NPTEL

Control Engineering
Sept-Dec. 2020
Solution: Assignment 3
C(s)
1. The block diagrams shown below have the same transfer function . The value of Z is .
R(s)

R(s) 1 C(s)
s+2 Z

+
R(s) 2s C(s)
s+2 +

(a) 2
(b) 2s
(c) 3s + 2 [Correct]
(d) None of the above

Solution:
Case 1:
C(s) Z
=
R(s) s+2
Case 2:
C(s) 2s 3s + 2
= +1=
R(s) s+2 s+2
Since, both block diagrams have the same transfer function, we get Z = 3s + 2.
C(s)
2. The transfer function of the block diagram shown in figure is given by
R2 (s)

1
 R2 (s)
G2
+ + C(s)
+
G1 G4 G3
R1 (s) + +
-
H2 H1

G3 H1 H2
(a) 1+G3 G4 H1 H2
G3
(b) 1+G3 G4 H1 H2 [Correct]
(G1 +G2 )G3 G4
(c) 1+G3 G4 H1 H2
G3 G4
(d) 1+G3 G4 H1 H2

Solution:
Considering R1 (s) = 0, we get

C(s) G3 G3
= =
R2 (s) 1 + G3 (H1 H2 G4 ) 1 + G3 G4 H1 H2

Y (s)
3. Find the transfer function for the system given below using Mason’s gain formula.
R(s)

1 1

G1 G2 G3 G4
R(s) Y (s)
2
2

G1 G2 G3 G4
(a) 3+4G3 G4 +2G2 G3 G4
G1 G2 G3 G4
(b) 4+4G3 G4 +2G2 G3 G4 [Correct]
G1 G2 G3 G4
(c) 3+2G3 G4 +2G2 G3 G4
G1 G2 G3 G4
(d) 4+2G3 G4 +2G2 G3 G4
(e) None of the above

Solution:
Number of forward paths=1
By Mason’s gain formula, we have
T1 ∆1
TF =
∆
Gain of forward path:
T1 = G1 G2 G3 G4

2
 Gain of individual feedback loop:

L1 = −1; L2 = −1; L3 = −2G3 G4 ; L4 = −2G2 G3 G4

Gain of pair of disconnected feedback loop:

L5 = −1 × −1 = 1; L6 = −1 × −2G3 G4 = 2G3 G4 ; L7 = −1 × −2G2 G3 G4 = 2G2 G3 G4

We know,

∆ = 1 − (Sum of all individual loops) + (Sum of pair of disconnected loops)

Therefore,

∆ = 1 − (−1 − 1 − 2G3 G4 − 2G2 G3 G4 ) + (1 + 2G3 G4 + 2G2 G3 G4 )

= 1 + 3 + 4G3 G4 + 2G2 G3 G4
= 4 + 4G3 G4 + 2G2 G3 G4

Also, we have ∆1 = 1 − 0 = 1.
Hence, the transfer function of given block diagram is
Y (s) G1 G2 G3 G4
= .
R(s) 4 + 4G3 G4 + 2G2 G3 G4

4. A system is known to have a type less than or equal to 1. Which of the following is (are) possible?
(Multiple correct option possible)
(a) Kp = ∞, Kv = a constant [Correct]
(b) Kv = 0, Kp = a constant [Correct]
(c) Ka = 1
(d) All of the above
Solution:
Given that system is of type less than or equal to 1. The possibilities are as follows
N (s) N (s)
G1 (s) = G2 (s) =
sD(s) D(s)

where N (s) = a0 sm + a1 sm−1 + ... + am−1 s + am and D(s) = b0 sn + b1 sn−1 + ... + bn−1 s + bn with
am 6= 0 and bn 6= 0.

N (s)
Case 1: G1 (s) = sD(s)

am
Kp = lim G1 (s) = ∞; Kv = lim sG1 (s) = ; Ka = lim s2 G1 (s) = 0;
s→0 s→0 bm s→0

N (s)
Case 2: G2 (s) = D(s)

am
Kp = lim G2 (s) = ; Kv = lim sG2 (s) = 0; Ka = lim s2 G2 (s) = 0;
s→0 bm s→0 s→0

Hence, option (a) and (b) are correct.

