ELE2103 Linear Systems and Control: Introductory Book

ELE2103
Linear systems and control

Faculty of Engineering and Surveying
Introductory book
Se me st er 2 20 11
Published by
University of Southern Queensland
Toowoomba Queensland 4350
Australia
http://www.usq.edu.au
© University of Southern Queensland, 2011.2.
Copyrighted materials reproduced herein are used under the provisions of the Copyright Act 1968 as amended, or
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Table of contents
Page
Essential information 1
Introduction 2
Course overview 3
Linear Systems and control 3
Concept map 4
Study materials 5
Study schedule 6
Assessment 7
Late assignment policy 7
Assignment 1 8
System modeling, time response and stability 8
Assignment 2 10
Block diagram, system performance and responses 10
Past examinations 11
ELE2103 – Linear systems and control 1
Essential information
The topics in the following list provide important information that will assist you with your
study. You can access a handout containing the information on your StudyDesk through the
‘Essential information (study materials)’ link <http://usqstudydesk.usq.edu.au/file.php/1/
sitefiles/DeC/essential_info/essentialhandout.pdf>. You will need your UConnect username
and password to access the file. Please make sure you read this information carefully before
commencing your study.
• Getting started
<http://usqstudydesk.usq.edu.au/file.php/1/sitefiles/DeC/essential_info/
getting_started.pdf>
• Course specification
course_specification.pdf>
• Support
<http://usqstudydesk.usq.edu.au/file.php/1/sitefiles/DeC/essential_info/support.pdf>
• UConnect
<http://usqstudydesk.usq.edu.au/file.php/1/sitefiles/DeC/essential_info/u_connect.pdf>
• Assignment submission
assignment_submission.pdf>
• Grading levels
grading_levels.pdf>
• Course evaluation
course_evaluation.pdf>
• Residential schools
residential_school.pdf>
• Library
<http://usqstudydesk.usq.edu.au/file.php/1/sitefiles/DeC/essential_info/library.pdf>
• Referencing APA
apa_referencing_guide.pdf>
• Referencing Harvard AGPS
harvard_referencing_guide.pdf>
• Optional purchase of study materials
optional_purchase.pdf>
• USQ policies and procedures
policies_procedures.pdf>
2 ELE2103 – Linear systems and control
Introduction
This course is an amalgamation of two smaller courses in the previous BEng course, viz.
Systems Modelling and Analysis and Control Engineering 1.
• Since the first course was very much a preparation for the second (as well as other areas, of
course) it is appropriate to combine the two into a single package. The content of the
course and the rationale for it are introduced in module 1, so very little needs to be said
here.
Course overview
Linear Systems and control
Signals Systems
Introduction
Linear Modelling
Modelling
ODE Description
Laplace Transform
Transfer Functions
PFs; poles; zeros;

1st, 2nd, high order
Block diagrams;
Root Locus Concept
Fourier series
Fourier Transforms
Response in Freq. Domain
Frequency response;
Bode diagrams
Steady state performance;

Error co-efficients
Stability; Nyquist & Theorem,

GM, ÆM, Routh Hurwitz
Performance improvement;
PID; Phase lead; lag.
Design via Bode diagram
Design via Root Locus
Convolution – system
response in time domain
Concept map
Linear Test Signals

Lumped Parameter Impulse
Periodic
Time Invariant Systems Step
Signals
Described By Ramp
Ordinary Differential Equations Parabolic
Laplace Fourier
Transform Analysis
LAPLACE TRANSFORM
TRANSFER FUNCTIONL
Inverse Transient
Laplace Response
Transform
First Order Second Order Higher Order

Frequency Domain Behaviour Delays
Systems Systems Systems
Stability and Behaviour of

Poles and Zeros Bode Nyquist Steady
Plots Plots State Errors
Routh-Hurwitz Root Phase & Gain

