PROBLEMS SHEET

CONTROL SYSTEMS

Transfer Function

Q1. The transfer function of a system is given by,

𝑲(𝒔 + 𝟔)
𝑻(𝒔) =
𝒔(𝒔 + 𝟐)(𝒔 + 𝟓)(𝒔𝟐 + 𝟕𝒔 + 𝟏𝟐)

Determine:

a) Poles [Ans. 0, -2, -5, -3 and -4]

b) Zeroes [Ans. -6]
c) Characteristic equation [Ans. 𝑠5 + 14𝑠4 + 71𝑠3 + 154𝑠2 + 120𝑠 = 0]
d) Pole zero plot in s-plane.

Q2. Obtain the transfer function of the lead network as shown in the figure below.

Q3. The unit response of a system is given by 𝑇 (𝑡) = 𝑒−𝑡 (1 – 𝑐𝑜𝑠 2𝑡). Determine its transfer
function.

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Q4. For the two-port network shown in the figure below, obtain the transfer functions
a) 𝑉2(𝑠)/𝑉1(𝑠)
b) 𝑉1(𝑠)/𝐼1(𝑠)

Mathematical Modelling

Q1. An armature controlled DC motor has an armature resistance of 0.37  . The moment of
inertia is 2.5 x 10-6 kg-m2. A back emf of 2.09 V is generated per 100 RPM of the motor speed.
The torque constant of the motor is 0.2 N-m/A. Determine the transfer function of the motor
relating the motor shaft shift and the input voltage.

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Q2. A mechanical system is shown below which is subjected to a known displacement x3(t) with
respect to the reference.
(a) Determine the two independent equations of motion.
(b) Obtain the equations of motion in terms of the Laplace transform, assuming that the
initial conditions are zero.
(c) Sketch a signal flow graph representing the system of equations.
(d) Obtain the relationship T13(s) by using Mason’s signal-flow gain formula.

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Q3. A bridged-T network is often used in AC control systems as a filter network. The circuit of
one bridged-T network is shown in the figure below. Find Vo(s)/Vin(s).

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 Block Diagram
Q1. Obtain the block diagram for the given electrical network.

Q2. Obtain C(s)/R(s) using block diagram reduction rules.

Q3. Reduce the block diagram given below and obtain C(s)/R(s).

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Q4. Obtain the expression for C1 and C2 for the given multiple input multiple output system.

Q5. Obtain the closed loop transfer function C(s)/R(s) for the block diagram given below.

Q6. Obtain the resultant output C(s) in terms of inputs R(s) and Y(s).

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 Q7. The system block diagram is given below. Find:
i. C(s)/E(s) if N(s) = 0
ii. C(s)/R(s) if N(s) = 0
iii. C(s)/N(s) if R(s) = 0

Q8. For the block diagram shown below, obtain C(s)/R(s) by using reduction rules.

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Q9. In the block diagram given below, obtain the transfer function of the system C1/R1.

Q10. Find the transfer function of the following control system.

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 Signal Flow Graph

Q1. Draw the signal flow graph and derive the transfer function using Mason's gain formula.
𝐶(𝑠) 𝐺1𝐺2+𝐺1𝐺3
[Ans . = ]
𝑅(𝑆) 1+𝐺1𝐺2𝐻1+𝐺2𝐻2−𝐺1𝐺2𝐺3 𝐻1𝐻2

Q2. Draw the signal flow graph of the electrical network shown below. Also find 3 .
𝑉1

