JUNE 2022

Coventry University

PSB Academy Singapore

208SE

Control and Instrumentation 1

Instructions to candidates

Time allowed: 2 Hours

The examination consists of two sections, section A for control

engineering and section B for Instrumentation. Each section has three
questions with 25 marks each. This paper has 8 pages including this
cover page.

Answer ANY TWO questions from each section (Section A & B), you
should attempt total 4 Questions.

For this examination you will be supplied with the following:

Answer booklet.
Control Formulae Sheet (with Laplace Transform Table).
Instrumentation Formulae Sheet.

Solution & Marking Scheme

Page 1 of 15 pages
 Section A (Control Engineering):

1. A network of R, L and C is connected as shown in Figure 1 below, the switch was

open at t<0 and being closed at t=[Link] initial capacitor voltage and inductor
current at t=0 are all zero (𝑉𝐶 (0) = 0, 𝑖𝐿 (0) = 0)

At t=0, the circuit is connected to a supply with 𝑉𝑆 (𝑡 )= 𝑉𝑆 𝑢(𝑡 )

i. Derive the system differential equation. [3 marks]

𝑌(𝑠)
ii. Determine the system transfer function 𝐺 (𝑠) = . [4 marks]
𝑉𝑆 (𝑠)
−3
iii. Assume that R=50 Ω, L=5 H and C= 12.5 x 10 𝐹. The input signal 𝑉𝑆 (𝑡 ) is
unit step signal. Determine the characteristics equation of the system and
determine both poles? Is this system underdamp, overdamp or critically
damped? [6 marks]
iv. Determine the output signal 𝑦 𝑡 ? Determine its steady state part 𝑦(∞) and
( )
its transient part?
Determine its initial value 𝑦(0)? [6 marks]

v. Assuming that R is taken away (R=0 Ω) but the system is still second order
system. With the same unit step input signal, determine the output signal
𝑦(𝑡 )? Determine its steady state part 𝑦(∞) and its initial value 𝑦(0)?
[6 marks]

R i L

+ v - + v -
t=0 R L +
+ C vC
v s (t ) _
_

Figure 1: RLC circuit

i. 𝑉𝑅 + 𝑉𝐿 + 𝑉𝐶 = 𝑉𝑆 𝑢(𝑡)
𝑅𝐶 𝑉𝑐̇ + 𝐿𝐶 𝑉𝑐̈ + 𝑉𝑐 = 𝑉𝑠 𝑢(𝑡) [3 marks]

ii. With Laplace transform: Vc(𝑠)[𝑠 2 𝐿𝐶 + 𝑠 𝑅𝐶 + 1] = 𝑉𝑠(𝑠)

Vc(𝑠) 1 1⁄
𝐿𝐶
hence the transfer function G(𝑠) = = = [4 marks]
𝑉𝑠(𝑠) [𝑠2 𝐿𝐶+𝑠 𝑅𝐶+1] 𝑠2 +𝑠 𝑅⁄ 1
𝐿+ ⁄𝐿𝐶

Page 2 of 15 pages
iii. Given: R=50 Ω, L=5 H and C= 12.5 x 10−3 𝐹
𝑅⁄ = 10, 1⁄ = 103⁄
𝐿 𝐿𝐶 5 𝑥 12.5 = 16
16
G(𝑠) = 𝑠 2 +10 𝑠+16
Characteristics Equation: 𝑠 2 + 10 𝑠 + 16 = 0
Poles are two real poles: 𝑠1 = −2 and 𝑠2 = -8, system is overdamped
[6 marks]
16 16
iv. Y(𝑠) = 𝐺 (𝑠) 𝑉𝑠(𝑠) = = =
𝑠 (𝑠2 +10 𝑠+16) 𝑠(𝑠+2)(𝑠+8)
1 1.33 0.33
Y(𝑠) = − (𝑠+2) + (𝑠+8)
𝑠

𝑦(𝑡 ) = 𝑢(𝑡 ) [1 − 1.33 𝑒𝑥𝑝−2𝑡 + 0.33 𝑒𝑥𝑝−8𝑡 ]

