Time Response Analysis (Part - I)

1. The unity feedback system shown in figure has:

K
+-
s(s+10)

(a) Zero steady state position error

(b) Zero steady state velocity error
(c) Steady state position error K/10 units
(d) Steady state velocity error K/10 units
[GATE 1987: 2 Marks]
𝒌
Soln. 𝑮(𝒔) = 𝒔(𝒔+𝟏𝟎)
𝑯(𝒔) = 𝟏
Position error coefficient 𝒌𝒑 = 𝐥𝐢𝐦 𝑮(𝒔) 𝑯(𝒔)
𝒔→𝟎
𝒌
𝒌𝒑 = 𝐥𝐢𝐦 =∞
𝒔→𝟎 𝒔(𝒔+𝟏𝟎)
𝟏
Steady state error 𝒆𝒔𝒔 = =𝟎
𝟏+𝒌𝒑

Option (a)

2. The steady state error of a stable ‘type 0’ unity feedback system for a unit
step function is
(a) 0 (c) ∞
1 1
(b) (d)
1+𝐾𝑃 𝐾𝑃

[GATE 1990: 2 Marks]

Soln. The steady state error of a stable type 0 unity feedback system for a unit
step function is
𝟏
𝟏+𝒌𝒑

Option (b)

3. A unity-feedback control system has the open-loop transfer function 𝐺(𝑠) =

4(1+2𝑠)
if the input to the system is a unity ramp, the steady-state error will
𝑆 2 (𝑆+2)
be
(a) 0 (c) 2
(b) 0.5 (d) Infinity
[GATE 1991: 2 Marks]
𝟒(𝟏+𝟐𝒔)
Soln. 𝑮(𝒔) =
𝒔𝟐 (𝒔+𝟐)

For unity feedback system 𝑯(𝒔) = 𝟏 open loop transfer function

𝟒(𝟏+𝟐𝒔)
= 𝑮(𝒔) 𝑯(𝒔) =
𝒔𝟐 (𝒔+𝟐)
𝟏
For a ramp input 𝑹(𝒔) =
𝒔𝟐

Static velocity error coefficient 𝒌𝒖 = 𝐥𝐢𝐦 𝑺 𝑮(𝒔) 𝑯(𝒔)

𝒔→𝟎
𝒔 𝟒(𝟏+𝟐𝒔)
𝒌𝒖 = 𝐥𝐢𝐦
𝒔→𝟎 𝒔𝟐 (𝒔+𝟐)
𝟒(𝟏+𝟐𝒔)
= 𝐥𝐢𝐦
𝒔→𝟎 𝒔(𝒔+𝟐)

= ∞
𝑨 𝑨
𝒆𝒔𝒔 = = =𝟎
𝒌𝒖 ∞

Option (a)
 1
4. The step error coefficient of a system 𝐺(𝑠) = (𝑆+6)(𝑆+1) with unity feedback
is
(a) 1/6 (c) 0
(b) ∞ (d) 1
[GATE 1995: 1 Mark]

Soln. Step error coefficient 𝒌𝒑 = 𝐥𝐢𝐦 𝑮(𝒔) 𝑯(𝒔)

𝒔→𝟎
𝟏 𝟏
= 𝐥𝐢𝐦 (𝒔+𝟔)(𝒔+𝟏) =
𝒔→𝟎 𝟔

Option (a)

5. Consider a unity feedback control system with open-loop transfer function

𝐾
𝐺(𝑠) = the steady state error of the system due to a unit step input is
𝑆(𝑆+1)
(a) zero (c) 1/K
(b) K (d) infinite
[GATE 1998: 1 Mark]

Soln. Step error coefficient 𝒌𝒑 = 𝐥𝐢𝐦 𝑮(𝒔) 𝑯(𝒔)

𝒔→𝟎
𝒌
= 𝐥𝐢𝐦
𝒔→𝟎 𝒔(𝒔+𝟏)

=∞
𝑨 𝑨
Steady state error = = =𝟎
𝟏+𝒌𝒑 𝟏+∞

Option (a)

6. For a second-order system with the closed-loop transfer function

9
𝑇(𝑠) = the settling time for
𝑠2 +4𝑠+9
2-percernt band, in seconds, is
 (a) 1.5 (c) 3.0
(b) 2.0 (d) 4.0
[GATE 1999: 1 Mark]
𝟗
Soln. Closed loop transfer function 𝑻(𝒔) = comparing with 2nd
𝒔𝟐 +𝟒𝒔+𝟗
order equation 𝒔𝟐 + 𝟐𝝃 𝝎𝒏 𝒔 + 𝝎𝟐𝒏

𝟐𝝃𝝎𝒏 = 𝟒
𝝃𝝎𝒏 = 𝟐
𝟏
Time constant 𝑻 =
𝝃𝝎𝒏
𝟒 𝟒
Settling time for 2% band is 𝒕𝒔 = 𝟒𝑻 = = =𝟐
𝝃𝝎𝒏 𝟐

Option (b)

7. The steady state error of the system shown in the figure of a unit step input
is ________

Soln.

+
-
 𝟒 𝟐
𝑮(𝒔) = , 𝑯(𝒔) =
𝒔+𝟐 𝒔+𝟒

𝟒 𝟐
For unit step input 𝒌𝒑 = 𝐥𝐢𝐦 ( )( )
𝒔→𝟎 𝒔+𝟐 𝒔+𝟒
𝟒 𝟐
= × =𝟏
𝟐 𝟒
𝟏 𝟏
Steady state error 𝒆𝒔𝒔 = = = 𝟎. 𝟓𝟎
𝟏+𝒌𝒑 𝟐