Q11.

Derive an expression for the rise time and maximum overshoot of a second order underdamped
system when subjected to a unit step input.
Unit step response of a second order underdamped system is given by,
𝑒 −𝜻𝝎𝒏 𝑡
𝐶(𝑡)= 1 - sin(𝜔𝑑 𝑡 + 𝜽)
√1−𝜻2

At t=t r , 𝐶(𝑡)=𝐶(t r )=1

𝑒 −𝜻𝝎𝒏 𝑡
∴ sin(𝜔𝑑 𝑡𝑟 + 𝜽) = 0
√1−𝜻2

This occurs when sin(𝜔𝑑 𝑡𝑟 + 𝜽)=0 where 𝜔𝑑 𝑡𝑟 + 𝜽= 𝜋, 2𝜋,….

𝜔𝑑 𝑡𝑟 + 𝜽 = 𝜋
𝜋−𝜽
∴ 𝑡𝑟 = ------------------------------------------------------------------------------------------------- (2M)
𝝎𝒅

𝐶(𝑡𝑝 )−𝐶(∞)
% 𝑀𝑝 = * 100
𝐶(∞)

𝐶(𝑡𝑝 )→ Peak response at t = 𝑡𝑝 and 𝐶(∞) → Final steady state value

Unit step response of a second order underdamped system is given by

𝑒 −𝜻𝝎𝒏 𝑡
𝐶(𝑡)= 1 - sin(𝜔𝑑 𝑡 + 𝜽)
√1−𝜻2

At t= ∞ ; 𝐶(∞)=1
𝑒 −𝜻𝝎𝒏 𝑡𝑝
At t=𝑡𝑝 ; 𝐶(𝑡𝑝 )= 1 - sin(𝜔𝑑 𝑡𝑝 + 𝜽)
√1−𝜻2

−𝜋𝜻
√1−𝜻2
𝑒
=1- sin(𝜋 + 𝜽)
√1−𝜻2

−𝜋𝜻
−𝜋𝜻
√1−𝜻2
𝑒 √1−𝜻2
=1+ sin(𝜽) = 1+ 𝑒
√1−𝜻2

𝐶(𝑡𝑝 )−𝐶(∞)
% 𝑀𝑝 = * 100
𝐶(∞)

−𝜋𝜻
√1−𝜻2
% 𝑀𝑝 = 𝑒 *100 ---------------------------------------------------------------------------------------- (2M)
 𝑲
Q12. The open loop transfer function of a unity feedback system is given by 𝑮(𝒔) = . Sketch the
𝒔(𝒔𝟐 +𝟒𝒔+𝟏𝟏)
root locus for the given system and comment on the stability in terms of system gain K.

Open loop poles are located at 0,-2±j2.64

Number of root locus branches terminating at infinity: 3
Angle of asymptotes: 𝟔𝟎𝟎 , 𝟏𝟖𝟎𝟎 , 𝟑𝟎𝟎𝟎
Centroid: -1.33 (1M)
%%No Break away point / No Break in point%%
Angle of departure for a complex pole at -2+j2.64 = 𝜙𝑑𝑒𝑝𝑎𝑟𝑡𝑢𝑟𝑒 =180 - 𝛴𝜙𝑃 = −𝟑𝟕. 𝟏𝟎 (1M)
Use RH criteria to find jω crossing

𝑆 3 + 4𝑆 𝟐 +11S+ K=0
𝑺𝟑 1 11

𝑺𝟐 4 K

𝑺𝟏 𝟒𝟒 − 𝑲 0
𝟒

𝑺𝟎 K

44−𝐾
= 0 → 𝑲𝒎𝒂𝒓 = 44
4
4𝑆 +𝐾𝑚𝑎𝑟 =0 → 4𝑆 2 + 44=0
2

S=± j3.3 rad/sec

…………………………………

(1M)
…………………………………………………………………….(1M)
 𝑲(𝑺+𝟏)
Q13. A negative feedback system with G(S)= 𝑺𝟑 +𝑷𝑺𝟐 +𝟐𝑺+𝟏 and H(S)=1 oscillates at 2 rad/sec. Determine
the marginal value of K and P
Characteristic equation: 1+G(S)H(S)=0 ► 𝐒 𝟑 + 𝐏𝐒 𝟐 + (𝟐 + 𝐊)𝐒 + (𝟏 + 𝐊) = 𝟎

