CONFIDENTIAL EM/JAN 2018/MEC522 UNIVERSITI TEKNOLOGI MARA FINAL EXAMINATION COURSE CONTROL ENGINEERING COURSE CODE : MEC522 EXAMINATION : JANUARY 2018 TIME : 3HOURS INSTRUCTIONS TO CANDIDATES 1. This question paper consists of five (5) questions. 2, Answer ALL questions in the Answer Booklet. Start each answer on a new page. 3. Do not bring any material into the examination room unless permission is given by the invigilatr. 4, Please check to make sure that this examination pack consists of ') the Question Paper ji) an Answer Booklet — provided by the Faculty ii) _@ Graph Paper ~ provided by the Faculty iv) a Three Cycles Log Graph Paper — provided by the Faculty 5. ‘Answer ALL questions in English. DO NOT TURN THIS PAGE UNTIL YOU ARE TOLD TO DO SO This examination paper consists of 6 printed pages (© Hak Cipta Universiti Teknologi MARA CONFIDENTIALCONFIDENTIAL 2 EMIJAN 2018/MEC522 QUESTION 1 a) With an appropriate example, briefly discuss the term degree of freedom (DOF) and order of a physical system in control engineering. What do these terminologies imply? [CO1PO2IC2] (5 marks) b) Consider the two (2) DOF systems that consist of Mass 1 and Mass 2 shown in jure Q1(b). By assuming the friction of each mass with the ground support is negligible, i) Apply Newton's 2" Law and hence derive the governing equations in configuration form. ii) Express the system's equation of motion in second-order matrix form, iii) Obtain the state-space representation of the system. [CO2/PO3/C4] (15 marks) Figure Q1(b) @Hak Cipta Universiti Teknologi MARA. CONFIDENTIALCONFIDENTIAL 3 EMIJAN 2018/MEC522 QUESTION 2 a) _ Explain the effect of an increasing damping ratio to the dynamic response of a second order control system. [CO1/PO2/C2] (5 marks) b) Figure Q2(b) show a block diagram of second order unity feedback control system with Proportional-Derivative control action. The system’s damping ratio & of 0.5 is required and the steady state error to a unit step input must not exceed 5%. cs) > Figure Q2(b) i) Analyze the performance of Proportional control action alone. li) Analyze the performance of Proportional-Derivative acting together. i) Comment on the different between the Proportional and Proportional-Derivative action combine together. [CO2/PO3/C4] (15 marks) ‘© Hak Cipta Universiti Teknologi MARA, CONFIDENTIALCONFIDENTIAL 4 EM/JAN 2018/MEC522 QUESTION 3 a) Briefly explain the different between linear system and nonlinear in control system analysis. Please support your answer with an example. [CO1/PO2/C2] (5 marks) b) A unity feedback control system has a simplified overall closed loop transfer function as below. ¥(s) Z Rs) s(0.2s+1)(0.05s +1) It is required, that the system Phase Margin is set to 40°. i) — Calculate the value of gain K. ii) Use the value in i), evaluate the Gain Margin of the system. ili) Determine the maximum value of gain K before the system exhibits unstable response. [CO2/PO3/C4] (15 marks) QUESTION 4 a) Discuss briefly the different effect of adding poles and zeros to G(s)H(s) on the root locus plot. [COwPO2/C2] (5 marks) b) Aunity feedback control system has a simplified open loop transfer function given as K GH(s)=———___ (s+D5+4)(5+5) where gain K is a positive constant. i) Sketch the root loci as the gain K increases from zero to infinity by showing all the necessary steps. li) At what value of gain K the system becomes unstable. (© Hak Cipta Universiti Teknologi MARA CONFIDENTIALCONFIDENTIAL 5 EM/JAN 2018/MEC522 ili) At the point of instability, determine the frequency of oscillation of the system iv) To ensure the system is stable for any value of gain K what element should be included to the system? [CO2/PO3IC4] (15 marks) QUESTION 5 a) Describe in graphical form the stability criterion of a control system in Bode Diagram [CO1/PO2IC2] (5 marks) b) Sketch the Open Loop Bode asymptotic plot showing the magnitude in dB and phase angle as a function of log frequency for the transfer function given in Figure Q5(b). Based on your Bode diagram answer the following: i) Gain margin and phase margin of the system. ii) Comment on the stability of the system, ili) What element should be included to stabilize the system? [CO2/PO3/C4] (15 marks) cls) 10 s(P+04s+4 Figure Q5(b) END OF QUESTION PAPER (© Hak Cipta Universiti Teknologi MARA CONFIDENTIAL