Steady state part = u(t) x 1 = 1
y(0) = 0 [6 marks]

v. R=0 (R is taken away)

Characteristics Equation: 𝑠 2 + 16 = 0
Poles are two poles on imaginary axis 𝑠1,2 = ±𝑗4
1
Output Y(s)=
𝑠(𝑠 2 +16)

Output y(t) = 1 – cos 4t or y(t) = 𝑐1 + 𝑐2 𝑐𝑜𝑠(4𝑡 − 𝛳), in which constant

𝑐1 , 𝑐2 and ϴ can be determined using initial conditions.
Initial value y(0)= 1- cos 0 = 0, no steady state value as this is critical stable
case. [6 marks]

Page 3 of 15 pages
 2. For the feedback control system shown in Figure 2 below, the forward-path transfer
function given by 𝐺 (𝑠) and the sensor transfer function is given by H(s).
The transfer function G(𝑠) and H(𝑠) are given as stated below.

𝐾(𝑠+20) 1
𝐺(𝑠) = and 𝐻(𝑠) =
𝑠(𝑠+5) (𝑠+10)

i. Determine the closed-loop transfer function and the characteristic equation

of the system. [4 marks]
ii. Using the Routh-Hurwitz criterion, determine the stability of the closed-loop
system. [8 marks]
iii. Find the value of K for stability and the frequency of oscillation for marginal
stability. [4 marks]
iv. Determine the steady state errors 𝑒𝑆𝑆 when input signal r(t) is unit step and
unit ramp signal (r(t) = u(t) and r(t) = t u(t)), gain K=10. [4 marks]
v. Assume the input r(t) is an impulse δ(t), determine the DC gain y(0) of the
system. [5 marks]

Figure 2: Control system with plant G(s) and sensor H(s)

𝐺(𝑠)
i. The closed loop transfer function =
1+𝐺(𝑠)𝐻(𝑠)
𝐾(𝑠+20) 𝐾(𝑠+20)
[ ] [ ] 𝐾(𝑠+20)(𝑠+10)
𝑠(𝑠+5) 𝑠(𝑠+5)
𝐾(𝑠+20) 1 = 𝑠 (𝑠+5) (𝑠+10) + 𝐾 (𝑠+20) =
[1+ 𝑠(𝑠+5) ×(𝑠+10)] [ ] 𝑠 (𝑠+5) (𝑠+10) + 𝐾 (𝑠+20)
𝑠(𝑠+5)(𝑠+10)

The characteristic equation of the system: 1 + 𝐺(𝑠)𝐻(𝑠) = 0

𝑠(𝑠 + 5)(𝑠 + 10) + 𝐾(𝑠 + 20) = 0

𝑠(𝑠 2 + 10𝑠 + 5𝑠 + 50) + 𝐾𝑠 + 20𝐾 = 0
𝑠 3 + 15𝑠 2 + 50𝑠 + 𝐾𝑠 + 20𝐾 = 0
𝑠 3 + 15𝑠 2 + (50 + 𝑘)𝑠 + 20𝐾 = 0

Page 4 of 15 pages
 ii. The Routh’s table

𝑠3 1 50+k
𝑠2 15 20K
15×(50+𝑘)−(1)(20𝐾) 150−𝐾
𝑠1 =
15 3
𝑠0 20K

Critical/marginal stable case when 𝐾 = 150

To be stable all cells in first column should be > 0
From third row (𝑠1 ) = (150 − 𝐾) > 0), hence 𝐾 < 150
From fourth row (𝑠 0 ): 20K > 0 hence K>0

iii. Conclusion: stable when 0<K<150

Marginal stable case (𝐾 = 150), auxiliary equation:
From second row: 15𝑠 2 + (20 × 150) = 0
Roots are: 𝑠 = ±j√200
This is the cut off points of the r locus with imaginary axis.
Oscillation frequency is 200 𝑟𝑎𝑑/𝑠𝑒𝑐
10 (𝑠+20) 1
Input signal u(t), error constant kp= lim 𝑂𝐿𝑇𝐹 = lim 𝑠(𝑠+5) (𝑠+10) = ∞
𝑠⟶0 𝑠⟶0
1
Steady state error = 𝑘𝑝+1 = 0 [2 marks]
10 (𝑠+20) 1
Input signal ramp signal, error constant kv= lim 𝑠 𝑂𝐿𝑇𝐹 = lim s 𝑠(𝑠+5) (𝑠+10) = 4
𝑠⟶0 𝑠⟶0
1
Stead state error = 𝑘𝑣 = 25% [2 marks]

