Mid Semester Examination

EE211 Linear Control System

Instructions: Answer 5 problems. Problem numbers given in the other file.
Q.1. Find the transfer function 𝑉𝑜 (𝑠)/𝑉𝑖 (𝑠), for the circuit given in the following figure.

Q.2. Find the transfer function 𝑋2 (𝑠)/𝐹(𝑠), for the system given below.

Q.3. Find the transfer function 𝜃2 (𝑠)/𝑇(𝑠), for the rotational system shown in following
figure. The rod is supported by bearings at either end and is undergoing torsion. A torque is
applied at the left, and the displacement is measured at the right.

Q.4.Find the transfer function 𝑋(𝑠)/𝐹(𝑠), for the mechanical system shown by following
figure.
Q.5.Consider the following single-input single-output mechanical system. Assume that the
system is linear. The external force u(t) is the input to the system, and the displacement y(t)
of the mass is the output. The displacement y(t) is measured from the equilibrium position in
the absence of the external force. Find the state space model of the system.

Q.6. Obtain the transfer function of the system defined by the following state-space
equations:
𝑥̇ 1 0 1 0 𝑥1 0
[𝑥̇ 2 ] = [ 0 0 1 ] [ 𝑥2 ] + [ 25 ] 𝑢
𝑥̇ 3 −5 −25 −5 3 𝑥 −120
𝑥1
𝑦 = [1 0 0] [𝑥2 ]
𝑥3
Q.7. Find the state space model for the differential equation system:
𝑦⃛ + 𝑎1 𝑦̈ + 𝑎2 𝑦̇ + 𝑎3 𝑦 = 𝑏0 𝑢
⃛ + 𝑏1 𝑢̈ + 𝑏2 𝑢̇ + 𝑏3 𝑢
Q.8. Obtain a state-space equation and output equation for the system defined by:
𝑌(𝑠) 2𝑠 3 + 𝑠 2 + 𝑠 + 2
= 3
𝑈(𝑠) 𝑠 + 4𝑠 2 + 5𝑠 + 2
Q.9. Obtain a state-space model of the system shown in following block diagram.
Q.10. Consider the following electrical circuit. Assume that 𝑒𝑖 is the input and 𝑒𝑜 is the
output. The capacitances 𝐶1 and 𝐶2 are not charged initially. Find the transfer function of the
system.

Q.11. Determine the number of open loop right half plane poles of 𝐺(𝑠) =
10
𝑠5 +2𝑠4 +3𝑠3 +6𝑠2 +5𝑠+3

Q.12. Determine the value of K and 𝑎 so that the feedback system below oscillates at 2
rad/sec.

Q.13. The open loop transfer function of a unity feedback system is 𝐺(𝑠) =
𝐾
. Determine the range of K for which the system is stable.
𝑠(𝑠2 +𝑠+2)(𝑠+3)
Q.14. Consider the characteristic equation 𝑠 4 + 2𝑠 3 + (4 + 𝐾)𝑠 2 + 9𝑠 + 25 = 0. Using
Hurwitz stability criteria, determine the range of stability.

Q.15. The characteristic equation of an LTI system is given by 𝐺(𝑠) = 𝑠 5 + 2𝑠 4 + 3𝑠 3 +

6𝑠 2 − 4𝑠 − 8 = 0. Find out the number of open loop right half poles of the given system.

Q.16. Consider the closed-loop system shown in Figure below. Determine the range of K
for stability. Assume that K >0.

Q.17. Consider the servo system with tachometer feedback shown in figure below.
Determine the ranges of stability for 𝐾and 𝐾ℎ (Note that 𝐾ℎ must be positive.)

Q.18. Consider the satellite attitude control system shown in figure (a).The output of this
system exhibits continued oscillations and is not desirable. This system can be stabilized
by use of tachometer feedback, as shown in figure (b) below. If K/J = 4, what value of
𝐾ℎ will yield the damping ratio to be 0.6?
Q.19. Find the Laplace transform of the following functions.

