Name:
ID. No.
Eskişehir Osmangazi University - Electrical Engineering Department
Fundamentals of Control Systems- Resit Examination - Spring 2024
Duration: 50 minutes; Allowed: A calculator; Directions: All answers must be written below the
questions. Anything written elsewhere won’t be graded. Up to 1% error in the answers are tolerable.
Question 1.
a) Sketch the root locus for the system on the
right.
b) Find the angle of departure from the poles at
s=1. Show your work.
c) Find the K values that stabilize the closed
loop system. Show your work.
a) b) Draw vectors from poles and zeros to a neigh-
boring point of s=1. There are no zeros so there
are no angle contribution from the zeros. Angle
conribution from the vectors starting at s=-1 are
both zeros, two vectors from the pole at s=1 have
equal angles (say θ) ; this leads to
0 − 0 + 0 + θ + θ = 180(2k + 1), k = 0, ±1, . . .
→ θ = 900 , 2700
c) Closed loop tf has the denominator: s4 − 2s2 +
1 + K. Because of the coeffients’ signs, this al-
ways has roots in the RHP. There is no K making
the system stable.
Question 2.
a) Sketch the polar plot of G(iw) shown on the
right.
b) Is the point -1 encircled by the polar plot?
Show your work.
c) In Nyquist analysis of this system, what are
N, Z, P values? Use these values to find out
whether this system stable or not.
a)
b) Using the denominator of the closed loop tf
in the Routh table, we see that the closed loop
system is unstable. Regarding that this is a
minimum phase system; the point -1 is encircled.
Regarding that the initial angle is 0, and it
decreases down to -360; when we sketch it we
see that the point -1 is encircled twice in the cw
direction.
c) P=0, N=2 and N=Z-P → 2=Z-0, thus Z=2.
System is unstable.
Question 3.
40 pts. Asymptotic Bode magnitude diagram of an LTI system is given below. Its slope changes at log w = −1,
and some readings from the graphics are given below. Write a transfer function for this system. Show your
work.
log w M agnitude(dB)
−2 72
−1 52
0 12
Leftmost part has the slope 20 db/dec; this implies an s factor in the denominator. Break point at log
w=-1, or w=0.1, means (1+10s) factor in the denominator. At w=1 (or log w=0) graph is supposed to be
at -20 db. However, it is at 12 dB, that is, 32 dB raised. 32 dB raise corresponds (20 log A = 32 → A ≈ 40)
factor of in the numerator. Thus, it could be
40
s(1 + 10s)