Criterion Locus Margin
Compensation
Study materials
Introductory book
Study book: Linear Systems and Control
Textbook: Nise, NS 2008, Control system engineering, 5th edn, John Wiley & Sons,
New York.
Support material: Matlab student edition (version 6.0/later and Control Toolbox)
References:
1. Kuo, BC & Golnaraghi, F 2010, Automatic control systems, 9th edn, John Wiley & Sons.
2. Katsuhiko, Ogata 2009, Modern control engineering, 5th edn, Prentice Hall, Inc.
3. Dorf, RC & Bishop, RH 2008, Modern control systems, 11th edn, Prentice Hall.
Study schedule
Week Module Activity/Reading Assessment
1 1. Linear Systems Study Book: Module 1
18–22 July Analysis Textbook: Chapter 1
2. Laplace Study Book: Module 2

2 Transforms and Textbook: Chapter 2
25–29 July
Transfer Function
3 3. System Concepts Study Book: Module 3
1–5 August Textbook: Chapter 3+5
4 4. Time Response Study Book: Module 4+8

8–12 August Textbook: Chapter 4+6
Reminder: End of week 4 is the last date to drop S2 courses without academic or financial penalty.
5 5. The Root Locus Study Book: Module 5

15–19 August Textbook: Chapter 8
6 6. Fourier Transform Study Book: Module 6

22–26 August
7 7. Frequency Study Book: Module 7 Assignment 1

29 Aug–2 Sept Response Textbook: Chapter 10 Due: 2 Sep. 2011
8 8. Stability of Study Book: Module 8

5–9 September Control Systems
Reminder: End of week 8 is the last date to drop S2 courses without academic penalty.
9 BREAK
12–16 September
10 BREAK
19–23 September
11 9. Control System Study Book: Module 9

26–30 September Characteristics Textbook: Chapter 7
12 10. Performance Study Book: Module 10

3–7 October Improvement Textbook: Chapter 9+11
13 11. Controller Design Study Book: Module 11

10–14 October Textbook: Chapter 9+11
14 11. Controller Design Study Book: Module 11 Assignment 2

17–21 October Textbook: Chapter 9+11 Due: 21 Oct. 2011
15 Revision
24–28 October
16–17 EXAMINATION PERIOD

31 Oct–11 Nov
Assessment
Assessment of this course is via two assignments and an examination; please note the dates for
these. A study chart is provided in this book and is offered as a guide with which to check your
progress – it might be worth looking at it now and again.
The assessment referred to above is for the purposes of academic administration. The real
assessment will come from yourself – if you can use this material appropriately to describe
signals and systems, to make valid measurements of their behaviour and, perhaps, to invent
and implement a first rate control system then the course will have been a success.
Exam details
The final assessment for this course will be a restricted examination for 700 of the total
1 000 marks for the course. The format of this examination is as follows:
Perusal – 10 minutes
Duration – 2 hours
This examination assesses all study material.
Drawing, writing implements, and a non programmable calculator are allowed into
the exam.
Study materials are not allowed in to the exam venue.
Assessment details
Assignment Due Weighting (%)

Assignment 1 2 September 2011 20
Assignment 2 21 October 2011 10
Examination (restricted) End of semester 70
Late assignment policy

Please consult the course specification for up to date information regarding late assignments.
Please also note that assignment extensions are unlikely to be given and that late assignments
will be penalised at a rate of 5% per day late.
Assignment 1
System modeling, time response and stability
Due date: 2 September 2011

Value: 20%
Total marks: 200
Penalty for late submission: 5% per day
Physical system modeling, time response and stability