𝑉3 𝑟3𝑟4+𝑎𝑟4𝑟2
[Ans. = ]
𝑉1 𝑟1𝑟2 + 𝑟3𝑟2 + 𝑟3𝑟1 + 𝑟1𝑟4 − 𝑎𝑟2𝑟3 + 𝑟3𝑟4

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Q3. The small signal equivalent circuit of a common emitter transistor amplifier is shown below.
The transistor amplifier includes a feedback resistor Rf. Obtain a signal flow graph model of the
feedback amplifier and determine the input-output ratio (Vce/Vin).
𝑉𝑐𝑒 ℎ𝑖𝑒 𝑅𝐿−𝛽𝑅𝑓 𝑅𝐿
[Ans. = ]
𝑉𝑖𝑛 𝑅(𝑅𝑠+2ℎ𝑖𝑒)+𝑅𝐿(𝑅𝑠+ℎ𝑖𝑒)+𝛽𝑅𝑓𝑅𝐿

Q4. Determine the transfer function for the block diagram shown below by Mason’s gain
formula.
(𝑠) 𝐺1𝐺2𝐺3+𝐺4
[Ans. = ]
(𝑠) 1+𝐺1𝐺2𝐻1+𝐺2𝐺3𝐻2+𝐺1𝐺2𝐺3+𝐺4−𝐺2𝐺4𝐻1𝐻2

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Q5. For the signal flow diagram shown below, find (𝑆) .
𝑅(𝑆)

𝐶(𝑠)
[Ans = 100]
𝑅(𝑠)

Q6. Deduce the block-diagram from the signal-flow graph given below.

Q7. Find the transfer function for the given network.

𝑉𝑜 𝑠𝐿
[Ans = ]
𝑉𝑖 𝑠2 𝐿𝑅1𝐶+𝑠 (𝐿+𝑅1𝑅2𝐶 )+(𝑅1+𝑅2)

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 Time Response
Q1. Find Kp, Kv, Ka and steady state error for a system with open loop transfer function as:

10(𝑠 + 2)(𝑠 + 3)
𝐺(𝑠)𝐻(𝑠) =
(𝑠 + 1)(𝑠 + 5)(𝑠 + 4)

where the input is,

(𝑡) = 3 + 𝑡 + 𝑡2

[Ans: 𝐊𝐩 = ∞, 𝐊𝐯 = 𝟑, 𝐊𝐚 = , 𝐞𝐬𝐬 = ∞]

Q2. The block diagram shown in the figure represents a heat treating oven. The set point (desired
temperature) is 10000C. What is the steady state temperature? [Ans: 999.95oC]

Q3. Find the steady state error E, if T is unit step input and R=0. [Ans: ess = -0.01]

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 (𝑠) 25
Q4. A second order system is given by = . Find its rise time, peak time, peak
(𝑠) 𝑠2+6𝑠+25

overshoot and settling time if subjected to unit step input. Also calculate expression for its output
response.

[Ans: 𝑻𝒓 = 𝟎. 𝟓𝟓𝟑𝟓 𝒔𝒆𝒄, 𝑻𝒑 = 𝟎. 𝟕𝟖𝟓 𝒔𝒆𝒄, %𝑴𝒑 = 𝟗. 𝟒𝟖%, 𝑻𝒔 = 𝟏. 𝟑𝟑 𝒔𝒆𝒄, 𝒄(𝒕) = 𝟏 − 𝟏. 𝟓𝟔𝟐𝟓 𝒆−𝟑𝒕 𝒔𝒊𝒏(𝟒𝒕 +
𝟎. 𝟗𝟐𝟕𝟐)]

Q5. For a control system shown in figure, find the values of K1 and K2 so that MP = 25% and
Tp = 4 sec. Assume unit step input. [Ans: 𝑲𝟏 = 𝟎. 𝟕𝟑𝟔𝟗, 𝑲𝟐 = 𝟎. 𝟗𝟒𝟎𝟓]

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Q6. For a system having (𝑠) = , (𝑠) = 1 . Determine
(𝑠+1)(𝑠+3)

i) Characteristics equation [Ans. 𝒔𝟐 + 𝟒𝒔 + 𝟏𝟖 = 𝟎 ]

