UE18EC251: Control Systems

Assignement-2

1. Refer the block diagram shown in figure, find the value of k1 and k2 so that maximum
overshoot of the output is approximately 4.3% and the rise time tr is approximately 0.2 seconds.
Also find the peak time, settling time, and the first overshoot. Assume the system is excited by a
step of 1 volt.

2. Consider a system with transfer function Y(S)/R(S)=4/(s2+bs+4). Find the damping ratio,
percentage overshoot and settling time and expression for step response if i) b=2 ii)b=4 iii)b=8

3. For the system with unity feedback given below, determine the steady-state error for a step
and a ramp input when

4. Consider the closed-loop system in Figure.

(a) Determine the closed-loop transfer function T(s) = Y(s)/R(s).
(b) Determine the steady-state error of the closed-loop system response to a unit ramp input,
R(s) =1/s 2
(c) Select a value for Ka so that the steady-state error of the system response to a unit step input,
R(s) = 1/s, is zero

1
5. For the feedback system is shown in Figure-

(a) Determine the steady-state error for a unit step when K = 0.4 and Gp(s) = 1.

(b) Select an appropriate value for Gp(s) so that the steady-state error is equal to zero for the unit
step input.

6. A certain feedback control system is described by the following transfer function

G(S)=K/s2(s+20)(s+30), H(S)=1. Determine the steady state error coefficients and also determine
the value of K to limit the steady state error to 20 units due to input r(t)=1+10t+20t2

7. A unity feedback control system has its open loop transfer function G(S)=(4s+1)/(4s2).
Determine the expression for the time response when the system is subjected to
(a) unit impusle input function
(b) unit step input function

8. A robotic arm and camera could be used to pick fruit, as shown in Figure. The camera is used
to close the feedback loop to a microcomputer, which controls the arm. Calculate the expected
steady-state error of the gripper for a step command of A units if the transfer function for the
k
process is G(s) =
(s + 4) 2
258 Chapter 4 Feedback Control System Characteristics

Gripper Desired

u
position

mk Controller
Camera
BC ° )¾ /J ^^Sensor signal

k^Jg ^pp^*c f ^ \
Magnetic disk Read/write Ugi3?2^?r\l[ input
head

Motor^L^—

FIGURE E4.4 Disk drive control.

(a)

with antilock brakes uses a sensor to keep each

wheel rotating to maintain traction. One system is
R(s
shown in Figure E4.6. Find the closed-loop response
Desired Gripper
of this system as it attempts to maintain a constant
gripper position
speed of the wheel. Determine the response when
position
R(s) = A/s.
(b)

FIGURE E4.3 Robot fruit picker.

5(5 + 2) F-(.v)
R(s)
E4.4 A magnetic disk drive requires a motor to position a s(s + 10) Wheel speed
read/write head over tracks of data on a spinning disk,
as shown in Figure E4.4. The motor and head may be 2
represented by the transfer function
FIGURE E4.6 Four-wheel drive auto.
10
G(s) =
S(TS + 1)'
 TS + 1 controls the arm [8, 9]. The transfer function for the
where T = 3 seconds nominally, (a) Calculate the sen- process is
sitivity of this system for a small change in T. (b) Cal-
culate the time constant of the closed-loop system K
G(s) =
response. (s + 4)'
Answers: S = 9. - 3 sA
/ ( 3digital
$ + 101); rc = system
audio 3/101 seconds
is designed (a)
to Calculate
minimize the effect
the expected of disturbances
steady-state error of the and
grip- noise as shown
4.2 A digital audio system is designed to minimize the per for a step command A as a function of K. (b) Name
in Figure. As an approximation,
effect of disturbances and noise as shown in Figure we may represent G(s) = K
a possible disturbance signal for2 this system.
E4.2. As an approximation, we may represent
toeK A
G(s) = Ki- (a)(a)Calculate
Calculatethe sensitivity of the system
the sensitivity of the system due(a)
Answers: 2 (b) Calculate the effect of the disturbance
ss =
due to K2- (b) Calculate the effect of the disturbance 1 + K/16
noise Td(s) on V0. (c) What value would you select for K1 to minimize the effect of the
disturbance?
Noise
Chapter 4 Feedback Control System Characteristics
Amplifier

IGURE E4.2
Digital audio
VJs) i Q - K, 6 G(s) W •+ VQ(s)

ystem.
K G(s)
«(s)(J—*~ •i) » C.J • — •
-Uro)
10. A closed loop systemDesired
is used in' a high-speed steel rolling mill to/ control
Actual the accuracy of the
thickness /
steel strip thickness. The transfer function for the process shown in Figure thickness
can be represented as

1
G(s) =
s(s + 25)

Calculate the sensitivity of the closed-loop transfer

(a) function to changes in the controller gain K.

URE E4.11
rol system for
el rolling mill.
Desired
thickness
+
V
»o -
Controller

K
i.
+W
Process

G(5)
Actual
thickness

gnal flow
h, (b) Block
am. (b)

2 Consider the unity feedback system shown in E4.13 Reconsider the unity feedback system discussed in
Figure E4.12. The system has two parameters, the E4.12. This time select K = 120 and # , = 10. The
controller gain K and the constant K\ in the closed-loop system is depicted in Figure E4.13.
process. a. Calculate the steady-state error of the closed-
*********
loop system due to a unit step input, R{s) = ]/.?,
a. Calculate the sensitivity of the closed-loop trans-
with Td(s) = 0. Recall that the tracking error is
fer function to changes in Kv.
defined as E(s) = R(s) - Y(s).
b. How would you select a value for K to minimize b. Calculate dhe steady-state response, yss = limy(f),
the effects of external disturbances, Td{s)l when Td(s) = \/s and R(s) = 0.

7--/(-0

URE E4.12
ed-loop R(s) •Q • • Yis)
back system
wo 3
meters, K and