(a) 𝑓(𝑡) = sin(2𝑡) cos (2𝑡)

(b) 𝑓(𝑡) = 𝑐𝑜𝑠 2 (3𝑡)

(c) 𝑓(𝑡) = 𝑡 𝑒 2𝑡 sin (3t)

(d) 𝑓(𝑡) = (𝑡 + 3)𝑢(𝑡)

(e) 𝑓(𝑡) = 𝑡 2 𝑢(𝑡)

1, 𝑖𝑓 0 ≤ 𝑡 < 2
(f) 𝑓(𝑡) = {
𝑡 2 − 4𝑡 + 4, 𝑖𝑓 𝑡 ≥ 2

𝑡, 𝑖𝑓 0 ≤ 𝑡 < 1
(g) 𝑓(𝑡) = { 𝑡
𝑒 , 𝑖𝑓 𝑡 ≥ 1

Q.20. Find the inverse Laplace Transform:

1
(a) 𝐹(𝑠) = (𝑠+1)(𝑠2−1)

2𝑠+3
(b) 𝐹(𝑠) = (𝑠2 +4𝑠+13)

𝑒 −3𝑠
(c) 𝐹(𝑠) = (𝑠−2)

1+𝑒 −2𝑠
(d) 𝐹(𝑠) = (𝑠2 +6)

Q.21. The transform of the solution to a certain differential equation is given by 𝑋(𝑠) =
1−𝑒 −2𝜋𝑠
. Determine the solution 𝑥(𝑡) of the differential equation.
𝑠2 +1

𝑑2 𝑦 𝑑𝑦
Q.22. Suppose that the function 𝑦(𝑡) satisfies the differential equation − 2 𝑑𝑡 − 𝑦 = 1,
𝑑2 𝑡
𝑑𝑦(0)
with initial values, 𝑦(0) = −1, = 1. Find the Laplace transform of 𝑦(𝑡).
𝑑𝑡

Q.23. Consider the following initial value problem:

𝑑2 𝑦 𝑑𝑦 𝑑𝑦(0)
− 3 𝑑𝑡 − 10𝑦 = 1, 𝑦(0) = −1, = 1.
𝑑2 𝑡 𝑑𝑡

(a) Find the Laplace transform of the solution 𝑦(𝑡).

 (b) Find the solution 𝑦(𝑡) by inverting the transform.

Q.24.A mass 𝑚 = 1 is attached to a spring with constant k =5 and damping constant c = 2. At

the instant 𝑡 = 𝜋 , the mass is struck with a hammer, providing an impulse 𝑝 = 10. Also,

𝑑𝑥(0)
𝑥(0) = 0, =1
𝑑𝑡
a) Write the differential equation governing the motion of the mass.
b) Find the Laplace transform of the solution 𝑥(𝑡).
c) Apply the inverse Laplace transform to find the solution.

𝑑2 𝑦
Q.25.Consider the following initial value problem: + 4𝑦 = 4,
𝑑2 𝑡
𝑑𝑦(0)
𝑦(0) = 0, =1
𝑑𝑡
(a) Find the Laplace transform of the solution 𝑦(𝑡).
(b) Find the solution 𝑦(𝑡) by inverting the transform.

Q.26. Consider the system shown in figure where, ξ =0.6 and ωn = 5 rad/sec. Obtain the rise
time Tr, peak time Tp, maximum overshoot Mp .and settling time Ts , when the system is
subjected to a unit-step input.

Q.27. For the system shown in figure, find the values of gain K and velocity feedback
constant Kh , so that the maximum overshoot in unit-step response is 0.2 and the peak
time is 1 sec. With these values of K and Kh , obtain the rise time and settling time.
Assume that J=1 Kg-m2 and B= 1 N-m/rad/sec.
 Q.28. The open-loop transfer function of a unity feedback system is given by
𝐾
G(s) = 𝑠(1+𝑠𝑇)

where, T and K are positive constants. By what factor should the gain K be reduced
such that
a) the peak overshoot of the system to unit step input is reduced from 75% to 25%, and
b) the damping ratio increases from 0.1 to 0.6?

