Thapar Institute of Engineering and Technology

Electrical and Instrumentation Engineering Department

UEI501: Control Systems

Tutorial 3

Laplace transform Table

Q1. Find the transfer function represented by

𝑑𝑐(𝑡)
+ 2𝑐(𝑡) = 𝑟(𝑡).
𝑑𝑡

What is the order of system? Find the response, c(t) to an input, a unit step,
assuming zero initial conditions.

Q2 Find the transfer function relating the capacitor voltage, VC(s), to the input
voltage, V(s) in Figure 3.1.

Figure 3.1
Q3 Find the transfer function, G(s) = C(s)/R(s), corresponding to the differential
equation

𝑑 3 𝑐(𝑡) 𝑑 2 𝑐(𝑡) 𝑑𝑐(𝑡) 𝑑 2 𝑟(𝑡) 𝑑𝑟(𝑡)

3
+ 3 2
+ 7 + 5𝑐(𝑡) = 2
+4 + 3𝑟(𝑡).
𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡

Q4 The transfer function of a human leg relates the output angular rotation about
the hip joint to the input torque supplied by the leg muscle. A simplified model
for the leg is shown in Figure 3.2. The model assumes an applied muscular
torque, Tm(t), viscous damping, D, at the hip joint, and inertia, J, around the
hip joint. Also, a component of the weight of the leg, Mg, where M is the mass
of the leg and g is the acceleration due to gravity, creates a nonlinear torque.
If we assume that the leg is of uniform density, the weight can be applied at
L/2, where L is the length of the leg. Find the transfer function, θ(s)=Tm(s) for
small angles of rotation, where θ(s) is the angular rotation of the leg about the
hip joint.

Figure 3.2

Q5 Find the ramp response for a system whose transfer function is

𝑋(𝑠) 4𝑠4 +17𝑠3 +23𝑠2 +𝑠+2

𝐻 (𝑠) = = .
𝑈(𝑠) (𝑠+1)2 (𝑠+2)