EXAMINATION SOLUTIONS

Module Code: UFEE5W -20-3 Examination

Session:

Module Description: CONTROL SYSTEM DESIGN

Page of

Examiner: Quan Zhu

Question
Solution Marks
1
1) From one of the Laplace transform properties, with all zero initial 2

conditions, , it gives .

Therefore the system transfer function, the ratio of output against input, is
obtained as
3

1
2) Typical 2nd order transfer function specified by damping ratio and
undamped natural frequency can be expressed as

Therefore from the relationship of equalling the associated coefficients

on the both sides of the last two equations above, it gives
2

That is

3) The damped natural frequency is obtained by

2

The rough plot is shown in Figure S1

 3

Figure S1

4) As the transfer function can be factorised into

3

The two poles are 2

5) As the conjugate poles are both negative in real part, the system is 2+3
stable and has decayed oscillatory response to stimulations.
Question
Solution Marks
2
1) The larger gain (k), the larger thrust, and the system will respond 2+3
quicker. The large value of the time constant (T), the slower response of
the system output

2) This frequency transfer function can be obtained by substituting

in its Laplace transfer function. That is

1
The amplitude is given by

The angle is given by

3) The corner frequency is , therefore its amplitude is

1+2+2
and phase shift

4) In Bode diagrams, the amplitude is defined as

2

The Bode diagram is shown in Figure S2

3
|*|

0 
1/3


0 

-45

-90

Figure S2
5) The step to step procedure is listed below
Step 1 Obtain the output transfer function with step input as below
1

Step 2 Taking inverse Laplace transform to obtain time solution o(t), by

the general formula

From step 1, there are two roots/poles

1

Therefore

Step 3 With algebra operations on the above equation, it gives

1
Questio
Mark
n Solution
s
3
1.1) Let e(t) is the input to the PID controller, the output u(t) from the 3
controller is given by

where Kp is the proportional gain, Ti is the integral time and Td is the

derivative time.
2
1.2) Taking Laplace transform of the PID controller, it gives

1.3) The term derivative (D) plays a ‘lead compensation’ to achieve the
desired result through the merits of its phase lead contribution and lag
2
compensation accomplishes the result through the merits of its attenuation
property at high frequencies. Lead compensation improves transient response,
but it requires an additional increase in gain to offset the attenuation inherent
in the lead network. The term integral (I) plays a ‘lag compensation’ to
improve steady state accuracy, but it may cause slow system response.
4
2) With reference to Q3, the transfer functions can be determined as below

2+2

3) The Bode diagram of the frequency response is sketched in Figure S3.

With reference to the figure, the low frequency response characteristics are
specified by integral functions and the high frequency response is determined
by derivative functions
Figure S3
Question
Solution Marks
4
3
1) The highest power of the Laplace operator s in the denominator
polynomial of the transfer function is 4. Therefore this is a 4order
dynamic model. 3

2) The characteristic equation of the model is to set up the denominator

polynomial as zero

3) The stability is examined by forming Routh Array as below

3

2+3
4) Inspection of the first column of the array there is one sign change.
This indicates the characteristic equation having one unstable root.
Therefore the system is unstable.
3
5) As only one unstable pole in the system, it must a real (complex poles
are only appeared as a conjugate pair). The system output response under
a small disturbance will be monotonically increased, the rough plot is
shown in Figure S4

Figure S4
Question
Solution Marks
5

1) The characteristic equation of the closed loop system is

1

The Routh Array is formed as follows 2

By resolving 3

to find the system stable condition of .

2) Therefore at the system output will have constant oscillation 2+3

and will make the system operation going bust (unstable).

3) Expand the requested two poles into a polynomial, and equal it to the
standard 2nd order dynamic as below
2

That is
2

The requested characteristic equation is accordingly expressed as

2

By equalling to give the 2+2

controller gain of k = 40-10 = 30.
Question
Solution Marks
6
1) With reference to Figure Q6, the transfer function can be determined
as follows

Therefore (s-1) is the zero in the right-half s plane. 2

2) The step to step procedure is listed below

Step 1 Obtain the output transfer function with a unit impulse input as
below

Step 2 Taking inverse Laplace transform to obtain time solution y(t), by

the general formula

From step 1, there are two roots/poles

2

Therefore

Step 3 With algebra operations on the above equation, it gives 3

5
3) The designed closed loop feedback control system is shown in Figure
S6

R(s) X(s) Y(s)

C(s) G(s)

Figure S6
 5
4) The closed loop transfer function can be determined by inspection of
Figure S6 as below