14EET53 - Control Systems

Assignment
Batch-1 31.8.2018
SET-1
Roll Numbers:16ECR115-16ECR121,16ECL243,244
1. Figure shows a mechanical vibratory system when 2 pounds of force step input is applied to the system, the mass
oscillates as shown. Determine M,b,k of the system.

2. Draw Bode plot and find gain cross over frequency, phase cross over frequency, phase margin and gain margin.
2(s + 0.25)
G(s)H(s) =
s (s + 1)(s + 0.5)
2

3. Draw the root locus and comment on stability

G(S)H(S) =

SET-2
Roll Numbers:16ECR122-16ECR128

1. The system is to be designed to meet the following specifications. The error for a unit ramp input equals 1/10The

+
k(sα)
CL poles will be located at -1+j1. Find k, α, β,where G(s) =
+
s(sβ)

2. Draw Bode plot and find gain cross over frequency, phase cross over frequency, phase margin and gain margin.
48(s + 10)
G(s)H(s) =
s(s + 20)(s 2 + 2.4s + 16)
3. Draw the root locus and comment on stability G(S)H(S) =

SET-3
Roll Numbers:16ECR129-16ECR135,16ECL245,246
1. The system shown in figure (a) is subjected to a unit step input. The system output responds as shown in

k
figure (b). Determine the values of k and T from the response curve where G ( s ) =
s (Ts + 1)

Figure (a) Figure (b)

100(1 + 0.1s )
2. Consider a unity feedback open loop transfer function G ( s ) = . Draw the Bode
s (1 + 0.2 s )(1 + 0.5s )
plot and find the phase and gain cross over frequencies, phase and gain margin and the stability of the
system.

3. Sketch the root loci of the system as the velocity feedback gain k varies from 0 to ∞. Determine the value
of k such that the closed loop poles have damping ratio of 0.7.
10
G (s) =
s ( s + 1 + 10k )

SET-4
Roll Numbers:16ECR136-16ECR142,16ecl247,248

1. Consider the closed loop system shown in figure. A PI controller controls a second order plant. Determine
the range of kc for which closed loop poles satisfy Rc(s) <-2.

Where G1( s ) = k (1 + 5 ) s+3

c G 2( s ) = 2
s s + 2s + 2
K
2. The open loop transfer function is given by G ( s ) = . For this unity feedback
s (1 + 0.5s )(1 + 0.2 s )
syatem, determine the value of K so that (i) the gain margin is 6dB (ii)the phase margin of the system is 25 0
 K ( s + 1) 2
3. Draw the root locus and comment on stability G ( s ) H ( s ) =
( s + 2) 2
SET-5

Roll Numbers:16ECR143-16ECR152,16ECL249,250

1 + sk e 10
1. Figure shows a system employing proportional plus error-rate control C = and a plant G = .
( s + 2) s
Determine the value of the error-rate factor ke so that the damping ratio is 0.5. Determine the values of
settling time ts, maximum overshoot Mp, and steady state error ess for a unit ramp input with and without
error-rate control. Comment upon the effect of error-rate control on system dynamics.

48( s + 10)
2. Consider a unity feedback open loop transfer function G ( s ) = .
s ( s + 2.4s + 16 s + 20 s 2 + 48s + 320)
3 2

Draw the Bode plot and find the phase and gain cross over frequencies, phase and gain margin and the
stability of the system.
K ( s 2 + 1)
3. Draw the root locus and comment on stability G ( s ) H ( s ) =
s ( s + 2)

SET-6
Roll Numbers:16ECR153-16ECR159,15ECL238
K
1. A unity feedback control system is characterized by an open loop transfer function G ( s ) = where
s( s + a)
K and a are positive constants.
(i) By what factor the amplifier gain K should be reduced so that the peak overshoot of the unit step
response reduces from 75% to 25%?
(ii) Find the values of K and a, so that, damping ratio is 0.6 and frequency of damped oscillations is 8
rad/sec. Also find the peak value of the response, when the system is excited by a step of 2 V.
(iii) If the above open loop transfer function is multiplied with a factor (s + b), and the closed loop
poles are located at (-1± j1), find the values of K, a, and b so that the steady state value of error for
a ramp input equals to 0.1.
k (1 + 0.2 s )(1 + 0.025s )
2. (i) Sketch the bode plot for the open loop transfer function G ( s ) H ( s ) = .
s (1 + 0.001s )(1 + 0.005s )
2

Find the range of k for closed loop stability.

