50996034X2RM - Principles of Control Systems - Solution Manual

3
Transfer Function and Impulse Response
Solutions of Selected Unsolved Examples
3.3 Transfer Function

Q.8
Solution : The s-domain network is shown in the Fig. 3.1.
R1
Applying KVL to the two loops,

- R 1 I 1 (s) - I 1 (s) sL + I 2 (s) sL + V(s) = 0
i.e. I 1 (s) [R 1 + sL] - I 2 (s) sL = V(s)
- I 2 (s) R 2 -
R2
... (1)
+
V(s) _
1
I (s) - sL I 2 (s) + sL I 1 (s) = 0
sC 2
I1(s)
sL
+
I2(s)
1
sC
Fig. 3.1
1
I 2 (s) R 2 +
+ sL
sR C + 1 + s 2 LC
sC
\ I 1 (s) =
= I 2 (s) 2
sL
s 2 LC
Using (2) in (1),

s 2 LC + sR 2 C + 1
I 2 (s)
[R 1 + sL] - I 2 (s) sL = V(s)
s 2 LC
(s LC + sR 2 C + 1) (R 1 + sL)
- sL
\ I 2 (s)
2
s LC
= V(s)
I 2 (s)
s 2 LC
=
V(s)
s 2 LCR 1 + s R 1 R 2 C + R 1 + s 3 L2 C + s 2 L R 2 C + sL - s 3 L2 C
I 2 (s)
=
V(s)
s 2 LC
s 2 LC (R 1 + R 2 ) + s (R 1 R 2 C + L) + R 1
(3 - 1)
TM
TECHNICAL PUBLICATIONS - An up thrust for knowledge
... (2)
Principles of Control Systems
3-2
Transfer Function and Impulse Response
3.6 Laplace Transform of Electrical Network

Q.2
Solution : The s-domian network is shown in the Fig. 3.2 (a).
1
R1 ||
sC1
R1
=
1+sR1C1
1
sC1
R1
Z1(s)
Ei(s)
Ei(s)
1
sC2
R2
Z2(s)
Eo(s)
Eo(s)
1
R2 ||
sC2
R2
=
1+sR2C2
(a)
(b)
Fig. 3.2
Eo(s)
Z2
T.F. =
=
=
E1(s)
Z1 + Z 2
R2
1 + s R 2 C2
R1
R2
+
1 + sR1C1 1 + sR 2 C2
R 2 (1 + s R 1 C 1 )
(R 1 + R 2 ) + sR 1 R 2 (C 1 + C 2 )
qqq
TM
Block Diagram Representation of

Control Systems
5.3 Rules for Block Diagram Reduction

Q.11
Solution : Shifting take off point after G 2 and seperating feedback paths we get,
1 1 + G2
Parallel (1 + G = G
)
2
1
G2
R(s)
G1
G2
G3
H2
C(s)
H3
Minor loop
H1
Minor loop
R(s)
G2
1 + G2H2
G1
1 + G2
G2
G3
1 + G3H3
C(s)
H1
Minor loop
G1 G2
1 + G2H2 + G1G2H1
G1G2
1 + G2H2
R(s)
1+
R(s)
1 + G2
G2
G1G2H1
1 + G2H2
G3
1 + G3H3
C(s)
Series
G1 G3(1 + G2)
1 + G3H3 + G2H2 + G2G3H2H3 + G1G2H1 + G1G2G3H1H3
(5 - 1)
TM
C(s)
5-2
Block Diagram Representation of Control Systems
Q.12
Solution : No series, parallel combination and no minor feedback loop exists. So shifting
s
take off point before the block of
.
s + 10
s
s + 10
1
s
R(s)
Parallel
s
s + 10
C(s)
s
s3
3
s +8
s4
Minor
loop
1
s + 10
R(s)
s
s
+
s + 10 s 3
C(s)
s +8
s4
R(s)
s
s
+
s + 10 s 3
1
1+
s + 10
C(s)
s +8
s4
After simplification
After simplification
s + 10
s + 11
s (2s + 7)
(s + 10) (s + 3)
R(s)
s (2s + 7)
s + 10
s + 11 (s + 10) (s + 3)
s +8
s4
TM
C(s)
s(2s + 7)
(s + 11) (s - 3)
C(s)
=
R(s)
5-3
1+
(s 3
s(2s + 7)
+ 8)
(s + 11) (s - 3) (s - 4)
s (2s + 7) (s - 4)
(s + 11) (s - 3) (s - 4) + s(2s + 7) (s 3 + 8)
C(s)
s(2s 2 - s - 28)
=
R(s)
2s5 + 7s 4 + s 3 + 20s 2 - 9s + 132
5.4 Analysis of Multiple Input Multiple Output Systems

Q.4
Solution : As there are two inputs, consider each input separately. Consider R(s),
assuming Y(s) = 0.
R(s)
+
G1
C(s)
G2
i.e.
C(s) =
C(s)
G1G2
H1
G1 G2
C(s)
=
1 + G 1 G 2 H1
R(s)
R(s)
Minor feedback
loop
H1
R(s) G 1 G 2
1 + G 1G 2 H 1
Now consider Y(s) acting with R(s) = 0.

Now sign of signal obtained from H1 is negative which must be carried forward, though
summing point at R(s) is removed, as R(s) = 0, so we get,
To carry forward
negative sign
1
Y(s)
G1
Y(s)
G2
C(s)
G1H1
H1
Key Point
C(s)
G2
While finding equivalent G, trace forward path from input summing point to
output in direction of signal. While finding equivalent H, trace the feedback path from output
to input summing point in the direction of signal.
Now equivalent G = G 2 , tracing forward path from input summing point to output.
Equivalent H = - G 1 H 1 tracing feedback path from output to input summing point.
While sign of the final feedback is positive at the input summing point.
TM
5-4
G2
G
=
1 - GH 1 - G 2 ( - G 1 H 1 )
C(s)
=
Y(s)
G2
C(s)
=
1 + G 1G 2 H 1
Y(s)
i.e.
C(s) =
H itself is negative
Y(s) G 2
1 + G 1 G 2 H1
Hence the net output C(s) is given by algebraically adding its two components,
C(s) =
G 1 G 2 R(s) + G 2 Y(s)
1 + G 1G 2 H 1
Q.5
Solution : For C/R 1 , consider R 2 = 0, hence summing point at R 2 can be removed.
Parallel
G1 + G2
G2
R1
G1
G3
Minor
loop 1+ G3H2
+
G3
G4
H2
H1
Fig. 5.1 (a)

