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Control Systems Tutorial 1 (1)

The document outlines a tutorial for control systems, covering topics such as linearity, time-invariance, transfer functions, and system responses to various inputs. It includes exercises on deriving sensitivities, analyzing stability, and calculating steady-state errors for different systems. The tutorial is structured around multiple lectures, providing a comprehensive overview of control system analysis and design.

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5 views

Control Systems Tutorial 1 (1)

The document outlines a tutorial for control systems, covering topics such as linearity, time-invariance, transfer functions, and system responses to various inputs. It includes exercises on deriving sensitivities, analyzing stability, and calculating steady-state errors for different systems. The tutorial is structured around multiple lectures, providing a comprehensive overview of control system analysis and design.

Uploaded by

simariitr
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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EEN-102 Tutorial (Control Systems)

Tutorial based on Lecture 1

1. With proper mathematical justification, comment on the linearity and time-invariance of the
following system equations: (solution at last pages of n/b)
a. ⃛y ( t ) +t 2 ẏ ( t )=5 e−t u ( t )
1
b. ÿ ( t ) + ẏ ( t )+ y ( t )=3 ü ( t ) −5u ( t )
√2
c. ÿ ( t ) +u ( t ) ẏ ( t ) +e−0.1 y ( t )=u ( t )
d. 2 cos t ẏ ( t )+ sin t 2 y (t )=u ( t )
2
e. ÿ ( t ) + ( ẏ ( t ) ) + y ( t )=u ( t ) +5

2. Find the transfer function for the following systems. Also find the order and relative degree
between output and input. Find steady-state gain and error constants.

a) Mass-Spring-Damper System:

b) Rotational system:

c) Liquid Level system:

d) Field-controlled DC motor:
Tutorials based on Lecture 2

1. Draw the time plots of the following signals, from t=0 to t=10. The symbols have usual
meanings as per signals are concerned. - https://www.youtube.com/watch?v=okA3z8PeqQ8
a. ∑ δ(t−nT ),n={ 0 , 1 ,2 , … } and T is a constant number.
b. u ( t )−u ( t−2 ) +2u ( t−4 ) −3 u(t−7)
c. r ( t )−r ( t−2 ) +2u ( t−4 )−2 r (t−7)
d. r ( t )−r ( t−2 )−r ( t−5 ) +2 r (t−7)
e. u ( t )+ r ( t )−u ( t−2 ) −2r ( t−5 )

2. Derive the response of a standard first order plant to ramp and parabolic inputs.

3. Find the response of a standard first order system with time constant T =0.1s to the input
signals in Q1. Sketch the response.

4. Find the impulse response and unit ramp response of a standard second order system.

5. Calculate the delay time, rise time, peak time, peak overshoot, settling time and steady-state
error with unit step input for the below second order systems:
3
a. G ( s )= 2
s +2 s+ 3

2
b. G ( s )= 2
s +s +1

2
c. G ( s )= 2
s +3 s +4

6. Using the initial value and final value theorems, find the initial and final values of the unit step
response for the systems in Q5.

2
7. Suppose the transfer function of the system is G ( s )= 2 . Find the initial and final value of
s +s +1
the system response for the input signals as in b and c of Q1.
Tutorials based on Lecture 3

1. Derive the sensitivity of the closed loop transfer function due to changes in the forward transfer
function, for unity negative feedback.

2. Derive the sensitivity of the closed loop transfer function for changes in the feedback sensor
transfer function, for unity negative feedback.

3. The closed loop unity negative feedback system has a controller gain K in the forward path.
What would be the variation in the closed loop transfer function for small changes in this gain K
? What would be the corresponding change if the controller gain is in the feedback path?

4. A typical first order system is closed with a feedback gain of K f and a forward gain K is also
there in the loop. Determine the sensitivity of the closed loop transfer function with respect to
the feedback and forward gains.

5. Find the steady state errors for the following systems due to a unit step input. (Take H(s)=1)
1
a. G ( s )= 2
s +2 s+ 3

2(s+1)
b. G ( s )=
s 2 (s+2)

s+ 2
c. G ( s )=
s (s+3)(s+5)
Also find the steady state errors due to ramp and parabolic inputs.
Tutorials based on Lecture 4

1. Ascertain whether the following systems are BIBO stable or not.


2
a. G ( s )= 2
s −2 s +4

2(s +1)
b. G ( s )=
(s+ 3)(s+ 2)

s+ 2
c. G ( s )=
s (s+3)(s+5)

(s+2)
d. G ( s )=
(s−2)(s +3)(s +4 )

2. Find the poles and zeroes of the transfer functions in Q1. What is your comment of the
asymptotic stability of each system based on location of poles in the complex plane?

3. Pick out the unstable systems from those in Q1. If we make the system closed loop with unity
negative feedback, then do the system become stable?

4. Consider the first order system


1
G ( s )=
2( s+2)

a. Does the order of the system change if it is made closed loop.


b. If a forward path gain K >0 is also employed in the closed loop system, is there a possibility
of the system to become unstable for any value of K ?
c. What would be your answer if K is free to be chosen as any real number?

5. Consider the second order system


1
G ( s )=
2( s+2)(s+ 4)

a. Does the order of the system change if it is made closed loop.


b. If a forward path gain K >0 is also employed in the closed loop system, is there a possibility
of the system to become unstable for any value of K ?
c. What would be your answer if K is free to be chosen as any real number?

6. Consider the second order system


1
G ( s )= 2
s −2 s +4

a. Does the order of the system change if it is made closed loop.


b. If a forward path gain K >0 is also employed in the closed loop system, is there a possibility
of the system to become unstable for any value of K ?
c. What would be your answer if K is free to be chosen as any real number?

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