Q.29. Find the time response of the following system for input r(t) = sin(t)
1
T(s) = (𝑠+1)(𝑠2 +1)

Q.30. A unity feedback control system has the following open-loop transfer function
4𝑠+1
G(s) = 4𝑠2
Find expressions for its time response when it is subjected to
a) unit impulse input and
b) unit step input

Q.31. Measurement conducted on a servomechanisms shows the error response to be

e(t) = 1.66e-8t sin (6t + 370)

where, the input is a sudden unit displacement. Determine the natural frequency,
damping ratio and damped angular frequency of the system.
Q.32. In the block diagram shown in figure, G(s)= A/s2 and H(s) = ms+n. For A=10,
determine the values of m and n for a step input with a time constant 0.1 sec, which gives
a peak overshoot of 30%.

Q.33. A system and its response curve are given in figure. Determine the values of M, B
and K.

Q.34. In the closed-loop system shown in figure, determine the value of K and a, such
that the percent peak overshoot due to the unit step input does not exceed 10%. Settling
time should be equal to 1 sec.
 .

Q.35. Determine the value of controller gains Kp and KI for the system shown in figure,
so that its damping ratio and natural frequency of oscillation become 1 and 4 Hz
respectively.

Q.36. The open-loop transfer function of a servo system with unity feedback is given by

500
G(s) =
𝑠(1+0.1𝑠)
Determine the steady-state error of the system for the input r(t)= 1+2t+t2.

Q.37. The open-loop transfer function of a unity feedback system is given by

50
G(s) = 𝑠(𝑠+10). Find out dynamic error coefficients when the input is r(t)= 1+2t+t2.

Q.38. The open-loop transfer function of a unity feedback system is given by

100
G(s) =
𝑠 2 (𝑠+4)(𝑠 2 +5𝑠+25)

Find the static coefficients and steady state error of the system when it is subjected
to an input of r(t)= 2+4t+2t2.

Q.39.Determine the time-response analysis of second order underdamped system.

Q.40. Explain the time specifications of performance parameters for transient response of
second order underdamped system and also derive their formulas.
Questions Added
Q.41. Obtain the Laplace transform of the transfer function shown below:

Q.42. Find 𝑓(0) and 𝑓(∞) using initial and final value theorems:
5
(a) 𝐹(𝑠) = 3𝑠+7
10
(b) 𝐹(𝑠) = 3𝑠2 +7𝑠+4

Q.43. Check whether the given system models are stable, marginal stable, or unstable:
(a) 3𝑥̇ − 5𝑥 = 12
(b) 𝑥̈ − 3𝑥̇ − 10𝑥 = 50
(c) 𝑥̈ − 6𝑥̇ + 34𝑥 = 68
(d) 𝑥̇ = 3
(e) 𝑥̈ + 4𝑥 = 5
(f) 𝑥̈ + 5𝑥 = 7

Q.44. (If applicable) Compute damping ratio(𝜉), time constant (𝜏), natural frequency
(𝜔𝑛 ), damped frequency (𝜔𝑑 ), rise time (𝑡𝑟 ), and settling time (𝑡𝑠𝑠 ) for the following:
(a) 𝑠 2 + 20𝑠 + 100 = 0
(b) 𝑠 2 + 4𝑠 + 40 = 0
(c) 𝑠 + 20 = 0
(d) 𝑠 2 − 2𝑠 + 24 = 0

Q.45. For the given system to be stable, find the value of the constant k
𝑠 2 + 10𝑘𝑠 + 29𝑘 2 = 0
Also find the value of k (if any) for which the system response consists of decaying
oscillations.

