Middle East Technical University

Mechanical Engineering Department

1956

ME 304 CONTROL SYSTEMS

Spring 2011
Sections 01, 02, 04

Course Instructors: Dr. Tuna Balkan, Dr. Bülent E. Platin, Dr. Yiğit Yazıcıoğlu

SOLUTIONS OF MIDTERM EXAMINATION II

May 18, 2010

Time Allowed: 110 minutes
Open Notes and Books
All questions are equally weighted

Student No. : ……..……………

Name : …………………………
SURNAME : …………………..
Signature : ……………………..

1
2
3

PROBLEM 1
Consider a closed loop control system with an ideal sensor where the plant transfer function has the
following form:
2n p
G p s  
(s  p)(s 2  2n s  2n )
The poles and zeros of the open loop transfer function of this system (together with the controller G c(s) ) are
shown in the complex plane below.

Im(s)

X j

O X
-Kp/Kd -2 -1 0 Re(s)

Kp > 0 X -j
Kd > 0

a) State the ranges of the controller parameters for the stable operation of this closed loop control
system.
b) Is it possible to attain a stability margin of µ s ≥ 2 using the given controller type? Explain why or
why not.

Solution:
Part a)
From given information we can deduce the following

Hs   1 , G c s   K p  K ds , p  2 , and

2n p
G p s   , where n  1 and d   n 1   2  1.
(s  p)(s 2  2n s  2n )
From which we can find

rad 1 1
n   n 2  d 2  2
s
and   .
n 2
Therefore the plant transfer function becomes
4
G p s   3 2
.
s  4s  6s  4
The closed loop transfer function for the system with ideal sensor is

ME304(Sections01,02,04)/11S/MT2-Solutions/Balkan,Platin,Yazıcıoğlu Page 1
 Cs  G c s G p s  4K d s  4K p
Ms     .
R s  1  G c s G p s  s 3  4s 2  4K d  6 s  4K p  4 
Due to Hurwitz criterion

4K d 60 Kd  1.5 but K d 0 already.

4K p  4  0 Kp  1 but K p 0 already.

Due to Routh criterion

( 4)(4K d  6)  (1)(4K p  4)  Kp  4K d  5
Alternatively, one can use Routh criterion alone as follows

4K p  4  0 but K p 0 already.

( 4)(4K d  6)  (1)(4K p  4)  Kp  4K d  5

Part b)

To test  s 2 substitute s  z 2 into

D s   s 3  4s 2  4 K d  6s  4 K p  4 to obtain

D z   z  2
3
 4z  22  4 K d  6 z  2  4 K p  4  z 3  2 z 2  2  4 K d z  4 K p  8K d .
Since D z  fails the Hurwitz test due to –2 as the coefficient of s 2, the system can not have a stability
margin of 2 for any value of the controller parameters.

ME304(Sections01,02,04)/11S/MT2-Solutions/Balkan,Platin,Yazıcıoğlu Page 2
PROBLEM 2
The block diagram representation of a R(s) + a0 C(s)
feedback control system and its response to  Kp
s
2
 a1s  a 0
a unit step input are shown in the figures. Controller
− Plant

1.4

1.2

0.8
)
t
(
c

0.6

0.4

0.2

0
0 1 2 3 4 5 6 7 8 9 10
Time [s]

a) Determine the numerical values of peak time, maximum percent overshoot, and steady-state
error from the response plot.
b) Determine the numerical value of the steady-state gain of the feedback control system from
the plot.
c) Determine the numerical value of the controller gain Kp used to obtain such a response.
d) Determine the transfer function of the plant; that is, numerical values of a 0 and a1.
e) The control system designer wants to improve relative stability of this feedback control
system by setting the maximum percent overshoot to 5%. Show the possible locations of
closed-loop poles of the feedback control system in complex s-plane satisfying this
requirement.

Solution:
c(t p ) 1.2
a) tp=1.4 s, p  1   1  0.50, Mp  50% , ess=1−css=1−0.8=0.2
css 0.8
b) From the figure, the steady-state gain K is 0.8 since the input is unit step and the steady-state
value of the output is 0.8.
K pa 0
c) The closed-loop transfer function of the system is G(s)  with a steady-
s 2
 a1s  (1  K p )a 0
Kp
state gain of K  which is equal to 0.8 from the figure for a unit step input. Thus,
1 Kp
Kp=4.


1 2  
d) For  p  0.50  e ,   0.22 and for t p  1.4     2.3 rad/s
d n 1   2 n

ME304(Sections01,02,04)/11S/MT2-Solutions/Balkan,Platin,Yazıcıoğlu Page 3
 Kn
2
K pa 0
G(s)  
s 2  a1s  (1  K p )a 0 s2  2n s  n 2

n 2 2.32
a1  2n  2*0.22 * 2.3  1 and (1  K p )a 0  n 2  a 0   1
(1  K p ) (1  4)

a0 1
Thus, G p (s)  
s 2
 a1s  a 0 s 2
 s 1


1 2
 1  2 
e) For p  0.05  e   0.69 and   tan 1    46.4 

  
 
Im
β=46.4°

Re
0

ME304(Sections01,02,04)/11S/MT2-Solutions/Balkan,Platin,Yazıcıoğlu Page 4
PROBLEM 3
Responses of five different systems are given below to a unit step input. For each system, mark
possible location(s) of their pole(s) (with ) and zero(s) (with ).

Unit Step Response Poles and zeros of G(s)

5
Step Response
Im
4

1
e
d
u
lit 0
p
m
A

-1

-2
0 Re
-3

-4

-5
0 2 4 6 8 10 s–plane
Time (sec )

0.6
Step Response
Im
0.5

0.4

e
d
u
lit 0.3
p
m
A

0.2
0 Re
0.1

0
0 2 4 6 8 10 12 14 16
s–plane
Time (sec )

3
Step Response
Im
2.5

1.5

e
d
1
u
lit
p
m
A 0.5

0
0 Re
-0.5

-1

-1.5
0 2 4 6 8 10 12
s–plane
Time (sec)

1.4
Step Response
Im
1.2

e
0.8
d
u
lit
p
m
A
0.6
0 Re
0.4

0.2

0
0 2 4 6 8 10
s–plane
Time (sec)

20
Step Response
Im
15

10

5
e
d
u
lit 0
p
m
A

-5 0 Re
-10

-15

-20
0 5 10 15 20 25 30 35 40
s–plane
Time (sec)

ME304(Sections01,02,04)/11S/MT2-Solutions/Balkan,Platin,Yazıcıoğlu Page 5