EE342 Fall 2006

Final Exam
In this exam we consider the standard feedback system shown below.

v(t)

r(t) e(t) + u(t) y(t)

+
C(s) P(s)
+
-

Problem 1. (20 points) Let the plant be given as

1
Gp (s) = .
s(s + 5)

Design a Proportional plus Integral (PI) controller of the form

KI
Gc (s) = KP +
s
such that the closed
√ loop system is stable with one pole at r1 = −4 and the other two poles are at
r2,3 = −ζωo ± jωo 1 − ζ 2 with ωo ≥ 2, ζ > 0, and ζ is as large as possible.
Problem 2. (20 points) In the standard feedback control system the plant is given as
2
Gp (s) =
s2
and the controller is restricted to be in the form
1 + (s/ω1 )
Gc (s) = .
1 + (s/ω2 )

Design Gc (s) such that feedback system is stable with phase margin equal to 30o .
Problem 3. Given a plant Gp (s) = e−hs /(s − 1).
(a) (15 points) Let h = 0. Design a proportional controller Gc (s) = K such that the feedback system
is stable with a delay margin greater or equal to 0.5 seconds, and |ess | is as small as possible, where ess
is the steady state error for a unit step reference input.
(b) (15 points) Sketch the Nyquist plot for Gp (s)Gc (s) = 2e−0.5s /(s − 1). What are GM and PM?
Hint. In this problem you may want to use the graph of tan−1 (x) versus x given below.

atan(x) versus x
1.5

1.4

1.3

1.2

1.1

0.9
atan(x)

0.8

0.7

0.6

0.5

0.4

0.3

0.2

0.1

0
0 1 2 3 4 5 6 7 8 9 10
x
Problem 4. Consider a plant whose dynamical equations are given in the state space as follows:

ẋ(t) = Ax(t) + Bu(t)

   
0 1 0 0
   
y(t) = x(t) where A = 0 1 1 B = 0.
0 0 0 1

(a) (5 points) What are the poles of this plant? Is the plant stable?
(b) (10 points) Find, if possible, a state feedback controller u(t) = v(t) − [k3 k2 k1 ]x(t)
such that the closed loop system is stable with poles at −1, −1 ± j1.
(c) (15 points) Now let k1 = 4, k2 = 6, and draw the location of the closed loop system poles as k3
varies from 0 to +∞. What is the value of k3 which minimizes the maximum of the real parts of the
closed loop system poles?