CONTROL SYSTEMS ENGINEERING D227

S.A.E. SOLUTIONS
TUTORIAL 5 SYSTEM RESPONSE
SELF ASSESSMENT EXERCISE No.1
1. The voltage Vi in the L C - R circuit shown is suddenly changed from 0 to 10 V. Calculate the
natural frequency of oscillation and the critical value of R that will just stop oscillation. You should
use the following information from tutorial 1.
V
1
The transfer function for the system is G(s) = o (s) = 2 2
Vi
T s + 2 Ts + 1
The damping ratio =

R
4

L
C

The critical damping resistance is Rc = 4

L
and T = CL
C

C=20mF L = 5 H R=0.020
R
0.02
=
= 0.0632
-6
L
5
x
10
4
4x
C
20 x 10 -3
T = CL = (20 x 10-3 x 5x10-6) = 0.000316 s
=

n = 1/T = 3162.3

fn=3162.3/2 = 503.3 Hz

Critical damping occurs when = 1

R
=1=
L
4
C

5 x 10 -6
L
R = 4 = 4x
= 0.0316
C
20 x 10 -3

2. Using the answers from Q1, determine the time taken for the voltage to reach 10V for the first
time.
We can only make an approximation from the normalised response graph. o/H = 1 when 10 V is
reached and for = 0.063 we estimate nt is about 1.5. hence t = 1.5/3162.3 so the time is about
0.47 ms.

3. A single acting pneumatic cylinder has to push a mass M kg as shown. The cylinder is returned
by a spring with stiffness K N/m. There is damping of kd N s/m. The air pressure is p N/m2 and the
piston area is A m2. The position of the mass is x metres.
x
A/M
(s) = 2
Show that the transfer function for this system is
p
s + 2 n s + n 2
n is the natural frequency of the system (K/M)
is the damping ratio. = kd/(4MK)

Given M = 50 kg, kd = 80 N s/m, K = 2000 N/m and A = 0.2 m2, determine the natural frequency
and the damping ratio.
Determine the natural gain and the time constant.
A step change is made in p. Using the normalised response graph, find the time when the output
reaches the new value for the first time.

F = p A = Mass x inertia force + damping force + spring force

p A = M d2x/dt2 + kd dx/dt + kx
p (s) = A (M s2 x + kd s x + k x)= A x (Ms2 + kd s + k)
A
A/M
x
(s) =
=
2
p
M s + k ds + k s2 + k d s + k
M
M
2
kd/M = 2 n
k/M = n
x
A/M
(s) = 2
p
s + 2 n s + 2n
n2 = k/M = 2000/50 = 40
n = 6.324 rad/s
= kd/(4MK) = 80/(4 x 50 x 2000) = 0.1265

f n = n /2 = 1.006 Hz

A/M 2n
Rearrange the transfer function to x (s) =
p
s 2 / 2n + 2 s/ n + 1
Natural Gain = A/(Mn2)= 0.2/(50 x 6.3242) = 0.0001
T = 1/n = 0.158 s
From the graph for = 0.12 the value of 1.0 is reached when n t = 1.7
Hence t = 1.7/6.324 = 0.27 s approximately.

4. A standard second order system is subjected to a unit step disturbance and a recording is made
of the time output response. It is found that ratio of two successive amplitudes is 3.6 and the
periodic time is 0.641 s. Determine the damping ratio and the natural frequency of the system.
(0.2 and 10 rad/s
2
ln 1 =
= ln (3.6 ) = 1.281
2
1- 2
(2 )2 = 1.2812 = 1.641
1- 2
(2 )2 = 1.641 1 - 2 = 1.641 - 1.641 2

39.478 = 1.641 - 1.641 2

41.122 = 1.641
= 0.2
fr = 1/Tp = 1/0.641 = 1.56 Hz
2

r = n 1 -
r
9.802
=
= 10 rad/s
n =
2
0.98
1-
2

r = 2 fr = 9.802 rad/s

SELF ASSESSMENT EXERCISE No.2

1.

