NPTEL Online Course

Control Engineering by Dr.Ramkrishna Pasumarthy

IIT Madras
Assignment 2 - Solutions
1. What is the advantage of transforming an Ordinary Differential Equation (ODE) from time domain
to s-domain?
(a) ODE becomes algebraic equation
(b) Order of the ODE decreases
(c) Degree of the ODE decreases
(d) None of the above
Answer: a) ODE becomes algebraic equation
2. What is the Laplace transform of t3 ?
6
(a) s3
3
(b) s3
3
(c) s4
6
(d) s4
6
Answer: a) s4

3. What is the Laplace transform of eat − ebt ?

(a−b)
(a) (s−a)(s−b)
(b−a)
(b) (s+a)(s+b)
1
(c) (s−a)(s−b)
1
(d) (s+a)(s+b)

(a−b)
Answer: a) (s−a)(s−b)
Explanation:
1 1
L{eat − ebt } = −
s−a s−b
(s − b − s + a)
L{eat − ebt } =
(s − a)(s − b)
(a − b)
L{eat − ebt } =
(s − a)(s − b)

4. What is the Laplace transform of sin(4t)?

4
(a) (s2 +16)
s
(b) (s2 +16)
4
(c) (s2 +4)

1
 s
(d) (s2 +4)

4
Answer: a) (s2 +16)

5. What is the Laplace transform of e2t cos(3t)?

s−2
(a) (s2 −4s+13)
s−2
(b) (s2 +9)
s+2
(c) (s+2)2 +9
s+2
(d) (s2 +9)

s−2
Answer: a) (s2 −4s+13)
Explanation:

L{e2t cos(3t)} = L{cos(3t)}

s=s−2
s 
L{e2t cos(3t)} = 2

s + 9 s=s−2


s−2
L{e2t cos(3t)} =
(s − 2)2 + 9
s−2
L{e2t cos(3t)} =
s2 − 4s + 13

6. What is the Laplace transform of te−2t sin(t)?

2s+4
(a) (s2 +4s+5)
2s+4
(b) (s2 +4s+5)2
2s−2
(c) (s2 −4s+5)2
2s−2
(d) (s2 −4s+5)

2s+4
Answer: b) (s2 +4s+5) 2

Explanation:

L{e−2t sin(t)} = L{sin(t)}

s=s+2
1 
L{e−2t sin(t)} = 2
s + 1 s=s+2


1
L{e−2t sin(t)} =
(s + 2)2 + 1
By frequency differentiation property,
−d n 1 o
L{te−2t sin(t)} =
ds (s2 + 4s + 5
2s + 4
L{te−2t sin(t)} =
(s2 + 4s + 5)2
s
7. What is the Laplace Inverse of (s+3)2 +9

(a) e−3t (cos(3t) − sin(3t))

2
 (b) e−3t (cos(3t))
(c) e−3t (sin(3t))
(d) e−3t (sin(3t) − cos(3t))
Answer: a) e−3t (cos(3t) − sin(3t))
Explanation:
n s o n s+3−3 o
L−1 = L −1
(s + 3)2 + 9 (s + 3)2 + 9
n s o n (s + 3) − 3 o
L−1 = L −1
(s + 3)2 + 9 (s + 3)2 + 9
n s o n s−3 o
L−1 2
= e−3t L−1 2
(s + 3) + 9 s +9
n s o n s 3 o
L−1 = e −3t −1
L −
(s + 3)2 + 9 s2 + 9 s2 + 9
n s o
L−1 = e−3t (cos(3t) − sin(3t))
(s + 3)2 + 9

s+2
8. What is the Laplace Inverse of (s+1)4
3
(a) e−t ( t6 )
2
t3
(b) e−t ( t2 + 6)
2
t3
(c) e−t ( t2 + 3)
2
(d) e−t ( t2 )
2
t3
Answer: b) e−t ( t2 + 6)
Explanation:
n s+2 o
−1 (s + 1) + 1
n o
L−1 = L
(s + 1)4 (s + 1)4
n s+2 o
−t −1 (s + 1)
n o
L−1 = e L
(s + 1)4 s4
n s+2 o n1 1o
L−1 = e −t −1
L +
(s + 1)4 s3 s4
n s+2 o  2 t3 
−t t
L−1 = e +
(s + 1)4 2 6

3s+7
9. What is the Laplace Inverse of (s2 −2s−3)

(a) 4e3t − e−t

(b) e3t − e−t
(c) 4e3t + e−t
(d) 4e−3t − et

3
 Answer: a) 4e3t − e−t
Explanation:
n 3s + 7 o n 3s + 7 o
L−1 = L−1
(s2 − 2s − 3) (s − 3)(s + 1)
n 3s + 7 o n 4 1 o
L−1 = L−1
−
(s2 − 2s − 3) (s − 3) (s + 1)
n 3s + 7 o
L−1 = 4e3t − e−t
(s2 − 2s − 3)

