Tutorial no.

5
1. Draw the root locus of G( s)

K ( s 2)
, H ( s) 1 for K 0 . Also find the value of K
s 2 2s 3

for which 0.7

2. Sketch the root locus for given characteristic equation s 2 ( s 3)( s 5) K ( s 1) 0 .
Find the value of K for which the system becomes marginally stable.
3. Sketch the root locus of the loop transfer function
K ( s 40)
G ( s)
s ( s 20)( s 2 60s 1002 )
4. Consider the given characteristic polynomial s( s 2)( s 2 2s 5) K . For K 0
sketch the root locus.
5. Consider the system shown:

Sketch the root locus with respect to positive values of c.

6. The system shown in figure employs derivative of feedback in addition to unity
feedback.
a. Find the value of the constant K so that the damping ratio of the system is 0.7.
With this calculated value of K and unit ramp input, find the value of steady state
error. (A=10)
b. If K = 0, calculate the value of damping ratio and undamped frequency of
oscillations. What will be the steady state error resulting from unit ramp input.
(A=10)
c. The value of steady state error is required to be 0.2 radians with derivative
feedback and the damping ratio maintained at 0.7. How can this be achieved?

7. A unity feedback system has the following forward transfer function:

Find the steady state error for the following inputs

a)

b)

c)

8. A unity feedback system has the following forward transfer function:

Find the value of

so that there is

error in the steady state.

9. Consider a unity feedback control system with the closed loop transfer function

Find out the steady-state error for unit-ramp input.

10. Design the values of

and

for the system given below to meet the following

specifications
a) Steady state error due to unit step disturbance is -0.000012.
b) Steady state error due to unit ramp input is 0.003.

11. Find the steady-state error due to a unit step input and a unit step disturbance for the
following system