MIDTERM III MAY zoth,2or3 Time allowed is 120 minutes, open books only (no notes), calculators are

allowed. All work should be shown clearly in the exam booklets. No questions will be answered during the exam, CIIE 407 - SPRING 2013
provide your solutions to the best of your understanding of the problem statements.

PROBLEM L (25 points) A certain contol scheme uses the following block diagram. Derive transfer functions for all the
possible input/output pairs for this block diagram.

UI'p+DGJ

[Cer-EJrDGd
PROBLEM 2 (25 points) A feedback conttol system has the open loop transfer function Gel(s)
Determine the values of stability criterion.

- (10s+1)(5s+1)(2s+1)
stable by the application of the Routh

0.s&

K, for which the system is

( t,,rtt)
\00

[ ,nsl t?: t \ )
+ 10rz *
to5

5)

r0

s7* -151\

(J"

(lt G?-Gil =

Y:fl D

[,t (t

t G"GF -G,Gy) = \59Go t

Q,Gr

PROBLEM 3 (25 points) The tuning constants for a PI controller for the following process are to be detemrined

6r(s)G,(s)G-(s) = (8.5s + 1)
Ga(s) =
100

7.5r-2'3s

il1
sets

A fellow process control engineer has determined. several

of constants for the controller sain

and integral time. Determine which of these sets of constants are acceptable by making a analysis of the system under each condition.

staffi

Parameter

Case

Case B

K"
T1

t2
6

t2
I

Case C 0.3
6

Case 0.3
1

Hint

you would need to use a Pade approximation for the delay which means that

r ^-os _@)5 v - 1! /z) s

PROBLEM 4 (25 points)
Consider the control system shown in the figure below

v.-

a) b)

c)
d)

Define the inputs and outputs on this system. What should be the value of K*multiplying the set-point input? (5 points) Derive the closed loop transfer function(s) relating all possible input-output pairs (10 points) For the given values of the various transfer functions in the loop, determine whether the system is closed loop stable with respect to set-point changes (10 points) Does your answer in part (c)rchange if you considered distrbance changes? Support your answer with proper calculations (5 points)

)c -1s7 <-1 t -3.|s. (-Zrr+0.4b*q 1)( ,.r) = --Ls3 - l+s'+a.fs'+ 7 7 L*??s+

bCI'+

PRoBLE

M L',

Y.=

UEIDGe

t,|(Gp,

-E.) t

DGr

lrt

E - Y'f - tt (et, -Gr)r

U

EG.
DGg

\rp G. - tL(E,

-cpJGc: DG",ca
DGaG.

tL (t + Gp, Gc-

g,Q) : XrG.-

Y=

trGp, +DG;
D&s
'

= l*YspC', , DGrG-" .Gr, , Q,G. -q"G.

Y:
Y

Ys, GGo,

=JrlrtZ-E, I t Gp

* DG. t DtilC, - DGlQ,Ga

Gp.G.

,G"-

G. Gp,
l*Gp,G.-G3"G.

Yrf

Y
D

(t - E"G)Ga t tGg,G" -E..G.

PRosuEM z.',

R.

s{*ti ti{:

[+Gu,=l+

= 2'?Y', r

=(l Os+r)(5s+ rXZs+r) +0.5K. = o

-(5os'1 lSs+r)(x+r)+osk

- c).

s*+ WilEG+I + o5 K. =o : I oos3 1 BosL + lls *(t * o.SK)

-)-offf1
co.rol,r?r"^

+
t+.
I

[ +0.6K.

)o + K.>-Z
18'6 o '-*

loo
Bo

t 0.5L.

0,dC'r 5o K. .). O,]'

t:

(pXr+)rl
8o.
I

Ct

lZ6o ),5g K.' ,' ' ,

K. < 2,s-z

to.S K.

.' ' r"" J

.

fr.

s{*L',

U{J -Z <K. 1ZS.z

w #.

leoBuEtr,t

i:
{*

^.oFP fvc

-2 '3s

'

Fo. +h;

ca/\4

l1 ?.5 l-l,l5s ItGou: l+ K.(l* --t zre) &,5sa1 l+t.lSs

,\

:r+*"('t:i'X#)(H#)=o
:W
?,5 K.(?rE+ t)(l -l.lsr) = O = (5l,Es+r)(ttl.6sXZrs) 1 rln**7< t u{t)Ccs) t },5K" (g{<-t,rscrs{-1.ds)=o
.

:- fusg$

3M

+J4{+ r,5 K" + rE-l4rG-t.tils

Qz

+?.5K = o
\*\-k,

o ) ?, )o' Q.)o + K. )o Qr-) o + 9.6s-e.5Zs(-)o +

C[e)

AD,

K- < 1,lz

+
ct,

+r,^/)

c*.d*1.a"r a,lrU.^;n..1* G,se

Cct-se

A ar^-J 6ase, B

)o ?

Car\L D

K"

e,
q,
L

0,3 6L
lb

0"2

o.L6L

cenno+ d;54rhg"ish tvr4 S" rn.rSS n^o.^" .F*,.t" "t Ue

R".^$.h a.r/reg
.

ct3

ar
cl-o

L
3

o_
-.-+-.#

f,,\"f .*d.&.'a,n 4zc(r - o3Cto )

qL
.]

ArO, -O.cLo a.z

oo

C + l3.B ? c*t e- 0 9 -2,46

c&re-

c^^e D iS

:lY
.

s+..tte

PRoB LrM

+;
Ysp o^^-J

(c.) lnputs a,\L

O"dp.r,t
is

K*

sh o,-[d 6e 4l,ro S,S. g ai',.

of

G,n

=,.* Srt

2/+
= t/1s
t

+.1-

? k-: z v

(b) Tt...4 loop cc.ur- be s )tt pUfi..l ink,rna. ttg 4t)

(".2)*
I -,_ (o.z) rt:--

o'6

(t)
I l?

2W
A ,'

: "x{ Zx3to.b
2sr3,6 Z-s
0,6
'

o.6

2sr3.6.
2-

. in{.r,n.*L

("op.

2st ]

TI.rr^

l-i Go. =

-2

s+?
r

Y
Yr,

-, Gs+ a, e) (z -s) (sI+)

(

z-

2st3,6) (z-s )G,

r+)
@

-6 Cstil
t

(2s r ].0 ) (z-s Xs

ti) - rz
(s**)

(zsr sr ?.0)(z->) ?.sXz-: Csr +) -

Y
D

4st
ItG--

[Zs*l.o) O-s)Cs++) z (4snr f(2s.n z. sXz+Xsr +) I zl -

(c)

| +Go,- =

o = G=u z.O(z-s)Csr+) -12 :(ts - zs'+ ?, L4.6)(str) - t z : (?,2 - o ,4s - zs") Cst r) - tL = QE 4x- ^*+ 5o, 4 - zrds 1-{f - z)
I

:!= _ 2s? _ 14,*s" +

+,4 + 39.4

t[.{ a.Lo'.rc- is o- 3rd o.du F"t$no"ra,t.r0 w rth rvgq.liw .' - +C. .t*o-J [o-p .? u ns{-LL tdl
itarwer do.n ,no{ cb,.a.*7c a,rt ho{L I $o*rlr,ad tg l+6or^

c[.

au d a.

Ps stnb; U {I

.5