iv. Input signal impulse δ(t) hence R(s) = 1

𝐾(𝑠+20)(𝑠+10)
Output Y(s) = R(s) x G(s) = 1 x
𝑠 (𝑠+5) (𝑠+10) + 𝐾 (𝑠+20)
𝐾(𝑠+20)(𝑠+10) 𝐾 200
DC gain y(0) = lim = = 10 [5 marks]
𝑠⟶0 𝑠 (𝑠+5) (𝑠+10) + 𝐾 (𝑠+20) 𝐾 20

Page 5 of 15 pages
3a. Figure 3a below shows the block diagram of a control system. By manipulating the block
diagram in stages, reduce it to one single block and find the transfer function:

𝑌(𝑠)
𝑇(𝑠) = [10 marks]
𝑅(𝑠)

Figure 3a: block diagram for Q3

3b. A control system with negative unity feedback, the forward loop transfer function
𝐺(𝑠) is given by the following equation:

1
𝐺(𝑠) =
𝑠(0.5 𝑠 + 1)(0.2 𝑠 + 1)

The controller is P-controller with gain K.

i. What is ‘type’ and ‘order’ of the system? [4 marks]

ii. Find the asymptote(s) intercepting the real axis and its angles of inclination
with the real axis on the s-plane. [4 marks]
iii. Draw the root locus for all values of K. Given breakaway point of the root
locus on real axis is at 𝑠 = −0.9 [7 marks]

3a. Step 1 1

Page 6 of 15 pages
Step 2

Step 3

Step 4

Step 5

Page 7 of 15 pages
 𝐾
3b. 𝐺(𝑠) = 𝑠(0.5 𝑠+1)(0.2 𝑠+1)

i. Type : Type 1
Order: third order system [4 marks]

Open loop poles: 0, −2, −5

Therefore, number of poles, 𝑃 = 3

Open loop zeros: nil

ii. Asymptotes:

Intersection point of the asymptotes with the real axis:

1 0−2−5
𝜎𝑎 = (𝑃−𝑍) [∑ 𝑃𝑜𝑙𝑒𝑠 − ∑ 𝑍𝑒𝑟𝑜𝑠] = 3−0 = −2.33
Angles of asymptotes:
(2𝑘+1)𝜋 𝜋 5𝜋
Angle θa = (3−0) = 3 , 𝜋, 3 (𝑘 = 0,1) [4 marks]

iii. R locus plot [7 marks]

Page 8 of 15 pages
Section B (Instrumentation):

4a. A pressure measurement system was calibrated and it produced the pressure-voltage
characteristic at room temperature given in the table 4a below.

The output voltage readings have been taken to the nearest 0.5 mV on the voltmeter
gauge.

Input
pressure 0 10.0 20.0 30.0 40.0 50.0 60.0 70.0 80.0 90.0 100.0
[kN/m2]
Output
voltage
[ pressure 0 6.0 12.0 17.5 24.0 30.0 35.5 42.5 50.5 56.0 62.0
increasing]
[mV]

Output
voltage
[pressure 1.5 7.5 13.5 19.0 25.5 31.5 37.0 44.0 52.0 57.5
decreasing]
[mV]
Table 4a: Output voltage readings vs input pressure

i. Plot the output voltage vs the input pressure on graph paper. [3 marks]
ii. Determine the static sensitivity of the measurement system with increasing
pressure. [3 marks]
iii. Determine the non-linearity with increasing pressure as a percentage of FSD.
[3 marks]
iv. Determine the hysteresis as a percentage of full scale deflection (FSD).
[3 marks]
v. Determine the resolution of the measurement system in terms of pressure.
[3 marks]

4b. The sensitivity of a third stage device in a pressure measurement system is 0.500
V/N. The accuracy of the instrument is specified as:

±0.5% FSD or ±1% of the reading, whichever is greater.

