Worksheet-II

Part-I; Multiple Choice

Consider the following step response of first order system. Answer question 1-5

1. What is the transfer function?

10 10
𝐴. 𝐺(𝑠) = 𝑠+10 𝐵. 𝐺(𝑠) = 𝑠+5
20 5
𝐶. 𝐺(𝑠) = 𝑠+5 𝐷. 𝐺(𝑠) = 𝑠+5

2. What is the rise time?

A. 0.4sec C. 0.8 sec
B. 0.2 sec D. 2.2 sec

3. Find the step response, 𝐶(𝑡)

A. 𝐶(𝑡) = 1 − 𝑒 −5𝑡
B. B. 𝐶(𝑡) = 4 − 𝑒 −5𝑡
C. C. 𝐶(𝑡) = 𝑒 −𝑡 D. 𝐶(𝑡) = 4 − 4𝑒 −5𝑡
4. Find the ramp response, 𝐶(𝑡)
A. 𝐶(𝑡) = −0.8 + 4𝑡 + 0.8𝑒 −5𝑡 C. 𝐶(𝑡) = 𝑡 − 0.2 + 0.2𝑒 −5𝑡
B. 𝐶(𝑡) = 4𝑡 − 0.8 + 0.8𝑒 −5𝑡 D. 𝐶(𝑡) = 5𝑒 −5𝑡
5. Find the impulse response, 𝐶(𝑡)
A. (𝑡) = 4 − 𝑒 −5𝑡 B. 𝐶(𝑡) = 5𝑒 −5𝑡 C. 𝐶(𝑡) = 20𝑒 −𝑡 D. 𝐶(𝑡) = 𝑒 −𝑡
25
6. Consider the second order transfer function, 𝐺(𝑠) = .What is the nature of the step response?
𝑠2 +2𝑠+25
A. Over damped response B) Critically damped response
C) Undamped response D) Underdamped response
7. Which of the following step response represent the system in question 6?

A. h
B. f
C. g
D. t

8. Which of the following step response has the lowest damping ratio, 𝜁?
A) B
B) C
C) A
D) All has the same 𝜁
E) Impossible to know
9. A control system is said to unstable if,
A) The response grows without bound C) The CLTF has positive pole
B) The natural response approaches infinity as time goes to infinity D) All
10. Which of the following is wrong about Routh Hurwitz stability criterion?
A) It tells how many closed-loop system poles are in the right half of S-plane
B) We can know the exact location of the poles using it
C) We can identify whether the system is stable or not using it
D) All of the above are true
11. What is the effect of adding zero (differentiation) to our system?
a. The response will speed up C)The error will became zero
b. The response will became more oscillatory D) it has no effect
12. What is the effect of adding pole at the origin (integration) to our system?
c. The response will speed up C)The error will became zero
d. The response may became more oscillatory D) B & C E) it has no effect

Part-II
Workout
1. Consider the mass-spring-damper system shown below which has damping ratio of 𝜻= 0.25. Its response
for step input, 𝒇(𝒕) = 𝟓 𝑵 is shown to the right with settling time, 𝑻𝒔 = 𝟎. 𝟖𝒔𝒆𝒄 labelled on it.
(14 marks)

a) Find the transfer function that

relate the output, displacement of mass, 𝑥(𝑡) to input force, 𝑓(𝑡)
b) Calculate; undamped natural oscillation frequency (𝜔𝑛 ), mass (𝑚), damping constant (𝑐), percent
overshoot, (% 𝑂𝑆), rise time (𝑇𝑠 ), peak time (𝑇𝑝 ), steady state error in 𝑚𝑚
c) What is nature of response?
d) Determine the state space model (state matrix, input matrix, output matrix and feedforward matrix)
2. Find M and K, shown in the system of figure below, to yield x(t) with 10% overshoot and 15 seconds settling time
for a step input in motor torque, Tm(t).
3. Given the systems shown in figure, find the damping constant, C, to yield a 30% over shoot in output angular
displacement for a step input in torque.

4. Consider the following unity feedback system

Sketch the root locus plot and
a. find break away and break in point (if there is any)
b. Find the value of gain, k at break in point
c. Find the value of K that yields a damping ratio of 0.707 for the system's closed-loop dominant poles.

5. For the unity feedback system of figure shown, plot the root locus and calibrate your plot for gain. Find
a) Asymptotes
b) The value of gain, K that will make the system marginally stable
c) Find the value of gain, K for which the closed loop transfer function will have pole on the real axis at -0.5

6. The unity feedback system shown in figure is operating with a dominant-pole damping ratio of 0.707. Design a PD
controller so that the settling time is reduced by a factor of 2. Compare the transient and steady-state performance
of the uncompensated and compensated systems. Describe any problems with your design.