Department of Mechanical Engineering Tutorial 2

NATIONAL UNIVERSITY OF SINGAPORE AY 2018/19

2142 Feedback Control Systems Sem 2

T2.1. Simplify the block diagrams below to obtain the closed-loop transfer function .

T2.2. The system shown in the figure below is subject to three input signals: the reference input to
the controller , the disturbance input to the plant , and the noise input to the
sensor .

a) Derive the following transfer functions between the output and each of the three inputs:
i. /
ii. /
iii. /
(Note: When considering the transfer function for any of the three inputs, assume that the
other two are zero. Remember that this is a linear system.)
b) If and , and with unity feedback ( 1 ), what would be the
steady-state error for a unit step input at (i) , and (ii) .
c) In (b) above, what would be the steady-state value of the output when unit step inputs
are applied simultaneously at the inputs and ?
d) In (b) above, if 5 and , find the undamped natural frequency and the
.
damping ratio of the closed-loop system.

T2.3.

r e 10  1 
0.1s  1 s

The above figure shows a DC motor with an inner-loop speed feedback with gain and an outer-
loop position feedback. The controller used is a proportional controller with a gain of .

Derive the closed-loop transfer function and, thereby, the undamped natural frequency and the
damping ratio. What effect do the gains and have on the response of the closed-loop system?

2142 - Tutorial 2 January 2019 Page: T2.1

 Tutorial 2
T2.4. For each of the following transfer functions , indicate the locations of the poles of the
system on the s-plane and the likely response to a unit step input.
(i)
(ii)
.
(iii) .
.

Answers:

T2.1

T2.2 (a) (i) (ii) (iii)

(b) (i) 0 (ii)

(c) 1

(d) 5√2 and 0.707

√

T2.3 100 10
T2.4 (i) Pole at 1. 1
(ii) Pole at 10. 1
(iii) Poles at 1, 10. 1

Alternatively, 1

© National University of Singapore January 2019 Page: T2.2