Q1
(a) When developing a control system why is knowledge of the system that is being controlled essential? Provide two examples of the type of information about a system that is required. [4]
(b) What is Parametric Uncertainty within the context of control engineering?Provide two examples of how this could be modelled. [5]
(c) During model Verification Demonstration is carried out. Briefly describe the concept of demonstration and provide two examples. [5]
(d) Analogue Matching is a method of Validation. Briefly describe the concept, using diagrams where necessary. [5]
(e) What does the term fuzzification mean with respect to Fuzzy logic Systems. Provide three examples of fuzzifcation methods with diagrams. [6]
Q2
A fuzzy logic control system is to be designed for a ship’s steering system. Given a desired angle to align with (-180° to 180°) the ship can use two thrusters to support the alignment. To turn the ship counter-clockwise (towards a -ve angle) the thruster located at the front turns clockwise while the thruster at the back turns counter-clockwise and to turn the ship clockwise (towards a +ve angle), the thruster located at the front turns counter-clockwise while the thruster at the back turns clockwise. Each thrusters input is measured as a percentage and can go from -100% (counter-clockwise) to 100% (clockwise).
(i) Fuzzify the angle into 5 categories around 0°, showing the input fuzzy sets on a suitable plot. [10]
(ii) Fuzzify the outputs into 3 categories around 0%, showing the output fuzzy sets on a suitable plot. [8]
(iii) Provide a suitable rule set that maps in the inputs to the outputs [7]
Q3
(a) Describe Gain Scheduling, along with a suitable block diagram describing the system. In addition, provide, with description, two advantages and two disadvantages of Gain Scheduling. [10]
(b) Using State Estimators can provide improved controller responses. Provide a block diagram for a simple State Estimation system with a description of each block. Briefly comment on the disadvantage of State Estimators at startup. [5]
(c) An Autonomous Ground Vehicle is being developed to water fields. A controller is required that can allow for a desired path to be followed while keeping the power draw of the vehicle low and allowing for a set speed to be maintained throughout. It is expected that the disturbances acting on the vehicle will be minimal and a simple model of the vehicle is available. The dimensions of the fields are well known and there are no other moving systems within the field. Suggest a suitable controller, along with a block diagram, and provide reasons why this controller would be suitable in this situation. Provide two advantages and two disadvantages of using the suggested controller. [10]
Q4
(a) Describe Inverse Simulation and provide a suitable block diagram describing the algorithm with each part explained. In addition, provide, with a description, two advantages and two disadvantages of Inverse Simulation. [10]
(b) An experimental quad-copter system for picking goods at a warehouse is being investigated. The quad-copters must fly in a well defined internal environment but there are other quad-copters operating in the area. The positions of the quadcopters are well known by the warehouse computing system. A controller is required that can control the quad-copters and the paths they are to fly from the pick locations to the drop off locations. Describe what algorithm you would use, providing details and a block diagram of the system. Provide details on why you have chosen the algorithm and discuss what other information you would need to implement the algorithm. Provide two advantages and two disadvantages of using the suggested controller. [15]
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