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REDEEMERS UNIVERSITY, EDE.

Department of Electrical and Electronic Engineering

First Semester 2023/2024 Session

EEE503: Control Engineering I Tutorial Questions

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1. (a) A phase oscillator is constructed with open-loop transfer function or loop

transmission
ao
GH(s) = −
(τ s + 1)4
Use the Routh-Hurwitz condition to determine the value of ao that places
a pair of closed-loop poles on the imaginary axis. Also determine the
locations of the poles. use this information to find the locations of all
four closed-loop poles for of ao .
(b) Describe how the Routh-Hurwitz test can be modified to determine the
real part of all the singularities in a polynomial. Also explain why this
modification is usually of little value as a computational aid in factoring
the polynomial.

2. An operational amplifier has an open-loop transfer function

106
A(s) =
(0.1s + 1)(10−6 s + 1)2

This amplifier is combined with two resistors in a non-inverting configuration.

Neglect loading, determine the value of the closed-loop gain that results when
the damping ratio of the complex closed-loop pair is 0.5.

3. A speed control system combines a high-power operational amplifier in a loop

with a motor and a tachometer as shown in Figure 1. The tachometer provides
a voltage proportional to output shaft velocity, and this voltage is used as the
feedback signal to effect speed control.

(a) Draw a block diagram for this system that includes the effect of the
disturbing torque Td .
(b) Determine the compensating component values (R and C) as a function
JL so that the system loop transmission −100/s
(c) Show that, with this type of loop transmission, the steady steady-state
output velocity is independent of any constant load torque.
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Figure 1 Speed control system

Figure 2 motor model

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Figure 3

4. (a) Consider a polynomial

P (s) = an sn + an−1 sn−1 + · · · + a1 s + a0

with a0 , an ̸= 0, and defined the inverse polynomial P −1 (s) = sn P ( 1s ).

Show that the roots of P −1 (s) are the reciprocals of the roots for P (s).
Also show that P (s) has all its roots on the left-hand side of the s-plane
if and only if P −1 (s) does.
(b) Draw the Bode plot of the transfer function L(s) and determine its gain
and phase margins.
100s
L(s) = 2
s + 2s + 100

5. (a) Consider a feedback system having the characteristic equation

K
1+ =0
(s + 1)(s + 1.5)(s + 2)

It is desired that all the roots have real parts less than -1. Extend the
Nyquist stability criterion to find the largest value of K, satisfying this
condition.
(b) Consider the systems whose gain-phase plots on the Nichols chart are as
shown in Figures 3 and 4, determine the stability of the systems.

6. An operational amplifier has an open-loop transfer function

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a(s) =
(τ s + 1)(10−6 s + 1)
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Figure 4

The quantity τ can be adjusted by changing the amplifier compensation. Use

root contour to determine a value for τ that results in a closed-loop damping
ratio of 0.707 when the amplifier is connected as a unity-gain amplifier.
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7. A system’s transfer function G(s) has two poles at 4+2i and 4-2i and a zero
at +2. If |G(0)| = 2, find the magnitude and angle of G(j2).

8. Construct asymptotic Bode plots (magnitude and phase) for the following
loop transfer functions and show the location of the applicable stability mar-
gins (gain margin, phase margin, ωgc , and ωpc )

20
GH(s) =
(0.2s + 1)(0.1s + 1)

9. Consider the following operational amplifier circuit,shown in figure 5, where

R = 2kΩ and C = 500pF : Assuming an ideal op amp:

Figure 5
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(a) What is Vo (s)/Vi (s)

(b) Sketch the output response for Vi = 106 V /s

Suppose the op amp has the µA 741 transfer function:

2π × 106
A(s) =
s + 10π
(a) What is the phase margin,ϕm of the open-loop transfer function
10. A feedback-topology power amplifier is shown figure 6. Assume that the op
amp is ideal. Select a value for the capacitor C such that the system phase
margin is 45o . Assume that R = 5kΩ and the transfer function of the power
stage is
1
Gf (s) =
(10−6 s + 1)(10−8 s + 1)

Figure 6

11. You are given the following dual simple lag plant (as shown in figure 7. It
could represent a two-tank level control, a temperature control with two heat
capacitances in series, or a motor speed control.
K
Gp (s) =
(s + 1)(s + 3)
(a) Sketch the root locus of the uncompensated plant G(s) for positive values
of gain K. Find the value of K which makes ζ = 0.707. What is the
time constant of the resulting system?

Figure 7
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12. (a) What is root locus?

(b) Consider a unity-feedback control system with unstable open-loop trans-
fer function
10(s + 1)
G(s) =
s(s − 3)
i. Sketch the root locus plot for this system and locate the closed-loop
poles
ii. Show that, though the closed-loop poles lie on the negative real axis,
and the system is oscillatory, the unit step curve exhibits overshoot

13. (a) i. Draw the Bode diagram of the following non-minimum phase system

G(s) = 1 − 0.2s

ii. Obtain and plot the unit ramp response of the system
(b) The open-loop transfer function of a control system with unity feed back
is given by
k(s + 2)
G(s) =
s2
i. Determine the gain k such that the phase margin is 50o
ii. What is the gain margin for this value of k?

14. (a) i. Draw the Nyquist diagram for a unity feedback control system with
open-loop transfer function

k(1 − s)
G(s) =
1+s
ii. Using the Nyquist criterion, determine the stability of the system
on closed-loop
(b) A system with open-loop transfer function

k
G(s) =
s2 (T1 s + 1)

is inherently unstable on closed-loop. This system can be stabilized by

adding a derivative control. Sketch the Nyquist plot for the open-loop
transfer function with and without the derivative control.

