Department of Electrical and Electronic Engineering Science

Course: B.lng: Electrical and Electronic Engineering

Module: Control Systems 4A (BHSEEA4, BHS4A)

Assessment: Test 1

Test Content: Outcome A

ECSA Outcomes Assessed: NA

Examiner: Dr. Peter Gbadega: Moderator: Prof. Dzobo

Date: 12 Mach, 2024

Number of Pages: 5

Duration: 90 minutes 40 Marks

Marks: 40

Additional Instructions:

• No textbooks or notes may be used.

• Calculators may be used.

• Please label your answers clearly.

• Use correct SI units where appropriate.

• Write your student number below and hand you your question paper with your
answer sheet.

Student Number:

Name (optional):

1|Page
 ANSWER ALL QUESTIONS
QUESTION 1 [10]
Consider the RLC circuit presented in Figure 1 with input 𝒗𝒊 (𝒕) and output 𝒗𝒐𝒖𝒕 (𝒕). Derive the
state-space equations representing the circuit. Explain why the state variables should be chosen as
𝒊𝑳 (𝒕), 𝒗𝑪𝟏 (𝒕) and 𝒗𝑪𝟐 (𝒕). Let 𝐶1 be the grounded capacitor and 𝐶2 be the other.

C2

C1

Figure 1: RLC circuit for Question 1

ANSWER

1) There are three independent energy-storing elements (one inductor and two capacitors). The

energy stored in the inductor is a function of the current (𝒊𝑳 (𝒕)) and also the enrgy stored in the

capacitor is a function of the voltage (𝒗𝑪𝟏 (𝒕) and 𝒗𝑪𝟐 (𝒕)). Hence, the minimum set of state

variable is chosen as: 𝑥(𝑡) = [𝒊𝑳 𝒗𝑪𝟏 𝒗𝑪𝟐 ]𝑇  2

Note that the state-space model representation of any dynamic control systems is expressed as:

𝑥̇ = 𝐴𝑥 + 𝐵𝑢 𝑦 = 𝐶𝑥 + 𝐷𝑢

2) Writing the equations for the energy storage components yield:

𝑑𝑖𝐿 𝑑𝑣𝐶1 𝑑𝑣𝐶2

= 𝑣𝑖 − 𝑣𝐶1 = 𝑖1 − 𝑖2 = 𝑖2 − 𝑖3 (1)
𝑑𝑡 𝑑𝑡 𝑑𝑡
2
Note that the state variables in compact form is given as: 𝑥(𝑡) = [𝒊𝑳 𝒗𝑪𝟏 𝒗𝑪𝟐 ]𝑇 

2|Page
Writing KVL around Loop 2 yields:

𝑣𝐶1 = 𝑣𝐶2 + 𝑖2 𝑖2 = 𝑣𝐶1 − 𝑣𝐶2 (2)

Writing KVL around the outer loop yields:

2
𝑖3 = 𝑣𝑖 − 𝑖2 = 𝑣𝑖 − 𝑣𝐶1 + 𝑣𝐶2 (3) 
Also 𝑖1 = 𝑖𝐿 + 𝑖3 = 𝑖𝐿 + 𝑣𝑖 − 𝑣𝐶1 + 𝑣𝐶2 (4)

Substituting the loop currents of Eqns. (2)-(4) in Eqn. (1) yields the results in the state variable

matrix form shown below:

𝑑𝑖𝐿
2
𝑑𝑡
𝑑𝑣𝐶1 0 −1 0 𝒊𝑳 1  
= [1 −2 2 ] [𝒗𝑪𝟏 ] + [1] 𝑣𝑖
𝑑𝑡 0 2 −2 𝒗𝑪𝟐 1
𝑑𝑣𝐶2
[ 𝑑𝑡 ]
2
Since 𝑣𝑜 = 𝑖2 = 𝑣𝐶1 − 𝑣𝐶2 , the output equation is given as: 
𝒊𝑳
𝑦 = [0 1 1] [ 𝒗 𝑪𝟏 ]
𝒗𝑪𝟐

3|Page
 Question 2: [10]
Consider the following Transfer Function model.

