1.

For the following transfer functions, find:

It is guided by the first-order transfer function model.

k
G(s)=
ts+1

the function is operated so that it is equal to the form of the first order model and
to identify the gain parameters and time constant.

For G1

1 2
G1= =
s+ 0.52s+1

k =2 , τ =2

s+0.5=0 → s =−0.5

For G2

1
G2=
s +1

k =1 , t =1

s+1=0→ s=−1

For G3

1 0.5
G3= =
s +2 0.5s+ 1

k =0.5,τ=0.5

s+2=0 → s =−2
 2. In response to a unit step input, compare the open-loop responses and
a closed loop of two systems whose transfer functions are the
which are shown below.

For G1 open loop:

12
G1=
10 seconds+1

k =12,t=10

−1
10 seconds+1=0 → s =
10

12 12
lim
s→0 ( 10s+ 1 )
= =12
1

For G1 closed loop

12 12
10s+ 1 12 13
GC1= = =
12 10 seconds+13 10
1+ s +1
10s+1 13

12 10
k= ,τ=
13 13

−13
10s+13=0→ s=
10

12 12
lim
s→0 ( 10 seconds+
)= 13 13

For G2 open loop:

30 6
G2= =
25s+ 5 5 s+1

k =6 , τ =5

−1
25 seconds+5=0 → s =
5

30 30
limit
s→0 ( 25s+5 )= 5 =6
For G2 closed loop

30 6
25s+5 30 7
GC2= = =
30 25 seconds+ 35 5
1+ s+1
25 seconds+5 7

6 5
k= ,τ=
7 7

−7
25 seconds+35=0 → s =
5

30 30 6
lim
s→0 ( )
= =
25 seconds+35 35 7

3. For the following functions:

For the function G1 ( s )

1
G1 ( s
=
) s2 +3s+2

s2 +2 ω nξ +ωn2 =s 2+ 3 s + 2

2 ω nc ξc =3,omega 2nc =2

3
√
ω n= 2=1.414,ξ=
2ω
=1.061
( n)
Since the damping factor is greater than 1, the system is of the over type.
damped

4 4
ts2 %= = =2.667
ω nξ1.5

1
lim
s→0 ( 2
s+3 s +2 )
=0.5=establishment value

For the function G2 ( s )

 6
G2 ( s
=
) s2 + 4 s +4

s2 +2 o m e g a nξ +ω2n =s 2+4s+4

2 ω ncξc =4 , o m e g a 2nc =4

4
√ ,ξ=
ω n= 4=2
2ω
=1
( n)
As the damping factor is equal to 1, the system is of type
critically damped.

Mp=does not have

4 4
ts2 %= = =2
ω nξ2

6
lim
s→0 ( 2
s+4s+ 4 )=1.5=establishment value
For the function G3 ( )
s
10
G3
s=
( ) s 2+2s+5

s2 +2 ω nξ +ω2n =s 2+ 2 s +5
2
2 ω nc ξc =2,ω nc =5

2
√
ω n= 5=2.236,ξ=
2ω
=0.45
( n)
As the damping factor is less than 1, the system is of type
subamortized.

−ξπ
2
√ 1−ξ
Mp=e =0.205

4 4
ts2 %= = =4
ω n xi 1
 10
lim
s→0 ( 2
s+2 s +5 )
=2=establishment value

4. For a system that is subjected to a unit step input and whose function of
Transfer is shown below.

2
G
s=
( ) 4s +2 s +1 2

The function that represents a second-order transfer function is:

kω2n
G ( s )=
s 2+ 2ω n ξ+ ω2n

2 0.5
G ( s )= 2
=
2
4s +2 s +1s + 0.5s+ 0.25

kωn2=0.5, 2ωnξ=0.5,ωn2=0.25

0.5 0.5
k= =2 , o m
n √
e g a = 0.25=0.5,xi=
2ω
=0.5
ω2n ( n)
−ξπ
2
√ 1−ξ
Mp=e =¿ 0.163

4 4
ts2 %= = =16
ω n0.25

2
lim
s→0 ( 2
4s+2s+1 )=2=Time of establishment
Closed loop function:

2
2
4s +2 s +1 2 0.5
GC (s=) = 2 =
2 2
4s +2s+3s +0.5s+0.75
1+ 2
4s +2 s + 1
k cω 2nc=0.5, 2ωncξ c =0.5,ω2nc =0.75

0.5 0.5
k c= 2 √ 0.866,xi=
=0.667, ω=nc0.75= c
2ω
=0.2887
ωnc ( nc )
−ξ c π
2
√ c1−ξ
Mpc =e =0.386

4 4
tsc2 % = = =16
ω ncξ c 0.25

2 2
lim
s→0 ( 2
4s+2s+3 ) = =0.667=Establishment time
3

if the gain of the open loop system is doubled.

