TUTORIAL SHEET 1

L3B15 Control

1. Write differential equations describing the following systems (see Chapter 2, Franklin et al
'Feedback control of dynamic systems', third edn, Addison-Wesley)
a) automobile cruise control - equations of motion
b) satellite control - single axis equations of motion
c) read/write disk drive - equations of motion
d) pendulum - equations of motion
e) op amp integrator
f) loudspeaker plus drive circuit
g) DC motor plus drive circuit
2. Show that superposition holds for the system modelled by the 1st oder linear D.E.

y + ky = u
3. Show that, in a partial fraction expansion, complex conjugate poles have coefficients that
are also complex conjugates.
4. Find the L.T. of the following time functions:
a) t cos at b) t2 + e-at sin bt

c) a 1(t) + bt cos at

5. Find the time function corresponding to each of the following L.T.s

3 s 2 + 9 s + 12
( s + 2)( s 2 + 5 s + 11)

2s 2 + s + 1
,
s3 1

6. For a second order system with T.F.

3s + 2
1
,
s 2 + 4 s + 20 s( s + 1) 2

3
s + 2s 3
2

determine a) DC gain b) steady-state response to step input

7. Convert the following block diagram to a SFG

8. Find the T.F. C(s)/R(s) for the following SFG.

9.
Y(s)
R(s)

If

D( s ) =

D(s)

K
s+a

and

G( s) =

G(s)

100
, specify gain and pole location of the compensator
s + 25

so that the overall closed-loop response to a unit step input has a maximum overshoot of no
more than 25 %, and a 2% settling time of no more than 0.1 sec.
10. In the figure of qu. 9, if

D( s ) =

K (s + z)
s+ p

and

G( s) =

1
, find K, z, p so that
s( s + 3)

the closed-loop system has a maximum overshoot of 10 % to a step input and a 1% settling
time of 1.5 sec
11. The open-loop T.F. of a unity feedback system is

G( s) =

K
s( s + 2)

The desired response to a step input is specified as peak time = 1 sec and max. overshoot = 5
%.
i.
ii.
iii.

Determine whether both specs can be met simultaneously by selecting the appropriate
value of K.
Sketch the associated region in the s-plane where both specs. are met., and indicate
what root locations are possible for some likely values of K.
Choose a suitable for k.