Control Systems (EED 302)

Assignment 1
1) Consider a system described by linear differential equation

() + 7 () + 10() = () + 3()

a) Find the system response to an input e-t (t) assuming zero initial conditions.
b) Find the system response to an input e-t (t) when the initial conditions are:
(0) = 1, (0) = 0.5
2) Consider the linear differential equation

2 ()
+ 34.5 + 1000() = 1000(t)
2

Considering zero initial conditions, solve the differential equation by using Laplace
transform.
3) Consider a system with transfer function between output and input given by

() 2 + 1
= () = 2
() + 2 + 5

Find the response y(t) to the input r(t)=(t), a unit impulse function.
4) a. The transfer function of a first order process is given by

() 1
= () =
() + 1

Find the response to unit-impulse input, unit-step input, unit-ramp input and sinusoidal
input A sin (t). Identify the steady state and transient components of response in each
case.
b. Consider a second-order model

() 2
= () = 2 ;0 < < 1
() + 2 + 2

Find the response y(t) to the unit-step function and unit-ramp function. Find the steady-
state component yss of y(t) in each case.
Will the final value theorem give the correct value of yss in each case? Why?
5) a. Find the response of the system
()
= () =
() + 1
to a unit-step input, and discuss the effects of variations in parameters K and on
transient behaviour.
b. Find the response of the system
 () 2
= () = 2
() + 2 + 2
to a unit-step input.
6) a. A system with impulse response g(t)=e-t(1- sin t) is subjected to unit-step input. Find
the transfer function, and therefrom obtain the DC gain, and the steady-state value of
the output.
b. Determine-unit ramp response of a system having the transfer function

() +1
= () =
() +2

What is the steady state value of the response?

7) A second-order transfer function model is given by

() 10000
= () = 2
() + 600 + 10000

and the input is r(t) = 25 t(t).

Show that the response is able to track the input with a steady-state delay of 60 msec.
What is the value of steady state error: lim (() ())?

8) A linear feedback control system has the block diagram shown in Fig. 1. Using block
diagram reduction rules, obtain closed loop transfer function Y(s)/R(s).
G4

R(s) + Y(s)
+- +- G1 +- G2 G3 +

H2
H1

Fig. 1
9) The block diagram of a feedback control system is shown in Fig. 2. The output is
() = ()() + ()()
Find the transfer functions M(s) and Mw(s).
H3
W(s)

R(s) - + Y(s)
+- G1 + G2 +- + G3

H2
H1
Fig. 2
10) From the circuit shown in Fig. 3, obtain the transfer function E0(j)/Ei(j).
 L = 2H

C = 2 F
R=2k
ei(t) eo(t)

Fig. 3
11) Consider the closed loop position control system given in Fig. 4. Obtain the block
diagram of the given system. By block diagram manipulation, obtain the closed loop
transfer function L(s)/R(s). Also, manipulate the diagram to obtain L(s)/nTw(s). Motor
side to load side gear ratio is 1:n.
R
Rf
R
er - R
+ - u K ea
A
+ ia

Power
R Amplifier

M
eo

L
L JL, BL

Tw

Fig. 4
12) In the speed control system shown in Fig. 5, the generator field time constant is
negligible. It is driven at constant speed giving a generated voltage of Kg volts/field
amp. The separately excited motor has a back emf of Kb volts/(rad/sec).it produces a
torque of KT newton-m/A. the motor and its load have a combined moment of inertia J
kg-m2 and negligible friction. The tachogenerator gives Kt volts/(rad/sec) and the
amplifier gain is KA amps/volt.
Draw a block diagram of the system and determine therefrom the transfer function
(s)/Er(s), where is the load speed and er is the reference signal which corresponds
to the desired speed.
With the system initially at rest, er=100 volts is suddenly applied. Determine how the
load speed will change with time.
 Given: KA = 4 amps/volt; KT = 1.5 newton-m/amp; J = 6 kg-m2
Kg = 50 volts/amp; Kt = 0.2 volts/(rad/sec); Ra = 1
Generator Ra Motor Tacho

Load

+
+ et
KA - er

Fig. 5
13) The Continuously Stirred Tank Reactor (CSTR) is shown in Fig. 6. The design
requirement is to maintain the tank liquid at desired value r by controlling the steam
flow qm. Obtain the block diagram of the process with and without controller. Obtain
the transfer function 2(s)/Qm(s) and 2(s)/i(s). Also, obtain the transfer function
2(s)/r(s). Assume that Ks is sensor gain, KA is gain of controller, Ke is gain of
electropneumatic transducer, and Kv is gain of control valve.
Set Point
0
C
Scale
Factor

Electropneumatic
+ mA
Controller -
Transducer mA mA
psig Signal
Stirrer Conditioning
Pneumatic Circuit
Actuator 1+1

Product

Steam Q, 2+2

Qm+qm Thermocouple
Control
Valve

Insulated
Radiator Tank
Coil
Feed
Q, i+i

Condensate
Fig. 6