1

DEPARTMENT OF MECHANICAL ENGINEERING

MOTILAL NEHRU NATIONAL INSTITUTE OF TECHNOLOGY ALLAHABAD
Automatic Control (ME503)
Faculty: Dr. Samir Saraswati and Dr. Praveen Kumar Agarwal (Course Coordinator)

Tutorial Sheet - 2

1. Consider the system defined by
x Ax Bu
y Cx Du
= +
= +

where [ ]
1 0 1 0
1 2 0 , 0 , 1 1 0 , [0]
0 0 3 1
A B C D


= = = =



.
Obtain the transfer function using
a) formula TF = C(sI-A)
-1
B+D;
b) MATLAB: [num,den] = ss2tf(A,B,C,D)

2. Given the system equation below:

1 1
2 2
3 3
2 1 0
0 2 1
0 0 2
x x
x x
x x


=

Find the free solution in terms of their initial conditions
1
(0) x ,
2
(0) x and
3
(0) x .

3. Find the time function corresponding to each of the following L.T.s


) 11 5 )( 2 (
12 9 3
2
2
+ ++ + + ++ + + ++ +
+ ++ + + ++ +
s s s
s s
,
1
1 2
3
2

+ ++ + + ++ +
s
s s
,
20 4
2 3
2
+ ++ + + ++ +
+ ++ +
s s
s
,
2
) 1 (
1
+ ++ + s s


4. For a second order system with T.F.
3 2
3
2
+ ++ + s s
determine response to step input.

5. Find the T.F. C(s)/R(s) using block diagram reduction and SFG method.









2

6. Find the T.F. C(s)/R(s) for the following SFG.












7. In figure shown below if
a s
K
s D
+ ++ +
= == = ) ( and
25
100
) (
+ ++ +
= == =
s
s G , specify gain and pole location
of the compensator so that the overall closed-loop response to a unit step input has a
maximum overshoot of no more than 25 %, and a 2% settling time of no more than 0.1 sec.










8. Determine the damping ratio, undamped natural frequency and damped natural frequency for
the system shown below. What is the response c(t) of this system to a unit step function
excitation r(t) = u(t), when all the initial conditions are zero?
R(s) + C(s)
_





If a derivative control action (Ks) is added in the above system to the feedback path as shown
below, determine the value of K such that the resulting system will have a damping ratio 0.5.
What is the response c(t) of this resulting system to a unit step function excitation r(t) = u(t),
when all the initial conditions are zero?

R(s) + + C(s)
_ _



25
s(s + 2)

D(s)
G(s)

Y(s)
R(s)
25
s(s + 2)
Ks
Y(s)
Y(s)