Karadeniz Technical University

Faculty of Engineering
Department of Electrical and Electronics Engineering
Prof. Dr. smail H. ALTA

ELKE315-ELKH315
Introduction to Control Systems
FINAL EXAM 12.01. 2013
Time required: 1.5 Hours

CAUTIONS:
1. Only the calculators with basic functions are allowed. Data storing type calculators are not allowed.
2. Turn off your cell phone and put it away, in your pocket or in your bag. Keep it off the sight.
3. It is your obligation to have your answer sheet not to be seen by others. You should not let your papers be seen
by others in order not to face penalties.

QUESTION 1.
An electrical circuit is given on the right. The values of
capacitors and resistors are given as;

C1 5.6 F , C2 0.1 F ,

R1 360 k ,

R2 220 k

a. Find transfer function V0(s)/Vi(s) for this system.

b. Describe the structure of the transfer function briefly
and make a short (1 or two sentences) comment about
it such as where and why this circuit can be used.

SOLUTION

Karadeniz Technical University

Faculty of Engineering
Department of Electrical and Electronics Engineering
Prof. Dr. smail H. ALTA

ELKE315-ELKH315
Introduction to Control Systems
FINAL EXAM 12.01. 2013
Time required: 1.5 Hours

QUESTION 2.
(a). Obtain the transfer function of the block
diagram given in figure

(b). Use Masons Gain Formula and obtain the

transfer function of the signal flow graph
given in figure. Other solutions will not be
accepted.

SOLUTION
(a). First re-arrange the block diagram, so that the loops can be combined.

T1

G2G3
1 G2G3 H 3

T2 T1G4

G2G3G4
1 G2G3 H 3

G2G3G4
G3
T2G3
1 G2G3 H 3
G2G3G4G3
T2
T2
T3

H
G3 T2 H 2 G3 T2 H 2
G2G3G4
1 T2 2
G3
H 2 G3 1 G2G3 H 3 G2G3G4 H 2
G3
G3
1 G2G3 H 3

Karadeniz Technical University

Faculty of Engineering
Department of Electrical and Electronics Engineering
Prof. Dr. smail H. ALTA

G2G32G4
T3
,
G3 G2G32 H 3 G2G3G4 H 2

ELKE315-ELKH315
Introduction to Control Systems
FINAL EXAM 12.01. 2013
Time required: 1.5 Hours

G1G2G32G4
T4 G1T3
G3 G2G32 H 3 G2G3G4 H 2

G1G2G32G4
G3 G2G32 H 3 G2G3G4 H 2
G1G2G32G4
T4
T5

G1G2G32G4
1 T4 H1
G3 G2G32 H 3 G2G3G4 H 2 G1G2G32G4 H1
1
H
1
G3 G2G32 H 3 G2G3G4 H 2

T ( s ) T5

G1G2G3 G4
1 G2G3 H 3 G2G4 H 2 G1G2G3 G4 H1

(b). Use Masons Gain Formula and obtain the transfer

function of the signal flow graph given in figure. Other
solutions will not be accepted.

Forward paths:

M 1 G1G6

1 =1-(-G 3 H1 -G 5 H 2 ) 1 G 3H1 +G 5 H 2

M 2 G1G7G3G8G5

2 =1-(0)=1

M 3 G1G7G3G4G5

3 =1-(0)=1

M 4 G1G2G3G8G5

4 =1-(0)=1

M 5 G1G2G3G4G5

5 =1-(0)=1

=1- -G 3 H1 -G 5 H 2 G2G3G4G5 G2G3G8G5 G7G3G4G5 G7G3G8G5 G 6 H 3

+ -G 3 H1 -G 5 H 2

=1- -G 3H1 -G 5 H 2 G2G3G4G5 H 3 G2G3G8G5 H 3 G7G3G4G5 H 3 G7G3G8G5 H 3 G6 H 3 + G 3 H1G 5 H 2

=1+G 3H1 +G 5 H 2 G2G3G4G5 H 3 G2G3G8G5 H 3 G7G3G4G5 H 3 G7G3G8G5 H 3 G6 H 3 +G 3 H1G 5 H 2
T (s)

T (s)

T ( s)

M
i

G1G6 1 G 3H1 +G 5 H 2 G1G7G3G8G5 G1G7G3G4G5 G1G2G3G8G5 G1G2G3G4G5

1+G 3H1 +G 5 H 2 G2G3G4G5 H 3 G2G3G8G5 H 3 G7G3G4G5 H 3 G7G3G8G5 H 3 G6 H 3 +G 3H1G 5 H 2

G1G6 G1G6 G 3 H1 +G1G6 G 5 H 2 G1G7G3G8G5 G1G7G3G4G5 G1G2G3G8G5 G1G2G3G4G5

1+G 3H1 +G 5 H 2 G2G3G4G5 H 3 G2G3G8G5 H 3 G7G3G4G5 H 3 G7G3G8G5 H 3 G6 H 3 +G 3 H1G 5 H 2

Karadeniz Technical University

Faculty of Engineering
Department of Electrical and Electronics Engineering
Prof. Dr. smail H. ALTA

ELKE315-ELKH315
Introduction to Control Systems
FINAL EXAM 12.01. 2013
Time required: 1.5 Hours

QUESTION 3.
Find the followings for the transfer function given on the right.
a. A detailed simulation diagram.
b. Mark the sate variables on the simulation diagram of part (a).
c. Obtain State equations of this system.
d. Obtain the output equation of this system.

