CONFIDENTIAL EE/FEB 2022/ESE559

UNIVERSITI TEKNOLOGI MARA

FINAL ASSESSMENT
FINAL EXAMINATION

COURSE : MODERN CONTROL SYSTEM IN ELECTRICAL

ENGINEERING

COURSE CODE : ESE559

EXAMINATION : FEB 2022

QUESTION NO. : 1, 2, 3, 4

TIME : 3 HOURS

INSTRUCTIONS TO CANDIDATES

1. This is an open book assessment.

2. Identify related topics from lecture slides / monograph / tutorials.

3. Make sure your name and student ID is on the answer script.

4. Scan and convert the completed answers using suitable mobile application.

5. Submit your answer script as single PDF file (two sets) through online platform.

6. Follow the allocated time window for submission of answer scripts given by the course coordinator.

7. Practice integrity when attempting to answer and make use of your time wisely.

8. Please check to make sure that this assessment pack consists of:

 the Question Paper

 a two– page Appendix

DO NOT TURN THIS PAGE UNTIL YOU ARE TOLD TO DO SO

This assessment paper consists of 8 printed pages

© Hak Cipta Universiti Teknologi MARA CONFIDENTIAL

CONFIDENTIAL EE/FEB 2022/ESE559

QUESTION 1

a) Root locus is a plot of the possible closed-loop poles locations as parameter K is varied
from zero (0) to infinity (∞). It is a powerful method of analysis which normally used to
describe the performance of a system qualitatively as various parameters are
changed. For each of the given Figure Q1a (i) – (iii), state whether the root locus
sketch is correct or not. Explain the reason for your answer.
(6 marks)

< > X < ><

Repeated
poles

(i) (ii)
>

<

(iii)
Figure Q1a

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CONFIDENTIAL EE/FEB 2022/ESE559

b) In your second week of work, you were asked by a Senior Design Engineer to work on
the servo-control system for one of the joints of a robot that Company B was making.
Figure Q1b is the block diagram for the system.

Figure Q1b

i. Derive and prove that the transfer function of the plant (“Motor and arm”) can be
written as follows.
0.15
G (s) =
s(s + 1)(s + 5)
(2 mark)

ii. Draw the root locus (in colour) of the closed loop system as K varies from zero to
infinity on the s-plane. Calculate the asymptotes, break points on the real axis and
cross-over points at the imaginary axis.
(9 marks)

c) For the same system in Question 1(b), the senior engineer selects the dominant poles
at -0.435+ j0.581 to produce a percentage overshoot of 10% (ζ=0.59) from the step
response.

i. As a junior engineer, you decide to reduce the current settling time by a factor of
5. Compute the new dominant poles 𝑠𝑑𝑛 of the system.
(2 marks)

ii. In order to achieve the desired target, you choose to design a cascade
compensator where the compensator’s zero is placed at -0.5. Compute the
location of your compensator’s pole and write the open loop transfer function of
the compensated system with the new gain.

(11 marks)

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CONFIDENTIAL EE/FEB 2022/ESE559

QUESTION 2

a) Given a position control system in Figure Q2a. Identify the value of the pre-amplifier
gain, K to yield a damping ratio of 0.456 or 20% of overshoot in the transient response
for a step input. Construct the Bode diagram for the adjusted gain, K.

+
-

Figure Q2a
(11 marks)

b) For the same system, design a compensator to improve the transient response that
has peak time, T p = 0.2 seconds, 20% overshoot and static error constant with ramp
input, 𝐾𝑣 = 31.49 .
(15 marks)

c) Identify the bandwidth frequency, 𝑤𝑏𝑤 of the uncompensated and compensated

system from your magnitude plots. Explain how the compensation affects the
performance of the control system.
(6 marks)

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CONFIDENTIAL EE/FEB 2022/ESE559

APPENDIX 1

Time Response:

