MAYOR UNIVERSITY OF SAN ANDRES

FACULTY OF MECHANICAL – ELECTROMECHANICAL ENGINEERING

´
EXERCISE GUIDE
AUTOMATIC CONTROLS ´
MEC – 430

Teacher: Eng. Luis Armando Rosas Rivera

Assistant: Univ. Miguel Edgar Laime Mamani

La Paz - Bolivia
1st Partial
P - 1Find the inverse Laplace transform of the following functions, using partial fractions
3s−2
F1 (s) =
s3 (s2+
4)
s+2
F2 (s)
s(s + 1)(s + 3)
s+2
F3 (s)
s (s + 1)(s2+ 6s + 34)
2

s+2
F4 (s) =
(s + 1)(s + 3)22+s+ 1)

P – 2 Obtain the transfer function T(s) whose step response curve is shown in the following.
figure.

with the found expression find:

settling time at 2% and 5% (ts )

upload time (tr )

The following equations model the decay of a substance A that gives rise to another B, and this to C.

ẋ=−0.01x
A A

dxBot= 0.02xA-0.005xB
ẋ=
C 0.01xB

xjit is the amount (number of moles) of the substance. Considering that at the beginning there is only
an amountA (0) = 100 moles, calculate:

Final quantity of each product when a long time has passed.

 (b) the maximum value that product B will reach

P - 4There is the following second order system

s+k1
H(s)
s2+ (4 +k2 )s+ 25

(a) Find the value of k1for the system to reach the value of 0.8 when the input is the unit pulse
for what value of dek2the underdamped system, critically damped and overdamped
(c) Calculate the rise time, peak time, and overshoot with k2equals 5
(d) Calculate the envelope curves and the settling time with k.2= 5
2 SECOND QUARTER
1. be the system defined by the mathematical model:
dw(t) dx(t)
+ 10w(t) = + 8x(t)
dt dt
dl(t)
=w(t)−5y(t)
dt
m(t) = l(t) · n(t)
dn(t) dz(t)
20n(t) + =z(t) + 2 +1
dt dt
dy(t)
y(t) + =m(t)

six(t) represents the input to the system, z(t) a disturbance and y(t) the output; find:
the linearized mathematical model around dex0= 3,z0= 0
block diagram of the system
Y(s)Y(s)
transfer function ,
X(s)Z(s)

(d) approximately draw the signal(t) when x(t) and y(t) undergo a simultaneous variation
amplitude brusque 1 (pulse function).
Y(s)
2. Obtain the transfer function by simplification. U(s) from figure (1)

Figure 1: Block diagram of a system

3. Simplify the block diagram shown in figure (2) and obtain the transfer function.
C(s)
closed loop R(s)

Figure 2: Block diagram of a system

 Y(s)
4. Obtain the transfer function U(s) of figure (3)

Figure 3: Block diagram of a system

5. Obtain the block diagram and the outputs1 (s) yY2 (s), from the figure (4).

Figure 4: Mechanical System

6. Consider the spring-driven pendulum system shown in Figure (5). Assume that the force of the spring
the force acting on the pendulum is zero when the pendulum is vertical, or θ = 0. Also assume that
the friction involved is insignificant and that the angle of oscillation is small. Obtain a model
mathematician of the system.
 Figure 5: Mechanical System

Eo (s)
7. Obtain the transfer function Ei (s) of the electrical circuit shown in Figure (6).

Figure 6: Electric System

8. The following figure represents the control system of the antenna.1 (t) of the lower deposit, through the
Entry(t), consider the following equations:

e (t)
=e(t)
dt
V
n(t) = N·h1 (t) N= 0.01[ ]
cm
q2 (t) = k1h2p(t) k1= 0.80
qs (t) = k2h1p(t) k20.20
A1=A2= 2[m3 ]
 (a) Considering h1= 1myh
0 2= 4m, find
0 the linearized equations of the system
b) determine the block diagram of the system
(c) obtain the transfer functions and expression H1 (s) as a function of the inputs u(t) and qp (t)
(d) obtain the response of the system if siu(t) suffers a decrease of 0.5 and qp suffers an increase of
0.5 (both with respect to their equilibrium point).

