EEE-101 - Control Systems Engineering

Tutorial - 4

1. Draw the signal flow graph corresponding to the control system block diagram provided in Fig. 1.
Find the overall closed-loop transfer function (from R(s) to Y (s)) using Mason’s Gain Formula.

𝐻3 (𝑠)

𝐺4 (𝑠)

𝑅(𝑠) − +
+ +
𝐺1 (𝑠) 𝐺2 (𝑠) 𝐺3 (𝑠) 𝐺5 (𝑠)
+ + − + 𝑌(𝑠)

𝐻1 (𝑠)

𝐻2 (𝑠)
𝐻3 (𝑠)
Figure 1

Answer: −
𝑅(𝑠) 𝐺1 (𝑠)𝐺2 (𝑠) +
𝐺3 𝑠 + 𝐺4 (𝑠) 𝐺5 (𝑠)
Y (s) + + 1 + 𝐺1 𝑠 𝐺2 𝑠 𝐻1 (𝑠) 𝑌(𝑠)
=
R(s)
G1 (s)G2 (s)G5 (s) (G3 (s) + G4 (s))
𝐻2 (𝑠) ·
(1 + G1 (s)G2 (s)H1 (s)){1 + (G3 (s) + G4 (s))G 5 (s)H3 (s)} − G1 (s)G2 (s)(G3 (s) + G4 (s))H2 (s)
𝐺5 (𝑠)

2. The damping ratio (ζ) and natural frequency (ωn ) of an open-loop standard second order system
are 0.6 and 2 rad/s, respectively. Find the peak time, rise time, settling time and peak overshoot
for the unit step response of the system. Also obtain the steady state error due to the unit-step
input for the unity feedback closed-loop system.

Answer: Peak time tp = 1.95sec; Settling time ts = 3.3sec; Rise time tr = 1.38sec; Peak overshoot =9.48%;
Steady state error ess = 0.5.

3. Consider the control systems shown in Fig. 2, where τ is a positive real constant. Find the steady-
state error due to a unit step reference if the controller gain is tuned to Kp = 10.

𝑅(𝑠) + 10 𝑌(𝑠)
𝐾𝑃 𝐺 𝑠 =
- 𝜏𝑠 + 1

Figure 2
𝑤 0.4
𝑠+1
Answer: ess = 0.0099.

𝐾
+
10
1 + + 𝑦
- - 𝑠+1

1 𝑠
 𝑅(𝑠) + 10 𝑌(𝑠)
𝐾𝑃 𝐺 𝑠 =
- 𝜏𝑠 + 1

𝑤 0.4
𝑠+1

𝐾
+
10
1 + + 𝑦
- - 𝑠+1

Figure 3

4. Consider the system shown in Fig. 3, where w(t) is a unit-step disturbance. Calculate the range of
K such that the steady-state value of y(t) due to w(t) is less than one percent of w(t).

Answer: K > 3.9.

s+6
5. Considers that the open-loop transfer function of a unity negative feedback control system is .
Ks2
Find the value of K to achieve a damping ratio of 0.5.
1
Answer: K = .
6

6. The open-loop transfer function of a unity negative feedback control system is given by

K
G(s) = .
s(s + 2)

Find the value of K for the peak overshoot of the closed-loop system to a unit step input to be
10%.

Answer: K = 2.87.

7. The characteristic polynomial of a system is q(s) = s4 + 2s3 + 3s2 + 4s + 5. Comment on the

Answer: Unstable; two poles with positive real parts.

K
8. The open-loop transfer function of a unity negative feedback system is G(s) = .
s(s2 + s + 2)(s + 3)
Find the range of K for which the closed-loop system is stable.
21
Answer: 0 < K < .
4

4
9. The open-loop transfer function of a control system is given as G(s) = 5 ·
s + s + 3s + 3s2 + 2s + 1
4 3
Determine the number of closed-loop poles in the open left half and in the open right half of the
complex plane.

Answer: 3 in left half plane; 2 in right half plane.

10. Determine the values of K and k of the closed-loop system shown in Fig. 4, so that the maximum
overshoot in unit-step response is 25% and the peak time is 2 sec.

2
 𝑅(𝑠) + + 𝐾 1
𝐶(𝑠)
𝑠 𝑠
− −

Figure 4

Answer: K = 2.95, and k = 0.471.