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Ans1) d)

e)
Ans 2) a) 1
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s^2 + 100 s + 1e06

b) pole zero map when R = 0.1ohm

c) step response of system when R = 0.1ohm


d) impulse response when when R = 0.1ohm

e) ramp response for 0.1sec


f) pulse train response

g) pole zero map, step response and impulse response when R = 1ohm
pole zero map, step response and impulse response when R = 10ohm
Ans3) a) transfer function = 1

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2 s^2 + 2 s + 8

b) pole zero plot for transfer function for different values of b


c) step responses for different values of b
d) Bode plot for above transfer function
Ans 4) reduced transfer function = 50 s^2 - 100 s
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s^4 + s^3 + 150 s^2 - 100 s

Ans 5) b) step input response of system(K = 1)

It is not bounded as output value goes on increasing so it has bounded input but
not bounded output so system is unstable.
c) step input response of system(K = 4)

Output is bounded as inferred from above figure and Bounded input gives Bounded
output which means system is stable.

d) System is stable when K>=4.

e) ramp input response(K = 4)

System is not stable and output is also not bounded. Value of output goes on
increasing.
Ans6) a) Response when K = 1

Steady state value(final value) = 1.429e -1

Error plot of (r(t) – c(t))


b) When k= 10

Steady state value(final value) = 6.25e -1

Error plot of (r(t) – c(t))


c) When K = 20

Steady state value(final value) = 7.692e -1

Error plot of (r(t) – c(t))


d) When K = 50

Steady state value(final value) = 8.929e -1

Error plot of (r(t) – c(t))


e) when K = 60 output has sustained oscillations and k >60 it has no sustained
oscillation due to increasing amplitude.

Ans7) c) time period = 1.927sec


d) System is stable as output is bounded for bounded input.

Original Model

e) System is also stable (BIBO) and our linear model is good approximation of original system as
seen by statistical value in the corner.

Linear Model
f)

linear model (i)

linear model (ii)


linear model (iii)

linear model (iv)


linear model (v)
Non linear model (v)

Non linear model (iv)


Non linear model (iii)

Non linear model (ii)

Non linear model (i)