UNIVERSITY OF BOTSWANA
FACULTY OF ENGINEERING AND TECHNOLOGY
DEPARTMENT OF ELECTRICAL ENGINEERING
Title of Examination Control Systems I
Programme BEng (Electrical) - Year 4
Course Code EEB418
Maximum Marks 75
Time Allowed 2 Hours
Date November/December 2022
Required by Candidate Scientific non-Programmable Calculator
Supplied to Candidate --
Instructions to Candidate:
PART A: Compulsory: Answer Question 1
PART B: Answer any 1 of the 2 Questions (Question 2 OR Question 3)
PART C: Answer any 1 of the 2 Questions (Question 4 OR Question 5)
1. Each question carries a maximum of 25 marks
2. Write your I.D. number on all sheets used and insert them into the answer book
This examination paper contains 6 pages, including this cover page and attached tables.
PART A: Compulsory – Answer Question1
Question 1
a) Determine the transfer function Vo(s)/Vi(s) for the circuit in Figure 1 (12 marks)
R1 R2 L +
i (t) + C2 (t)
_ C1
_
Figure 1
b) Consider the unity feedback system in Figure 2:
R(s) + C(s)
_
Figure 2
Write a Matlab programme to perform the following operations
i) Bode plot for the open loop system (5 marks)
ii) The closed loop system transfer function (2 marks)
iii) Step response for the closed loop system (2 marks)
iv) Solution for the output y(t) for a unit step input (4 marks)
Page 2
PART B: Answer any 1 of the 2 Questions (Q2 OR Q3)
Question 2
a) Present your understanding of ‘stability’ in control systems. (5 marks)
Discuss the different stability conditions that a system can have, as well as
causes of instability in systems.
b) Determine the range for gain K for the closed loop system in Figure 3 (12 marks)
to be stable.
R(s) + C(s)
_
Figure 3
c) Reduce the block diagram presented in Figure 4 to a single block (8 marks)
representing the transfer function T(s) = C(s)/R(s):
Figure 4
Question 3
a) Sketch the asymptotic Bode plot for a system with an open loop transfer (15 marks)
function:
50( s 5)
GH ( s )
s( s 0.5)( s 2 6s 100)
b) Use your plots in a) above to determine the system’s (8 marks)
i) Gain and Phase crossover frequencies
ii) Gain and Phase margins
iii) Bandwidth
c) Comment on the stability of this system (2 marks)
Page 3
PART C: Answer any 1 of the 2 Questions (Q4 OR Q5)
Question 4
a) Present a summary of the feedback control systems design process (10 marks)
Use an example for clarity.
b) Determine the expression for the output c(t) for the system in Figure 5. (5 marks)
1
𝑅 𝑠 =
𝑠 C(s)
Figure 5
c) Determine the static error constants for the systems in Figure 6 (10 marks)
R(s) + E(s) C(s) R(s) + E(s) C(s)
_ _
(i) (ii)
Figure 6
Question 5
a) Consider the unity feedback system with a forward transfer function
K ( s 5)
G(s) =
s( s 2)( s 10)
Design a Lag-lead compensator for the operation of the compensated (20 marks)
system to meet the following specifications:
20% overshoot, settling time Ts = 0.5 seconds and Kv = 100.
The system’s Bode plot for K=400 is presented in Figure 7
b) Explain how a lag-lead compensator is similar to (or different from) a (5 marks)
PID controller
Page 4
G(s)
Figure 7
Page 5
Laplace Transform Tables
Page 6
UNIVERSITY OF BOTSWANA
FACULTY OF ENGINEERING AND TECHNOLOGY
DEPARTMENT OF ELECTRICAL ENGINEERING
SOLUTIONS
Title of Examination Control Systems I
Programme BEng (Electrical) - Year 4
Course Code EEB431/EEB418
Maximum Marks 75
Time Allowed 2 Hours
Date November/December 2022
Page 7
Q1
− Edit
1 R C s 1
Z 2 Z R 2 Z C 2 R2 2 2
C2 s C2 s
1 R2C2 s 1 1 R C s 1 R2C2 s 1
Z P Z 2 // Z C1 / 2 2
C1s C2 s C1s C2 s R2C2C1s 2 (C1 C2 ) s
R2C2 s 1 ( R2C2 s 1) ( Ls R1 )( R2C2C1s 2 (C1 C2 ) s )
Z T Z P Z L Z R1 Ls R
R2C2C1s 2 (C1 C2 ) s R2C2C1s 2 (C1 C2 ) s
1
( LR2C2C1 ) s 3 ( LC1 LC 2 R1 R2C2C1 ) s 2 ( R1C1 R1C2 R2C2 ) s 1
R2C2C1s 2 (C1 C2 ) s
VO Z R2C2 s 1
(s) P
VI Z T ( LR2C2C1 ) s ( LC1 LC 2 R1 R2C2C1 ) s 2 ( R1C1 R1C2 R2C2 ) s 1
3
− Matlab code – depends on student
−
Page 8
Question 2
a) discussion should be around this topic and
append related diagrams
Causes of instability vary
b)
1 12 2K
1 K 0
c) xx
i) move integrator to the left
ii) merge summing points
iii) combine feedback paths
iv) reduce parallel path
v) simplify forward path
vi) simplify unity feedback system
Page 9
Q3
a) simulation of composite diagram shown --- break it down
b) shown on simulation
c) stable as shown on simulation
50( s 5)
GH ( s )
s( s 0.5)( s 2 6s 100)
Page 10
Q4
a) Discussion should be around the figure
…. Examples are going to vary for students
b) Use Partial fraction expansion
2( s 15) A B C
s( s 5)( s 12) s s 5 s 12 s s 5 s 12
and inverse laplace transforms
c) is Kv for the cascaded system
solution for (ii)
Page 11
Q5
a) PASTE solution generated using Matlab
b) Refer to the structure of the compensator
Extras
Page 12
