DNT 354 - Control Principle

Universiti Malaysia Perlis (UniMAP)

ASSIGNMENT 4
(ANSWER SCHEME)

1. a) A first order system is given by the following transfer function,

i)

Convert the transfer function into a standard representation of first order system.

[2 marks]
ii) Determine the gain, , and time constant, , from the answer obtained in Part (i).
Standard representation of first order system,

By comparing with the answer obtained in Part (i),

[4 marks]
iii) Find the output response,

, if a unit step input,

Given,

Since input is a unit step function,

, is applied to the system.

DNT 354 - Control Principle

Universiti Malaysia Perlis (UniMAP)

Substituting R(s) to obtain the system response y(t),

[4 marks]
b) A second order system is given by the following transfer function,

i)

Determine the natural frequency,

, the gain, , and the damping ratio, .

Converting the transfer function G(s) into the general form,

By comparing with the standard representation of second order system,

[6 marks]
ii) Find the output,

, if a unit step input,

Given,

Since input is a unit step function,

, is applied to the system.

DNT 354 - Control Principle

Universiti Malaysia Perlis (UniMAP)

Substituting R(s) to obtain the system response y(t),

[6 marks]
iii) Comment on the nature of response.
The output is critically damped, since the damping ratio is 1.
[3 marks]

2. a) A system is represented by the following forward transfer function,

i)

Determine the system type.

The system is Type 0.
[1 marks]

ii) Find the steady-state errors,

For unit step input,

, for inputs of

, and

DNT 354 - Control Principle

Universiti Malaysia Perlis (UniMAP)

For unit ramp input,

For unit parabolic input,

[9 marks]
b) A system is represented by the following block diagram.

R(s)

i)

Y(s)

Comment on the system type.

The system is Type 1 since there is one pure integration in the forward transfer function
G(s).
[3 marks]

ii) Evaluate the position constant,

the system above.
Position constant,

, velocity constant,

, and acceleration constant,

, for

DNT 354 - Control Principle

Universiti Malaysia Perlis (UniMAP)

Velocity constant,

Acceleration constant,

[6 marks]
iii) From the answers in Part (ii), determine the expected steady-state errors,
step, ramp, and parabolic inputs.
For unit step input,

For unit ramp input,

, for the unit

DNT 354 - Control Principle

Universiti Malaysia Perlis (UniMAP)

For unit parabolic input,

[6 marks]

3. A system is represented by a block diagram below.

R(s)

Y(s)

a) Determine the closed-loop transfer function

for the system.

[4 marks]
b) Construct a Routh table from the obtained transfer function in Part (a).
Characteristic equation,

[1 mark]

DNT 354 - Control Principle

Universiti Malaysia Perlis (UniMAP)

Routh Table,
1
10 1

35
50 5

264

= 264

= 30

= -3.8

= 264
Required criteria:
s column
s4 row
s3 row
Answers in relevant cells
[14 marks]
c) Explain on the number of poles that exist on the right-half plane.
The Routh Hurwitz Criterion states that the number of pole that exists on the RHP is equal to the
number of sign changes in the first column. Since there are two sign changes from s2 row to s1
row and s1 row to s0 row, two poles exist on the RHP.
[4 marks]
d) Comment on the stability of the system.
The system is unstable since there are poles on the RHP.
[2 marks]

4. a) A unity feedback system has a forward transfer function given by the following expression.

i)

Determine the real-axis intercept,

, for the asymptotes.

[2 marks]

DNT 354 - Control Principle

ii) Calculate the angles,

Universiti Malaysia Perlis (UniMAP)

, of the asymptotes.

for k = 0
for k = 1
for k = 2
[3 marks]
iii) Sketch the root locus.

[3 marks]
b) A unity feedback system has a forward transfer function given by the following expression.

i)

Determine the open-loop poles.

Open-loop poles = -3, -5, -7
[3 marks]

DNT 354 - Control Principle

Universiti Malaysia Perlis (UniMAP)

ii) Find the characteristic equation for the closed-loop transfer function.
Closed-loop transfer function,

Characteristic equation,

[2 marks]
iii) Determine the real-axis intercept,

, for the asymptotes.

[2 marks]
iv) Calculate the angles,

, of the asymptotes.

for k = 0
for k = 1
for k = 2
[3 marks]
v) Find the breakaway point from the closed-loop characteristic equation.

DNT 354 - Control Principle

Universiti Malaysia Perlis (UniMAP)

To find breakaway point,

Thus,

Since the breakaway point can only exist between poles -3 and -5,

[3 marks]
vi) Sketch the root locus.

[4 marks]