Benha University

Faculty of Engineering at Shoubra

Mechanical Engineering Department
Fourth Year (Production)

Final Term Exam

Date: Sunday 24/1/2016
Advanced Automatic Control &
Industrial Control Process
Duration: 3 hours

Attempt all the following questions, and assume any missing data when necessary.
The exam. Consists of 4 questions on two page
Total counted marks: 80
Question (1)
(20 marks)
The electro-mechanical position control system shown in Fig. 1 controls the angular displacement 2 by selecting
the desired reference input (r).
Write the governing equation of the whole system in time and s-domain.
[10 marks]
Draw the block diagram consider r(t) is the input and 2(t) is the output.
[6 marks]
Determine the transfer function 2(s) / R(s).
[4 marks]

Figure 1

Question (2)
(25 marks)
1. The hydraulic tank, shown in Fig. 2, is initially filled with 0.2 m of water. If
the valve resistance is 0.1 s/m2 and tank area is 1 m2. If tank is subjected to
constant input flow rate equal to 2 m3/s, determine the total response h(t) of
the system and plot it roughly, then calculate steady state error. [5 marks]
2. A block diagram model of a DC-position servomechanism system used to
adjust the rotation angle shown in figure (2).
a. Find an expression for the overall transfer function;
[3 marks]
Figure 2
b. Obtain o(t) if i(t) is a unit-step input, assume T1=0, T2=0.04, K1=80,
K2=0.5, K3=1;
[8 marks]
c. Calculate also the maximum overshoot, rise time, peak time and settling time then sketch roughly the system
response.
[4 marks]
3. Use Routh stability criterion to check the stability of the system in problem shown in Fig. 3 and determine its
sustained oscillation.
[5 marks]

i(s)
+

K1

o(s)
+
K3
Figure 3

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Question (3)

(15 marks)

1. For the mechanical system shown in Fig. 4, obtain the state space system that describe all the states of the
system.
[9 marks]

Figure 4

2. Obtain the transfer function for the following state space system described by:

4 1 1
1
[ 1] = [
] [ ] + [ ]
2
3 1 2
1
1
= [1 0] [ ]
[6 marks]
2
Question (4)
(25 marks)
1. For the following state space system, it is required to study the Stability, Controllability and observability.
1
0
1
0 1
0 0
1
[2 ] = [ 0
0
1 ] [2 ] + [0 1] [ ]
2
3
2 4 6 3
1 0
1
1
1 0 0
[7 marks]
[ ] = [
] [ 2]
2
0 1 0
3

2. Consider the control system shown in Fig. 5 in which a PID controller is used to control the system. The
1

PID controller has the transfer function () = (1 + + ). Using ZieglerNichols tuning rule, it

is require to determine the values of the parameters , and .

[10 marks]

Figure 5

3. Consider the regulator system shown in Fig.6. The plant is given by = + Where; =
0
1
0
0
[0
0
1 ] , = [0]. The system uses the state feedback control = . Let us choose the desired
1 5 6
1
closed loop poles at = 2 + 4, = 2 4 and = 10. Determine the state feedback gain matrix
K.
[8 marks]

Figure 6

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