The Hong Kong Polytechnic University
School of Professional Education and Executive Development
Mid-term Test
Student Name :
Student Number :
Subject Title : Control System Analysis Subject Code : SEHS4653
Session : Semester One 2023/24 Date : 9 November 2023
Time : 20:30 – 21:30 Time Allowed : 60 mins
This question paper has a total of NINE pages (including this covering page).
Instructions to Candidates:
1. There are THREE questions in this paper. Answer ALL questions on the blank space
provided in this paper.
2. Show all your workings clearly. Reasonable steps must be provided.
3. Total marks of this paper is 60 marks.
4. All answers must be written in ink. Pencils may only be used for drawing, sketching, or
graphical work.
5. Laplace Transform table is provided on pages 8 - 9.
Authorised Materials:
YES NO
CALCULATOR [√] [ ]
SPECIFICALLY PERMITTED ITEMS [ ] [√]
DO NOT TURN OVER THE PAGE UNTIL YOU ARE TOLD TO DO SO
Page 1 of 7
Answer ALL questions in the blank space provided.
Question 1 (20 marks)
𝐶𝐶(𝑠𝑠)
Find the transfer function, 𝑅𝑅(𝑠𝑠) , of block diagram shown in Figure 1.
H1
+
+
R(s) G1 G2 G4 C(s)
− +
H2
Figure 1.
Answer
H1
+
+
R(s) G1 G2 G4 C(s)
− +
H2
G2
+ G2
R(s) G1 G4 C(s)
−
1− G2H1
H2
G2
G 1G 2G 4
R(s) C(s)
1− G2H1+G1H2
Page 2 of 7
Question 2 (20 marks)
A root locus plot of a negative unity feedback system with gain K is shown in Figure 2.
j0.866
30°
Figure 2.
(a) State the open-loop transfer function of the system. (5 marks)
(b) Determine the value of K such that the damping ratio of the system is 0.866.
(12 marks)
(c) Comment on the stability of the system. (3 marks)
Page 3 of 7
Answer
(a)
𝐾𝐾
𝐺𝐺(𝑠𝑠) =
(𝑠𝑠 + 1)(𝑠𝑠 + 2)
(b)
𝜃𝜃 = 𝐜𝐜𝐜𝐜𝐜𝐜 −𝟏𝟏 0.866 = 30°
Then, draw a line from the origin with an angle of 30° to -x direction.
It cuts the root locus at 𝑠𝑠 = −1.5 + 𝑗𝑗0.866, 𝑠𝑠 = −1.5 − 𝑗𝑗0.866
Hence, substitute this closed-loop pole into ∆(𝑠𝑠), we have
∆(𝑠𝑠) = (𝑠𝑠 + 1)(𝑠𝑠 + 2) + 𝐾𝐾 = 0
𝐾𝐾 = −(𝑠𝑠 + 1)(𝑠𝑠 + 2) = 1
(c)
The system will always be stable regardless the value of gain K since all root locus branches are
located on the left half s-plane.
Page 4 of 7
Question 3 (20 marks)
Use Routh array, determine the range of the proportional controller KP such that the below
system is stable.
+ 1
R(s) Kp C(s)
−
(s+1)(s+2)(s+5)
Figure 3.
