ELECENG 3027 - CONTROL III

Tutorial 1, Tuesday March 8, 2011

Question 1: Transfer functions and Transient Response Modes

The response y = y(t) of a linear system is described by the ordinary differ-

ential equation

d3 y d2 y dy dx
+ 5 + 11 + 15 y = − x
dt3 dt2 dt dt
where x = x(t) denotes the input to the system.

(a) Assuming that y and all its time derivatives are zero at t = 0, what is
the transfer function of the system?

(b) Given that there is a system pole at s = −3, find the other poles.

(c) What modes are present (in the time domain) in the output transient
response to an input impulse function? Only name the modes, and
give their general form using information available from the poles. Do
not find a complete expression for y(t), or evaluate terms depending
on residues.

(d) What is the damping ratio and natural frequency of the dominant pair
of system poles?

(e) Find the time domain response, y(t), of the system to a unit step
input [Hint: You will need to use the partial fraction expansion of
the transfer function. Find each residue using one of the methods
discussed in lectures. If you get a chance, check your result using the
residue function in Matlab].

(f) Sketch by hand the time domain response in (e). When you get a
chance use the tf and step functions in Matlab to plot the same
response and verify how how good your sketch is!

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Question 2: Poles and zeros, and how they affect the transient
response modes

A unit impulse function is applied to the system described by the transfer

function

K (s + z)
G(s) = .
(s + 1)(s + 2)
(a) Draw the pole-zero plot for G(s) (assume for now that 0 ≤ z ≤ 1).
(b) Use the graphical method studied in lectures to determine the form
of the system response as the zero moves from the origin into the left
half-plane.
(c) For illustrative purposes, consider the system response for some or all
of the following values (i) z = 0.25, K = 8, (ii) z= 0.5, K = 4, (iii) z
= 1, K=2, (iv) z = 1.5, K = 1, (v) z = 2, K = 1, and (vi) z = 3, K =
2/3.
(d) If you were free to choose the zero location, what would be the signif-
icance of these results in terms of a control design ?

Question 3 : Closed Loop Systems and Stability

Consider the unity feedback closed loop system shown in figure 1 where
s−1
G(s) = (s+1)(s+2)(s+3) .

+ e(t)
x(t) K G(s) y(t)
-

Figure 1: Unity feedback system for question 3

(a) Show that the closed loop transfer function (from x(t) to y(t)) is given
by

K G(s) K(s − 1)
Gcl (s) = = 3 2
.
1 + K G(s) s + 6s + (K + 11)s + (6 − K)
(b) Use matlab to determine the range of K which yields a stable closed
loop system. (Hint : write a programme to step through values of K,
and test whether there are RHP poles)

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 (c) Repeat the zero of G(s) at s = 1 is moved to s = −1 ? Comment.

Question 4 : Block Diagram Manipulation

Consider the dual feedback loop control system depicted in figure 2. Use block
diagram manipulation to find the overall closed loop TF from input x(t) to
output y(t). Show your steps by drawing intermediate block diagrams.

x(t) y(t)
+ +
C1(s) C2(s) G(s)
− −

H(s)

Figure 2: Dual loop feedback system for question 4