D Given GC)=

T00
sCs+2)
HCs)= 0-1S+

TCS) G
1+GH
OO
SCs2) sf
I l o o(0 Is+r) stst2)+ lOs ftlo0
Cs+2)
TCS) 10o
S12ti0o
00
TCs) 2
s*(2S+IOO
 C)TU)9
RO)
cLs) T(S) kLs)

s[sI25+IO0)

100 -S-12

s(st12 J+100)
CHI2S+IOO

-(St/2)

S St125 410
loo
2On 12 1on
s+LOn)+On
S+auOn
1 - S+2C 47HO (4))
S s+2tOn 3tn

S+LOn
(s+n+wn'CI-49 s+ Gsn)'+ onll-4)

S+GuIn
cCs)
(6aqooKd (5t4n t
 laplace transto Im
on
Bohsle
Ppplying
Pplying inverse

S+ GWn - a(z
s+qn) +Wa

(6+ton +44
we h o hat

Sta
(S+a)tus
1-atcosot

at
e sirst
ta tu
4Ont quOnt
cCe)=I e cos at quone
-
-

sinqut
sinat
wn 6

1o (0-8)
La= 8)
-6t -6t
c Ct) I- e cosBt-esnBt
6
eLaBt +6sin gt)
e xio cosst +6sinst)
IO

-6t
cCt) =I-1-2se sin(at +53)
GCs)= K
SCS+1o)
TCJ) = K
SCs+lo)
SCs41o) tK
s Cs+10)

TCS=K
s10s+ K

LOn K

1024n
GOn 5

,iven4 0S

R
LOn
So Vk = 10 =

K 100

os eVi-1o0
X lo0

=
T-
peak
overshoot
e
=0-
0-16303

as tolloasS
Is given
The peab-ime

Tp
Te 10 JT-0-25 lov0-75S

Tp 0-3623sec
Given Gls)- O:4s+1)

sCs +0-6)

H(s)

TCs)1

+GH
0-4s +
sCs+0-6)
T)
s Cs+0-6) +(040+)

SC+O)
-0-4s+ o-4st
T(s) s+St
s+0-6S+0-4s+|

0-4S +) CCPls) TC)

T(6)=
s4+
0-4S+
CC) ststs+)

2wn =
24on=
4=0-S
wa Vi-0-2 Vo.7=
wd-0.3660

for S h e Tnverse laplate tronstotm is

-443nt nt
e cosat e sinüae) Gon
 0-4

S+St +1x
0-4

= 0-4

at

e sint

V/
s+s+
9+(
-b-St
- 0-8
V3
e inS
-0-St
'+ -0-St
e co(Et)+°e sin)

Than iet respone = Totl response -

steady shateTesP
-0 St
u lt) ee sin
Totzl eponse
= -
e
cas tein
2

-0-st ut)
Totad uct)-e eaEt tingouc
-0-St
-0-5t

Total Pesp 1(e cost +le an9

Time t ohich he value of c qoes to maximm
is Ccululatcd os folloy

CCt) CO)
dCCt)
ddt
SCC)
SCCs)= CCS)= TS)
RC)
TCO= O-4s+

The value of t at hich KT)} soe

to 2ero is p
O-4s+1 O-4S +0-2 +0-8

24S+
O-4 (s+)
+ o-9( ()

ppyng
nveyse LT e 4e
-0-St

0-4e ost 08 x2 e sint

3 2

-0-St G t
dca) 0-4e casft + e sinst
dt
o tast +e int

tar()+
t=2tan ())3-1SS 6sec Tp
 in the
Sy substitting he valye of
cCt)
oY
or may
Cmay
Tøtal vesponie the value d

I obtined is 1-1794
0-1799
01799 0-18
0-18
oversh0ot is
So the maximam

Stetch he Yesppnte
CCt)
4) a)
2)
iven G(s)- 20(5t
s(s+1)C+3)

ECS) RCs) -

CCs)
GE C

EC Ct G)) = RC)
evof
ett) is the steady-ttute
S-E e Ct)= lim

value heorem
Tom
Tom i nc
as lim SECG)
m sE)
lim ect) Can be YiHen

lim SR )
ItG s)
integrator, the ip given
since G() ha one

mus be ramp input

ptuCH =>(t)

im
eot)- Iim "Ca) lim S+SGCs)
S-90 14G8)

SGu)= 20(#2) S0
lim
So
+1) C43
20(2)_4o
3

e Ct) 0-075
 o
4) b) iven G)=
42) (+3)
interato
the
+he iye Given
Since G) has no ,

must be a unit step pile

SR()
K9
ecolt)= lime4)- lim
ga) +G0)

R(s)=

lim
I4 lim G(u)

lim 10)= lo

So
2x3

eco t) 0375
3
Co (t)= 0-375
4C) Given Gs)
s+DCs+2)
The chavacderisic equahon tov the the above
System is

1+GH - o

-= o

S's40) (s+2)
s+1) (s +2) + 10 = o

s(+3s+2) +l0 = o

s4342s +1o =o Is the characteistic eqn ca

Heim is missin, so Le
In the polynomial 's
ha he sytem is unstable
Say
Can e disectly
closedloop syrtem
is unrtube
Since he
ervorr is no detined.
Stead-stde
5) Given G0)- 4sD(5+#)(s t12) (1t15)
sCst38) (s°+2s+28)

)input =25ut)
RCS)- 25

E) = R(s)- ccs)
S) EC) =
CCo)
Es E) CItG«)) Rs)
=

o m final yalue theOTem te

e (an lim ett)
Cs tolocs

ealy= lim eCt)= lim sEG)

S-0

lim SRs)

: lim 25 25
I+ lim G9
So

im 4C)= 4SD8 (12)(0) o

S O(38)(2e)
eo(t)= 2 o

i) input =27tuct) >R)= 34/

Ct)=
limect)= lim SR6) im7
sCI+C)
e S0 tGS)

= lim 31 ealt)=
3
601-622
S o GS) limSGU)
S-
eolt)-0 060
im SGO)= 4D x8x12 xIS 609-022
38x728
8
6iven G) Sooo

TC)

T)3/s(st15)

TCs) = SDOO
sCs+ 4S) + SD0o

TCS)= 5bo0

S+ 7Ss t SDOo

wn SD00 +0-l rad/sec.

24On4S
0-530
2n 2 Doo

n0.4 0 S3o
a)
7.0s e Fe xI00

-0-530
x00

-1964
e XIOO

01403 XI00
Y0S 4-03.

) -n(0°02 NT-)
Settling ime z(t)=

-Ino-02 Vi-0-53)
(0-53 )Cao.41)

Ts0-1081 sec)
 input =Suct) RCs)=
SSE sdeady state eror
EC)= R()- CCo)

eto) S E = et)
value hesem)
lm elt)= lim SECs) (Fin

GS)EG) = CCG)

RCs)=(GC)+ 1)ECi)
el) lim ()
=

Sa + G0) I+limG(6)
lim G) 5600
s(St4s)

CO

d) input 5t u C)

a) = lim ) - lim - lim

So StSGl) So SGs)
soIt46)

S600
200
im (s42
S

ecoCt)= SK3 0-0S

286

elt)= 0-075
9 8
Given GC= KS +6)
S+2) (tl05+29)
K to yield a s-E
To find he value of
of 87
finite, horë are
Since he teady-sBate errOY s

Mast
no imeqrajor in G(s),so
he ilp given
be unit -step.
RS)
G (s)= K(S+6)
6+2) (iost4)

ECs)R (3) - C C)

Tt
cCs)= ECS) GG)

ECS)= RCs)- GCS)4)

R(s)= EC) CItGU))
RCS)
EC)
IfG()

S-S 6 lim eCt)

toYite
fvom inal valuue heorem we can

S-S E w tolloo

lim eCt) = lim sE(s)

l i m K O )

( sinee R()=
S o + G s )

as im
Loe can oTHe 14 lim G)
im Gls)=k 3K
2a) 2

2 eolt)
I+3K 29+3k

29

Given Y.
S S -E = 81
2
So Ss E 29+3K

20x8+ 24K 29 XIOo

24K 29 (92)

2 xGZ Y6 23
K

K 29 K23

K= lt16
8) Gven he chaxacteristic equaion

s+S4 35+3+3s+2s +I 0

Applying RH Jtability Coitesiaa.

APplyn Epailon me-hod.
3 in the 3 column
3 fiys4 o
should be tuken an£
s 3 2 0

in
suos huting g z o '
3 - 28-
he numeTabr

S1-E 1 00

s
 since all he ele ment

are
of à pas iCkssos
to
2ero, So o e have
O
Loile he Auxiliavy
Tou
polynomi'd of the psevious

A)S+Iso
stj
is also the Yoot ut characterish
Ihe roots of AP

equation.

dBG) 25+0
ds

SO s2

fina tuble an be tth a fotlows

s 3
3

s
s O

s2

2 O
 TheTe ase 2
siqn changesbetoeen s"Gs', ss)
So tLoo soots will lie on he Right hand sida
f he plane. (RHe)
o o YODTD on
fTom
HYom the Auxiliary egn we ot
he imaginay aXis.

lie he left hapd Side

the
the yemaini ng too Toots
on

of he plane C LHP)

X Loation o he
TOOt
X

unstable
Totally he system is
 Given G(s)=K_
s(s+DCst2)
H(s)=

4H=p
charactevisthc tunchion/poly nomiais

s (s+)S+2)

ss+3s +2) +k =o
s+3+2s+k =o 0
have
R must be non-2@YO & fve in ordey to
a Havoit2 (polyro miad
PPply P-H stabilih TOY ean

s32 o
s3k
s
sK

in
There should not be any change jn sign
he 1 olumn to stabily

3
et k
K>o So tho Tange dt value

is i.e,ke (o6))
10) GG)= Ke
s(+S+)
H(S)=

chavactevisitic equation 1+GH=O

We Enowhat e :

to -s
e
e Can be approximated
G= KC-s)
s(645s+4)
14 KCI-)
s(s+53 44)
sCs+5Sta)tk -s k= o

S+5s4s (a-k)+ k = o 0

Tos eqnO to Huroitz pdynomind

ke. Kfo

pplying R-H stabili

4-kq-k D - ) S -KSk
S
5K
4-
-6
k
in columo
not be any sigh charge
Theye sho uld
k>o
So
So 9-6K >o 4

toY K3-5
 y

fov K= 3-5 Sysiem is maxgin ally stable

O
Auxiliw polynomic is
s S -

5 (s+-S) = o
s
S = jJT-S

So he maximum Value of K is 4499.