Answer
∆(𝑠𝑠) = (𝑠𝑠 + 1)(𝑠𝑠 + 2)(𝑠𝑠 + 5) + 𝐾𝐾𝑝𝑝
∆(𝑠𝑠) = (𝑠𝑠 2 + 3𝑠𝑠 + 2)(𝑠𝑠 + 5) + 𝐾𝐾𝑝𝑝
= 𝑠𝑠 3 + 8𝑠𝑠 2 + 17𝑠𝑠 + 10 + 𝐾𝐾𝑝𝑝
𝑠𝑠 3 1 17
𝑠𝑠 2 8 10 + 𝐾𝐾𝑝𝑝
𝑠𝑠1 (8)(17) − �10 + 𝐾𝐾𝑝𝑝 �
8
𝑠𝑠 0 10 + 𝐾𝐾𝑝𝑝
10 + 𝐾𝐾𝑝𝑝 > 0 → 𝐾𝐾𝑝𝑝 > −10
(8)(17) − �10 + 𝐾𝐾𝑝𝑝 �
> 0 → 136 − 10 − 𝐾𝐾𝑝𝑝 > 0 → 𝐾𝐾𝑝𝑝 < 126
8
∴ 0 < 𝐾𝐾𝑝𝑝 < 126
Page 5 of 7
Appendix I: Laplace Transform Table
Time Function 𝑓𝑓(𝑡𝑡) Laplace Transform 𝐹𝐹(𝑠𝑠)
1 Unit-impulse function 𝛿𝛿(𝑡𝑡) 1
1
2 Unit-step function 𝑢𝑢𝑠𝑠 (𝑡𝑡)
𝑠𝑠
1
3 Unit-ramp function t
𝑠𝑠 2
𝑛𝑛!
4 𝑡𝑡 𝑛𝑛 (𝑛𝑛 = positive integer)
𝑠𝑠 𝑛𝑛+1
1
5 𝑒𝑒 −𝑎𝑎𝑎𝑎
𝑠𝑠 + 𝑎𝑎
1
6 𝑡𝑡𝑡𝑡 −𝑎𝑎𝑎𝑎
(𝑠𝑠 + 𝑎𝑎)2
𝑛𝑛!
7 𝑡𝑡 𝑛𝑛 𝑒𝑒 −𝑎𝑎𝑎𝑎 (𝑛𝑛 = positive integer)
(𝑠𝑠 + 𝑎𝑎)𝑛𝑛+1
𝜔𝜔
8 sin 𝜔𝜔𝜔𝜔
𝑠𝑠 2 + 𝜔𝜔 2
𝑠𝑠
9 cos 𝜔𝜔𝜔𝜔
𝑠𝑠 + 𝜔𝜔 2
2
1 1
10 (1 − 𝑒𝑒 −𝑎𝑎𝑎𝑎 )
𝑎𝑎 𝑠𝑠(𝑠𝑠 + 𝑎𝑎)
1 1
11 (𝑒𝑒 −𝑎𝑎𝑎𝑎 − 𝑒𝑒 −𝑏𝑏𝑏𝑏 ) (𝑎𝑎 ≠ 𝑏𝑏)
𝑏𝑏−𝑎𝑎 (𝑠𝑠 + 𝑎𝑎)(𝑠𝑠 + 𝑏𝑏)
1 𝑠𝑠
12 (𝑏𝑏𝑒𝑒 −𝑏𝑏𝑏𝑏 − 𝑎𝑎𝑒𝑒 −𝑎𝑎𝑎𝑎 ) (𝑎𝑎 ≠ 𝑏𝑏) (𝑠𝑠 + 𝑎𝑎)(𝑠𝑠 + 𝑏𝑏)
𝑏𝑏 − 𝑎𝑎
1 1
13 (1 − 𝑒𝑒 −𝑎𝑎𝑎𝑎 − 𝑎𝑎𝑎𝑎𝑒𝑒 −𝑎𝑎𝑎𝑎 )