3
5. Assume r(t) = 0.5t and it is desired that ess ≤ 0.1 for the system with unity feedback. The values
of K for error to be within specified limit is
K
G(s) =
s(s + 50)

(a) K ≤ 25
(b) K ≤ 250
(c) K ≥ 25
(d) K ≥ 250 [Correct]
Solution:
We know that
R(s)
ess = lim s
s→0 1 + G(s)H(s)
The input r(t) to the system in s domain is
0.5
R(s) =
s2
Therefore,
( 0.5
s2 )s
ess = lim K
s→0 1 +
s(s+50)

0.5
ess = lim K
s→0 (s + (s+50) )

25
ess =
K
But ess ≤ 0.1. Therefore,

25
ess ≤ 0.1 =⇒ ≤ 0.1
K
25
K≥ = 250
0.1
K ≥ 250

6. In the system shown in the figure below, what should be the values of K and a to obtain a steady-
state error of 0.5 for a unit step input?

R(s) K 1 Y (s)
+−
sa s+20

(a) K = 20, a = 0 [Correct]

(b) K = 20, a = 1
(c) K = 40, a = 0

4
 (d) K = 40, a = 1

Solution:
We know that
R(s)
ess = lim s
s→0 1 + G(s)H(s)
The input u(t) to the system in s domain is
1
R(s) =
s
Therefore,
( 1s )s
ess = lim K
s→0 1+ sa (s+20)

sa (s + 20)
ess = lim
s→0 sa (s + 20) + K
From above equation, for ess to be non-zero set a = 0.
Therefore,

(s + 20)
ess = lim
s→0 (s + 20) + K

20
=
20 + K

But ess = 0.5. Therefore,

20
ess = 0.1 =⇒ = 0.5
20 + K
Hence, K = 20

7. Consider a system whose transfer function is given by

Y (s) 100
= 2
R(s) s + as + 100
Which of the following statements are correct? (Multiple correct option possible)
(a) The system is over-damped for a = 20.
(b) The system is critically damped for a = 20. [Correct]
(c) The system is under-damped for a > 20.
(d) The system is under-damped for a < 20. [Correct]
(e) The system is over-damped for a = 50. [Correct]
Solution:
Equating the system characteristic equation of the given system with a standard second order
system, we get,
a
ωn2 = 100 =⇒ ωn = 10; 2ζωn = a =⇒ ζ =
20
So, the system is under-damped for a < 20, critically damped for a = 20 and over-damped for
a > 20.
Hence, option (b), (d) and (e) are correct.

5
8. Consider the two responses y1 (t) and y2 (t) of a second-order system to a unit step input, corre-
sponding to damping ratios ζ1 and ζ2 respectively, as shown in the figure below. Assume that the
natural frequency ωn to be same for both the responses.

1.2

0.8

0.6

0.4

y1(t) corresponding to 1
0.2
y2(t) corresponding to 2

0
0 0.5 1 1.5 2 2.5 3

Which of the following is correct?

(a) ζ1 < 1, ζ2 < 1

(b) ζ1 < 1, ζ2 > 1 [Correct]
(c) ζ1 = 1, ζ2 > 1
(d) ζ1 > 1, ζ2 < 1

Solution:

• The under damped system with ζ1 < 1, has some overshoot in the step response which can be
seen in the output y1 (t).
• The over damped system with ζ2 > 1, never overshoots over unity, which can be seen in output
y2 (t).

Common Data for Q9 to Q12

Consider the system shown in the figure below.

6
 R
s) + 16
ss+08) 
s)

1 + as

9. The value of natural frequency (ωn ) is rad/s .[ Ans=4, Range: 3.9 to 4.1]
10. Determine the value of a such that the damping ratio of the closed loop system is 0.5.
[Ans= 0.2, Range: 0.15 to 0.25]

11. The rise time (tr ) in the step response is seconds.

[Ans=0.604, Range: 0.55 to 0.65]
12. The maximum percentage overshoot (Mp %) in the step response is . (Answer between 0
to 100) [Ans = 16.31, Range: 15.31 to 17.31]
Solution:
The closed-loop transfer function is given by

C(s) 16 16
= = 2
R(s) s(s + 0.8) + 16(1 + as) s + (16a + 0.8)s + 16

Equating the system characteristic equation of the given system with a standard second order
system, we get,

ωn2 = 16 =⇒ ωn = 4; 2ζωn = 2 × 0.5 × 4 = 16a + 0.8 =⇒ a = 0.2

π − cos−1 (ζ) π− π
tr = p = √ 3 = 0.6046
ωn (1 − ζ 2 ) 4 0.75
−πζ
Mp % = exp ( p ) × 100 = 16.31
(1 − ζ 2 )