ME451: Control Theory (Radcliffe)

Fall 1994 Final Exam Name page 1 of 6

(5 pts) 1. a) For the differential equation below, write the corresponding transfer function in the box.
3y˙ + 2y = f (t)

Transfer Function

(5 pts) b) For the transfer function below, write the corresponding ordinary differential equation in the
box provided.
X(s) 4
= 2
U(s ) s + s + 16

Differential Equation

(5 pts) c) For the state-equations below, write the transfer function X2 (s) U(s) in the box provided.
Simplify your result as much as possible and put it in the box provided.
 x˙1 (t)   0 1   x1 (t)   0 
 x˙2 (t)   −1 −2  x 2 (t) +  2  u(t)
= X2 (s)
=
U(s)

Transfer Function

pts) d) For the block diagram below, what is the system transfer function C(s) R(s). Simplify as much
as possible and express the result as the ratio of two polynomials.
R(s) + E(s) 4 C(s)
C(s) + G(s ) =
= - (s + 4)
R(s)
1
Transfer Function H(s ) =
(s + 6)

______/20 pt’s
 ME451: Control Theory (Radcliffe)
Fall 1994 Final Exam Name page 2 of 6

2. A chemical process has the thermal differential equation for temperature, T = T (t) (deg.F) versus
input flowrate, u = u(t) (gal/min) shown below.

T˙ = −3T + 2T 2 u + 100u

(5 pts) a) Find the equilibrium flowrate, u(t) = uo corresponding to an operating temperature of

To = 10oF and enter it in the box below.

uo = gal/min

(5 pts) b) Define a new set of variables about which a linear approximation for the above equation can be
derived.

(10 pts) c) Find the linearized ordinary differential equation about the equilibrium point found in part a) and
enter your result in the box below

Linearized Differential Equation(s)

______/20 pt’s
 ME451: Control Theory (Radcliffe)
Fall 1994 Final Exam Name page 3 of 6

6K
(10 pts) 3. For an open-loop system transfer function, KG(s) = , plot the root locus diagram
s(s + 2)(s + 3)
on the axes below for 0 < K < ∞ . When they exist, how features such as asymptotes, breakaway
points, angles of departure, instability frequencies, etc.

-2

-4

-6
-10 -8 -6 -4 -2 0 2

______/10 pt’s
 ME451: Control Theory (Radcliffe)
Fall 1994 Final Exam Name page 4 of 6

K(s + 15)
4. For an open-loop system transfer function, KG(s) = , with K = 1, the Bode
s(s + 2)(s + 3)
Diagram below was plotted.
40

20

0
Gain dB

-20

-40

-60

-80
10 -1 100 101 102
Frequency (rad/sec)

-80

-100

-120
Phase deg

-140

-160

-180

-200

-220
10 -1 100 101 102
Frequency (rad/sec)

pts) a) Is the system stable at K = 1? YES or NO (circle one)

pts) b) What is the Gain Margin? GM = dB

pts) c) What is the Phase Margin? PM = deg

pts) d) What is the maximum stable value of K? Kmax = dB

pts) e) What value of K gives a phase margin of 45 degrees? K45 = dB

______/20 pt’s
 ME451: Control Theory (Radcliffe)
Fall 1994 Final Exam Name page 5 of 6

5. For the transfer function,

(s + 1)
G(s) =
(s + 10)
(10pts) Sketch the Bode Diagram on the graph below first using straight line asymptotes for magnitude
and phase, then sketching the “exact “ response.

20

-20

-40

-60
10-2 10-1 100 101 102
Frequency (rad/sec)

180

90

-90

-180
10-2 10-1 100 101 102
Frequency (rad/sec)

______/10 pt’s
 ME451: Control Theory (Radcliffe)
Fall 1994 Final Exam Name page 6 of 6

6. The block diagram below represents an automobile speed control. The driver sets the desired
speed, V d (s) , which is compared to the actual speed of the automobile, V(s), in order to
develop the error, E(s), which is the input to the control, Gc (s).
control automobile
V d (s) + E(s) 1 V(s)
+ GC (s)
(s + 5)
-
(5 pts) a) For proportional control, GC (s) = K p = 4 , what is the steady-state automobile speed error for a unit
step input?

Steady-State Speed Error

(5 pts) b) For proportional control, GC (s) = K p = 4 , what is the system time constant?

(sec)

System Time Constant

KI 1
(5 pts) c) For integral control, GC (s) = = , what is the steady-state automobile speed error for a unit step
s s
input?

Steady-State Speed Error

KI
(5 pts) d) For integral control, Gc (s) = , what is the maximum stable value of KI ?
s

KI =

______/20 pt’s