Problem Set-1

1. The impulse response of a system is shown in Fig. 1b. Obtain the system output y(t) for 0 ≤
t ≤ 5 using the (i) graphical method and the (ii) Laplace transform method when input to the system
is e(t) as shown in Fig. 1a. Sketch the output response obtained from both the methods.

Error h(t)
e(t) 2 2

1 1
4
0 0
1 2 3 4 5 Time 1 2 3 4 5
Fig. 1a Time
Fig. 1b

Answer: u(t 1)  r(t 1)  u(t  2)  r(t  2)  2r(t  3)  2 p(t  3)  2r(t  4)  2 p(t  4)

2. The impulse response of a system is shown in Fig. 2b. Obtain the system output y(t) using
the Laplace transform method when the input to the system is e(t), as shown in Fig. 2a.
Suppose the same signal e(t) is applied to the controller, shown in Fig. 2c. Obtain the controller
output y1 (t ) assuming KP=1, KD=1 and the controller output is zero at t = 0.

h(t) 101
0 0.01 0.02 0.03 0.04 0.05 0.06 Time
Error
2
e(t)
-5000
0
1 2 3 5 Time (t)
4 -10000
Fig. 2a Fig. 2b

e(t) y1(t)

Fig. 2c

Answer: 2u(t 1)  2r(t 1)  2u(t  2)  2r(t  2)  2u(t  3)  2r(t  3)  2u(t  4)  2r(t  4)
3. Using Laplace transform, solve the following differential equation:
d 2 y t  dy t  dy  0 
 5  4 y  t   e t
u  t  ; given y  0   1 and  0.
dt 2 dt dt

Answer:  et  tet  e4t  u t 

11 1 2
9 3 9 

, find lim x  t  .
5 6s 1
4. Given L  x(t )  X  s     2
s  2s 1 s 10
2 t 0

Answer: 8
5. Applying the final value theorem, find y() when x(t) is unit step input.
Y ( s) s3  s 2  4 Y ( s) 1
(a)  4 (b)  3
X ( s ) s  2s  2s  2s  3
3 2
X ( s) s  6s  12s  8
2

Answer: (a) FVT cannot be applied as sY(s) is not analytic in closed right half of s-plane.
(b) 0.125

6. An LTI system has three sub-blocks as shown in Figure 3.

x(t) y(t)
h1(t) + h3(t)
+

h2(t)
Figure 3

(a) Find the impulse response of the LTI system when

h1 t    t 1 ; h2  t     t  ; h3  t   u t 1 .

(b) Find the output of the system when input x(t), shown below, is applied.

X(t)

0.5

1 t

Answer: (a) u t  2  u t 1 (b) 0.5 p t 1  0.5r t  2  p t  2  0.5r t  3  0.5 p t  3

7. Find the transfer function from e to u for the following four op-amp circuits. Are they
representing some specific controller structures? If so, mention the names.
 𝑅2 𝑅2
𝑅1 𝑅 𝑅
𝑅1
𝑒 𝑅 𝑒 𝑅
- -
- 𝑢 - 𝑢
𝐶 + +
+ +
(b)
(a)
𝑅2 𝐶 𝑅2 𝐶2
𝑅 𝑅1 𝑅
𝑅1
𝑒 - 𝑅 𝑒 - 𝑅
- 𝑢 - 𝑢
+ 𝐶1 +
+ +
(c) (d)
R2 R R  1 
Answer: (a) 1  R1Cs  , PD Controller (b) 2 , P Controller (c) 2 1   , PI Controller (d)
R1 R1 R1  R2Cs 
 
 
 R2 C1   R2C1s 1  , PID Controller
   1  

 1
R C2   R C   R C 
  2  1  R1C2  2  1  s 
  R1 C2   R1 C2  

8. The longitudinal position of a mobile robot (whose bottom view is shown below) is controlled
by adjusting the torque at its wheels. Identify the plant, controller, sensor and actuator in this closed-
loop control system.

1
1 – Front Side Camera
2 – Cluster Wheel (only to maintain the
balance while moving, not connected to
2 motor)
3 – Wheel Motor
4 – Embedded Processor
5 – Wheel Encoder
6 – Wheel (connected with motor)
Indicating inside the robot
Signal with its direction

3
6
5 4
Bottom view of a Mobile Robot

Answer: Plant: Robot, Actuator: Wheel Motor, Sensor: Wheel Encoder, Controller: Embedded
Processor
9. Two control configurations are shown in figure below (plant transfer function is Gp   ). Find
dy1 (s)
the effect of change in parameter (α) on the output of both the control configurations i.e. and
d
dy2 (s)
. Here G is the model of the plant and K is the controller gain.
d

r + y1 r + y2
K Gp(α) K Gp(α)
- -

dy1 ( s) K dG p   dy2 (s) K dGp  

Answer:  R s  R  s
d 1  KG p   
2
d d 1  KG d
10. A closed-loop control system is shown in figure below. The plant and the controller in
1 s 1
forward path are, respectively, P(s)  and C(s)  . Find the output y(t) when (i) disturbance
s 1
2
s 1
D=0 and (ii) disturbance D=0.1u(t). Comment on the stability of the closed-loop system. Assume
the reference input R as unit step and F(s)=1.
D

R + e + Y
C
+
P
-
+ N
F

Answer: (i) y t  
1
2
1  et cos  t   et sin t   u t 

(ii) y t  
1
2
0.45  0.04et  0.49et cos t   0.53et sin t  u t 
11. Two cascaded control configurations are shown below. Find output response for unit step
input for both the configurations when
(i) all initial conditions are zero
(ii) initial conditions are non-zero and x1  0  2x2  0 .
s 1
xi  t  , i  1, 2, are the states. The transfer functions are G(s) 
1
and C(s)  .
s 1 s 1
 e(t) u1(t) y1(t) e(t) u2(t) y2(t)
C(s) G(s) G(s) C(s)
(a) (b)

Answer: For Figure (a) x1 t   et x1  0  2  et 1 u(t ) , x2 t   e  e  x1 0  et x2  0  etu(t )  u(t )
1 t t
2
u1 t   x1 t   u t  , y1  t   x2  t 

For Figure (b) x1 t   et x1  0   et 1 u(t ) , x2 t    et  et  x1  0  et x2  0   2  et  et  u(t )
u2  t   x1  t  , y2  t   x1 t   x2 t 

12. Consider a closed-loop system shown in figure below. All the variables have their usual
meanings.
1 1 1
GP 2  , H P 2  0.5 , Gd 2  1 , GC 2  108 , GP1  , H P1  1 , Gd1  , GC1  50
1  0.5s 1  s  10s  1 2s  1

D2 D1
GD2 GD1

e1 + e2 +Y +
YSP1 + YSP2
+ 2 Y1
GC1 GC2 GP2 GP1
- -
HP2

HP1

Find out the poles of the closed-loop system when D1  D2  0.

Answer: -5.1 (Approx.)