Worksheet

1. Find Tp, %OS(maximum overshoot),Ts, and Tr from a transfer

100
function G (s) H (s) 
s  5s  100
2

2. Find the stability of the system using the Routh Hwurtiz criterion
s 5  s 4  6 s 3  6 s 2  25s  25  0
3. Consider the system shown below, and determine the range of K
for stability

K
s ( s 2  4s  20)( s  1)
R(s) C(s)

4. A system has a characteristics equation s 3  5Ks 2  (5  K ) s  55  0 ,

Showing that the system will be stable for K>1.6533

5. The open-loop transfer function of a direct-drive robot arm used in

manufacturing and assembly operations may be approximated by
K ( s  8)
G (s) H (s) 
( s  2.5)( s 2  4 s  6)

(a) Determine the value of gain K when the closed loop system
oscillates.
(b) Calculate the roots of the closed-loop system for the K determined
in part (a).
6. Find the type, error coefficient, and steady-state error of the system
having unity feedback and open-loop transfer function
K ( s  4)
G(s)  , when input is A2
s ( s  8s  4)
2 3 2
t
 K
7. For a control system having G( s)  and a feedback gain
s(1  0.1s)
H(s) = 0.1. Determine the following:
(i) Value of gain K for the system to have damping ratio of 0.5.
(ii) The unit step response of the system for this value of gain K.

8. The error coefficients for a unity feedback system having

5( s  2)
G( s)  Find,
s( s  1)( s  5)

(a) Position error constant

(b) Velocity Error constant
(c) Acceleration Error constant
9. Sketch the root locus for the system if possible and check poles to
K ( s  5)( s  4)
zeros for the system having G ( s) H ( s)  k>0
( s  3)( s  1)
10. A unity feedback control system has G(s) = 288(s + 4)/s(s +
2
1)(s + 4.8s + 144)]. Draw the Bode plot.
11. Define the gain margin and Phase margin?
12. What does it mean by breakaway point?
13. State the basic control actions P, I, D, PI, PD, PID
controllers?
14. Define the characteristics of time domain analysis rise time,
settling time, maximum overshoot, delay time and peak time?
15. Define the characteristics of frequency domain analysis
resonant frequency, bandwidth?
16. Explain steady state error?
NOTE: Your assignment is from the above worksheet
questions 1,3,4,5,8,9,10,11,13,14. But TRY to do all the
questions.