CONFIDENTIAL EE/AUG 2022/ESE559

UNIVERSITI TEKNOLOGI MARA

FINAL ASSESSMENT
FINAL EXAMINATION

COURSE : MODERN CONTROL SYSTEM IN ELECTRICAL

ENGINEERING

COURSE CODE : ESE559

EXAMINATION : AUG 2022

QUESTION NO. : 1, 2, 3, 4

TIME : 3 HOURS

INSTRUCTIONS TO CANDIDATES

1. This is an open book assessment.

2. Make sure your name and student ID is on the answer script including the graph.

3. Scan your completed answers clearly.

4. Submit your answer script as PDF file to Google Classroom or any other platform chosen by your
lecturer.

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

6. Practice integrity when attempting to answer.

7. Please 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 7 printed pages

© Hak Cipta Universiti Teknologi MARA CONFIDENTIAL

CONFIDENTIAL EE/AUG 2022/ESE559

QUESTION 1

Self-guided vehicles are used in factories to transport products from station to station. One
method of construction is to embed a wire in the floor to provide guidance. Another method is
to use an on-board computer and laser scanning device. Bar coded reflective devices at
known locations allow the system to determine the vehicle’s angular position. This system
allows the vehicle to travel anywhere, including within buildings.

Figure Q1 shows a simplified block diagram of the vehicle’s bearing control system. As a
Design Engineer, you were asked to solve the following problems.

Desired Actual
bearing angle bearing angle

+
K
_

Figure Q1

a) Sketch the locus of roots (in colour) of the closed loop system as K varies from zero to
infinity, in the s-plane. Indicate the asymptotes, break points on the real axis and cross-
over points at the imaginary axis.

(14 marks)

b) For the same system in Q1a, the Design Engineer sets the actual bearing angle to have a
15% overshoot and it is desired to obtain the static error constant Kv to be improved by a
factor of 10.

Determine the dominant poles if the natural frequency is 1.45 rad/s. Then, calculate the
gain K and the static error constant Kv for the uncompensated system.

Next, using the above information, design a compensator using root locus method so that
the desired steady state error can be achieved. Obtain the compensator zero if the
compensator pole is selected at - 0.01. Finally, determine the open loop transfer function
of the compensated system along with the appropriate gain, KKc.

(11 marks)

c) Based on your results, conclude and show the improvement based on the calculation of
steady state errors for both before and after the compensation.

(4 marks)

© Hak Cipta Universiti Teknologi MARA CONFIDENTIAL

CONFIDENTIAL EE/AUG 2022/ESE559

QUESTION 2

A unity feedback system is given with the following open-loop transfer function in Figure Q2.

R(s) + 40K C(s)

 s + 6  s + 40  s + 80 
-

Figure Q2

a) For the uncompensated system in Figure Q2, construct the Bode plot with starting
frequency () at 0.1 rad/s, at a gain (K) of 3,300.
(11 marks)

b) It is desired to improve the system in Figure Q2 to yield a six-fold reduction in steady-

state error, a percentage overshoot of 17% and 11˚ correction factor. Identify a
suitable compensator to achieve the required specifications, using Frequency
Response technique.

Finally, draw the Bode plot (Magnitude only) of the compensated system, and
determine the compensated bandwidth frequency. If the required bandwidth
frequency is 8.7 rad/sec, compare and evaluate the performance.
(18 marks)

© Hak Cipta Universiti Teknologi MARA CONFIDENTIAL

CONFIDENTIAL EE/AUG 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) 
s 2  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 Bandwidth 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/AUG 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 sin 𝑎
{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/AUG 2022/ESE559

UNIVERSITI TEKNOLOGI MARA

FINAL ASSESSMENT
FINAL EXAMINATION

COURSE : MODERN CONTROL SYSTEM IN ELECTRICAL

ENGINEERING

COURSE CODE : ESE559

EXAMINATION : AUG 2022

QUESTION NO. : 1, 2, 3, 4

TIME : 3 HOURS

INSTRUCTIONS TO CANDIDATES

1. This is an open book assessment.

2. Make sure your name and student ID is on the answer script including the graph.

3. Scan your completed answers clearly.

4. Submit your answer script as PDF file to Google Classroom or any other platform chosen by your
lecturer.

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

6. Practice integrity when attempting to answer.

7. Please 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 7 printed pages

© Hak Cipta Universiti Teknologi MARA CONFIDENTIAL

CONFIDENTIAL EE/AUG 2022/ESE559

QUESTION 3

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

1 0 1 1
𝑥̇ = [0 −3 0 ] 𝑥 + [1] 𝑢
2 0 12 0
𝑦 = [1 2 3]𝑥

Discuss the controllability and observability of the system.

(8 marks)

b) The differential equation of a closed-loop system is given as follows. Determine the

𝑌(𝑠)
transfer function . Then, convert it to state space equation.
𝑅(𝑠)

𝑦⃛ + 2𝑦̈ + 𝑦̇ + 5𝑦 = 𝑟̇ + 2𝑟
(12 marks)

QUESTION 4

a) Give the inverse z-transform of the followings:

(i)
𝑧(𝑧 + 3)
𝐹(𝑧) =
(𝑧 + 2)2
(ii)
1 + 2𝑧 −1
𝐹(𝑧) =
(1 − 0.2𝑧 −1 )(1 + 0.6𝑧 −1 )

(8 marks)

b) A continuous-time plant system shown in Figure Q4b is driven by a zero-order hold

followed by a sampler. Given that,

10
G( s )  and T=0.05 second
(s  3)(s  8)

© Hak Cipta Universiti Teknologi MARA CONFIDENTIAL

CONFIDENTIAL EE/AUG 2022/ESE559

Figure Q4b

(i) Determine the pulse transfer function of the system.

(ii) Determine the static error constant and steady-state error of the system for a step
input.

(14 marks)

END OF QUESTION PAPER

© Hak Cipta Universiti Teknologi MARA CONFIDENTIAL

CONFIDENTIAL EE/AUG 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) 
s 2  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 Bandwidth 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/AUG 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 sin 𝑎
{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