Non-worked out solutions to ELEC3114

Sample Final Exam Paper B

1. (a) Use the reflection principle to obtain the equation of motion:

16s2 α(s) + 64sα(s) + Kα(s) = 4T (s).

p √ √
(b) ωn = K/16 = K/4, so ξ = 8/ K.
(i) Underdamped: 0 < ξ < 1, K > 64.
(ii) Critically damped: ξ = 1, K = 64.
(ii) Overdamped: ξ > 1, K < 64.
(c)
α̈ + 4α̇ + (K/16)α = T /4.
(d) K = 4.
(e) ωn = 4 and ξ = 0.5. Then
(i) tr = 0.4095.
(ii) %OS = 16.3034.
(iii) Tp = 0.9069.
(iv) Ts ≈ 4/(ζωn ) =2.

2. (a) Part of root locus on real axis: [−10, −0.1].

(b) The two complex poles are s1,2 = −0.45 ± j0.893. Departure angle from s1 =
−0.45 + j0.893 is 196.0592. Departure angle from s2 = −0.45 − j0.893 is
163.9408.
(c) θa = ±90o .
σa = (−10 − 0.9 + 0.1)/2 = −10.8/2 = −5.4.
(d) a0 (s)b(s) − a(s)b0 (s) = 2s3 + 11.2s2 + 2.18s − 9. The root 0.75983 is not in the
interval from part (a) so it cannot be on the root locus. For the other two
roots verify that K(s) = −a(s)/b(s) ≥ 0, -5.2267 is breakaway while -1.1331 is
a break-in.
(e) See the root locus plot in Fig. 1.

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 Figure 1: Root locus plot for Q2(e).

(f ) Desired dominant pole location is s = −3 ± 4j.

(i)
s + 2.468
K = 44.8427, C(s) =
s
(ii) Routh-Hurwitz:

s4 1 54.8427 11.0672
s3 10.9 125.1561 0
2
s 43.3605 11.0672 0
1
s 122.3740 0 0
s0 11.0672 0 0

There are no zeros and no sign change in the first column of the Routh-
Hurwitz table, thus the closed-loop system is stable.

3. (a) Kv ≈ 0.4.
√
(b) ωP M ≈ 0.3 × 0.4 = 0.346.
(c) ∠G(jωP M ) ≈ −103o . PM ≈ 77.
(d) a = 2.
(e) K = 50, β = 0.1065, T1 = 0.3065, α = 1.3939.

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 (f ) 0 < K < 1/3.

4. (a) The signal flow graph is shown in Fig. 2.

Figure 2: Signal flow graph for Q4(a).

(b) • Two forward loop gains: T1 (s) = 4K/s4 and T2 (s) = 4K/s3 .
• Four loop gains: L1 (s) = −4K/s4 , L2 (s) = −6/s, L3 (s) = −8/s2 , L4 (s) =
−4K/s3 . No non-touching loop gains taken two at a time, three at time,
etc.
• ∆(s) = 1 − L1 (s) − L2 (s) − L3 (s) − L4 (s) = 1 + 4K/s4 + 6/s + 8/s2 + 4K/s3 .
• ∆1 (s) = 1 and ∆2 (s) = 1.
• Apply Mason’s rule to obtain the transfer function T (s).
(c)
   
0 1 0 0 0
 0 0 1 0   0 
x = 
 0
x +   r,
0 0 1   0 
−4K −4K −8 −6 K
y = [ 4 4 0 0 ]x.

(d) The closed-loop state space system from part (c) is in phase variable form, so
the coefficients of the characteristic polynomial of the closed-loop A matrix
can be read directly from entries of the last of row of that matrix, which is
cA (s) = s4 + 6s3 + 8s2 + 4Ks + 4K. This coincides with the denominator of
T (s) from part (b).
(e) 0 < K < 3.