9. It is desired to control the liquid level in a cylindrical tank with a section of 0.5m.2and height 2m, the flow of
The inlet passes through a motorized valve, while the outlet flow can be regulated with a valve.
manual opening. There are two sensors available, one for flow and another for liquid level. Likewise,
It has two regulators, one for the level loop whose output is one of the inputs of the other regulator,
the flow loop, whose output acts on the inlet valve motor. The system is controlled with
a reference voltage that enters the level regulator.
Data

When the inlet valve is fully open, the flow rate is 4 [l/s]
The time constant of the motorized valve is 25[s] and to achieve a full opening it is
it is necessary to power the motor with 5V
With the outlet valve fully open, and with a liquid height of 1[m], the outlet flow rate
it is 4[l/s]
The level sensor generates a voltage of 5V per meter of liquid, its time constant is lower.
a 1[s]
The flow sensor outputs a voltage proportional to the square of the flow, being 1.56[V] when
a flow of 1 [l/s] circulates, its time constant is less than 1 [s]
The level regulator has been adjusted to generate a voltage equal to 1.25 times the difference.
between the reference voltage and the voltage measured by the level sensor
The flow regulator has been adjusted to generate a voltage equal to the sum of the voltage
generated by the regulator of level plus 0.016 times the voltage generated by the flow sensor

a) Describe the system in block diagram

(b) linearize the system when the input is 7[V] and the output valve opening is 0.5
10. Represent the following system in a block diagram

11. For the closed-loop system shown in the figure. Determine the equations of dynamic equilibrium and
obtain the corresponding transfer functions. Consider that the pressure orifice is fed with oil.
The two outlets are connected to a cylinder A. The axis that contains the valves is shown in the position
central and blocking all flow. The feedback lever connects the piston shaft with the sleeve
sliding (on the shirt it acts as a spring) that wraps around the valve shaft. If the valve shaft is
displaced to the right, the piston and the axle will also move to the right.

12. Represent the following system in a block diagram.

13. Represent the following system in a block diagram

14. The figure shows a square base tank (SB0.25[m2 ]), which has a power supply
with a tailithat enters the tank at a constant temperature T= 30. The tank has a
lower outlet, through which a flow rate passeswith the temperature obtained from the tank and that is supposed to
homogeneous. The heater has a resistive type heater. Additionally, losses are assumed.
calorific values that are estimated are proportional to the difference in temperatures between the temperature of
the lateral surface of the environmente= 20. The base of the deposit is properly insulated and
the losses are negligible. The resistance of the heater is 0.24Ω, the fluid has a density
ρ= 1[cm3]g and a specific heat decp= 1[g·cm2 ·Cthe thermal
cal
resistance of the walls of the tank is
−3 cal
K= 6.25·10 [ s·cm2 ·C(1[jul] = 0.24[cal]).
The system is in equilibrium under the following conditions.

V = 100[V]
l
qi= 0.5[ ]
s
hto= 0.8[m]

obtain:

Value of the break-even point.

(b) block diagram
T(2) T(2)
(c) transfer function Qi (s) y V(s) valid for the operating point
(d) Siqisuddenly goes to 1[lsAccording to the linear model, what value should the tension V be set to?
Should the temperature T remain at the same value as in the initial equilibrium conditions?
3 THIRD PARTIAL
1. For the system with open-loop transfer function
K(s+a)
G(s)H(s) =
s(s2+ 2s + 5)

Obtain the corresponding root contour, considering that both the gain K and the position of the zero.
they are variables

2. Draw the locations of the roots for the closed-loop control system with:

K(s + 9)
G(s) = 1
s(s2+
4s + 11)

Locate the poles in a closed loop at the locations of the roots so that the dominant poles in the loop
closed have a damping factor of 0.5, determine the corresponding value of the
profitK

3. For a system with an open-loop transfer function:

K
G(s)H(s) =
s(s + 3)(s2+ 4s + 5)

adjust the gain K so that the closed-loop system response to the unit step has
a maximum overshoot peak of 13.324%. For the calculated value of K, obtain the natural frequency.
not damped, as well as the practical response speed of the system; also, indicate if it is valid the
Approximation to a quadratic polynomial for the selected gain

4. Consider the control system of the figure. Determine the gain K and the time constant T of the
controllerGc (s) so that the poles in closed loop are located at s = -2 ± j2

+
-
Gc G

Where:

