EEE-101 - Control Systems Engineering

Tutorial - 2

Laplace transform of some standard signals and a few related identities are provided in tabular form
below for your ready reference. The tutorial questions follow from the next page.

: unit impulse

: unit step

: unit ramp

Table 1: Laplace transform table

Table 2: Laplace transform theorems

1
 1
1. Let G(s) = , and Y (s) = G(s)R(s). Find y(t), considering zero initial
(s + 1)(s + 4)(s2 + 2s + 2)2
conditions and R(s) = L[e−t u(t)] where u(t) is the unit step signal.

2. Write the differential equation which describes the following system

𝑅(𝑠) + + 𝐶(𝑠)
𝐺1 G(s) = 𝐺2+ 2)
(s2 + 3s + 7)(s
.
- 2
(s + 3)(s + 4)(s + 2s + 100)
+

𝐻1
3. A system with impulse response 𝐻2

g(t) = e−t (1 − sin t)

𝑅(𝑠) + + 𝑌(𝑠)
𝐺2 Find the transfer function
is subjected to a unit-step input. 𝐺1and therefrom obtain the steady-state
value of the output. - -
[Hint: Apply final value theorem (Item no. 11 in Table 2) to obtain the steady-state value]
𝐻1
4. Consider the system, as shown in Fig. 1, is described by the differential equation

ÿ(t) + 7ẏ(t) + 10y(t) = ṙ(t) + 3r(t).

𝑅(𝑠) 𝑌(𝑠)
𝐺(𝑠)

Figure 1

(a) Find the transfer function G(s).

(b) Find the system response y(t) to an input r(t) = e−t u(t) assuming zero initial conditions.
(c) Repeat part (b) when the initial conditions are y(0) = 1, ẏ(0) = 1/2.

[u(t) represents unit-step input.]

2
 5. Find out the transfer function from v(t) to i(t) for the following circuit

𝐶1 = 1 F
𝐶2

𝑅1 = 1 Ω 𝐿2 = 4 H 𝑅2

𝑖(𝑡)
𝑅2 = 1 Ω −
𝑣(𝑡) + 𝑣0 (
𝐿3 = 3 H 𝑣𝑖 (𝑡)
+
𝐿1 = 2 H

𝑅1

Figure 2 𝐶1

𝑥1 (𝑡) 𝑥2 (𝑡)
V0 (s)
6. Find the transfer function 𝐾1 = 1 N/mfor the following
𝐾2 = 1 N/m
circuit 𝐹(𝑡)
𝜃1 (𝑡)
2 N-m-s/rad
𝑇(𝑡) 𝜃2 (𝑡)
Vi (s) 7 N-m-s/rad
𝑀 = 1 kg
𝑓𝑣1 = 2 N-s/m 𝑀1 = 1 kg 𝑓𝑣2 = 1 N-s/m 2 𝑓𝑣3 = 1 N-s/m 1 kg-m2 1 kg-m2
𝐶1 = 1 F 8 N-m/rad 3 N-m
𝐶2

=1Ω 𝐿2 = 4 H 𝑅2

𝑖(𝑡)
𝑅2 = 1 Ω − 𝑣0 (𝑡)
𝐿3 = 3 H 𝑣𝑖 (𝑡)
+
𝐿1 = 2 H

𝑅1

𝐶1

𝑥1 (𝑡) 𝑥2 (𝑡)
Figure 3
𝐾2 = 1 N/m 𝜃1 (𝑡) 𝑇(𝑡) 𝜃2 (𝑡)
𝐹(𝑡) 2 N-m-s/rad
7 N-m-s/rad
= 1 kg 𝑓𝑣 = 1 N-s/m 𝑀2 = 1 kg 𝑓𝑣3 = 1 N-s/m 1 kg-m2
1 kg-m2
2

8 N-m/rad 3 N-m/rad