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Keller
Karlsruhe University of
Applied Sciences
Control Theory
Examination Summer 2011
CSexss11
page 1 / 7
Name:............................
Formulas:
Small Laplace Transform Table:
(t)
1
s
e a t
1
sa
1
s2
1
s s a
1
1 e at
a
sin at
a
s a2
s
2
s a2
2
cos at
1 d 2
1
sin
t
d
1 d 2
fr d<1:
d
t
T
1 d
mit arctan
d
1
(T s 2 d T s 1) s
und 90 180
1 1 e T
T
t
fr d=1:
T2
T1
T2
e T1
e mit T1, 2 T d d 2 1
fr d>1: 1
T1 T2
T1 T2
Control Theory
Examination Summer 2011
CSexss11
page 2 / 7
Problem 1: (6 points)
Given a system with input signal x(t) and output signal y(t) which is described by
y T y T x
a) Obtain the transfer function G( s )
Y ( s)
.
X ( s)
b) The input is x(t)=(t). What is the Laplace-transform of x(t) ? What is the Laplacetransform of y(t)? Obtain y(t).
Control Theory
Examination Summer 2011
CSexss11
page 3 / 7
Problem 2: (7 points)
Given a system with transfer function G ( s)
1 Ts
e
Ts
Control Theory
Examination Summer 2011
CSexss11
page 4 / 7
G ( s)
Ts 1 Ts
controller
process
a) Obtain the transfer function G(s) = C(s)/R(s) of the closed loop, if a P-controller
with gain K is used.
c) What is the steady state error (in %) for K=4, and T=1s ?
d) Find out, whether the step response of the closed loop has an overshot for K=4,
and T=1s.
Control Theory
Examination Summer 2011
CSexss11
page 5 / 7
Problem 4: (7 points)
The block diagram of a process is given in the following figure. Note that the process
includes a positive feedback. T and K are positive.
u
1
1 Ts
1
Ts
+
+
1
Ts
C ( s)
.
U (s)
Control Theory
Examination Summer 2011
CSexss11
page 6 / 7
b) Make a sketch of the Nyquist plot of the open loop for K=2.
c) What is the maximum value for K for which the control loop is still stable.
d) Make a drawing of the reference input, the controller output and the controlled
variable if a P-controller with gain K=2 is used and the reference input is r(t)=(t).
Drawing for 0<t<40s. What is the value c(t=35s)?
Control Theory
Examination Summer 2011
CSexss11
page 7 / 7
Problem 6: (7 points)
We consider a liquid level control system. The liquid level h (dimension: m) in a container is to be controlled. The cross section area of the container is A. The controller
output is qcontroller (flow rate, dimension: m3/s).
a) What is the transfer function of the process (input: qcontroller, output: h)
1
. Obtain the transfer function of the closed
Ti s