ENS5253Control Systems

Assignment No. 1

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Question: 01

a). Figure (1) shows an electric-circuit which is called a phase-lag network. Derive the
V o (s)
transfer function. i.e G( s) , for the network. Show all your working.
V ¿ (s )

(s ) (s )

Figure 1
Solution:
After writing component’s Impedances in Laplace Domain (Frequency

(s ) (s )
1
Cs

Domain)

By Voltage divider
1
V ¿ ( s ) (R2 + )
Cs
V o ( s )=
1
R1 s + R2 +
Cs

V o (s ) (R2 Cs+1)
=
V ¿ ( s ) (R 1+ R 2) Cs+1
Above equation is the transfer function of network given in the figure 1.

Figure 2
Two carts with negligible rolling friction are connected as shown in
Figure (1b). An input
force u(t) is applied. The masses of the two carts are M1 and M 2
and their displacements are x(t) and q(t) respectively. The carts are

Figure 3
connected by a spring k and a damper b. Answer the following
questions:

b). By using Newton’s Second Law, derive two mathematical

equations that describe the
motion of the two carts.

Free body diagram of M1

x (t)

k (x−q)
b . d(x −q) M1 u(t)
dt

Hence by Newton’s 2nd Law.

b . d ( x−q ) d 2 x (t) (i)
u(t)−k ( x ( t )−q ( t ) ) − = M1
dt dt2
Free body diagram of M2
q (t)

k ( x−q)
M2
b . d( x −q)
dt

(ii)
 2
b . d ( x−q ) d q (t )
k ( x ( t )−q ( t ) ) + = M2
dt dt2

Q(s)
c). Hence derive the following two transfer functions: G1 ( s ) =
U (s)

Taking Laplace of both of above equations:

From (i)

U (s)+Q( s)(k +bs )=X ( s)( k +bs+ M 1 s 2)

(iii)
From (ii)
2
X (s)( k+ bs)=Q( s)( M 2 s + bs+k ) (iv)

2
Q( s)( M 2 s +bs +k )
X (s)=
(k + bs)

Putting X(s) in (iii)

M
M
(¿ ¿ 2 s 2+ bs+ k )
Q(s)(¿ ¿ 1 s 2+ bs+k )
(k +bs)
¿
U ( s)+Q( s)(k + bs)=¿

M
M
2
(¿ ¿ 2 s + bs+ k )
(¿ ¿ 1 s 2+ bs+k ) −Q( s)( k +bs)
( k +bs )
Q( s)¿
U ( s ) =¿

M
M
2 (¿ ¿ 2 s 2+ bs+ k )
(¿ ¿ 1 s + bs+k ) −(k +bs )
( k +bs )
¿
¿
U ( s )=Q( s) ¿
 M
M (Answer)
2
(¿ ¿ 1 s + bs+k )(¿ ¿ 2 s2 +bs +k )−( k + bs )
2

¿
(k + bs)
¿
Q(s)
=¿
U (s )

QUESTION: 02
Y (s)
(a) Simplify and determine for the block diagram of figure (4). Use block-diagram
R (s)
reduction method

Figure 4
Solution:

4 3
5 s +15 s + 1 4 3 2
3 2
∗s +6 s +9 s
Y ( s) ( s +3 s )
= 4 3 2
R ( s) s +7 s +11 s −2 s+3
 s
(¿ ¿ 3+3 s2 )(s +3)
s 4 +7 s 3+11 s 2−2 s +3
Y ( s ) 5 s 4 +15 s3 +1
= ∗¿
R ( s) ( s 3+ 3 s2 )
Y ( s ) 5 s 5+ 15 s 4 +15 s 4 + 45 s 3+ s+ 3
=
R ( s) s4 +7 s 3+11 s 2−2 s+ 3
Y ( s ) 5 s 5+ 30 s 4 +45 s3 + s+3
=
R ( s ) s 4 +7 s 3 +11 s 2−2 s +3

Above Calculations are performed using following steps, Shifting adders after the blocks,
multiply that branch by that block gain. Also we can interchange two adders and two take off
points, the whole process in shown in the diagram giving on next page.
Figure 4
(b). Consider the above bock-diagram of figure (4). You are now required to derive the
transfer function, Y(s)/R(s), by using the signal flow graph method. Label in your
working, the paths and loops associated with the block-diagram.
Solution:

Figure 5
S.J Mason Formula:
n
PK . ∆ K
Transfer Function= ∑
K=1 ∆
∆=Determinant of the ¿
K=1,2,3 , … n
n=Number of Forward Path
th
PK =Graph of K forward path

∆=1−[ ∑ of all individual loop gain ] + [ ∑ of two non-touching loop gain ]−[ d 0−3−d 0 ] + …

∑ of all individual loop gain that are not touching

∑ of two non-touching loop gain that arenot touching
∆ K =1−[ ¿ k th forward path ] + [ ¿ k th forward path ] −[ d 0−3−d 0 ] +…

Using S.J Mason Formula:

 Y ( s ) n PK . ∆ K
=∑
R ( s ) K=1 ∆

1 G G G G
P1= ∗G 1 . G 2 . G 3 .G 4 .1= 1 2 3 4
s s
∆1 =1−0=1

L1=(−H 1 ) . G 2 . G 3=−H 1 G2 G3

L2=H 2 G1 G2 G3 G4

∆=1−[ −H 1 G2 G3 + H 2 G 1 G 2 G3 G4 ] +[0]

∆=1+ H 1 G2 G3−H 2 G1 G 2 G 3 G4

So,
G1 G2 G 3 G 4
∗1
Y ( s) s
=
R ( s ) 1+ H 1 G2 G3−H 2 G1 G 2 G 3 G4

Y ( s) G1 G2 G3 G 4
=
R ( s ) s (1+ H 1 G2 G3−H 2 G 1 G2 G3 G4 )

(c). Determine the system transfer function for the following signal-flow diagram of
figure 6.

Figure 6
 1∗1
∗1
s 1
P 1= ∗1= 2
s ( s +3 ) s ( s+3 )
P2=1∗5 s∗1=5 s

−(s−1)∗1 1−s
L1 = =
s ( s +3 ) s ( s+3 )
L1 touches boththe forward paths . So ,

∆1 =1∧∆ 2=1

1−s
∆=1−( L1 ) =1−( )
s ( s+3 )
s ( s+3 ) −(1−s)
∆=1−( L1 ) =
s ( s+3 )
2
s + 4 s−1
∆=
s ( s +3 )
1
2
∗1+5 s∗1
Y ( s ) s ( s +3)
=
R ( s) s2 + 4 s−1
s(s+3)

5 s ( s2 ) ( s +3 ) +1
∗s ( s+3 )
Y ( s) s 2 ( s+3)
=
R ( s) s2 +4 s−1

5 s3 ( s +3 ) +1
∗1
Y ( s) s
=
R ( s) s2 +4 s−1
Y ( s ) 5 s 4 +15 s3 +1
= 3 Answer
R ( s) s +4 s 2−s

Question: 03
A system with unity feedback is shown in figure 7.

Figure 7 Close loop system

Solution:
a). The closed loop transfer function
Y ( S) G ( s) G (s )
= =
R ( S ) 1+G ( S ) H ( S ) 1+G ( S )
As H(S) = 1 Hence unity feedback
3
2
Y (S) S +5 s 3
H ( s )= = = 2
R S 1+
( ) 3 S + 5 S+3
2
S +5s

1
A) From the given input R ( S )=
S
So,
Y ( S) 3
= 2
R ( S ) S +5 S +3
3
Y ( S)= 2 × R (S)
S + 5 S+ 3

S
S (¿¿ 2+5 S +3)
3 1 3
Y ( S )= 2 × =Y (S)= ¿
S + 5 S+3 s

2
Wn
H ( s )= 2 2
S + 2 γWnS +W n
Wn=√3
γ =1.443
So the system is over damped system with ¿−γWn +Wn √ γ 2−1 ,
−γWn−Wn √ γ 2−1
S 1, S 2=−2.5+1.8 ,−2.5−1.8
S 1=−4.3
S 2=−0.7

A B C
Y ( s )=
+ +
S S+ 4.3 S+0.7
1 0.194 1.19
¿ + −
S S +4.3 S+0.7

Y ( t ) =[1+ 0.194 e−4.3 t −1.19 e−0.7 t ]U (t)

Damping ratio = γ =0.671

Steady State Value
 lim Y (S)
S→∞
lim 5
S →∞ 5
¿ 2
= =1
S +3 S+5 0+5

Y ( ∞ )=1
MATLAB Code:
clc
clear all
close all
%definning the Transfer Function
TF = tf([8 18 32],[1 6 14 24]);
%finding the step response
Y_t = step(TF);
%plotting the step response of system
plot(Y_t)

Figure 8 Step response of system