HOMEWORK #3

3.1. A pair of complex-conjugate poles in the A-plane is required to meet the various
specifications that follow. For each specification, sketch the region in the s-plane in which the
poles should be located. A pair of complex-conjugate poles in the A-plane is required to meet the
various specifications that follow. For each specification, sketch the region in the s-plane in
which the poles should be located.
(a)
(b)
(c)
(d)

0, 707

n 2

0 0,707

n 2

0,5

1 n 5

0,5 0,707

n 5

rad/sec

(positive damping)

rad/sec

(positive damping)

rad/sec

rad/sec

(positive damping)
(positive and negative damping)

3.2. Determine the type of the following unity-feedback systems for which the forward-path
transfer functions are given.

(a)

K
G s
1 s 1 10s 1 20 s

G s
(c)
G s
(e)
G s
(g)

G s
(b)

10 s 1

s s 5 s 6

G s
(d)

10 s 1

s s 5s 5
3

G s

(f)

5 s 2

s s 4

G s

(h)

10e 0,2 s
1 s 1 10s 1 20 s
100 s 1

s s 5 s 6
2

100
s s 2
3

8 s 1

2s 3 s 1

3.3. For the unity-feedback control systems described in Problem 5-2, determine the steady-state
error for a unit-step input, a unit-ramp input, and a parabolic input,
stability of the system before applying the final-value theorem.

/ 2 us t

. Check the

3.4. The following transfer functions are given for a single-loop nonunity-feedback control
system. Find the steady-state errors due to a unit-step input, a unit-ramp input, and a parabolic
t 2 / 2 us t
input,
.

G s
(a)
G s

(c)

1
s s 2

H s

1
s s 10

H s

1
s 1
s 1
s5

G s

1
s s 5

H s 5

G s

1
s s 12

H s s s 2

(b)

(d)

3.5. Find the steady-state error for:

(a) a unit-step input

(b) a unit-ramp input
(c) a unit-parabolic input.
3.6. Find the position, velocity, and acceleration error constants for the system: