Students Name: _____________________________________

Marks

Q1 10
Q2 10
Control Systems N6 Q3 10
Q4 10
Q5 10
TERM 3/2018
TEST 2
Date: 1 November 2018
Time: 1.5 HRS
Total Marks: 50
Examiner: K JOUBERT
Moderator: W Hamman
Moderator
signature:
Date
Moderated:

TOTAL 50

Feedback:

Bhs6papt2318 Page1 of 11 MVJ/mvj

INSTRUCTIONS AND INFORMATION
1. Answer ALL the questions.

2. Read ALL the questions carefully.

3. Number the answers correctly according to the numbering system used in this question
paper.

4. Full marks = 100%

5. Neat, labelled sketches of circuit diagrams must be used in the explanation of answers ONLY
where a sketch is requested.

6. Do not make use of red or green ink or pencil when answering questions.

7. Make use of drawing equipment for ALL sketches.

8. Write neatly and legibly.

Question 1.
Indicate whether the following statements are TRUE or FALSE. Choose the answer and write only 'true'
or 'false' next to the question number (1.1 – 1.10) in the ANSWER BOOK.

1.1 A stable system is one that will remain at rest unless exited by an external source and will
return to rest if all excitations are removed. (1)

1.2 A feedback control system is one in which the control action is dependent of the output.
(1)

1.3 An impulse function can be described as a function of time which is periodically changing at a
frequency of  rad/sec. (1)

1.4 The 'forced response' describes the condition when two complementary energy-storing
components of a system produce an oscillation between them. (1)

1.5 Rise time refers to the minimum difference between the transient and the steady state
solution. (1)

1.6 The transient period is a period of change when the output of the system is changing from an
initial value to a new value. (1)

1.7 The time constant is the time taken by the response to complete one full cycle.
(1)

1.8 A steady state error is the difference between the output response and the reference input
after all the transients' responses have died out. (1)

1.9 Bandwith of a system is that range of frequencies over which the system would respond
satisfactorily. (1)

1.10 A second order control system cannot become unstable because there are no feedback
elements to adjust to make the output uncontrollable. (1)
[10]

Bhs6papt2318 Page2 of 11 MVJ/mvj

Question 2.

2.1 DIAGRAM SHEET 1(a) (attached), shows a first order RC integrator circuit diagram.
DIAGRAM SHEET 1(b) (attached), shows the resulting block diagram for this system.
Find the transfer function for this system by using block diagram algebra reduction.
Let Ƭ=RC

(5)

2.2 Express the given function in terms of the equivalent Laplace transformation.

d2y dy
25 2
+ 65 - 155 y = 155 x (3)
dt dt

2.3 Express the given Laplace function in terms of the equivalent time function.

160
F ( s) = (2)
(3s + 1) 2
[10]

Question 3.

3.1 Plot, on the same 3-cycle semi logarithmic graph paper, a point-by-point bode diagram for
the following data:

 ( rs −1 ) 0.1 0.3 0.6 1 3 6 10 30 60 100

G (dB) 38 24 16 9 -4 -15 -25 -34 -40 -50
 (Deg) -950 -1000 -1090 -1160 -1330 -1450 -1540 -1690 -1740 -1770
(6)

3.2 Determine from the graph:

3.2.1 The gain crossover frequency (1)

3.2.2 The phase value at the gain crossover frequency (1)

3.2.3 The phase margin (1)

3.2.4 The stability of the system based on the phase margin (1)
[10]

Question 4.
DIAGRAM SHEET 2 (attached), illustrates a point-by-point plotting of the open loop gain and phase
values of a control system as the frequency varies from 0,1 to100 radians per second.

Use the Nichol's chart to determine the following:

Bhs6papt2318 Page3 of 11 MVJ/mvj
4.1 The gain crossover frequency (1)

4.2 The phase crossover frequency (1)

4.3 The gain margin (1)

4.4 The phase margin (1)

4.5 The natural resonant frequency (1)

4.6 The peak magnitude gain and phase value at the peak value (2)

4.7 The frequency at the peak value (1)

4.8 Do you consider the system as stable? Explain your answer? (2)
[10]

Question 5.

By making use of block diagram algebra reduction, rewrite the diagram into:

5.1 The conical form (8)

5.2 The transfer function (1)
5.3 The total output of the system (1)
[10]

Total =[50]

Bhs6papt2318 Page4 of 11 MVJ/mvj

Bhs6papt2318 Page5 of 11 MVJ/mvj
 Diagram sheet 2

Bhs6papt2318 Page6 of 11 MVJ/mvj

 CONTROL SYSTEMS N6
FORMULA SHEET

1
 d =  n 1 −  2 = 2f tp =
f

ts 2 1− 2
Number of oscillations/Aantal ossilasies = or / of
tp  .