𝐶(𝑠) 𝑠 2 + 7𝑠 + 2
𝑇(𝑠) = =
𝑅(𝑠) 𝑠 3 + 9𝑠 2 + 26𝑠 + 24
1) Find its corresponding State-Variable Matrix (State-Space) model.
2) Draw the equivalent block diagram representing the Transfer Function Model in controllable
canonical form.
3) What is the nature of the relationship between each state-variable and the control input?

ANSWER
𝐶(𝑠) 𝐶(𝑠) 𝑋(𝑠) 𝐶(𝑠) 𝑋(𝑠) 1
𝑇(𝑠) = = . = 𝑠 2 + 7𝑠 + 2 =
𝑅(𝑠) 𝑋(𝑠) 𝑅(𝑠) 𝑋(𝑠) 𝑅(𝑠) 𝑠 3 +9𝑠 2 +26𝑠+24 3
𝑥1 = 𝑥 𝑥2 = 𝑥̇ = 𝑥̇ 1 𝑥3 = 𝑥̈ = 𝑥̇ 2 𝑥4 = 𝑥⃛ = 𝑥̇ 3
𝑅(𝑠) = (𝑠 3 + 9𝑠 2 + 26𝑠 + 24)𝑋(𝑠) 𝑟 = 𝑥⃛ + 9𝑥̈ + 26𝑥̇ + 24𝑥 
𝑥⃛ = −24𝑥 − 26𝑥̇ − 9𝑥̈ + 𝑟 𝑥̇ 3 = −24𝑥1 − 26𝑥2 − 9𝑥3 + 𝑟
The State-Variable Matrix (State-Space) model is shown below:
𝑥̇ 1 0 1 0 𝑥1 0
[𝑥̇ 2 ] = [ 0 0 1 ] [𝑥2 ] + [0]
̇𝑥3 −24 −26 −9 𝑥3 1
2
The output equation is given as:

𝐶 = 𝑥̈ + 7𝑥̇ + 2𝑥 = 2𝑥1 + 7𝑥2 + 𝑥3
𝑥1
𝑦 = [2 7 1] [𝑥2 ]
𝑥3 2) The equivalent block diagram
representing the Transfer
3 Function model in controllable
canonical form is shown below:

3) It is important to note that each
state-variable feeds back to the
control input r(t), through the
coefficients of the system matrix
A obtained above.
 2

4|Page
 Question 3 [10]
Consider a control system whose open loop transfer fuction is given as:
𝑠
(1 + )2
𝐺 (𝑠)𝐻 (𝑠) = 𝐴
𝑠 3
Analytically determine the value of 𝐴 that gives the system a phase margin of 500 .

ANSWER

𝑠 𝑗𝑤 2 𝑤2
(1+ )2 (1+ ) (1+ 2 )
𝐴
𝐴 𝐴
𝐺(𝑠)𝐻(𝑠) = 𝐺(𝑗𝑤)𝐻(𝑗𝑤) = |𝐺(𝑗𝑤)𝐻(𝑗𝑤)| =
𝑠3 (𝑗𝑤) 3 𝑤3

2

For phase margin, 𝑤 = 𝑤𝑔𝑐 and at 𝑤𝑔𝑐 , |𝐺(𝑗𝑤)𝐻(𝑗𝑤)| = 1

𝑤𝑔𝑐 2
(1+ )
𝐴2 𝑤𝑔𝑐 2 3
|𝐺(𝑗𝑤)𝐻(𝑗𝑤)| = 3
=1 𝑤𝑔𝑐 3 = 1 + 𝐴2 𝑤𝑔𝑐 = 𝐴2 + 𝑤𝑔𝑐 2 (1)
𝑤𝑔𝑐 𝐴2

