EE342 Spring 2005 Midterm Exam

Problem 1. (15 points) Determine whether the standard feedback system is stable for the
following cases, and justify your answers.

v(t)

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

+
C(s) P(s)
+
-

4 s−4
(a) C(s) = Gc (s) = ; P (s) = Gp (s) =
s−4 s+4

5 s+4
(b) C(s) = Gc (s) = ; P (s) = Gp (s) =
s+4 s−4

s+4 5(s + 4)
(c) C(s) = Gc (s) = ; P (s) = Gp (s) =
s2 + 16 s−4
Problem 2. (25 points) Bode plots of a stable plant Gp (s) are given below. Design a proportional
controller Gc (s) = K, so that the steady state error for a unit step reference input is as small as
possible, and the gain margin of the feedback system is greater or equal to 5db.

Bode Diagram

10
5
0
−5
Magnitude (dB)

−10
−15
−20
−25
−30
−35
0

−45

−90
Phase (deg)

−135

−180

−225

−270
−2 −1 0 1
10 10 10 10
Frequency (rad/sec)
Problem 3. (30 points) For the plant

s2 + 4
Gp (s) =
s(s + p)2

where p > 1, we use a proportional controller Gc (s) = K, with K > 0.

(a) By using the phase rule of the root locus, find the value of p, so that r1 = −1 + j is on the
root locus.

(b) Determine the gain K that brings one of the closed loop system poles to r1 . Determine the
values of the other two closed loop system poles r2 , r3 for this value of the gain K.

(c) Roughly sketch the root locus (you do not need to calculate the break points, nor the
angles of arrivals and departures; show all other details).

Hint: You may use the following identities Tan−1 ( 12 ) = 0.464; Tan−1 ( 13 ) = 0.322; Tan−1 ( 14 ) =
0.245; Tan−1 ( 15 ) = 0.197; Tan−1 ( 16 ) = 0.165; and Tan−1 (x) ≈ x for x < 1/6.
Problem 4. (30 points) For the plant

(4 − s)
Gp (s) =
(s − 1)(s + 4)

we use a proportional controller Gc (s) = K, with K > 0.

(a) Determine the range of K for which the feedback system is stable.

(b) Draw the Nyqusit plot for K = 1.

(c) Design K > 0 such that the phase margin is maximized.

Hint: You may use the following identity d

dx
Tan−1 (x) = 1
1+x2