Control System

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l\1ULTIVECTOR
Review and Training Center
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CONTROL SYSTEM

system - an arrangement, set, or collection of things connected or related in such a manner as to form
an entirely or whole.

control system - an arrangement of physical components connected or related in such a manner as to

command, direct, or regulate itself or another system.

input- is the stimulus or excitation applied to a control system from an external source, usually in
order to' produce a specified response from the control system.

output- is the actual response obtained from a control system. It may or may not be equal to the
specified response implied by the input.

feedback- is that property of a closed-loop system which permits the output (or some other controlled
variable of the system) to be compared with the input to the system (or an input to some other
internally situated component or subsystem of the system) so that the appropriate action may be
formed as some function of the output and input.

block diagram- is a shorthand, pictorial representation of the cause and effect relationship between
the input and output of the physical .system.

Input; stimulus
...
"':
CONTROL Output; response ....
Desired response system Actual response

Input Output
System
r( t) c(t)
(a)

Input
r( t)
.__s_u_b_s_y_s_te_m__.l--••1 Subsystem --~•1 Subsystem
Output.,
c(t)
(b)

Note: The input, r(t}, stands forreference input

The output, c(t}, stands for controlled variable

Control System
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CONTROL SYSTEM

Canonical Form of a Feedback Control System

R c

G = direct transfer function C/R =closed-loop transfer function =control ratio

= forward transfer function

H =feedback transfer function E/R =actuating signal =error ratio

GH = loop transfer function . 8/R =primary feedback ratio
= open loop transfer function

In the following equations, the(-) sign refers to a positive feedback system, and the(+) sign refers to a
negative feedback system.

CIR = G I(! ± GH) 8/R =GH I(! ± GH)

E/R =1 I(! ± GH)

Item No. f(t) F(s)

1. o(t) 1
2. u(t) 1
s
3. tu(t) 1
s2
4. r u(t) n!
sn+1
5. e-atu(t) 1
S+a
6. sin w tu(t) (!)

5 2 + w2
7. cos w tu(t) s
5 2+ co2

Control System
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CONTROL SYSTEM

Item no. Theorem Name

1. Definttion
L[f(t )]= F(s)~ fo~J(t }-~ 1 dt
2. L[k((t)]= kF(s), Linearity theorem
3. L[J;(t)+ fz(t)]= F;(s)+P;(s) Linearity theorem

4. Lle -at J(t)J= F (s + a) Frequency shift theorem

5. L[f(t- T)] = e-sTF(s) Time shift theorem

S~aling
L[J(at)]=~F(~)
6. theorem

L[~] =sF(s)'- J(O-)

7. Differentiation theorem

'
8. Differentiation theorem
L[ d'dt{] ~s'F(+sf(O-)-
. .
J(H

Differentiation theorem
L[ d'dt;'] ~ s' F(s)- :i;s'-'!'-' (0-)
9.
k-1

10. Integration theorem

L[ J:_f(-c)d-c] = F;s)

11. f(oo) = limsF(s) Final value theorem 1

S-+0

12. f(O+) =lim sF(s) Initial value theorem 2

S-7oo

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CONTROL SYSTEM
Voltage-current, voltage-charge, and
impedance relationships for capacitors,
re'sistors, and inductors

( 'apac 1lnr
11/l•« ·-:o.
I
(
f'
II
ilr)dr . ) c·"'·m
Ill- -
dr
Cs

I 111) ,. R•lql!)_
111) ...., l<i(f) itt) ., -I'(J) R
R . ill

di(t) lf!tf(l) I
11/) c::. 1.- i(t) =:. T.I f ,., rldr l'Cf) ..:.. l. -.,-:-- f.:.,
[;
lmlLH:tor
"' -" r/t·

Note: TI1e lidl,,wing l'l't ,,,. ~ymhols :tnJ unit" is used throuyhoul this h<1ok: t'(J) = V ( \'olts). II/) = A (amp~).
q(ll - Q fcoulomhs), C - F (turn-ds), R - !1 (ohm!4J, <I - U (mhos), L ~ II (hcnricR).

Force- Force-· lmp&dsnce

Compo-nent vEil g. city · d~hk:ement Z,( s) = F(:5) .X~$)

l(fJ :... ~:_· r I '.'( 7) 1/r A'

.H

. the( t)
rru = t; ~-crl JU) .,, J,,-
d!

. !.,d~.ttl
.t •11-. - ,.,. -dt-

Nnt r: The ft~!ltJI'tvi ny !'.t:t o.f' ~yml:-;l'ls a~r.J: unil!\ i~ llt.:u:c.l Jlr:rouglt-o1Jl £hi!i. lxHJk. ,rin -= N
fllo:t ..\·1•.'1,~·1, 11·n ·= rn (r•J~I~r~l. r'fi'J = m l:'i:m~(:H.; ~.;.;;•mJ). K = N'm (J!orw!v·J"~ m.;~o,.·rr,l, =
N·~ m ( llt:\'llurr•'lltl'.:t..:mrd:-~ mcrt:r). ,it ;;;; lJ,t 1ki1DI;(I1ll.rll:\ ;;;. rrcwiiHI•~t::r...:rmd·/ llll':lt:!fl.

Control System
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CONTROL SYSTEM .

