Assignment (5 marks Bonus)

The shown controlled system, has a reference input r(t), and disturbance d(t).

It is required to simulate the system on Simulink and verify all your answer analytically and graphically

Task 1

a) For the shown system, find the range of controller gain k for stability
b) For the shown system, if d(t) =0.0, and r(t) is unit step, find the steady state error, and the
output y(t) at k=1
c) Find and plot the output y(t), if r(t)=0.0, and d(t) is unit step, at k =1
d) Find and plot the output y(t), if r(t) is unit step, and d(t) is unit step, at k =1

Task 2

It is required to reduce the effect of the disturbance on the output so that y(t)=0.02*d(t)

(Hint: error=d(t)-y(t), Y(s)= T.F(s)*D(s) )

a) Find the value of gain k to achieve your requirement. (verify analytically and by using
Matlab/ Simulink)
b) At this designed value of K find the steady state error (r(t)-c(t)), and y(t), if r(t) is unit step,
and d(t)=0.0
c) At this designed value of K find the steady state error (r(t)-c(t)), and y(t), if r(t) is unit step,
and d(t)is unit step.

Task 3 (At d(t)=0.0)

a) Plot the root-locus of the system

b) Find the range of k for the system to be over damped
c) Find the value of k for the system to be critical damped
d) Find the range of k for the system to be under damped
e) At this range of k for under damped. Fill the following table for the effect of increasing k

Settling time Natural frequency

Damped frequency Max over shoot

Time for max over shoot Rise time