Assignment

& + 3y & + 2y = 0, 1. Solve the differential equation: & y

& (0) = 0.05 y (0) = 0.1, y [ 0.25e t 0.15e 2t ]

2. Derive the inverse Laplace transforms of: F ( s ) = response. Find H(s) as related to input unit step.

s +1 , then draw the time s ( s + 2s + 5)

3. Find the dynamic equation and impulse response of: H ( s ) =

( s 1) 2 . Show how ( s + 1)( s + 2) 2 the system can be simulated by using integrators, adders, and multipliers. && + 5 & & + 8y & + 4y = u && 2u & + u ; 4e t 3e 2t 9te 2t ] [ &y y

4. By applying the final-value theorem, find the final value of f(t) whose Laplace 10 transform is given by: F ( s ) = . Verify this result by taking inverse Laplace s ( s + 1) transform of F(s), as t [10]
5. Obtain the unit impulse response and the unit step response of a unity feedback system 2s + 1 [ (2 t )e t , 1 (1 t )e t ] whose open loop transfer function is G ( s ) = 2 s

&& + 3 & & + 2y & = u . Repeat when the y 6. Derive a state-space representation of the system: &y &. right hand side is replaced by u
7. Deduce the transfer function of the system shown:

 4 1 1 &= 8. Find the poles and transfer function of the system: x x + u , y = [1 0] x . 3 1 1 Find the similarity transformation which converts the given state-space model into a s 5 3 j , 2 ] model in the control canonical form. [ 2 s + 5s + 7

9. Consider the satellite attitude control system shown. The input exhibits oscillations, but can be stabilized by the use of tachometer feedback. If K/J = 4, what value of k will yield the damping ratio to be 0.6. [0.6]

10. Consider the servo system with tachometer feedback shown. Determine the ranges of stability for positive K and k. [> 0, > 0.2 1/K]

11. Consider unity feedback system with the closed loop transfer function: Ks + b . Determine the open loop transfer function G(s). Show that the H ( s) = 2 s + as + b aK steady-state error in the unit ramp response is given by: e ss = b

12. Find the dynamic equation and transfer function of the circuit shown, then derive the state-space model

13. Find the state-space form and transfer function of the circuit shown, then determine the zeros and poles of the system.

14. Obtain the dynamic equation, transfer function and state space form of the circuit shown

15. Consider the unity feedback system with the open loop transfer function: G ( s ) =

10 s +1 Obtain an analytical expression for the steady-state output of the system when it is subjected to an input of: r (t ) = 2 cos(2t 45 o ) [1.8cos(2t 55.3)]

16. Consider the unity feedback system with the open loop transfer function: K . Determine the value of K such that the phase margin is 50. G ( s) = 2 s ( s + s + 4) Find the gain margin with this value of K.

17. Consider the unity feedback system with the open loop transfer function: K (s z) KG ( s ) = . Show that the root locus for this system contains a circle ( s p1 )( s p 2 )
centered at z with radius = | ( p1 z )( p 2 z ) |

18. Obtain a state-space representation of the control system shown:

19. In the space vehicle attitude control system shown, the time constant T is 3 sec. and the ratio of torque to inertia K/J is 2/9 rad2/sec2, find the damping ratio of the system. [0.707]

20. Determine the value of K and k in the system shown, such that the system has a damping ratio of 0.7 and un-damped natural frequency of 4 rad/sec. [16, 0.225]

21. For a damping ratio of 0.5, find k, rise time, peak time, settling time and the overshoot in the system shown [0.2, 0.6, 0.9, 2.3, 16.3%]

22. Specify the gain and pole location of the compensator in the system shown, such that the overall closed loop response to a unit step input has an overshoot of 25% and settling time of 0.1 sec. [86.25, 55]

0 &= 0 23. Classify the stability of the linear system: x K 24. Linearize the nonlinear system:

0 0 1 x, when K = 1, 0, -1 3 3 1 and show that it is

2 &1 = x1 + x 2 + x1 ( x12 + x 2 ) x

2 & 2 = x1 x 2 + x 2 ( x12 + x 2 ) x asymptotically stable at the equilibrium point 0.

& + 60 = 600v a 1500T , 25. A dc motor speed control is described by the equation: where is the speed, va is the armature voltage, and T is the load torque. Assume the

armature voltage is computed using the PI controller: v a = ( K p + K i dt ) .

Compute the transfer function from T to , and the values of Kp, Ki so that the closed loop system will have roots at -60 60j. [0.1, 12] 26. Consider the unity feedback system with the open loop transfer function: 2K G (s) = . Use Nyquist plot to find the value of K which makes the s ( s + 1)( s + 2) system unstagle. Find the frequency of oscillations at marginal stability.

27. Consider the unity feedback system with the open loop transfer function: 2000 K G (s) = . Calculate the value of K that gives a steady-state error of 1% for a s ( s + 20) unit ramp input. Plot Bode diagrams for K = 1. Calculate the gain and phase margins by generating tables for a range of . Compare the calculated values of margins with those obtained from the graph. If a phase lag compensator with the transfer function: 1 + 0.5s Gc ( s ) = is used in the forward path of the closed loop system. Sketch the 1 + 2.5s Bode plot of the compensator, and combine Bode plots of compensated and uncompensated systems, then comment on stability margins.