4
2
4s +2 s e c o n d s +14 1
GC (s=) = 2 =
4 2
4s +2s+5s +0.5s+1.25
1+ 2
4s +2 s + 1

k cω 2nc=1 . 2 o m e g a ncξc =0.5,ω2nc=1.25

1 0.5
k c= 2 √
=0.8,ω=nc1.25=1.11,ξ= c
2ω
=0.223
ωnc ( nc )
−ξ cπ
2
√ 1−ξ
M pc =e =0.486c

4 4
tsc2 % = = =16
ω ncξ c0.25

4 4
lim
s→0 ( 2
4s+2s+5 ) = =0.8=Establishment time
5

5. An open-loop system whose transfer function G(s) is unknown is subjected to a

disturbance in its reference R(s) step change of magnitude 3 and has an output such as the
what is shown in the Figure. Based on this information, identify the transfer function at
open loop, G(s).

It is observed that it behaves like a first-order function, therefore, the function of

serious transfer would be in the form:

K
G
s=
( ) ts+1

Where:

ΔS1.5
K= = =0.5
ΔE 3

τ =tAmplitude=63.33 %

Amplifier63.33% =1.5∗0.633=0.9495→τ=4.9 seconds

Resulting in:

0.5
G
s=
( ) 4.9s+1

6.

Exercise 5.7
Classify the following systems according to their behavior: overdamped,
critically amortgated, amortgated or underamortgated.

To determine the system behavior according to its behavior, the relationship is observed that
a are obtained from the quadratic equation.
there are among the values ofa0y1that

−a 1± √
a2−4
1 a 0
P1,2=
2

And analyzing the functions proposed in the exercise, we deduce the following:

1.24
T(s
) = s +0.7s+2.14
2

2
a 0=0.7=0.49,a1=4 2.14=8.56
( )

0.49<8.56 Then the system is underdamped

0.786
T ( s) = 2
s +5s+3.01
2
a 0=5=25,a1 =4 3.01=12.04
( )

25>12.04 Then the system is over-damped

1.275 4.25
T ( s) = 2 2
=
0.3s +0.513s+0.2167s +1.71s+ 0.72
2
a 0=1.71=2.92,a1=4 0.72=2.89
( )

2.92≈2.89 Then the system is critically damped.

Exercise 5.11

For the following systems, obtain the parameters: maximum overshoot, peak time,
lifting time and settling time.

To find the values asked for in the exercise, the characteristic equation of is considered.
second degree system which is:
s2 +2 ω nξ +ω2n

Therefore, we have the following transfer functions.

a)

1.24
T(s
) = 2
s +0.7s+2.14

s2 +2 ω nξ +ωn2 =s 2+ 0.7s+2.14

2 ω nξ=0.7,ωn2=2.14

0.7
√
ω n= 2.14=1.46, ξ=
2ω
=0.239
( n)
π π
Tp = = =2.216 sec
n √ 1.46 1−0.239
√ 2
2
ω1−ξ
−ξπ
2
√ 1−ξ
MP=e =0.4612

4
T s= =11.43sec
ωn ξ

2.5ξ+0.8
T e= =0.956s
ωn

b)

4 1.33
T ( s) = =
3s2 +25s+100s2+ 8.33s+ 33.33

2 ω ncξc =0.833, ω2n=33.33

8.33
√
ω n= 33.33=5.77,xi=
2ω
=0.722
( n)
π
Tp = =0.786s
n√
2
ω1−ξ
−ξπ
2
√ 1−ξ
MP=e =0.0378 seconds
 4
T s= =0.96
ωn ξ

2.5xi+0.8
T e= =0.45 sec
ωn

Exercise 5.12

For the system of the following figure, adjust the gain K with the purpose that the configuration
resultant has a damping ofλ=0.6.

