Solution No.2.

Relative stability S= -1 implies S=Z -1 (Z is the new reference boundary)

Characteristic equation 1 + G(s)H(s) =0 implies (S
2
+ S)(S + 2) + 2 =0
S
3
+3 S
2
+2S+2=0
(Z -1)
3
+3(Z-1)
2
+ 2(Z -1) +2= 0
Z
3
Z +2 =0
Z
3
1 - 1
Z
2
0() 2
Z (- 2)/
1 2

0
+

therefore, Number of sign changes =2
2 poles in RH plane
Question No.3
K
P
=0 K
V
= const. K
A
=infinite clearly, G(s) = K
V
/S(S + 1)
G(S)/1+G(S) =(K/)/(S
2
+(1/)S +(K/)) =
n
2
/(S
2
+2
n
S +
n
2
)
76% peak overshoot => 0.76 = exp(- /sqrt(1
2
)
-0.2744 = - (- /sqrt(1
2
)
= 0.087 and K
V
=29.41 is given

n
=2 K
V
=5.117 rad/sec
time for first peak overshoot (t
P
) = /
n
sqrt(1
2
) = 0.616 sec




solution No 5
X(t) = t [t= time in sec ; X(t)= linear velocity in x-direction]
y(t) =velocity in y-direction
So, y(t) =t
2
=> Y(s)=2/S
2
; g(t) = 1 - exp(- t) => G(s) =(1/s) -(1/s+1)
The system block diagram is

Where C(S) = corrected output
Clearly E(S) =Y(S) C(S) = Y (YG/(1+G)) [Y=Y(s) ,G=G(S)]
E(S) =(2/S
3
)/(1+(1/S(S+1))) =2(S+1)/S
2
(S
2
+S+1)

Now E(S) =2[1/S
2
-1/(S
2
+S+ 1)] =(2/S
2
) - 1/((S+0.5)
2
+/2)
2
)
e(t) = - 2t ()exp(- 0.5t) sin(/2)t



Question No.6
e
SS
0.2
r(t) = 0.2 t => R(S) = 0.2/S
K
V
= Lim
S 0
S G(S) =K /2
e
SS
= 1/K
V
=2/K given e
SS
0.2
(0.2)*(2/K) 0.2 => K 2
Question No.8
Forward path gain =G
Self loops H
1
, H
2
, 2 non touching loops : H
1
, H
2

Applying mesons gain formula
C/R = G/(1 - H
1
- H
2
+ H
1
H
2
) = G/(1 - H
1
)(1 -H
2
)

Question No.9
S
T
G
= 1/(1 + G(S) H(S)) = (S
2
+ 2S)/( S
2
+ 2S +6.25)
Put S= j S
T
G
= (-
2
+ j 2 )/( -
2
+ j 2 + 6.25)
S
T
G
at =1 rad/sec = (- 1 + j 2)/( - 1 + j2 +6.25) = 0.398

Question No.10