For a motor, load and torque-speed system shown below
θm(t
(t)
ea(t)
θL(t)
1. Find the differential equation relating input ea(t) and output θ L(t). (Hint:
2 2
§N · §N · § N2 ·
J m J a ¨¨ 1 ¸¸ J L ; Dm Da ¨¨ 1 ¸¸ DL ; T m (t ) ¨¨ ¸¸T L (t )
© N2 ¹ © N2 ¹ © N1 ¹
dT (t )
ea (t ) Raia (t ) K b m ; Tm (t ) K aia (t )
dt
where ea(t) and ia(t) are the armature voltage and current, Jm and Dm are the equivalent
inertia and damping; Tm(t) is the torque developed by the motor; N1/N2 is the ratio of the
gear system.)
(50 marks)
2. Determine the system transfer function G(s)= θ L(s)/Ea(s). (30 marks)
3. Given Ja=5, JL=700, Da=2, DL=800, N1=100, N2=1000, Ka=5, Kb=2 and Ra=1, obtain
the time response for a unit impulse input.
(30 marks)
4. If the above system is considered as a plant, and a feedback control system is formed as
below, for gain K=40, obtain the unit step response of the feedback control system.
(40 marks)
r(t) + ea(t) TL(t)

K Plant

5. Draw a root locus and analyze the stability of the feedback system in 4).
(50 marks)
Assignment 2
Block diagram, system performance and responses
Due date: 21 October 2011

Value: 10%
Total marks: 100
Penalty for late submission: 5% per day
1. Simplify the above block diagram and determine the closed-loop transfer function (Hints:
Join summing junction 2 and 3, then simplify the block diagram using parallel, cascade
and feedback connections)
(15 marks)
100K
2. If given transfer function G ( s ) = ----------------------------------------------------------- and H(s)=1, using Routh-
( s + 15 ) ( s + 27 ) ( s + 39 )
Hurwitz criterion, find the value of K that will yield oscillations for this unity feedback
system.
(20 marks)
3. Given K=307.8 in question 2), draw its Bode plots and determine the gain margin and
phase margin for the system).
(50 marks)
4. Given K=307.8 in question 2) again, find the steady-state errors for a unit step input and a
unit ramp input respectively.
(10 marks)
5. If you are required to improve the steady state error and make it to be zero for a unit step
input, should you choose a PI or PD controller?
(5 marks)
Past examinations
STUDENT NAME: STUDENT NO.:
UNIVERSITY OF SOUTHERN QUEENSLAND
FACULTY OF ENGINEERING AND SURVEYING
Course No: ELE2103 Course Name: LINEAR SYSTEMS AND CONTROL
This examination carries 70% of the total

Assessment No: 3 Internal X
assessment for this course
External X
Examiner: PAUL WEN Moderator: MARK PHYTHIAN
Examination Date: NOVEMBER 2009
Time Allowed: Perusal – Ten (10) minutes

Working – Two (2) hours
Special Instructions:
This is a RESTRICTED examination.
Writing materials and non-programmable calculators are permitted. Students must note the maker and mode
of the calculator used on the front of the answer book (or examination paper where applicable). This may be
subject to checking by the examination supervisor.
Students are permitted to write on the examination paper during perusal time.
Students must complete questions 1 to 3, and question 4 or 5. Questions 4 and 5 are alternatives. One
and only one will be marked.
All examination question papers must be submitted to supervisors at the end of every examination and
returned to USQ.
Any non-USQ copyright material used herein is reproduced under the provisions of Section 200(1)(b) of the
Copyright Amendment Act 1980.
ELE2103 - LINEAR SYSTEMS AND CONTROL NOVEMBER 2009 Page 1
QUESTIONS 1 TO 3 ARE COMPULSORY
QUESTION 1 (100 marks total)
Briefly describe each of the following terms in the context of linear systems and control. Describe
mathematically, if possible. Do not write more than three dot points per term. (10 marks each term)
1. Open-loop system transfer function

