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INDEX

Sr. Page Starting Ending

Title of Experiments Sign Remarks
No. no. date date
Mathematical Preliminaries for Control
1 Theory: Laplace Transforms &
Differential Equations.
To Study System & System Transfer
2
function
To Study Modeling of Mechanical
3
Systems
To Study Block Diagram Reduction
4
Technique

5 Time Response Analysis - I

6 To Study Signal Flow Graph

7 Time Response Analysis - II

To Study Stability Analysis Using RH

8
Criterion

9 To Study Root Locus Plot Analysis.

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ASSIGNMENT – 1

AIM: - Mathematical Preliminaries for Control Theory: Laplace

Transforms & Differential Equations
Definition of Laplace Transform:

Laplace transform F(s) of a function f(t) is defined as

Where,

f(t) = a function of time t such that f(t) = 0, for t <0

s = a complex variable of the form

Standard Laplace Transform Pair:

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Properties of Laplace Transform:

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Initial Value Theorem:

Final Value Theorem:

Using Standard Laplace Transform pairs and its properties to solve following problems

1) Obtain LT of the function defined as

2) Obtain LT of the function defined as

3) Obtain LT of the function defined as

Obtain the inverse LT of the function defined below:

3
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Obtain the solution of the differential equation defined below:

1.4
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ASSIGNMENT – 2

AIM: - To Study System & System Transfer function

(1) Define the following giving one suitable example.
(a) Transfer function
(b) Order of the system
(c) Type of the system
(d) Characteristic equation
(e) Pole & zero of the system

(2) Find transfer function of following system. Also find characteristic equation order and
type of there system.
(A) R1 (B) R

Vin V0 Vin C V0
R2

(C) L1 R
(D)
L1 L2 R

Vin C V0 C1 C2
Vin V0

(E) L1 R

V1 C V0
L2

(3) Find transfer function of the following system and identity its poles & zeros.
1 Ohm 1H
1 Ohm

1 Ohm
1F
Vin V0

2F
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(4) Find the transfer function of the following system and verify if the transfer function is
equal to the product of transfer functions giving appropriate reason.

R1 R2

C1 C2
Vin V0

Section-1 Section-2
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ASSIGNMENT – 3

AIM: - To Study Modeling of Mechanical Systems

1. Explain Force-Voltage Analogy & Force-Current Analogy

2. Draw the equivalent mechanical system of the given system. Hence write the set of equilibrium
equations for it and obtain electrical analogous circuits using (i) F-V Analogy (ii) F-I Analogy

(a) (b) (c)

3. Consider Rotational system shown in the following figure,

Where J = Moment of inertia of disk
B = Friction Constant
K = Torsional Spring Constant
And disk subjected to torque T(t) as shown.
Draw its analogous network based on (i) F – V Analogy (ii) F – I Analogy
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4. For the mechanical system shown, obtain the analogous electrical network based on F –
V Analogy

5. The figure shows F – I Analogous Electrical Network for translational mechanical

system. Draw the mechanical system.
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ASSIGNMENT – 4

AIM: - To Study Block Diagram Reduction Technique

(1) Explain the block diagram reduction rules with the block diagram before and after the
transformation.

(2) Simplify the block diagram showing in the below figure.

(3) Assume that linear approximations in the form of transfer functions are available for
each block of the Supply and Demand System of given problem, and that the system
can be represented by given figure. Determine the overall transfer function of the
system.

(4) Simplify the block diagram showing in the below figure. And obtain the transfer
function relating R(s) and c(s).
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(5) Simplify the block diagram showing in the below figure.

(6) Simplify the block diagram showing in the below figure.

(7) Simplify the block diagram showing in the below figure with unity feedback.

(8) Simplify the block diagram showing in the below figure.

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(9) Simplify the block diagram showing in the below figure.

(10) Simplify the block diagram showing in the below figure.

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ASSIGNMENT – 5

AIM: - Time Response Analysis – I

1. What are Standard Test signals? Explain each of them with a sketch and its mathematical
expression in both time and Laplace domain.

2. Define the following

(a) Time response analysis and Frequency response analysis
(b) Transient response and Steady state response.

3. (For Even roll numbers in the batch).

Derive a general expression showing unit ramp response of a first order system. Sketch
input and output with respect to time. Also comment on the error signal and value of
steady state error.
(For Odd roll numbers in the batch).
Derive a general expression showing unit step response of a first order system. Sketch
input and output with respect to time. Also comment on the error signal and value of
steady state error.

4. (For Even roll numbers in the batch).

