Final Examination
Semester 1, 2016
F2F Mode
Instru
tions :
• This exam has 5 questions and you are required to answer the 5 questions.
• The total mark for the questions is 95 marks.
• The presentation of the s
ript will be assessed (5 marks).
• The exam is 5 pages long.
• This exam is worth 50% of your overall mark. The minimum exam mark is
40%.
• Write your answer in the booklet provided.
• Start ea
h question on a new page.
• Cal
ulators are allowed.
• One A4 page of handwritten personal notes is allowed (
an be double-sided).
1
Question 1 :
X(s)
a) Determine the transfer fun
tion of the me
hani
al system given on
F (s)
Figure 1.
b) Plot the asymptoti
Bode diagram of this system.
) Is it possible to have a resonan
e phenomena for this me
hani
al system ? If
yes for whi
h frequen
y ωr and what is the magnitude Mr of the resonant
peak ?
d) Sket
h the real magnitude frequen
y response and display the values ωr and
Mr .
[20 marks℄
f (t) 3 N.s/m
1 kg 0
x(t)
16 N/m 1 N.s/m
2
Question 2 :
Vo (s)
a) Find the transfer fun
tion of the system of Figure 2.
Vi (s)
b) Compute the output of the system when the input is a step of magnitude 2
2
Vi (t) = .
s
[15 marks℄
1H
3Ω
Vi 2Ω
1H Vo
Question 3 :
a) Sket
h the root lo
us of the system on Figure 3. The root lo
us has to in
lude
asymptotes, jω -axis
rossings and breakaway points.
b) Is it possible to have a stable
losed-loop system with a pole in −7 ?
[20 marks℄
R(s) 1 Y (s)
+
- K
(s + 1)(s + 2)(s + 3)
3
Question 4 :
a) Design a PD
ontroller (nd Kp and Td ) su
h that the damping ratio and the
natural frequen
y of the
losed-loop system in Figure 4 are respe
tively 0.7
and 0.5 rad/s. Use the root lo
us method.
b) In pra
ti
e, a PD
ontroller
an be designed using the
ir
uit of Figure 5.
Assuming that the operational amplier is ideal and that C = 0.49 F, sele
t
Eo (s)
the values of R1 and R2 to obtain = Kp (1 + Td s) where Kp and Td
Ei (s)
have be designed in 4-a).
[25 marks℄
R(s) 1 Y (s)
+- Kp (1 + Td s)
10000(s2 − 1.1772)
R2
R1
i
-
N +
Ei(s) C −Eo(s)
4
Question 5 :
a) Redu
e the blo
k diagram of Figure 6 to obtain a unit feedba
k system of
Figure 7 :
ompute the transfer fun
tion G(s).
b) The Nyquist diagram of G is given on Figure 8. Find the
oordinates of the
points A,B and C.
) Is the system stable ? Provide a
omplete justi
ation using Nyquist
riterion.
If yes give the gain stability margin in de
ibel.
[15 marks℄
R(s) + 4 1 C(s)
+ s(s+3)
- s+1 -
R(s) C(s)
+
-
G(s)
Nyquist Diagram
0.2
A C
0
−0.2
Imaginary Axis
−0.4
−0.6
−0.8
−1
−1.2
−1.4 B
−1.6
−0.5 0 0.5 1 1.5 2
Real Axis