University of Moratuwa
Faculty of Engineering
Department of Electrical Engineering
MSc/PG Diploma in Electrical Engineering
MSc/PG Diploma in Industrial Automation
Semester 1 Examination 2018
EE5205 Control Systems Design
Time allowed: Two Hours ONLY June 2018
INSTRUCTION TO CANDIDATES:
This paper contains 4 questions on 5 pages.
Answer all questions.
This paper accounts for 80% of the module assessment. The total maximum mark
attainable is 80. The marks assigned for each question and sections thereof are
indicated in square brackets.
Only lecture notes are allowed.
Assume reasonable values for any data not given in or with the examination paper.
Clearly state such assumptions made on the script.
If you have any doubt as to the interpretation of wording of question, make your own
decision, but clearly state it in the script.
All Examinations are conducted under the rules and regulations of the University.
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Page 2 of 6
Question 1
1. Two systems of which state space representation are (A1,B1,C1,D1) and (A2,B2,C2,D2)
respectively, are interconnected in cascade. Derive the state space model of the combined
system. [05 marks]
2. The block diagram of an electric train control is shown in Fig Q1. The system parameters
and variables are
( ) ( )
( )
To determine the transfer function of the controller, apply a step function of 1 V to the
input of the controller {i.e. ( ) ( )}. The output of the controller is measured and
is described by the following equation:
( ) ( ) ( )
(a). Find the transfer function ( ) of the controller.
(b). Derive the forward-path transfer function of the system.
(c). Derive the closed-loop transfer of the system.
(d). Assuming that K is set at a value so that the train will not run away (unstable), find
the steady-state speed of the train in m/s when the input is ( ) ( ).
𝑒𝑟 (𝑡)
𝑒(𝑡) Amplifier 𝑒𝑐 (𝑡) Controller 𝑓(𝑡)
1/Ms
K 𝐺𝑐 (𝑠)
𝑣(𝑡)
Speed detector
𝐾𝑡
[15 marks]
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Question 2
1. The transfer function of a control system is given by
( ) ( )
( )
( ) ( )( )
Draw the state diagram and obtain the state equation.
[10 marks]
2. Obtain the state transition matrix of the system represented by the following state
equations and using the same, determine the time response for .
̇
[ ] [ ][ ] [ ][ ]
̇
The initial conditions are ( ) and ( ) and the input ( ) is a unit-step
function at
[10 marks]
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Question 3
Consider the system shown in Figure Q3. Using the pole placement design with observer
approach, design a regulator system such that the system will maintain the zero position
y1 0 and y2 0 in the presence of disturbances. Choose the desired closed loop poles for
the pole placement design to be
s 2 j 2 3, s 2 j 2 3, s 10, s 10
and the desired poles for the minimum order observer to be
s 15, s 16
Assume that m1 1 kg, m2 2 kg, k 36 N/m, and b 0.6 N-s/m. The equations for the
system are:
m1 y1 k y2 y1 b y2 y1 u
m2 y2 k y1 y2 b y1 y2
Chose the state variables as follows:
x1 y1 , x2 y2 , x3 y1 , x4 y2
a) Derive the state-space model of the system. [6 marks]
b) Determine the state feedback gain matrix K and the observer gain matrix Ke of the
system. [8 marks]
c) By use of u Kx and e x - x , derive the state equation for the minimum-order
observer. Also derive the error equation for the minimum-order observer.
[6 marks]
k
u
Figure Q3: A Mechanical system
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Question 4
Consider a double integrator system given by the differential equation
y u
with cost criterion
J y 2 t ru 2 t dt
0
where r is a positive constant.
Determine the following:
a) the state space representation of the system. Define the state variable as x1 y, x2 y .
[6 marks]
b) the positive-definite matrix P . [8 marks]
c) the optimal feedback gain matrix K . [2 marks]
d) the optimal closed loop system and the poles of the closed-loop system. [4 marks]
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