Underdamped Second Order Systems

Settling Time (within 2% of steady 4

Ts 
state value  wn
𝜋
Peak Time 𝑇𝑝 =
𝜔𝑑

Damped Frequency 𝜔𝑑 = 𝜔𝑛 √1 − 𝜁 2

 ln(% OS / 100)
Damping Ratio 
 2  ln 2 (%OS / 100)
 n2
Closed-Loop Transfer Function T (s)  2
s  2  n s   n2

Frequency Response:

wBW 
Ts 
4
1  2  2
4 4  4 2  2


 1  2  
2
4 4  4 2  2
Closed-Loop Bandwith Tp 1   2

 wn 1  2  2
4 4  4 2  2

2
Phase Margin  m  tan 1
 2 2  1  4 4

Maximum Phase Shift of 1  

 max  sin 1  
Compensator
1  
1
Magnitude of ωmax M max 


© Hak Cipta Universiti Teknologi MARA CONFIDENTIAL

CONFIDENTIAL EE/FEB 2022/ESE559

APPENDIX 2

TABLE OF LAPLACE AND Z-TRANSFORM

Laplace Transform Time Function, f(t) z-Transform, F(z)

F(s) Number sequence, {f(k)}
𝑧
~ {1}
𝑧− 1
~ 𝑧
{k}
(𝑧 − 1)2
~ 𝑧(𝑧 + 1)
{k2}
(𝑧 − 1)3
~ 𝑧
{ak}
𝑧−𝑎
~ 𝑎𝑧
{kak}
(𝑧 − 𝑎)2
~ 𝑧 sin𝑎
{sin ak}
𝑧2 − 2𝑧 cos 𝑎 + 1
~ 𝑧(𝑧 −cos 𝑎)
{cos ak} 2
𝑧 − 2𝑧 cos 𝑎 + 1
1 𝛿(t) 1
1 𝑧
u(t)
s 𝑧− 1

1 𝑇𝑧
t
s2 (𝑧 − 1)2

1 𝑧
e  at
sa 𝑧 − 𝑒 −𝑎𝑇

a 𝑧 sin(𝑎𝑇)
sin( at)
s  a2
2 𝑧2 − 2𝑧 cos(𝑎𝑇) + 1

s 𝑧(𝑧−cos(𝑎𝑇))
cos(at)
s  a2
2 𝑧2 − 2𝑧 cos(𝑎𝑇) + 1

© Hak Cipta Universiti Teknologi MARA CONFIDENTIAL

CONFIDENTIAL EE/FEB 2022/ESE559

UNIVERSITI TEKNOLOGI MARA

FINAL ASSESSMENT
FINAL EXAMINATION

COURSE : MODERN CONTROL SYSTEM IN ELECTRICAL

ENGINEERING

COURSE CODE : ESE559

EXAMINATION : FEB 2022

QUESTION NO. : 1, 2, 3, 4

TIME : 3 HOURS

INSTRUCTIONS TO CANDIDATES

1. This is an open book assessment.

2. Identify related topics from lecture slides / monograph / tutorials.

3. Make sure your name and student ID is on the answer script.

4. Scan and convert the completed answers using suitable mobile application.

5. Submit your answer script as single PDF file (two sets) through online platform.

6. Follow the allocated time window for submission of answer scripts given by the course coordinator.

7. Practice integrity when attempting to answer and make use of your time wisely.

8. Please check to make sure that this assessment pack consists of:

 the Question Paper

 a two– page Appendix

DO NOT TURN THIS PAGE UNTIL YOU ARE TOLD TO DO SO

This assessment paper consists of 8 printed pages

© Hak Cipta Universiti Teknologi MARA CONFIDENTIAL

CONFIDENTIAL EE/FEB 2022/ESE559

QUESTION 3

a) The signal flow graph of the state space equation of a system is shown in Figure Q3a.
Construct the state space representation in phase variable form, controllable and
observable canonical forms.

