Professional Documents
Culture Documents
16-EL-A2 - Novembre 2017 - Version Anglaise
16-EL-A2 - Novembre 2017 - Version Anglaise
NOVEMBER 2017 SESSION
Open‐book examination
Calculators : only authorized models
Duration : 3 hours
16‐EL‐A2 SYSTEMS AND CONTROL
Question 1 (3% + 3.5% + 3.5% + 5% + Root locus plot : 5% = 20%)
Figure 1: Block diagram for question 1
Sketch on a full page of your examination book, the root locus of the system shown in Figure 1
which has the following open loop transfer function:
K ( s 2 2s 1)
KG ( s) (1)
( s 4)4
For this purpose, you probably need to calculate:
a) The coordinates of the point where the asymptotes meet on the real axis and the angle
of each asymptote with respect to the real axis;
b) The angle of departure/arrival of poles and zeros;
c) The coordinates of the connection/separation point with the real axis of the branches
tending to infinity;
d) Provide the range of gain K for which the system is stable with a unit gain feedback. Give
the poles location of the closed loop system at the critical gain.
Question 2 (2.5% + 2.5% + 2.5% + 4% + 3.5% = 15%)
Consider a dynamical system G(s) having the following Nichols chart (Figure 2) :
Figure 2: Nichols chart for question #2
Answer the following questions:
a) Determine with this diagram the gain margin. Show how this value is obtained.
b) Determine with this diagram the phase margin. Show how this value is obtained.
c) Discuss about the stability of this closed loop system.
d) Determine the damping factor ζ of this system. Show how this value is obtained.
e) Draw the Nichols chart of H ( s) 0.1 G( s) on Figure 2.
Question 3 (6% + 7% + 7% + 5% = 25%)
Figure 3: Block diagram for question #3
Consider the feedback controlled system as the one depicted in Figure 3 where the subsystems
S1 and S2 can be modeled as follow:
8 4 1
S1 : x (t ) x(t ) u (t )
4 0 0 (2)
z (t ) 1 0.5 x(t )
and:
3 2 1
S 2 : v (t ) v(t ) z (t )
1 0 0 . (3)
q (t ) 0.5 2 v (t )
a) Give the transfer function G1(s) = Z(s)/U(s) of the subsystem S1, considering U(s) and Z(s)
as the Laplace transforms of u(t) and z(t) respectively;
b) Give the transfer function G2(s) = Z(s)/U(s) of the subsystem S2, considering Z(s) and Q(s)
as the Laplace transforms of z(t) and q(t) respectively;
c) Give the transfer function of the complete system: G(s) = Z(s)/R(s), considering R(s) and
Z(s) as the Laplace transforms of r(t) and z(t) respectively.
d) Obtain the steady state value of the output z(t) when a step of amplitude 25 is applied
at the input r(t).
Question 4 (3.5% + 3.5% + 4% + 4% = 15%)
Consider the Nyquist plot shown in Figure 4:
a) Determine with this diagram the gain margin (sketch this figure on a page of your
notebook and show how this value is obtained).
b) Determine with this diagram the phase margin (sketch this figure on a page of your
notebook and show how this value is obtained).
c) Discuss about the stability of this closed loop system.
d) The intersection of the loop in the first quadrant is in (2.17, 1.49). What is the new
coordinate of this intersection if the gain of the system is multiplied by 10 ? Justify your
answer.
Figure 4: Nyquist plot for question #4
Question 5 (5% + 5% + 2.5% + 12.5% = 25%)
Consider the controlled system shown in Figure 5, where:
64
G(s) (4)
s s 4
3
with the Bode diagram given in Figure 6.
Figure 5: Block diagram for question #5
a) Suppose that GC(s) = Kp. Obtain the range of gain Kp for which the system is stable.
b) Suppose that GC(s) is a proportional compensator defined by GC(s) = Kp. Obtain the
gain Kp such that the closed loop system exhibit a 10% overshoot on the transient
response. Explain how you find this gain.
c) What is the velocity constant error of the system with the proportional compensator
obtained in b).
d) Suppose now that GC(s) is a lag compensator. Design this compensator such that the
closed loop system exhibit a 10% overshoot on the transient response and have a
velocity constant error 5 times higher than the position constant error obtained in c) ?
Clearly state each step of your design approach.
Figure 6: Bode diagram of the system given in question #5