KISII NATIONAL POLYTECHNIC

HIGHER DIPLOMA IN ELECTROICAL AND ELECTRONICS

ENGINEERING
UNIT: CONTROL SYSTEMS

CONTENTS:

1. Open loop and Closed loop systems

2. Block Diagrams
3. Signal Flow graphs
4. Transfer functions – Laplace
5. Components of Electrical systems
6. Components of mechanical systems
7. Time response – Test input signals
8. Time response of First order systems
9. Time response of Second order systems.

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 OPEN-LOOP AND CLOSED-LOOP CONTROL SYSTEM
Open-loop control system:
It is a control system where its control action only depends on input signal and does not depend on its output response as
shown in Fig.1.1.

Examples: traffic signal, washing machine, bread toaster, etc.

Closed-loop control system:

It is a control system where its control action depends on both of its input signal and output response as shown in Fig.1.2.

Examples: automatic electric iron, missile launcher, speed control of DC motor, etc.

Comparison between Open-loop and Closed-loop control systems:

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 BLOCK DIAGRAMS
Block diagram: It is the pictorial representation of the cause-and-response relationship between input and output of a
physical system.

Output: The value of input multiplied by the gain of the system.

Summing point: It is the component of a block diagram model at which two or more signals can be added or subtracted. In
Fig.15, inputs R(s) and B(s) have been given to a summing point and its output signal is E(s). Here,

Take-off point: It is the component of a block diagram model at which a signal can be taken directly and supplied to one or
more points as shown in Fig.5.2.
Forward path: It is the direction of signal flow from input towards output.
Feedback path: It is the direction of signal flow from output towards input

RULES FOR REDUCTION OF BLOCK DIAGRAM MODEL

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 PROCEDURE FOR REDUCTION OF BLOCK DIAGRAM MODEL

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5|
EXAMPLE 2
Reduce the block diagram shown in Figure 5.9 to a single transfer function.

SOLUTION
First, the three summing junctions can be collapsed into a single summing junction, as shown

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Second, recognize that the three feedback functions, Hi(s), H2(s), and H^(s), are connected in parallel. They are fed from
a common signal source, and their outputs are summed. The equivalent function is Hi(s) — Hi{s) + Hs(s).
s). Also recognize that G2(s) and G${s) are connected in cascade. Thus, the equivalent transfer function is the product,
G3(s)G2(s). The results of these steps are shown

Finally, the feedback system is reduced and multiplied by Gi(s) to yield the equivalent transfer function shown

PROBLEM: Reduce the system shown in Figure 5.11 to a single transfer function.

First, move G2(s) to the left past the pickoff point to create parallel subsystems, and reduce the feedback system
consisting of G3(s) and H3(s). This result is shown

Second, reduce the parallel pair consisting of VG2(s) and unity, and push Gi(s) to the right past the summing junction,
creating parallel subsystems in the feedback. These results are shown

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Continue reducing as shown

PROCEDURE FOR FINDING OUTPUT OF BLOCK DIAGRAM MODEL WITH MULTIPLE INPUTS

Step 1: Consider one input taking rest of the inputs zero, find output.
Step 2: Follow step 1 for each inputs of the given Block Diagram model and find their corresponding outputs.
Step 3: Find the resultant output by adding all individual outputs.

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EXAMPLE 3

Considering input R1, U1=U2=0

Considering U1, R=U2=0

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Considering U2, R=U1=0

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 SIGNAL FLOW GRAPHS

It is a pictorial representation of a system that graphically displays the signal transmission in it.

Properties SFGs:
 Applied to linear system
 Arrow indicates signal flow
 Nodes represent variables, summing points and take-off points
 Algebraic sum of all incoming signals and outgoing nodes is zero
 SFG of a system is not unique
 Overall gain of an SFG can be determined by using Mason’s gain formula

SFG FROM BLOCK DIAGRAM MODEL:

Let’s find the SFG of following block diagram model shown in Fig.6.2.

Step-1: All variables and signals are replaced by nodes.

Step-2: Connect all nodes according to their signal flow.
Step-3: Each of gains is replaced by transmittances of the branches connected between two nodes
of the forward paths.
Step-4: Each of gains is replaced by transmittances multiplied with (-1) of the branches connected
between two nodes of the forward paths.