𝑺𝟑 1 2+K

𝑺𝟐 P 1+K

𝑺𝟏 (𝟐 + 𝐊)𝐏 − (𝟏 + 𝐊) 0
𝐏

𝑺𝟎 1+K

(1M)
To find marginal value of “K”
(2 + K)P − (1 + K)=0
K+1
P = K+2
K+1
Substitute P = K+2 in the auxillary equation PS 2 +K+1=0

(𝐾+1) 𝐾+1
S 2 =− ; S=±j√
𝑃 𝑃

WKT frequency of oscillation= 2 rad/sec

𝐾+1 𝐾+1
√ =2 ► =4
𝑃 𝑃

𝐾+1 K+1
= K+2
4

► K 𝑀𝑎𝑟 = 2
► P= 0.75 (2M)

Q14. Identify the differential equations governing the mechanical behavior of the system shown in Fig.Q14
Draw the Force Current analogous circuit along with equations.
Mechanical Network.

(0.5M)

Differential equations governing the mechanical behavior of the system.

𝑑 2 𝑥1 𝑑(𝑥1 −𝑥2 )
At node 𝑥1 , f(t)= 𝑀1 + 𝐵1 + 𝐾1 (𝑥1 − 𝑥2 ) (1M)
𝑑𝑡 2 𝑑𝑡
𝑑 2 𝑥2 𝑑𝑥2 𝑑(𝑥2 −𝑥1 )
At node 𝑥2 , 𝑀2 + 𝐵2 + 𝐵1 + 𝐾2 𝑥2 + 𝐾1 (𝑥2 − 𝑥1 )=0
𝑑𝑡 2 𝑑𝑡 𝑑𝑡

Force Current equivalent network.

(0.5M)

Force Current equations.

𝑑 2 𝜙1 1 𝑑(𝜙1 −𝜙2 ) 1
At node 𝜙1 , I(t)= 𝐶1 + + (𝜙1 − 𝜙2 )
𝑑𝑡 2 𝑅1 𝑑𝑡 𝐿1

𝑑𝑉1 𝑉1 −𝑉2 1
I(t)= 𝐶1 + + ∫(𝑉1 − 𝑉2 )𝑑𝑡
𝑑𝑡 𝑅1 𝐿1

𝑑 2 𝜙2 1 𝑑𝜙2 1 𝑑(𝜙2 −𝜙1 ) 1 1

At node 𝜙2 , 𝐶2 + + + 𝜙2 + (𝜙2 − 𝜙1 )=0 (1M)
𝑑𝑡 2 𝑅2 𝑑𝑡 𝑅1 𝑑𝑡 𝐿2 𝐿1

𝑑𝑉2 𝑉2 𝑉2 −𝑉1 1 1
𝐶2 + + + ∫(𝑉2 )𝑑𝑡 + 𝐿 ∫(𝑉2 − 𝑉1 )𝑑𝑡=0
𝑑𝑡 𝑅2 𝑅1 𝐿2 1
Q15. Determine the closed loop transfer function of the system shown in Fig.Q15 using block
diagram reduction techniques.
 (3M)

𝐶(𝑆) 𝐺1 𝐺2 𝐺3 + 𝐺1 𝐺4
=
𝑅(𝑆) 1 + 𝐻2 𝐺2 𝐺3 + 𝐻2 𝐺4 + 𝐻1 𝐺1 𝐺2

Q16. Determine the transfer function of a system represented by the SFG in Fig.Q16 using Mason’s gain
formula.

