ENT 461 preclass quizset III

A root locus is a plot of

The significance of the CLCE roots was seen in the Routh table which predicted closed loop

The significance of the CL poles is through their relationships to time domain parameters:

The special form of the CLCE for making a root locus by hand is

The root locus procedure allows us to

The CLCE is 1+k*n(s)/d(s)=0, and the values of s where n(s)=0 are plotted on the root locus plot as

The CLCE is 1+k*n(s)/d(s)=0, and the values of s where d(s)=0 are plotted on the root locus plot as

The root locus lies on the real axis to the left of an _____ number of X's and O's that lie on the real axis.

The number of root locus segments is the number of

Root locus segments begin at the ___, and begin means where k=0.

As k increases the root locus segments go from the ____ to the _____, if there are the same number of O's as X's.

When there are more X's than O's, some of the root locus segments go to infinity along straight line segments called asymptotes.
True False

The number of asymptotes is the number of ____ minus the number of _____.

When RL segments leave the real axis, they go in smooth arcs (usually circular) to the asymptotes or back to the real axis.
True False

Sometimes that are more O's than X's.
True False

If there is one asymptote, it will go to infinity

If there are two asymptotes, they will go

Asymptotes are symmetrical about the ___ axis.

All asymptotes for one system will intersect at the same point on the real axis, called the asymptote centroid.

The asmyptote centroid (sigma) = [ ( sum of the X's ) - ( sum of the O's ) ] / [ (number of X's) - (number of O's) ]
True False

Break-away and break-in points are calculated from n*d'=d*n'
True False

ANGLE OF DEPARTURE OR ARRIVAL: The sum of all the angles from the ___ MINUS the sum of all the angles from the ___ is equal to an odd multiple of 180 degrees.

The differentiator transfer function -0.4s/(0.02s+1) is due to capacitor and resistors around the differentiator opamp.
True False

Gain3 is 3.75 due to

A description of each figure is also important.
True False

Figure numbers with titles are important for each figure.
True False

Individual labels for each trace are necessary if printed on a black and white printer.
True False

Several things have to be set in the MATLAB script for simulink to run.
True False

The simulation step size of 0.02 seconds is specified in ___ and used in ___.

The servomotor system (actual servomotor) is used in this lab.
True False

The motor/amplifier transfer function and output pot transfer function are determined from

The ADDITIONAL derivative and integral gains are determined from

If the PID output never exceeds plus or minus 1.25 volts, then the response will be linear
True False

Which component makes the model nonlinear?

The output shaft transfer function is simulated as a

The motor/amplifier is simulated as a ____-order transfer function.

Differentiator part of the PID is selected or not by a

Integrator part of the PID is selected or not by a

The integrator and differentiator are implemented by

Square wave and triangle wave signals are generated in ____ and used in ____.

This lab simulates step and ramp responses of the servomotor system using PID, PD, and P controllers.
True False

The integrator part of a PID controller can be implemented using an opamp with a

The derivative part of a PID controller can be implemented using an opamp with a

The proportinal part of a PID controller can be implemented using an opamp with a

The integrator and differentiator time-domain effects ____independent.

Increasing integral gain of a PID controller _______ overshoot.

Increasing integral gain of a PID controller ______ steady state error.

Increasing derivative gain of a PID controller ______ overshoot.

Increasing proportional gain of a PID controller ______ settle time.

Increasing proportional gain of a PID controller _____ overshoot.

Increasing proportional gain of a PID controller _____ steady-state error.

The pole in the transfer function (G(s) = Kd*(s^2 + (Kp/Kd)*s + (Ki/Kd)) / s) is/are

The zeros in the transfer function (G(s) = Kd*(s^2 + (Kp/Kd)*s + (Ki/Kd)) / s) are

The transfer function (G(s) = Kd*(s^2 + (Kp/Kd)*s + (Ki/Kd)) / s) has ___ zero(s) and ____ pole(s).

The transfer function (G(s) = Kd*(s^2 + (Kp/Kd)*s + (Ki/Kd)) / s) is a ____ controller, if Kp, and Kd are non-zero, and Ki is zero.

The transfer function (G(s) = Kd*(s^2 + (Kp/Kd)*s + (Ki/Kd)) / s) is a ____ controller, if Kp, and Ki are non-zero, and Kd is zero.

The transfer function (G(s) = Kd*(s^2 + (Kp/Kd)*s + (Ki/Kd)) / s) is a ____ controller, if Kp, Ki, and Kd are non-zero.