Series G
R1
G1 + G2
G3
1+ G3H2
G4
R1 +
H2
H1
Fig. 5.1 (b)
(G 1 + G 2 )G 3 G 4
C
G
where G =
=
1 + G 3 H2
R1
1 + GH 1
(G 1 + G 2 )G 3 G 4
1+ G 3 H 2
C
=
R1
(G + G 2 )G 3 G 4 H 1
1+ 1
1 + G 3 H2
(G 1 + G 2 )G 3 G 4
1 + G 3 H 2 + (G 1 + G 2 )G 3 G 4 H 1
TM
5-5
For C/R 2 , consider R 1 = 0 but negative sign of H 1 must be considered while removing
summing point at R 1 . The parallel combination of G 1 , G 2 and minor loop of G 3 and H 2
can be used directly.
R2
G1 + G2
G3
1+ G3H2
Geq (Forward path)
+
G4
H1
Heq (Feedback path)
Fig. 5.1 (c)

R2 +
G eq = G 4
H eq
- (G 1 + G 2 )G 3 H 1
=
(1 + G 3 H 2 )
G eq
C
=
=
R2
1 - G eq H eq
C
=
R2
Geq
+
Heq
G4
(G
1 + G 2 )G 3 H 1
1- G4
(1 + G 3 H 2 )
Fig. 5.1 (d)
G 4 (1 + G 3 H 2 )
1 + G 3 H 2 + (G 1 + G 2 )G 3 G 4 H 1
Q.6
Solution : i) With N(s) = 0 block diagram becomes
Minor loop
3
R(s)
E(s)
+
s+4
10
s(s + 1)
C(s)
0.5 s
10
s (s + 1)
10
10
=
=
Minor feedback loop =
2
2
10
1+
0.5s s + s + 5s s + 6s
s (s + 1)
Assume output of second summing points as X(s),
Hence
E(s) = R(s) C(s)
C(s) = X(s)
10 (s + 4)
... (i)
... (ii)
s 2 + 6s
TM
5-6
3
R(s)
E(s)
C(s)
10
s+4
s + 6s
3
s+4
R(s)
E(s)
+
X(s)
X(s) = E(s) +
s+4
10
C(s)
s + 6s
3
R(s)
s+ 4
... (iii)
Substituting value of X(s) and R(s) from (i) & (ii) in (iii) we get,
s 2 + 6s
3
3
C(s) = E(s) +
E(s) +
C(s)
s+ 4
s+ 4
10 (s + 4)
s 2 + 6s
3
3
E(s)
C(s) = 1 +
s
+
4
10(s
+
4)
(s
+
4)
(s + 7)
(s 2 + 6s - 30)
C(s) =
E(s)
(s + 4)
10 (s + 4)
C(s)
10 (s + 7)
=
2
E(s)
s + 6s - 30
ii) To find
C(s)
,
R(s)
when N(s) = 0
we have to reduce block diagram solving minor feedback loop and
shifting summing point to the left as shown earlier in (i).

So referring to block diagram after these two steps i.e.
3
s+4
R(s)
E(s)
+
s+4
10
2
s + 6s
TM
C(s)
5-7
Exchanging two summing points using associative law,

3
s+4
+
R(s)
C(s)
10 (s + 4)
2
s + 6s
3
Parallel of '1' and
s+4
3
= 1 +
s+4
G
Minor loop =
1 + GH
10 (s + 4)
s2 + 6s
10 (s + 4)
1 +
s2 + 6s
\ Block diagram becomes,

R(s)
1+
10 (s + 4)
3
s+4
C(s)
s + 16s + 40
10 (s + 4)
C(s)
10(s + 7)
s+ 7
=
=

2
2
R(s)
s + 4
s + 16s + 40 s + 16s + 40
iii) With R(s) = 0 block diagram becomes,

+
C(s)
10
s(s + 1)
s+4
N(s)
0.5 s
The block of 3 will not exist as R(s) = 0. Similarly first summing point will also vanish
but student should note that negative sign of feedback must be considered as it is, though
summing point gets deleted.
In general while deleting
summing
point,
it
is
necessary to consider
the
signs of the different signals
at that summing points and
should not be disturbed. So
introducing block of 1 to
consider negative sign.
+
s+4
10
s(s + 1)
0.5 s
TM
N(s)
C(s)
5-8
10
s(s + 1)
N(s)
C(s)
0.5 s
(s + 4)
Parallel
Two blocks are in parallel, adding them with signs.

+
C(s)
10
s(s + 1)
N(s)
(s + 4) 0.5 s
After simplification ( 1.5 s 4)
Removing summing point, as sign is positive no need of adding a block.

+
10
s(s + 1)
N(s)
C(s)
N(s)
C(s)
+
10 (1.5 s + 4)
s(s + 1)
(1.5 s + 4)
Minor loop with G = 1
C(s)
=
N(s)
1
1
=
15s
+ 40
-10 (1.5s + 4)
1+
1-
s(s + 1)
s(s + 1)
C(s)
s(s + 1)
=
2
N(s)
s + 16s + 40
5.5 Block Diagram from System Equations

Q.2
Solution : The network can be redrawn in s-domain as,
TM
5-9
Va(s)
Z1(s)
Z3(s)
R1
1 =
Z1 = R1 ||
sC1 1 + sC1R1
Z2 = R2 + sL2
V1(s)
Z2(s)
I1(s)
V2(s)
Z4(s)
I2(s)
I 1 (s) =
Va (s) =
I 2 (s) =
R3
1 =
Z3 = R3 ||
sC3 1 + sR3C3
Z4 = R4
V1 (s) - Va (s)
1
1
=
V (s) V (s)
Z1
Z1 1
Z1 a
... (1)
[I 1
- I 2 ] Z 2 = Z 2 I 1 (s) - Z 2 I 2 (s)
... (2)
Va (s) - V2 (s)
1
1
=
V (s) V (s)
Z3
Z3 a
Z3 2
... (3)
V2 (s) = Z 4 I 2 (s)
... (4)
Simulating each equation, the complete block diagram is,

Shift
V1(s)
1
__
Z1
I1(s)
Va(s)
Z2
I2(s)
1
__
Z3
Shift
1
__
Z1
1
__
Z1
Z2
Minor feedback loop
1
__
Z1
V2(s)
1
__
Z3
Interchange
V1(s)
Z4
1
__
Z3
Z2
Z4
1
__
Z3
1
__
Z2
1
__
Z4
Z2
TM
V2(s)
5 - 10
Minor feedback loop

