EEE350: TUTORIAL 1

Prepared by: Dr Nur Syazreen Ahmad

September 23, 2015
(1) Answer the following questions:
(a) What is the main difference between open-loop and closed-loop systems?
(b) Give the advantages and the disadvantages of closed-loop systems.

EEE350 (2015/2016): Control Systems

Page 2 of 8

(2) Given a closed-loop system as shown in Fig 1.

Figure 1: Standard closed-loop system

Find the transfer functions
(a) from set point r(t) to output yp (t),
(b) from output disturbance do (t) to output yp (t),
(c) from noise n(t) to output yp (t)

Prepared by: Dr Syazreen

EEE350 (2015/2016): Control Systems

Page 3 of 8

(2) The inverting amplifier circuit in Fig 2 (a) can be represented as a closed-loop system as
shown in Fig 2 (b) where k is the open-loop gain of the amplifier.

Figure 2: Inverting amplifier

(a) Find the transfer function from v1 to v2 .
(b) Let k = 106 , R2 = 1000 and R1 = 10. Find the closed-loop gain.
(c) What is the effect if the open-loop gain k is very large?

Prepared by: Dr Syazreen

EEE350 (2015/2016): Control Systems

Page 4 of 8

(3) Find the Laplace transform of the following signal:

x(t) =

1 2
t
2

(4) Find the inverse Laplace transform of each of the following:

(a)
3
2

s (s + 5)(s 3)

F (s) =
(b)
G(s) =

12
1
6

+ 2
s + 2 3s 4 s

(c)
H(s) =

s2

6s
3
+ 2
+ 25 s + 16

Prepared by: Dr Syazreen

EEE350 (2015/2016): Control Systems

Page 5 of 8

(5) An input r(t) = t, t 0, is applied to a black box with a transfer function G(s). The
resulting output response, when the initial conditions are zero, is
1
3 1
y(t) = et e2t + t,
4
4 2

t0

Determine G(s) for this system.

Prepared by: Dr Syazreen

EEE350 (2015/2016): Control Systems

Page 6 of 8

(6) (E2.18) The transfer function of a system is

Y (s)
10(s + 1)
= 2
R(s)
s + 9s + 14
Determine y(t) when r(t) is a unit step input.
Answer:
y(t) = 0.71 + e2t 1.71e7t

Prepared by: Dr Syazreen

EEE350 (2015/2016): Control Systems

Page 7 of 8

(7) A system is represented by the figure below.

(a) Determine y(t) for a ramp input r(t) = t, t 0.
(b) Obtain a plot of y(t) for part (a), and find y(t) at t = 1.5s.
(c) Determine the impulse response of the system y(t) for t 0.

Figure 3: A second order open-loop system

(d) A controller with gain K is included in the system as shown below. Suggest the value
of K such that y(t) 1 as t when r(t) is a unit step input.

Figure 4: A second order open-loop system with a controller K

Prepared by: Dr Syazreen

EEE350 (2015/2016): Control Systems

Page 8 of 8

(8) Consider the feedback system below where di is the input disturbance and n is the noise.
(a) Compute the transfer function Y (s)/Di (s), and suggest the values of K that can
reduce the effect of Di (input disturbance) to the feedback system.
(b) Compute the transfer function Y (s)/N (s), and suggest the values of K that can reduce
the effect of N (noise) to the feedback system.
(c) What can you conclude from (a) and (b) above?

Figure 5: Feedback system with measurement noise n(t) and plant input disturbance di (t).

Prepared by: Dr Syazreen