The transfer function (G(s) = Kp + Kd*s) is a ____ controller

The transfer function (G(s) = Kp + Ki/s) is a ____ controller.

The transfer function (G(s) = Kp + Ki/s + Kd*s) is a ____ controller.

The PID controller has three control operations in

The SS error for a unit parabola input is ____ for a type-2 system.

The SS error for a unit parabola input is ____ for a type-1 system.

The SS error for a unit parabola input is ____ for a type-0 system.

The SS error for a unit ramp input is ____ for a type-2 system

The SS error for a unit ramp input is ____ for a type-1 system.

The SS error for a unit ramp input is ____ for a type-0 system.

The SS error for a unit step input is ____ for a type-2 system.

The SS error for a unit step input is ____ for a type-1 system.

The SS error for a unit step input is ____ for a type-0 system.

In determining SS errors, does it matter what N(s) in the forward transfer function G(s)?

Which of the following is the forward transfer functions of a unity feedback closed loop system, which is known as a type-2 system:

Which of the following is the forward transfer functions of a unity feedback closed loop system, which is known as a type-1 system:

Which of the following is the forward transfer functions of a unity feedback closed loop system, which is known as a type-0 system:

Which of the following is a unit parabola function?

Which of the following is a unit ramp function?

Which of the following is a unit step function?

Which of the following is a unit parabola function?

Which of the following is a unit ramp function?

Which of the following is a unit step function?

The angle of departure or arrival is calculated by adding all the angles from the X's minus the sum of all the angles from the O's which is equal to an ___ multiple of 180 deg.

The angle of departure or arrival is calculated relative to a point on the RL that is ______the complex X or O.

Angles of departure and angles of arrival are always measured relative to the ____ axis direction

The angle that a RL segment arrives at a complex O is called

The angle that a RL segment leaves a complex X is called

When two X's are a complex conjugate pair, the two RL segments

When there are more X's than O's, some of the root locus segments go to infinity along straight line segments called asymptotes.
True False

As k increases the root locus segments go from the ____ to the _____, if there are the same number of O's as X's.

Root locus segments begin at the ___, and begin means where k=0.

The number of root locus segments is the number of

The root locus lies on the real axis to the left of an _____ number of X's and O's that lie on the real axis.

The CLCE is 1+k*n(s)/d(s)=0, and the values of s where d(s)=0 are plotted on the root locus plot as

The CLCE is 1+k*n(s)/d(s)=0, and the values of s where n(s)=0 are plotted on the root locus plot as

The root locus procedure allows us to

The special form of the CLCE for making a root locus by hand is:

The significance of the CL poles is through their relationships to time domain parameters:

The significance of the CLCE roots was seen in the Routh table which predicted closed loop

A root locus is a plot of

Break-away and break-in points are calculated from n*d'=d*n'
True False

The asmyptote centroid (sigma) = [ ( sum of the X's ) - ( sum of the O's ) ] / [ (number of X's) - (number of O's) ]
True False

All asymptotes for one system will intersect at the same point on the real axis, called the asymptote centroid.
True False

Asymptotes are symmetrical about the ___ axis.

If there are two asymptotes, they will go up and down, parallel to the imaginary axis.
True False

If there is one asymptote, it will go to infinity down the negative-real axis.
True False

Sometimes that are more O's than X's.
True False

When RL segments leave the real axis, they go in smooth arcs (usually circular) to the asymptotes or back to the real axis.
True False

The number of asymptotes is the number of X's minus the number of O's.
True False

When there are more X's than O's, some of the root locus segments go to infinity along straight line segments called asymptotes.
True False

As k increases the root locus segments go from the X's to the O's, if there are the same number of O's as X's.
True False

Root locus segments begin at the O's, and begin means where k=0.
True False

The number of root locus segments is the number of X's.
True False

The root locus lies on the real axis to the left of an ODD number of X's and O's that lie on the real axis.
True False

The CLCE is 1+k*n(s)/d(s)=0, and the values of s where d(s)=0 are plotted on the root locus plot as X's.
True False

The CLCE is 1+k*n(s)/d(s)=0, and the values of s where n(s)=0 are plotted on the root locus plot as X's.
True False

The root locus procedure allows us to design a controller that will yield a CL system with the desired performance.
True False

The special form of the CLCE for making a root locus by hand is 1+k*n(s)/d(s)=0.
True False

The significance of the CL poles is through their relationships to time domain parameters:

The significance of the CLCE roots was seen in the Routh table which predicted closed loop

CLTF=Closed Loop Transfer function. CLCE=Closed Loop Characteristic Equation. A root locus is a plot of

The Routh-table procuedure was very useful in 1905, and even with today's calculators, it continues to be very useful.
True False

A Routh table with a whole row of zeros (initially) will have ____ CLTF poles.

