University of Alberta

Dept. of Mechanical Engineering

MEC E 420
Feedback Control of Dynamic Systems
FinalExam Instructor: Dr. C. R. Koch
2012–12–18 Time: 120 Minutes

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— Course Textbook, one formula sheet and engineering approved non-programable calcula-
tors allowed.
— Final is out of 50 marks, and is worth 50% of course grade.
— Marks for each question is shown.
— Show all steps in answering a question as well as the final answer.
— Little credit will be given for isolated answers.

Please Note:
1. Address all inquires to a supervisor. Do not communicate with other candidates.

2. If you become ill during the exam, contact the supervisor immediately.
(N.B. You may not claim extenuating circumstances and request that your paper be canceled
after writing and handing in your examination.)

3. If you need to visit the washroom, bring your exam to a supervisor

4. You may not leave the exam until at least 30 minutes have elapsed

Instructor Use Only

Question Mark Comment
1
2
3
4
5
6
Total
1 (6 marks) For the following three transfer functions:

4 1 2
(i) P (s) = (ii) P (s) = (iii) P (s) =
(2s + 1)(s + 1) s2 + 2s + 2 s2 −s−2

a) when possible, find the natural frequency, the damping coefficient and the steady state gain
to a step input for all three systems.
b) determine which processes or process have oscillations and what the overshoot is if they
have oscillation
c) draw and label the poles of P (s) for the three systems in the complex plain.

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2 (8 marks) A unity gain feedback system as depicted in Figure 1 in which C(s) is the controller
and P (s) is the plant. The transfer function of the controller and of the plant are given by:
c + 4s 16
C(s) = , P (s) =
c+s s2

a) For this system determine the characteristic equation

b) Put in root locus form with the parameter that varies being c (c is like K in a standard
root locus) and determine L(s), a(s) and b(s)
c) Sketch the root locus showing the direction in which c increases
d) What is the value of c when the damping ratio is ζ = 0.3.

R + E U Y
C(s) P (s)
−

Figure 1: Block diagram of Unity gain feedback

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3 (6 marks) A magnetic ball levitator is shown in the Figure 2. The equations of motion of the
system are given by: mẍ(t) = fm (x, i)−mg where i is the coil current, x is the vertical position,
m is the ball mass, fm is the vertical force on the ball exerted by the coil, and g is gravity. Let

c1 i 2
fm = .
(x + κ)2

At position x0 a current of i0 is required to just cancel the gravitation force.

Figure 2: Magnetic Leviation schematic

a) Linearize the system about this point and write the resulting differential equation expressed
in terms of δx and δi.
b) Calculate the transfer function
δx
= H(s)
δi
and given that i0 > 0, c1 > 0 and x0 < κ, is the linearized system stable?

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4 (8 marks) A unity feedback control system is shown in Figure 1 with a PD controller C(s) and
the plant P (s). The plant and the controller are:
4
P (s) = and C(s) = Kp + Kd s
s(s + 4)

a) Determine the transfer function for the error: E(s)/R(s)

b) Find the value of Kp that will result in a steady state error of ess = 1/16 to a ramp input
– use the final value theorem on E(s) with R(s) = 1/s2 .
c) Using the value for Kp in part (b) above, determine L(s) by writing the characteristic
equation in terms of Kd (of the form 1 + Kd L(s) = 0)
d) Sketch the root locus with respect to the parameter Kd ≥ 0. Use the grid below and
appropriate root locus rules.
e) What is the value of Kd that will result in a damping ratio of ζ = 0.5 for the two dominant
poles.

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5 (10 marks) A unity gain feedback system as depicted in Figure 1 in which C(s) is the controller
and P (s) is the plant. The transfer function of the plant is given by the transfer function:
1 1
P (s) = =
(s2 + 4s + 13) (s + 2 + 3j)(s + 2 − 3j)

Design C(s) using root locus to meet the following specifications:

• the damping ratio of the dominant poles is to be ζ = 0.707

• the rise time to the reference step is tr = 0.18sec

a) From the design spec’s determine the coordinates of the desired dominant poles and plot
b) Draw the root locus for C(s) = K – show that the dynamic specifications cannot be met.
c) Design a lead compensator C(s) = K( s+z s+p
) that meets the dynamic response (choose
z = 4) and draw the root locus – find p and K.
d) With the lead control and gain K from part (c) above, determine the system type and
the steady state error.

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6 (12 marks) A unity gain feedback system as depicted in Figure 1 in which C(s) is the controller
and P (s) is the plant with a plant transfer function,

4 × 105 100
P (s) = = s s
s(s + 2)(s + 2000) s( 2 + 1)( 2000 + 1)

It is desired to have a system with a phase margin P M ≥ 45◦ and gain margin GM ≥ 20dB
at a crossover frequency ωc = 10 rad/s. Use a Bode plot for the following:

a) With C(s) = K set K = 1 sketch an accurate frequency response Bode plot showing both
the magnitude and phase using the grid on the next page (Figure 3).
b) Estimate the phase margin (PM) and gain margin (GM) in part using K = 1 from (a) on
the Bode plot.
c) What is the crossover frequency for K = 1 on your Bode plot in part (b). What gain do
you need to meet the requirement for ωc = 10 rad/s ? What is the phase margin at this
gain and does this phase margin meet spec?
s 
+1
d) Now design a lead compensator of form C(s) = Clead (s) = Kld z
s
+1
so that the over-
p
all phase margin is approximately P M = 45◦ at a crossover frequency ωc = 10 rad/s.
Determine z and p with ωmax = ωc .
e) Add the plot the compensated frequency response (magnitude and phase of part (d) with
Kld = 1) on Figure 3
f) For the lead controller find Kld to obtain the desired crossover frequency is ωc = 10 rad/s.
At that gain, give the corresponding PM and GM?

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Figure 3: Graph for Bode Plot Question 6

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