V1(s)
1
__
Z1
1
__
Z3
Z2
Z4
Z4
1 +
Z3
V2(s)
Z3Z4
______
Z3 + Z4
1
__
Z1
1
__
Z4
V1(s)
1
__
Z1
Z2
Z3Z4
_________
Z3 (Z3 + Z4)
Z2
1 +
Z1
Z1Z2
_______
Z1 + Z2
V2(s)
1
__
Z4
Minor feedback loop
Z 1Z 2
Z4
+
+
Z
Z
Z
Z
V2 (s)
( 1 2 ) ( 3 4 )
1
=
V1 (s)
Z1
Z 1Z 2
Z4
1 + 1
Z4 (Z1 + Z2 ) (Z 3 + Z4 )
Z2 Z4
( Z 1 + Z 2 ) ( Z 3 + Z 4 ) + Z 1Z 2
Substituting the values of Z 1 , Z 2 , Z 3 , Z 4

\
V2 (s)
(R2 + s L2 ) R4
=
V1 (s)
R1
R3
R 1 ( R 2 + sL 2 )
1 + sC R + R 2 + sL 2 1 + sR C + R 4 +
(1 + sR 1 C 1 )
1 1
3 3
... Ans.
qqq
TM
Signal Flow Graph Representation of

Control Systems
6.5 Mason's Gain Formula

Q.11
Solution : Number of forward paths = K = 2
2
TK D K
T.F. =
K=1
using Mason's gain Formula
T1 = G 1 G 2 G 3 G 4
G1
G2
G2
H3
G3
H2
L1 = G1G2H3
L2 = G2G3H2
G5
G4
H1
H2
L3 = G4H1
H1
L4 = +G5H1H2
T2 = G 1 G 5
Individual feedback loops,
Loops L 1 and L3 are non touching loops.
\
D = [ L 1 + L2 + L 3 + L4 ] + [ L1 L 3 ]
= 1 [G 1 G 2 H 3 G 2 G 3 H 2 G 4 H 1 + G 5 H 1 H 2 ] + [G 1 G 2 G 4 H 1 H 3 ]
Consider T1 , all loops are touching \ D 1 = 1
Consider T2 , all loops are touching \ D 2 = 1
(6 - 1)
TM
\ T.F. =
T1 D1 + T 2 D 2
D
6-2
Signal Flow Graph Representation of Control Systems
G1 G 2 G 3 G 4 1 + G1 G5 1
1 + G1 G 2 H3 + G 2 G 3 H2 + G 4 H1 - G5 H1 H2 + G1 G 2 G 4 H1 H3
G 1 G 2 G 3 G 4 + G 1 G5
C(s)
=
R(s) 1 + G 1 G 2 H 3 + G 2 G 3 H 2 + G 4 H 1 - G 5 H 1 H 2 + G 1 G 2 G 4 H 1 H 3
Q.12
Solution : Number of forward paths K = 2
Mason's gain formula,
2
TK D K
T.F. =
K=1
T1 D 1 + T2 D 2
D
G2
L1 = G2H1
H1
G1
G2
G3
G4
L2 = - G1G2G3G4H2
H2
G5
G4
L3 = - G5G4H2
H2
T1 = G 1 G 2 G 3 G 4 , T2 = G 5 G 4
Individual feedback loops are,
L 1 and L3 are two non touching loops.
\ D = 1 - [L 1 + L 2 + L 3 ] + [L 1 L 3 ]
= 1 - [- G 2 H 1 - G 1 G 2 G 3 G 4 H 2 - G 5 G 4 H 2 ] + [G 2 H 1 G 5 G 4 H 2 ]
= 1 + G 2 H1 + G 1 G 2 G 3 G 4 H2 + G5 G 4 H2 + G 2 G5 G 4 H1 H2
For T1 all loops are touching
G5
G2
G4
L1 is non touching to T2.
H1
TM
6-3
\ D 1 = 1 eliminating all loop gains and products from D

Consider T2 ,
\
D 2 = 1 [L 1 ] = 1 (G 2 H 1 ) = 1 + G 2 H 1
G G G G 1 + G5 G
T1 D 1 + T2 D 2
= 1 2 3 4
D
D
(1 + G 2 H 1 )
C(s)
=
R(s)
C(s)
G1 G 2 G 3 G 4 + G 4 G5 (1 + G 2 H1)
=
1 + G 2 H1 + G1 G 2 G 3 G 4 H 2 + G5 G 4 H 2 + G 2 G5 G 4 H1 H 2
R(s)
Q.13
T D
T.F. = 1 1
\
D
G1
G3
H1
H3
G1
.... Mason's gain formula
G2
G3
G4
G5
H4
H5
L4 = G4H4
L5 = G5H5
H2
L1 = G1H1
L2 = G3H3
L3 = G1G2G3H2
T1 = G 1 G 2 G 3 G 4 G 5
Individual feedback loops,
Combinations of two non touching loops,
i)
L 1 and L 2
iv) L 2 and L5
ii) L 1 and L5
iii) L 1 and L 4
v) L 3 and L5
Combination of three non touching loops, is L 1 , L 2 and L 5 .

\ D = 1 [L 1 + L 2 + L 3 + L 4 + L5 ] + [L 1 L 2 + L 1 L5 + L 1 L 4 + L 2 L5 + L 3 L5 ] [L 1 L 2 L5 ]
\
D = 1 + G 1 H 1 + G 3 H 3 + G 1 G 2 G 3 H 2 + G 4 H 4 + G 5 H5
+ G 1 G 3 H 1 H 3 + G 1 G 4 H 1 H 4 + G 1 G 5 H 1 H5 + G 3 G 5 H 3 H5
+ G 1 G 2 G 3 G 5 H 2 H5 + G 1 G 3 G 5 H 1 H 3 H5
Now considering T1 = G 1 G 2 G 3 G 4 G 5
All loops are touching to this forward path hence,

D1 = 1
\
T 1 D1
G G G G G 1
C(s)
= 1 2 3 4 5
=
D
D
R(s)
TM
6-4
G 1 G 2 G 3 G 4 G5
C(s)
=
R(s)
1 + G 1 H 1 + G 3 H 3 + G 1 G 2 G 3 H 2 + G 4 H 4 + G 5 H5
\
+ G 1 G 3 H 1 H 3 + G 1 G 4 H 1 H 4 + G 1 G 5 H 1 H5
+ G 3 G 5 H 3 H5 + G 1 G 2 G 3 G
H 2 H5
+ G 1 G 3 G 5 H 1 H 3 H5
Q.14
Solution : Number of forward paths K = 3
T1 = G 2 G 4 G 5 G 6 ,
T2 = G 1 G 4 G 5 G 6 , T3 = G 3 G 4 G 5 G 6
G1
G2
G4
H1
L 1 = -G 2 G 4 H 1
G4
G4
G3
H1
H1
L 2 = -G 1 G 4 H 1
L 3 = -G 3 G 4 H 1
\
D = 1 - [L 1 + L 2 + L 3 ]
No combination of non touching loops
D = 1 + G 2 G 4 H1 + G 1 G 4 H1 + G 3 G 4 H1
Consider
T1 = G 2 G 4 G 5 G 6
All loops are touching,
\ D1 =1
T2 = G 1 G 4 G 5 G 6
All loops are touching,
\ D2 = 1
All loops are touching, \ D 3 = 1

T3 = G 3 G 4 G 5 G 6
T1 D 1 + T 2 D 2 + T3 D 3
T.F. =
D
G 2 G 4 G5 G 6 1 + G 1 G 4 G5 G 6 1 + G 3 G 4 G5 G 6 1
=
D
C(s)
R(s)
G 2 G 4 G5 G 6 + G 1 G 4 G5 G 6 + G 3 G 4 G5 G 6
1 + G 2 G 4 H1 + G 1 G 4 H1 + G 3 G 4 H1
Q.15
T1 = G 1 G 2 G 3 G 4 ,
Individual feedback loops
T2 = G 1 G 2 G 6 , T3 = G 1 G 2 G 3 G 5
G3
G1
G2
G3
H3
H1
TM
G4
6-5
L1 = G 3 H 3
L2 = G 1 G 2 G 3 G 4 H1
No combination of nontouching loops

\
D = 1 -[ L 1 + L2 ] = 1 + G 3 H 3 + G
Consider
T1 = G 1 G 2 G
T.F. =
=
G 2 G 3 G 4 H1
All loops are touching D 1 = 1
G4
T2 = G 1 G 2 G 6
T3 = G 1 G 2 G 3 G 5
T1 D 1 + T 2 D 2 + T3 D 3
D
G 1 G 2 G 3 G 4 1 + G 1 G 2 G 6 1 + G 1 G 2 G 3 G5 1
D
G 1 G 2 G 3 G 4 + G 1 G 2 G 6 + G 1 G 2 G 3 G5
C(s)
=
R(s)
1 + G 3 H 3 + G 1 G 2 G 3 G 4 H1
Q.16
\
T1 = G 1 G 2 G 3 G 4
Individual feedback loops
G1
G3
G4
H1
H4
H3
L2 = -G 3 H4
L 3 = -G 4 H 3
L1 = -G 1 H1
H2
G5
G2
G3
SELF LOOP
G4
L 4 = -G 2 G 3 G 4 H2
L5 = G 5
Combinations of two nontouching loops

i) L 1 and L 2
ii) L 1 and L 3
iii) L 1 and L5
iv) L 2 and L5
Combination of three nontouching loops.

i) L 1 , L 2 and L5
\
D = 1 - [L 1 + L2 + L3 + L4 + L5 ] + [ L 1 L2 + L1 L3 + L1 L5 + L2 L 5 ] - [L1 L2 L5 ]
D =
1 + G 1 H1 + G 3 H4 + G 4 H 3 + G 2 G 3 G 4 H2 - G5 + G 1 G 3 H1 H4
+ G 1 G 4 H1 H 3 - G 1 H1 G5 - G 3 H 4 G5 - G 1 G 3 G5 H1 H4
TM
6-6
All loops are touching to forward path T1 hence D 1 = 1.

\
C(s)
R(s)
C(s)
R(s)
G G
T1 D 1
= 1
D
G 3 G4 1
D
G1 G2 G 3 G4
1 + G 1 H 1 + G 3 H4 + G 4 H 3 + G 2 G 3 G 4 H 2 + G5 + G 1 G 3 H1 H4
+G
G 4 H1 H 3 - G 1 H1 G5 - G 3 G5 H4 - G 1 G 3 G5 H1 H4
Q.17
Solution :
R(s)
s1
s2
s3
t1
G1
C(s)
t2
G2
H1
H2
1
R(s) 1
s1
1 s2
G1
t1
s3
G2
t2
1 C(s)
H2
H1
T1 = G 1 G 2
Individual loops are,
1
G1
G1
G2
H2
H1
L1 = G 1 H1
L2 = G 1 G 2
L 1 and L 3 is combination of two non-touching loops

\
D = 1 - [ L1 + L2 + L 3 ] + [ L1 L 3 ]
= 1 + G 1 H1 + G 1 G 2 + G 2 H2 + G 1 G 2 H1 H2
\
G2
T D
C(s)
= 1 1
D
R(s)
Considering T1 , all loops are touching \ D 1 = 1

TM
L 3 = G 2 H2
G1 G2
1 + G 1 H1 + G 1 G 2 + G 2 H2 + G 1 G 2 H1 H2
C(s)
=
R(s)
6-7
Q.18
Solution : The signal flow graph is show below representing each summing and take off
point by separate node.
R(s)
G1
G2
C(s)
H2
H1
H3
Forward paths : T1 = G 1 G 2
Individual feedback loop gains are,
G1
G2
H1
H2
L1 = G1H1
L2 = G2H2
G1
G2
H3
L3 = G1G2H3
Nontouching loops : L 1 L 2 = G 1 G 2 H 1 H 2
\
D = 1 - [L 1 + L 2 + L 3 ] +[L 1 L 2 ]
All loops are touching to forward path T1 hence D 1 = 1.
C(s)
\
R(s)
T1 D 1
=
D
G 1G 2
1 + G 1H 1 + G 2 H 2 + G 1G 2 H 3 + G 1G 2 H 1H 2
By block diagram reduction, eliminate the two minor loops,

R(s) +
G1
1 + G1H1
G2
1 + G2H2
C(s)
R(s) +
G1G2
(1 + G1H1)(1 + G2H2)
C(s)
H3
H3
G 1G 2
(1 + G 1 H 1 ) (1 + G 1 H 2 )
G 1G 2
H3
1+
(1 + G 1 H 1 ) (1 + G 2 H 2 )
G2G2
(1 + G 2 H 1 ) (1 + G 2 H 2 ) + G 1 G 2 H 3
C(s)
=
R(s)
G 1G 2
C(s)
=
1 + G 1H 1 + G 2 H 2 + G 1G 2 H 1H 2 + G 1G 2 G 3
R(s)
TM
6-8
6.7 Application of Mason's Gain Formula to Electrical Network

Q.1
Solution : Convert the given network in its laplace form and assume different loop
currents and node voltages as shown.
1
sC1
Vi(s)
V1
R1
I1
1
sC2
R2
I2
Vo(s)
Writing down equations for I 1 , V1 , I 2 , Vo we get,

(Vi - V1 )
= sC 1 (Vi - Vo )
I1 =
1
sC 1
... (I)
V1 = (I 1 - I 2 ) R 1
I2 =
... (II)
(V1 - Vo )
= sC 2 (V1 - Vo )
1
sC 2
... (III)
Vo = I 2 R 2
Simulating above equations by signal flow graph
sC1
Vi
... (IV)
V1
I1
For equation (I)

I1
R1
sC1
V1
I2
For equation (II)
R1
V1
sC2
Vo
I2
For equation (III)

sC2
Vo
R2
I2
For equation (IV)
Combining we get signal flow graph for given network.

V1
sC1
I1
R1 V1 sC2 I2
sC1
R1
TM
R2
Vo
sC2
6-9
To find T.F. apply Mason's gain formula
T.F. =
S TK D 1
D
T.F. =
T1 D 1
D
Number of forward path = K = 1
T1 = sC 1 R 1 sC 2 R 2 = s 2 R 1 R 2 C 1 C 2
Individual loops :
L 1 = R 1 C 1 s,
L 2 = sR 1 C 2
L 3 = R 2 sC 2
Out of three, L 1 and L 3 are nontouching
D = 1 [ L1 + L2 + L 3 ] + [ L1 L 3 ]
= 1 [ - sR 1 C 1 - sR 1 C 2 - sR 2 C 2 ] + s 2 R 1 C 1 R 2 C 2
= 1 + s [ R 1 C1 + R 1 C2 + R 2 C2 ] + s 2
\
[ R 1 C1 R 2 C2 ]
T D
Vo (s)
= 1 1
D
Vi (s)
All loops are touching to T1 , \ D 1 = 1

\
Vo (s)
=
Vi (s)
1+ s
s 2 R 1 C1 R 2 C2
[ R 1 C1 + R 1 C2 + R 2 C2 ] + s 2 [ R 1 C1 R 2 C2 ]
Q.2
Solution : Laplace Transform of the given network is,
R1
Vi(s)
I1(s)
R3
V1
R2
I2(s)
R4
Vo(s)
Equations for different currents and voltages are
TM
S.F.G. (I) I1 =
Vi
S.F.G. (II)V1 =
6 - 10
1
R1
I1
I1
R2
V1
V1
1
R3
I2
V1
1
R1
(Vi
I2
- V1 )
1
R1
... (I)
(I 1 - I 2 ) R 2
... (II)
R2
Vo
I 2 = ( V1 - Vo )
S.F.G. (III)
1
R3
I2
S.F.G. (IV)
Vo
R4
1
R3
Vo = I 2 R 4
Total S.F.G. is as shown in the following figure.

Vi
1
R1
I1
1
R 2 V1 R 3
1
R1
Use Mason's gain formula to find

S TK D K
Vo
=
D
Vi
I2
R2
R4
Vo
1
R3
Vo
Vi
Number of forward paths = K = 1 =
T1 D 1
D

R2 R4
\
T1 =
R1 R 3
L1 = -
R2
,
R1
L2 =
R2
,
R3
L3 =
R4
R3
L 1 and L 3 are nontouching

D = 1 [ L1 + L2 + L 3 ] + [ L1 L 3 ]
= 1+
\
R2
R
R
R R
+ 2 + 4 + 2 4,
R1
R 3 R 3 R1 R 3
D1 = 1
all loops are touching to T1
R1 R 3 + R2 R 3 + R1 R2 + R1 R4 + R2 R4
D =
R1 R 3
TM
... (III)
... (IV)
6 - 11
T D
Vo
= 1 1
D
Vi
\
R2 R4
Vo
=
R2 R4 + R1 R4 + R1 R2 + R2 R 3 + R1 R 3
Vi
Q.3
Solution : The Laplace domain representation of the given network is shown below.
R
I2(s)
V1(s)
(I1+I2)
Vi(s)
I2(s)
I1(s)
Vi(s)
1
sC
(I1+I2)
1
sC
I2(s)
Vo(s)
Vo(s)
(I1+I2)
The various branch currents are shown,

Vi (s) - V1 (s)
\
I 1 (s) =
1

sC
= sC Vi (s) - sC V1 (s)
Then,
I 2 (s) =
=
... (1)
Vi (s) Vo (s)
R
1
1
V (s) Vo (s)
R i
R
... (2)
V1 (s) = [I 1 (s) + I 2 (s)]R

= R I 1 (s) + R I 2 (s)
and also,
I 2 (s) =
... (3)
Vo (s) - V1 (s)
1
sC
= sC Vo (s) - sC V1 (s)
From this obtain the equation for Vo (s) as I 2 (s) equation is already obtained.
Note : Write the separate equation for separate branch and each element must be
considered atleast once.
1
... (4)
\
Vo (s) = Vi (s) +
I (s)
sC 2
TM
6 - 12
Hence the signal flow graph is,

1
R
sC
Vi(s)
1
R
V1(s)
I1(s)
1
sC
I2(s)
Vo(s)
sC
+1
The forward path gains are,

T1 = sCR
T2 =
1
sCR
T3 =
1
R1 = 1
R
The various loop gains are,

L2 = -
L 1 = sCR
1
sCR
L3 = -
1
R1 = 1
R
The loops L 1 and L 2 are non-touching

\
L1L2 = 1
Hence system determinant is,
D = 1 - [L 1 + L 2 + L 3 ] + [L 1 L 2 ]
= 1 + sCR +
For T1 ,
D1 = 1
For T2 ,
D 2 = 1 L1
1
3sCR + s 2 C 2 R 2 + 1
+1 +1 =
sCR
sCR
all loops touching to T1
as L 1 is non touching to T2
= (1 + sCR)
For T3 ,
D3 = 1
all loops touching to T3
According to Masons gain formula,

T D + T2 D 2 + T3 D 3
Vo (s)
= 1 1
D
Vi (s)
1
sCR +
(1 + sCR) + 1
sCR
3sCR + s 2 C 2 R 2 + 1
sCR
s 2 C 2 R 2 + 1 + sCR + sCR
sCR
3sCR + s 2 C 2 R 2 + 1
sCR
Vo (s)
s 2 C 2 R 2 + 2sCR + 1
=
Vi (s)
s 2 C 2 R 2 + 3sCR + 1
TM
6 - 13
Q.4
Solution : Laplace transform of the given network.
R1
Vi(s)
I(s) =
R2
I(s)
1
sC
Vo(s)
Vi - Vo
R1
... (1)
1
Vo (s) = I(s) R 2 +
sC
... (2)
S.F.G. for equation (1) :
S.F.G. for equation (2) :
1
R1
Vi
R2 +
Vo
1
sC
Vo
1
R1
Complete S.F.G. is :
Vi
1
R1
R2 +
1
sC
Vo
1
R1
Use Mason's gain formula. Number of forward path = K = 1

