Tutorial Sheets

TUTORIAL -5
Q1. Given the transfer function ,
Evaluate the following

a) Percent overshoot
b) Settling time
c) Peak time
d) Rise time
of the response to a step-voltage input. Justify all the second order assumptions.
Q2. Anesthesia induces muscle relaxation (paralysis) and unconsciousness in the patient .
Muscle relaxation can be monitored using electromyogram signals from nerves in the hand ;
unconsciousness can be monitored using the cardiovascular system’s mean arterial pressure .
The anesthetic drug is a mixture of isoflurane and atracurium . An approximate model
relating muscle relaxation to the percent isoflurane in the mixture is
Where P(s) is muscle relaxation measured as a fraction of total paralysis and U(s) is the
percent mixture of isoflurane.
a. Find the damping ratio and the natural frequency of the paralysis transient response.
b. Find the maximum possible percent paralysis if a 2% mixture of isoflurane is used.
c. Plot the step response of a paralysis if a 1% mixture of isoflurane is used.
d. What percent isoflurane would have to be used for 100% paralysis.
Q3. A MOEMS (optical MEMS) is a MEMS (Micro Electromechanical Systems) with an
optical fiber channel that takes light generated from laser diode . It also has a photo
detector that measures light intensity variations and output voltage variations proportional
to small mechanical device deflections. Additionally, a voltage input is capable of
deflecting the device The apparatus can be used as an optical switch or as a variable
optical attenuator, and it does not exceed 2000 um in any dimension . Figure shown
below shows the input-output signal pairs used to identify the parameters of the system .
Assume a second order transfer function and find the system’s transfer function .
Q4. An artificial heart works in closed loop by varying its pumping rate according to changes
in signals from the recipient's nervous system .For feedback compensation design it is
important to know the heart’s open-loop transfer function. To identify this transfer function
,an artificial heart is implanted in a calf while the main parts of the original heart are left in
place . Then the atrial pumping rate in the original heart is measured while step input changes
are affected on the artificial heart. It has been found that, in general, the obtained response
closely resembles that of a second order system. In one such experiment it was found that the
step response has a % OS=30% and a time of the first peak Tp= 127 sec. Find the
corresponding transfer function.
Q5. Consider the translational mechanical system shown in the figure below. A 1 pound
force, f(t) , is applied at t=0 . If fv =1 find K and M such that response is characterized by a 4-
second settling time and a 1-second peak time. Also, what is the resulting percent overshoot.
TUTORIAL -6
Q1. A model for an airplane’s pitch loop is shown in figure given below .Find the range of
gain , K , that will keep the system stable . Can the system ever be unstable for positive
values of K ?
Q2. A common application of control systems is in regulating the temperature of a chemical

process . The flow of a chemical reactant to a process is controlled by an actuator and valve
.The reactant causes the temperature in the vat to change . This temperature is sensed and
compared to a desired set point temperature in a closed loop , where the flow of the reactant
is adjusted to yeild the desired temperature . The figure fiven below shows the control system
prior to the addition of the PID controller . The PID controller is replaced by the shaded box
of gain of unity . For this system , prior to the design of the PID controller , find the range of
the amplifier gain , K , to keep the system stable .
Q3. Given the system of the given figure , design the value of K so that for an input of
100tu(t) , there will be a 0.01 error in the steady state .
Q4. For each of the systems shown in the figure given below , find out the following
a. The system type

b. The appropriate static error constant
c. The input waveform to yield a constant error
d. The steady state error for a unit input of the waveform found in part-c
e. The steady-state value of the actuating signal
TUTORIAL -7
Q1. For the unity feedback system shown in Figure P8.3, where
obtain the following,

a) Sketch the root locus.
b) Find the range of gain, K, that makes the system stable.
c) Find the value of K that yields a damping ratio of 0.707 for the system's closed-loop
dominant poles.
d) Find the value of K that yields closed-loop critically damped dominant poles.
Q2. For the system of Figure sketch the root locus and find the following:
a) Asymptotes
b) Breakaway points
c) The range of K for stability
d) The value of K to yield a 0.7 damping ratio for the dominant second-order pair
Q3. For the unity feedback system shown in Figure P8.3, where
a) Sketch the root locus.

b) Find the /w-axis crossing and the gain, £ , at the crossing.
c) Find breakaway and break-in points.
d) Find angles of departure from the complex poles. c. Find the gain, K, to yield a damping
ratio of 0.3 for the closed-loop dominant poles.
TUTORIAL -8
Q1. A unity feedback system has open-loop transfer function
1
G ( s) 
S ( S  1)(2S  1)
Do the following.
1. Draw the Nyquist plot for the system.
2. Determine the phase crossover and gain crossover frequencies.
3. Determine the gain margin and phase margin from the Nyquist plot
Q2. Obtain the polar plot of the following transfer function:
𝑒 −𝑗𝜔𝑡
𝐺(𝑗𝜔) = .
1 + 𝑗𝜔𝑇
𝐾(𝑠+5)
Q3. Use the Nyquist analysis to determine the stability range of K if G(s)H(s) = .
𝑠(𝑠−2)
(𝑠+2)(𝑠+8)
Q4. The open loop transfer function is . Is the closed loop system stable? If not,
𝑠3
deduce the number of unstable poles. Use the Nyquist criterion to arrive at your answers.
TUTORIAL -9
Q1. The unity feedback system of the figure given below with
is operating with 15% overshoot . Using frequency response techniques, design a

compensator to yield Kv = 50 with the phase-margin frequency and phase margin remaining
approximately the same as in the uncompensated system .
Q2. A system shown in the figure given below . Design a lead compensation such that the
closed-loop system satisfies the following specifications :
Static velocity error constant = 24s-1
Phase margin =550
Gain margin >= 13dB

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TUTORIAL -5

Q1. Given the transfer function ,

Evaluate the following

Q2. A common application of control systems is in regulating the temperature of a chemical

a. The system type

obtain the following,

a) Sketch the root locus.

Q2. Obtain the polar plot of the following transfer function:

is operating with 15% overshoot . Using frequency response techniques, design a

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