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 MASON’S GAIN FORMULA (M)
Transfer function of a system=

Where,
N= total number of forward paths

Pk= path gain of kth forward path

Δ is the determinant of the SFG, given as:

Δ= 1 - (Σ loop gains of all individual loops) + (Σ gain product of loop gains of all possible two non-
touching loops) – (Σ gain product of loop gains of all possible three non-touching loops) + …

Δk is the value of Δ after eliminating all loops that touches kth forward path, given as
Δk= 1-(sum of all loops not touching that forward path)

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EXAMPLE 1
Find the overall transfer function of the system whose signal flow graph is shown.

Solution:

Forward paths= 2

Individual loops:

Non touching loops:

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Determinants: 2

Example:2
Find the overall transfer function of the system given in Fig.6.1 using Mason’s gain formula.

Solution:
In the fig.,
No. of forward paths: N = 2

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Path gain of forward paths:
P1 = t1t2t3t4t5
P2 = t6t3t4t5
Loop gain of individual loops:
L1 = -t2t3t6,
L2 = -t5t7,
L3 = -t1t2t3t4t5t8
L4 = -t9t3t4t5t8
No. of two non-touching loops = 2
i.e. L1 and L2
No. of more than two non-touching loops = 0

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 TRANSFER FUNCTION
It is the ratio of Laplace transform of output signal to Laplace transform of input signal assuming all the initial
conditions to be zero.
Consider a given system with input r(t) and output c(t) as shown in Fig.3.1 (a), then its Laplace domain is shown in
Fig.3.1 (b). Here, input and output are R(s) and C(s) respectively.
G(s) is the transfer function of the system. It can be mathematically represented as follows.

Fig.3.1. (a) A system in time domain, (b) a system in frequency domain and (c) transfer function with differential
operator

LAPLACE TRANSFORM

Laplace transforms convert differential equations into algebraic equations. They are related to frequency response.

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 EXAMPLE 3.1
Determine the transfer function of the system shown in Fig.3.2.

Solution:
Fig.3.1 is redrawn in frequency domain as shown in Fig.3.2.

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Applying KVL to loop-1 of the Fig.3.2

………… (i)
Applying KVL to loop-2 of the Fig.3.2

Then

Substitute in eqn. (i)

Then transfer function of the given system is

GENERAL FORM OF TRANSFER FUNCTION

PROPERTIES OF TRANSFER FUNCTION:

 Zero initial condition
 It is same as Laplace transform of its impulse response
 Replacing ‘s’ by d/dt in the transfer function, the differential equation can be obtained
 Poles and zeros can be obtained from the transfer function
 Stability can be known
 Can be applicable to linear system only

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 COMPONENTS OF ELECTRICAL SYSTEMS
There are three basic elements in an electrical system, i.e.
(a) resistor (R),
(b) Inductor (L)
(c) Capacitor (C).

Electrical systems are of two types, i.e.

(i) Voltage source electrical system
(ii) Current source electrical system.

Voltage source electrical system:

If i is the current through a resistor (Fig.4.7) and v is the voltage drop in it, then.

If i is the current through an inductor (Fig.4.7) and v is the voltage developed in it, then

If i is the current through a capacitor (Fig.4.7) and v is the voltage developed in it, then

Current source electrical system:

If i is the current through a resistor and v is the voltage drop in it, then

If i is the current through an inductor and v is the voltage developed in it, then

If i is the current through a capacitor and v is the voltage developed in it, then

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 WORK OUT PROBLEMS

Q.4.1. Find system transfer function between voltage drop across the capacitance and input voltage in the following
RC circuit as shown in Fig.4.8.

Q.4.2. Find system transfer function between function between the inductance current to the source current in the
following RL circuit as shown in Fig.4.9.

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Q.4.3. Find system transfer function between function between the capacitance voltage to the source voltage in the
following RLC circuit as shown in Fig.4.10.

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 COMPONENTS OF MECHANICAL SYSTEMS
Mechanical systems are of two types, i.e.
(i) Translational mechanical system
(ii) Rotational mechanical system.

TRANSLATIONAL MECHANICAL SYSTEM

There are three basic elements in a translational mechanical system, i.e.

(a) Mass – particles which collectively make a body.
(b) Spring - a force exerted when a body is compressed of stretched
(c) Damper--being in a state between dry and wet, that is moist.

