SECTION A: GROUP SUBMISSION

1. Identify the components described in the process and draw them in a system block
diagram. Describe how the mass of the steel plate affects the system. (7 Marks)
Answer:

1 1 1
∑❑ G K ∑❑ R +SL
KT
JS +B S

Kb

KE Kh

 Motor Trans func Gm

KT
Gm=
(R +SL)+( JS+ B)+ K T K b

 Total Inertia(J)= Load Inertia(JL )+Motor Inertia (JM)

Y (s ) G∗K h K T
 E ( s) = ( Feedback
s [ R+ SL )+ ( JS+ B )+ K T K b ]

Y (s ) G∗K h K T
 R (s ) = (
s [ R+ SL )+ ( JS+ B )+ K T K b ] + K T K E K h∗G

2. Draw up the performance specifications for this system. Since the system is under
actuated, discuss the choice of the appropriate output variable and the implication
this has on the system performance. (8 Marks)
Answer:

3. Develop realistic, complete (nonlinear) physical and mathematical models of the

system. All assumptions and necessary approximations used must be clearly stated.
 Document the modeling process as well as any design-related decisions that you
made. (12 Marks)
Answer:

4. Analyse the basic performance of the uncontrolled plant both in time and frequency
domains. Compare the time responses of the linear and nonlinear suspension
models to a variety of realistic input signals. Is control necessary? Can the system
design be improved to remove the need for control? If the answer is yes, how is this
achieved? (15 Marks)
Answer:

5. Conduct a full stability analysis both for the linear and nonlinear uncontrolled system.
(8 Marks)
Answer:

6. If the performance specifications cannot be met, design closed-loop controllers using:

a. Proportional-Integral-Derivative (PID) control technique (10 Marks)
Answer:

b. Root-Locus Technique (10 Marks)

Answer:

7. Evaluate the controlled system analytically and by simulation. (5 Marks)

Answer:

SECTION B: INDIVIDUAL SUBMISSION

8. Discuss the instrumentation needed to implement your controller fully. Discuss what
may be necessary if one of the states is not measurable via a standard instrument.
(Marks: 10)
Answer:

9. Discussion of the results (Marks: 20)

Answer:
 10. Conclusions (Marks: 5)
Answer: