DYNAMICS AND CONTROL-TUTORIAL QUESTIONS

Q1) Consider the following second order system

10
G(s) =
s + 2 s + 17
2

you are required to find the poles of the systems and its impulse response.

Q2) The voltage u(t), shown in Fig. Q2 is applied to the input of a plant with the
transfer function
3
G(s) =
( s + 1)( s + 4)
Compute the output signal y(t) and sketch it for 0 ≤ t ≤ 3 .

Figure Q2: Input voltage u(t)

Q3) Consider the following second order system

9
G( s) =
s + 2s + 9
2

you are required to find the poles of the systems and its impulse response.
Q4) (i) For the RLC network in Fig. Q4, find the transfer function
Y (s)
G(s) =
U (s)
Give expressions for the natural frequency ωn and the damping ratio ζ in terms of R1,
R2, C and L.
(ii) What shape of the step response of the RLC network do you expect for the values
a) R1=3, R2=1, C=0.25, L=0.75
b) R1=R2=1, C=0.25, L=2.

R2

R1 y1(t) y(t)
u(t) C

Figure Q4: RLC network

Q5) Consider the mechanical rotation system of Fig. Q5. Assume that the rotational
spring has a stiffness coefficient K=5 N m/rad. You are required to find the values of
the inertia J and the rotational dissipator D, such that the system demonstrates an
overshoot of 20% and a settling time of 2s.

Figure Q5: Mechanical rotation system

Q6) The armature voltage υ is used to control the shaft angle θ of a DC motor.
Neglecting inductance, shaft compliance and friction, the motor can be described by
the equations
Jϑ = Tm + Tl
υ = Ri + eb
where in the mechanical equation J is the motor shaft inertia, Tm is the motor torque
and Tl is the load torque. In the electrical equation, R is the armature resistance, i the
armature current and eb the back emf. Assuming that the field is constant, we have
Tm = K m i and eb = K gϑ

where Km is the motor constant.

i) Find the transfer function and draw a block diagram of the plant with inputs υ and
Tl and output θ.
ii) Assume that proportional feedback with gain Kp is used to control the shaft angle,
as shown in Fig. Q6. The numerical values are
J=0.1, R=0.1 and Km=0.5
After a step change in θr, what is the 1% settling time ts? What condition must Kp
satisfy for the peak overshoot to be less that 17%?

Figure Q6: Block diagram for problem Q6(ii).

Q7) Consider the electromagnetic levitation system of Fig. Q7. The electromagnet
controls the position of the ball. The equation of motion for the system is given by
 my = F − mg
where m is the mass of the ball, y is the displacement of the ball from the equilibrium
position, and g is the acceleration constant of gravity, and i is the current applied to
the electromagnet.

Figure Q7: Electromagnetic levitation system.

In the general case, the force F is a non-linear function of the displacement y and the
current i. At equilibrium, we have that y=0, I=Io, and F=Fo=mg. Small changes in the
current Io+i lead to changes in the force applied to the ball, Fo+f, moving the ball
upwards when i>0 or downwards when i<0. Consider that the non-linear function
describing the force can be linearised using the approximation
f = c1 y + c2 i

where c1 and c2 are constants. You are required to:

i) Draw the block diagram for the system.
ii) Calculate the system transfer function
Y (s)
G(s) =
U (s)
when u(t)=i.
iii) Calculate the system transfer function, for numerical values m=0.1, c1=10, c2=0.5.
iv) Assume that a PD controller is used to control the system. What is the derivative
time TD for ωn=15 and ζ=0.7.
Q8) The flow of a liquid through a system of two coupled tanks is to be controlled, as
shown in Fig. Q8. We consider only the deviation of the flow rates from the steady
state; the variables are
• qi- the inflow rate into tank 1
• h1- the liquid level in tank 1
• q1- the outflow rate of tank 1 (equal to the inflow rate of tank 2)
• h2- the liquid level in tank 2
• q2- the outflow rate of tank 2

