Faculty of FET

Academic Year: 17/18

Examination Period: January

Module Leader: Quan Zhu

Module Code: UFMFW7-15-3
Module Title: CONTROL SYSTEMS DESIGN

Duration: 2 Hours

Standard materials required for this examination:

Examination Answer Booklet Yes

Multiple Choice Answer Sheet No

Type of paper e.g. G3, G14 N/A
Graph Paper
Number of sheets per student 0

Additional materials required for this examination:

Details of additional material supplied by UWE Bristol:

To be collected with Answer Booklet (please delete as appropriate) No

Details of approved material supplied by Student:

To be collected with Answer Booklet (please delete as appropriate) No

University approved Calculator Yes

Candidates permitted to keep Examination Question Paper Yes

Candidates are NOT permitted to turn

the page
over until the exam starts

UFMFW7-15-3 Page 1 of 8
Instructions to Candidates:
Answer ONLY FOUR questions from SIX. All questions carry EQUAL marks.

SECTION A

1. Question [Total Marks 25]

Analysing performance of RLC electronic circuits has been a common R&D work. The
tasks for this particular exercise are specified below.

a) By Kirchhoff’s voltage law, the input-output dynamic model has been determined with
the following equation.

d 2 eo de
LC 2
 RC o  eo  ei
dt dt

The remaining work is to apply Laplace transform to determine the model transfer function,
and then formulate the undamped nature frequency and damping ratio in terms of L, R,
Eo ( s ) n2
and C with reference to the standard 2nd order transfer function  2 . [6
Eo ( s ) s  2n s  n2
marks]

b) While L=1, R=3, and C=0.5, determine the system output time response to a unit step
input, by inverting the output transfer function with reference to the following formula or
any other approaches you are familiar with. [8 marks]

  
 1
f (t )  L1 F ( s)   Re s F ( s )e st   
d m 1
 

( s  s i ) m F ( s )e st 
 m  1! ds

 m 1

 s  si

c) While L=1, R=3, and C=0.5, find poles and zeros and show their positions on S plane.
Then analyse the system stability. [6 marks]

d) With reference to the final theorem lim f (t )  lim sF(s) , termine the system output steady
t s0
state response to a unit step stimulation. [5 marks]

UFMFW7-15-3 Page 2 of 8
2. Question [Total Marks 25]

A complicated electrical dynamic system model has been identified as

0.8( s 2  0.421s  0.889)

G(s) 
s 4  1.326s 3  1.219s 2  1.096s  0.015

The tasks to analyse the system are specified below

a) Determine the dynamic model order, numbers of zero and pole. [3 marks]

b) Determine its characteristic equation. [3 marks]

c) Refer to the procedure to build up Routh Array in a data sheet at the back of the paper, built up
Routh array with reference to the formulation procedure attached at the end of the
question. [9 marks]

d) Determine the system stability. [5 marks]

e) Sketch the system response under a small disturbance. [5 marks]

UFMFW7-15-3 Page 3 of 8
3. Question [Total Marks 25]

A/D and D/A converters are commonly used components in digital control systems. The
tasks for the exercise are specified below.

a) With reference to Figure Q3, a sampled data sequence has been obtained in Table
Q3.1. Calculate the output sequences from Quantizer and Coder.
[8 marks]

xa(t) x(n) xq(n)

Sampler Quantizer &
)
Coder
T

Analogue Discrete Digital

signal time signal
signal
Figure Q3

Sample 1 2 3 4
time n
xa(t) 2.3 4.4 4.9 2.8
Quantizer
Coder
Table Q3.1

b) Digital controller has generated a predicted output sequence as shown in Table Q3.2. A
Zero Order Hold D/A converter is used, sketch the corresponding continuous time
sequence. [4 marks]

Sample 1 2 3 4
time n
xq(t) 5 7 2 1

Table Q3.2

sa
c) Discuss how to select a sampling period for a transfer function G( s)  [6
 s  p1  s  p2 
marks]

X max  X min
d) There are two formulations   and b  log 2 m for selecting accuracy of A/D
m 1
converters. Discuss the roles of the variables. [7 marks]