1
1 1 + sR 2 C
R 2 +
T1 =
=
R 1 sC
R1
sC
Individual loop, L 1 =
\
D =
1 + R 2 sC
R 2 sC + 1 1
- R = - R sC
sC
1
1
1 [L 1 ] = 1 +
(1 + R 2 sC)
R 1 sC
1
R2 +
sC
1

R1
As L 1 is touching to T1 , D 1 = 1
1 + sR 2 C
T D
R 1 sC
Vo (s)
= 1 1 =
\
D
Vi (s)
(1 + R 2 sC)
1+
R 1 sC
1 + sR 2 C
Vo (s)
=
=
1 + R 2 sC + R 1 sC
Vi (s)
1+ sR 2 C
1+ sC(R 1 + R 2 )
qqq
TM
Time Domain Analysis

of Control Systems
7.8 Analysis of TYPE 0, 1 and 2 Systems

Q.11
Solution : Express the given open loop transfer function in time constant form.
10 (s + 2) (s + 3)
G(s)H(s) =
=
s (s + 1) (s + 5) (s + 4)
s
s
10.2.3 1 + 1 +
2
3
s
s
s 1 5 4 (1 + s) 1 + 1 +
5
4
s
s
3 1 + 1 +
2
3
=
s
s
s (1 + s) 1 + 1 +
4
5
Now,
Kp = Lim G(s)H(s) =
s 0
Kv = Lim s G(s)H(s) = 3
s 0
Ka = Lim s 2 G(s)H(s) = 0
s 0
Now input is, r(t) = 3 + t + t 2 = 3 + t + 2
t2
2
The input is combination of three standard inputs.

A 1 = 3, step of 3
A 2 = 1, ramp of 1
A 3 = 2, parabolic input of 2
Note that parabolic input must be expressed as
A 2
t .
2
a) For step of 3 the error is,

e ss1 =
A1
3
=
=0
1 + Kp 1 +
TM
(7 - -1)An up thrust for knowledge

TECHNICAL PUBLICATIONS
7-2
Time Domain Analysis of Control Systems
b) For ramp of 1 the error is,

e ss2 =
A2 1
=
Kv
3
c) For parabolic of 2, the error is

e ss3 =
A3 2
= =
Ka
0
Hence steady state error is,

e ss = e ss1 + e ss2 + e ss3 = 0 +
1
+ =
3
Q.12
Solution : From the system shown we can write,
G(s) =
K
,
s(s + 1)
H(s) = 1
The input is r(t) = 0.1 t i.e. ramp of magnitude 0.1. For ramp input Kv controls the error.
Lim
Lim
s. K
=K
sG(s)H(s) =
=
s(s
+ 1)
s0
s0
A
0.1
=
=
Kv
K
Kv =
e ss
Maximum e ss allowed is 0.005

\
0.005 =
K =
0.1
K
0.1
= 20
0.005
For any value of K greater than 20, e ss will be less than 0.005. Hence the range of value of
K for e ss 0.005 is,
20 K <
Q.13
Solution : G(s) H(s) =
i)
e ss =
r(t)
K
s (s + 1) (1 + 0.4 s)
Lim
s R(s)
,
s 0 1 + G(s) H(s)
= 4t,
R(s) =
4
s2
TM
=
\
7-3
Lim
Lim
4
s2
=
K s
K
s0
s0
1+
s+
s (s + 1) (1 + 0.4 s)
s (1 + s) (1 + 0.4 s)
4
4
=
0+ K
K
K = 2 given
e ss = 2
ii) Now for the same input
\
\
e ss =
4
and it is desired to have e ss = 0.2
K
0.2 =
4
K
K = 20
iii) Now input is r(t) = 2 + 6t

R(s) =
e ss
2
6
+
s s2
6
2
s +
s2
=
K
s0
1+
s (s + 1) (1 + 0.4s)
Lim
Lim
Lim
2
6
+
K
K
s
s0
s 0 1 +
s+
s (1 + s) (1 + 0.4s)
s (1 + s) (1 + 0.4s)
= 0+
\
e ss =
6
,
K
K = 10 given
6
= 0.6
10
Q.14
Solution : Solving internal feedback loop we get,
10
s (1 + 4s)
\ G(s) =
10
1+
6s
s(1 + 4s)
=
10
4s 2
+ s + 60s
10
s (1+4s)
R(s)
10
s[61 + 4s]
1+
10
6s
s (1+4s)
Fig. 7.1
TM
C(s)
7-4
10
61
G(s)H(s) =
4
s 1+
s
61
Comparing with standard form =
K(1 + T1 s) (1 + T2 s) ......
j
s (1 + Ta s) (1 + Tb s) ........
where
j = type of system.
i.e.
j = 1, System is TYPE 1 system
Error coefficients :
10
61
4
s 1+
61
Kp =
Lim
Lim
G(s)H(s) =
s0
s 0
Kv =
Lim
Lim
s G(s)H(s) =
s 0
s 0
Lim
Ka =
s 0
s2
10
s
61
4
s 1 +
61
10
61
10
s2
61
=0
G(s)H(s) =
s 0
4
s 1+
s
61
Lim
Q.15
(s + 0.1)200
200
0.1
Solution : G(s) = 1 +
(s + 1) (s + 2) = s(s + 1) (s + 2) , H(s) = 0.02
s
G(s)H(s) =
=
200(s + 0.1)
0.02
s(s + 1) (s + 2)
200 0.02 0.1
(1 + 10s)
0.2(1 + 10s)
=
1 2
s(1 + s) (1 + 0.5s) s(1 + s) (1 + 0.5s)
i) For unit step input
Kp =
Lim
Lim
0.2(1 + 10s)
G(s)H(s) =
=
s0
s 0 s(1 + s) (1 + 0.5s)
e ss =
1
=0
1 + Kp
ii) For unit ramp input

Lim
Lim
0.2(1 + 10s)
sG(s)H(s) =
= 0.2
Kv =
s0
s 0 s(1 + s) (1 + 0.5s)
1
1
=5
=
\
e ss =
Kv
0.2
TM
7-5
Q.16
Solution : When system is not in the simple closed loop form then we can not apply the
error coefficients.
In such case, we have to use final value theorem
e ss =
i.e.
Lim
e(t) =
Lim
s0
sE(s)
In the system given E(s) = C(s) when R(s) = 0

C(s)
Now let us find out
, so that for unit step disturbance we can calculate C(s) and hence
T(s)
E(s). When R = 0, summing point at R(s) can be removed and block of `1' is to be added
to consider sign of the signal at that summing point.
T
+
+
1
10
1 + 0.1 s
10
100
C(s)
0.1s
Fig. 7.2
Shifting summing point to right.

