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ENS5253 Control Systems Tutorial on Time-Domain Analysis

Problem-1

For each of the transfer functions shown below, find the locations fo the poles and zeros, write an expression for the general form (no need to perform inverse Laplace transform) of the step response. State the nature of each response (overdamped, underdamped, and so on).

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Problem-2

For the control system whose closed-loop transfer function Y(s)/R(s) is given below, find the values of K and Kt so that the damping ratio of the system is 0.6 and the settling time of the unit-step response is 0.1 sec.

Use the equation below for the settling time relationship.

.

for

0 < ζ < 0.69

Since ζ=0.6,

2ζ = (5+500Kt)

= 1.2

Thus, . = 0.118

and

= 113.76

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Problem-3

The block diagram of a linear control system is shown in the figure below. Construct a parameter plane of Kp versus Kd (Kp is the vertical axis), and show the following trajectories or regions in the plane.

 (a) Unstable and stable regions (b) Trajectories on which the damping is critical (ζ =1) (c) Region in which the system is overdamped (ζ > 1) (d) Region in which the system is underdamped (ζ < 1) (e) Trajectory on which the parabolic-error constant Ka is 1000 sec -2 (f) Trajectory on which the natural undamped frequency ωn is 50 rad/sec (g) Trajectory on which the system is either uncontrollable or unobservable (hint: pole- zero cancellation)