Gc (s) = K(Ts + 1)
1
G(s) =
s(s + 2)

5. Determine the values of K, T1yT2of the system in the figure such that the dominant poles in the closed loop
they have a relative damping factor of 0.5 and an undamped natural frequency of 3 rad/sec

+
-
Gc G
 Where:
T1 s+ 1
Gc (s) =K
T2 s + 1
10
G(s) =
s(s + 1)

6. For the system in the figure, calculate the values of KyK.h for the closed-loop system to have a
response with a 20% overshoot and a peak time of 1 second

+
-
Gc G

Where:

Gc (s) =K
1
G(s) =
s(s + 1)
H(s) = 1 + K h

7. For the system shown below:

+
-
Gc G

Where:

Gc (s) =K
1
G(s) =
(s+ 2)(s+ 1)

(a) To obtain the value of K for a 5% overshoot, what is the steady-state error for the
calculated value?
(b) What happens if the value of K is calculated to achieve half of the error from the previous item, and what is the
overboost?
8. A control system with an open loop transfer function:
1
G(s) =
(s + 1)(s + 4)(s + 10)

requires a compensator such that the closed-loop system has the following characteristics
 establishment times ≤4[s] 2%

OverboostMp<=25%
picot timep≤0.2[s]
9. A control system with an open-loop transfer function:
200
G(s) =
s(s + 20)(s + 2)

requires a compensator such that the closed-loop system has the following characteristics

OverboostMp= 15%
Error in permanent regime of 10%

10. For the system shown in the figure:

R(s) X(s)
+
-
Ka +
- G

sK g

Where:
10
G=
s(s + 1)
(a) SiKg= 0, determine the value of Kafor the steady-state error, to a ramp signal
unitaryR(t), that is 0.10
(b) Determine the corresponding damping ratio for (a)
(c) If the value of KaIt is obtained in item (a), determine the value of [Link] will result in a
damping of λ = 0.5
(d) What is the steady-state error of the previous item?
(e) If the steady-state error is 0.10 and the damping is λ = 0.5, find the values
deKgyKa

11. The block diagram represents a simplified model of two groups of rollers, the system data
son

ωr reference speed of the first roller group

ω1 real speed of rotation of the first group
ω2 actual rotation speed of the second group
10
G1 (s) = transfer function of the first group
s+1
80
G2 (s) = transfer function of the second group
(s + 20)(s + 2)
 KTyK
1 TThey2 are tachometers that generate a signal proportional to the speed they measure and whose
values are KT=K1T0.10 2

Wr W1 W2
G1 KT1 +
- K G2

KT2

Obtain:
ω2 (s)
(a) Transfer function M(s) =
ωr (s)
(b) The value of K so that in steady state, the second group rotates at a speed ω2equal
in the middle of the first train1
(c) Does it present?2oscillations, for the value of K obtained if ωrexperiences a step-wise increase
unitary?
(d) Will ω reach?2the margin of ±5% of the final value before 3 seconds?
Determine the equivalent reduced second-order transfer function of M(s)
12. The automatic control system has the transfer functions G(s) in the open loop and feedback.
H(s) according to the following data:

100(s + 1) 0.10
G(s) = H(s) =
s(s + 5)(s2+s+ 5)

(a) Obtain the static velocity error coefficient and the static acceleration error.
(b) If a static acceleration error of 0.50 is accepted, determine the new transfer function.
in open loop of the system if action is taken only on the zero.
For a closed-loop system whose transfer function is unknown, proportional control is applied.
as seen in the figure. If it is known that in response to a disturbance input jump of value 1 and being
3 20 -23t
W= 0, the system response is y(t) = 23 + 23 e

P(s)

W(s) +
Y(s)
+
- 10 G +

the transfer function G(s)

(b) Determine if the system is stable in closed loop and why
What is the magnitude of the steady-state error of the system for the indicated inputs?
[Link] that controllerGc (s) so that the systems of the figures have zero error in response to step inputs
in reference and disturbance.

P
Vr +
V
+
-
Gc G1 + G2

Where:
1
G 1=
s + 10
0.3
G 2=
(s + 1)2

Xr X
+
+
-
Gc +
-
G1 + G2 G3

Where:
K
G 1=
R
1
G 2=
Js+C
1
G 3=
s