Control Theory Fundamentals Version 2, 29th May 2016

Self-Assessment Questions

These questions will help you assess your understanding of basic control theory. You should be able to answer all questions
after attending the Control Theory Fundamentals seminar. The questions are progressively more difficult, but you should
be able to complete all of them using nothing more than a pocket calculator.

It is suggested that you attempt all questions and record your answers. The worked solution set can be obtained by sending
an e-mail to: ctseminars@gmail.com

1. What is the principle of “superposition” and what is its significance to control systems analysis?

2. Classify the following systems according to their linearity.

a) u  6t  5

b) y (t )  2 sin( 0.394 t  0.015 )


c) 2 y  0.5  t  sin 
6

d) e 0.3u  a 4 y ln 0.12 

3. Apply the principle of superposition to determine the output (y) of the network below.

The inputs are: u1 = sin t, u2 = 3 cos 2t, u3 = t2et

4. Classify the following systems according to their stability.

a)  0.13 c) 7
 s 2  1 .2 s  0 .6 z  0.6

b) s 1 d) s7
s  2 s  2.43
2
s  3s  17
2

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5. The plot below shows the step response of one of the systems in the previous question. Which one?

6. Using a 5th order Padé approximation, write the following system as a product of two rational transfer functions, one of
which is minimum phase and the other having an ‘all-pass’ characteristic.

6e 3s  s  17 
G (s) 
s 2  11s  26

7. An electro-mechanical position transducer is known to have a simple lag response characteristic. The transducer is
subjected to a test pulse stimulus of 0.2mm amplitude for 1 second, after which the displacement returns to the datum
position for a further three seconds. The peak measured displacement during the test is 0.177mm.

a) What is the time constant of the transducer?

b) After what time does the measured position return to within 50μm of its initial value?

c) What is the maximum measured displacement if the test pulse duration is halved and its amplitude doubled?

8. The step response of a lightly damped system exhibits an over-shoot of 58.3%. The period of the oscillation is 2.12
seconds. The system is to be approximated by a second order model with no zeros. Write down the transfer function of
the model.

9. The plot below shows a series of step responses for a second order model with damping ratio between 0.35 and 0.95.
The natural frequency in each case has been selected to ensure the initial crossing of the steady state line occurs 1
second after the step input. What is the relationship between natural frequency and damping ratio?

a) The plot below shows a series of step responses for a second order model with damping ratio between 0.35 and
0.95. The natural frequency in each case has been selected to ensure the initial crossing of the steady state line
occurs 1 second after the step input. What is the relationship between natural frequency and damping ratio?

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 b) The classical second order under-damped system has transfer function

 n2
G ( s) 
s  2 n s   n2
2

Show that the time at which maximum slope occurs following a step input change is inversely proportional to ωn.
Also show that the maximal slope is directly proportional to ωn.

10. The control system below uses two controllers: a gain in cascade, and a derivative term in the feedback path.

The plant transfer function is 8

G(s) 
s ( s  4)( s  5)

a) Write down the closed loop transfer function from r to y.

b) What values of gain k1 & k2 are required to place the closed loop poles at −2 ± j2?

c) Estimate the percentage overshoot in the step response with this gain choice.

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11. Apply the Tustin transformation to obtain a discrete time representation of the following system. Use a sample rate of
500 Hz.
2s
F (s) 
s  1000

a) Sketch the pole-zero map of the discrete time system.

b) Write down the control law.

c) Tabulate the first five numbers in the unit pulse response sequence.

12. A discrete time system consists of two poles at −0.2 ± j0.5, and one real zero which is known to lie somewhere on the
positive real axis. The sample rate is 1.2 kHz. A measurement is made by applying a sinusoidal input of frequency 100
Hz, and the response of the system is found to be: 0.5081 ∟−0.0242°.

a) Find the location of the zero.

b) Write down the transfer function of the system.

13. Use the Tustin transform to obtain an equivalent discrete time transfer function for the following phase lead
compensator with a sample rate of 10 Hz.

s7
F ( s)  3
s  15

14. The simple negative feedback control system in the figure below has the following nominal components.

k2
F ( s )  k1 G (s) 
s4

a) If k1 = 3 and k2 = 10, calculate the percentage change in steady state (r = 0) closed loop gain for a −1% error in k2.

b) Obtain a transfer function which provides the sensitivity of reference tracking to change in gain k2. Verify that it
correctly predicts your answer in part a.

c) If an integrator is inserted into the controller (F = 3s-1), what happens to the control effort (u) when G changes as in
part a?

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15. Let the components in the simple feedback system of the previous question be

K s3
F ( s)  G (s)  7
s4 s 1

Sketch the root loci and use this to determine the maximum value of controller gain (K > 0) for which the closed loop is
stable.

16. A rotary actuator and load has the transfer function

 (s) s  5.5
s  1 s 2  2.3s  9.1

u (s)

The actuator shaft angle is measured by a sensor which has a simple lag response with time constant 0.14 seconds. The
actuator is controlled using a PI controller in cascade configuration. The controller transfer function is

3 .1
F ( s )  1 .7 
s

Derive a formula for steady state angular error for this system and use it to calculate the error when the shaft maintains
a constant rotational speed of 100 rpm.