When the Force is applied to the system, the instrument displays 11.3 V on the 30V
range.

i. What is the range of the applied Force? [4 marks]

ii. The sensitivity of the measurement system is then changed to 0.750 V/N and
the voltmeter is switched/changed to the 15 range. In what range does the
voltage reading now lie? [6 marks]

Page 9 of 15 pages
 4a. i) plot of output voltage vs input pressure:

ii. Refer to the plot : sensitivity k=0.615 mV/kPa

iii. A is the biggest difference/deviation between actual and line value = 1.4 mV
±1.4 𝑚𝑉
Non linearity = 𝑥 100% = ±2.26%
62 𝑚𝑉
In general, non-linearity is stated to 1 decimal-point so non linearity= ±2.3%

iv. The increasing and decreasing pressure lines are h=1.5 mV apart
ℎ 1.5
Hysteresis = 𝑥 100% = 𝑥 100 = 2.42 % 𝐹𝑆𝐷
𝐹𝑆𝐷 62

v. The resolution of the output is 0.5 mV (smallest change of output is 0.5 mV)
The resolution of input = resolution of output / sensitivity k
The resolution of the measurement system = 0.5 𝑚𝑉⁄0.615𝑚𝑉/𝑘𝑃𝑎 = 0.81 𝑘𝑃𝑎
4b.
0.5
i) ±0.5% FSD = ± 100 𝑥 30 𝑉 = ±0.15 𝑉
1
± 1% reading = ± 100 𝑥 11.3 𝑉 = ±0.113 V
±0.5% FSD > ± 1% reading , so use ±0.5% FSD (±0.15 𝑉 )
Hence reading of 11.3 V will be in the range: 11.3 V ± 0.15 V
Reading range : 11.15 V to 11.45 V [2 mark]
𝑜𝑢𝑡𝑝𝑢𝑡 11.5 ±0.15 𝑉
The range of applied force F = 𝑠𝑒𝑛𝑠𝑖𝑡𝑖𝑣𝑖𝑡𝑦 = = 𝟐𝟐. 𝟑 𝐍 𝐭𝐨 𝟐𝟐. 𝟗 𝐍
0.5 𝑉/𝑁
[2 mark]
ii) Sensitivity = 0.75 V/N
Range 0 to 15 V
0.5
±0.5% FSD = ± 100 𝑥 15 𝑉 = ±0.075 𝑉 [2 marks]

Page 10 of 15 pages
Based from answer i) the range of applied force (input) is 22.3N to 22.9N
Output voltage range = sensitivity x input range
Output voltage= 0.75 V/N x 22.3N to 0.75 V/N x 22.9N = 16.72V to 17.17 V
[2 marks]
1
Based on 1% readings: ± 100 𝑥 16.72 𝑉 = ±0.167 𝑉
1
± 100 𝑥 17.17 𝑉 = ±0.171 𝑉

Since ±1% readings > ±0.5% FSD so we apply/use ±1% readings

Voltage range will be : 16.72 – 0.167 V to 17.17 + 0.171 V

Voltage range will be: 16.55 V to 17.34 V [2 marks]

Note: this range is outside the instrument range!

Page 11 of 15 pages
 5a. In the pillar load cell (4 strain gauges assembled together is also known as load cell), a
compressive Force F and its strains is being measured. The strain measurement here is
performed by 4 strain-gauges, in which two of them are in longitudinal/same direction as
force F (strain gauges 2 and 4) and the other two are in transversal direction to force F
(strain gauge 1 and 3)

Following are the data for the metal beam and the strain gauge:
Cross sectional area=10−3 𝑚2, unstressed resistance value R=120 Ω
Force F=104 𝑁
Young modulus E=2𝑥1011 𝑃𝑎 , Poisson’s ratio=0.4
Supply voltage for conditioning bridge V1= 10 V

i. Determine the strains in both directions. [4 marks]

ii. Determine the output voltage of the bridge [4 marks]
iii. Draw the set-up diagram with 4 strain gauges connected to the bridge. [4 marks]
iv. Determine the sensitivity of the measurement. [3 marks]

