U NIVERSITY OF S HARJAH
C OLLEGE OF E NGINEERING
D EPARTMENT OF E LECTRICAL ENGINEERING
Course: Signals & Control systems
Problem Set
Chapter 6: Performance of systems & steady-state error
CONTENTS
1 I N T RO D U C T I O N TO C O N T RO L S Y S T E M S 2
1.1 P ERFORMANCE OF FEEDBACK CONTROL SYS -
TEMS 2
1.2 S TEADY- STATE ERROR 6
1
1
INTRODUCTION TO CONTROL SYSTEMS
1.1 P E R F O R M A N C E O F F E E D BAC K C O N T RO L S Y S T E M S
Problem 1.1. Consider the closed-loop system shown below. Deter-
mine the values of gains K1 and K2 so that the maximum overshoot
in the unit-step response of the closed-loop system is 5% and the
settling time is approximately 10 s.
R 1 Y
+ K1
−
s(s + 2K2 )
Answer 1.1.
ζ = 0.6901
K1 = 0.336
=⇒
ω = 0.5796 rad/s
K = 0.4
n 2
2
1.1 P E R F O R M A N C E O F F E E D B A C K C O N T R O L S Y S T E M S 3
Problem 1.2. Consider the closed-loop system shown in figure
below.
R K1 K2 Y
+
−
s 2s + K2
a) Find values of the gains K1 and K2 so that the step response
of the closed-loop system is with rise time tr = 0.6s and
settling time ts = 2s.
b) Determine values of the maximum overshoot O% (in percent)
and peak time t p .
Answer 1.2.
ζ = 0.6667
K1 = 2.25 and K2 = 8
=⇒
ω = 3 rad/s
t = 1.405 s and M = 6.02%
n p p
4 I N T RO D U C T I O N TO C O N T RO L S Y S T E M S
Problem 1.3. Consider the following closed-loop system.
R 430 Y
+
−
2s2 + K2 s + 2
K1
430
Find the gain values K1 and K2 that result in the following
closed-loop response to a unit-step input.
8
7
6
5
4
y(t)
3
2
1
0
0 0.5 1 1.5 2 2.5 3
Time (sec)
Answer 1.3. It can be seen from the given step response that
7−5
the maximum overshoot is M p = = 0.4 and the peak time
5
t p = 0.5s. These values lead to the following values:
ζ = 0.28
K1 = 83.673
=⇒
ω = 6.545 rad/s
K = 7.33
n 2
1.1 P E R F O R M A N C E O F F E E D B A C K C O N T R O L S Y S T E M S 5
Problem 1.4. Consider the closed-loop system shown in figure
below.
R 6 Y
+
−
2s2 + K1 K2 s + 2 + K1
Find values of the gains K1 and K2 so that the step response of the
closed-loop system is with a peak time t p = 0.5 s and settling time
ts = 1.5 s.
Answer 1.4.
ζ = 0.39
K1 = 85.179
=⇒
ω = 6.825 rad/s
K = 0.125
n 2
Problem 1.5. For the positive feedback system shown below, find
values of the gains K1 > 0 and K2 > 0 so that the percent overshoot
in the step response of the closed-loop system is 10% and the peak
time t p = 2s.
R K1 Y
+
+ 2
s + K2 s + 10
s + K2
Answer 1.5.
ζ = 0.5912
K1 = 1.593
=⇒
ω = 1.947 rad/s
K = 3.896
n 2
6 I N T RO D U C T I O N TO C O N T RO L S Y S T E M S
1.2 S T E A D Y - S TAT E E R R O R
Problem 1.6. For the following feedback control system shown
below, determine the steady-state error for a unit step input, for a
unit ramp input, and for a unit parabolic input.
R 3 Y
+
−
(s2 + 3s + 5)
Answer 1.6.
unit step input unit ramp input unit parabolic input
ess 0 5/3 ∞
Problem 1.7. Consider the following closed-loop system, deter-
mine the steady-state error for a reference input r (t ) = 5 + 2t (for
t ≥ 0)
R 10(s + 8) Y
+
−
s(s + 2)(s + 3)(s + 4)
Answer 1.7.
5 2
R(s) = + =⇒ ess = 0.6
s s2
1.2 S T E A D Y - S TAT E E R R O R 7
Problem 1.8. For each of the following closed-loop systems, deter-
mine the range of K for which the steady-state error for a unit-step
input is less than or equal to 8%.
a)
R K (s + 1) Y
+
−
(s + 3)(s + 2)(s + 7)
b)
R K (s + 12) Y
+
−
(s + 14)(s + 18)
c)
R 3 Y
+
−
(s + 0.5)(s + 0.2)
K +1
Answer 1.8.
a) K ≥ 483
b) K ≥ 241.5
c) K ≤ 0.0536
8 I N T RO D U C T I O N TO C O N T RO L S Y S T E M S
Problem 1.9. Consider the following closed-loop systems:
1. Which type of reference input R(s) must be applied to the
closed-loop system to yield a finite (but non-zero) steady-
state error?
2. For the type of the reference input determined in question
(1) above, find the range of values of K for which the steady-
state error is less than 5%, assuming an amplitude of the
reference input equal to 0.5.
a)
R K (s + 5) Y
+
−
s(s + 1)(s + 6)(s + 8)
b)
R 2K (s + 3) Y
+
−
(s + 5)(s + 8)
Answer 1.9.
a. 1) Type: Ramp reference input and 2) Range: K > 96
b. 1) Type: Step reference input and 2) Range: K > 60