Q.46. Given:
4𝑥̇ = 𝑦
𝑦̇ + 3𝑦 + 12𝑥 = 𝑓(𝑡)
Find the following:
𝑋(𝑠) 𝑌(𝑠)
(a) Transfer functions: 𝐹(𝑠) 𝑎𝑛𝑑 𝐹(𝑠)
(b) damping ratio(𝜉), time constant (𝜏), natural frequency (𝜔𝑛 ), and damped frequency
(𝜔𝑑 )
 (c) For 𝑓(𝑡) = unit step input, check whether x and y responses oscillate. If so, find the
frequency of oscillation in rad/sec and the time that will be taken to disappear the
oscillations.
(d) For the given value of f(t) as given in part (c), find x and y responses with
𝑥(0) = 𝑥̇ (0) = 0

Q.47. The input of the system shown below is the angular displacement 𝜙 at the end of the
shaft and the output is the angular displacement 𝜃 of the inertia I. The shafts have torsional
stiffnesses of 𝑘1 and 𝑘2 .
The equilibrium position corresponds to
𝜙=𝜃=0
𝜃(𝑠)
Derive the equation of motion and transfer function 𝜙(𝑠).

Q.48. Derive the equation of motion of the following systems, where,

𝑓 = 𝑖𝑛𝑝𝑢𝑡
𝑥1 𝑎𝑛𝑑 𝑥2 = 𝑜𝑢𝑡𝑝𝑢𝑡𝑠
At equilibrium, 𝑓 = 0 ⇒ 𝑥1 = 𝑥2 = 0
Neglect any friction between the masses and the surface.

(a)

(b)
 (c)

(d)

Q.49. Determine the state model for the two-mass system whose equations of motion for
specific values of the spring and damping constants are:
10𝑥1̈ + 8𝑥1̇ − 5𝑥2̇ + 40𝑥1 − 25𝑥2 = 0
5𝑥2̈ − 25𝑥1 + 25𝑥2 − 5𝑥1̇ + 5𝑥2̇ = 0
Also obtain the expressions for the matrices A, B, C, and D for the state-variable model
obtained for 𝑥1 and 𝑥2 as outputs.

Q.50. Determine the model of current i flowing in the circuit shown; supply voltage is given
to be 𝑣𝑠 .

Also find the expression for damping ratio(𝜉), natural frequency (𝜔𝑛 ), and damped
frequency (𝜔𝑑 ).

𝑉0 (𝑠)
Q.51. Find the transfer function for the system shown below.
𝐼𝑠 (𝑠)

Also find the expression for damping ratio(𝜉), natural frequency (𝜔𝑛 ), and damped
frequency (𝜔𝑑 ).
 𝑉0 (𝑠)
Q.52. Find the transfer function for the system shown below.
𝑉𝑠 (𝑠)

𝑉0 (𝑠)
Q.53. Find the transfer function for the system shown below.
𝑉𝑖 (𝑠)

Q.54. For the speed control of DC motor as shown below,

𝑣𝑎 = 𝑠𝑢𝑝𝑝𝑙𝑦 𝑣𝑜𝑙𝑡𝑎𝑔𝑒 𝑓𝑟𝑜𝑚 𝑔𝑒𝑛𝑒𝑟𝑎𝑡𝑜𝑟 𝑑𝑟𝑖𝑣𝑒𝑛 𝑏𝑦 𝑎𝑛 𝑒𝑛𝑔𝑖𝑛𝑒

This supply voltage is varied by changing the generator input voltage 𝑣𝑓 .
𝑣𝑎 = 𝑘𝑓 𝑖𝑓
where, 𝑖𝑓 = generator field current
Derive the system model relating the output speed 𝜔 to the voltage 𝑣𝑓 , and obtain the transfer
function Ω(𝑠)/𝑉𝑓 (𝑠).

Q.55. Consider the following system model:

6𝑥̇ + 3𝑥 = 𝑔̇ (𝑡) + 𝑔(𝑡)
where, 𝑥(0) = 0
Find the following:
(a) Output x(t) for g(t) = unit step input
(b) Output x(t) for g(t) = 1 − 𝑒 −5𝑡
Compare the results obtained from both.