P5.

Given that

k a =k t =1

Open loop transfer function

G ( s )=

km ka
s m +1

Error of system is

E ( s )=
E ( s )=

1
R (s)
1+G ( s )
1
R (s)
k m ka
1+
s m+1

Given that

R ( s )=

25/sec
s

Using final value theorem

e ss=lim sE ( s ) =
s0

(b) Desired

e ss 1/sec then

25
1
1+k a k m

2511+k a k m
Which gives

25
1+k a k m

k a k m 24
The closed loop transfer function shown in above figure

T ( s )=

ka km
s m +1+k a k m

Finding step response of equation we got

v b ( s )=

v c (s)k a k m
s m +1+k a k m

Taking inverse Laplace we get

v (t ) k k
v b ( t )= c a m (1e
1+k a k m

(k a k m)t
m

At settling time system reaches at 98% of its final value so

(1e
Where

( k a k m) t
m

)0.98

m =0.4settling time is 0.03seconds (Given )

We got

k a k m 52
P5.2
(a)Given that settling time should be less than 0.6 that is

T s=

4
<0.6
n

This shows that

n>6.67.

From requirement P.O. < 20% we got =0.45 on which

0.45=63 degree
1
=cos

And From requirement P.O. > 10% we got =0.60 on which

0.6= 53 degree
1
=cos

(b) As the requirement is that third root should be at least 10 times away in L.H.P
So

|r 3| 10| n|=66.7
Third pole is selected as s=-66.7
With =0.45 and

n=6.67

n comes out be14.8rad/s

So putting values

s
2
(s +r 3)( 2+2 n s +n )
2
K n
T ( s )=

We got

T ( s )=

66.7(219.7)
( s+66.7 ) (s 2+13.3 s+219.7)

P5.3
Given input

R ( s )=
And

1
s3

G ( s )=

k
s2

Steady state error is found as

e ss =slim
s 0

1
1
. 3
1+G ( s ) s

( 1+G1 ( s) ) . s1

e ss =lim
s 0

1
1
=
K
K
s2 2
s

e ss =lim

( ( ))

s0

As required that error should be less than 0.5cm

We got

1
0.5
K
1
K
0.5
Such that

K 2
P5.5

(a)Given that

1= 2=1

So the closed loop transfer function is

T ( s )=

k 1 k 2(s+1)
s2 +k 1 k 2 s+k 1 k 2

Using requirement that percent overshoot should be less than 5 %

Using equation

P .O=100 (1e 1 2 )
=0.69
Comparing the denominator with characteristic equation
We got

2 n=k 1 k 2
And

 n2 =k 1 k 2
Since right hand sides of both equations are same so

2 ( 0.69 ) n= n

Which gives

n=1.38 rad/s
And since
2

n =k 1 k 2
So

k 1 k 2=1.9
(b) From transfer function it is visible that this is type 2 system and for type 2 systems steady
state error for both step and ramp input is zero,
For step input the ITAE equation is
2

s +1.4 n s+ n=0
And for ramp input
2

s +1.4 n s+ n=0
n2 =k 1 k 2=3.2 n
So that

n=

3.2 rad
k 1 k 2 =10.24
s

P5.6
Given that

T ( s )=

75(s+1)
s(s+5)(s+25)

For ramp input

e ss=

1
kv

sG ( s ) = lim s
s 0

75 ( s+1 )
75
=
=0.6
s s +5 ) ( s+25 ) 125
k v =lim

((

s 0

1 1
e ss= = =1.67
k v 0.6

P5.7

(a) Closed loop transfer function is

T ( s )=

K1 K2
2

I s +K 1 K 2 k 3 s+K 1 K 2

Steady state tracking error for ramp input is given by

1T ( s ) .

1
s2

s
sE ( s )=lim
s0

e ss=lim
s0

e ss=lim

s0

K1 K2
2

I s +K 1 K 2 k 3 s+K 1 K 2

=k 3

For desired steady state error of 0.01 the value of k3 is set to 0.01,
(b) For P.O = 10 % using equation

P .O=100 (1e 1 2 )
We got
=0.6 and

2 n=

0.01 k 1 k 2
25

And
2

n=

k1 k2
25

Which gives K1K2 =360000

P5.8

(a) Closed loop transfer function is

G (s)
s
20
T ( s )=
=
G ( s ) H ( s ) s ( s+40 )
1+
s

Comparing it with

s(s +1)

,we got

=1/40

(b) Transfer function from disturbance to power output is

P(s) 20
=
T d (s) s+40
Using Laplace transform the unit step response is

p (t )=0.5+e
At settling time

40 t

p (t )=98 of p ( steady state ) =0.49

Solving for settling time we got

T s=0.098 sec
P5.9
Tracking is need to be done at rate

v 16000
= =
=1=0.00178 rad/s
r 2500

And desired steady state error is

e ss

1
degree=0.001754 rad
10

Therefore

e ss =

k v=

||
kv

0.00178
=1.02
0.001754

P5.10
(a)The block diagram of armature controlled DC motor is shown below

(b) The closed loop transfer function is

(s)
KG ( s )
=
R ( s ) 1+K K b G ( s )
And

G ( s )=

km

( R a +La s ) ( Js+b )