UFMFW7-15-3 Page 4 of 8
4. Question [Total Marks 25]

Two pole diagrams on S-plane and Z- plane are shown in Figure Q4. The tasks for the
exercise are specified below.

a) Sketch the responses to a unit impulse stimulation with reference to the five groups of
poles on Z-plane. [12 marks]

1
b) Predict the unit impulse response of a Z transfer function of [5 marks]
z  4z  5
2

c) With reference to the following formula, convert the transfer function of

Y ( s) 1
 G(s)  2 into its Z transfer function with unit sampling period. [8 marks]
U ( s) s  3s  2

 z   1 d m 1  z 
F ( z )   Re s  F ( s ) Ts 
   m 1 
( s  si ) m F ( s ) 
 ze   m  1! ds  z  eTs  s  s
i

Im Im

j
T

Re Re

j
T

S-Plane Z-Plane

Figure Q4 Corresponding pole lines in the s-plane and the z-plane according
to z  e sT (T is the sampling period)

UFMFW7-15-3 Page 5 of 8
5. Question [Total Marks 25]

A typical state space model is given below for representing a wide range of electrical and
mechanical system input-output dynamic relationships.

0 1 0
A  B    C  2 1 D  0
  8  6 1

The tasks to analyse the model are specified below.

a) Identify the plant state equation, output equation, dynamic order, numbers of input and
output. Briefly explain the function of the matrices A, B, C, and D.
[10 marks]
b) With reference to the state space description, draw its block diagram.
[5 marks]
c) Determine the system controllability. [6 marks]

d) Determine the system observability. [4 marks]

UFMFW7-15-3 Page 6 of 8
6. Question [Total Marks 25]

A simplified UAV (Unmanned Ariel Vehicle, shown in Figure Q6) dynamic model has been
identified below

0 1 0 
A  B    C  1 0 D  0
 2 3 1 

A state feedback controller has been designed with the desired poles at
(s)   s  4  s  1  s 2  5s  4 and achieves zero steady error to a unit step input.

The tasks to validate the designed control system are specified below.

a) Design to confirm the state feedback gain matrix Fs   f1 f 2    2 2 by

  s   det  SI  A  BFs  compared with (s)   s  4 s  1  s 2  5s  4 . [9 marks]

 
1
b) Design to confirm the forward gain matrix H= 4 by H   C  A  BFs  B
1
. [7 marks]

c) Determine the output relationship of the controller output (assumingly it is u  t  ) with

state vector (assumingly it is x  t  ) and reference (assumingly it is v  t  ) plus the designed
state feedback gain matrix Fs and the forward gain matrix H. [3 marks]

d) Sketch the output response to a unit step reference input and explain how the response
determined by closed loop poles. [6 marks]

Figure Q6

UFMFW7-15-3 Page 7 of 8
Data sheet

The procedure to build up Routh's array is given as follows:

(1) Write the denominator polynomial of a transfer function in form of

a0 s n  a1 s n 1   an 1s  an  0

(2) Construct Routh's array

sn a0 a2 a4 a6
s n 1 a1 a3 a5 a7
sn2 b1 b2 b3 b4
s n 3 c1 c2 c3 c4
n4
s d1 d2 d3 d4

s2 e1 e2
1
s f1
0
s g1

where coefficients b1 , b2 , b3 , and so on, are evaluated as follows

a1a2  a0 a3
b1 
a1
a1a4  a0 a5
b2 
a1
a1a6  a0 a7
b3 
a1

The evaluation of the b's is continued until the remaining ones are all zero. The same
pattern of cross-multiplying the coefficients of two previous rows is followed in evaluating
the c's, d's, e's, and so on. That is

b1a3  a1b2
c1 
b1
b1a5  a1b3
c2 
b1
b1a7  a1b4
c3 
b1

and

c1b2  b1c2
d1 
c1
c1b3  b1c3
d2 
c1

This process is continued until the nth row has been completed. The complete array of the
coefficients is triangular.
END OF QUESTION PAPER

UFMFW7-15-3 Page 8 of 8