Number of forward paths: 3

𝑃1 = 𝐺1 𝐺2 𝐺3 𝐺4 𝐺5 𝐺6
𝑃2 = 𝐺1 𝐺2 𝐺7 𝐺6
𝑃3 = 𝐺1 𝐺2 𝐺3 𝐺4 𝐺8

Loop gains of individual loops (1M)

𝐿1 = −𝐺1 𝐺2 𝐺3 𝐺4 𝐺5 𝐺6 𝐻3 𝐿5 = −𝐺8 𝐻1
𝐿2 = −𝐺2 𝐺3 𝐺4 𝐺5 𝐻2 𝐿6 = −𝐺5 𝐺6 𝐻1
𝐿3 = −𝐺2 𝐺7 𝐻2 𝐿7 = −𝐺1 𝐺2 𝐺3 𝐺4 𝐺8 𝐻3
𝐿4 = −𝐺4 𝐻4 𝐿8 = −𝐺1 𝐺2 𝐺7 𝐺6 𝐻3

Gain products of 2 non touching loops

𝐿4 𝐿3 = 𝐺2 𝐺4 𝐺7 𝐻2 𝐻4
𝐿3 𝐿5 = 𝐺2 𝐺7 𝐺8 𝐻1 𝐻2
(1M)
𝐿4 𝐿8 = 𝐺1 𝐺2 𝐺4 𝐺6 𝐺7 𝐻3 𝐻4
System determinant 𝛥 = 1- [L1 +L2 +L3 +L4 +L5 +L6 +L7 +L8 ]+[L4 L3 +L3 L5 +L4 L8 ]
𝛥1 = 1
𝛥2 = 1+𝐺4 𝐻4
𝛥3 = 1

Transfer function using Mason’s gain formula.

C(S) 1
= ∑𝑁
𝐾=1 𝑃𝐾 𝛥𝐾
R(S) 𝛥

𝑃1 𝛥1 +𝑃2 𝛥2 +𝑃3 𝛥3
=
𝛥

= (1M)
𝐺1 𝐺2 𝐺3 𝐺4 𝐺5 𝐺6 +𝐺1 𝐺2 𝐺7 𝐺6 (1+𝐺4 𝐻4 )+ 𝐺1 𝐺2 𝐺3 𝐺4 𝐺8
1+𝐺1 𝐺2 𝐺3 𝐺4 𝐺5 𝐺6 𝐻3 +𝐺2 𝐺3 𝐺4 𝐺5 𝐻2 +𝐺2 𝐺7 𝐻2 +𝐺4 𝐻4 +𝐺8 𝐻1 +𝐺5 𝐺6 𝐻1 +𝐺1 𝐺2 𝐺3 𝐺4 𝐺8 𝐻3 +𝐺1 𝐺2 𝐺7 𝐺6 𝐻3 +𝐺2 𝐺4 𝐺7 𝐻2 𝐻4 +𝐺2 𝐺7 𝐺8 𝐻1 𝐻2 +𝐺1 𝐺2 𝐺4 𝐺6 𝐺7 𝐻3 𝐻4

Q17. The step response of a second order system for an input of 4u(t)is shown in Fig.Q17. Determine the
closed loop transfer function assuming unity feedback.
 (1M)

(1M)

(1M)

Q18. Determine the transfer function of the circuit shown in Fig.Q18 when 𝑹𝟏 =1kΩ , 𝑹𝟐 =1kΩ and C=1mF

Applying KVL to the loop in Laplace domain,

1 𝑅
𝑉𝑖 (𝑆) = (1+𝑆𝐶𝑅 ) 𝐼(𝑆) + 𝑉𝑂 (𝑆) ………(1)
1

𝑉𝑂 (𝑆) = 𝑅2 𝐼(𝑆) ………(2) (1M)

Substitute equation (2) in (1),
1 𝑅 𝑉𝑂 (𝑆)
𝑉𝑖 (𝑆) = (1+𝑆𝐶𝑅 ) + 𝑉𝑂 (𝑆) ………(3)
1 𝑅2

Rearranging equation (3), and substituting R1 =1kΩ , R 2 =1kΩ and C=1mF,

𝑉𝑂 (𝑆) 𝑅2 +𝑆𝐶𝑅1 𝑅2 𝑆+1

= = (1M)
𝑉𝑖 (𝑆) 𝑅1 +𝑅2 +𝑆𝐶𝑅1 𝑅2 𝑆+2