K
2
s +6s+ 6.75 K
T ( s=
) = 2
K s +6s+ ( 6.75+ K )
1+ 2
s +6 s +6.75
2 2 2
s+2 ω nξ +ωn =s+ 6 s + 6.75+
( K )
2
2 ω inξ=6 , ω n= 6.75+
( K )

6
ω n= =5 , o m e g a 2n =25
2(ξ )

K=25−6.75=18.25

18.25
T(s
) = s +6s+25
2

Exercise 5.13

For the shown system:

 a) Adjust the profits K y K 1 in such a way that the system provides a response
to the 10% step of the maximum peak of overshoot MP, as well as a peak time T p of
1.5 sec.
b) Interpret the meaning of the block that is on the trajectory of
1
feedback defined by H ( s=K
) 1s+
( K1 . )

K
s2 K
T ( s=
) = 2
s + KK1s+ K
( ( ))
K 1
1+ K 1s+
s 2 K1

MP=0.1yTp=1.5 seconds

√
ln ( MP2)
ξ= 2=0.5911
π 2+ ln ( MP )

π rad
ω= =2.094
Tp seg

ω rad
ω n= =2.596
√1−ξ 2 seg

s2 +2 ω nξ +ω2n =s 2+ K K1s+K

ω 2n=K =6.739

2 ω nξ=KK1=3.068 → K1=0.4552

The feedback block represents a proportional-derivative control with gain= K1.

Exercise 5.17

Obtain the transformation function T(s) whose step response curve is as follows:
By observing the graph, one can obtain

47−30
MP= =0.5667yTp=4 . 5 s e c o n d s
30

√
in ( MP2)
ξ= 2=0.178
π 2+ln ( MP )

π rad
ω= =0.698
Tp seg

ω rad
ω n= =0.707
√1−ξ 2 seg

ω 2n=0.5, 2ωnξ=0.25

15
T(s
) = 2
s +0.25s+0.5

Exercise 5.19

For the following expressions T(s), determine if it is possible to approximate the functions of
transfer of originals from degree n to degree 2; in case of affirmation, graph the function and its
approximation.

To make an approximation of a higher order function to a second order one

poles must be at least 6 times apart from each other.
 16.25
T(s
=
) ( s+6.5s+4s+10
)(
2
)
s+6.5→s1=−6.5

s2 +4s+10=0 → s 1,2=−2±2.449i

The real parts are very close, therefore they cannot be approximated.

33
T(s
=
) ( s+16.5s+4 2
) ( s +10 )
s+16.5→s1 =−16.5

s2 +4s+10=0 → s 1,2=−2±2.449i

If it can be approached since its poles are quite far apart:

33
T(s
) = 2
s + 4 s +10
∆y=20,∆E=10

∆ y 20
K= = =2
∆E10

Tangent Line Method:

t m=2 , t a u =6−2=4

2 e −2 s
G ( s=)
4s+1

−s+1
e−2 s = → por aproximacionde padé
s+1
Smith's two-point method

∆ y0.283=5.66→t1=2.8

∆ y0.632=12.64→t2=4.6

τ =1.5 4.6−2.8
( ) =2.7

t m=4.6−2.7=1.9

2 e −1.9s
G ( s=)
2.7s+1

−0.95s+1
e−1.9 s = by Padé approximation
0.95s+1

General 2-point method

∆ y0.25=5→t 1=2.6

Delta y0.75=15→t 2=5.6

Methodalfaro to=−0.91,b=0.91,c=1.262,d=−0.262

τ =a t +1 b t =0.91t−t=2.73
2 ( 2 1)
t m=ct1 + d t 2=1.262t1−0.262t2=1.814

2 e −1.814s
G ( s=)
2.73 seconds+ 1

Double pole two-point method

∆ y0.25=5→t 1=2.6

∆ y0.75=15→t 2=5.6
Methodalfaro to=−0.5776,b=0.5776,c=1.5552,d=−0.5552

τ =a t +1 b t =0.5776t−t=1.7328
2 ( 2 1)
t m=ct1 +d t 2=1.5552t1−0.5552t2=0.9344

2 e −0.9344s 2 e −0.9344 s
G ( s=) 2
= 2
( 1.7328s+1 ) 3 s + 3.466s+1

Strjec method

t u=0.5,ta =4 . 8 , t m=0.8

tu
=0.1041
ta

With this, we can see in the stretch table.

