INTROL ENGINEERING III 2022/2023 06/07/202: ‘TIME: 1 HOUR 1) Deduce the expressions for the following vectors of a multi-input multi-output dynamic system: i) State vector, ii) Input vector, ii) Output vector (6 Marks) b) Consider the mechanical system below. Obtain the state equations. (5 Marks) ) A system has a transfer function The system has an initial condition y(0) = 1 and is subject to zero input u(e) = 0. Determine: i) the state and output equations; ii) the transition matrix (s); iii) the time response of state variables. (9 Marks) 4) Differentiate between a state controller and a state observer. What are the necessary and sufficient conditions for state controller and state observer, respectively, to be effective ih pole placement design? (4 Marks) ©) Design a stator estimator with eigenvalues of -10 and -10 for the following LTI system U 0 4 0 gaan? x0=(2, S)xo+[uo yO=(1 o]xtt) (6 Marks)W1-2-60-1-6 ‘CHNOLOGY TY OF AGRICULTURE AND. ITY EXAMINATION 2022/2023 JOMO KENYATTA UNIV! UNIVE FIFTH YEAR FIRST SEMESTER MAIN EXAMINATION FOR TH BACHELOR OF SCIENCE IN ‘TRICAL AND ELECT! (EEE) & ELECTRONIC AND COMPUTER ENGINEERING (ECE). RING UL EEE 2502: CONTROL ENGINE! DATE: AUGUST 2023 TIME: 2 HOURS INSTRUCTIONS 1. This paper consists of FIVE questions. 2. Answer QUESTION ONE and ANY OTHER TWO questions. 3. All workings must be clearly shown. 4, Do not write on the question paper. QUESTION ONE (30 MARKS) (OMPULSORY a) Deduce the expressions for the following vectors of a multi-input multi-output dynamic system i) State vector ii) Input vector iii) | Output vector (6 Marks) b) Using the vector matrices above, deduce the state and output equations for the following systems: i) Time varying ii) Time-invariant (2 Marks) c) Derive the state-space representation for the following network Page 1 ofSvit) valt) Given i) State variables are V,(t) and S422 ii) State variables are V(t) and i(t) (10 Marks) d) Using the power series method of Z-transform inversion, find the value of {e(k)} for E(2) given by 2@) = aaa (6 Marks) ©) Using the principles of similarity transformations, deduce the expression for the state equation given that [3 2 0 10=[ Jxo+f]uco yOQ=[1 O)x(e) ' aa ft v with the transform, P-* = [1 3] (6 Marks) QUESTION TWO (20 MARKS) a) Using the generalized state equations of a lin following terms in control engineering: i) Controllability ii) Observability ear time invariant system, define the (8 Marks) b) State whether the following system is controllable Page 2 of $(7 Marks) ©) Express the following equation as a transfer function in Laplace transform in) di ye Pay) tnt ay Dt any = Baul + by UD bya FE yt where w is the input and y is the output. State any assumption made. (5 Marks) QUESTION THREE (20 MARKS) a) For the mass-spring-damper system shown in Figure 3a, m is the mass, k is the spring constant, b is the friction constant, w(t) is the external applied force, and y(t) is the resulting displacement. Given m = 1 kg, b = 3N.s.m-3, k = 2N.m™4 andu = 0, evaluate: k — yb m +> u(t) Figure 3a i) State equation, characteristic equation, roots of characteristic equation, damping ratio, and natural frequency. ii) Transition matrices (s) and (¢) iii) Transition response of state variables for y(0) = 1 and (0) = 0 (14 Marks) Page 3 of 5: fa system whose system b) Determine the transformation matrix required to transform a system y ence, express the system matrix matrix is given below into diagonal canonical form. Hence, express the sy in diagonal form. 1 3 Hi (6 Marks) QUESTION FOUR (20 MARKS! 9). The state and output equations for a DC motor model are given as 4 fig) _[-100 -5 fig] , [100 als}=Cs° Soll] + Poel o=to [| For the closed-loop response of the motor to achieve a response time of 20 ms, it is desired that the closed loop poles are at ~50,—100. Determine the feedback gains to achieve the desired response. Outline the resulting control law and the closed loop system matrix, (8 Marks) b) Using a block diagram, explain how a full state observer works and state the closed loop characteristic equation. (6 Marks) ©) State whether the characteristic polynomial of a discrete time system given by the following equation is of a stable system. Use Routh-Hurwitz criterion. Q(z) = 23 - 227 +152-0.4 (6 Marks) QUESTION FIVE (20 MARKS) a) With aid of mapping from s-plane to z-plane to w-plane, explain the principles of “Bilinear transformation” (8 Marks) b) Find the z-transfer function of forward transfer function given in the Laplace transform as Page 4 of 5Gu(s)G(s) = FS eral where G(s) is the zero-order hold transfer function and T= 0,1 seconds, (6 Marks) ¢) Determine the z-transform for the function whose Laplace transform is a-b 8) = Graet by (6 Marks) END Page Sof S