Jimma University

Jimma Institute of Technology

Faculty of Electrical and Computer Engineering
Introduction to Control Engineering Worksheet

50 1
1) For the system having G(s) = s2+7s and H(s) = 2

Find
a) The type of system.
b) The error coefficient ( k p , k v and k a ).
c) The steady state error for ramp input.
d) ωn ,  and ωd .
e) The time response specification ( t d , t r , t p , Mp and t s ).
f) The time response of the system for unit step input.
g) The steady state and transient response of the system output for unit step input.
θ(s) 1
2) A second order mechanical system is represented by transfer function = Js2 +fs+k.
T(s)

When a step input of 10𝑁𝑚 is applied to the system, the maximum overshoot is 6%,
time to peak overshoot is 1𝑠𝑒𝑐 and the steady state value of the output is 0.5𝑟𝑎𝑑.
Determine the values of k, J and f.
3) Consider the system whose closed loop transfer function is given by
1
𝐺(𝑠) =
𝑠 4 + 𝑠 3 + 2𝑠 2 + 𝑠 + 2𝑘
a) If 𝑘 = 2, determine the stability of the system using Routh’s method and find the
number of roots lying in the right half and left half of s-plane.
b) Find the range of 𝑘 for the system to be stable.
4) Sketch the root locus of the unity feedback system whose open-loop transfer function is
k
G(s) =
s(s + 1)(s 2+ 4s + 13)
5) For a unity feedback system whose open-loop transfer function is given by
k
G(s) =
(s + 1)(s + 2)(s + 4)
a) Sketch the polar plot for k = 32.
 b) Using Nyquist stability criterion determine whether the closed-loop system is stable
for k = 80 & k = 100.
c) Find the range of k for the system to be stable using Nyquist stability criterion.
6) For a unity feedback system whose open-loop transfer function is given by
20,000
G(s) =
s(20s + 20)(2s + 100)
a) Sketch the Nichols plot
b) Draw the Bode diagram
c) Determine the phase crossover frequency and gain margin.
d) Determine the gain crossover frequency, if phase margin is Pm = 40°
7) DeterminethetransferfunctionofthefollowingsystemsfromthemagnituderesponseoftheB
odediagramshowninthefigurebelow.

Assignment: Question 2, 4, 5, 6 & 7

Submission Date: April, 25/2023