CARIBBEAN MARITIME UNIVERSITY

Semester I  Semester II □ Summer School □ Re-sit/Supplemental □

Final Examinations: December  April □ June □ August □ 2018/2019

Campus: Palisadoes  Port Royal □ Sam Sharpe □

Course Code and Title: C702 – Controls II Programme: BEng. IS Year 4 FT

Date: Monday, December 10, 2018 Time: 1:00 p.m. – 4:00 p.m.

Duration: 3 hours Paper No: N/A

Materials required:
Answer booklet: Normal  Special □ Not required □
Calculator □ Programmable □ Non-Programmable □ (Where Applicable)
Multiple Choice Answer Sheets: Numerical □ Alphabetical □ 1-100 □
Auxiliary/Other material(s) – Please Specify: _________________________________________

Candidates are permitted to bring the following items to their desk: Pencil, Pen, Ruler, School
Identification card and Examination card.

Instructions to Candidates: This Paper has 6 pages, 4 questions and 1 section.

1. Candidates are required to answer ALL questions.

2. Please read each question carefully before attempting to answer.

3. Show all the steps in your working.

4. Keep all parts of the question together.

5. Relevant tables are given at the end of the question paper.

6. Pass mark is 50%.

Lecturer(s): Milton Richardson

Caribbean Maritime University Course Code C702 Semester 1

DO NOT WRITE OR TYPE AT THE BACK OF THIS SHEET: USE ONE SIDE ONLY.
INSTRUCTIONS: Each page must be signed by the Chief Examiner and another, where applicable the External Examiner. Completed forms
should be handed to the Registrar. Where applicable the EXTERNAL EXAMINER is required to sign the question paper and return it with
comments, if any, (on a separate sheet), to the Registrar.

……………………............... ...............................
Chief Examiner External Examiner
(Where
Applicable)
Date………………................ Date…………….....

……………………................
Second Examiner

Date………………................
 Page 2 of 6

Answer ALL questions.

Question 1 - [25 Marks]

(a) State the the Routh-Hurwitz criterion for stability of a closed-loop control system.
[1 Mark]
(b) For the closed loop system shown in figure 1, using the Routh-Hurwitz criterion, tell how
many closed-loop poles of the system lie in the left half-plane, in the right half-plane, and
on the jω-axis.
[15 Marks]

Figure 1

(c) Suppose the characteristics equation of a closed-loop control system was found to be s 3 +
18s2 + 77s +K. Find the range of K for the system that will cause it to be stable, unstable,
and marginally stable. Assume K>0.
[9 Marks]

Question 2 - [25 Marks]

(a) Write the differential equation for the system shown in figure 2.
[5 Marks]

Figure 2

(b) For the spring-mass system shown in figure 3, given that K= 6 N/m, f v = 5 N-s/m, and M =
1kg, where K, fv and M are spring constant, coefficient of viscous friction, and mass
respectively.

(i) Determine the transfer function, G(s) = X1(s)/F(s).

[15 Marks]
(ii) Obtain the poles of the system.
[5 Marks]

Caribbean Maritime University Course Code C702 Semester 1

DO NOT WRITE OR TYPE AT THE BACK OF THIS SHEET: USE ONE SIDE ONLY.
INSTRUCTIONS: Each page must be signed by the Chief Examiner and another, where applicable the External Examiner. Completed forms
should be handed to the Registrar. Where applicable the EXTERNAL EXAMINER is required to sign the question paper and return it with
comments, if any, (on a separate sheet), to the Registrar.

……………………............... ...............................
Chief Examiner External Examiner
(Where
Applicable)
Date………………................ Date…………….....

……………………................
Second Examiner

Date………………................
 Page 3 of 6

Figure 3

Question 3 - [25 Marks]

A system which has a plant transfer function given by .

(a) Find the state equations and output equation for the phase-variable representation of the
transfer function.
[15 Marks]
(b) Determine whether the system is observable.
[5 Marks]
(c) Determine whether the system is controllable.
[5 Marks]

Question 4 - [25 Marks]

(a) Given the function, , find the sampled time function.

[10 Marks]
(b) Considering the cascaded zero-order hold (z.o.h.) system shown in figure 4, find the

sampled-data transfer function, if the sampling time, T is 0.5 seconds.

[10 Marks]

Figure 4

(c) Write the state equations for the plant described by the following differential equation:

[5 Marks]

Total = 100 Marks

*****END OF PAPER*****

Caribbean Maritime University Course Code C702 Semester 1

DO NOT WRITE OR TYPE AT THE BACK OF THIS SHEET: USE ONE SIDE ONLY.
INSTRUCTIONS: Each page must be signed by the Chief Examiner and another, where applicable the External Examiner. Completed forms
should be handed to the Registrar. Where applicable the EXTERNAL EXAMINER is required to sign the question paper and return it with
comments, if any, (on a separate sheet), to the Registrar.

……………………............... ...............................
Chief Examiner External Examiner
(Where
Applicable)
Date………………................ Date…………….....

……………………................
Second Examiner

Date………………................
 Page 4 of 6

Appendix

Table 1: Laplace Transforms

Caribbean Maritime University Course Code C702 Semester 1

DO NOT WRITE OR TYPE AT THE BACK OF THIS SHEET: USE ONE SIDE ONLY.
INSTRUCTIONS: Each page must be signed by the Chief Examiner and another, where applicable the External Examiner. Completed forms
should be handed to the Registrar. Where applicable the EXTERNAL EXAMINER is required to sign the question paper and return it with
comments, if any, (on a separate sheet), to the Registrar.

……………………............... ...............................
Chief Examiner External Examiner
(Where
Applicable)
Date………………................ Date…………….....

……………………................
Second Examiner

Date………………................
 Page 5 of 6

Table 2: Properties of Laplace Transform

Table 3: Partial Table of Z and S Transform

Caribbean Maritime University Course Code C702 Semester 1

DO NOT WRITE OR TYPE AT THE BACK OF THIS SHEET: USE ONE SIDE ONLY.
INSTRUCTIONS: Each page must be signed by the Chief Examiner and another, where applicable the External Examiner. Completed forms
should be handed to the Registrar. Where applicable the EXTERNAL EXAMINER is required to sign the question paper and return it with
comments, if any, (on a separate sheet), to the Registrar.

……………………............... ...............................
Chief Examiner External Examiner
(Where
Applicable)
Date………………................ Date…………….....

……………………................
Second Examiner

Date………………................
 Page 6 of 6

Table 4: Z-transform Pairs

Caribbean Maritime University Course Code C702 Semester 1

DO NOT WRITE OR TYPE AT THE BACK OF THIS SHEET: USE ONE SIDE ONLY.
INSTRUCTIONS: Each page must be signed by the Chief Examiner and another, where applicable the External Examiner. Completed forms
should be handed to the Registrar. Where applicable the EXTERNAL EXAMINER is required to sign the question paper and return it with
comments, if any, (on a separate sheet), to the Registrar.

……………………............... ...............................
Chief Examiner External Examiner
(Where
Applicable)
Date………………................ Date…………….....

……………………................
Second Examiner

Date………………................