2. Poles and zeros
3. Transient response
4. Steady state error
5. Root locus
6. Bode plots
7. PID controller
8. Phase lead compensator
9. Overshoot
10. Settling time
Page 1 of 9
ELE2103 - LINEAR SYSTEMS AND CONTROL NOVEMBER, 2009 Page 2
For a mass-spring-damper mechanical system shown below,
Part 1 70 Marks
Verify the following differential equations relating input force f(t) and output displacement x1(t) and x2(t) in the
above system (Hint: K, fv and M are spring constant, friction coefficient and mass respectively)
dx 2 (t ) d ( x 2 (t ) x1 (t )) d 2 x 2 (t )
f (t ) f v 3 f v2 K 2 ( x 2 (t ) x1 (t )) M 2
dt dt dt 2
d ( x 2 (t ) x1 (t )) dx (t ) d 2 x1 (t )
f v2 K 2 ( x 2 (t ) x1 (t )) K 1 x1 (t ) f v1 1 M1
dt dt dt 2
Part 2 50 Marks
Determine the system transfer function G(s)= X1(s)/F(s)
Part 3 80 Marks
s 1.3
For this part, suppose system transfer function G ( s ) 3u
( s 1.4)( s 2 2 s 1.49)
Obtain the system impulse response in time domain.
Page 2 of 9
For a position control system shown in the figure below,
Part 1 50 Marks
Determine the open-loop transfer function G(s)H(s) and the closed-loop transfer function T(s).
Part 2 50 Marks
Find the unit step steady state error of the above system.
Part 3 100 Marks
Design K and K2 in the system to yield an overshoot of 16% and a settling time of 0.8 second.
Page 3 of 9
COMPLETE EITHER QUESTION 4 OR QUESTION 5
QUESTION 4 (200 marks total, alternative of Question 5)
A floppy disk driver is a position control system in which a read/write head is positioned over a magnetic disk.
The system responds to a command from a computer to position itself at a particular track on the disk. A physical
representation of the system and a block diagram are shown in the figure below
where K is a gain which can be adjusted according to the requirements. Assume K is 1 in your Bode plots
drawing.
Part 1 120 Marks
Sketch the Bode plots for the above system using straight-line approximation, for Z from 0.1 to 1000
rad/s. Show the sketch procedure. (A graph paper is provided at the end)
Part 2 60 Marks
Estimate the phase and gain margins based on your Bode plots.
Part 3 20 Marks
If you are required to improve system transient response such as overshot and settling time, what simple
compensator/controller should you include in the forward path of the system?
Page 4 of 9
The open-loop transfer function of a unit feedback control system is given as

s4
G ( s) H ( s) Kp u1
s( s 2)
where Kp is a proportional controller which can be adjusted according to the system design specification.
Part 1 120 Marks
Draw the root locus diagram of the system for 0<Kp<+f and show the drawing steps.
Part 2 60 Marks
Determine the range of Kp for a stable system using Routh-Hurwitz criterion.
Part 3 20 Marks
Briefly explain your conclusion obtained in part 2 using your root locus diagram in part 1.
END OF QUESTIONS
THE FOLLOWINGS ARE EXAMINATION INFORMATION SHEETS
Page 5 of 9
Selected Laplace Transforms
f(t) F(s)
G (t ) , Impulse 1
u(t), step 1
s
n!
tn s n1
e-at 1
sa
te-at 1
(s a) 2
1
ba
(e at e bt ) 1
( s a)( s b)
Z
e-atsinZt
( s a) 2 Z 2
e-atcosZt sa
( s a) 2 Z 2
Selected Laplace Transform Theorems
Theorem Name
f
F (s) L[ f (t )] ³0
st
f (t )e dt Definition
L[k1 f1 (t ) k2 f 2 (t )] k1F ( s ) k2 F ( s ) Linearity
L[e at f (t )] F (s a) Frequency Shift
L[ f (t T )] e st F ( s) Time Shift
1 s Scaling
L[ f (at )] F( )
a a
ª df (t ) º Differentiation
L« » sF ( s) f (0 )
¬ dt ¼
ª d n f (t ) º n
Differentiation
» s F ( s ) ¦ s f (0 )
n n k k 1
L« n
¬ dt ¼ k 1
t F (s) Integration
L ª ³ f (W )dW º
«¬ 0 »¼ s
f (f) lim sF ( s ) Final Value
so 0
f (0 ) lim sF ( s ) Initial Value

s of
Page 6 of 9
Selected Formulae
First order system, its step response & specification
a a 1 1
G ( s) ; C ( s) G ( s ) R( s )
sa s( s a) s sa
2.2 4 1
c(t ) 1 e at ; Tr ; Ts ; W
a a a
Second order system, its step response & specification

