Automatic Control Systems

Assignment - 1
Dr. Kalyana C. Veluvolu

Deadline: 11-OCT-2017, 17:00 hours @ IT1-815

1) Simplify the block diagram shown below and obtain closed-loop transfer function 𝐶(𝑠)/𝑅(𝑠)

2) Obtain the transfer function 𝐶(𝑠)/𝑅(𝑠) and 𝐶(𝑠)/𝐷(𝑠) for the following system.
3) Determine the transfer function 𝑌(𝑠)/𝑈(𝑠) of the system shown below. The input 𝑢 is a
displacement input. [Hint: Formulate coupled differential equations for masses m1 and m2]

Suspension system

4) Consider the speed control system shown below to control the angular speed 𝜔 of the load.
The generator field time constant is negligible and it is driven at constant speed giving a
generated voltage constant of 𝐾𝑔 Volts/field amp. The generated emf is used to run the
separately excited motor which has a back emf constant of 𝐾𝑏 Volts/ (rad/sec). The motor
develops a torque of 𝐾𝑇 N-m/amp. The motor and its load have a combined moment of inertia
of J Kg-𝑚2 and negligible friction. A tachometer is employed for speed feedback which
develops a feedback voltage gain of 𝐾𝑡 Volts/ (rad/sec). The desired speed is set through a
potentiometer. The difference between reference voltage, 𝑒𝑟 and the feedback voltage, 𝑒𝑡 is
amplified using an amplifier which produces a field current gain of 𝐾𝐴 amps/volt.

Draw a block diagram of the system and determine the transfer function 𝜔(𝑠)/ 𝐸𝑟 (s).
 Difference amplifier: Field current, 𝑖𝑓 = 𝐾𝐴 (𝑒𝑟 − 𝑒𝑡 )

Generator: Generated emf, 𝑉𝑔 = 𝐾𝑔 𝑖𝑓

Motor: Applied emf, 𝑉𝑔 = 𝑖𝑎 𝑅𝑎 + 𝑒𝑏 , Back emf, 𝑒𝑏 = 𝐾𝑏 𝜔, Torque, 𝑇 = 𝐾𝑇 𝑖𝑎

The torque developed by the motor is used to run the load by overcoming the
𝑑𝜔
opposition offered by the moment of inertia, 𝐽 is 𝑇 = 𝐽
𝑑𝑡

Tachogenerator: Tachogenerator emf, 𝑒𝑡 = 𝐾𝑡 𝜔

5) Given the system shown below, find 𝐽 and 𝐷 to yield 20% overshoot and a settling time of 2
sec for a step input of torque 𝑇(𝑡).
6) Obtain the time-domain response of unity feedback system whose open-loop transfer function
is 𝐺(𝑠) = 4/𝑠(𝑠 + 5) and when the input is unit-step.

7) Consider the system shown below, where 𝜁 = 0.6 and 𝜔𝑛 = 5 𝑟𝑎𝑑/𝑠𝑒𝑐. Obtain the rise time
(𝑡𝑟 ), peak time (𝑡𝑝 ), maximum overshoot (𝑀𝑝 ), and settling time (𝑡𝑠 ) when the system is
subjected to a unit-step input.

8) For the system shown below, determine the values of gain 𝐾 and velocity feedback constant
𝐾ℎ so that the maximum overshoot in the unit-step response is 0.2 and the peak time is 1 sec.
With these values of 𝐾 and 𝐾ℎ , obtain the rise time and settling time. Assume that 𝐽 = 1 𝑘𝑔 −
𝑚2 and 𝐵 = 1 𝑁 − 𝑚/𝑟𝑎𝑑/𝑠𝑒𝑐.
9) A thermometer requires 1 min to indicate 98% of the response to a step input. Assuming
the thermometer to be a first-order system, find the time constant. If the thermometer is
placed in a bath, the temperature of which is changing linearly at a rate of 200 /𝑚𝑖𝑛, how
much error does the thermometer show?

10) Use Routh-Hurwitz criterion to determine the location of roots and hence the stability of
the system represented by the characteristic equation,

𝑠 5 + 𝑠 4 + 2𝑠 3 + 2𝑠 2 + 3𝑠 + 5 = 0

11) Consider the system shown below and determine the range of 𝐾 for which the closed-loop
system is stable.

12) The open-loop transfer function of a unity-feedback control system is given as

𝐾(𝑠 + 5)
𝐺(𝑠)𝐻(𝑠) =
𝑠(𝑠 + 2)(1 + 𝑇𝑠)

The parameters 𝐾 and 𝑇 may be represented in a plane with 𝐾 as the horizontal axis and 𝑇
as the vertical axis. Determine the region in the 𝑇 versus 𝐾 parameter plane in which the
closed –loop system is asymptotically stable, and unstable. Indicate the boundary on which
the system is marginally stable.