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Control System Tutorial

Subject Code: EC380
INDIAN INSTITUTE OF INFORMATION TECHNOLOGY GUWAHATI

I. B LOCK DIAGRAM REPRESENTATION

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

2. Obtain the closed-loop transfer function Y (s)/U (s) of the following system
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3. Following is the block-diagram of the position-control system of an electronic word processor. Obtain
the loop transfer function θ0 (s)/θe (s) (considering outer feedback path open) and closed-loop transfer
function θ0 (s)/θr (s).

4. The following is a block diagram of electric train control, The system parameters are given below:
er (t)=voltage representing the desired train speed, V
vt =speed of train in ft/sec
M =30, 000lb/sec2
K=amplifier gain
Kt =gain of speed indicator=0.15V /ft/sec

To determine the transfer function of the controller, a step function of 1V is applied to the input of the
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controller i.e., ec (t) = us (t). The output of the controller is measured and described by the following
equation:
f (t) = 100(1 − 0.3e−6t − 0.7e−10t )us (t)
(a) Find the transfer function Gc (s) of the controller.
(b) Derive the forward path transfer function VEs (s)
of the system.
V (s)
(c) Derive the closed loop transfer function Ers of the system.
(d) Assuming that K is set at a value so that the train will not run-away i.e. unstable, find the steady-state
speed of the train in ft/sec when input is er (t) = us (t) V
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II. S IGNAL FLOW GRAPH

5. Consider the following signal flow graph (SFG). Find the input-output relationship between y7 and y1
using gain formula

6. Find the transfer function Y7 /Y1 of the following SFG

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III. S IGNAL FLOW GRAPH TO BLOCK DIAGRAM REPRESENTATION

7. Obtain the equivalent SFG of the following block diagram representation and hence find the closed-loop
transfer-function Y (s)/R(s) of the system.

8. Find closed-loop transfer function Y (s)/R(s) of the following by applying gain formula to the
equivalent SFG.
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IV. T IME - DOMAIN ANALYSIS

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9. The open-loop transfer function of a unity feedback system is given by G(s) = s(s+1) . Find the rise
time, percentage overshoot, time of peak overshoot and settling time (2% criterion) for a unit step input.

10. The plant shown below has open-loop transfer functions as G(s) = s12 . The plant is controlled by
a forward proportional controller with gain KP , and a rate controller in its feedback path. It is desired to
obtain a response to a step input as shown below. Design the values of the gain KP and KD to get the
desired response.

11. Automatically controlled insulin injection by means of a pump and a sensor can be very effective
for better lives of diabetic persons. Such a pump and an injection system has a feedback control as shown
below. Considering unity feedback, calculate the suitable gain K so that overshoot of the step-response
due to the drug-injection is approximately 7%. R(s) is the desired blood-sugar level and Y (s) is the actual
blood-sugar level.

12. Find the steady-state error for a step and ramp input in a unity feedback system with open-loop
5(s+8)
transfer function G(s) = s(s+1)(s+4)(s+10)
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13. For a unity feedback system, find the steady-state error for a step and ramp input when G(s) = s2 +14s+50

14. Consider the feedback control system shown below. The controller is an integrator with a gain of
K. Find the value of K for which steady-state error to unit ramp input is less than 0.01
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V. A NSWERS

C(s) G1 G2 G3 G4
1. =
R(s) 1 + G1 G2 H1 + G3 G4 H2 − G2 G3 H3 + G1 G2 G3 G4 H1 H2

Y (s) 10(s + 1)
2. = 3
U (s) s + 6s2 + 5s + 10

θ0 (s) KKs K1 Ki N
3a. OLT F = =
θe (s) s[La Jt s2 + (La Bt + Ra Jt + K1 K2 Jt )s + Ra Bt + Ki Kb + KK1 Ki Kt + K1 K2 Bt ]

θ0 (s) KKs K1 Ki N
3b. =
θr (s) [La Jt s3 + (La Bt + Ra Jt + K1 K2 Jt )s2 + (Ra Bt + Ki Kb + KK1 Ki Kt + K1 K2 Bt )s + KKs K1 Ki N ]

F (s) 880(s + 6.818)

4.a) Gc (s) = =
Ec (s) (s + 6)(s + 10)

V (s) KGc (s) 0.0293K(s + 6.818)

4.b) = =
E(s) Ms s(s + 6)(s + 10))

KGc (s)
Vs Ms 0.0293K(s + 6.818)
4.c) = KKt Gc (s)
=
Er (s) 1+ s3 + 16s2+ (0.0044K + 60)s + 0.03K
Ms

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4.d) er = 1V i.e., Er (s) = s

lim v(t) = lim sV (s) = 6.66f t/sec

t→∞ s→0

y7 G1 G2 G3 G4 + G1 G5 (1 + G3 H2 )
= 5.
y1 ∆
where ∆ = 1 + G1 H1 + G3 H2 + G1 G2 G3 H3 + H4 + G1 G3 H1 H2 + G1 H1 H4 + G3 H2 H4 + G1 G2 G3 H3 H4 +
G1 G3 H1 H3 H4

Y7 G1 G2 G3 G4 G5 + G5 G6 (1 + G2 H2 + G3 H3 )
=
6.
Y1 ∆
where ∆ = 1 + G1 H1 + G2 H2 + G3 H3 + G4 G5 H4 + H6 + G2 G3 G4 G5 H5 − G5 G6 H1 H5 − G5 G6 H1 H2 H3 H4 +
G1 G3 H1 H3 + G1 G4 G5 H1 H4 + G1 H1 H6 + G2 G4 G5 H2 H4 + G2 H2 H6 + G3 H3 H6 − G3 G5 G6 H1 H3 H5 +
G1 G3 H1 H3 H6

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9. tr = 0.83sec, Mp = 48.7%, tp = 1.44sec, ts = 8sec

10. Mp = 1 implies ζ = 0, which implies wn = 1.57rads−1 which in turn gives KP = 1.25 and KD = 0

11. K=1.67

12. Kp = ∞ and Kv = 1.0 for type-1 system. So, ess = 0 for step-input and ess = 1a0 for ramp-
input where a0 is the slope of ramp signal.

13. ess = 0.71 for step input and ess = ∞ for a ramp input

14. K > 10