Indian Institute of Technology Roorkee

Department of Electrical Engineering

EEN-211 - Control Systems

Mid-Term Examination (Spring - 2020-21)

Total Marks: 30 Time: 1 hour

C(s)
1. Using Mason’s rule, find the transfer function, T (s) = R(s) , for the system represented by the
following signal flow graph. [7]

−𝐻

𝐻
𝐺

𝐺 𝐺 1
𝑅 𝐺 1 𝐶
𝐺
1
𝐺 𝐺 1
𝐺
−𝐻
𝐻

s+1 K(τ s + 1)
2. Considering the plant P (s) = and the controller C(s) = in the unity
+ s + 1) s(s2 s(s + 1)
feedback structure shown below, determine the region in τ –K plane for which the closed-loop
system will be stable. [6]

u e y
C(s) P (s)
−

3. Consider the mechanical system shown in the following figure with the parameter values M = 10 kg,
K = 2 N-m, B1 = 2 N-s/m, and B2 = 5 N-s/m.

𝑥(𝑡)
𝐵 𝐵 𝐾
𝑀 𝑓(𝑡)

𝑗𝜔
X(s)
(a) Find the transfer function .
𝑗3 F (s)
(b) Comment on stability
𝜃
𝜃
of𝑗1 the transfer function. [5 + 1]
𝜎
−4 −2

𝑠 -plane 1
4. For a given initially relaxed LTI system, the output to an unit step input is represented by

e−ζωn t  p 
y(t) = 1 − p cos ωn 1 − ζ 2 t − φ , t ≥ 0.
1 − ζ2
 
where φ = tan−1 √ζ . Find the impulse response h(t) of the system, and draw the nature of
1−ζ 2
response when ζωn > 0, 0 < ζ < 1. [3]
𝑥(𝑡)
𝐵 𝐵 𝐾
5. (a) For a second order system in standard form, give an estimate−𝐻of the range of values of ωn
𝑀
and ζ that would correspond to the shaded circular regions𝐺in s-plane as shown in the below
𝐻
𝑓(𝑡)
𝐺 𝐺 1
figure. (A rough estimate for ζ would be sufficient.)
𝑅 𝐺 1 𝐶
𝐺
1
(b) Find values of KP and KI for the unity feedback system
𝐺 depicted
𝐺 in the below
1 figure such that
𝐺
the closed-loop poles lie within the shaded region of the s-plane,
𝐻
preferably−𝐻at the centers.
𝑗𝜔

𝑗3

𝜃
𝑗1 𝑟 + + 2 𝑦
𝜃 𝐾
𝜎 _ + 𝑠+2
−4 −2

𝐾
𝑠
𝑠 -plane

(a) (b)

[4 + 4]