MENG421 (AUTOMATIC CONTROL) MENG @ EAS, NU

PROBLEM SHEET 02
TIME RESPONSE (TRANSIENT ANALYSIS)
1- Name different curves in Fig. 1 according to the response damping case.
2- Find the system order, characteristic equation, damping ratio, and root locations for
each of the following transfer functions.
9 9
a. 𝐺𝐺(𝑠𝑠) = 𝑠𝑠(𝑠𝑠2+9) d. 𝐺𝐺(𝑠𝑠) = 𝑠𝑠2 +4𝑠𝑠+9
9 9
b. 𝐺𝐺(𝑠𝑠) = 𝑠𝑠(𝑠𝑠+3)2 e. 𝐺𝐺(𝑠𝑠) = (𝑠𝑠−𝑗𝑗3)(𝑠𝑠+𝑗𝑗3)
9
c. 𝐺𝐺(𝑠𝑠) = 𝑠𝑠(𝑠𝑠2+10𝑠𝑠+9)

3- Match each of the transfer functions, in problem 2, to the suitable response in Fig. 1.

Fig. 1
4- Complete the missing names of Fig. 2

Fig. 2
MENG-414 (AUTOMATIC CONTROL) MENG @ EAS, NU

5- Given the pole plot shown below, find 𝜉𝜉, 𝜔𝜔𝑛𝑛 , 𝑡𝑡𝑝𝑝 , 𝑀𝑀𝑜𝑜𝑜𝑜 and 𝑡𝑡𝑠𝑠 .

6- Given the system shown in Fig. 4, find 𝐽𝐽 and 𝐷𝐷 to yield 20% overshoot and a settling
time of 2 𝑠𝑠 for an applied torque 𝑇𝑇(𝑡𝑡) = 2𝑢𝑢(𝑡𝑡).

Fig.4
1. Consider the system represented in Fig. 5 and calculate the following:
𝑌𝑌(𝑠𝑠)
a) Overall transfer function .
𝑅𝑅(𝑠𝑠)

b) Undamped natural frequency,

c) Damping ration,
d) Static position error constants for unit step input.
e) Peak response,
𝑅𝑅(𝑠𝑠) + 𝐸𝐸(𝑠𝑠) 20 𝑌𝑌(𝑠𝑠)
f) Time of maximum overshoot,
(𝑠𝑠 + 1)(𝑠𝑠 + 2)
g) Settling time, and
h) Rise time.
0.1

Fig. 5
MENG-414 (AUTOMATIC CONTROL) MENG @ EAS, NU

PROBLEM SHEET 02
TIME RESPONSE (STEADY-STATE ANALYSIS)
2(𝑠𝑠+1)
1. Consider the control system in Fig. 1, where 𝐺𝐺𝑝𝑝 (𝑠𝑠) = (𝑠𝑠+2)(𝑠𝑠+3) , and 𝐻𝐻(𝑠𝑠) =
100(𝑠𝑠+1)
𝑠𝑠+4

Fig. 1
Find the steady state error when 𝑟𝑟(𝑡𝑡) is a unit step and for 𝑟𝑟(𝑡𝑡) is a unit ramp.
2(𝑠𝑠+1) 100(𝑠𝑠+1)
2. Considering 𝐺𝐺𝑝𝑝 (𝑠𝑠) = (𝑠𝑠+2)(𝑠𝑠+3) , and 𝐻𝐻(𝑠𝑠) = , Find the steady state error
𝑠𝑠(𝑠𝑠+4)

when 𝑟𝑟(𝑡𝑡) is a unit step and for 𝑟𝑟(𝑡𝑡) is a unit ramp.

2(𝑠𝑠+1)
3. Consider the system in Fig. 2 with the same 𝐺𝐺𝑝𝑝 (𝑠𝑠) = (𝑠𝑠+2)(𝑠𝑠+3) , and 𝐻𝐻(𝑠𝑠) =
100(𝑠𝑠+1)
. Set 𝑟𝑟(𝑡𝑡) = 0 and look at the steady state error due to a constant
𝑠𝑠(𝑠𝑠+4)

disturbance 𝑑𝑑(𝑡𝑡) = 𝐴𝐴.

Fig. 2

2
4. Given a unity feedback system with 𝐺𝐺(𝑠𝑠) = . Calculate 𝑒𝑒𝑠𝑠𝑠𝑠 corresponding
𝑠𝑠 3 +6𝑠𝑠 2 +3𝑠𝑠

to an appropriate input.
𝐾𝐾 1
5. For the system shown in Fig. 3, 𝐺𝐺(𝑠𝑠) = and 𝐻𝐻(𝑠𝑠) = . Obtain:
𝑠𝑠(𝑠𝑠+2) 𝑠𝑠+1

• The equivalent unity-feedback block diagram.

• The value of 𝐾𝐾 so that the system exhibits 5%
steady-state error for an appropriate input.

Fig. 3