Figure 5a: strain measurement on metal beam

5a.
𝐹 1 𝑥 104 𝑁
i. Longitudinal stress: 𝜎𝐿 = = = 107 𝑁⁄𝑚2
𝐴 10−3 𝑚2
𝜎 107
Longitudinal strain: 𝜀𝐿 = 𝐸𝐿 = 2 𝑥 1011 = 5 𝑥 10−5
Transversal strain: 𝜀𝑇 = 𝜐 𝑥 𝜀𝐿 = 0.4 𝑥 5 𝑥 10−5 = 2 x 10−5 [4 marks]

ii. From Formula sheet (4 strain gauges with correct placement!)

𝑉 𝛿𝑅 𝛿𝑅 𝛿𝑅 𝛿𝑅 𝛿𝑅
𝑉2 = 41 ( 𝑅 1 − 𝑅 2 + 𝑅 3 − 𝑅 4) and with 𝑅 = 𝜀 𝑥 𝐺𝐹
1 2 3 4
𝛿𝑅2 𝛿𝑅4
For strain gauge 2 and 4: = = −𝜀 𝑥 𝐺𝐹 (compressive) = - 5 𝑥 10−5
𝑅2 𝑅4
𝛿𝑅1 𝛿𝑅3
For strain gauge 1 and 3: = = + 𝜀 𝑥 𝐺𝐹 (𝑡𝑒𝑛𝑠𝑖𝑜𝑛𝑎𝑙) = +2 x 10−5
𝑅1 𝑅3
10 𝑉
Apply both above into V2 = x 1.8 x(4 𝑥 10−5 + 10 𝑥 10−5 ) = 63 x 10−5 V = 0.63 mV
4
[4 marks]
iii. Drawing: refer to lecture notes/tutorial [4 marks]
∆ 𝑂𝑢𝑡𝑝𝑢𝑡 0.63 𝑚𝑉−0 𝑚𝑉 𝑚𝑉
iv. Sensitivity: ∆ 𝐼𝑛𝑝𝑢𝑡 = = 0.063 ⁄𝑘𝑁 [3 marks]
10 𝑘𝑁

Page 12 of 15 pages
 5b. An RTD (Resistance Temperature Detector) forms one arm of Wheatstone bridge as
shown in Figure A3 below. The fixed resistances, R2 and R3 are 1 kΩ.
The RTD sensor is a Pt100 sensor which means its resistance is 100 Ω at T=00C, in
general the RTD resistance can be expressed as:

RRTD = R0 (1 + α (T – T0) )

With R0=100 Ω and temperature T0=00 C and α is RTD temperature coefficient, α =

0.0039250 C-1

i. Determine the temperature T when the bridge is balanced? [4 marks]

ii. When the RTD is subjected to ambient temperature of 1200 C and the supply
voltage of the bridge is 10 V, determine the output voltage? [4 marks]
iii. Determine the sensitivity of the measurement? [2 marks]

Figure 5b: Temperature measurement using Pt100 RTD sensor

5b.

i. RTD sensor RRTD = 100Ω for T=00C or RRTD = 100 (1 + 0.003925 𝑇)

Bridge is balanced when RRTD = 100 Ω, so it means T = 00C [4 marks]

ii. T=1000C, RRTD = 100 (1 + 0.003925 ∗ 100) = 100 ∗ 1.3925 = 139.25 Ω

100 𝑅𝑅𝑇𝐷 139.25
VOut = [1000+100 1000+ ] 𝑥 10 𝑉 = [0.0909 − ] 𝑥 10𝑉 = 0.313 V
𝑅 𝑅𝑇𝐷 1000+ 139.25

[4 marks]
𝑂𝑢𝑡𝑝𝑢𝑡 313 𝑚𝑉
iii. Sensitivity = = = 3.13 𝑚𝑉⁄𝐶 [2 marks]
𝐼𝑛𝑝𝑢𝑡 1000 𝐶

Page 13 of 15 pages
6. The circuit in Figure 6 below shows a wheat-stone bridge, in which resistor 𝑹𝟏𝒂 is to be
replaced by a RTD (Resistance Temperature Detector) which is used as a temperature
sensor.