The number of unstable CLTF poles is the number of ______ in the first column of the Routh table.

When the Routh table is completed, the number of CLTF poles ____ can be determined.

Alternative-Routh table procedures are

The right-hand column of each determinant is always the elements of the columns

The left-hand column of each determinant is always the ______ column of the previous two rows.

Every calculated entry in the Routh table is the negative determinant of entries in the previous two rows divided by the entry in the first column

Are there any calculated entries in the first two rows of the Routh table

Every entry in the Routh table starting with the third row is calculated from the

The second row of the Routh table contains all the other coefficients of D(s) that are not in the first row.
True False

The top row of the Routh table contains every other coefficient of D(s), where CLTF=N(s)/D(s).
True False

The top row of the Routh table (first column) contains the coefficient of the highest power of s
True False

The CLTF=N(s)/D(s). The coefficients of D(s), ordered from highst to lowest, are placed in the top ______ of the Routh table.

The number of columns in the Routh table is _____ number of terms in the denominator of the CLTF.

The Routh table has row _____ starting at the top with highest power (s^n) and continuing all the way down to the lowest (s^0)

In 1905, Routh-Hurwitz showed how to determine the number of closed loop poles in the left-half plane, right-half plane, and on the jw axis.
True False

The question of closed loop stability is easily determined by the location of the closed loop poles.
True False

Marginally stable closed loop poles are located in the complex plane

Unstable closed loop poles are located in the complex plane

Stable closed loop poles are located in the complex plane

The significance of the closed loop poles is that they can be used to predict time-domain performance (settle time, rise time, percent overshoot) for stable systems.
True False

The CLTF = N(s)/D(s), and the equation D(s)=0 can be formed. The values of s that satisfy D(s)=0 are the

The closed loop transfer function (CLTF) can be represented as N(s)/D(s), where the roots of D(s) are the _____ of the CLTF.

The closed loop transfer function (CLTF) is a(n) _____-domain concept.

f.9070 Square or triangle signal to main summing junction

fig 9070
If you want a PI controller, set the

fig 9070
If you want a PD controller, set the

fig 9070
f,g,h, and i connect any signal on the control panel to the simulated oscilloscope channels in the Espial program
True False

fig 9070
Output of PID controllers to Power Amp

fig 9070
Main summing junction to PID controllers

fig 9070
Proportional controller to summing junction

fig 9070
Integrator controller to summing junction

fig 9070
Differentiator controller to summing junction

fig 9070
Main-summing juction to 360-deg output pot

fig 9070
Triangle-wave signal

fig 9070
Square-wave signal

fig 9070
Integrator caps in series. Do not connct to

fig 9070
Differentiator caps in series. Do not connect to

fig 9070
Integrator caps in parallel

fig 9070
Differentiator caps in parallel

fig 9070
Opamp-summing junction feedback for 360deg-output pot & input signal (square or triangle)

fig 9070
Opamp-summing junction feedback for PID-controllers

fig 9070
Integrator-opamp feedback

fig 9070
Differentiator-opamp feedback

fig 9060
If non-inverting transfer functions are required, then a simple solution for all the configurations in Fig9060 is

fig 9060
All the transfer functions in Fig9060 have negative signs because

fig 9060
Can lag and lead active-circuits be constructed using series Rs and Cs instead of parallel Rs and Cs?

fig 9060
A passive-circuit realization has

fig 9060
Gc(s) is the transfer function in Fig9060 of the active-circuit realization using one opamp in Fig9060B.
True False

fig 9060
Ia(s) is _____ in Fig9060B.

fig 9060
Z1(s) is the ______ impedance in Fig9060B.

fig 9060
Z2(s) is the ______ impedance in Fig9060B.

fig 9060
Line-8 Function is ____

fig 9060
Line-7 Function is ____

fig 9060
Line-6 Function is ____

fig 9060
Line-5 Function is ____

fig 9060
Line-4 Function is ____

fig 9060
Line-3 Function is ____

fig 9060
Line-2 Function is ____

fig 9060
Line-1 Function is ____