1- Consider the system shown in figure damping ratio of

this system is 0.158 and the undamped natural frequency

is 3.16 rad/sec. To improve the relative stability, we
employ tachometer feedback system.
Determine the value of Kh so that the damping ratio of
the system is 0.5. Draw unit step response curves of both
the original and tachometer feedback systems. Also draw
the error versus time curves for the unit ramp response of
both systems? { H(s) = (1 + Kh s) }

-: Solution

C (s) G
=
R ( s ) 1+G * H
10 \ s ( s + 1)
=
10
1+ *( 1+ k hs )
s ( s + 1)
10
=
s ( s + 1) + 10 ( 1 + k h s )
10
=
s + s ( 1 + 10k h ) + 10
2

\ 2xw n = 1 + 10k h
Q x = 0.5 & w n = 3.16

\10k h = 2 ( 0.5 ) ( 3.16 ) - 1

2.16
\k h =
10
\ k h = 0.216
2- Obtain the unit step response of a unity feedback
system whose open loop transfer function is:-

4
G (s) =
s ( s + 5)

-: Solution
C (s) G
=
R ( s ) 1+G
G
C (s) = *R ( s )
1+G
4 / s ( s + 5) 1
= *
4 s
1+
s ( s + 5)
4 1
= *
s ( s + 5) + 4 s
4
=
s ( s 2 + 5s + 4 )
4
=
s ( s + 4 ) ( s + 1)
A B C
\C ( s ) = + +
s s + 4 s +1
4
A= � =1
( s + 4 ) ( s + 1) s =0
4 1
B = �s =-4 =
s ( s + 1) 3
4 4
C = �s =-1 = -
s ( s + 4) 3
1 1/ 3 4 / 3
\C ( s ) = + -
s s + 4 s +1

1 4
\c ( t ) = 1 + e -4t - e -t
3 3

3- Consider the unit step response of a unity feedback

:control system whose open loop transfer function is
1
G (s) =
s ( s + 1)

Obtain the rise time, peak time, Max. overshoot and

?settling time

-: Solution
C (s) G
=
R ( s ) 1+G
1/s ( s + 1)
=
1
1+
s ( s + 1)
1
=
s ( s + 1) + 1
1
=
s + s +1
2

wn = 1 � wn = 1
2

1
2xw n = 1 � x =
2
px
-
1-x 2
Q Mp = e
�1 �
p� �
- �2 �
2
�1 �
1-� �
2
��
Mp = e
Mp = e -1.813
\ Mp = 0.163

p
Q tp =
w n 1-x 2
p
tp =
2
�1 �
1- � �
�2 �
\tp = 3.626sec

-: .Cont
 p -q p
tr = � q = cos -1 x � q =
wn 1 - x 2 3
p
p-
tr = 3
2
�1 �
1- � �
�2 �
\tr = 2.417 sec

4
ts =
xw n
\ts = 8sec

:Consider the closed loop system given by -4

C (s) wn 2
=
R ( s ) s 2 + 2xw n s +w n 2
Determine the values of ξ and w n so that the system
responds to a step input with approximately 5% overshoot
and with a settling time of 2 sec.? (use the 2% criterion)

-: Solution

Q Mp = 0.05
px
-
1-x 2
\ 0.05 = e
px
Ln ( 0.05 ) = -
1- x 2
px
-2.99 = -
1- x 2
p 2x 2
8.97 = -
1-x 2
8.97
x2 = 2
p + 9.97
x = 0.477
2

\x = 0.69

Q ts = 2sec
4
\2 = � 2% tolerence
xw n
4
2=
0.69w n
4
wn =
2*0.69
\w n = 2.898r / s
 control

H . W (( 2 ))

Name : Abdullah saad al-shamrani

ID : 42701796

Step-by-Step Solution:
 Step 1 of 4

Assume the thermometer to be a first-order system.

 The following is the input-output relationship of a first-order system.

The unit step input,

The Laplace transform of unit step input, .

Determine the system response of the system to unit step input.

Substitute for .

Take partial fraction expansion of the system response in s-domain.

 Step 2 of 4

Consider the following inverse Laplace transforms:

Take inverse Laplace transform to get the system response.

 The system requires 1 min to indicate 98% of the response to a step input.

For ,

Substitute 0.98 for and 60 for t

Simplify further to obtain the time constant.

Thus, the time constant of the system is .

 Step 3 of 4

The system response is,

Determine the error signal, .

As the temperature of the bath is changing at a rate of , that

is, the error signal is,

 Consider the following inverse Laplace transforms:

 Step 4 of 4

Take inverse Laplace transform to obtain the error signal.

The system attains steady value after four time constants.

Determine the error, at

Negative sign indicates that the temperature is decreasing at the rate of

.

Thus, the error shown by the thermometer is .