American International University- Bangladesh (AIUB)
Faculty of Engineering
Course Name: Modern Control Systems Course Code: EEE 4101
Semester: Fall 24-25 Term: Final
Total Marks: 30 Submission Date: Jan 20, 2025
Faculty Name: Assignment: OBE
Course Outcome Mapping with Questions
Obtained
Item COs POIs K P A Marks
Marks
Q1-Q5 CO3 P.a.4.C3 K4 P1, P3, P7 30
Student Information:
Student Name: Student ID:
Section: Department:
Marking Rubrics (to be filled by Faculty):
Indicat Excellent Acceptable Poor
Objectives Marks
or [10-8] [7-6] [5-1]
Depth of Student was able to apply in-
knowledge depth engineering Design process is not Design process contains
displayed knowledge about modern completely supported by mistakes and does not
through control systems to design in-depth engineering display enough in-depth
proper P1 an appropriate knowledge about modern engineering modern
design of compensator correctly and control systems, some but control systems. Most of
appropriate fulfilled all design not all of the design the design criteria are
compensat criteria. criteria are fulfilled. not fulfilled.
or
Student’s attempts to analyze
Student defended the the diversified approach
diversified approach taken taken to solve the problem Student did not attempt any
Depth of to solve the problem with is not enough in-depth, in-depth analysis of the
analysis P3 well-justified in-depth some of design choices do designed system and
analysis that not demonstrate displayed no abstract
demonstrated abstract adequate abstract thinking.
thinking. thinking and are not
properly justified.
Student correctly identified
the type of compensator Student was able to identify
Level of Student was only able to
he/she is supposed to the type of compensator
integration identify the type of
design and successfully correctly and integrated the
of multiple compensator correctly but
integrated the interdependent parts into a
stage could not integrated the
P7 interdependent parts into a high-level design using a
analysis for interdependent parts into a
high-level design using a block diagram.
solution of high-level design.
block diagram. Compensator was not a proper
high-level Compensator was not a match
Compensator was at best match with the given
problem with the given problem.
match with the given problem.
problem.
Comments
Total marks (out of 20)
Note: Attach this page as cover page. File Name: Your AIUB ID
Copied/identical submissions will be graded as 0 for all parties concerned. Late Submission will be penalized heavily.
Page 1 of 7
1) A boat is circling a ship that is using a tracking radar. The speed of the boat is 20 knots, and it is
circling the ship at a distance of 1 nautical mile, as shown in Figure 1(a). A simplified model of the
tracking system is shown in Figure 1(b). Find the value of ‘K’ so that the boat is kept in the center of
the radar beam with no more than 0.1 degree error.
Figure 1: Boat tracked by ship’s radar (a) physical arrangement, and (b) block diagram of tracking
system.
2) A space station, shown in Figure 2(a), will keep its solar arrays facing the Sun. If we assume that
the simplified block diagram of Figure 2(b) represents the solar tracking control system that will be
used to rotate the array via rotary joints called solar alpha rotary joints (Figure 2(c)). Find,
1.1 The steady-state error for step commands,
1.2 The steady-state error for ramp commands,
1.3 The steady-state error for parabolic commands,
Kc
1.4 The range of to make the system stable.
J
Page 2 of 7
Figure 2: A space station: (a) configuration, (b) simplified block diagram, and (c) alpha joint drive
train and control system.
3) Figure 3(a) shows a robot equipped to perform arc welding. A similar device can be configured as a
six-degrees-of-freedom industrial robot that can transfer objects according to a desired program.
Assume the block diagram of the swing motion system shown in Figure 3(b). If ‘K’ = 64510, make a
second-order approximation and estimate the following:
2.1 Damping ratio,
2.2 Percent overshoot,
2.3 Natural frequency,
2.4 Settling time,
2.5 Peak time,
2.6 What can you say about your original second-order approximation?
Page 3 of 7
Figure 3: (a) Robot equipped to perform arc welding, and (b) Block diagram for swing motion system.
4) Industrial robots, such as that shown in Figure 4, require accurate models for design of high
performance. Many transfer function models for industrial robots assume interconnected rigid bodies
with the drive-torque source modeled as a pure gain, or first-order system. Since the motions
associated with the robot are connected to the drives through flexible linkages rather than rigid
linkages, past modeling does not explain the resonances observed. An accurate, small motion,
linearized model has been developed that takes into consideration the flexible drive. The transfer
function:
2 2
(s +8.94 s+ 44.7 )
G ( s )=999.12
(s+20.7)(s 2+34.858 s+ 60.12)
relates the angular velocity of the robot base to electrical current commands. Make a Bode plot of the
frequency response and identify the resonant frequencies.
Page 4 of 7
Figure 4: Robot performing construction of computer memory units.
5) Wind turbines, such as the one shown in Figure 5(a), are becoming popular as a way of generating
electricity. Feedback control loops are designed to control the output power of the turbine, given an
input power demand. Blade-pitch control may be used as part of the control loop for a constant-speed,
pitch-controlled wind turbine, as shown in Figure 5(b). The drivetrain, consisting of the windmill
rotor, gearbox, and electric generator (see Figure 5(c)), is part of the control loop. The torque created
by the wind drives the rotor. The windmill rotor is connected to the generator through a gearbox. The
transfer function of the drivetrain is
where Po (s) is the Laplace transform of the output power from the generator and T R (s) is the Laplace
transform of the input torque on the rotor. Substituting typical numerical values into the transfer
function yields
Do the following for the drivetrain dynamics, making use of any computational aids at your disposal:
5.1. Sketch a root locus that shows the pole locations of Gdt (s) for different values of gear ratio, N .
5.2. Find the value of N that yields a pair of complex poles of Gdt (s) with a damping ratio of 0.5.
Page 5 of 7
(a)
(a)
Page 6 of 7
Figure 5: (a) Wind turbines generating electricity, Bangladesh, (b) control loop for a constant speed
pitch-controlled wind turbine, and (c) drivetrain.
Page 7 of 7