10. Given y ′′ + 2y ′ + 5y = e−t sin(t); y(0) = 0; y ′ (0) = 1. After applying Laplace Transform, what would
be Y (s)?
s2 +2s+3
(a) Y (s) = (s2 +2s+5)(s2 +2s+2)
1
(b) Y (s) = (s2 +2s+5)(s2 +2s+2)
1
(c) Y (s) = (s2 +2s+5)(s2 +1)
s2 +2s+1
(d) Y (s) = (s2 +2s+5)(s2 +2s+1)
2
s +2s+3
Answer: a) Y (s) = (s2 +2s+5)(s2 +2s+2)

Explanation: Taking L.T. on both sides, we get:

1
[s2 Y (s) − y(0) − y ′ (0)] + 2[sY (s) − y(0)] + 5Y =
(s + 1)2 + 1
1
[s2 Y (s) − 0 − 1] + 2[sY (s) − 0] + 5Y =
(s + 1)2 + 1
1
(s2 + 2s + 5)Y (s) = +1
(s2 + 2s + 2)
s2 + 2s + 3
Y (s) =
(s2 + 2s + 5)(s2 + 2s + 2)

11. Find is the convolution of e−t with sin(t) applying the convolution theorem.
(a) 12 (e−t − cos(t) + sin(t))
(b) (e−t − cos(t) + sin(t))
(c) 21 (e−t + sin(t))
(d) (e−t sin(t))
Answer: b) 21 (e−t − cos(t) + sin(t))
Explanation: Let f (t) = e−t and g(t) = sin(t)
1
F (s)G(s) =
(s + 1)(s2 + 1)
Taking partial fractions:
1 s 1
F (s)G(s) = − +
2(s + 1) 2(s2 + 1) 2(s2 + 1)
The convolution of f (t) with g(t) is given by:
f (t) ∗ g(t) = L−1 {F (s)G(s)}
1 −t
f (t) ∗ g(t) = (e − cos(t) + sin(t))
2

4
12. Laplace transform of a delta function is:
Answer: 1
5 6s 1
13. Given that L{x(t)} = X(s) = s + (2s2 +1) + s2 +10 , find lim x(t) using the Initial Value Theorem :
t→0
Answer: 8
Explanation: Applying to Initial Value theorem,

lim x(t) = lim sX(s)

t→0 s→∞

6s2 s
lim sX(s) = lim 5 + 2
+ 2
s→∞ s→∞ (2s + 1) s + 10
6 1/s
lim sX(s) = lim 5 + +
s→∞ s→∞ (2 + 1/s2 ) 1 + 10/s2
6
lim sX(s) = 5 + +0=8
s→∞ 2

14. Find the final value of x(t) = 3u(t) + 4e−t applying the Final Value Theorem :
Answer: 3
Explanation: Applying to Final Value theorem,

lim x(t) = lim sX(s)

t→∞ s→0

4  3
lim sX(s) = lim s +
s→0 s→0 s s+1
 4s 
lim sX(s) = lim 3 + =3
s→0 s→0 s+1
V0 (s)
15. For the system in below shown figure, what is the transfer function Vi (s) given R1 = R2 = C1 =
C2 = 1 unit ?

Figure 1: Circuit 1

V0 (s) s
(a) Vi (s) = s2 +3s+1
V0 (s) 1
(b) Vi (s) = s2 +3s+1
V0 (s) s2
(c) Vi (s) = s2 +2s+1
V0 (s) s+1
(d) Vi (s) = s2 +2s+1

V0 (s) s
Answer: a) Vi (s) = s2 +3s+1

5
 1
Explanation: After taking Laplace transform,the series combination of R1 &C1 gives : R1 + C1 s
R2
C2 s
Similarly, the parallel combination of R2 &C2 gives : R2 + C1 s
2
1
1
Substituting R1 = R2 = C1 = C2 = 1 makes the above combinations 1 + s and s
1+ 1s

Applying the voltage divider rule, we get:

1
s
1+ s1
Vo (s) = 1 Vi (s)
1
1+ s + s
1+ s1
1
Vo (s) s+1
= s(s+1)+(s+1)+s
Vi (s)
s(s+1)

Vo (s) s
= 2
Vi (s) s + 3s + 1

16. What are the poles of the system in question no.15?

(a) p1 = −2.61; p2 = −0.38
(b) p1 = −1; p2 = −1
(c) p1 = 0; p2 = −1
(d) p1 = −1; p2 = −2.6

