TA.

INTRODUCTION TO CONTROL SYSTEM

TA: Tran Hoang Khoi Nguyen Day 1, 19/3/2019

A. Signal Flow Graph

Problem 1. (HW.1, Prob.1, Fig.2)

Using SFG, calculate the equivalent transfer function of the following system.

Problem 2. (Automatic Control System - F. G. 2009, Prob 3-9)

(a) Apply the SFG to find the transfer functions:

𝑌 (𝑠 ) 𝑌 (𝑠 )
| |
𝑅(𝑠) 𝑁=0 𝑁(𝑠) 𝑅=0

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Express Y(s) in terms of R(s) and N(s) when both inputs are applied simultaneously.

(b) Find the desired relation among the transfer function 𝐺1 , 𝐺2 , 𝐺3 , 𝐺4 , 𝐻1 , 𝐻2 so the
output 𝑌(𝑠) is not affected by the disturbance signal 𝑁(𝑠).

Problem 3. (Automatic Control System - F. G. 2009, Prob 3-23)

Find the transfer function 𝑌7 /𝑌1 and 𝑌2 /𝑌1 of the SFGs.

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Problem 4. (Automatic Control System - F. G. 2009, Prob 3-26)
(a) Using Mason formular, show that the two systems (a) and (b) are not equivalent.

(b) From given SFGs, plot the block diagrams to clarify the differences between two
systems.

Problem 5. (Automatic Control System - F. G. 2009, Prob 3-27)

(a) Find the following transfer function from the SFGs (a) and (b)

𝑌6 𝑌6
| |
𝑌1 𝑌7=0 𝑌7 𝑌1=0

(b) From the given SFG, plot the block diagram.

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Problem 6. (Automatic Control System - F. G. 2009, Prob 3-36)
Given the block diagram of a feedback control system.

(a) Derive the following transfer function:

𝑌 (𝑠 ) 𝑌 (𝑠 ) 𝐸 (𝑠 )
| | |
𝑅(𝑠) 𝑁=0 𝑁(𝑠) 𝑅=0 𝑅 (𝑠) 𝑁=0

(b) The controller with the transfer function 𝐺4 (𝑠) is for the reduction of the effect of the
noise 𝑁(𝑠). Find 𝐺4 (𝑠) so that the output 𝑌(𝑠) is totally indepentdent of 𝑁(𝑠).

(c) Find the characteristic equation and its roots when 𝐺4 (𝑠) is determined in part (b).

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(d) Find the steady-state value of 𝑒(𝑡) when the input is unit-step function. Set 𝑁(𝑠) = 0.

(e) Find 𝑦(𝑡) for 𝑡 ≥ 0 when the input is a unit-step function. Use 𝐺4 (𝑠) as determined in
part (b).

B. State-Space Equation

Problem 1.
Convert the following differential equations into state-space equations.
𝑑 3 𝑦(𝑡) 𝑑 2 𝑦(𝑡) 𝑑𝑦(𝑡)
(𝒂) + 3 + 5 + 2𝑦(𝑡 ) = 𝑟(𝑡)
𝑑𝑡 3 𝑑𝑡 2 𝑑𝑡
𝑡
𝑑 3 𝑦(𝑡) 𝑑 2 𝑦(𝑡) 𝑑𝑦(𝑡)
(𝒃 ) +5 +3 + 𝑦 𝑡 + 𝑦(𝜏)𝑑𝜏 = 𝑟(𝑡)
( ) ∫
𝑑𝑡 3 𝑑𝑡 2 𝑑𝑡 0

𝑑 3 𝑦(𝑡) 𝑑 2 𝑦(𝑡) 𝑑𝑦(𝑡) 𝑑 2 𝑢(𝑡) 𝑑𝑢(𝑡)

(𝒄 ) + 5 + 2 + 3𝑦 ( 𝑡 ) = 2 + 4 + 10𝑢(𝑡)
𝑑𝑡 3 𝑑𝑡 2 𝑑𝑡 𝑑𝑡 2 𝑑𝑡

Problem 2.
Convert the following block diagrams into state-space equations.
(a)
+ 10
𝑟(𝑡) 𝑦(𝑡)
𝑠(𝑠 2 + 5𝑠 + 6)
−

(b)

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Problem 3.
𝑌(𝑠)
Convert the following state-space equations into transfer function 𝐺 (𝑠) =
𝑈(𝑠)

𝑥̇ 1 (𝑡) = −𝑥1 (𝑡) + 3𝑥2 (𝑡)

(𝒂) {𝑥̇ 2 (𝑡) = 2𝑥2 (𝑡) + 𝑢(𝑡)
𝑦(𝑡 ) = 𝑥1 (𝑡)

𝑥̇ 1 (𝑡) = 2𝑥1 (𝑡 ) + 𝑥2 (𝑡 )
𝑥̇ 2 (𝑡) = 3𝑥2 (𝑡) + 𝑢(𝑡)
(𝒃)
𝑦1 (𝑡 ) = 2𝑥1 (𝑡)
{𝑦2 (𝑡 ) = 𝑥1 (𝑡) − 𝑥2 (𝑡)

𝑥̇ 1 (𝑡) = 𝑥1 (𝑡 ) + 4𝑥2 (𝑡 ) + 𝑢1 (𝑡)

𝑥̇ 2 (𝑡) = −𝑥2 (𝑡) + 𝑢2 (𝑡)
(𝒄)
𝑦1 (𝑡 ) = 3𝑥1 (𝑡)
{𝑦2 (𝑡 ) = 𝑥1 (𝑡 ) + 𝑥2 (𝑡)