Z n2 Z n2
G ( s) ; C ( s) G ( s) R( s)
s 2 29Z n s Z n2 s( s 2 29Z n s Z n2 )
§ 9 ·
c(t ) 1 e 9Znt ¨ cos Z n 1 9 2 t sin Z n 1 9 2 t ¸
¨ 1 9 2 ¸
© ¹
§ 9 ·
1
1
1 9 2

e 9Znt cos Z n 1 9 2 t I ; I tan 1 ¨
¨
¸
2 ¸
© 1 9 ¹
9S
4 S 19 2 ln(%OS / 100)
Ts ; Tp ; %OS e u100; 9
9Z n Zn 1 9 2
S 2 ln 2 (%OS / 100)
Mason’s rule
C ( s) ¦T '
k
k k
G ( s)
R( s) '
Routh-Hurwitz stability criterion
Steady-state error for unit feedback system and specification

e (f ) lim e(t ) lim sE ( s ) lim sR ( s )[1 T ( s )]
t of s o0 so0
Kp lim G ( s ); K v lim sG ( s); K a lim s 2G ( s )

s o0 so0 s o0
Page 7 of 9
Root locus
KG ( s ) H ( s ) 1 & KG ( s ) H ( s ) (2k 1)180 0
Va
¦ poles ¦ zeros ; T (2k 1)S
; k 0,r1,r2
a
# poles # zeros # poles # zeros
Controllers
K2 K1s K 2 K 3 s 2 s 2 as b
GPID ( s ) K1 K3s K
s s s
s zC s zC
GPI ( s ) K ; GPD ( s ) K ( s zC ); GC ( s ) K
s s pC
Frequency response, Bode plots and Nyquist plot
§s ·
For G ( s ) sa a¨ 1¸
©a ¹
0
G ( jZ ) | a a0 or 20logM 20loga while Z o 0;
0
G ( jZ ) | jZ Z90 or 20logM 20logZ while Z o f
1 1 1
For G ( s )
sa a§s ·
¨ 1¸
©a ¹
1
1 0
G ( jZ ) | 0 or 20logM 20loga while Z o 0;
aa
j 1
G ( jZ ) | 900 or 20logM 20logZ while Z o f
Z Z
§ s2 · s
For G ( s ) s 2 29Z n s Z n2 Z n2 ¨¨
1¸¸
2
29
©Z Zn ¹ n
G ( jZ ) | Z n2 Z n200 or 20logM 20logZ n2 while Z o 0;

G ( jZ ) | Z 2 Z 21800 or 20logM
40logZ while Z o f
1 1 1
For G ( s ) 2 2 2
s 29Z n s Z n Z n § s 2
s ·
¨¨ 2 29 1¸¸
© Zn Zn ¹
1 1 1
G ( jZ ) | 2 2
00 or 20logM 20log 2 while Z o 0;
Zn Zn Zn
1 1
G ( jZ ) | 2
1800 or 20logM 40logZ while Z o f
Z Z2
Z n2
For G ( s )
s 2 29Z n s Z n2
Z n2
M | G ( jZ ) |
(Z n2 Z 2 ) 2 49 2Z n2Z 2
1
Mp
2
; Zp Z n 1 29 2
29 1 9
Page 8 of 9
You can rescale the axes to fit your plots
50
-50
-100
-150
-200
-1 0 1 2 3 4
10 10 10 10 10 10
50
-50
-100
-150
-200
-1 0 1 2 3 4
10 10 10 10 10 10
Page 9 of 9
STUDENT NAME: STUDENT NO.:
UNIVERSITY OF SOUTHERN QUEENSLAND
FACULTY OF ENGINEERING AND SURVEYING
Course No: ELE2103 Course Name: LINEAR SYSTEMS AND CONTROL
This examination carries 70% of the total

