Kimathi University College of Technology

University Examinations 2012/2013

FOURTH YEAR EXAMINATION FOR
BACHELOR OF SCIENCE DEGREE IN MECHATRONIC
ENGINEERING

EMT 2402 CONTROL ENGINEERING I

DATE: DURATION: 2 HOURS TIME:

INSTRUCTIONS
1. This paper consists of FIVE questions.

2. You are required to answer THREE questions only.

3. Question ONE is compulsory

4. Attempt ONE question from section B and another ONE question in section C.

5. All questions carry equal marks

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Question One (Compulsory) (20 Marks)
1. (a) i. Consider the voltage divider network on Figure Q1 i. The output is v2 and
input is v1
A. Write the equation for v2 in open loop form [2Mks]
B. Write the equation for v2 in closed loop form [2Mks]
ii. Explain with suitable examples the following control systems
A. Linear time varying system [2Mks]
B. Discrete system [2Mks]

Figure Q1 i

(b) i. Draw a component block diagram for ONE of the following feedback control
systems. [4Mks]
A. The water level controlled by a float and valve
B. An elevator-position control (Lift control).
ii. A. Explain any three main distinct features of fuzzy logic controls [3Mks]
B. Explain any two components that optimal control concerns and give a sim-
ple example of an optimal control problem [3Mks]
(c) Using mathematical functions, describe any four basic control actions and give their
names [2Mks]

SECTION B

Question TWO (20 Marks)

2. (a) i. The Figure Q2 a shows a pendulum. Assume that the dimension of the mass is
negligible and that the string is massless and inextensible and neglect friction
effects. Derive the differential equations describing the motion and linearize
the equations clearly indicating the underlying assumptions when linearizing.
[3Mks]

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 Figure Q2 a i
ii. Consider the electrical circuit shown in Figure Q2 b. The circuit consists of an
inductance L (in henrys), a resistance R (in ohms), and a capacitance C (in
farads). Obtain the transfer function Eo (s)/Ei (s). Also, obtain a state-space
representation of the system. [6Mks]

Figure Q2 a ii
(b) Figure below shows a liquid-level system, in which two tanks have cross-sectional
areas A1 , and A2 ,respectively. A pump is connected to the bottom of tank 1 through
a valve of linear resistance R1 . The liquid flows from tank 1 to tank 2 through a
valve of linear resistance R2, and leaves tank 2 through a valve of linear resistance
R3 . The density ρ of the liquid is constant. [6Mks]

Figure Q2 b

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 i. Derive the differential equations of the liquid-level system in terms of the liquid
heights h
ii. Derive the state equations of the system taking h1 and h2 as the state variables
and pump pressure as the input
(c) Reduce the system shown to a single transfer function. [6Mks]

Figure Q2 c

Question THREE (20 Marks)

3. (a) i. Obtain a linear approximation of a mathematical model for turbulent flow.
√
Q = 0.1 H = f (H)

about the operating point H = 4 and Q = 0.2 [3Mks]

ii. Consider the system shown in Figure Q3 a ii, wherem = 2kg , b = 4N − s/m,
and k = 20N/m. Assume that x(O) = 0.1m and X(O) = O . We assume that
the system is linear. The external force u(t) is the input to the system, and the
displacement x(t) of the mass is the output.[The displacement x(t) is measured
from the equilibrium position.] Derive a mathematical model of the system.
Then the transfer function of the system. [5Mks]

Figure Q3 a ii

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 (b) The room shown in Figure Q3 b has a heater with heat flow rate input q0 . The
thermal capacitances of the heater and the room air are C1 , and C2 , respectively.
The thermal resistances of the heater-air interface and the room wall-ambient air
interface are R1 , and R2 respectively. The temperatures of the heater and the room
air are T1 , and T2 , respectively. The temperature outside the room is T0 , which is
assumed to be constant. [6Mks]

Figure Q3 b
i. Derive the differential equations relating the temperatures T1 , T2 , the input qo ,
and the outside temperature T0 .
ii. Using the differential equations obtained in Part (i), determine the state-space
form of the system. Assume the temperatures T1 and T2 as the outputs.
(c) Reduce the system shown to a single transfer function. [6Mks]

Figure Q3 c

SECTION C

Question FOUR (20 Marks)

4. (a) i. Find the output response, c(t), for the systems shown in Figure Q5 a. Also find
the time constant, rise time,and settling time for the system. [4 mks]

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 Figure Q5 a i
ii. For the system shown in Figure Q5 a ii, find the system type and the steady
state error for the unit step function. Assume input and output units are the
same. [4 mks]

Figure Q5 a ii
(b) i. Determine the value of 0 K&b0 , So that the system open loop transfer function
G(s) oscillates at a frequency of 2 radians. ( Assuming unity feed back i.e.,
H(S) = 1 )
K(s + 1)
G(s) = 3
s + bs2 + 3s + 1
[5 mks]
ii. For the characteristic equation [4 mks]
K
1+ =0
s(s + 1)(s + 5)
A. Draw the real-axis segments of the corresponding root locus.
B. Sketch the asymptotes of the locus for K → ∞.
(c) [3 mks]
i. What kind of compensation improves the steady-state error? [1 mks]
ii. What kind of compensation improves transient response? [1 mks]
iii. What kind of compensation improves both steady-state error and transient
response? [1 mks]

Question FIVE (20 Marks)

5. (a) i. Derive the output responses for the system shown below.State the nature of the
response (overdamped, underdamped, and so on) [4 mks]

Figure Q5 a
ii. Find analytical expressions for the magnitude and phase response for the system
G(s) below. [3 mks]

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 iii. Define phase margin and gain margin [2 mks]
(b) A proposed control system has a system and a controller as shown. Access the
stability of the system by a suitable method. What are the ranges of K for the
system to be stable ? [5 mks]

Figure Q5 b
(c) i. Determine the transfer function. Whose approximate plot is as shown. [5 mks]

Figure Q5 c
ii. Briefly state the Nyquist criterion. [1 mks]