Quiz 1.
3
The transfer function of a second order system is given by
F (s) 2
= 2 .
U ( s ) 5 s + 3s
(i) Show that this system can be described by the state-space equation written
0 1 0
as x = x + u . How is the output related to all the elements of
0 − 0.6 0.4
the state vector, x?
(ii) Using a feedback loop, the output of this system is regulated by adjusting
u according to the following relationship:
u = r − k1 k 2 x .
k1 and k2 are the adjustable feedback gains, and r is the desirable system
output. Show that the closed-loop transfer function is expressed as
F (s) 2
T (s) = = 2 .
R( s ) 5s + (3 + 2k 2 )s + 2k1
(iii) Determine the values of k1 and k2 so that the closed-system in part (ii) has
a damping ratio of 0.85 and its step response has a rise time of 3 s.
Question 2
Figure 1 shows the block diagram for the position control of a servo motor where r is
the system input, y is the system output, e is the system error, K1 and K2 are
adjustable gains (positive values).
x1 = y
r + e
Figure 1: Position control of a servo motor
(i) Determine how e is related to r and x1. With x2 = x1 , show that this system
can be described by a state-space equation written as
x1 0 1 x1 0
x = −1.5K −1.5 x + 1.5K r .
2 1 2 2
(ii) Based on the state-space equation in Question 1(a)(i), show that the
Laplace transform of e is given by
(2 s 2 + 3s ) K 2
E ( s) = R( s) .
2 s 2 + 3s + 3K1
(iii) With K1 = 0.4, determine the value of K2 so that the steady-state value of
e is 0.01 unit when r is a unit ramp.
Question 3
(a) Figure 1 shows the block diagram for the position control with a low pass filter
where r is the system input, y is the system output, e is the system error, K is
the feedback gain (with a positive value) and T is the time constant of the
filter.
r x2 = y
+ e x1
Low pass filter
Figure 1: Position control with a low pass
filter
(i) Determine how e is related to r and x2. Show that this system can be
described by a state-space equation written as
1 K 1
x1 − − x1
x = T T + T r.
x
2 0 2 0
4
(ii) Based on the state-space equation in part (a)(i), show that the closed-loop
transfer function for this system is given by
4
T ( s) = T .
s 4K
s + +
2
T T
(iii) Determine the values of K and T so that the step-response of the closed-
loop system has a settling time of 1.5 s and a rise time of 0.5 s.
(iv) We know that the transform of e is given by E(s) = R(s) – T(s)R(s)K.
Determine the steady-state value of e when r is a ramp input of 0.5 unit, K
= 0.5 and T = 0.2 s (note that these are not the answers for part (a)(iii)).
(b) The transfer function of a third-order system with adjustable gains K1 and K2
(having positive values) is given by
K2
G ( s) = .
s + 5s + K1s + K 2
3 2
(i) Determine the values of K1 and K2 so that the system has an optimum
transient performance.
(ii) Through the Routh approximation for higher order systems, determine the
rise time (tr), and settling time (to) for the step response when K1 = 15 and
K2 = 20 (note that these are not the answers for part (b)(i)).