T
+
10
10
1 + 0.1 s
100
s
0.1s 10
1 + 0.1s
Fig. 7.3
Combining the two summing points and redrawing the diagram.

100
T(s)
+
C(s)
s
(1 + 0.1 s)
100
(1 + 0.1 s)
Fig. 7.4
TM
C(s)
7-6
-100
Negative sign of
can be taken out to change sign of the signal at the summing
1
+ 0.1s
point from positive to negative.
100
T(s)
C(s)
100
T(s)
s
1 + 0.1 s
100 + s
(1 + 0.1 s)
100
(1 + 0.1 s)
Fig. 7.5
Fig. 7.6
100
C(s)
=
T(s)
For T(s) =
1
,
s
C(s) =
Now
100 (1 + 0.1s)
s2
=
100 (100 + s)
(0.1s 3 + s 2 + 100s + 10000)
1+
2
+
(1
0.1s)
s
100 (1 + 0.1s)
1
s (0.1s 3 + s 2 + 100s + 10000)
E(s) = C(s) =
100 (1 + 0.1s)
s(0.1s 3
+ s 2 + 100s + 10000)
e ss =
Lim
s E(s)
s0
e ss =
Lim
-100 (1 + 0.1s)
100
s
= 10000
3
2
s0
s(0.1s + s + 100s + 10000)
Steady state error = 0.01

Q.17
Solution : G(s)H(s) =
Given
\
K(1 + 2s) (1 + 4s)

s 2 (s 2 + 2s + 10)
K = 2
G(s)H(s) =
2(1 + 2s) (1 + 4s)

s2
10 (1 + 0.2s +
0.1s 2 )
0.2(1 + 2s) (1 + 4s)

s 2 (1 + 0.2s + 0.1s 2 )
Type 2 system,
TM
C(s)
Kp =
Kv =
Ka =
7-7
Lim
s0
Lim
s0
Lim
s0
G(s) H(s) =
sG(s) H(s) =
s 2 G(s) H(s) = 0.2
Q.18
Solution : G(s) =
K(1 + 2s)
s(1 + s) (1 + 0.4s) 2
The system is Type-1 system. For an input of r(t) = t, calculate Kv .

Kv =
\
e ss =
Lim G(s) = Lim
s 0
s 0
s K(1 + 2s)
s(1 + s) (1 + 0.4s) 2
= K
A
1
=
Kv
K
A = 1 for r(t) = t
But e ss = 10 % = 0.1 (given)

\
0.1 =
1
K
i.e.
K = 10
7.17 Derivations of Time Domain Specifications

Q.9
C(s)
=
Solution :
R(s)
Key Point
w 2n
20
(s + 1) (s + 4)
20
=
2
20
s + 5s + 24
1+
(s + 1) (s + 4)
Now though T.F. is not in standard form, denominator always reflect 2x w n and
from middle term and the last term respectively.
\ comparing s 2 + 5s + 24 with s 2 + 2x wn s + wn2

\
w2n = 24 \ wn = 4.8989 rad/sec.

2 x wn = 5 \ x = 0.51031
wd = wn
1 - x 2 = 4.2129 rad/sec.
Now for c(t) we can use standard expression for
TM
C(s)
in standard form. So writing
R(s)
C(s)
R(s)
7-8
20
24

24 s 2 + 5s + 24
For the bracket term use standard expression, and then c(t) can be obtained by multiplying
20
this expression by constant .
24
\
c(t) =
20 e - x w n t
1sin ( wd t + q)
24
1 - x2
q = tan - 1
\
c(t) =
1 - x2
radians = 1.03 radians
x
20
1 - 1.1628 e - 2.5 t sin (4.2129 t + 1.03)
24
Q.10
Solution : System differential equation is,
d2 y
dt 2
+ 4
To find T.F.
dy
+ 8y = 8x
dt
Y(s)
, take Laplace transform from above equation and neglect initial
X(s)
conditions.
s 2 Y(s) + 4s Y(s) + 8 Y(s) = 8 X(s)
Y(s) [s 2 + 4s + 8] = 8 X(s)
\
\
T.F.
Y(s)
8
=
2
X(s)
s + 4s + 8
Comparing this with standard T.F. of second order system

\
w2n = 8
wn = 2.83 rad/sec.
2 x wn = 4
s 2 + 2x wn s + w2n
\ x = 0.7067
1 - x 2 = 2.83 1 - (0.7067) 2 = 2.002 rad/sec.
wd = wn
Tp = Time for peak overshoot

=
w2n
p
p
=
= 1.57 sec.
wd
2.002
TM
7-9
1 - x2
% Mp = e - p x
100 = e - p 0.706
Ts = Settling time =
c(t) = 1
where
e - x wn t
1 - x2
= 4.33%
4
4
= 2 sec.
=
0.7067 2.83
x wn
= 45 = 4 rad
e - 0.7067 2.87 t
- (0.7067) 2
1 - (0.706) 2 100
sin ( wd t + q)
1 - x2
q = tan -1
x
c(t) = 1
p
sin 2t +
4
p
c(t) = 1 1.41 e - 2t sin 2t +
4
wn = 2.83 rad/sec.
Tp = 1.57 sec.
wd = 2.002 rad/sec.
% Mp = 4.33%
x = 0.7067
Ts = 2 sec.
Q.11
Solution : Assume TL as zero for [I]
i) To calculate Mp ,
G(s) =
6
0.15
s2
+ 0.9s
H(s) = 1
6
C(s)
G(s)
s ( 0.15 s + 0.9)
40
=
=
=
2
R(s)
1 + G(s)H(s)
6
s + 6 s + 40
1+
s (0.15s + 0.9)
Comparing the characteristic equation with s 2 + 2x wn s + wn2 ,

\
w2n = 40 i.e. wn = 6.3245

2x wn = 6
\
Now,
x = 0.4743
Mp = e - px /
1- x 2
100 = 18.4 %
ii) For unit ramp input,

Kv = Lim s G(s)H(s) = Lim s.
s 0
s 0
TM
6
.1 = 6.67
s ( 0.15 s + 0.9)
e ss =
7 - 10
1
= 0.15 rad
Kv
II) For TL is 1 Nm, assume R(s) as zero. With R(s) zero, the system gets modified as
TL(s)
1
E(s)
C(s)
0.15 s + 0.9 s
Fig. 7.7
From the Fig. 7.7, we can write.