1
Damping coefficient/Dempingskoëffisiënt ( ) =  . n = 

− N
1− 2
Overshoot/Oorskiet = e

1− 2
 = tan −1 [ ] +  rad
−

− N
 
Amplitude =  1 + e 
1− 2

 
 

Ko ts 1
n = + =
 4  . n

 p =  n 1 − 2 2

 b =  n 1 − 2 2 + 2 − 4 2 + 4 4

C G ∑P - ∑ Z
= Sc =
R 1 ± GH NP - NZ

(2Ko + 1)1800
ζ = COSφ Ψ=
NP - NZ

ΔP1.ΔP2 ....
Ko =
ΔZ .ΔZ 2 ...
1

Bhs6papt2318 Page7 of 11 MVJ/mvj

AMPLIFIERS BODE AND NICHOLS CHARTS
VERSTERKERS BODE EN NICHOLAS-KAARTE

Rf  output 
Vo = −Vi Gain = 20 Log   db
R1  input 

 Rf   uitset 
Vo = Vi1 +  Wins = 20 Log  db
 R1   inset 

V V V   phase shift 
Vo = − R f  1 + 2 + .... N  Phase = Sin −1   − 180 0
 R1 R2 RN   input 

1  Faseverskuiwing 
RC 
Vo = − Vi(t )dt + Vc Fase = Sin −1   − 180 0
 inset 

dVi(t )
Vo = − RC
dt

Ve
ie =
Re

Vc
Rc =
ic

hfe
gmRL = .RL
hie

1
t=  = R.C
f

Bhs6papt2318 Page8 of 11 MVJ/mvj

 LAPLACE TRANSFORMS

No F(s) f(t)
1. 1  (t )
2. A A(t ) {0 t <0}
s {A t  0}
3. 1 U (t ) {0 t <0}
s {1 t  0}
4. A At
s2
5. 2A At 3
s3
6. A A sin t
s +2
2

7. As A cost
s +2
2

8(a). A −t
A
e
s + 1 
8(b). A Ae − at
s+a
9(a). A A  − t − −t 
( 1s + 1)( 2 s + 1) e 1 2 
1 −  2  
9(b). A
( s + a)(s + b)
A
(b − a)

e − at − e − bt 
10(a). At   
A −t

(s + 1) 2 e 
2  
10(b). A Ate− at
(s + a)2
11. A n A n e − n t
( )
2
sin  n 1 −  2t
s + 2n s +  n 1−
2 2 2

12(a). A  −t

s (s + 1) A1 − e  
 
12(b). A
s(s + a)
A
a
(1 − e − at )

13(a). A  −t t 
s (s + 1)
2 A e + − 1
  
13(b).
2
A
s ( s + a) a2
(e + at − 1)
A − at

14(a). A A 
−t
A
e + sin(t −  )
( s +  2 )(s + 1)
2
1+ 
2 2
1 +  2 2
Bhs6papt2318 Page9 of 11 MVJ/mvj
 where / waar  = tan -1 (0     )
14(b). A Ae − at A
+ sin(t −  )
( s +  2 )(s + a)
2
( + a )
2 2
 + a2
2


where / waar  = tan-1 (0     )
a
15(a). A  −t
1
−t
2

s( 1s + 1)( 2 s + 1)   e −  2e 
A1 + 1 
1 −  2
 
15(b). A A  ae−bt − be− at 
1+
s ( s + a)(s + b) ab  b−a 

16(a). A  ( + t ) −t 
s( + a) 2 A1 − e 
  
16(b). A
s ( s + 1) 2
A
a 2
1 − (1 + at )e − at 
17. A n  
2
e − n t
s( s + 2n s +  n )
2 2 A1 + sin( nt 1 −  2 −  
 1− 2 
where/waar
1− 2
 = tan −1
(0     )
−
18(a). A  2 2
−t
2 1
−t

s ( 1s + 1)( 2 s + 1)
2   e −  e 
At −  1 −  2 − 2 1
1 −  2 
 
18(b). A  b − bt a − at 
e − e 
s ( s + a )( s + b)
2
A  a+b a b
t − − 
ab  ab b−a 
 
19(a). A  −t

s (s + 1) 2
2 At − 2 + (t + 2 )e  
 
19(b). A A 2 2 
2 
t − + (t + )e −at 
s ( s + a) 2
2
a  a a 
20. A n  2 
2
e− n t
s ( s + 2n s +  n )
2 2 2 A − + sin( nt 1 −  2 −  
  n  n 1 −  2 
where/waar
1− 2
 = 2 tan −1
(0     )
−

Bhs6papt2318 Page10 of 11 MVJ/mvj

21(a). A  −t −t

1 2
( s +  )( 1s + 1)( 2 s + 1)
2 2  1 e
2
 2e
2

 ( −  )(1 +  2 2 ) + ( −  )(1 +  2 2 ) + 
A 1 2 1 1 2 2

 sin(  t −  ) 
 1 
[(1 +  2 12 )(1 +  2 22 )]2 
where/waar  = tan−1 1 + tan−1 2

21(b). A  e − at e −bt 
( s +  )(s + a)(s + b)
2 2  (b − a)( 2 + a 2 ) (a − b)( 2 + b 2 ) + 
+
 
A sin(t −  ) 
 1 
[( 2 + a 2 )( 2 + b 2 )]2 
 
 ( a + b)
where/waar  = tan −1 (0     )
ab −  2
22(a). A A t + 2 
−t

( s +  2 )(s + 1) 2
2  e + sin(  t −  ) 
1 +  2 2  1 +  2 2 
where/waar  = 2 tan  −1

22(b). A A  a (at + 2)e − at 

( s +  2 )(s + a) 2
2 2 
+ sin(t −  )
 +a   +a
2 2 2


23. An2 A n2
( s 2 +  2 )(s 2 + 2n s +  n2 ) 1
[( n2 −  2 ) 2 + 4 2 2 n2 ] 2
 e − n t sin( n 1 −  2 t −  2 ) 
sin(t −  ) + 
 n 1 −  2 
where/waar
 2n 
 1 = tan−1  2
(0   1   )

 n
2
−  
2n2 1 −  2
and/en  2 = tan − 2−1
(0   2   )
 −  n2 (1 − 2 2 )

Bhs6papt2318 Page11 of 11 MVJ/mvj