tu tu ta
with=0.104→n=2 , τ 1= , τ 1=
ta 0.282 2.718

τ 1 =1.773,t2=approximately

2 e −0.8 s 2 e −0.8s
G ( s=) 2 = 2
( 1.766s+ 1 ) 3.119s +3.532 seconds+ 1
The identification that is most similar to the original graph is by the 2-point method with poles.
doubles and also the strejc table method.
∆y=6.74−4.69=2.04, ΔE=60

∆ y 2.04
K= = =0.034
∆E6 0

Tangent Line Method:

t m=0 , t a u =0.2

0.034
G
s=
( ) [Link]+1

Smith's two-point method

∆ y0.283=0.577→t1=0.07

∆ y0.632=1.288→t2 =0.18

τ =1.5 ( 0.18−0.07)=0.165

t m=0.18−0.165=0.015

0.034e−0.015s
G ( s=)
0.165s+1

General 2-point method

∆ y0.25=0.51→t1=0.07

∆ y0.75=1.53→t2=0.235

Methodalfaro to=−0.91,b=0.91,c=1.262,d=−0.262

τ =a t +1 b t =0.91t−t=0.15
2 ( 2 1)
t m=ct1 +d t 2=1.262t1−0.262t2=0.027

0.034e−0.027s
G ( s=)
0.15s+1

Double pole two-point method

∆ y0.25=0.51→t1=0.07

∆ y0.75=1.53→t2=0.235

Methodalfaro a=−0.5776,b=0.5776,c=1.5552,d=−0.5552

τ =a t +1 b t =0.5776t−t
2 ( =0.0953
2 1)

t m=ct1 + d t 2=1.5552t1−0.5552t2=−0.024=0
 0.034 0.034
G ( s )= 2
= 2
( 0.0953s+1 ) 0.009s +0.191s+1

Strjec method

t u=0 , t a=0.2

tu
=0
ta

With this we see in the strejc table.

tu tu ta
with=0→n=1 , t 1= , τ 1=
ta 0 1

τ 1 =indeterminate, τ2=approximately

0.034 0.034
G ( s )= =
1
( 0.2s+1 ) 0.2s+ 1
The graphs are very similar; however, when zooming in and comparing the values in the table
Data is more accurate in the graph corresponding to Smith's two-point method.

Clarify that the tangent line method and the strejc method give the same result.
∆y=50.11−22.5=27.61,∆E=5

∆ y 27.61
K= = =5.522
∆E 5

Tangent Line Method:

t m=10.6−8=2.6,τ=21.6−10.6=11

5.522e−2.6 s
G ( s=)
11s+1
Smith's Two-Point Method

∆ y0.283=7.81→t1=6

∆ y0.632=17.2→t2=10.4

τ =1.5 ( 10.4−6 )=6.6

t m=10.4−6.6=3.8

5.522e−3.8s
G ( s=)
6.6s+1

General two-point method

∆ y0.25=6.9025→t1=5.65

∆ y0.75=20.708→t2=12.75

Methodalfaro to=−0.91,b=0.91,c=1.262,d=−0.262

τ =a t +1 b t =0.91t−t=6.461
2 ( 2 1)
t m=ct1 +d t 2=1.262t1−0.262t2=3.79

5.522e−3.79 s
G ( s=)
6.461s+1

Double pole two-point method

∆ y0.25=6.9025→t1=5.65

∆ y0.75=20.708→t2=12.75

Methodalfaro a=−0.5776,b=0.5776,c=1.5552,d=−0.5552

τ =a t +1 b t =0.5776t−t=4.1
2 ( 2 1)
t m=ct1 +d t 2=1.5552t1−0.5552t2=1.708

5.522e−1.708s 5.522e−1.708 s
G ( s=) 2
=
( 4.1s+1 ) 16.81s2 +8.2s+1

Stretch method.

t u=0.8,ta =8 , t m =2.3

tu
=0.1
ta

With this we see in the strejc table.

tu tu ta
with=0.104→n=2 , t 1= , τ 1=
ta 0.282 2.718

τ 1 =2.836,t2=approximately

5.522e−2.3s 5.522e−2.3s
G ( s=) 2 =
( 2.9s+1 ) 8.41s2 +5.8s+1
The identification that most resembles the original graph is by the method of 2 points with poles.
doubles.