

− 180 - June 2020

COE1, Online Examination Page 2 of 3

1. (15 Points) In the figure below:

𝑥1 (𝑡) 𝑥2 (𝑡)
𝑏4
𝑢(𝑡)

𝑏1
𝑀1 𝑀2 𝐾2
𝐾1

COE1, Examination - June 2017 Page 11 of 7

𝑏2 𝑏3

(a) Write the differential equations describing the system (notice that the surface has friction).
(b) Transform the differential equations to the Laplace domain and draw the block diagram
of the system.
(c) Find the transfer function from U (s) to X1 (s).
————————————————————————————————————————–
2. (10 Points) For the following figure:
(a) Find the transfer function from R(s) to Y (s).
(b) Find the value of k such that P.O. of the step response is 16%.

𝒌𝒔 𝑫(𝒔)

_ + 𝒀(𝒔)
𝑹(𝒔) + 𝟏𝟎 +
_ 𝟏𝟎
_ + 𝒔 +
𝒔
𝟏𝟎

————————————————————————————————————————–
3 k(s+z)
3. (15 Points) For the system G(s) = s(s+5) , design
Y (s ) a controller in the form of K(s) =
R (s ) + 2.5 s+p
such that the closed loop
k step response has the following specifications:
_ s+ 5
 ess−step = 0
Ts = 1 sec
Tp = π4 sec


where Ts is the settling time and Tp is the peak time.

————————————————————————————————————————–

qi
 𝑢(𝑡)
𝑏2

𝑏1 𝐾3
COE1, Online Examination - June𝑀2020
1 𝑀1 Page 3 of 3
𝐾2

4. (20 Points) For the given block diagram:

𝒓(𝒕) + 𝒚(𝒕)
𝟗
𝑲(𝒔)
_ 𝒔(𝒔 + 𝟐)(𝒔 + 𝟓)

(a) By assuming K(s) = k, sketch the root locus of the closed loop poles. You should find all
important points of the root locus.
COE1, Examination - June 2017 Page 10 of 7
(b) If the goal is to have ess = 0 for a step signal, which controller do you recommend; PI or
PD? Why?
(c) Design a controller
𝒓(𝒕) +
for the system using Ziegler-Nichols second method (the type of con-
𝒚(𝒕)
troller should be the one you selected in the previous part).
𝑲(𝒔) 𝑮(𝒔)
_
————————————————————————————————————————–

5. (10 Points) The asymptotic bode plot of the system G(s) is given in the following figure (the
numbers given on the lines show the slope of lines in dB/dec):

− 40
20dB − 20
0 dB
a b 
− 40

0


− 180

(a) By stating enough reasons, find the transfer function of G(s) as a function of a and b.
(b) Is the transfer function G(s) stable? Why?
𝑥1 (𝑡) 𝑥2 (𝑡)
𝑏4
𝑢(𝑡)

𝑏1
𝑀1 𝑀2 𝐾2
𝐾1

𝑏2 𝑏3