Assessment No: 3 Internal X
assessment for this course
External X
Examiner: PAUL WEN Moderator: MARK PHYTHIAN
Examination Date: NOVEMBER 2010
Time Allowed: Perusal – Ten (10) minutes

Working – Two (2) hours
Special Instructions:
This is a RESTRICTED examination.
Writing materials and non-programmable calculators are permitted. Students must note the maker and mode
of the calculator used on the front of the answer book (or examination paper where applicable). This may be
subject to checking by the examination supervisor.
Students are permitted to write on the examination paper during perusal time.
Students must complete questions 1 to 3, and question 4 or 5. Questions 4 and 5 are alternatives. One
and only one will be marked.
All examination question papers must be submitted to supervisors at the end of every examination and
returned to USQ.
Any non-USQ copyright material used herein is reproduced under the provisions of Section 200(1)(b) of the
Copyright Amendment Act 1980.
QUESTIONS 1 TO 3 ARE COMPULSORY
Briefly describe each of the following terms in the context of linear systems and control. Describe
mathematically, if possible. Do not write more than three dot points per term. (10 marks each term)
1. System transfer function
2. Closed-loop system
3. Steady state response
4. Damping factor
5. Frequency response
6. Magnitude plot
7. Peak time
8. Settling time
9. Phase lag compensator
10. PID controller
Page 1 of 9
Consider a leaky tank system shown below. The inflow is u(t). The outflow is v(t) = ch(t), where c is a
constant coefficient. The volume is given by ah(t), where a is the cross sectional area of the tank. The
net volume gain is given by (inflow – outflow).
Inflow u(t)
h(t)
outflow v(t)=ch(t)
Part 1  60 Marks
Write a differential equation modelling the relationship between u(t) and v(t). Then find out its transfer
V ( s)
function .
U ( s)
Part 2  40 Marks
The outflow v(t) of the above tank is the inflow to another tank. The second tank has a cross sectional
area of a2, a coefficient c2, and an outflow y(t). For this double-tank system, find out its transfer function
between input U(s) and output Y(s).
Part 3  100 Marks
Given a=c=a2=1 and c2=2, derive the unit step response of the double-tank system.
Y ( s) 2
(Assume  if part 2 failed)
U (s) (s  1)(s  2)
Page 2 of 9
For the system shown in the figure below,
Part 1  60 Marks
Determine the open-loop transfer function G(s) and the closed-loop transfer function T(s). (Hints: simplify the
block diagram by shifting the 2nd pick off point to the 3rd)
K
For the following parts, assume the open-loop transfer function G(s) H (s)  G(s)  1  ,
s ( s  a)
Part 2  40 Marks
Determine the type of the closed-loop system and the steady state error for a unit step input.
Part 3  100 Marks
Determine the value of K and a, so that the percent overshoot %OS of the closed-loop system for a unit step input
is limited to 16.303% and the settling time Ts is 1.6 seconds.
Page 3 of 9
COMPLETE EITHER QUESTION 4 OR QUESTION 5
K
The open-loop transfer function of a control system is G( s) 
s( s  15s  64)
2
Part 1 120 Marks
For K=128 sketch the Bode plots for the above system using straight-line approximation.
Part 2 40 Marks
Estimate the phase margin and gain margin based on the Bode plots.
Part 3 40 Marks
Is the closed-loop system stable? Explain your conclusion.
Page 4 of 9
The open-loop transfer function of a unit feedback control system is given as