𝒓𝒂𝒅
ii) 𝜔𝑛 𝑎𝑛𝑑 [Ans. 𝝎𝒏 = 𝟒. 𝟐𝟒𝟐𝟔 𝒔𝒆𝒄 𝒂𝒏𝒅 𝝐 = 𝟎. 𝟒𝟕𝟏𝟒 ]

iii) Time at which first undershoot will occur. [Ans. 𝟏. 𝟔𝟕𝟗𝟐 𝒔𝒆𝒄]
iv) Time period of oscillations [Ans. 𝟏. 𝟔𝟕𝟗𝟐 𝒔𝒆𝒄]
v) Number of cycles output will perform before settling down [Ans. 𝟏. 𝟏𝟗𝟏 𝒄𝒚𝒄𝒍𝒆𝒔]

Q7. The open loop transfer function of unity feedback system is G(s) = 𝑲 . For this system
𝒔(𝟏+𝑻𝒔)
overshoot reduces from 0.6 to 0.2 due to change in ‘K’ only. Show that 𝑻 𝒌𝟏− 𝟏 = 43.33 where 𝑘
𝑻𝑲𝟐−𝟏 1
and 𝐾2 are the values of K for 0.6 and 0.2 overshoot respectively.

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Q8. For a spring mass damper system, an experiment was conducted by applying a force of 2
Newtons to the mass. The response x(t) was recorded using an xy plotter and the experimental
result were obtained as shown in the figure below. Find the value of M,K and B.
[Ans: K = 1, M = 0.3122, B = 0.53544]

Q9. A control design has to meet following specifications: damping ratio of 0.5, natural
frequency of √10 rad/sec and steady state error of 10%. For a unity feedback control system
G(s) = (𝑆+ 𝛼) , find the values of K, 𝛼 𝑎𝑛𝑑 𝛽.
(𝑠+2)2

[Ans: K = 1.2552 , 𝜶 = 7.2416, 𝜷 = 0.9534]

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 Stability

Q1. For system s⁴+22s³+10s²+s+K = 0, find 𝐾𝑚𝑎𝑟 and 𝜔 at 𝐾𝑚𝑎𝑟.

[Ans 𝐾𝑚𝑎𝑟 = 0.4524 and 𝜔 = 0.2132 𝑟𝑎𝑑/𝑠𝑒𝑐]

Q2. For a system with characteristic equation (𝒔) = 𝒔⁶ + 𝟑𝒔⁵ + 𝟒𝒔⁴ + 𝟔𝒔³ + 𝟓𝒔² + 𝟑𝒔 + 𝟐 = 𝟎,
examine stability. [Ans: System is unstable]

Q3. Given the characteristic equation of a system 𝒔⁶ + 𝟐𝒔⁵ + 𝟖𝒔⁴ + 𝟏𝟐𝒔³ + 𝟐𝟎𝒔² + 𝟏𝟔𝒔 + 𝟏𝟔 =
𝟎. Check the stability of the given characteristic equation using Routh’s method.

[Ans: marginally stable]

Q4. For unity feedback system, system is marginally stable and oscillates with frequency 4
rad/sec. Find 𝐾𝑚𝑎𝑟 and ‘q’. [Ans 𝐾𝑚𝑎𝑟=8, q=0.25]
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𝐺(𝑠) =
(𝑠2 + 𝑞𝑠 + 2𝐾)𝑠

Q5. Consider the heat exchange temperature control loop shown in figure. Find the range of
values of 𝐾𝐴 > 0 for which system is stable. [Ans: 0<𝐾𝐴<14.0833]. The acceptable value of
steady state error is 1˚C for the step input of 10˚C. Find the value of 𝐾𝐴 that meets this
specification on static accuracy. [Ans: 𝐾𝐴 = 0.75]

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 Root Locus
𝐾
Q1. For a unity feedback system G(s) = . Sketch the rough nature of the root
(𝑠+4)(𝑆+2)
locus showing all details on it. Comment on the stability of the system.

