Arab Academy for Science & Technology

Course Title
: Fundamental of Control
Course Code
: EE311

Sheet #1

La Place Transfrom
Time-Domain
f(t)
1: unit step

Laplace-Domain
F(s)
1
s
n!
s n+1
1
s

2
2
s +w
s
2
s + 2

tn
e

sin( t)
cos( t)

f (t)
f (t)

sF ( s )f ( 0 )
s 2 F ( s )sf ( 0 ) f (0)

1- Find the Laplace transform of the following time functions:

5 t

5 t

a)

f ( t )=6 e

sin 2t +2 e

b)

f ( t )=4 et cos 10 tt 2 e3 t +t 5

4 2t

cos 4 tt e

2- Find the inverse Laplace Transform of the following S-domain

functions:
a)

F ( s )=

( s+1 )
( s+2 ) ( s +4 )

b)

F ( s )=

1
( s+1 )2 ( s+ 3 )

c)

F ( s )=

26
2
s +6 s +13 s
3

3- Using Laplace Transform, find the solution of the following

differential equation.
5 x ( t )+ x ( t )=100 sin 2t , x ( 0 )=0
4-Solve the following differential equation.
2 y ( t )+ 6 y ( t ) +4 y ( t )=u ( t ) givent h at y ( 0 )=1 y ( 0 ) =0

Arab Academy for Science & Technology

Course Title
: Fundamental of Control
Course Code
: EE311

Arab Academy for Science & Technology

Course Title
: Fundamental of Control
Course Code
: EE311

Arab Academy for Science & Technology

Course Title
: Fundamental of Control
Course Code
: EE311

Sheet #3

Electrical Compensating Circuits

Eo
1-Derive the transfer function E i for the RLC circuits shown in the
figures below:
C

2- For the electrical networks shown in figure below, assuming zero initial
Eo
conditions, obtain the transfer function E i
R1
C

L1
L1
R2

E
i

L2

R2

R2
R1

R1

Eo
Ei

3-Using Crammers rule, the transfer function

R3

for the circuit given

below:
L1
R1

R2

C1
R3

Eo
Ei

4- Obtain the transfer function

C2

for the circuits shown in the figure

below:
L1
C1

R1

C2

5- Derive

Eo
Ei

for the RLC ladder network given in the figure below:

R1

E
i

R2

C1

C2

N1

JL,BL

Load

Arab Academy for Science & Technology

N2
Course Title
: Fundamental of Control
Motor
L
Course Code
: EE311

Generator

Sheet #4

Electromechanical Modelling

c
Ia
1- An electromechanical open loop control system is shown in Figure1. The
generator when driven at constant speed, provides the field N2
voltage for

the motor. The motor has inertia Jm and bearing friction Bm. Obtain the
1 (s)
transfer function
Lfm V f (s) and draw the block diagram for the system,
Ka

Kd

The generator
Rfmvoltage can be assumed to be proportional to the field
Ig
current.

Rg

Lg

Vf

Vg

2- An AC-DC servo system is shown in Figure2. The motor inertia and

friction are negligible, Draw the block diagram of the system indicating
c (s)
Lfg
theRfg
transfer function of each block. Obtain the transfer function r (s) .
Generator

Motor

JL,BL

N1
L
N2
m

Ea
La
Ia
Ra

Load

Rg
Arab Academy for Science & Technology
Course Title
: Fundamental of Control
Course Code
: EE311
Lg

3- A simple close loop positioning system is shown in Figure 3. The

operational amplifier is ideal.
Determine a control system block diagram
Vg
z (s)
Vf
for this closed loop system.Zo
What is the transfer function u (s)
Lfg
Rfg

Zi

Lm

Vi

Rm

Vo

L
Em

JL,B

Arab Academy for Science & Technology

Course Title
: Fundamental of Control
Course Code
: EE311

Sheet #5

Block Diagram Reduction

1- Find the transfer function

Y ( s)
R ( s)