Figure Q3a
(5 marks)

b) A state space representation of a system is given as,

𝑥̇ = [−4 −1.5] 𝑥 + [2] 𝑟

4 0 0

𝑦 = [1.5 0.625]𝑥

(i) Examine the stability of the system and show the closed-loop poles on s-plane.
(ii) Determine the transfer function of the system. Use the formula, T(s) = C [sI-A]-1B
+ D.
(15 marks)

© Hak Cipta Universiti Teknologi MARA CONFIDENTIAL

CONFIDENTIAL EE/FEB 2022/ESE559

QUESTION 4

a) Draw the block diagram of a closed loop control system that consists of a simple gain
K, plant transfer function 𝐺1 (𝑠) and a unity feedback in discrete-time system. Explain
the symbols and/or block that you need to add to make it discrete-time system.

(3 marks)

b) For the same system in Question 4(a), given that the zero-order hold transfer function
and the plant’s transfer function are given as,

1 − 𝑒 −𝑇𝑠 1
𝐺𝑍𝑂𝐻 (𝑠) = , 𝐺1 (𝑠) = .
𝑠 (𝑠 + 2)(𝑠 + 3)

i. Solve the pulse transfer function 𝐺(𝑧) for sampling time equals to 0.1s.
(13 marks)

ii. Solve the error static constant and steady state error for the system with the
same sampling time.

(2 marks)

END OF QUESTION PAPER

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CONFIDENTIAL EE/FEB 2022/ESE559

APPENDIX 1

Time Response:

Underdamped Second Order Systems

Settling Time (within 2% of steady 4

Ts 
state value  wn
𝜋
Peak Time 𝑇𝑝 =
𝜔𝑑

Damped Frequency 𝜔𝑑 = 𝜔𝑛 √1 − 𝜁 2

 ln(% OS / 100)
Damping Ratio 
 2  ln 2 (%OS / 100)
 n2
Closed-Loop Transfer Function T (s)  2
s  2  n s   n2

Frequency Response:

wBW 
Ts 
4
1  2  2
4 4  4 2  2


 1  2  
2
4 4  4 2  2
Closed-Loop Bandwith Tp 1   2

 wn 1  2  2
4 4  4 2  2

2
Phase Margin  m  tan 1
 2 2  1  4 4

Maximum Phase Shift of 1  

 max  sin 1  
Compensator
1  
1
Magnitude of ωmax M max 


© Hak Cipta Universiti Teknologi MARA CONFIDENTIAL

CONFIDENTIAL EE/FEB 2022/ESE559

APPENDIX 2

TABLE OF LAPLACE AND Z-TRANSFORM

Laplace Transform Time Function, f(t) z-Transform, F(z)

F(s) Number sequence, {f(k)}
𝑧
~ {1}
𝑧− 1
~ 𝑧
{k}
(𝑧 − 1)2
~ 𝑧(𝑧 + 1)
{k2}
(𝑧 − 1)3
~ 𝑧
{ak}
𝑧−𝑎
~ 𝑎𝑧
{kak}
(𝑧 − 𝑎)2
~ 𝑧 sin𝑎
{sin ak}
𝑧2 − 2𝑧 cos 𝑎 + 1
~ 𝑧(𝑧 −cos 𝑎)
{cos ak} 2
𝑧 − 2𝑧 cos 𝑎 + 1
1 𝛿(t) 1
1 𝑧
u(t)
s 𝑧− 1

1 𝑇𝑧
t
s2 (𝑧 − 1)2

1 𝑧
e  at
sa 𝑧 − 𝑒 −𝑎𝑇

a 𝑧 sin(𝑎𝑇)
sin( at)
s  a2
2 𝑧2 − 2𝑧 cos(𝑎𝑇) + 1

s 𝑧(𝑧−cos(𝑎𝑇))
cos(at)
s  a2
2 𝑧2 − 2𝑧 cos(𝑎𝑇) + 1

© Hak Cipta Universiti Teknologi MARA CONFIDENTIAL