Kp
G( s) 
(s  1)(s  2)(s  3)
where Kp is a proportional controller which can be adjusted according to the requirements.
Part 1 100 Marks
Sketch the root locus diagram of the system and show the drawing steps.
Part 2 40 Marks
Based on the root locus obtained in part 1, discuss the system stability when Kp is adjusted from 0 to .
Part 3 60 Marks
Determine the range of Kp for a stable system using Routh-Hurwitz criterion. Does the result agree with your
discussion in part 2?
END OF QUESTIONS
THE FOLLOWINGS ARE EXAMINATION INFORMATION SHEETS
Page 5 of 9
Selected Laplace Transforms
f(t) F(s)
 (t ) , Impulse 1
u(t), step 1
s
n!
tn s n 1
e-at 1
sa
te-at 1
( s  a) 2
1
ba
(e at  ebt ) 1
(s  a)(s  b)

e-atsint
( s  a) 2   2
e-atcost sa
( s  a) 2   2
Selected Laplace Transform Theorems
Theorem Name

F ( s )  L[ f (t )]  0
f (t )e  st dt Definition
L[k1 f1 (t )  k2 f 2 (t )]  k1F ( s )  k2 F ( s) Linearity
L[e  at f (t )]  F ( s  a) Frequency Shift
L[ f (t  T )]  e st F ( s) Time Shift
1 s Scaling
L[ f (at)]  F( )
a a
 df (t )  Differentiation
L   sF (s)  f (0 )
 dt 
 d n f (t )  n
Differentiation
L n   s n
F ( s )   s n  k f k 1 (0 )
 dt  k 1
L   f ( )d  
t F ( s) Integration
 0   s
f ()  lim sF (s) Final Value
s0
f (0)  lim sF (s) Initial Value

s 
Page 6 of 9
Selected Formulae
First order system, its step response & specification
a a 1 1
G( s)  ; C ( s )  G ( s ) R( s )   
sa s( s  a) s s  a
2.2 4 1
c(t )  1  e at ; Tr  ; Ts  ;  
a a a
Second order system, its step response & specification

 n2  n2
G ( s)  ; C ( s)  G ( s) R( s) 
s 2  2 n s   n2 s( s 2  2 n s   n2 )
  
c(t )  1  e nt  cos n 1   2 t  sin  n 1   2 t 
 1  2 
 
 1
1
1 
 
e nt cos  n 1   2 t   ;   tan1 
  


2 
 1  
2

4  1 2  ln(%OS / 100)
Ts  ; Tp  ; %OS  e 100;  
 n n 1   2
 2  ln 2 (%OS / 100)
Mason’s rule
C ( s) T  k k
G ( s)   k
R( s) 
Routh-Hurwitz stability criterion
Steady-state error for unit feedback system and specification

e()  lim e(t )  lim sE (s)  lim sR(s)[1  T (s)]
t  s0 s0
K p  lim G(s); Kv  lim sG (s); K a  lim s 2G(s)

s0 s0 s0
Page 7 of 9
Root locus
KG ( s ) H ( s )  1 & KG ( s ) H ( s )  (2k  1)1800
a 
 poles   zeros ;  
(2k  1)
; k  0,1,2  
# poles# zeros # poles# zeros
a
Controllers
K2 K s  K 2  K3s 2 s 2  as  b
GPID ( s )  K1   K3s  1 K
s s s
s  zC s  zC
GPI ( s )  K ; GPD ( s )  K ( s  zC ); GC ( s )  K
s s  pC
Frequency response, Bode plots and Nyquist plot
s 
For G ( s )  s  a  a  1
a 
G ( j )  a  a00 or 20logM  20loga while   0;
G ( j )  j  900 or 20logM  20log while   
1 1 1
For G ( s )  
sa a  s 
  1
a 
1 1
G ( j )   00 or 20logM  20loga while   0;
a a
j 1
G ( j )      900 or 20logM  20log while   
 
