Control Engineering

NPTEL Online Course (July-December 2023)

Indian Institute of Technology Madras
Assignment 3
1. Consider the transfer function of a system given as

Y (s) D(s)
= 2
U (s) as + bs + c

Where, U (s) is the unit-step input (U (s) = 1s ) and a, b, c > 0. Consider the following three cases

Case-1. D(s) = 1.
Case-2. D(s) = s + 1
Case-3. D(s) = s − 1
Which among the following statement is true?

(a) The rise time in case-3 exhibits a higher value compared to that in case-1.
(b) The rise time in case-2 exhibits a higher value compared to that in case-1.
(c) The rise time in case-3 is identical to that in case-2.
(d) The data is insufficient to compare the rise time among the three cases.

Solution:
For case-1,

(as2 + bs + c)Y (s) = U (s)

For case-2

(as2 + bs + c)Y (s) = U (s) + sU (s).

Thus, we can say that response of the case 2 to the input u(t) will be the response of the case 1
with the input u(t) + du(t)
dt (look at the corresponding ODE). So the response of the case 2 is the
response for step input and also the impulse input. So, immediately we see that the response
will be faster and hence rise will decrease.
For case-2

(as2 + bs + c)Y (s) = −U (s) + sU (s).

Here also, we can think of the response is due to both step and impulse. However, the the impulse
is now in the opposite direction of the unit step input. Hence the system response will be slower.
Hence, rise time will increase.
So, (a) is correct.
2. Consider the following three statements regarding the feedback of a control system.

1
 i. Introduction of negative feedback in a control system will improve the sensitivity with
respect to all the parameters of the system (both feed forward and feedback parameters).
ii. Introduction of a negative feedback improves the steady-state error of the control system.
iii. The effect of a disturbance in a control system is reduced because of the introduction of
negative feedback.

Which among the above statements are correct?

(a) i and ii
(b) ii and iii
(c) iii and i
(d) None of the above

Solution:
The introduction of feedback although improves sensitivity with respect to feed forward param-
eter, it is highly sensitive with respect to feedback parameter.
Hence, (b) is correct.
3. Consider an unity feedback system with open loop transfer function as follows:
K
G(s) = .
s(s + 2)

It is desired to have a peak time Tp = 1 sec and percentage overshoot Mp = 5% for an unit step
input. Find the value of K for these specifications.
(a) K = 12.5
(b) K = 3.52
(c) K = 1
(d) Such K is not possible.
Solution: For the specification above

ζ = 0.7 ωn = 4.34.

There is no such K which satisfies both the parameters.

Hence, (d) is correct.
4. Consider an unity negative feedback system with open loop transfer function
100
G(s) =
s2 + 16s

For an unit step input, the second peak in the response of the closed loop system will occur at
π
(a) 3 sec.
2π
(b) 3 sec.
π
(c) 2 sec.
(d) π sec

2
 The closed loop transfer function of the system is

100
T (s) =
s2 + 16s + 100
ζ = 0.8 and ωn = 10.
The closed response of a second order system is

e−ζωn t
c(t) = 1 − p sin(ωd t + θ)
1 − ζ2

For a peak time c′ (t) = 0 (because it is a local max)

Hence, we get

3
tan(6t + θ) =
4
That gives 6t = kπ
For second peak we have to choose k = 3
Hence, (c) is correct.
5. Consider the transfer function of the two systems as follows
(s − a) (s − a)(s − b)
G1 (s) = − and G2 (s) =
(s + b)(s + c) (s + c)(s + d)(s + e)
For a stable and strictly proper system, the step response exhibits “undershoot”, it mean the
response initially (at t = 0+ ) goes opposite to the steady state value. Assume a, b, c, d, e > 0.
Which among the following statement is true?
(a) The step response for the system G1 will exhibit an undershoot.
(b) The step response for the system G2 will exhibit an undershoot.
(c) Step response for both the system will exhibit undershoot depending on the parameter
a, b, c, d, e.
(d) None of the above.
Solution: For a stable and strictly proper system, the response will exhibit an undershoot if
it has odd number of zeros in the RHP. (Why? It can be shown by simply using Initial value
Theorem).
Hence, (a) is correct
6. Consider a second order system with transfer function as
1
G(s) =
s2 + 2s + 1

For an unit step input, the time required for the output response to reach 99.5% to its steady
state value is

(a) 4 sec
(b) 6 sec
(c) 10 sec

3
 (d) 1 sec

Solution
The step response for unit step input

c(t) = (1 − e−t − te−t )u(t)

Hence, the steady state error = e−t + te−t = 0.005.

It can be seen that (c) is correct.

7. Consider the following system shown in figure.

where,
1
G2 (s) =
s2 +s+1
Which among the following G1 (s) will provide least steady state error for an unit step input?
s+1
(a) G1 (s) = s+2
(b) G1 (s) = 1 + 2s
1
(c) G1 (s) = 1+2s
s+2
(d) G1 (s) = s

Solution: (d) is correct.

