INDIAN INSTITUTE Of. TEC.I:iNO.

LO~YJ<HAR~G~UR
Department of.,Eiectricai.Engi~eering
Mid-Semester Exahtination for c;optrol Systems Engineering (EE30009)
,., ~
Date: September 26, 2012 i
Time: 02:00PM- 04:00PM "
~
Full Marks 120
_; .,;;,-~
..~~-. ,

on

Answer any 4 questions. Sketch figures

white pages. Mark tlle val~1es ofimportant points in all your
sketches. No graph pap7r is n~ed1dt,Use appro~imation judiciou~Iy: You have 1 min for each mark.
.,

the' 1

Sketch

1.

i<

_root

;loctis

of

the

open

loop

'

transfer

function

)(~ ...... r"Calcuiate (a)the angles ofthe asymptotes (b) the

s s+3 s +6s+64
,. centroid oftheasYn1ptotes (cfthe real-axis breakaway point (d) the point of1 intersection
of the root locus and the imaginary axis and the corresponding value of K; ,6+6+6+6+6
KG(s)H(s)= (

~J,

.:!A

....

1 J

u~ ~-::- ~:.,.1: ~

7~

-.!:~>-

';>i

\t.-"t~--,

,fo'

2. (a) Obtam the Transfer Function Matnx (TFM) for a MIMO system described by
*

\,f

~,

..

:r(~1~,

,.,_,rtn

ji1 (t)+ 2y, (t)+ 3y1 (t)+ 4)'2 (t)+ Yz

'r . . . . .

'~.

(t} = U1 (t) + U2 (t)

.f

ji2 (t)+ 3)'2 (t)+ 2y2 (t)+ 2)'1 (t)+ y1 (t) = 2u1 (t)-u 2 (t)

'

15

(b) Sketch the asymptotic Bode magnitude plot ofthe loop gain transfer function
~

G(s)H(s)=
."'l

~-

'

" :, ~., ' .

.- 'J

..,

,,
tK(s+ 1SO). 6 '.Wh~re
2
s(s+40)(s+800}.(s +2000s+4x!0 }

K =t:3653xf08
, ,

. ,

15

(a) Fqr the system,shown in Fig. P3(a), find !he values of K,K1,K2 and /(3 so, tha~
'

..!

( ("

"

..

..

c( s) . .
. 1oo
~ r:
2
R('s) = (s-f4)(s -t=6s.+2s)

., ~

k.

:,J

'"

~. .

.. . . .

:,

' ~t

lf

1+0.5s

s+1

,._

..

}~

.-.!

._:.n;

(b) Choosi1.1g the st~t~ yariabl~s x1,x2 ,x3 for the tw<> blocks as shown in the figure, obtain a
state-y!!fil).~le <i_~cript~on (A!.f!,~,D- IDI).!fi_ces) of th_e sys!etl1 (FJg~ _P3~)) __ . _ .
.__
U(s) --~+~,c>C,.._+I

."'?'

10
(s+3)

2
s(s+1)

.___.__.... s
Fig. P3(b)
1

1----1

15

'\

: . <(ahfiPPi a ,stat~ spa~e moqel (A;B,C;D

1 d.esignatioq sho~n. '
.

m~~jc~s) ,.of Jh~, system. ,with

,s

<

..the state variable

12

"~

(b) Derive the

.transfer
function
fe:~l~ting .l;l !O y :frOJl1 the above state space m_odel.
\ k!.
~~ '-;!) ~
{~~'
J;,j
~,I
~!,A~~~t"~~-/ ~1~'i~i'''.,_~'t'f'~
' .. " "
t~.~~
i'

(c) Verify mathematically that the system, is

under the condition that

''

state~uncontrol,abl~

~,

when the bridge is balanced

'

'

'

'

RtR4 .

L3-- RI R4 C2 and

10

D - "'"3R- i '
2

~ ~n-

5.

"1;~

:;.

/;~r~n

_1 -~

~-

..

!',.F1Jt _..r-~.

.{_ ,

>--

1 .,

A two~axis robot is programmed to have a laser cutting tool follow a saw tooth path, as
feedback
The,_..forward
path transfer function of the unity position
shown
in .Fig. F5. ..,"""'
,._ ,
'V:
.
00
control system for each oftlie.,Xatid Y itX~~oftht; fbbofi~ G(s).h~ /
) with the unit
~

;~_

s s+5

of ~8s ition Being i~/'ce~tirlietets: 'If th~rtn~iin~m a~thissible errdr in the' pb~itloh of the
laser beam from th~ commanded position at any instant is O.clmm in each axis, 1estimate
accurately the minimum amount of time that would be ne~ded ..to, traverse th~ .,trajectory
shown below.

:r

f""'

,_..,

,.,.,..,...~.,.,.

--:(Cfll) I

'""""-

,{

v.c~ . .,:;::.-->:.~

30

~-~ ~~-~~~-~.-" ~

""~l~._.-,%if.>.~

0 ~------------~----~----_.____
0
40
1,Qi 1 L'' .)'il ~0
30
X(em)

Fi2. PS
--

-"';1,..:.

;:~

ff"f.->o: ...,

~~-~'""""'

*""
~

<00.-"''1-o--~-.-

f~ j

'~

.,....;!

- -XmCojQuestion.Paper.
2