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EEF467 Tutorial Sheet 2

This document contains 15 questions about feedback systems and control theory. It covers topics like time and frequency response, transfer functions, stability analysis using Bode plots, and step responses. Specifically, it asks students to analyze second-order systems, find natural frequencies and damping ratios, compute steady-state errors, and investigate stability margins through Bode plots. The questions provide transfer functions and ask students to model dynamic systems, derive differential equations, and characterize transient and frequency responses.

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47 views

EEF467 Tutorial Sheet 2

This document contains 15 questions about feedback systems and control theory. It covers topics like time and frequency response, transfer functions, stability analysis using Bode plots, and step responses. Specifically, it asks students to analyze second-order systems, find natural frequencies and damping ratios, compute steady-state errors, and investigate stability margins through Bode plots. The questions provide transfer functions and ask students to model dynamic systems, derive differential equations, and characterize transient and frequency responses.

Uploaded by

NK-NGAM
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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EEF467: FFEDBACK SYSTEMS

TUTORIAL SHEET 2: Time Response and Frequency Response of Systems


Q1. The Laplace transform of the signalx(t) is defined as:

(a) Find x(t) for U(s) = 1.


(b)Using partial fraction expansion, repeat (a) for U(s) = 1/s.
(c) Plot the time signals found in (a) and (b) on the same graph.
Q2. Determin the values of ωn and ξ and also the expression of the unit step response for the following
systems represented by the following second-order transfer functions:

Q3. When a unity gain second-order system is subject to a unit step input, its transient response contains
and overshoot of 77%, occuring after 32.5 s has elapsed. Find the following
(a) The damped natural frequency
(b) The damping ratio
(c The undamped natural frequency
(d) The system transfer function
(e The time to settle down to within ±2% of the final value

Q4. A ship has a mass m and a resistance C times the forward velocity u(t). If the thrust from the
propeller is K times its angular velocity ω(t), determin:
(a) The first-order differential equation and hence the transfer function relating U(s) and Ω(s).
When the vessel has the parameters: m = 18000×103 Kg, C = 150000 Ns/m, and K = 96000 Ns/rad, find
(b) the time constant
(c) An expression of the time response of the ship when there is a step change from 0 to 12.5 rad/s.
Assume that the vessel is initially at rest.
(d) What is the forward velocity after (i) one minute (ii) ten minutes
Q5. Consider a unity feedback system with forward path transfer function G(s) given by :

Find the bandwidth of the open-loop system and that of the closed-loop system and compare the results.
Q6. The output and input of a position control system is related by:
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(a) If r(t) is a unit step input, find the output y(t).
(b) What is the final value of y(t) ?
Q7. The pneumatic actuator of a tendon-operated robotic hand can be represented by

(a) Plot the frequency response of G(jω) and show that the magnitudes of G(jω) are – 16 dB and – 34.8
dB respectively at ω= 10 and ω= 300.
Q8. The dynamics of a vertical takeoff aircraft are approximately represented by the transfer function

The controller transfer function is represented by (see Fig. 1)

Fig 1.
(a) Obtain the Bode plot of the loop transfer function L(s) = Gc(s)G(s)H(s) with K1= 1.5.
(b) Compute the steady-state error for the closed loop system for a wind disturbance of D(s) = 1/s.
(c) Obtain the frequency response L(jω) and the peak amplitude of the resonant peak along with the
resonance frequency
(d) Find out the gain and phase margins from L(jω) plot
Q9. A closed loop system for controlling chemical concentration is shown in Fig. 2. The feed is granular
in nature and is of varying composition. It is desired to maintain a constant composition of the output
mixture by adjusting the feed-flow valve. The transfer function of the tank and output valve is given by

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and that of the controller is represented as :

The transport of the feed along the conveyor introduces a delay time of 2 seconds. (a) Draw the Bode
diagram when K1 = 1, K2 = 0.2, and investigate the stability of the system. (b) Also draw the Bode diagram
when K1 = 0.1 and K2 = 0.02, and investigate the stability of the system.
Q10. The Bode magnitude plot of transfer function

is shown in Fig. 3. Determine K, τ1 and τ2 from the plot.

Fig. 3
Q11. Classify the system given in Fig. 4 by type

Fig. 4

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Q12. For the system in Fig 5, find the steady state error for (a) a unit step input, (b) a unit ramp input

Q13. Compute the following:


(a) the phase margin for L(s) = 2(s + l)/s2
(b) the gain and phase margin for L(s) = 432/s(s2 + 13s + 115)
Q14. Determine the Bode form and the Bode gain for the transfer function
𝐾(𝑠 + 2)
𝐿(𝑠) =
𝑠 2 (𝑠+ 4)(𝑠 + 6)
Q15. For each of the second order systems below, find the damping coefficient (ξ), the natural frequency
(ωn), the settling time (Ts), the time to reach peak (Tp), the peak response (yp), % overshoot, and plot the
step response using MATLAB

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