(a) Mass: A mass is denoted by M. If a force f is applied on it and it displays distance x, then

If a force f is applied on a mass M and it displays distance x1in the direction of f and distance x2 in the opposite
direction, then

(b) Spring: A spring is denoted by K. If a force f is applied on it and it displays distance x, then

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If a force f is applied on a spring K and it displays distance x1in the direction of f and distance x2 in the opposite
direction, then

(c) Damper: A damper is denoted by D. If a force f is applied on it and it displays distance x, then

If a force f is applied on a damper D and it displays distance x1in the direction of f and distance x2 in the opposite
direction, then

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 ROTATIONAL MECHANICAL SYSTEM

There are three basic elements in a Rotational mechanical system, i.e.

(a) Inertia- the property of a body that resist any change to its motion, equivalent to its mass.
(b) Spring – a force exerted when a body is compressed of stretched.
(c) Damper-being in a state between dry and wet, that is moist.

(a) Inertia: the property of a body that resist any change to its motion, equivalent to its mass. A body with an inertia is
denoted by J. If a torque T is applied on it and it displays distance Ө, then

If a torque T is applied on a body with inertia J and it displays distance Ө1 in the direction of T and distance Ө2 in the
opposite direction, then

(b) Spring: A spring is denoted by K. If a torque T is applied on it and it displays Distance Ө, then

If a torque T is applied on a body with inertia J and it displays distance Ө1 in the direction of T and distance Ө2 in the
opposite direction, then

(c) Damper: A damper is denoted by D. If a torque T is applied on it and it displays Distance Ө, then

If a torque T is applied on a body with inertia J and it displays distance Ө1 in the direction of T and distance Ө2 in the
opposite direction, then

Q. Find the transfer function of the following Spring-mass-damper as shown in Fig.4.11.

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 ANALOGOUS SYSTEM

Fig.4.12 shows a translational mechanical system, a rotational control system and a voltage-source electrical system.

Fig.4.12. (a) a voltage-source electrical system, (b) a translational mechanical system and (c) a rotational control
system
From Fig4.12 (a), (b) and (c), we have

Where,

The solutions for all the above three equations given by eq (4.2) are same. Therefore, the above shown three figures
are analogous to each other. There are two important types of analogous systems, i.e. force-voltage (f-v) analogy and
force-current analogy. From eq (4.2), f-v analogy can be drawn as follows.

Similarly, f-i analogy that can be obtained from eq (4.1), can be drawn as follows.

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 D’ALEMBERT PRINCIPLE
It is used in writing the equation of motion of mechanical systems.
It state that the algebraic sum of externally applied forces to a body and the forces resisting motion in any direction is
zero.
EXAMPLE O1

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 EXAMPLE 02
Draw the free body diagram and write the differential equation of the system shown

Solution:
For mass M1;

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 …….(i)

For mass M2;

……(ii)

Equations (i) and (ii) are the required equations.

EXAMPLE 03
Write the differential equation describing the systems shown and find the ratio
𝑋2 (𝑠)
𝐹(𝑠)

Solution:

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Differential equations are:

………(i)

……(ii)

𝑋2 (𝑠)
To get , Take Laplace transform (i);
𝐹(𝑠)

………..(iii)

Laplace transform of equation (ii);

Put the value of X1(s) in equation (iii);

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 TIME RESPONSE
Any control system containing energy storing element like inductor, capacitor, mass and inertia etec. Possess energy.

If the energy state of the system is disturbed then it takes a certain time to change from one state to another state.

The time required to change from one state to another state is known as transient time, and the values of current and
voltage during this period is called transient response.

These transient may have oscillations which may be either sustained or decaying in nature, depending upon the
parameters of the system.

For any system we obtain a linear differential equation, the solution of the equation will give the response of the
system.

The time response of a control system is divide into two parts;

a) Transient response
b) Steady state response.

From the figure, transient response is the part of the response which goes to zero as time increases, and steady state
response is the part of the total response after transient has died.

If the steady state response of the output does not match with the input then the system has steady state error.

TEST INPUT SIGNALS FOR TRANSIENT ANALYSIS

For analysis of time response, the following input signals are used:

1. Step Input

A step function is also called a displacement function. It can be described as a sudden application of input signal to a
system.

Consider a power switch.

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Its step function is.

2. Ramp input

Ramp function starts from origin and increases or decreases linearly with time.

A ramp signal r(t) is mathematically defined as follows.

Where “K” is the slope of the line.

