EE302 Problem Set III

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Q 1 Suppose a first order system, with transfer function G(s) = Y (s)/R(s) = s+2 , is forced by
a sinusoidal input r(t) = (sin 10t) u(t), where u(t) is the unit step function. Find out the output
y(t) using Laplace transform technique. Assume that all the initial conditions are zero.

Q 2 Suppose we want to analyze the effect of adding a zero to a first order system. In order
s+b
for this consider the transfer function G(s) = s+a , and write down a general expression for the
system’s step response.

(a) Plot the response, y(t), when b > a > 0.

(b) Plot the response, y(t), when a > b > 0.

(c) Plot the response, y(t), when a > 0 > b.

(d) Recall that settling time, Ts , of a response is defined as the time when the response enters
within the 2% (or, 5% sometimes) band of its steady-state value and never comes out. Find
an expression for the settling time, Ts , in terms of a, b. Show that the settling time approaches
that of the first order system as b/a approaches infinity.

Q 3 Suppose the switch in the circuit shown in Figure 1 is closed at t = 0. Take R = 100Ω,
L = 2mH, and vi = 10V . Find out the response current, i(t). Find out the time constant. Obtain
a general formula for the time constant in terms of R and L.
R
i(t)

t=0
L
vi

Figure 1: figure for Q 3

Q 4 Suppose the switch in the circuit shown in Figure 2 is closed at t = 0. Take R = 100Ω,
C = 10µF , and vi = 10V . Solve for the output voltage, vc (t) and current, i(t), assuming
vc (0−) = 0. Find out the time constant. Obtain a general formula for the time constant in terms
of R and C.

R i(t)

t=0
+
C vc(t)
vi −

Figure 2: figure for Q 4

Q 5 Suppose the switch in the circuit shown in Figure 3 is closed at t = 0.

1
 R L i(t)

t=0
+
C vc(t)
vi −

Figure 3: figure for Q 5

(a) From the transfer function G(s) = Vc (s)/Vi (s) obtain general expressions for ζ and ωn in
terms of R, L and C.

(b) Take R = 1kΩ, L = 5mH, C = 2µF , and vi = 10V . Solve for the output voltage, vc (t), and
current, i(t), assuming vc (0−) = 0.

Q 6 Draw the pole-zero map on the complex plane for each of the following transfer functions.
Deduce the peak time, Tp (if any), percentage overshoot, %OS, 2% settling time, Ts , of the step
response of each of the transfer functions. Comment on the nature of these responses (overdamped,
underdamped, or undamped).
10
(a) s2 +3s+2
.
2s+1
(b) s2 +s+1
.
1
(c) s2 +8s+16
.
2
(d) s2 +4
.
s+2
(e) s2 +4
.

Q 7 For each of the transfer functions in Q 6 find out the exact step response, and compare them
with the results obtained in that problem.

Q 8 For the mechanical system shown in Figure 4 compare the transfer function X(s)/F (s) with
that of the standard second order system, and find out expressions for ζ and ωn in terms of M ,
K, and fν .
111111111111111111111111111111
000000000000000000000000000000
000000000000000000000000000000
111111111111111111111111111111
x(t)
000000000000000000000000000000
111111111111111111111111111111
K
0000000000000
1111111111111
000000000000000000000000000000
111111111111111111111111111111
0000000000000
1111111111111
000000000000000000000000000000
111111111111111111111111111111
0000000000000
1111111111111
000000000000000000000000000000
111111111111111111111111111111
0000000000000
1111111111111
M
1111111 f(t)
0000000
000000000000000000000000000000
111111111111111111111111111111
0000000000000
1111111111111
000000000000000000000000000000
111111111111111111111111111111
f
000000000000000000000000000000
111111111111111111111111111111
ν

000000000000000000000000000000 friction-less
111111111111111111111111111111
Figure 4: figure for Q 8

Q 9 For the circuit shown in Figure 4 find out the value of R to ensure 5%OS of vo (t) in response
to a step input, vi (t) = u(t). Assume all initial conditions to be zero. What is ζ and ωn in that
case?
2
ωn
Q 10 Suppose a standard second order system with transfer function G(s) = s2 +2ζωn s+ωn
2 is
given. Fill in the blanks.

2
 i(t) R 0.5H

vi(t) = u(t)
+
0.1F vo(t) 10Ω
−

Figure 5: figure for Q 9

(a) Peak time, Tp = 0.25s, settling time, Ts = 4s, %OS =?

(b) Peak time, Tp = 0.25s, %OS = 12%, settling time, Ts =?

(c) Settling time, Ts = 2s, %OS = 8%, peak time, Tp =?

Q 11 For each of the cases in Q 10 obtain the transfer functions assuming dc gain to be 1.
11s +30s+56 2
Q 12 Consider the transfer function G(s) = s4 +6s 3 +19s2 +30s+28 . Find out the peak time, per-
centage overshoot and settling time of the step response of the system without explicitly finding
out the response.

