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GU. ENGINEERING FACULTY

Department of Electrical and Electronics Engineering.
EEE-352 Automatic Control Systems
Midterm Exam I, Questions (07/11/2014)

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Q.1: Consider the feedback system given in Figure 1 where the system blocks are;
K
G1 ( s ) , H 1 ( s ) ,
s
1
G 2 (s ) , H 2 ( s) 1
s

D(s)
R(s)

Y(s)
G1(s)

(1)

G2(s)

H1(s)
H2(s)

Figure 1

a) Obtain transfer function of the system, (5m) and write the characteristic equation of the system, (3m).
b) Find the state space model of the system, (5m) and obtain the characteristic matrix of the system (3m).
c) Obtain the system output, Y(s) (6m).
d) Determine the values of K and of the closed loop system shown in Figure 1 so that the damping
ration is =0.5 and settling time ts= 4 sec for standard second order system, (6m).
e) Write a MATLAB M-file to obtain and plot system output y(t) for unit step input R(s) when D(s)=0,
(6m).
Q.2: Consider nonlinear system defined in equation (2) with the zero state initial conditions.

y y 4 y y 3 r

(2)

r(t)

The system input and output are r(t) and y(t) respectively.

System in (2)

y(t)

Figure: 2

a) Draw block diagram of the system given in (2), (10m).

b) Find equilibrium point/points of the system given in (2), (5m). Obtain linear models of the system for
the equilibrium points (10m) and study their stability, (8m).
Q.3: a) The transfer function of the closed loop system Figure 3 is given in equation (3). Study the
stability of the closed loop system, (10m).
R(s)

Y ( s)
26.25s 2 262.5s 420
5
R( s ) s 32 s 4 378s 3 2020 s 2 4613s 2940

Gp(s)

Y(s)

(3)

Figure: 3

b) The transfer function of the closed loop system Figure 4 is given in equation (4). Determine the
dominant pole of the closed loop system, (8m).
c) Find the transient behavior specifications and plot the unit step input response y(t) for 2 times to
settling time, 0t2ts, (8m).
R(s)

Y ( s)
26.25( s 2 10 s 16)

R (s ) (s 1)( s 5)( s 7)( s 2 19s 84)

(4)

Figure: 4

Gp(s)

Y(s)

H(s)

d) Write a MATLAB M-file to find inverse Lablace transform of Y(s) for unit step input, R(s)=1/s, (7m).

Prof. Dr. Ahmet UAR. Exam time is Two hours (120 minutes)

Good Luck