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 3. Parabolic signal

The value of a(t) is zero for t<0 and is quadratic function of time for t>0.

A parabolic function is mathematically defined as

4. Impulse input

The first pulse has a width T and a height 1/T such that area of the pulse is 1.

If we half the duration and double the amplitude we get a second pulse. The area under the second pulse is also unity.

We can say the duration of the pulse approaches zero, the amplitude approaches infinity but the area of the pulse is
unity. The pulse for the duration tends to zero and amplitude tends to infinity is called the impulse signal.

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 5. Sinusoidal signal

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 FIRST ORDER SYSTEM
Consider a first order system with unity feedback,

1
𝐶(𝑠) =
𝑠𝑇
H(s) = 1

𝐶(𝑠) 𝐺(𝑠) 1⁄
= = 𝑠𝑇
𝑅(𝑠) 1
1 + G(s)H(s) 1 + ⁄ . 1
𝑠𝑇
Thus,
𝐶(𝑠) 1
=
𝑅(𝑠) 𝑠𝑇 + 1

1) Response of first order system to unit step input

𝐶(𝑠) 1
=
𝑅(𝑠) 𝑠𝑇 + 1
Where T is the time constant.

Time constant indicates how fast the system reaches the final value. The smaller the time constant, the faster is the
system response. A larger time constant corresponds to slow moving system.
1
∴ 𝐶(𝑠) = 𝑅(𝑠)……………(i)
𝑠𝑇+1

Since input is the unit step signal,

1
∴ 𝑅(𝑠) =
𝑠
Putting the value of R(s) in equation (i),
1
𝐶(𝑠) =
𝑠(𝑠𝑇 + 1)
After partial fraction,

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 1 1
𝐶(𝑠) = −
𝑠 𝑠 + 1⁄
𝑇
Taking the inverse Laplace, its time response is given as

𝐶(𝑡) = 1 − 𝑒 −𝑡⁄𝑇
This response is an exponential curve that come to steady state ate t = T.

𝐶(𝑡) = 1 − 𝑒 −𝑇⁄𝑇 = 1 − 𝑒 −1 = 0.632 𝑜𝑟 63.2%

Therefore T is the time required for the signal to attain 63.2% of the final or steady state value.

In four time constants (4T), the magnitude of the output reaches 98% of its final steady state value.

When the desired output is reached, it is said that Steady state has been achieved.

The time 4T is known as the settling time (ts).

The error is given by

𝑒 (𝑡) = 𝑟(𝑡) − 𝑐(𝑡) = 1 − (1 − 𝑒 −𝑡⁄𝑇 ) = 𝑒 −𝑡⁄𝑇

The steady state error is given by

𝑒𝑠𝑠 (𝑡) = lim 𝑒 −𝑡⁄𝑇 = 0

𝑡= ∞

2) Impulse input to a first order system

Impulse input, 𝑅(𝑠) = 1

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 1
1ST order function, 𝐶(𝑠) = 𝑠𝑇+1
𝑅(𝑠)

1
Putting the value of R(s), 𝐶(𝑠) = (𝑠𝑇+1) . 1

1 1
Manipulating we have, 𝐶(𝑠) = 𝑇
− 𝑠+1⁄
𝑇

Inversing the Laplace,

1
𝐶(𝑡) = 𝑇 𝑒 −𝑡⁄𝑇

This gives,

3) Ramp input to a first order system

1
Ramp input, 𝑅(𝑠) = 𝑆 2

1
1ST order function, 𝐶(𝑠) = 𝑠𝑇+1
𝑅(𝑠)

1 1
Putting the value of R(s), 𝐶(𝑠) = (𝑠𝑇+1) . 𝑆 2

1 𝑇 𝑇
Manipulating we have, 𝐶(𝑠) = 𝑆2
− 𝑆 − 𝑠+1⁄
𝑇

Inversing the Laplace, its time response

𝐶(𝑡) = 𝑡 − 𝑇 + 𝑇𝑒 −𝑡⁄𝑇

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The error signal e(t) will be,

𝑒(𝑡) = 𝑟(𝑡) − 𝑐(𝑡) = 𝑡 − [𝑡 − 𝑇 + 𝑇𝑒 −𝑡⁄𝑇 ] = 𝑇(1 − 𝑒 −𝑡⁄𝑇 )

Steady state error,

𝑒𝑠𝑠 (𝑡) = lim (𝑇 − 𝑇𝑒 −𝑡⁄𝑇 ) = 𝑇

𝑡= ∞

The steady state error is equal to ‘T’.