(ii) For the plot shown determine the transfer function.

 K ( s + 1)
3. Draw the root locus and comment on stability G ( s ) H ( s ) =
s 2 ( s + 9)

SET-7
Roll Numbers:16ECR160-16ECR168
1. Consider the satellite attitude control system shown in Figure (a). The output of this system exhibits
continued oscillations and is not desirable. This system can be stabilized by use of tachometer feedback, as
shown in Figure (b). If K1/J = 4, what value of K2 will yield the damping ratio to be 0.6?

2. The open loop transfer function of unity feedback control system is given by
k
G( s) H ( s) = . Determine the value of k, so that the system will
s (1 + 0.001s )(1 + 0.25s )(1 + 0.1s )
2

have a phase margin of 400, what will be the gain margin. Use Bode plot.
K ( s + 2)
3. Draw the root locus and comment on stability G ( s ) H ( s ) =
( s + 1 + j 4)( s + 1  j 4)( s + 3)( s + 4)

Batch-2 (Matlab Simulation Problems)

(Select any one for 10 Marks)
1. A disk drive is a position control system in which a read/write head is positioned over a magnetic disk. The
system responds to a command from a computer to position itself at a particular track on the disk. A physical
representation of the system and a block diagram are shown in Figure.
a. Using Root locus find K to yield a settling time of 0.1 second.
b. What is the resulting percent overshoot?
c. What is the range of K that keeps the system stable?
d. Using Bode plot, verify the K value.
e. Verify with Matlab

2.
 Batch-3 (Hardware Design Problems)
(Select any one for 10 marks)

i) Determine the transient voltage response across the capacitor, to an applied voltage
source.

ii) Determine the transient voltage response across the resistor, to an applied voltage
source.

Experimental Set up:

 Connect the circuit as shown in figure with channels 1 and 2 of the oscilloscope
set up to measure the input and output voltages, respectively.
 Set the function generator to deliver a square wave at frequency to 700Hz.
 Display the input and output voltages on the oscilloscope.
 Compare with the theoretical calculations.

2. Determine the transient voltage response across the resistor, to an applied voltage
source.

Experimental Set up: same as above

3.Determine the time frequency characteristics of the electrical network given in figure

Theoretical :
 Obtain the transfer function Y (s)/U(s) of the circuit assuming that the product
R × C = 0.33 milliseconds.
 Determine and sketch the response of the system to a unit step input.
 Determine the rise time, the settling time, and the steady-state error from
the step response.
 Sketch the Bode plot of the system showing the corner frequencies, cross-over
frequencies, and the gain and phase margins.

Practical :
Make the circuit.
• Apply a square wave signal of frequency about 100 Hz. (Why ?)
• Trace the input and the output of the circuit on a dual trace CRO. Adjust the scales on the CRO
such that half of a cycle is depicted in detail. This is the practical depiction of step response.
• Make a note of all the scales accurately.
• Measure the rise time, the settling time, and the steady-state error.
• Compare these results with the theoretical results.

4.Determine the frequency characteristics of the electrical network given in figure

Theoretical :
 Obtain the transfer function Y (s)/U(s) of the circuit assuming that the product
R × C = 0.33 milliseconds.
 Sketch the Bode plot of the system showing the corner frequencies, cross-over
frequencies, and the gain and phase margins.

Practical :
  Apply a 2 V p-p sinusoidal signal to the circuit. Vary the frequency gradually
from very low frequency (0 - 10 Hz) to a high frequency, say 100 KHz.
 At each applied frequency, observe the amplitude (p-p) and phase difference
of the output sinusoid on the dual trace CRO and tabulate as follows.

Sl.No Input Frequency Output Amplitude Gain (db) Output

(rad/sec) (volts) Phase (deg)

Gain in db = 20 log 10 (output amplitude / input amplitude)

 Using the table above obtain a Bode plot marking the corner and cross-over
frequencies.
 Measure the gain and phase margins and compare with the theoretical results
in step 1.

5. Design and Construct a PID controller of suitable gains using Op-amp and verify the result.

Design tips from Norman Nise