FACULTY OF ENGINEERING AND TECHNOLOGY

DEPARTMENT OF ELECTRICAL ENGINEERING

ACADEMIC YEAR 2023/24

FINAL EXAMINATIONS
Course Code: EEB 431 Subject: ELECTRICAL ENGINEERING
Title of Paper: CONTROL SYSTEMS I

Semester: 1
Time Allowed: 120 MINUTES Reading Time:10 MINUTES Maximum Marks: 75

Examiner(s)___ DR MANDU A JEFFREY___

INSTRUCTIONS TO CANDIDATES

1. Answer THREE (3) of the FIVE questions as follows:

PART A: Compulsory: Answer Question 1
PART B: Choice: Answer Question 2 OR Question 3
PART C: Choice: Answer Question 4 OR Question 5

2. Each question carries a maximum of 25 marks

3. Write your name and student I.D. number on all sheets used and insert them into the
answer book

DO NOT OPEN THIS PAGE UNTIL YOU HAVE BEEN TOLD TO DO SO

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NUMBER OF PAGES INCLUDING THE COVER PAGE: 7
PART A: Compulsory – Answer Question 1

Question 1
a) Determine the transfer function Vo(s)/Vi(s) for the system in Figure 1 (10 marks)
** Assess if the choice of component values is reasonable.

R1

C1

R1 = R 2 = 10k
L +
R2 C1 = C2 = 100F
+
vi(t) _ vo(t) L = 1
C2
_

Figure 1

b) Determine the transfer function Y(s)/R(s) for the system in Figure 2 (4 marks)

R(s) Y(s)
G1(s) + + G3(s)
G2(s)
_ +

H(s)

Figure 2

c) Write a Matlab programme to obtain the following for the system in Figure 3

R(s) + E(s) C(s)

s2
s  10

Figure 3

i) The gain margin, phase margin and associated frequencies (5 marks)

ii) Closed loop system’s step response plot (3 marks)
iii) Solution c(t) for a unit step input (3 marks)

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PART B: Choice – Answer Question 2 OR Question 3

Question 2
a) Determine the range of gain K for the closed loop system in (12 marks)
Figure 4 to be stable
R(s) + Y(s)

Figure 4

b) Determine the static error constants Kp, Kv and Ka for the systems (9 marks)
in Figures 5(a) and 5(b).

R(s) + E(s) C(s) R(s) + E(s) C(s)

_ _

2
s  10
Figure 5(a)
Figure 5(b)

c) Recommend a suitable controller/compensator that can be applied (4 marks)

to the unity feedback system with an open loop Bode plot presented
in Figure 6

Figure 6

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Question 3
a) Consider the control system (controller and process) presented in Figure 7

R(s) + 1 C(s)

s ( s  10)
_

Figure 7

i) Explain the effect of adjusting the controller gains KP and KI (5 marks)

on the transient and steady state performance or dynamics of this
closed loop system
ii) Determine the range of vales for the proportional and integral (7 marks)
gains KP and KI for the system to be stable.

b) Study the process presented in Figure 8

Figure 8

i) Explain how control of this process is achieved (2 marks)

ii) Formulate a control problem for this process (11 marks)
Include the following in your formulation
 Control objectives
 Controlled variable
 Manipulated variables
 Measured and unmeasured system outputs
 Expected disturbances on the system
 Constraints that this system may be operating within
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PART C: Choice – Answer Question 4 OR Question 5

Question 4
a) Sketch the asymptotic Bode plot for a system with an open loop (18 marks)
transfer function:
100( s  1)
GH ( s) 
s( s  2)( s 2  3s  25)

b) Use your plots from a) above to determine the systems (5 marks)

i) Gain and Phase crossover frequencies
ii) Gain and Phase margins
iii) Bandwidth

c) Comment on the stability of this system (2 marks)

Question 5
a) Design a lead compensator for the system presented in Figure 9 (18 marks)
to meet the following step response specifications:
%OS = 20% , Ts = 0.2s and Kv = 50
*** The systems open loop Bode plot for K=1 is as attached in Figure 10

R(s) + E(s) C(s)

Figure 9

b) Explain how a lead compensator is similar to (or different from) (3 marks)

a PD controller

c) Explain how a lead compensator is similar to (or different from) (4 marks)

a lag compensator

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 Figure 10

END OF EXAMINATION PAPER

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Transform Tables

−ln⁡(%𝑂𝑆/100) 𝜋 4
= 𝑇𝑝 = ⁡⁡⁡⁡⁡⁡⁡⁡⁡⁡⁡⁡⁡ 𝑇𝑠 =
√𝜋 2 + ln2 ⁡(%𝑂𝑆/100) 𝜔𝑛
𝜔𝑛 √1 − 2

1
𝑀𝑝 = ⁡⁡⁡⁡⁡⁡⁡⁡⁡𝜔𝑝 = 𝜔𝑛 √1 − 22
2
𝜔𝐵𝑊 = 𝜔𝑛 √(1 − 22 ) + √44 − 42 + 2
2√1 − 

√−22 + √1 + 44
2
𝑀 = 90 − tan−1 ⁡⁡⁡ = tan−1
2
√−22 + √1 + 44

1 1 1 1
𝑠+𝑇 1 𝑠+𝑇 𝑠+𝑇 𝑠+𝑇
1 2
𝐺𝑐 (𝑠) = ⁡⁡⁡⁡⁡⁡⁡⁡⁡⁡⁡⁡⁡⁡⁡⁡ 𝐺𝑐 (𝑠) = ⁡⁡⁡⁡⁡⁡⁡⁡⁡⁡⁡⁡⁡⁡⁡⁡⁡ 𝐺𝑐 (𝑠) = ( 𝛾 )( )⁡⁡⁡
1 𝛽 1 𝑠+𝑇 1
𝑠 + 𝛼𝑇 𝑠+ 𝑠 + 𝛾𝑇
𝛽𝑇 1 2

1 1 1−𝛽 1−𝛽
𝜔𝑚𝑎𝑥 = ⁡⁡⁡⁡⁡⁡⁡⁡⁡⁡⁡⁡⁡| 𝐺𝑐 (𝑗𝜔𝑚𝑎𝑥 )| = ⁡⁡⁡⁡⁡𝜙𝑚𝑎𝑥 = tan−1 ⁡ = sin−1
T√𝛽 √𝛽 2√𝛽 1+𝛽

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