G1

G1

G2

G1
H1

G1

G2

H1

G1

G3

G2
+

H1

Arab Academy for Science & Technology

Course Title
: Fundamental of Control
Course Code
: EE311

G2

G1

G3

G4

A
R

C
B
H2
+

G1

G2

G3

H1

G1

G3
+

G4
+

G2

+
G5

Arab Academy for Science & Technology

Course Title
: Fundamental of Control
Course Code
: EE311

Sheet #6

Signal Flow Graph

1- Use Mason Gain formula to determine the transfer function between
R(s) and y(s) in figure below:
H3
R

G1
-

G2

H1
H2
G3

2- Use mason signal flow technique to find C(s)/R(s) for the block diagram
in figure below:
G5

G6
+
R +

G1
-

G2

+
G3

G4
-

H3

H2
H1
H4

3- Use masons gain rule to determine the transfer function between R(s)
and Y(s) in figure shown below:
H1
G2

R +

G4

G1
-

H2

G3

G5

+
H3

G6
+

Arab Academy for Science & Technology

Course Title
: Fundamental of Control
Course Code
: EE311

Sheet #7

Time Response
1- Measurements conducted on a servomechanism show the system
response to be:
c (t )=1+ 0.2e60 t1.2 e10t
When subjected to a unit step input:
a) Obtain the system closed-loop T.F.
b) Determine the system undamped natural frequency and damping
ratio.
2- A unity feedback system is characterized by an open-loop T.F.,
K
G ( s )
s ( s+10 )
Determine the gain K so that the system will have a damping ratio of
0.5 for this value of K determine the settling time, peak overshoot and
time to peak overshoot for a unit-step input.
3- For the system shown in figure below, find the range of K so that the
system is stable. Also, find the value of K which gives a maximum
overshoot Mp=5% for a unit strep input, then find the corresponding
values of ts, tp and ess.
1
R
C
K/s
+
s+ 2
-

2s

4- A unity feedback system has an open-loop T.F.

G ( s )=K /s 2 ( s+2)(s 2 +2 s+ 2)
a) Calculate the position, velocity and acceleration error constants
b) Determine ess for a unit step, a unit-ramp and a unit parabolic input.
5- For the process control system shown below, find the unit-step input
response. Calculate Mp, Tr, Tp,Tss and ess. Sketch c(t).
R

1
1+0.2 s

1.0

2
s

Arab Academy for Science & Technology

Course Title
: Fundamental of Control
Course Code
: EE311

Sheet #8

Routh-Hurwitz Stability Criterion

1- For the control system shown in figure below, using Routh-Hurwitz
criterion. Find the gain K which makes the system critically stable.
R

K
s (s + 2 s+2)

1
s+ 2

2- Find the range of K which makes the system with the characteristic
equation:
s 3 + ( 2 K + 1 ) s2 + ( K +3 ) s +4=0
3- For the unity negative feedback system with forward loop T.F.
K
G ( s )=
s ( s+2 ) (s+ 4)
Find, using Routh criterion, the value of K for which the system has
undamped oscillatory response.
4- A system has a forward loop T.F. of: G(s)=K/(s+1)(s2+4s+5), and a
feedback loop T.F. of H(s)=4/(s+3). Using Routh stability criterion, find K
which make the system critically stable. Calculate the frequency of the
sustained oscillations.
5- A unity feedback control system has the following open-loop T.F.
K1
G ( s )=
s ( s+1 ) (0.5 s+1)
And r(t)=5t.
a) If K1=1.5sec-1, determine ess.
b) It is desired that, for a ramp input, ess<0.1. What minimum value
must K1 have for this condition to be satisfied?
c) For the value of K1 determine in b), is the system stable or unstable?
6- Check, using Routh stability criterion, the stability of the system given
by its characteristic equation as,
f(s)=s5+2s4+24s3+48s2+25s+50=0