SOLUTION

C (s)
s2 7s 2
3
R( s ) s 9 s 2 26 s 24
Separate the transfer fubction into two pieces as given below

(a). A detailed simulation diagram.

Input equations:

output equations:

R( s ) s 3 9 s 2 26 s 24 Z ( s )

Y (s) s 2 7 s 2 Z (s)

Get the inverse Laplace

transformation with the initial
conditions set to zero.

y (t )
z 7 z 2 z

r (t )
z 9
z 26 z 24 z

z 9
z 26 z 24 z r

(b). Mark the sate variables on the simulation diagram of part (a).

Karadeniz Technical University

Faculty of Engineering
Department of Electrical and Electronics Engineering
Prof. Dr. smail H. ALTA

ELKE315-ELKH315
Introduction to Control Systems
FINAL EXAM 12.01. 2013
Time required: 1.5 Hours

(c). Obtain State equations of this system.

From figure above;
x1 x2
x2 x3

1
0 x1 0
x1 0
x 0
0
1 x2 0 r
2
x3 24 26 9 x3 1

x3 24 x1 26 x2 9 x3 r
(d). Obtain the output equation of this system.
From figure above;

x1
c 2 7 1 x2
x3

c(t ) 2 x1 7 x2 x3
UYARI:

There may be infinite number of simulation diagram for the transfer function given. This simulation diagram obtained here is
called Control Canonic Form of the state equations. Another form called Observer Canonic form may also be applied.
For example;

C (s)
s2 7s 2
3
R( s ) s 9 s 2 26 s 24
Multiply both numerator and denominator by s-3

C (s)
s 1 7 s 2 2 s 3

R( s ) 1 9 s 1 26 s 2 24 s 3
Then apply Masons gain formula to obtain the followings.

Observer Canonic form.

State and output equations

x1 9 1 0 x1 1
x 26 0 1 x 7 r
2
2
x3 24 0 0 x3 2

x1
c 1 0 0 x2
x3

Karadeniz Technical University

Faculty of Engineering
Department of Electrical and Electronics Engineering
Prof. Dr. smail H. ALTA

ELKE315-ELKH315
Introduction to Control Systems
FINAL EXAM 12.01. 2013
Time required: 1.5 Hours

QUESTION 4.
The state-space model of a physical system is shown on the right.
The initial state vector x(0) is given as x1(0)=1 and x2(0)=0. The input u(t) is a
unit step .
a.
b.
c.
d.

Find the characteristic equation of this system.

Find the state-transition matrix using Laplace transformation
Solve the state-transition matrix for x(t).
Obtain transfer function of this system for C=[1 0] and D=0.

SOLUTION
a.

Find the characteristic equation of this system.

The characteristic equation is the determinant of (sI-A)

1 s
1 0 0
( sI A) s

=
0 1 8 6 8

1
s 6

s 1
( s ) det
s 2 6s 8

8 s 6
(b). Find the state-transition matrix using Laplace transformation

(c). Solve the state-transition matrix for x(t).

(d). Obtain transfer function of this system for C=[1 0] and D=0.
Use following formula to obtain transfer function.
T (s)

Y (s)
1
C sI A B D
U (s)

1 x1 (t ) 0
x1 (t ) 0
x (t ) 8 6 x (t ) 1u (t )
2
2

Karadeniz Technical University

Faculty of Engineering
Department of Electrical and Electronics Engineering
Prof. Dr. smail H. ALTA

ELKE315-ELKH315
Introduction to Control Systems
FINAL EXAM 12.01. 2013
Time required: 1.5 Hours

QUESTION 5.
The locations of the poles of a second order system is shown in figure on
the right.
a. Write down the numerical values of the poles
b. Obtain the damping ratio
c. Obtain natural frequency
d. Obtain damping frequency
e. Obtain the time constant
f. Obtain the settling time
g. Obtain the characteristic equation.

SOLUTION
a. Write down the numerical values of the poles
s1=-2+j2

and

s2==-2-j2

b. Obtain the damping ratio

=tan-1(2/2)=45o =cos = 0.707

= 0.707

c. Obtain natural frequency

n 2 2

n 22 22 8 (4)(2) 2 2
d. Obtain damping frequency

d n 1 2 2 2 1 0.7072 2 2

(0.5) 2
d 2

e. Obtain the time constant

1
1
1

0.5
n (0.707)2 2 2

1
0.5 sec.
2

f. Obtain the settling time

ts 4

4
1
4 2
n
2

ts 4 2 sec.

g. Obtain the characteristic equation.

( s ) ( s 2 j 2)( s 2 j 2)
=s 2 2 s j 2 s 2 s 4 j 4 j 2 s j 4 4
=s 2 4 s 8
( s )=s 2 4 s 8