𝐾
Q2. Sketch the root locus of the system having G(s)H(s) =
(𝑠2+2𝑠+2)

𝐾(𝑠+4)
Q3. Sketch the inverse root locus for system having G(s)H(s) = .
(𝑠2+2𝑠+2)

Q4. Sketch the complete root locus G(s)H(s) = 𝐾

(𝑠+1)(𝑠+2)(𝑠+3)

𝐾
Q5. Sketch the complete root locus of the system having G(s)H(s) = .
(𝑠+3)(𝑠2 +3𝑠+4.5)

𝐾
Q6. Sketch the complete root locus of the system having G(s)H(s) = .
(𝑠+3)(𝑠2+3𝑠+11.25)

𝐾(𝑠+1)
Q7. G(s)H(s) = . Sketch the complete root locus with approximate
(𝑠−1)(𝑠2+5𝑠+20)
indication of breakaway points. Comment on stability. [Ans Unstable]

𝐾(𝑠+12)
Q8. For the transfer function G(s)H(s) = . Sketch the root locus and
(𝑠2+16𝑠+100)
determine all pertinent data.

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 𝐾
Q9. Construct root locus G(s)H(s) = ; K>0. Also find the gain margin
(𝑠+3)(𝑠+5)(𝑠2+2𝑠+5)
of the system, if the design value of K=16. [Ans G.M.=8]

𝐾
Q10. Sketch the root locus of a system having G(s)H(s) =
(𝑠2+4𝑠+1)

I) What is the range of damping factor for the dominant poles? [Ans 0 to 0.766]
II) What is the angle of departure from complex open loop poles? [Ans at -2+j1.73
φd = -49.140 ; at -2-j1.73 φd = 49.140 ]
III) For what values of K the system crosses the imaginary axis. [Ans Kmar = 4]

Frequency Domain analysis

Q1. A second order system has overshoot of 50% and period of oscillations 0.2 sec in step
response. Determine: i) Resonant peak, ii) Resonant frequency, iii) Bandwidth.
[Ans Resonant Peak=2.377, Resonant frequency=30.63 rad/sec, B.W = 48.3 rad/sec]
Q2. The specifications of a second order unity feedback control system with the closed loop
transfer function
(𝑠) 𝜔𝑛2
M(s) = =
𝑅(𝑠) 𝑠2+2𝜉𝜔𝑛𝑠+𝜔𝑛2

are that the maximum overshoot must not exceed 10% and the rise time must be less
than 0.1 sec. Find the corresponding limiting values of Resonance peak (𝑀𝑟) and Bandwidth
(BW) analytically. [Ans 𝑀𝑟 = 1.0487 and B.W = 31.686]

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 Bode Plot
𝐾
Q1. For a unity feedback system G(s) = . Determine marginal value of 'K’ for
(𝑠+2)(𝑠+10)
which system will be marginally stable, using Bode plot.
[Ans: Kmarginal from bode plot = 251.78]

𝐾𝑠2
Q2. Sketch the Bode plot for the transfer function G(s) = . Determine the
(1+0.2𝑠)(1+0.02𝑠)
value of K for the gain cross-over frequency to be 5 rad/sec.
[Ans K =0.04]

Q3. Determine the transfer function of system whose corner plot is shown below.
(1+𝑠)(1+0.001𝑠)
[Ans: G(s)H(s) = ]
(1+0.177𝑠)(1+0.00562𝑠)

Q4. Use Bode plot to determine the range of K within which a unity-feedback
stem with open loop transfer function G(s) is stable. [Ans 0 < K <56.23]

𝐾
G(s) =
(1+0.2𝑠)(1+0.02𝑠)

𝐾𝑒−0.1𝑠 (1+30
)
Q5. Obtain Bode plot for G(s)H(s) = 𝑠 𝑠 . Hence find value of K for ωgc =
(1+𝑠)(1+ )(1+ )
20 90
5 rad/sec, ωgc = 12 rad/sec and ωgc = 0.6 rad/sec.