 2
Phase margin =1800 + |𝐺(𝑗𝑤)𝐻(𝑗𝑤)|0 at 𝑤 = 𝑤𝑔𝑐

𝑤𝑔𝑐 𝑤𝑔𝑐
500 = 1800 + 2𝑡𝑎𝑛−1 − 2700 2𝑡𝑎𝑛−1 = 140 𝑤𝑔𝑐 = 2.7474𝐴
𝐴 𝐴

 2
Substituting 𝑤𝑔𝑐 = 2.7474𝐴 into Eqn. (1)

2
(2.7474𝐴)3 𝐴2 = 𝐴2 + (2.7474𝐴)2 20.738𝐴5 = 8.548𝐴2 
2
3
𝐴 = 0.4122 𝐴 = 0.7442 

5|Page
Question 4 [10]
Consider a unity feedback system having open-loop transfer function as shown below:
𝐾
𝐺(𝑠) =
𝑠(1 + 0.2𝑠)(1 + 0.5𝑠)
Analytically determines the value of 𝐾 that gives the system:
(i) A gain margin of 18 dB
(ii) A phase margin of 𝟔𝟎𝟎

ANSWER
1 1
Gain margin = |𝐺(𝑗𝜔)𝐻(𝑗𝜔)| in decibel, Gain margin = 20𝑙𝑜𝑔10 |𝐺(𝑗𝜔)𝐻(𝑗𝜔)|
𝜔=𝜔𝑝𝑐 𝜔=𝜔𝑝𝑐

Gain margin = −20 log10 |𝐺(𝑗𝜔)𝐻(𝑗𝜔)|𝜔=𝜔𝑝𝑐 18 = −20 log10 |𝐺(𝑗𝜔)𝐻(𝑗𝜔)|𝜔=𝜔𝑝𝑐

|𝐺(𝑗𝜔)𝐻(𝑗𝜔)|𝜔=𝜔𝑝𝑐 = 𝑎𝑛𝑡𝑖𝑙𝑜𝑔(−0.9) = 0.126  2

𝐾
|𝐺(𝑗𝜔)𝐻(𝑗𝜔)|𝜔=𝜔𝑝𝑐 = 0.126 = (1)
𝜔√1+(0.2𝜔)2 √1+(0.5𝜔)2

To find 𝜔𝑝𝑐

|𝐺(𝑗𝜔)𝐻(𝑗𝜔)|0 𝜔=𝜔 = −1800 = −900 − 𝑡𝑎𝑛−1 (0.2𝜔𝑝𝑐 ) − 𝑡𝑎𝑛−1 (0.5𝜔𝑝𝑐 )

𝑝𝑐

 2
𝝎𝒑𝒄 = 𝟑. 𝟏𝟔 𝒓𝒂𝒅/𝒔𝒆𝒄 Substitute 𝝎𝒑𝒄 = 𝟑. 𝟏𝟔 𝒓𝒂𝒅/𝒔𝒆𝒄 into Eqn. (1)

𝑲 = 𝟎. 𝟖𝟖𝟏  2
Phase margin = 600 = 1800 + 𝜙𝑔𝑐 𝜙𝑔𝑐 = −1200
2
−1200 = −900 − 𝑡𝑎𝑛−1 (0.2𝜔𝑔𝑐 ) − 𝑡𝑎𝑛−1 (0.5𝜔𝑔𝑐 ) 𝝎𝒈𝒄 = 𝟎. 𝟕𝟗𝟐 𝒓𝒂𝒅/𝒔𝒆𝒄 
At 𝜔𝑔𝑐 , |𝐺(𝑗𝜔)𝐻(𝑗𝜔)|𝜔=𝜔𝑔𝑐 = 1

𝐾
|𝐺(𝑗𝜔)𝐻(𝑗𝜔)|𝜔=𝜔𝑔𝑐 = 1 = (2)
𝜔√1+(0.2𝜔)2 √1+(0.5𝜔)2

Substitute 𝝎𝒈𝒄 = 𝟎. 𝟕𝟗𝟐 𝒓𝒂𝒅/𝒔𝒆𝒄 into Eqn. (2) 𝑲 = 𝟎. 𝟖𝟔𝟐

 2

1|Page