Department of Electrical Engineering

MEEN 3392 (Mechanical Engineering design II)/

EEEN 4351 (Automatic Control System)
Final Exam
January 8, 2014
Instructor: Dr. Nizar Tayem
Exam Time: 2 Hours

Name_________________
ID__________________

Problem 1 Problem 2 Problem 3 Problem 4 Problem 5 Problem 6 Total






Problem # 1 (20 %)
Part 1
List all advantages and disadvantages of a closed-loop system








Part 2
True/False Questions: Circle the right answer

1) If an open-loop system is unstable, then applying feedback will always improve its stability. (T) (F)

2) When a row of Routh's tabulation contains all zeros before the tabulation ends, this means
that the equation has roots on the imaginary axis of the .-plane. (T) (F)
3) The following characteristic equation of a continuous-data system represents an unstable
system because it contains a negative coefficient.

(T) (F)
4) Adding a pole to Q(s)/P(s) has the general effect of pushing the root loci to the right, whereas
adding a zero pushes the loci to the left. (T) (F)
5) If a unity-feedback control system type is 2, then it is certain that the steady-state
error of the system to a step input or a ramp input will be zero. (T) (F)
6) Adding a zero to the forward-path transfer function will generally improve the
system damping and thus will always reduce the maximum overshoot of the system. (T) (F)

7) Increasing the undamped natural frequency will generally reduce the rise time (T) (F)
of the step response.
8) Discrete-data control systems are more susceptible to noise due to the nature of (T) (F)
their signals.

Problem #2 (20 %)
Consider the speed control system in the block diagram below wherein the inner loop corresponds to motor back emf. The
controller is the an integrator with gain K observe that the load is inertia only.






Determine the value of K for which steady state error to unit ramp input ( ) ( )
2
/ 1 s s V
r
= is less than 0.01 rad/sec.



































Problem #3 (20 %)
For the system shown below.
a) Find the transfer function ). ( / ) ( ) ( s F s X s G =
b) Calculate
r p s n
, T , T , %OS, T ,
c) Comment on the results you obtained on (b)


















































































Problem # 4 (20 %)

Establish the state space equations describing the unit feedback system below.
























Problem # 5 (20 %)
Consider the following loop transfer function
()()
( )
( )( )

a) Find the range of K where the system is stable
b) Find the asymptotes of root locus
c) Determine the breakout point
d) Sketch root locus of the closed-loop system when K varies from 0 to .






















Problem # 6 (20 %)
The position control system of an object holder robot and its block diagram is shown below.

a) Use the stability method of Ziegler- Nichols to determine the parameters of the PID controller

b) Determine the actual position Y(s).

Object Holder Robot
PID Controller
Actual Position Y(s)
Desired
Position















G(s)















































1
( ) 1
I
c P D P D
I
K
G s K K s K T s
s T s
| |
= + + = + +
|
\ .