(i) Certain measurement were conducted on servo mechanism which shows the system

responses as

c (t)=1+0.2e-60t-1.2e-10t

1
The Laplace transform of the unit step input r(t) is R(s)=
S

First to find the Laplace transform of c(t) which is c(s)

C(S)=[1+ 0.2 e−60 t −1.2 e−10t ]

1 0.2 1.2
c ( s )= + −
s s+60 s +10

To combine these terms find a common denominator

1 ( s+ 60 ) ( s+ 10 ) +0.2 s (s +60)
c ( s )=
s (s+60)( s+10)

( s 2 +70 s+ 600 ) + ( 0.2 s 2+2 s )+ ( 1.2 s 2+72 s )

Combine like terms in the numerator

( 1+0.2−1.2 ) s 2 + ( 70+2−72 ) s+600

600
c ( s )=
s (s+60)(s+10)

C (s)
The closed loop transfer function T(s) is given by T ( s )=
R (S )

600
T ( s )= xs
s+ ( s+ 60 ) ( s +10 )

600
T ( s )=
s+ ( s+ 60 ) ( s +10 )
 600
T ( s )= 2
s +70 s+600

The expression for the closed loop transfer function is

600
T ( s )= 2
s +70 s+600

ii. The standard form of second order system transfer function is

2
Wn
T ( s )= 2 2
S +2 CWnS+ Wn

Comparing with obtained transfer function

600
T ( s )= 2
s +70 s+600

From the term in the denominator

2
Wn =600

Wn=√ 600

Wn=10 √ 6

Wn=24.49 rad /sec

From the coefficient of the s in the denominator

2CWnS=70S

2CWn=70

CWn=35

C(24.49)=35

C=1.429
 Therefore, the damped natural frequency is 24.49rad/sec and the damping ratio is 1.429
respectively

2. Unit step response of a unity feedback system contain the unit step response of a unity
feedback system whose open loop transfer function is

4
G(s)=
s (s+5)

For the unit feedback the closed loop transfer function T(s) is given by

G(s)
T ( s )=
1+G(s)

Substitute G(s)

4
s+(s+5)
T ( s )=
4
1+
s+(s +5)

4
T ( s )=
s ( s+5 )+ 4

4
T ( s )= 2
s +5 s+ 4

The output in the s-domain c(s|) is C(s)=T(s).R(s)

4 1
C ( s )= .
s +5 s+ 4 s
2

Use partial fraction expansion to find the inverse Laplace transforms

4 A B C
= + +
s ( s+ 1 )( s+ 4 ) s s+1 s +4

Then after computing for the values of A,B and C then

A=1
 −4
B=
3

1
C=
3

So

4 1
1 3 3
C (s )= − +
s s+1 s+ 4

Now find the inverse Laplace transform

( )
4 1
−1 1 3 3
c ( t ) =L − +
s s+1 s+ 4

The unit step response of the system is

4 −t 1 −4 t
c ( t ) =1− e + e
3 3

3. Damping ratio of the system.

Figure 1 shows a unity feedback. The forward path transfer function G(s) is the product
of the two blocks.

1
G(s) = K ( Ts+1 ) .
JS 2

The closed loop transfer function T(s) for a unity feedback system is

G(s )
Tcl ( s ) =
1+G(s)

K (Ts+ 1) 1
Tcl= ×
JS 2 K (Ts+1)
1+
J S2
 KTs + K
Tcl= 2
J S + KTs + K

To get the standard form divide the denominator by J

KTs K
+
j J
Tcl=
KTs K
S 2+ +
J J

Given below

T=3sec

K
=3rad2/sec
J

From the standard form

2 K
Wn =
J

2
Wn =3

Wn=√ 3 rad /sec

From the standard

KT
2CWn=
J

K
=3 , K =3 J
J

Therefore;

KT (3 J ) T
= =3T
J J

Substitute T=3

2CWn=3X3=9
 Then substitute Wn=√ 3

2 C √ 3=9

C=9/2√ 3

C=2.598

Therefore damping ratio is

3 √3
C=
2

4.Stability analysis of the system in figure 2.

Find the range of gain K for the system of the figure 2 that will cause the system to be
stable, unstable and marginally stable.

Assume K>0

Then

K
G ( s )=
S (S+1)(S+1)

The characteristics equatio0nn for the unity feedback system is 1+G(s0=0

K
1+ =0
S (S +1)(S +1)

Multiply by S(S+1)¿)

S(S+1)¿)+K=0

Expand the denominator

S3+18S2+77S+K=0

Use the Routh-Hurwitz stability criterion

S3 1 77

S2 18 K

S` b` 0

S0 c`

Calculate b`

18× 77−K
b=
18

CALCULATE FOR c`

b 1−180
c= =K
b1

For the system to be stable all elements in the first column of the Routh array must be
positive

1.1>0 Satisfied

2. b1>0

1386−K
>0
18

1386−K >0

K <1386

3.C1>0

Combining these conditions

0<K<1386

Therefore marginal stability occurs when b1=0

1386−K=0

K=1386

At k=1386 then s` row becomes zero

2
18 s + K=0

2
18 s +1386=0

then s=± j √ 77

The system oscillates at √ 77rad/sec

Unstable: the system is unstable when there is a sign change in the first column of the
Routh array.

This happen b1>0 or c1|>0 since given K>0, c1 will be positive.

Thus instability occurs when bi<0

1386−K
<0
18

1386−K <0

K >1386

Summary of ranges

Stable

0<K<1386

Marginally stable

K=1386

Unstable K>1386