Torqu~P To rqlililt-
1111ular ar.gwlar fm1't:d111ee
lmloiCitt) dlspbcomml Z!ft £:) m 'F~t;~ .'.fJI(,g;),

J
Tift) e };;.~ f wC,~)d'r · 1'~1') .KO(!~
J<IJ

J.,,,2
,,1...,

Note: 'nt.: r~nt.w~\'JJI!j$ g'1 of' '~hoc~ ill!ii.l t•nbit~~ b ll:f.i!:tl I:I:Mruu~ht:•~Jt tlds oook;; '1\d ;;;; N•nl
(!m\Wft.OI:M'I1·~en~~ . tJ~t.l :mT'thlJ. (mdi~~JM.)~ 6U(t)s:~/~: (,mditlitls./~~rld J,/( • N-t:t»/'rttd (M'NIOI1·· 2
m~~rn/nvii~H!L)t D= J.l..r:rnslm~d {m;:vt:'ii:Om-ttu:t;:.:~m.;H~~/ntdllltn)t J'= k,g~ml (lilo;gmln-J11J,!;t~
a n~;tan-r:M,terf:~.~oo«Yoosl/mdiruru}. .

Control System
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CONTROL SYSTEM

1. Find the inverse Laplace transform of

2
F(s) = -:---...,-,-
(s+1Xs+2)

A. (2e- 1 - 2e- 21 )u(t) C. (2e-2 1 - 2e- 1 )u(t)

B. 2e- 1 - 2e- 21 D. 2e- 1

2. Given the following differential equation, solve for y(t) if all initial conditions are zero.
2
d y 12dy
- 2 + - - + 32y = 32u(t)
dt dt

A. (1- 3e - 41 +e -?t) u(t) C. (1- 2e - 41 +e-at) u(t) ·

B. (1 - Se- 21 +6e -at) u(t) 0. (1 - 2e - 41 ) u(t)

3 .. Find the transfer function represented by dc(t) + 2c(t) = r(t)

dt
1 1 1.
A. - - B. - - C. - D. 1
(s-t-1)~ {s+2) ·s

4. =
In an RL circuit, it is given that L 3H, R =6 0, voltage source is 24V de and i(o) =1A. Determine
the current at t >0.
A. 4- 3e- 21 B. 3- 4e- 21 C. 4- 3e-t D. 4- 3e- 21- se-51

5. =
In a RC circuit, it is given that R 40, C =
1/8 F, voltage source is 14V de, and voltage across
capacitor is 2V at t = 0. Determine the equation of the current at t > 0.
A. 2e- 21 A B. 3e- 21 A C. se- 21 A D. 6e-t A

6. In a RL circuit, it is given that L is 1H, R = 20, and the voltage source is an impulse function 6 (t).
Determine the i(t) at t >0.
A. 2e- 21 u(t) A B. 3e- 1 u(t) A C. e- 41 u(t) A D. e·2 1 u(t) A

. 7. In a RL circuit, determine the transfer function wherein the capacitor voltage is the output and the
voltage source is the input. All initial conditions are zero.
1/LC B. 1/LsC .1 1/LC
A. 2 2 C. 2 D. -2~~-----
s + Rs/L + 1/LC s + Rs/C + 1/LC s + RC/S + 1/LC s + Rs/L + L/C
,
8. In a trans'lational mechanical system, the spring ·constant is K, the coefficient of viscous friction is fv
and the mass is M. Determine its series analog.
A. inductor = M C. inductor = M
resistor = fv resistor= fv
capacitor = 1/K capacitor = K
voltage source = applied force voltage source = applied force
mesh current =
velocity mesh current =
velocity

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CONTROL SYSTEM

B. inductor = fv D. inductor= M
resistor= M resistor= fv
capacitor = 1/K capacitor = K
voltage source = applied force voltage source = velocity
=
mesh current velocity ~ mesh current= applied force

9. In a translational mechanical system, th~ spring constant is K, the coefficient of viscous friction is fv
and the mass is M. Determine its parallel analog.
A capacitor =1/ M C. capacitor= M
resistor= 1/fv resistor= 1/fv
inductor= 1/K inductor= 1/K
current source = applied force current source = applied force
node voltage = velocity node voltage = velocity

B. capacitor = M D. capacitor= M
resistor= 1/fv resistor = fv
inductor = 1/K inductor= K
current source = velocity current source = applied force
node voltage = applied force node voltage = velocity

1D. In the canonical form of the feedback control system, it is given that C = input signal, R = output
signal, G = forward transfer function and H = feedback transfer function. Determine the closed..,loop
transfer function or control ratio.
· G 1 GH
A.---- B.---- C.---- D. 1±GH
1±GH 1±GH 1±GH

11. In a canonical feedback control system w/a forward transfer function of G and a feedback transfer
function of H, determine the open loop transfer function and the error ratio (or actuating signal
ratio).
1 G 1 D. G GH
A GH,- B.G,-- C. GH,---
1±G 1±GH 1±GH '1±H

· 12: In a canonical feedback control system w/a forward transfer function of G and a feedback transfer
function of H, determine the primary feedback ratio.
A GH B. G C. 1±GH D.G±H
1±GH 1±GH G G

13. In a canonical feedback cont'rol system the forward transfer function is K1 and the feedback
s(s+p)
transfer function is K2 S. Determine the error ratio.
A S+p StP
B. --"--.:_,_- C. S+p
S+p-K1K2 S+p+K~K2 K1K2
/
14. Two blocks are in series. One block has a transfer function of P 1 and the other one has tranSfer
function of P2. The equivalent transfer function of the two blocks would be

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CONTROL SYSTEM

15. In an undamped second-order system, the peak time i$ defined as the time
A. required to reach the maximum value
B. required to reach the minimum value
C. required to reach either the minimum or maximum value
D. required to go to 0.9 of the final value

16. In an undamped second-order system the time required for the transient's damped oscillations to
reach and stay within ± 2% of the steady..,state value.
A. settling time B. rise time C. fall time D. over time ·

36
17. In the transfer function G(s) = 2
. , determine the natural frequency and the damping
. s +4.25+36 \ • .·
ratio.
A. 8, 0.35 B. 7, 0.35 c. 6, 0.23 D. 6, 0.35

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