Answer: a) p1 = −2.61; p2 = −0.38

Explanation: Solve for the roots of the characteristic equation (denominator polynomial) of the
transfer function obtained in the previous problem.
17. What are the zeros of the system in question no.15?
(a) z1 = 0
(b) z1 = −1
(c) z1 = 0; z2 = 0
(d) No zeros exist
Answer: a) z1 = 0
Explanation: Roots of the numerator polynomial of the transfer function
18. What is the DC gain of the system in question no.15?
Answer: 0
Explanation: DC gain of the system is given by:

V0 (s) 
K=
Vi (s) s=0


s 
K= 2

s + 3s + 1 s=0


K=0

6
 VC2 (s)
19. Find the transfer function Vi (s) for the network shown below.

Figure 2: Circuit 3

VC2 (s) sC1

(a) Vi (s) = (sC1 +sC2 +s2 C1 C2 R2 )(1+sC1 R1 +s2 C1 L1 )−sC2
VC2 (s) 1
(b) Vi (s) = (sC1 +sC2 +s2 C1 C2 R2 )(1+sC1 R1 +s2 C1 L1 )−sC2
VC2 (s) sC1
(c) Vi (s) = (sC1 +sC2 +s2 C1 C2 R2 )(1+sC1 R1 +s2 C1 L1 )
VC2 (s) 1
(d) Vi (s) = (sC1 +sC2 +s2 C1 C2 R2 )(1+sC1 R1 +s2 C1 L1 )

VC2 (s) sC1

Answer: a) Vi (s) = (sC1 +sC2 +s2 C1 C2 R2 )(1+sC1 R1 +s2 C1 L1 )−sC2
Explanation: Applying KVL around loop 1,
1
Vi (s) = R1 I1 (s) + (I1 (s) − I2 (s)) + sL1 I1 (s) (1)
sC1
1 I2 (s)
Vi (s) = I1 (s)(R1 + + sL1 ) − (2)
sC1 sC1
Applying KVL around loop 2,
1
(I2 (s) − I1 (s)) + VC2 (s) + R2 I2 (s) = 0 (3)
sC1
I1 (s) 1
VC2 (s) − + I2 (s)( + R2 ) = 0 (4)
sC1 sC1
Also,
I2 (s)
VC2 (s) = (5)
sC2
∴ I2 (s) = sC2 VC2 (s) (6)
Substituting Eq. 6 in Eq. 4, we get
I1 (s) 1
VC2 (s) − + sC2 VC2 ( + R2 ) = 0 (7)
sC1 sC1
1
∴ I1 (s) = sC1 VC2 (s)(1 + sC2 ( + R2 )) (8)
sC1
(sC1 + sC2 + s2 C1 C2 R2 )
I1 (s) = sC1 VC2 (s) (9)
sC1
I1 (s) = VC2 (s)(sC1 + sC2 + s2 C1 C2 R2 ) (10)

7
 Substituting Eq. 6 and Eq. 10 in Eq. 2, we get
1 sC2 VC2 (s)
Vi (s) = VC2 (s)(sC1 + sC2 + s2 C1 C2 R2 )(R1 + + sL1 − (11)
sC1 sC1
(sC1 + sC2 + s2 C1 C2 R2 )(1 + sC1 R1 + s2 C1 L1 ) sC2 VC2 (s)
Vi (s) = VC2 (s) − (12)
sC1 sC1
(13)
∴ The transfer function is
VC2 (s) sC1
= (14)
Vi (s) (sC1 + sC2 + s C1 C2 R2 )(1 + sC1 R1 + s2 C1 L1 ) − sC2
2

V0 (s)
20. For the system in Fig. 20, what is the transfer function Vi (s) ?

Figure 3: Circuit 2

V0 (s) sL
(a) Vi (s) = s2 RLC+sL+R
V0 (s) sLR
(b) Vi (s) = s2 RLC+sLR+R
V0 (s) s2 L
(c) Vi (s) = s2 RLC+2sL+1
V0 (s) s
(d) Vi (s) = s2 RLC+sL+R

Answer: a) VV0i (s)

(s)
= sL
s2 RLC+sL+R
Explanation:
Ls/Cs
Applying Laplace Transform and taking the parallel combination of L&C gives: Ls+1/Cs
Applying voltage divider rule, we get:
L/C
Ls+1/Cs
Vo (s) = L/C
Vi (s)
R + Ls+1/Cs
L
Vo (s) C
= R L
Vi (s) RLs + Cs + C
L
Vo (s) C
= s2 RLC+R+sL
Vi (s) Cs

Vo (s) sL
= 2
Vi (s) s RLC + R + sL