Find the d.c. gain of the following closed loop transfer functions.
G(s) =

1000
2s 2 + 50s + 200

G(s) =

0.05s

500(s + 2)
4
G(s) = 2
+ 0.2s + 0.4
s + 10s + 1

1000
5
= 0.01 2
put s =0 and the DC gain is 5
2s + 50s + 200
2s + 0.25s + 1
4
10
G(s) =
=
put s = 0 and the DC gain is 10
2
2
0.05s + 0.2s + 0.4 0.125s + 0.5s + 1
500(s + 2) 500s + 1000
G(s) = 2
=
put s = 0 and the steady state gain is 1000
s + 10s + 1 s 2 + 10s + 1

G(s) =

SELF ASSESSMENT EXERCISE No.3

1. Find the steady state error when a unit step is applied to a system with the following closed loop
transfer functions.
4
500
G(s) =
G(s) = 2
2
0.05s + 0.2s + 0.4
s + 10s + 100
(i)

1
4
as s 0
e (t) (steady state) = s i (s)[1 - G cl ] For a step input, i (s) = so e (t) = 1
2
s
(0.05s + 0.2s + 0.4)
This becomes = 1

4
= -9
0 + 0 + 0.4

(ii)
1
500
e (t) (steady state) = s i (s)[1 - G cl ] For a step input, i (s) = so e (t) = 1 2
as s 0
s
(s + 10s + 100)
This becomes = 1

500
= -4
0 + 0 + 100

2. Find the steady state error when a unit step is applied to a system with the following open loop
transfer functions with unit feedback.
1
5
G(s) =
G(s) =
(s + 1)(s + 4)
s(s + 1)(s + 4 )
(i)
s i (s)
1
1
For a step input, i (s) = so e (t) =
1+ G
s
1+ G
1
1
and as s 0 this becomes =
=0
e (t) =
1 + 1/0

1
1+

s(s + 1)(s + 4)
(ii)
s (s)
1
1
e (t) (steady state) = i For a step input, i (s) = so e (t) =
1+ G
s
1+ G
1
1
e (t) =
and as s 0 this becomes =
= 4/9
1 + 5/4

5
1+

(s + 1)(s + 4)
e (t) (steady state) =

3. Find the steady state error when a unit ramp is applied to a system with the following open loop
transfer functions with unit feedback.
5
()
G(s) =
(s + 1)(s + 4)
1
(4)
G(s) =
s(s + 1)(s + 4 )
(i)
1
1
1 1
e (t) (steady state) = s i (s)
For a unit ramp input, i (s) = 2 so e (t) = s x 2

s
s 1 + G ol
1 + G ol

1
1
1
1
=
as s 0 e (t) = =
e (t) =
5
5
s 1 +
0
s +

(s + 1)(s + 4 ) s (s + 1)(s + 4)
(ii)
1
1
1 1
e (t) (steady state) = s i (s)
For a unit ramp input, i (s) = 2 so e (t) = s x 2

s
s 1 + G ol
1 + G ol

1
1
1
1
=
as s 0 e (t) =
e (t) =
=4
1
1
s 1 +
0 + 1/4
s +

s (s + 1)(s + 4) (s + 1)(s + 4)
4. Find the steady state error when a system with the following open loop transfer function and unit
feedback has an input i(t) = 1+ 0.5t
5
G(s) =
s(s + 1)(s + 3)
1
e (t) (steady state) = s i (s)

1 + G ol
1 0.5 1 0.5 1
e (t) = s + 2

= 1 +
s 1 + G ol
s s 1 + G ol

1 0.5
i (s) = + 2
s s

1
s + 0.5
0.5
=
as s 0 we may write
e (t) = 1 +

5
5
s 1 +

s +

s(s + 1)(s + 3) (s + 1)(s + 3)

0.5
e (t) =
= 0.3
5 / 3

SELF ASSESSMENT EXERCISE No.4

A standard second order system has a natural frequency of 50 rad/s and a damping ratio of 0.3.
Determine the position of the poles on the s plane.
= cos-1 = cos-1 0.3 = 72.54o
= n = 50 x 0.3 = 15
r = n sin =50 sin 72.54o = 47.7 rad/s
The poles are at -47.7 j50