For a smaller time constant steady state error will be small and the speed of the response will increase.

COMPARING RESPONSE IN FIRST ORDER SYSTEMS

1
For unit ramp input: 𝑅(𝑠) = 𝑆 2 , 𝐶(𝑡) = 𝑡 − 𝑇 + 𝑇𝑒 −𝑡⁄𝑇
1
For unit step input: 𝑅(𝑠) = 𝑠 , 𝐶(𝑡) = 1 − 𝑒 −𝑡⁄𝑇

1
For unit impulse input: 𝑅(𝑠) = 1, 𝐶(𝑡) = 𝑇 𝑒 −𝑡⁄𝑇

From above three equations, it is clear that the unit step is the derivative of unit ramp input and unit impulse input is
the derivative of unit step input.

SECOND ORDER SYSTEM

The block diagram of a second order system is shown,

Here,

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 𝜔𝑛 2
𝐺 (𝑠) = , where ωn is known as the natural frequency of oscillation or
𝑠(𝑠+2𝜉𝜔𝑛 )
undamped natural frequency.

𝐻(𝑠) = 1
From,

𝐶(𝑠) 𝐺(𝑠)
=
𝑅(𝑠) 1+G(s)H(s)

Substituting G(s) and H(s),

𝐶(𝑠) 𝜔𝑛 2 ⁄𝑠(𝑠+2𝜉𝜔𝑛 )
= 𝜔𝑛 2
, where 𝜉 is called the damping factor
𝑅(𝑠) 1+
𝑠(𝑠+2𝜉𝜔𝑛 )

Manipulating, we get

𝑪(𝒔) 𝝎𝒏 𝟐
=
𝑹(𝒔) 𝒔𝟐 + 𝟐𝝃𝝎𝒏 𝒔 + 𝝎𝒏 𝟐

Time response of second order system with unit step input

𝐶(𝑠) 𝜔𝑛 2
From, =
𝑅(𝑠) 𝑠2 + 2𝜉𝜔 𝑛𝑠 + 𝜔𝑛 2

𝜔𝑛 2
𝐶(𝑠) = . 𝑅(𝑠)
𝑠2 + 2𝜉𝜔𝑛 𝑠 + 𝜔𝑛 2
1
For unit step input, 𝑅(𝑠) = 𝑠

Therefore,
1 𝜔 2
𝐶(𝑠) = 𝑠
. 𝑠2 + 2𝜉𝜔 𝑛𝑠 + 𝜔 2
𝑛 𝑛

Expanding,
1 𝜔𝑛 2
𝐶(𝑠) = .
𝑠 (𝑠+ 𝜉𝜔𝑛 )2 + 𝜔𝑛 2 (1− 𝜉 2 )

Manipulating, we get

𝒆−𝝃𝝎𝒏 𝒕
𝑪(𝒕) = 𝟏 − 𝐬𝐢𝐧(𝝎𝒅 𝒕 + 𝝓) ………….(II)
√𝟏−𝝃𝟐
Where,

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 𝜔𝑑 = 𝜔𝑛 √1 − 𝜉 2 , called damped frequency of oscillation.
√1−𝜉 2
𝜙= tan−1
𝜉
The error signal for the system,

𝑒(𝑡) = 𝑟(𝑡) − 𝑐(𝑡)

𝑒 −𝜉𝜔𝑛 𝑡
𝑒(𝑡) = sin(𝜔𝑑 𝑡 + 𝜙)
√1−𝜉 2
The steady state value,
𝑒𝑠𝑠 = lim 𝑐(𝑡) = 1
𝑡⟶∞

Therefore at steady state there is no error between input and output.