Figure Q8: Liquid level control in coupled tanks

The liquid level in tank 1 is governed by the equations

C1h1 = qi − q1
h1 − h2
R1 =
q1
where R1 is the resistance of the outlet and C1 is the capacitance of tank 1. Similarly,
the liquid level in tank 2 is governed by
C 2 h2 = q1 − q 2
h2
R2 =
q2
i) Find the transfer function G(s) from tank 1 inflow qi to tank 2 outflow q2.
ii) With the inflow as qi as control input and the outflow q2 as measured output,
design a proportional feedback controller to control the outflow q2. What gain Kp is
required to achieve a rise time of approximately 1s after a unit step as reference input?
Estimate the peak overshoot with this controller. Numerical values are R1=4, R2=2,
C1=1, C2=2.
iii) Now design a PD controller. What derivative time TD is required to keep the peak
overshoot below 10% when the gain is chosen to achieve a rise time of 1s?

Q9) Assume the closed-loop system shown in Fig. Q9. The transfer function of the
plant is
120( s + 2)
G(s) =
( s + 3)( s + 4)

Figure Q9: Closed-loop system

You are required to calculate the steady-state error when the input is:
i) r(t)=5σ(t).
ii) r(t)=5tσ(t).

Q10) Assume the closed-loop system shown in Fig. Q10. The transfer function of the
plant is
s +1
G( s) =
s ( s − 1)( s + 4)
 Figure Q10: Closed-loop system with proportional gain Kp.

Calculate the acceptable range of the proportional gain Kp, such that the closed-loop
system is stable, using the Routh criterion.

Q11) Consider the speed control system shown in Fig. Q11. The plant is given by
Ko
G(s) =
τs + 1
When Ko=1 and τ=0.2, what gain Kp is required to keep the steady state error υr-υ to a
step input less than 0.05 when υr=1?

Figure Q11. Closed-loop system with proportional gain.

Q12) The control loop in Q11 has been changed from speed control to control of the
t
position y = ∫ υdt , as shown in Fig. Q12. Numerical values are Ko=1 and τ=0.2.
t0
i) What is the steady state error to a unit step?
ii) What is the 1% settling time ts? Can it be improved by proportional feedback?
iii) Assume that both the position y(t) and the speed υ(t) are measured and used for
feedback control according to
u (t ) = K p (r (t ) − y (t )) − Kυυ (t )

Redraw the block diagram and find controller gains Kp and Kυ, such that the damping
ratio is not less than 0.7 and the settling time no more than 0.5.

Q13) Design a proportional feedback controller C(s)=Kp for a plant with transfer
function
18
G(s) =
s ( s + 6)

Figure Q13: Feedback system.

The specifications are: a unit step disturbance d=σ(t) at plant input should change the
steady state value of the output by not more than 0.05, and the peak overshoot in the
response to a step change of the reference input should be less than 17%.
i) Draw the root locus.
ii) What gain Kp is required to meet the peak overshoot specification?
iii) For what values of Kp is the steady state error condition satisfied? Can a
proportional controller meet both specifications?
Q14) Consider the open loop transfer function
s +1
L( s ) =
s2
You are required to plot the root locus of the system. Calculate the break points. Now
consider the composite transfer function KG(s). Using the Routh criterion, calculate
the range of gain values K, such that the closed-loop system is stable.

Q15) Now add a further pole to the transfer function of Q14, at location s=-5. Plot the
corresponding root locus.

Q16) Consider the feedback system of Q13. Design a PD controller C(s)=Kp(1+TDs)

for this plant. Pick a value for TD and draw the root locus. Is it possible to meet the
specifications (see Q13).

Q17) A plant with transfer function

10
G (s) =
( s − 1)( s + 100)
is to be controlled by proportional feedback.
i) Sketch the Bode plots of the plant.
ii) Using the Routh criterion, find the values of the gain Kp such that the closed-loop
system is stable.