Derive a general expression showing unit impulse response of a second order system.
Sketch response for different values of damping ratio.
(For Odd roll numbers in the batch).
Derive a general expression showing unit impulse response of a second order system.
Sketchresponse for different values of damping ratio.

5. Define the following terms related to step response of a second order system.
(a) Delay time (b) Rise time (c) Peak time (d) Maximum peak overshoot (d)
Settling time.

6. Write the expression of response of a second order system to a unit step input and derive
expression of the following
(For Even roll numbers in the batch).
(a) Rise time (b) Maximum peak over shoot
(For Odd roll numbers in the batch).
(a) Peak time (b) Settling time

7. Obtain the response of a unity feedback system whose open-loop transfer function is
3
�( ) =
( + 4)
for a unit step input.
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8. Obtain the unit step response of a system whose forward path and feed back path transfer
function are given as
10
�( ) = , �( ) = 0.1 + 1
( + 3)

9. The open loop transfer function of a unity feedback system is

4
G(s) =
s(s + 1)
Determine the nature of response of the closed-loop system for a unit-step input. Also
determine the damping ratio, natural frequency of oscillation, damped frequency of
oscillation, rise time, peak time, peak overshoot and settling time.

10. A second order system is represented by a transfer function given below

C(s) 1
= 2
R(s) Js + fs + K
When this system is excited with a step input of magnitude 10 units, following results
were measured from the system response.
(a) Peak overshoot 6% (b) Peak time = 1 s (c) Steady state value of output = 0.5
Determine the values of J, f and K
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ASSIGNMENT – 6

AIM: - To Study Signal Flow Graph

1. Define
a) Signal flow graph. g) Mixed node
b) Node h) Path
c) Multiplication factor/ Transminattance. i) Loop and loop gain
d) Branch j) Nontouching loop
e) Source k) Forward path and Forward path gain
f) Sink

2. Mention the properties of SFG.

3. Consider the signal flow graph given in Fig and

4. Find the transfer function for the fig. using signal flow graphs.
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5. Find the transfer function for the fig. using signal flow graphs.

6. Find the transfer function for the fig. using signal flow graphs.

7. Find the transfer function for the fig. using signal flow graphs.
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ASSIGNMENT – 7

AIM: - Time Response Analysis – II

1. Define steady state response and steady state error. Derive the equation of steady state
error for a general closed loop system with G(s) as forward path transfer function, H(s)
as feedback path transfer function, R(s) as input and C(s) as output.

2. Define static error constant. Derive the value of steady state errors for type 0, type 1 and
type 2 systems.

3. For control systems with open-loop transfer functions given below, which type of input
signal will give finite, non-zero steady state error. Also calculate the error for that input.
20 10(s 4) 20
G(s)H (s)  ,G(s)H (s)  ,G(s)H (s)  2
(s 1)(s  4) s(s 1)(s  2) s (s 1)(s  4)

4. Consider a unity feedback system whose closed loop transfer function is

C(s) Ks b
 2
R(s) s  as  b
Find open loop transfer function. Also show that the steady-state error with unit ramp
input is given by (a-k)/b.

5. The open loop transfer function of a servo system with unity feedback is
10
G(s)H (s) 
s(0.1s  1)
Evaluate the static error co-efficient (Kp, Kv, Ka) for the system. Obtain the steady-state
error of the system when subjected to following inputs
(i) 2 u(t) (ii) 2t u(t) (iii) t 2u(t) (iv) (2 + 2t + t2 ) u(t)
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ASSIGNMENT – 8

AIM: - To Study Stability Analysis Using RH Criterion

1. Define stability criteria for LTI system.

2. Show location of following poles on s-plane and sketch approximate impulse

response contributed by each of them giving its approximate equation.
(a) s = -5 (b) s = 5 (c) s1,s2 = ±j√2 (d) s1,s2 = -5±j√2 (e) s1,s2 = 5±j√2 (f) s
=0
(g) s1,s2 = 0 (h) s1,s2 =j√2 s3,s4 = -j√2

3. Using Routh Criterion, determine the stability of the system represented by following
characteristic equation. For system found to be unstable identify number of roots in
the right half of s-plane.

(a) s 6  2s 5  8s 4  15s 3  20s 2  16s  16  0

(b) s 6  2s 5  s 4  2s 3  3s 2  4s  5  0

(c) s 6  3s 5  5s 4  9s 3  8s 2  6s  4  0

4. System characteristic equation is given below, looking at the equation comment on

system stability. Identify number of roots in right half of the s-plane. If the roots lie on
jω axis identify the frequency of sustained oscillation.

s 5  2s 4  24s 3  48s 2  25s  50  0

5. A unity feedback system has following forward path transfer function; determine the
range of K system stability. Also determine the value of K when the system exhibits
sustained oscillation and also find frequency of oscillation.