15. (a) Consider a lag-lead compensator, Gc (s), given by

  
s + T11 s + T12
Gc (s) = k   
s + Tβ1 s + βT1 2

Show that at frequency ωo = √ 1

T1 T2 , the phase angle of Gc (jωo ) becomes
zero
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Figure 8 For question 4b

(b) Consider the system shown if Figure 8 It is desired to design the PID
controller
√ such that the dominant closed-loop poles are located at s =
−1 ± j 3. For the PID controller, choose a = 0.2, and then determine
the values of k and b. Sketch the root locus diagram for the designed
system.
16. (a) Consider a unity feedback system whose open-loop transfer function is
given by
k
G(s) =
s(s + 1)(s + 2)
Determine the value of k so that the dominant closed-loop poles have a
damping ration of 0.5
(b) Consider a unity feedback system with open-loop transfer function,
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G(s) =
s(s + 2)
Determine the peak magnitude gain Mp and the frequency ωp for which
this occurs.
17. (a) A closed-loop unity feedback control system has a forward transfer func-
tion given by
10
G(s) =
2s + 1
The time constant of the open-loop process is 2 sec. Determine the time
constant of the closed-loop control system
(b) Consider a unity feed back second-order control system whose forward
transfer function represents a process
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Gp (s) =
s(s + 10)
i. Without using the Bode plot, determine analytically the gain cross
over frequency, ωg , the phase margin and the gain margin
ii. A phase-lead network compensator, Gc (s) given by
1 + αT s
Gc (s) =
1 + Ts
is to be added in series with the process’ transfer function Gp (s).
Determine the values of a AND T in order that zero factor of Gc (s)
cancels the pole of Gp (s) at s = −10, and the damping ratio of the
control system is unity.
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iii. Determine the gain crossover frequency, ωgc , for the compensated
system analytically, without using the graphical Bode plot.
18. (a) What is the Nyquist criterion?
(b) The characteristic equation of a feedback control system is given by

s3 + 5Ks2 + (2K + 3)s + 10 = 0

Apply the Nyquist criterion to determine the values of K for a stable

closed-loop system.
(c) Sketch the Nyquist diagrams for the following loop transfer functions
and determine the stability of the system. (You may sketch only the
portion necessary to determine the stability of the system )
i.
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G(s)H(s) =
s(s + 2)(s2 + 4)
ii.
s
G(s)H(s) =
1 − 0.2s
19. (a) i. State the Routh-Hurwitz criterion.
ii. The conventional Routh-Hurwitz criterion gives the location of the
roots of a polynomial with respect to the jω-axis in the s-plane.
Extend the Routh-Hurwitz criterion such that roots of the charac-
teristic polynomial can be located with respect to the line s = −a
in the s-plane.
iii. Using this extended criterion, determine the values of K and T of a
closed-loop system with a unity feedback, whose open-loop transfer
function is given as
K
G(s) =
s(sT + 1)
such that poles are located to the left of −1 + j0 line
(b) The loop transfer function of a feedback control system is given by

K(s + 1)
G(s) =
s(1 + sT )(1 + 2s)

If parameters K and T are represented in a plane with K as the hori-

zontal axis and T as the vertical axis, determine the region in which the
closed-loop system is stable.
20. (a) What is root locus?
(b) A unity-feedback control system has an open-loop transfer function

K
G(s) =
s(1 + 0.02s)(1 + 0.01s)

i. Sketch the root locus diagram of the system

ii. Determine the marginal value of K which causes instability
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Figure 9

iii. Determine the value of K when the system is critically damped

(c) Consider the control system in figure 9. Design a lead compensator Gc (s)
such that the zero factor of Gc (s) cancels the pole of the plant at -4 and
the damping ratio of the control system is unity.
(1 + aT s)
Gc (s) =
(1 + T s)

21. (a) Consider an open-loop transfer function of a unity-feedback system given

by
K
G(s) =
s(1 + sT1 )(1 + sT2 )
Derive an expression for gain K in terms of T1 , T2 and the specified gain
margin
(b) The open-loop transfer function of a unity feedback system is
K
G(s) =
s(1 + 0.1s)(1 + s)
i. Determine the values of K so that the gain margin of the system is
20dB
ii. Determine the value of K that gives the system a phase margin of
60deg
22. (a) i. What is gain margin?
ii. What is phase margin?
iii. Consider a unity-feedback second-order system whose characteristic
equation is given by

s2 + 2ζωn + ωn2 = 0

Show that the system’s phase margin is given by

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−1 1
ϕpm = tan p
4ζ 4 + 1 − 2ζ 2

(b) Consider a unity-feedback system, in figure 10 with a forward path trans-

fer function
10
G(s) =
s(s + 1)
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Figure 10

The system is compensated by means of rate feedback H(s) = 0.15s in

the minor feedback loop. Analytically determine the effect of compensa-
tion by comparing the phase margins and bandwidths of the compensated
and the uncompensated schemes. In each case, determine the value of
Ka that gives a velocity error constant of kv = 10 for comparison.
23. (a) Consider a closed-loop system in figure 11
i. Draw the Bode diagram for the system and from the diagram, de-
termine the gain crossover frequency
ii. Find the phase margin and the gain margin for the system

Figure 11

(b) An open-loop system with transfer function G(s) has a time constant
of 2.Determine the time constant of the closed-loop system with unity
feedback.
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G(s) =
2s + 1