28. In the control system shown, G ( s ) =

0.25( s + 0.435) . Plot the ( s + 1.23)( s + 2)( s 2 + 0.226s + 0.0169) root locus of the system when k = 0, and when k = K, then compare the two results and comment on stability.

29. For the system: H ( s ) =

s + 0.5 . Evaluate the impulse response, state-space s + 7 s + 10 representation in canonical form. [ 1.5e 5t 0.5e 2t ]
2

30. For the system shown, find the value of K so that the output has an overshoot of no more than 10% in response to a unit step input. Find the relation between the steadystate error and K when the input is a unit ramp r(t) = t. [2.8615, 2/K]

31. A machine tool has a transfer function: P ( s ) =

1 . One performance s ( s + 1) specification requires that, in the unity feedback configuration shown, the closed loop poles be located at s = -1 j 3 . Show that this specification cannot be achieved by any proportional controller (C(s) = K). Design a lead compensator with the pole at s = 4( s + 1) -2 so that the specification will be met. [ C ( s) = ] s+2

32. Find the gain margin and phase margin for the system shown at K = 1. What gain K required for a phase margin of 45, and the corresponding gain margin.

33. In the system shown: P ( s ) =

1 . Show that the closed loop system cannot ( s + 3)( s + 5) operate with 2% settling time of 2/3 sec. and an overshoot of 1.5% with proportional controller C(s). Design a first order lead compensator C(s) with its zero located at s = -6 so that the system meets the transient response characteristics of above.

34. Consider a unity feedback closed loop system with an open loop transfer function: G ( s) =

n2 . Show that the phase margin PM satisfies the relation: s ( s + 2 n )

1 , where H is the closed loop transfer function and c is the 2 sin( PM / 2) crossover frequency of the open loop (|G(jc)| = 1) | H ( j c ) |=

 3 2 1 &= 35. Consider a plant described by: x x + u , y = [1 4]x . Find the impulse 0 1 0 response of the plant with zero initial conditions. Determine whether a feedback law of the form u = K(r y) exists which yields a maximum overshoot of no more than 5%, a 2% settling time of no more than 2 sec. and a peak time of no more than 1.2 sec. for a unit step input r. If such a feedback law exists, find the range of K for meeting the above specifications. [> 3] 36. A dc motor has transfer function: G ( s ) = compensator of the form C ( s ) = K 1 and is compensated by a s ( s + 1)

s+z . In the unity feedback configuration with z s+ p = 6 and p = 4, find the range of K such that the closed loop system is stable. [> 20] 37. Design a lead compensator of the form C ( s ) = K s+z with z = 2 to meet the s+ p specifications: closed loop damping ratio = 0.5, un-damped natural frequency = 4 rad/ sec, the steady-state error to a unit ramp input = 0.15

38. What is the time response of: F ( s ) =

1 . Find the transfer function and s ( s + 2 s + 2) Ls ] dynamic equation of the circuit shown. [0.5(t-1+e-tcost), R + Ls
2 2

39. Find the transfer function of the system shown. Determine the range of K for stability. What is the system model in canonical form. [> 12.5]

40. Find the closed loop transfer function of the system shown. Derive an expression for steady-state error in the present of R(s) and D(s).

41. Find the transfer function and step response of the system: &1 0 1 x1 1 x x = + u , y = [1 0] 1 , u = r ( step ) 2 y x & 2 1 4 x 2 0 x2

5 3 j 2

42. Find the value of the resistance R in the circuit shown, such that a 20% overshoot in voltage will be seen across the capacitor. [912]

43. Design a PI controller so that the closed loop poles lie within the square area between (-2 j1) and (-4 j3) in s-plane. Find the value of Kp and Ki for K = a = 2. Prove that for any nonzero K and negative a, the PI controller can provide enough flexibility to place the closed loop poles anywhere in the open left half s-plane

44. Find the transfer function of: range of k for stable system.

0 0 0 1 & x = 0 0 1 x + 0u , y = [2 1 0]x . k 3 4 1

Determine the [-12 < k < 0]

45. Determine the values of and in the system shown, such that the overall closed loop response to a unit step input has a maximum overshoot of 20% and a 2% settling time of no more than 0.2 sec. [39, 1923.7]

46. With zero initial conditions, find the steady-state response for unit step input in the
&= system: x x + 1u , y = [1 0]x . Obtain the dynamic equation and transfer 2 1 function. 4 1 0

47. Obtain the transfer function of the system shown. Use MATLAB/Simulink to observe the response of step input, sine wave, square wave, and shirp signal input.

48. Consider a unity feedback system with an open loop function G ( s) =

K ( s + 3)( s + 4) s ( s + 1)( s 2 + 4 s + 12)

The Bode plot with K = 1 for this system is shown. Determine the phase margin of the system for K = 3 dB and find the range of the gain K for which the phase margin is no less than 45. 49. Consider a unity feedback system with an open loop: G ( s) =
K ( s + 1)( s + 2) s ( s + 3)( s 2 + 2s + 25)
2

. The

Bode plot with K = 1 for this system is shown. Determine the phase margin of the system. Find the range of the gain K that gives a phase margin of 20.

Bode plot for question 48

Bode plot for question 49

50. Examine the stability by root locus and Nyquist plot for a unity feedback system of an 1 . Design PID controller which open loop transfer function: G( s) = 3 s + 0.2s 2 + s + 1 makes the system critically stable