(a) G(s) 
K K(s 2)
(b) G(s) 
s(s  s  1)(s  2)
2
(s 1)(s 2  6s  25)

6. Using Hurwitz stability criterion, determine the range of K for system with following
characteristic equation to be stable

s 4  2s 3  (4  K )s 2  9s  25  0

7. For given characteristic equation determine the range f=of values of K such that the
system poles are located on left of point s=-1.

s 3  3(1  K )s 2  (5  7K )s  (4K  7)  0
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ASSIGNMENT – 9

AIM: - To Study Root Locus Plot Analysis

Root locus: It is the locus of the roots of the characteristic equation of the closed loop system
as a specific parameter (usually the gain K) Is varied from zero to infinity.
Condition:
Roots of characteristic equation: 1  G(s)H (s)  0  G(s)H (s)  1
Thus, a point in s-plane will lie on root locus if it satisfies following condtions.
(a) Magnitude criterion: | G(s)H (s) | 1
(b) Angle Criterion = G(s)H (s)  180 (2l 1);l  0,1,2,3......

 KN (s) 
Consider the open loop transfer function G(s)H (s)    having n poles and m zeros
 D(s) 
(n>m).

1. Each branch of the root locus begins at an open-loop pole (K = 0) and ends at an
open-loop (finite) zero or at a zero at infinity (K∞). The locus will be symmetric
about real axis.

2. Starting at +∞ and moving along the real axis toward the left, the root locus lies on the
real axis to the left of an odd number of real-axis open-loop poles or zeros.

3. If n > m, there will be n-m branches of the root locus going to infinity. they will
follow asymptotes that meet at a common point on the real axis and make specified
angles with respect to the positive real axis. The angles of asymptotes,  A , and the
center of asymptotes,  A , are given by

4. If G(s)H(s) has a complex conjugate pole, then the root locus branch will start from
the pole making  D angle (angle of departure) with respect to the positive real axis.
 D = ±(2q+1)+ [  z   P ] ; q = 0,1,2,….
 P = net angle contributed by all other poles at give complex conjugate pole.
 z = net angle contributed by all other zeros at give complex conjugate pole.

5. If G(s)H(s) has a complex conjugate zero, then the root locus branch will end at the
zero making  A angle (angle of arrival) with respect to the positive real axis.
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 A = ±(2q+1)- [  z   P ] ; q = 0,1,2,….
 P = net angle contributed by all other poles at give complex conjugate pole.
 z = net angle contributed by all other zeros at give complex conjugate pole.

6. If the root locus on the real axis lies in the interval between two open-loop poles,
there will always be a break-away point between the poles where the root locus leaves
the real axis. Similarly If the root locus on the real axis lies in the interval between
two open-loop zeros, there will always be a break-in point between the zeros where
the root locus enters the real axis. All break points—break-away points and break-in
dK
points can be determined from the roots of equation  0 . r branches of root locus
ds
180
meet at break point at an angle of  .
r

7. The point of intersection of the root locus branches with the imaginary axis and the
critical value of K can be determined by use of Routh criterion.

Exercise

1. Draw Root Locus for a unit feedback system whose forward path transfer function is
given as
K
G(s)  . Also find the value of K at s = -1±2j.
s(s  1)(s  4)

2. Sketch the Root Locus of unity feedback control system whose open-loop transfer
function is given below. Determine the range of gain for stability and the point at
which it crosses the imaginary axis. Determine the value of gain K at the breakaway
point.
K
G(s)  .
(s 1)(s  4s  7)
2

3. Sketch Root Locus for the system shown in figure below. Also find the value of gain
for the value of ζ=0.7.

4. Sketch Root Locus for the system shown in figure below.

(for odd roll nos.)

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(For even roll nos.)

5. Sketch Root Locus for the system with following open loop transfer function. On
basis of the root locus obtained comment on the system stability for various values of
gain K. Also find value of gain at break points.
K (s 3)
(a) G(s)H(s) = (For odd roll nos.)
s(s  2)
K (s 1)
(b) G(s)H(s) = (For even roll nos.)
s(s  3)

6. Sketch root locus for the following system

K(s 2 2s 10)
G(s)H(s)=
s 2 (s  2)
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