CONTROL SYSTEMS TUTORIAL 2 MET 353

1. Determine the solution of the differential equation

d 2x d x dy
2
+ + 8x = + 3y
dt dt dt

where y(t ) = e −2t , assuming all the initial conditions to be zero.

2. An open–loop system is characterized by the transfer function

1
G(s) =
Ts +1
where the time constant T = 5s. Calculate the steady–state error when the sys-
tem input is r (t ) = 1 + 2t . Confirm the result using the final–value theorem.

3. Determine the output of the open-loop system

1
G(s) =
Ts +1
to the input
r (t ) = 1 + t + t 2
Determine the steady-state error between the input and output.

4. A thermometer requires 60 seconds to indicate 98 percent of the final response

to a unit-step input. Assuming the thermometer to be a first-order system,
determine the system time constant. If the thermometer is placed in a liquid
bath, the temperature of which is constant at 100◦C , how much time does the
system take to reach the final steady–state value ? How much error does the
thermometer show ?

5. The transfer function, G(s), of a system is not known. If a unit-impulse in-

put produces an output given by y(t ) = 2e −3t , determine the unknown transfer
function.

6. Derive the transfer functions of the mechanical system shown in Figure 1. The
inputs to the system are u 1 and u 2 , whereas y 1 and y 2 are the two outputs.

Figure 1: A simple mechanical system.

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CONTROL SYSTEMS TUTORIAL 2 MET 353

Figure 2: A spring–loaded pendulum.

7. Consider the spring-loaded pendulum system shown in Figure 2. Assume that

the spring force acting on the pendulum is zero when the pendulum is vertical.
Obtain a mathematical model of the system.

8. Consider an inverted pendulum shown in Figure 3 below. Assuming that the

mass of the inverted pendulum is m and is evenly distributed along the length
of the rod, determine the mathematical model of the system. The rod is as-
sumed to be perfectly rigid.

Figure 3: An inverted pendulum on a cart.

C (s)
9. Reduce the block diagram shown below into a single transfer function R(s) in
the simplest form.

Figure 4: Block diagram of a Control System.

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CONTROL SYSTEMS TUTORIAL 2 MET 353

10. Consider a unity-feedback system with the closed-loop transfer function

C (s) (s + 1)
= 2
R(s) (s + 2s + 2)

Determine the open-loop transfer function G(s), and the steady state error for
unit-ramp as an input to the system. Also determine the response when the
input is a step function at t = 0 and of magnitude 5 units.

11. Show that, for an underdamped spring–mass–dashpot system, subject to a unit-

step input, the maximum percent overshoot is a function only of the damping
ratio ζ.

12. The open-loop transfer function of a unity feedback control system is given as:

K
G(s) =
(s + 2)(s + a)

Determine the values of a and K that satisfy the following unit-step response
requirements for the closed-loop system:

(a) The 2% settling time should not exceed one second.

(b) The maximum percent overshoot should not to exceed 10%.

Also determine the peak time, the rise time, and the time constant of the sys-
tem.

13. Consider a unity-feedback control system whose open-loop transfer function

is

K
G(s) =
s(s + B )

Discuss the effects that varying the values of K and B has on the steady-state
error in unit-ramp response.

14. Consider a unity feedback control system whose open-loop transfer function
is
K
G(s) =
s(sT + 1)
The closed–loop system is subjected to a unit–step input and the response ex-
hibits a maximum overshoot of 25.4 % with a peak time of 3 s. Determine the
values of K and T.

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