Jimma University

Jimma Institute of Technology

Faculty of Electrical and Computer Engineering
Introduction to Control Engineering
Worksheet1

𝑉𝑜 (𝑠)
1) Find the transfer function 𝑉𝑖 (𝑠)
for the electrical network shown in Figure 1 below.

Vo (s)
2) Find the transfer function Vi (s)
and the time response for the network shown in figure

2 for unit step input voltage. Your answer must be in simplified form.

R1 = 1 Ω, C1 = 1F, R2 = 1 Ω & C2 = 0.5F

X2 (s)
3) Find the transfer function F(s)
for the translational mechanical system shown in

Figure 3.

Figure 3

X3 (s)
4) Find the transfer function F(s)
for the system shown in Figure 4.

Introduction to control systems ECEg3153 Page 1

 Figure 4
θL (s)
5) Find the transfer function T(s)
for the rotational system shown in Figure 5.

Figure 5
6) Consider the system shown in Figure 6. An armature-controlled dc servomotor
drives a load consisting of the moment of inertia JL . The torque developed by the
motor is T. The moment of inertia of the motor rotor is Jm .The back emf constant and
torque constant of the motor are k b and k t respectively. The angular displacements
of the motor rotor and the load element are m and , respectively. The gear ratio is
n = ⁄m . (Assume the system is frictionless).

R = 2.5 , L = 0.5H, k b = 2 𝑉𝑠⁄𝑟𝑎𝑑 , k t = 3 𝑁𝑚⁄𝐴 , Jm = 1 kg𝑚2 ,

n=2 and JL = 0.25 kg𝑚2

a) Obtain the transfer function (𝑠)⁄𝐸𝑖 (𝑠).
b) Find the transfer function 𝜔(𝑠)⁄𝐸𝑖 (𝑠).
c) Locate poles and zeros on s-plane for both part (a) and (b).
d) By using Laplace transform properties, find the initial and final values of 𝜃(𝑡)
for unit step input voltage.
e) Find the time response θ(t) of the system for unit step input voltage.

Introduction to control systems ECEg3153 Page 2

7) Simplify the block diagram shown in Figure 7 using block diagram reduction
𝐶(𝑠)
methods and obtain the closed-loop transfer function ⁄𝑅(𝑠).

8) Construct an equivalent signal flow graph for the block diagram shown in Figure 8
𝐂(𝐬)
and evaluate the transfer function ⁄𝐑(𝐬).

C(s) 1+G5 G6 G8 +G2 G4 G5 G7 G8

Ans. (R(s) = 1+G )
5 G6 G8 +G2 G4 G5 G7 G8 +G1 G2 G3 G7 G8

9) For the electrical network shown in the Figure 9 below

𝑉 (𝑠)
a) Find the set of differential equations and the transfer function 𝑉𝑜(𝑠).
𝑖

b) Obtain poles and zeros and determine the stability of the system.

Fig. 9.
R = 12Ω L1 = 20H L2 = 2H & C = 0.05F

Assignment: Q5, Q7 & Q9

Submission Date: November 24, 2023 @ 8:00 local time

Introduction to control systems ECEg3153 Page 3