 s2 s 
For G ( s )  s 2  2 n s   n2   n2  2  2  1
 n n 
G ( j )   n2   n200 or 20logM  20log n2 while   0;
G ( j )   2   21800 or 20logM  40log while   
1 1 1
For G ( s )  2  2
s  2 n s   n  n  s 2
2
s 
 2  2  1
 n n 
1 1 1
G ( j )  2  2 00 or 20logM  20log 2 while   0;
n n n
1 1
G ( j )    1800 or 20logM  40log while   
 2
 2
 n2
For G ( s ) 
s 2  2 n s   n2
 n2
M | G ( j ) |
( n2   2 ) 2  4 2 n2 2
1
Mp  ;  p   n 1  2 2
2 1   2
Page 8 of 9
You can rescale the axes to fit your plots
50
-50
-100
-150
-200
-1 0 1 2 3 4
10 10 10 10 10 10
50
-50
-100
-150
-200
-1 0 1 2 3 4
10 10 10 10 10 10
Page 9 of 9

ELE2103 Linear Systems and Control: Introductory Book

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ELE2103 Linear Systems and Control: Introductory Book

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ELE2103

Linear systems and control

© University of Southern Queensland, 2011.2.

Linear Systems and control 3

Late assignment policy 7

Systems Modelling and Analysis and Control Engineering 1.

Linear Systems and control

PFs; poles; zeros;

Root Locus Concept

Steady state performance;

Stability; Nyquist & Theorem,

Design via Bode diagram

Design via Root Locus

Linear Test Signals

First Order Second Order Higher Order

Stability and Behaviour of

Routh-Hurwitz Root Phase & Gain

Study book: Linear Systems and Control

2. Laplace Study Book: Module 2

4 4. Time Response Study Book: Module 4+8

5 5. The Root Locus Study Book: Module 5

6 6. Fourier Transform Study Book: Module 6

7 7. Frequency Study Book: Module 7 Assignment 1

8 8. Stability of Study Book: Module 8

11 9. Control System Study Book: Module 9

12 10. Performance Study Book: Module 10

13 11. Controller Design Study Book: Module 11

14 11. Controller Design Study Book: Module 11 Assignment 2

16–17 EXAMINATION PERIOD

This examination assesses all study material.

Study materials are not allowed in to the exam venue.

Assignment Due Weighting (%)

Late assignment policy

System modeling, time response and stability

Due date: 2 September 2011

Physical system modeling, time response and stability

2. Determine the system transfer function G(s)= θ L(s)/Ea(s). (30 marks)

r(t) + ea(t) TL(t)

Block diagram, system performance and responses

Due date: 21 October 2011

UNIVERSITY OF SOUTHERN QUEENSLAND

FACULTY OF ENGINEERING AND SURVEYING

Course No: ELE2103 Course Name: LINEAR SYSTEMS AND CONTROL

This examination carries 70% of the total

Examiner: PAUL WEN Moderator: MARK PHYTHIAN

Examination Date: NOVEMBER 2009

Time Allowed: Perusal – Ten (10) minutes

This is a RESTRICTED examination.

QUESTIONS 1 TO 3 ARE COMPULSORY

QUESTION 1 (100 marks total)

1. Open-loop system transfer function

QUESTION 2 (200 marks total)

For a mass-spring-damper mechanical system shown below,

Determine the system transfer function G(s)= X1(s)/F(s)

Obtain the system impulse response in time domain.

QUESTION 3 (200 marks total)

For a position control system shown in the figure below,

Part 3  100 Marks

COMPLETE EITHER QUESTION 4 OR QUESTION 5

QUESTION 4 (200 marks total, alternative of Question 5)

Part 1 120 Marks

QUESTION 5 (200 marks total, alternative of Question 4)

The open-loop transfer function of a unit feedback control system is given as

Part 3 100 Marks

Part 1 120 Marks

Part 1 120 Marks

f (0 ) lim sF ( s ) Initial Value

G ( jZ ) | Z n2 Z n200 or 20logM 20logZ n2 while Z o 0;