EE DEPT. UNIV.

OF NEVADA, RENO

EE 371 Control Systems

Points

(20) 1. From the block diagram (a) Obtain the transfer function with input R and output C.
(b) Obtain the transfer function with input D and output C.
G3
+ C(s)
R(s) + +
G1 G2
+
D(s) − H

(a) Eliminate the feedback loop to obtain the equivalent transfer function
G2
G feedback =
1+ G 2 H
G2
Gcascade = G1
1 + G2 H
G parallel = G3 + Gcas

C G2
= G3 + G1
R 1 + G2 H
C G2
=
D 1 + G2 H

(15) 2. Using Mason's rule, obtain the transfer function with input R and output C for the signal flow
graph.
−Η1

1 G1 G2 1 1
R(s) C(s)

−Η2

Path: T1 = G1G2 ∆1 = 1 (no loops remain if path is removed)

∆ = 1 −(−G1G2H1− G1G2H2) = 1 + G1G2 (H1 + H2)

1
 T1∆ 1 G1G 2
Mason’s Rule: T= =
∆ 1 + G1G 2 (H 1 + H 2 )

(30) 3. For the unity feedback closed-loop system with forward transfer function
K
G ( s) =
(
s 6s + 5s + 1
2
)
(a) Find the range of K for which the system is stable.
(b) Find the gain value at which the system has jω-axis poles and determine the pole locations.
(c) Is it possible to obtain a steady-state error due to a unit ramp input of 10%? Explain.
(d) For K =0.5, what is the steady-state error (i) due to a unit step? (ii) due to a unit parabolic?

(a) The closed-loop characteristic polynomial (sum of numerator and denominator for unity
feedback) is
P ( s ) = 6s 3 + 5s 2 + s + K
s3 6 1
s2 5 K
s (5 − 6 K ) 5
s0 K
For positive entries in the first column, we obtain the stable range

0 < K < 5/6

(b) The jω-axis intercept is at K = 5/6. The corresponding auxiliary equation is

(c) For a 10% error we need Kv = K = 10 > 5/6. This results in an unstable system. Hence, a
steady-state error of 10% is not achievable.

(d) The system is type 1 and stable at K = 0.5. Therefore, the steady-state error is zero due to a
step and infinite due to a parabolic.

K Kf
(15) 4. For the plant transfer function G ( s) = with feedback H ( s) =
s( s + 1) s+5
(a) Draw the system block diagram for a negative feedback loop with forward gain G and
feedback gain H.
(b) Show that the steady-state error due to a unit step input is zero for one and only one Kf
value.

(a)
R(s) + G C(s)

− H

G K (s + 5)
(b) T= =
1 + GH s (s + 1)(s + 5) + KK f

2
 e(∞ ) = sE ( s ) s →0 = sR[1 − T ] s →0

 1  K (s + 5) 
= s   1 − 
 s   s (s + 1)(s + 5) + KK f  s →0
KK f − 5 K
=
KK f
The error is zero at Kf = 5 and is otherwise nonzero.

K
(20) 5. Given the open-loop transfer function G (s ) =
s (s + 6 )

(a) Design a unity feedback proportional control that gives a damping ratio of 0.7
(b) For your design, calculate (i) the undamped natural frequency, (ii) the settling time, (iii)
the percentage overshoot, (iv) the time to first peak, (v) the steady state error due to a unit
ramp and (vi) the steady-state error due to a unit step.

(a) The closed-loop characteristic polynomial (sum of numerator and denominator for unity
feedback) is

P( s ) = s 2 + 6s + K = s 2 + 2ζω s + ω n2
n
2ζω = 6
n
3
ω = = 4.286 rad/s
n 0.7
K = ω n2 = (3 .7 ) = 18.367
2

ω n = 4.286 rad / s
4 4
Ts = = = 1.333 s
ζω n 3
%OS = 100e −πζ 1−ζ = 4.599%
2

(b) π π
Tp = = = 1.026s
ωd ωn 1− ζ 2
K v = K 6 = 3.061

e(∞ ) =
1
= 0.327 (32.7%)
Kv