DEDAN KIMATHI UNIVERSITY OF TECHNOLOGY

UNIVERSITY EXAMINATION 2020/2021 ACADEMIC YEAR

FIFTH YEAR SPECIAL/SUPPLEMENTARY EXAMINATION FOR THE DEGREE OF
BACHELOR OF SCIENCE IN ELECTRICAL & ELECTRONIC ENGINEERING
MODULE III

EEE 2502 CONTROL ENGINEERING III

Date: 21st October 2021 Time: 8:30 - 10:30am

Instructions:

This examination paper contains five questions. Attempt question one and any other two
questions. Question ONE is compulsory and carries 30 marks. All the other questions carry
20 marks each.

QUESTION ONE
a) Given the characteristic equation of a system to be
𝑃(𝑧) = 2𝑧 2 + 4𝑧 + 3
Determine the stability of the system using Routh Hurwitz stability criterion (5 marks)
𝜋⁄
b) Find the optimum of the functional 𝐽(𝑥) = ∫0 4( 𝑥̇ 21 (𝑡) + 𝑥12 + 𝑥̇ 1 (𝑡) + 𝑥̇ 2 (𝑡))𝑑𝑡 with the
𝑥1 (0) 0 𝑥1 (𝜋⁄4) 1
boundary conditions being | | = [ ] and | 𝜋 | = [ ] (8 marks)
𝑥2 (0) 0 𝑥2 ( ⁄4) −1
c) Given the following difference equation (9 marks)
𝑥(𝑘 + 2) − 1.2𝑥(𝑘 + 1) + 0.5 𝑥(𝑘) = 2𝑢(𝑘 + 1) + 𝑢(𝑘)
where 𝑥(𝑘) is the output and 𝑥(𝑘) = 0 𝑓𝑜𝑟 𝑘 ≤ 0 and 𝑢(𝑘) is the input and is given by
𝑢(𝑘) = 0 𝑘 < 0
𝑢(0) = 1
𝑢(1) = 1.5
𝑢(2) = −1.5
𝑢(𝑘) = 0, 𝑘 = 3,4,5, ….
Determine the output 𝑢(𝑘).
d) Consider the control system shown below in which a PID controller is used to control the system.
The PID controller has a transfer function
1
𝐺𝑐 (𝑠) = 𝐾𝑝 (1 + + 𝑇𝑑 𝑠)
𝑇𝑖 𝑠

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 R(s) Gc(s) 1 C(s)
𝑠(𝑠 + 1)(𝑠 + 5)

Apply the Ziegler-Nichols tuning rules for the determination of the values of parameters KP, Ti
and Td. (8 marks)

QUESTION TWO
Consider the closed loop system shown below whose controller gain K is unity. Determine

R(s) C(s)
Y(s)
K 1 − 𝑒 −𝑠 1
(𝑠 + 2)
1) 𝑠(𝑠 + 2)
1)

i. Open loop pulse transfer function

ii. Closed loop pulse transfer function
iii. Difference equation for the discrete time response
iv. Stability of the system using Jury’s test (20 marks)

QUESTION THREE
a) A nonlinear system is described by (5 marks)
𝑥1̇ = 𝑥22 − 𝑥2 + 𝑥1

𝑥2̇ = 𝑥22 + 7𝑥12 + 𝑥2 + 𝑥1

i) Obtain the linearized approximation of the system
ii) Determine the stability of the system at the equilibrium point

b) Use Lyapunov method to determine if the system below is stable (5marks)

̇ −5 −4 𝑥1 2
|𝑥1| = [ ][ ] + [ ]𝑢
𝑥2̇ 2 1 𝑥2 1
𝑥1
𝑦 = [1 −1] [ ]
𝑥2
c) Determine the optimal control law which minimizes the performance index
∞
1 0 1
𝐽 = ∫ 𝑥𝑇 [ ] + 𝑢𝑇 [ ]
0 0 1 1
For the system
̇ 0 1 𝑥1 0
|𝑥1| = [ ][ ] + [ ]𝑢
𝑥2̇ −3 −4 𝑥2 1
𝑥1
𝑦 = [2 1] [ ]
𝑥2

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 Using Ricatti equations. (10 marks)

QUESTION FOUR
d) Obtain the discrete state space representation of the continuous system described as (3 marks)
̇ 0 1 𝑥1 0
|𝑥1| = [ ][ ] + [ ]𝑢
𝑥2̇ −6 −5 𝑥2 1
𝑥1
𝑦 = [1 0] [ ]
𝑥2
e) Solve the following difference equation (7 marks)
1, 𝑘 = 0,1,1
2𝑥(𝑘) − 2𝑥(𝑘 − 1) + 𝑥(𝑘 − 2) = 𝑢(𝑘) where 𝑥(𝑘) = 0 𝑓𝑜𝑟 𝑘 < 0 𝑎𝑛𝑑 𝑢(𝑘) = {
0, 𝑘 < 0
f) Using a transformation matrix P where P constitute the eigenvectors of 𝜑, transform the
following system into Jordan canonical form (10 marks)
𝑥1 (𝑘 + 1) 3 −3 2 𝑥 1 (𝑘) 2
|𝑥2 (𝑘 + 1)| = [−1 5 −2] [𝑥2 (𝑘)] + [0] 𝑢(𝑘)
𝑥3 (𝑘 + 1) −1 3 0 𝑥3 (𝑘) 1
𝑥1 (𝑘)
𝑦(𝑘) = [1 0 −1] [𝑥2 (𝑘)]
𝑥3 (𝑘)

QUESTION FIVE

a) Discuss the Ultimate cycle method of PID tuning with the aid of suitable illustrations. (5marks)
b) Use Sylvester’s criterion to investigate if the function below is positive definite (5 marks)
2 2 2
𝑉(𝑥) = 2𝑥1 + 7𝑥2 + 3𝑥3 − 𝑥1 𝑥2 + 2𝑥2 𝑥3 − 3𝑥1 𝑥3
c) Consider the system 𝑥(𝑘 + 1) = 𝜑 𝑥(𝑘) + Γ u(k)
1 0.565 0.275
Where 𝜑 = [ ],Γ = [ ]
0 0.275 0.565
The sampling period is 1 second. If the control signal u(k) is unbounded, derive the control law to
transfer an arbitrary initial state x(0) to the origin. (10 marks)

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