Kuwait University EE370/01A – Control Theory Summer 2015/2016

Electrical Engineering Department Homework #5

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1. For the following transfer functions:

a. State the nature of each response (over damped, under damped, and so on).
b. Find the damping ratio and natural frequency for each second-order system.
2 5
1.1 𝑇(𝑠) = 1.2 𝑇(𝑠) = (𝑠+3)(𝑠+6)
𝑠+2

10(𝑠+7) 20
1.3 𝑇(𝑠) = 1.4 𝑇(𝑠) =
(𝑠+10)(𝑠+20) 𝑠 2 +6𝑠+144

2. A system has a damping ratio of 0.5, a natural frequency of 100 rad/s, and a dc gain of 1.Find the
response of the system to a unit step input.

3. For each of the following second-order systems, find 𝜁 , 𝜔𝑛 , 𝑇𝑠 , 𝑇𝑝 , 𝑇𝑟 , 𝑎𝑛𝑑 % 𝑂𝑆.

16
3.1 𝑇(𝑠) =
𝑠 2 +3𝑠+16

0.04
3.2 𝑇(𝑠) =
𝑠 2 +0.02𝑠+0.04

1.05×107
3.3 𝑇(𝑠) =
𝑠 2 +1.6×103 𝑠+1.05×107

4. For each pair of second-order system specifications that follow, find the location of the second-
order pair of poles.

4.1 %𝑂𝑆 = 12%; 𝑇𝑠 = 0.6 𝑠𝑒𝑐𝑜𝑛𝑑.

4.2 %𝑂𝑆 = 10%; 𝑇𝑝 = 5 𝑠𝑒𝑐𝑜𝑛𝑑𝑠.

4.3 𝑇𝑠 = 7 𝑠𝑒𝑐𝑜𝑛𝑑𝑠; 𝑇𝑝 = 3 𝑠𝑒𝑐𝑜𝑛𝑑𝑠.

5. For the following system:

𝑋(𝑠)
a. Find the transfer function 𝐺(𝑠) = .
𝐹(𝑠)
b. Find 𝜁 , 𝜔𝑛 , % 𝑂𝑆, 𝑇𝑠 , 𝑇𝑝 , 𝑎𝑛𝑑 𝑇𝑟 .
6. For each of the unit step responses shown below, find the transfer function of the system.

a. b.

7. For the following system:

a. Find Kp, Kv, and Ka.
b. Find the steady-state error for an input of 50u(t), 50tu(t), and 50t2u(t).
c. State the system type.

8. Given the unity feedback control system:

𝐾
𝐺(𝑠) =
𝑠 𝑛 (𝑠
+ 𝑎)
Find the values of 𝑛 , 𝐾 , 𝑎𝑛𝑑 𝑎 in order to meet specifications of 12% overshoot and 𝐾𝑣 = 110.

9. Given the unity feedback control system

𝐾
𝐺(𝑠) =
𝑠(𝑠 + 𝑎)
Find the following:
a. 𝐾 and 𝑎 to yield 𝐾𝑣 = 1000 and a 20% overshoot.
b. 𝐾 and 𝑎 to yield a 1% error in the steady state and a 10% overshoot.

10. Given the following system, design the value of 𝐾 so that for an input of 100𝑡𝑢(𝑡),there will be a
0.01 error in the steady state.