitude

in db_ 60

-80

-120

-140

-- .

-1---

10

10

10

-45

10

I
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Phase in
degrees

..

10

,,,

(rad/sec)

0-

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Figure 4

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