Now let’s analyze these cases;
i) When 0< 𝜉<1: underdamped case.
ii) When 𝜉 = 0: undamped case.
iii) When 𝜉 = 1: Critically damped case.
iv) When 𝜉 > 1: overdamped case.

a) 0< 𝝃<1
𝑒 −𝜉𝜔𝑛 𝑡 √1−𝜉 2
From the expression 𝐶(𝑡) = 1 − sin((𝜔𝑛 √1 − 𝜉 2 )𝑡 + tan−1 ),
√1−𝜉 2 𝜉

It is clear that the time constant is 1/𝜉𝜔𝑛 and the response having damped oscillation with overshoot and
undershoot. Such response is known underdamped response.

b) 𝝃 = 𝟎
The expression (II) will be

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 𝐶(𝑡) = 1 − sin(𝜔𝑛 𝑡 + 𝜋⁄2) = 1 − cos 𝜔𝑛 𝑡

Thus at 𝜔𝑛 the system will oscillate. This is known as undamped response.

c) 𝝃 = 𝟏
The expression will be
𝐶(𝑡) = 1 − 𝑒 −𝜔𝑛𝑡 (1 + 𝜔𝑛 𝑡)
The time constant is 1/𝜉𝜔𝑛
From this expression, it is clear that critical damping is 𝜔𝑛 . At the value of critical damping the oscillations
just disappeared. This is known as a critically damped response.

d) 𝝃 > 𝟏
The expression will be
2 −1)𝜔
𝑒 −(𝜉−√𝜉 𝑛𝑡
𝐶 (𝑡) = 1 −
2√𝜉2 −1(𝜉−√𝜉2 −1)
And, time constant
1
𝑇=
(𝜉−√𝜉2 −1)𝜔𝑛

For different values of 𝜉 the curves of C(t)is

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From the curve, it is clear that the overdamped systems are sluggish (slow moving).

NB:
The ratio of actual damping to the critical damping is known as the damping ratio.
Actual damping 𝜉𝜔𝑛
= = 𝜉
Critical damping 𝜔𝑛

LOCATION OF ROOTS OF THE CHARACTERISTIC EQUATION OF SECOND ORDER SYSTEM

From,

C(s) ωn 2
=
R(s) s2 + 2ξωn s + ωn 2

The characteristic equation is s2 + 2ξωn s + ωn 2 = 0

Its roots are

𝑆1 = −ξωn + 𝑗ξωn √1 − ξ2 and 𝑆2 = −ξωn − 𝑗ξωn √1 − ξ2

The real part of the roots (−ξωn ) represent the damping. The imaginary part (ωn √1 − ξ2 ) represents the
damping frequency.

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From the figure,
i) ωn is the distance of root from origin
ii) 𝜃 = cos−1 ξ , when the roots are in left-half of s-plane
iii) ωd is the imaginary part of the root and is known as damped frequency.

TRANSIENT RESPONSE SPECIFICATIONS OF SECOND ORDER SYSTEM

Consider a second order system with unit step input and the system initially at rest i.e. all initial conditions
are zero.

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The following are the transient response characteristics;
1. Delay time (td) – the time required for the response to reach 50% of the final value in first time.
2. Rise time (tr) – the time required for the response to rise from 10% to 90% of its final value for
overdamped systems and 0 to 100% for underdamped systems.
3. Peak time (tp) – the time required for the response to reach the first peak of the time response.
4. Maximum overshoot (Mp) – the normalized difference between the peak of the time response and
steady output.
5. Settling time (ts) – the time taken by the system to settle down and stay within its ±2% or ±5% of
its final value.

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 6. Steady state error (ess) – it is the difference between the actual output and the desired output as the
time tends to infinity.

Time Specifications
Type Formula
1 Delay time 𝟏 + 𝟎. 𝟕𝝃
𝒕𝒅 =
𝝎𝒏

2 Rise time 𝝅−𝝓

𝒕𝒓 =
𝝎𝒅
3 Peak time 𝝅
𝒕𝒑 =
𝝎𝒅
4 Maximum Overshoot 𝝅𝝃
𝟐
%𝑴𝒑 = 𝒆√𝟏−𝝃 × 𝟏𝟎𝟎
5 Settling time 𝟒
𝒕𝒔 =
𝝃𝝎𝒏

6 Steady state error 𝒆𝒔𝒔 = 𝐥𝐢𝐦 [𝒓(𝒕) − 𝑪(𝒕)]

𝒕 →∞

Where,
𝜔𝑑 = 𝜔𝑛 √1 − 𝜉 2

2
√1−𝜉
𝜙= tan−1
𝜉

EXAMPLE O1

Consider the system shown in Figure 1. To improve the performance of the system a feedback is added to
this system, which results in Figure 2. Determine the value of K so that the damping ratio of the new system
is 0.4. Compare the overshoot, rise time, peak time and settling time and the nominal value of the systems
shown in Figures 1 and 2.

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