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    Exam 2 Nov 2019

    Uploaded by

    Maria Kapiya
    questins

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    © All Rights Reserved
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    Exam 2 Nov 2019

    Uploaded by

    Maria Kapiya
    9 views3 pages
    questins

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    © © All Rights Reserved

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    PDF, TXT or read online from Scribd

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    questins

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    9 views3 pages

    Exam 2 Nov 2019

    Uploaded by

    Maria Kapiya
    questins

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    You are on page 1of 3

    FACULTY OF ENGINEERING

    DEPARTMENT OF MECHANICAL AND MARINE ENGINEERING

    QUALIFICATION: BACHELOR OF ENGINEERING (MECHANICAL), (ELECTRICAL AND POWER)


    LEVEL: 6 & 7

    COURSE CODE: CNS610S/CNS720S COURSE NAME: CONTROL SYSTEMS

    SESSION: November 2019 PAPER: THEORY

    DURATION: 2 ½ HOURS MARKS: 60

    EXAMINATION 2

    EXAMINER(S) Mr Tulipale N Kaputu

    MODERATOR: Dr Otis Nyandoro

    INSTRUCTIONS
    1. Answer Three questions.
    2. No Marks will be awarded for solutions to a fourth question.
    3. Solutions will be considered in the order that they are presented in the answer book.
    4. Write clearly and neatly.
    5. All Questions are marked out of 20
    6. Number the answers clearly.
    7. Answer each question on a separate answer sheet

    PERMISSIBLE MATERIALS

    1) non-programmable Scientific Calculator

    THIS QUESTION PAPER CONSISTS OF 4 PAGES (Including this front page)

    Page 1 of 3
    Question 1 [20 Marks]

    Consider the system shown in Figure 1.1.

    Figure 1.1.

    a) Draw a Bode diagram of the open-loop transfer function G(s). [5 Marks]


    b) Determine the gain margin in dB. [5 Marks]
    c) Determine the phase margin. [5 Marks]
    d) Find the value of gain 𝐾𝐾 so that the phase margin is 43 . [5 Marks]

    Question 2 [20 Marks]

    Hydraulic power actuators were used to drive the dinosaurs of the movie Jurassic Park. The motions
    of the large monsters required high-power actuators requiring 1200 watts. One specific limb motion
    has dynamics represented by

     −6 0  1 
    x (t ) = [0 1] x(t ) + [0]u (t )
     1 −8 x(t ) + 0  u (t ); y (t ) =
       

    It is desired to place the closed-loop poles at s =−1 ± 4 j .

    a) Determine the required state variable feedback using Ackermann’s formula.


    Assume that the position and the velocity of the output motion are available for
    measurement. [10 Marks]
    b) Write a MATLAB code to design controller gains found in (a) using
    pole placement. [5 Marks]
    c) Draw a block diagram for the state feedback controller described in (a) [5 Marks]

    Page 2 of 3
    Question 3 [20 Marks]

    A small device is being designed to monitor the conditions of processed food contained in a
    package. The internal temperature of the food and its rate of change (states) evolve over time
    according to a simplified state space representation:

    0 1 1 
    x (t ) =
     −4 −6  x +  2  u (t ); y (t ) =
    [2 1]x(t ) + [0]u (t )
       

    where the input is the storage temperature and output are an indirect measure of internal
    conditions. An observer is required to ensure food is contained in suitable conditions.

    a) Design a full-order observer that has an undamped natural frequency of 12 rad/s and a
    damping ratio of 0.6. [15 Marks]
    b) Using place placement, write a MATLAB code to implement the design in (a) [5 Marks]
    c) Draw a block diagram of the entire system described in (a) [5 Marks]

    Question 4 [20 Marks]

    K
    Consider the following system Figure 4.1 where G (s) =
    s 3 + 12 s 2 + 44 s + 48
    Using the Nyquist criterion do the following:

    a) Plot the Nyquist diagram [3 Marks]


    b) Use the Nyquist diagram to find the range of gain K, for stability,
    instability, and the value of gain for marginal stability. [7 Marks]
    c) Find the gain margin (indicate on the Nyquist plot) [2 Marks]
    d) Define the following terms
    (i) Gain margin [2 Marks]
    (ii) Gain-Crossover Frequency: [2 Marks]
    (iii) Phase margin [2 Marks]
    (iv) Phase-Crossover Frequency: [2 Marks]

    Figure 4.1.

    Page 3 of 3

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