NPTEL

Control Engineering
July-Oct. 2020
Solution: Assignment 7
1. What is the effect on the settling time (Ts ) when the KI gain of the proportional-integral-derivative
(PID) compensation increases?
(a) Ts remains unchanged
(b) Ts increases [Correct]
(c) Ts decreases
Solution:

s+z
2. Which of the following statements are not correct regarding Gc (s) = where z, p > 0 ?
s+p
(Multiple correct options possible)
(a) Gc (s) is a lead compensator if z < p.
(b) Gc (s) is a lag compensator if z < p. [Correct]
(c) ∠Gc (jω) is always positive if Gc (s) is a lag compensator. [Correct]
(d) ∠Gc (jω) is always positive if Gc (s) is a lead compensator.
Solution: The false statements are

(a) Gc (s) is a lag compensator if z < p.

(b) ∠Gc (jω) is always positive if Gc (s) is a lag compensator.
Note: The correct options are shared to the NPTEL team. Please be patient, it may
take some time to reflect the updated score in the portal.

3. By increasing the kd gain of a PID compensated system, the percentage overshoot of the compen-
sated system decreases. The statement is
(a) True [Correct]
(b) False
Solution:

1
 Common data for Q4-Q5

A second-order system has the transfer function

1
G(s) =
(s + 1)(s + 2)

With a PD controller (KP + sKD ) the closed loop system (consider unity feedback) has a second
order characteristic polynomial with ζ = 0.75 and ωn = 3 rad/s.
4. The value of KP = . [Ans=7; Range = 6.95 to 7.05]
5. The value of KD = . [Ans=1.5; Range = 1.45 to 1.55]
Solution:
The closed-loop transfer function is given by
Gc (s)G(s) KP + sKD KP + sKD
T (s) = = = 2
1 + Gc (s)G(s) (s + 1)(s + 2) + KP + sKD s + (KD + 3)s + KP + 2
Comparing with standard second order equation we get

KP + 2 = ωn2 = 32 = 9 =⇒ KP = 7

KD + 3 = 2ζωn = 4.5 =⇒ KD = 1.5

Common data for Q6-Q11

Consider the satellite-attitude control problem given below where the normalized parameters are

spacecraft inertia : J = 10N m.sec2 /rad.

reference satellite attitude : θr (rad).
actual satellite attitude : θ(rad).
sensor scale factor : Hy = 1V /rad.
reference sensor scale factor : Hr = 1V /rad.
disturbance torque : w(N m).

6. Use proportional control, P , with Dc (s) = kp , and give the range of values for kp for which the
system will be unstable.

2
 w

+
+

+
1 1
θr Hr Dc(s) Js s θ
−

Hy

(a) kp > 10
(b) kp < 0 [Correct]
(c) 0 < kp < 10
(d) Stable for all values of Kp .
7. In Q6, if kp = 100, then the system is
(a) Unstable
(b) Stable
(c) Marginally stable [Correct]
(d) Conditionally stable
8. Use P D control, let Dc (s) = (10 + 2s), the acceleration error constant with respect to reference
inputs is . [Ans=1, Range= 0.98 to 1.02 ]

9. Use P I control, let Dc (s) = (kp + kI /s), the system type with respect to reference inputs is
. [Ans=3, Range= 2.98 to 3.02 ]
10. Use P ID control, let Dc (s) = (kp + kI /s + kd s), the system type with respect to disturbance inputs
is . [Ans=0, Range= -0.01 to 0.01 ]
11. Use P ID control, let Dc (s) = (1 + 2/s + 3s), error constant with respect to disturbance inputs is
. [Ans=∞ ]
Solution: From the block diagram of the system,

Dc (s) 1
θ(s) = θr (s) + 2 w(s)
Js2+ Dc (s) Js + Dc (s)

[6.] Characteristic equation is Dc (s) + Js2 = 0, i.e., 10s2 + kp = 0. By RH criteria, the system will
be unstable for kp < 0.

[7.] For kp = 100, we get roots on imaginary axis, i.e., s = ±j10. Hence, marginally stable system.

[8.]
1
Ka = lim s2 (10 + 2s) =1
s→0 10s2
[9. ]
skp + kI
Forward loop transfer function =
10s3

3
 Type= 3.

[10. ] The system is not unity feedback. The equivalent system with feedback loop has

G(s) s
Forward loop transfer function G’(s) = = 3 2
1 + G(s)H(s) − G(s) 10s + kd s + (kp − 1)s + kI

Type= 0.

[11. ]
1
Ka = lim s2 (1 + 2/s + 3s) =∞
s→0 10s2
Note: The correct solution of Q10 has been shared to the NPTEL team. Q11 has been
removed from evaluation as the value of ∞ can not be entered. Please be patient, it
may take some time to reflect the updated score in the portal.

Common data for Q12-Q15

The DC motor speed control is shown below and is described by the differential equation

ẏ + 60y = 600va − 1500w,

where y is the motor speed, va is the armature voltage, and w is the load torque. Assume the
armature voltage is computed using the PI control law
Z t
va = −(kp e + kI edt),
0

where e = r − y.

1500

+ va −
r

e Dc(s) 600

1
y
+ s+60
−

The transfer function from w to y, that is Y (s)/W (s) as a function of kp and kI is given by

Y (s) as
= 2
W (s) s + b(1 + 10kp )s + ckI

12. The value of a = . [Ans=-1500, Range=-1501 to -1499]

4
13. The value of c − b = . [Ans=540, Range= 539 to 541]
Y (s)
14. Consider W (s) , and compute the value of kp so that the characteristic equation of the closed-loop
system will have roots at −60 ± j60. . [Ans=0.1, Range= 0.09 to 0.11]
Y (s)
15. Consider W (s) , and compute the value of kI so that the characteristic equation of the closed-loop
system will have roots at −60 ± j60. . [Ans=12, Range= 11.95 to 12.05 ]
Solution: Consider the differential equation of the DC motor

ẏ + 60y = 600va − 1500w

Apply Laplace transform on both sides

sY (s) + 60Y (s) = 600Va (s) − 1500W (s)

We get Va (s) from the block diagram as

kI
Va (s) = (kp E(s) + E(s))
s
Substitute Va (s) in the first Laplace equation, we get

kI
(s + 60)Y (s) − 600(kp E(s) + E(s)) = −1500W (s)
s
Consider the input r as zero. The error function is

E(s) = −Y (s)

Substituting we get,
kI
(s + 60)Y (s) + 600(kp +)Y (s) = −1500W (s)
s
Y (s) −1500s
= 2
W (s) s + 60(1 + 10kp )s + 600kI

The value of a = −1500.

The value of c − b = 540.

The characteristic equation of a second order system with roots −60 ± j60 is s2 + 120s + 7200 = 0.
Comparing we get,
60(1 + 10kp ) = 120 =⇒ kp = 0.1
600kI = 7200 =⇒ kI = 12
Note: Q12 correct solution has been shared with the NPTEL team. Please be patient,
it may take some time to reflect the updated score in the portal.
Rt
Remark:It was written by mistake that va = −(kp e + kI 0 edt), but we expect at this stage of the
course that you all have easily figured it out.