The resistance of this RTD sensor is characterised by its equation:

𝑹𝑹𝑻𝑫 = 𝟏𝟎𝟎 (𝟏 + 𝜶𝑻) with temperature coefficient α = 4 x 10-3 Ω/0C and T is
temperature in 0C. The resistors 𝑹𝟑𝒂 and 𝑹𝟒𝒂 are 1200 Ω.

The output of the bridge is connected to an instrumentation amplifier (with the three built
in op amplifier). The Gain/attenuation for the signal in Instrumentation amplifier is known
𝑉 𝑅 𝑅
as 𝐴𝐷 = 𝑉 𝑂 = (1 + 2 𝑅5) 𝑅3 ; VIN is the differential input voltage between the two non
𝐼𝑁 6 1
inverting inputs of the op amp U1 and U

Resistance values: 𝑅1 = 𝑅2 = 𝑅3 = 𝑅4 = 𝑅5 = 𝑅7 = 1 kΩ, R6 = 40 Ω.

i. Determine the resistance of R2a such that the Wheatstone bridge is balanced at
temperature T=00C? [4 marks]
ii. Determine the input and output voltage of the instrumentation amplifier when
measured temperature T=1500C? [6 marks]
iii. Assuming there are common mode noise voltage at both input of the instrumentation
amplifier with frequency f=50 Hz and amplitude Vin,CM = 20 mV , it is also known
that the Common Mode Rejection Rate/CMRR = 90 dB.
Determine the gain for the signal AD and the gain for the common mode noise ACM .
[6 marks]
Determine amplitude of the common mode output noise 𝑉𝑂𝑈𝑇 𝐶𝑀 [4 marks]
iv. What is the advantage using this instrumentation amplifier versus the usual differential
amplifier? [5 marks]

Figure 6: RTD sensor and Instrumentation amplifier

Page 14 of 15 pages
6.
i. Characteristics of RTD: R1a = 100 (1 + α T)
For T=00C hence R1a= 100 Ω
In order that the bridge is balanced then R2a = R1a = 100 Ω [4 marks]

ii. For T=1500C: R1a = 100 (1 + 0.004 *150)= 160 Ω

𝑅4𝑎 𝑅3𝑎
Output Voltage at T=1500C = VOut = (𝑅 − ) 𝑥 5𝑉 =
4𝑎 +𝑅1𝑎 𝑅3𝑎 +𝑅2𝑎
1200 1200
VOut = (160+1200 − ) 5𝑉 = (0.8824 − 0.92308)5𝑉 = −0.2034 𝑉
100+1200
𝑉 𝑅5 𝑅3 1000
Gain of IA: 𝐴𝐷 = 𝑉 𝑂 = (1 + 2 ) = (1 + 2 ) = 51
𝐼𝑁 𝑅6 𝑅1 40
Output of IA: 𝑉𝑂 = 51 𝑥 0.2034 𝑉 = 10.37 𝑉 [6 marks]

𝐴 𝐴
iii. CMRR = 20 log (𝐴 𝐷 )= 90 dB hence (𝐴 𝐷 ) = 104.5 = 31623
𝐶𝑀 𝐶𝑀
𝐴𝐷 51
𝐴𝐷 = 51 (see answer ii) hence 𝐴𝐶𝑀 = 31623 = 31623 = 0.001613 [6 marks]
𝑉𝑂−𝐶𝑀 = 𝐴𝐶𝑀 ∗ 𝑉𝑖𝑛,𝐶𝑀 = 0.001613 𝑥 20 𝑚𝑉 = 0.03225 𝑚𝑉 = 32.25 µ𝑉
[4 marks]

iv. Instrumentation amplifier will screen out the common mode signal/noise at both inputs
better than differential amplifier, all resistors except R6 (which is applied to set the gain of
the instrumentation amplifier) are built in on chip, this means less errors [5 marks]

Page 15 of 15 pages