𝑎𝑎2 𝑠𝑠(𝑠𝑠 + 𝑎𝑎)2
1 1
14 (𝑎𝑎𝑎𝑎 − 1 + 𝑒𝑒 −𝑎𝑎𝑎𝑎 )
𝑎𝑎2 𝑠𝑠 2 (𝑠𝑠 + 𝑎𝑎)
𝜔𝜔
15 𝑒𝑒 −𝑎𝑎𝑎𝑎 sin 𝜔𝜔𝜔𝜔
(𝑠𝑠 + 𝑎𝑎)2 + 𝜔𝜔 2
𝑠𝑠 + 𝑎𝑎
16 𝑒𝑒 −𝑎𝑎𝑎𝑎 cos 𝜔𝜔𝜔𝜔
(𝑠𝑠 + 𝑎𝑎)2 + 𝜔𝜔 2
𝜔𝜔𝑛𝑛 𝜔𝜔𝑛𝑛2
17 𝑒𝑒 −𝜁𝜁𝜔𝜔𝑛𝑛𝑡𝑡 sin 𝜔𝜔𝑛𝑛 �1 − 𝜁𝜁 2 𝑡𝑡
�1 − 𝜁𝜁 2 𝑠𝑠 2 + 2𝜁𝜁𝜔𝜔𝑛𝑛 𝑠𝑠 + 𝜔𝜔𝑛𝑛2
Page 6 of 7
1
− 𝑒𝑒 −𝜁𝜁𝜔𝜔𝑛𝑛𝑡𝑡 sin(𝜔𝜔𝑛𝑛 �1 − 𝜁𝜁 2 𝑡𝑡 − 𝜙𝜙) 𝑠𝑠
18 �1 − 𝜁𝜁 2 𝑠𝑠 2 + 2𝜁𝜁𝜔𝜔𝑛𝑛 𝑠𝑠 + 𝜔𝜔𝑛𝑛2
where 𝜙𝜙 = cos −1 𝜁𝜁
1
1− 𝑒𝑒 −𝜁𝜁𝜔𝜔𝑛𝑛𝑡𝑡 sin(𝜔𝜔𝑛𝑛 �1 − 𝜁𝜁 2 𝑡𝑡 + 𝜙𝜙) 𝜔𝜔𝑛𝑛2
19 �1 − 𝜁𝜁 2
𝑠𝑠(𝑠𝑠 2 + 2𝜁𝜁𝜔𝜔𝑛𝑛 𝑠𝑠 + 𝜔𝜔𝑛𝑛2 )
where 𝜙𝜙 = cos −1 𝜁𝜁
𝜔𝜔2
20 1 − cos 𝜔𝜔𝜔𝜔
𝑠𝑠(𝑠𝑠 2 + 𝜔𝜔 2 )
𝑑𝑑
21 𝑓𝑓(𝑡𝑡) 𝑠𝑠𝑠𝑠(𝑠𝑠) − 𝑓𝑓(0)
𝑑𝑑𝑑𝑑
𝑑𝑑 2
22 𝑓𝑓(𝑡𝑡) 𝑠𝑠 2 𝐹𝐹(𝑠𝑠) − 𝑠𝑠𝑠𝑠(0) − 𝑓𝑓 ′ (0)
𝑑𝑑𝑑𝑑 2
𝑠𝑠 𝑛𝑛 𝐹𝐹(𝑠𝑠) − 𝑠𝑠 𝑛𝑛−1 𝑓𝑓(0) − 𝑠𝑠 𝑛𝑛−2 𝑓𝑓 ′ (0) …
𝑑𝑑 𝑛𝑛
23 𝑓𝑓(𝑡𝑡) − 𝑠𝑠𝑓𝑓 (𝑛𝑛−2) (0)
𝑑𝑑𝑑𝑑 𝑛𝑛 − 𝑓𝑓 (𝑛𝑛−1) (0)
𝐹𝐹(𝑠𝑠) 1
24 � 𝑓𝑓(𝑡𝑡)𝑑𝑑𝑑𝑑 + �� 𝑓𝑓(𝑡𝑡)𝑑𝑑𝑑𝑑�
𝑠𝑠 𝑠𝑠
25 𝑓𝑓(𝑡𝑡 − 𝑇𝑇) 𝑒𝑒 −𝑇𝑇𝑇𝑇 𝐹𝐹(𝑠𝑠)
26 𝑓𝑓(∞) = lim 𝑓𝑓(𝑡𝑡) = lim 𝑠𝑠𝑠𝑠(𝑠𝑠)
𝑡𝑡→∞ 𝑠𝑠→0
27 𝑓𝑓(0+ ) = lim+ 𝑓𝑓(𝑡𝑡) = lim 𝑠𝑠𝑠𝑠(𝑠𝑠)
𝑡𝑡→0 𝑠𝑠→∞
− End of Paper −
Page 7 of 7
