Control Systems (EED 302)

Assignment 2
1) The block diagram of a control system is shown in Fig. 1.
a) Find the values of K1 and K2 so that peak overshoot is 10% and settling time is 0.05
sec.
b) For the values obtained in part (a), find the step, ramp and parabolic error constants.

R(s)

K1

+-

+-

100
0.2 s+1

1
20s

Y(s)

K2

Fig. 1
2) The block diagram of a feedback control system is shown in Fig. 2. Determine the values
of K that result in a stable closed loop system.
R(s)
Y(s)
4K
20
++2s+1
s+1
0.2
0.05
4s+1
Fig. 2
3) Consider the heat exchanger temperature loop shown in Fig.3.
a) Find the range of value of KA > 0 for which system is stable.
b) The acceptable value of steady state error is 1 0C for the step input of 10 0C. Find the
value of KA that meets this specification on static accuracy.
r, 0C

0.16

+-

0.1
3s+1

KA

50
30s+1

, 0C

0.16
10s+1

Fig. 3
4) Fig. 4 shows a thermal system in which hot air is circulated to keep the temperature of a
chamber constant. The transfer function of the plant can be adequately represented by

()
1
=
() + 1

K1
Actuator

++

K2
s

-+

Desired
Temperature

Fuel

Chamber

Furnace

Actual
Temperature

Blower
Thermometer
Fig. 4
For K1=3 and K2=19.237, determine peak overshoot and settling time of the response of
the feedback system to unit step input of desired temperature.
5) Fig. 5 shows a closed-loop system with a proportional-integral controller. Find the range
of gain Kc > 0 as a function of integral time TI > 0 such that system is stable. Comment on
the effect of decreasing TI on the limit on gain Kc for stability.

+-

K c 1
T
s
I

1
s( s 2)( s 3)

Controller

Plant

Fig. 5
6) For the feedback control system of Fig. 6, select the parameters K and p so that the
following specifications will be satisfied:
a) Peak overshoot of the response to a step input 9.5%
b) Steady state error to unit step disturbance 0.01
Determine the steady state error of the resulting system to unit ramp command.

W(s)
R(s)

+-

1
s(s+p)

Y(s)

Fig. 6
7) The system of Fig. 7 has constant reference input r = 10 and a constant disturbance input
w = 4. Find the steady state error.
w
r

+-

5
0.1s+1

1
(s+1)(0.2s+1)

Fig. 7
8) A servomechanism controls the angular position of a mass through a command signal
R. The moment of inertia of the moving parts referred to the load shaft is J kg-m2 and
the motor torque at the load is KT N-m per rad of error. The damping torque coefficient
referred to the load shaft is B N-m per rad/sec. the following tests were conducted on the
position control system.
a) Unit step response was recorded and peak overshoot measured therefrom has a value
of 25%.
b) A constant velocity input of 1 rad/sec produced a steady-state error of 0.04 rad.
c) With the command R held fixed, a torque of 10 N-m applied at load shaft produced
steady state error of 0.01 rad.
From the above data, determine the parameters J, B and KT of the system.
9) Shown in Fig. 8 is closed loop control system.

+-

2.5
s(s+5)
Plant

K
Amplifier

1
0.1s+1
Fig. 8
a) Find the range of gain K (K > 0), for which the system is stable.
b) Suppose that the gain K is set to a value 20. In addition, suppose that the sensor has a
general time constant , rather than 0.1 sec given value. The transfer function of the

sensor is then 1/(s + 1). Find the allowable time range for time constant > 0such
that the system is stable.
c) Suppose that in (b), the gain is also variable. Find the range of gain K as a function of
the sensor time constant such that system is stable.
The parameters K and may be represented in a plane with as the horizontal axis
and K as the vertical axis. Determine the regions in the K-vs- plane in which the
closed-loop system is stable, and unstable. Indicate the boundary on which system is
marginally stable. Determine the oscillation frequency when system is marginally
stable.
10) A unity feedback control system with controller is shown in Fig. 9.
a) Find the value of KI so that velocity error constant Kv is 0.
b) With the value of KI found in part (a), determine the value of KP so that the real part
of the conjugate pair of complex roots of the characteristic equation of closed loop
system is -1. Also, find the range of KP so that system is under-damped, critically
damped and over-damped.
R(s)

+-

KP +

KI
s

Controller

100
s +10s+100
2

Plant

Fig. 9

Y(s)