[Ans for ωgc = 0.6 rad/sec, K = 0.5623.

for ωgc = 5 rad/sec, K = 25.12.
for ωgc = 12 rad/sec, K = 158.49]

10(1−𝑠)
Q6. Obtain the Bode plot for, G(s)H(s) = . Hence find G.M. and P.M.
𝑠( 𝑠+2)(𝑠2 +2𝑠+25)

242(𝑠+5)
Q7. For a particular unity feedback system, G(s) =
(𝑠+1)(𝑠2+5𝑠+121)
Sketch the Bode Plot. Find ωgc, ωpc, G.M, and P.M. Comment on stability.

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 Polar And Nyquist Plot
𝐾
Q1. For a certain control system, G(s)H(s) = , Sketch the Nyquist plot and hence
(𝑠+2)(𝑠+10)
calculate the range of values of K for stability. [Ans 0 < K <240]

40
Q2. For a feedback control system, G(s)H(s) = . Find Gain Margin and stability
(𝑠+4)(𝑠2+2𝑠+2)
from Nyquist plot. [Ans Stable, G.M = +2.27 dB]

10(𝑠+3)
Q3. Sketch the Nyquist plot for a system with G(s)H(s) = . Comment on the closed
(𝑠−1)
loop stability. [Ans: Stable closed loop system]

100(1+5𝑠)
Q4. Access the stability of a system with G(s)H(s) = . Use Nyquist criterion.
4(1+𝑠)

[Ans Unstable]

(𝑠+2)(𝑠+8)
Q5. The open loop transfer function is . Is the closed loop system stable? If not,
𝑠3
deduce the number of unstable poles. Use the Nyquist criterion to arrive at your answers.
[Ans Unstable]

Q6. For the polar plot shown in figure.

i. Determine the gain margins in dB and the phase margins if OA = - 0.5, OB = -1,
OC = -2, OD = -2.5, OE = -0.866 + j0.5 and OF = -0.643 – j 0.766. [GM1= +6.02dB ,
GM2=-6.02dB , GM3= - 7.958 dB]
ii. Complete the Nyquist plot and determine whether the system is stable, if all poles are in
LH of s-plane. [Ans P.M1 = -300 , P.M2 = +500 ]

Q7. Obtain the polar plot of the following transfer function:

𝑒−𝑖𝜔𝑇
𝐺(𝑗𝜔) =
1 + 𝑗𝜔𝑇

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 45(𝑠+2)
Q8. Sketch the polar plot of G(s)H(s) = . Hence find the stability, K marginal and
𝑠2(𝑠+4)(𝑠+6)
range of K (if 45 is replaced by K).
[Ans Unstable, K marginal = 45 ,0<K<40 is the range of K for stability]

Compensation
𝟏𝟎
Q1. For a unit negative feedback system with (𝒔) = , design a lead compensator such
𝒔(𝒔+𝟏)
that the closed loop system will satisfy the following specifications:
Static velocity error constant = 20sec-1
Phase margin = 500
Gain margin ≥ 10 dB

𝟐𝟎(𝟏+𝟎.𝟑𝟔𝟑𝟕𝒔)
[Ans 𝑮 (𝒔)𝑮(𝒔) = ]
𝒄 𝒔(𝟏+𝒔)(𝟏+𝟎.𝟎𝟕𝟔𝟑𝒔)

𝟎.𝟎𝟐𝟓
Q2. For a certain system, , design a suitable lag compensator to give velocity
𝒔(𝟏+𝟎.𝟓𝒔)(𝟏+𝟎.𝟎𝟓𝒔)
error constant = 20sec-1 and phase margin = 400.
𝟐𝟎(𝟏+𝟔.𝟔𝟔𝒔)
[Ans 𝑮𝑪 (𝒔)𝑮(𝒔) = 𝒔(𝟏+𝟎.𝟓𝒔)(𝟏+𝟎.𝟎𝟓𝒔)(𝟏+𝟗𝟑.𝟒𝟔𝒔)
]

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