8. Consider a negative unity feedback system with closed loop transfer function as follows
9
C(s) =
s2 + 0.6s + 9
Find out Kp , Kv and Ka of the following systems.
(a) Kp = 1, Kv = 0, Ka = 0.
(b) Kp = 1, Kv = ∞, Ka = ∞.
(c) Kp = ∞, Kv = ∞, Ka = 15.
(d) Kp = ∞, Kv = 15, Ka = 0.
Solution: From the closed loop transfer function, the open loop transfer function under unity
9
feedback should have been s(s+0.6) .
From the definitions of Kp , Kv , Ka , we have Kp = ∞, Kv = 15, Ka = 0.
Hence, (d) is correct.

4
 9,10. Consider the system shown below, determine the value of k such that the damping ratio ζ is 0.5
. Then obtain the settling time ts (2% criteria), in the unit-step response.

The value of k is and ts is secs.

Solution:
Inner loop transfer function (G1 (s)) is
16
s+0.8 16
G1 (s) = 16 =
1 + k. s+0.8 s + 0.8 + 16k

C(s) G1 (s). 1s 16
= 1 = 2
R(s) 1 + G1 (s). s s + (0.8 + 16k)s + 16
Comparing with a standard second order system, we have
2 × 0.5 × 4 − 0.8 3.2
ωn2 = 16 =⇒ ωn = 4 0.8 + 16k = 2ζωn =⇒ k = = = 0.2
16 16
4 4
ts = = =2
ζωn 2
C(s)
11. Transfer function R(s) of given block diagram is

G3
R(s) + C(s)
G1 G2
_ _
H2

H1

G1 (G2 +G3 )
(a) 1+G2 H2 +G1 G2 H1
G1 (G2 +G3 )
(b) 1+G2 H2 +G1 G2 H1 +G1 G2 G3 H1 H2
G1 (G2 +G3 )
(c) 1+G2 H2 +G1 G2 H1 −G1 G2 G3 H1 H2
(d) none of these

5
Solution Shift take-off point before the block G2

Shifting take-off point before the summing point

Separating the paths in the feedback path shown dotted

Shifting the summing point and then applying Associative law for interchanging the two summing
points

6
 G3

G1 + C(s)
R(s)
1 + H1G1G 2 G2
_ _

H2

-H1H2G2

Solve parallel blocks

R(s) G1 G3 G2 C(s)
1 + H1G1G 2 1+
G2 1 + H 2G 2
_

-H1H2G2

Solve series blocks

R(s) G1 G G2 C(s)
1+ 3
_ 1 + H1G1G 2 G 2 1 + H2G 2

-H1H2G2

Now simplifying the feedback for block we get,

G1 (G2 +G3 )
C(s) (1+G2 H2 )(1+H1 G1 G2 )
= G1 (G2 +G3 )(−H1 H2 G2 )
R(s)
(1+G2 H2 )(1+H1 G1 G2 )

C(s) G1 (G2 + G3 )
=
R(s) 1 + G2 H2 + H1 G1 G2 + G1 G2 G3 H1 H2

Alternate Solution: Try to solve using SFG.

7
 G3

G2
R(s) C(s)
1 G1 1 1 1

– H1 – H2

Number of forward paths=2

Mason gain formula is T F = T1 ∆1∆
+T2 ∆2

Gain of forward path T1 =G1 G2

Gain of second forward path T2 =G1 G3
Gain of feedback loop:
L1 =−G1 G2 H1
L1 =−G2 H2
L1 =G1 G3 H1 G2 H2
Now, ∆=1-(Sum of all individual loops)
Therefore, ∆=1-(−G1 G2 H1 −G2 H2 +G1 G3 H1 G2 H2 )
∆=1+G1 G2 H1 + G2 H2 − G1 G3 H1 G2 H2
∆1 =1 − 0=1
∆2 =1 − 0=1

C(s) G1 (G2 +G3 )

So the transfer function of given block diagram is R(s) = 1+G2 H2 +G1 G2 H1 −G1 G2 G3 H1 H2

(c) is correct
C
12. The transfer function R2 from the block diagram shown in figure is given by

G2
R2
+ + C
+
G1 G3
R1 + _

H1

G2 +G1 G3
(a) 1+G3 H1 +G2
G3
(b) 1+G3 H1
(G1 +G2 )G3
(c) 1+(G1 +G2 )G3 H1

(d) none of these

C
Solution: For finding R2 , signal R1 must be zero, block diagram becomes

8
 R2
+ C
+
G3
_

H1

Redraw above block diagram

R2 C
G3
+

- H1

Now,simplifying the feedback for block we get,

C G3
=
R2 1 + G3 H1
(b) is correct.