4636-12-P12.

SA6841

The loop transfer function of the system is

G(s)

K
( s 5)( s 1)

The closed loop transfer function is

T (s)

G (s)
1 G ( s)
K
s 6s 5 K
2

(a,b) For K = 1 , 10, and 20 the transfer function is modified as

For K = 1
T ( s)

1
s 6s 6
2

For K = 10
T (s)

10
s 6 s 15
2

For K = 20
T ( s)

20
s 6 s 25
2

n ,
On comparing with the standard second order system function the values of
determined.
Peak over shoot is given by

are

P.O. e

1 2

Settling time (with 2% criterion) is

ts

n 1 2

The steady state error is given as

sR ( s )
s 0 1 G ( s )

ess lim

Given that the input is step input

R ( s)

i.e.,

1
s

the steady state error is

1
s 0 1 G ( s )

ess lim

By substituting the values we get and by tabulating them we get

K

P.O.

ts

ess

S KT

1
10
20

2.45
3.87
5

1.22
0.77
0.6

0%
2.1%
9.5%

3.33
1.38
1.18

0.83
0.33
0.2

0.29
2.03
2.50

(c) On comparing the performance specifications of all the three cases the system is best value of
K is 10.

Td ( s)
(d) For K = 10, the transfer function from

Y (s)

to

is

Td ( s)
s5
2
Y ( s) s 6 s 15
The response of the system for
Td ( s) 1/ s

R ( s) 0

when

is