Q 13 Consider the following two transfer functions:

36 100
G1 (s) = , G2 (s) = 2 .
s2 + 6s + 36 s + 10s + 100
Find out explicitly the two step responses, and plot them on the same time scale. Now do a
time domain normalization: write down the step responses in terms of a normalized time scale τ ,
where, for G1 take τ = τ1 = t/6 and for G2 take τ = τ2 = t/10. Show that the two responses on
the normalized time scale exactly match.

Q 14 The step response of a first order system and that of an overdamped second order system
look very much similar. In this exercise we shall see how we can distinguish between the two.
Let y1 (t) and y2 (t) denote the step responses of standard first order and second order (whatever
be the damping) systems, respectively. Show that the time derivative of y1 at t = 0 is nonzero
whereas that of y2 is zero.

Q 15 For the system shown in Figure 6 choose appropriate gear ratio to ensure the natural
111
000
000
111 1Nm/rad
000
111
000
111
000
111 10kgm2
N2

000
111
000
111
T (t) θ(t)
2Nms/rad N1
5kgm2

11111111
00000000
00000000
11111111
5Nm/rad
00000000
11111111
Figure 6: figure for Q 15

frequency of oscillation to be 0.1 rad/s for the transfer function L [θ(t)]/L [T (t)].

Q 16 Consider the circuit shown in Figure 7, where the dotted lines signify that the circuit can
be viewed as two RLC series circuits connected in cascade.

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 L1 R2 L2
R1 A

t=0 +
+ +
C1 vc1(t) vi2 C2 vc2(t)
vi1 − −
−

Figure 7: figure for Q 16

(a) Find out the transfer function G(s) = Vc2 (s)/Vi1 (s) using mesh analysis technique.

(b) Now consider the two RLC circuits individually and obtain the transfer functions G1 (s) =
Vc1 (s)/Vi1 (s) and G2 (s) = Vc2 (s)/Vi2 (s) assuming in each case that the other part of the
circuit is not present.

(c) Show that G(s) 6= G1 (s)G2 (s).

(d) Suppose we want to represent the overall system by a block diagram that has the two blocks
with transfer functions G1 (s) and G2 (s) connected in cascade. What more should be added
to the cascade connection of G1 (s) and G2 (s) so that the block diagram truly represents the
system?

Q 17 Represent the rotational mechanical system shown in Figure 8 in state space, where θ1 (t)
is the output.

Figure 8: figure for Q 17

Q 18 Represent the system shown in Figure 9 in state space where the output is θL (t).

Figure 9: figure for Q 18

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Q 19 A missile in flight, as shown in Figure 10, is subject to several forces: thrust, lift, drag and
gravity. The missile flies at an angle of attack, α, from its longitudinal axis, creating lift. For
steering, the body angle from vertical, φ, is controlled by rotating the engine at the tail. The
transfer function relating the body angle, φ, to the angular displacement, δ, of the engine is of
the form
Φ(s) Ka s + Kb
= .
δ(s) K3 s + K2 s2 + K1 s + K0
3

Represent the missile steering control in state space.

Figure 10: figure for Q 19

Q 20 Given the dc servomotor and load shown in Figure 11, represent the system in state space,
where the state variables are the armature current, ia , load displacement, θL , and load angular
velocity, ωL . Assume that the output is the angular displacement of the armature. Do not neglect
armature inductance.

Figure 11: figure for Q 20

Q 21 In the past, Type-1 diabetes patients had to inject themselves with insulin three to four
times a day. New delayed-action insulin analogues such as insulin Glargine require a single daily
dose. A similar procedure to the one described in the Pharmaceutical Drug Absorption case study

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of this chapter is used to find a model for the concentration-time evolution of plasma for insulin
Glargine. For a specific patient, state-space model matrices are given by (Tarin, 2007 )
   
−0.435 0.209 0.02 1
A =  0.268 −0.394 0  ; B = 0 ;
0.227 0 −0.02 0
 
C = 0.0003 0 0 ; D=0
where the state vector is given by  
x1
X = x2  .
x3
The state variables are
x1 = insulin amount in plasma compartment
x2 = insulin amount in liver compartment
x3 = insulin amount in interstitial (in body tissue) compartment

The system’s input is u = external insulin flow.

The system’s output is y = plasma insulin concentration.
Find the system’s transfer function.

Q 22 Write the differential equations governing the mechanical system shown in Figure 12. Draw
the electrical analogous circuit using series equivalence and parallel equivalence.

Figure 12: figure for Q 22

Q 23 Write the differential equations governing the mechanical rotational system shown in Figure
13. Draw the electrical analogous circuit using series equivalence and parallel equivalence.

Figure 13: figure for Q 23