Given that

Ra=L a=J=b=k b=k 1=1

G ( s )=

1
(1+s )( s+1 )

So closed loop transfer function comes out to be

T ( s )=

( s)
K
= 2
R ( s ) s +2 s+1+K

Steady state error for step input

s ( R ( s )Y ( s ) )

e ss=lim
s0

K
1+K

( As ) (1T ( s ) )= A (1T ( s=0 ) )= A()=A /(1+ K )

e ss =lim
s 0

For P.O of 15 % we got =0.5. And by comparing the characteristic equation with standard
characteristic equation we got

2 n=n
And

n= 1+K
Solving these two equations we got

n=2

rad
K =3.
s

AP5.1
Given that

T ( s )=

108(s+3)
(s+9)(s 2 +8 s+36)

Steady state error for ramp input is

e ss=lim s
s0

e ss=1

( 1s )(1T ( s ))= (1T ( s=0) )

324
=0
324

(b)
Using Matlab roots of characteristic equation comes out to be

s 1=9
s 2,3=4 j 4.74
Assuming the dominant poles are the conjugate pair he characteristic equation becomes
2

s +8s+36
Comparing it with

s 2 +2 n s+2n
We got

n= 36=6.rad/ s
And

2 ( 6 )=8

=0.65
Using P.O equation

P .O=100(0.65)( 1e 0.65 ) 10.65 =44.6

(

And

T s=

4
=1 sec
n

The step response, is shown in following figure, shows that

Actual overshoot is P.O=34.4%
And
Actual Settling time is Ts=0.91s

DP5.1

Closed loop transfer function is

T ( s )=

12.2 K
s3 +9.2 s 2 +15.4 S +12.2 K

(b) Characteristic equation comes out to be

3

s +9.2s +15.4S+12.2K
For K=0.7 we got
3

s +9.2s +15.4S+8.58
Using MATLAB command roots ([1 9.2 15.4 8.58]) we got

s 1=7.23s2,3 =0.98 j0.46

For K=3 we got

3

s +9.2s +15.4S+36.6
Using MATLAB command roots ([1 9.2 15.4 36.6]) we got

s 1=7.83s2,3 =0.68 j2.05

For K=6 we got
3

s +9.2s +15.4S+73.2
Using MATLAB command roots ([1 9.2 15.4 73.2]) we got

s 1=8.4s 2,3=0.4 j2.9

,(d)
Assuming conjugate pairs the dominant poles the approximate transfer functions are found as
shown below

T k=0.7=

0.7908
1.18
= 2
(s+0.98+0.46 j)(s+0.980.46 j) s +1.965 s+1.18

Comparing this with standard equation we got

n= 1.18=

1.08 rad
s

And

1.965
=0.9097
2 ( 1.08 )

So

P .O=100(0.9)( 1e ( 0.90) ) 10.902=0.13

And

T p=

n 1

=
2

3.14
1.08 10.9097

=6.8 sec

For K=3

T k=3 =

3.299
4.67
= 2
(s+0.68+2.05 j)(s+0.680.68 j) s +1.37 s+4.67

Comparing this with standard equation we got

 n= 4.67=

2.161 rad
s

And

1.37
=0.31
2 ( 2.161 )

So

P .O=100(0.31) ( 1e 0.31 ) 10.31 =35

(

And

T p=

n 1

=
2

3.14
2.61 10.31

=1.5 sec

For K=6

T k=6=

6.399
8.71
= 2
(s+0.4 +2.9 j)(s+0.42.9 j) s +0.796 s+8.71

Comparing this with standard equation we got

n= 8.71=

2.951rad
s

And

0.796
=0.13
2 ( 2.951 )

So

P .O=100(0.13)( 1e ( 0.13) ) 10.132=65.2

And

T p=

n 1

=
2

3.14
2.951 10.13

=1.1 sec

For K=1.71

T k=6=

1.458
2.77
= 2
(s+0.83+1.43 j)(s+0.831.43 j) s +1.679 s+2.77

Comparing this with standard equation we got

 n= 2.77=

1.66 rad
s

And

1. 6 79
=0.5
2 ( 1.66 )

So

P .O=100(0.5)( 1e 0.5 ) 10.5 =16

(

And

T p=

n 1

=
2

3.14
1.6610..5

=2 .1 8 sec

Using Matlab the plots are shown in figure below

Matlab Code
s=tf('s');
G1=1.18/(s^2+1.965*s+1.18);
subplot(2,2,1)
step(G1)
title('K=0.7')
grid on
hold all
G2=4.76/(s^2+1.37*s+4.67);
subplot(2,2,2)
step(G2)
title('K=3')
grid on
hold all
G3=8.71/(s^2+0.796*s+8.71);
subplot(2,2,3)
step(G3)
title('K=6')
grid on
hold all
G4=2.77/(s^2+1.679*s+2.77);
subplot(2,2,4)
step(G4)
grid on
title('K=1.71')
hold all