Homework 1 Control Systems

Electronics Engineering Department, University of Nariño

Prof: Andrés Pantoja

Maximum grade: 100 point. Deadline: Apr-04-2018

Exercise 1 (20 points): Off-road vehicles experience many disturbance inputs as they traverse over rough
roads. An active suspension system can be controlled by a sensor that looks “ahead” at the road conditions.
An example of a simple suspension system that accommodate the bumps is shown in Figure 1. Find the
appropriate gain K1 so that the vehicle does not bounce when the desired deflection is R(s) = 0 and the
disturbance is Td (s).

Figura 1: Active suspension system.

Exercise 2 (20 points): A system is shown in Figure 2(a)

1. Determine G(s) and H(s) of the block diagram in Figure 2(b) such that both block diagrams are
equivalent.
2. Find Y (s)/R(s) in both diagrams to prove the equivalence.

Figura 2: Equivalent block diagrams.

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Exercise 3 (10 points): Consider the cable reel control system given in Figure 3. Find the value of K and
A such that the percent of overshoot is P.O. ≤ 10 % and a desired velocity of 50 m/s is achieves in steady
state.

Figura 3: Cable reel control system.

Exercise 4 (20 points): The block diagram of a control system is shown in Figure 4. The fixed parameters
of the system are given as T = 0,1, J = 0,01, and Ki = 10.
1. When r(t) = t and Td (t) = 0, determine how the values of K and Kt affect the steady-state value of
e(t). Find restrictions on K and Kt so that the system is stable.
2. Let r(t) = 0. Determine determine how the values of K and Kt affect the steady-state value of y(t)
when the disturbance input Td is a unit step.

3. Let Kt = 0,01 and r(t) = 0. Find the minimum steady-state error that can be obtained by varying K,
when Td is a unit-step function. Find this value of K. From the transient standpoint, would you operate
the system at this value of K? Explain.

Figura 4: Block diagram for Exercise 4.

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Exercise 5 (20 points): In the block diagram shown in Figure 5, r(t) is the reference input and n(t) is the
disturbance.
1. Find the conditions for α and K such that the system is stable.

2. Find the steady-state error when n(t) = 0 and r(t) = t.

3. Find the steady-state value of y(t) when r(t) = 0 and n(t) is a unity step.

Figura 5: Block diagram for Exercise 5.

Exercise 6 (10 points): For the system shown in Figure 6

1. Find values of K and Kt for a maximum overshoot of 10 % and a settling time of 0.05 sec.
2. Repeat the previous problem for a maximum overshoot of 4.3 % and a rise time of 0.2 sec.

Figura 6: Block diagram for Exercise 6.