G(s) =
\
1
0.15
s2
+ 0.9 s
and H(s) = 6
C(s)
G(s)
TL (s)
1
G(s)
H(s)
Negative sign as sign of TL (s) applied is negative and 1 G(s)H(s) as sign of the feedback
is positive. A block of 1 is to continue sign of C(s), though R(s) = 0.
2
C(s)
( 0.15 s + 0.9s)
1
=
=
2
TL (s)
1
1 0.15 s + 0.9 s + 6
. ( - 6)
( 0.15 s 2 + 0.9 s)
TL (s) =
C(s) =
1
s
-1
s [0.15
s2
+ 0.9 s + 6]
C ss = Lim sC(s) = Lim

s 0
= -
s 0
s.
-1
2
s [ 0.15 s + 0.9 s + 6]
1
= 0.166
6
Q.12
1
s
C(s)
K
K
=
hence C(s) =
T(s) =
R(s)
s+ a
s(s + a)
Solution : R(s) =
Finding partial fractions, we get

A1
A2
C(s) =
+
s
s+ a
TM
7 - 11
K
K
and A 2 = a
a
K K
a a
C(s) = -
s
s+ a
where
A1 =
Taking inverse Laplace transform,

\
K K - at
e
a a
c(t) =
The steady state of c(t) is 2

Lim
c(t) = 2
K
= 2
a
While slope at t = 0 is
dc(t)
dt
i.e.
\
K
( -a) e - at
a
2.0
=1
2.0
= 1
t= 0
= 1
t= 0
K = 1
and
a = 1/2
Q.13
Solution : The response of first order system to the step input is given as
c(t) = A ( t - e - t
Where
A = Final response value

T = Time constant
Now
c(t) = 0.98 A for t = 60 sec.
0.98 A = A (1 - e - 60
0.98 = 1 e - 60 t
e - 60 T = 0.02
60
= 3.912
T
\
\
T)
T = 15.33 sec.
Now,
qi = Input temperature
q 0 = Output temperature
TM
7 - 12
For first order system,

q 0 (s)
1
1
=
=
q i (s)
1 + Ts 1 + 15.33 s
1
q0 = qi
1
+
15.33
s
Now error = q i (s) - q 0 (s)

\
1
1
E( s ) = q i (s) - q i (s)
= q i (s) 1 - 1 + 15.33 s
1 + 15.33 s
15.33 s q i (s)
(1 + 15.33 s)
But input temperature is varying as a rate of 10 C/min i.e.

\
q i (t) =
1
t
6
q i (s) =
E(s) =
e ss =
1
C/sec.
6
6 s2
1
6
s2
Lim
s0
15.33 s
(1 + 15.33 s)
s E(s) =
Lim
s0 6
s2
15. 33
15.33 s
=
6
(1 + 15.33 s)
= 2.556
Q.14
Solution :
Closed loop T.F. =
G(s)
,
1 + G(s)
H(s) = 1
K
K
s(1 + Ts)
K
T
=
=
=
2
K
1
K
2
s T+ s+ K
1+
s + s+
s(1 + Ts)
T
T
Comparing with standard form
w2n =
K
T
wn =
2x wn =
1
T
x=
w2n
s 2 + 2x wn s + w2n
K
T
1
1
=
K
2 KT
2
T
T
TM
7 - 13
Let x = x 1
Now for Mp = 0.6 ,
1 - x2
1
- p x1
0.6 = e
\ Solving,
x 1 = 0.1602
i.e. 0.51 =
p x1
1 - x 21
Let x = x 2
For Mp = 0.2,
- p x1
0.2 = e
\ Solving,
x 2 = 0.4559
1 - x2
2
i.e. 1.6094 =
- p x2
1 - x 22
For x 1 = 0.1602, K = K 1 and x 2 = 0.4559, K = K2

x1 =
1
2 K1 T
\ 0.1602 =
1
2 K1 T
... (1)
x2 =
1
2 K2 T
\ 0.4559 =
1
2 K2 T
... (2)
1
= 3.1210
2 0.1602
From equation (1)
K1 T =
TK1 = 9.74 i.e. TK1 - 1 = 8.7412

1
= 1.09673
2 0.4559
From equation (2)
K2 T =
TK2 = 1.2028 i.e. TK2 1 = 0.2028

TK1 - 1
8.7412
=
= 43.3
TK2 - 1
0.2028
\
Q.15
Solution : To prove that system is overdamped means to prove x > 1 and not dependent
on the values of R and C.
V1(s)
R
R
V (s)
use signal
So first to find its C.L.T.F. o
Vi (s)
flow graph method.
\
I 1 (s) =
Vi(s)
Vi - V1
R
V1 (s) = (I 1 - I 2 )
1/sC
1/sC
I1(s)
1
sC
I2(s)
Fig. 7.8
V1 - Vo
R
1
Vo (s) = I 2
sC
I 2 (s) =
TM
Vo(s)
7 - 14
\ Signal flow graph is shown in the following Fig. 7.9.

Vi
1
sC
I1
1/R
V1
L1
I2
1/R
L2
Vo
L3
1
sC
1/R
1
sC
1/R
Fig. 7.9
T1 =
1
s2
C2
R2
L1 = L2 = L 3 =
-1
sCR
L 1 and L 3 is combination of 2 nontouching loops.

1
\
L1 L 3 =
2
s C2 R 2
Using Mason's gain formula,
\
D =
1 [L 1 + L 2 + L 3 ] + [L 1 L 3 ] = 1 +
3
1
+
sCR s 2 C 2 R 2
D 1 = 1 as all loops are touching to T,

1
\
T D
C(s)
= 1 1 =
R(s)
D
s 2 C2 R 2
3
1
1+
+
sCR s 2 C 2 R 2
1
2
C R2
1
=
=
s 2 C 2 R 2 + 3sCR + 1 s 2 + 3s + 1
CR C 2 R 2
Comparing with standard form,
1
1
rad/sec.
w2n =
\ wn =
2 2
CR
C R
2 x wn =
3
CR
x=
3 1
3
CR = = 1.5
CR 2
2
As x > 1 system is overdamped and x is independent of R and C values.

For this, two resistances must be equal, and two capacitor values must be equal.
Q.16
C(s)
G(s)
Solution :
=
=
R(s)
1 + G(s)H(s)
C(s)
=
R(s)
1
s (Js - K)
1
=
2
1
1+
(s + m) Js - Ks + s + m
s (Js - K)
1J
K+
1
m
s2 +
s+ J
J
TM
7 - 15
Comparing denominator with s 2 + 2x wn s + wn2 = 0

\
w2n =
2x wn =
For
m
J
wn =
[ - K+ 1]
x=
i.e.
[-
K+ 1]
2J
J
=
m
[ - K+ 1]
2 Jm
Mp = 25% , we can calculate x.

1 - x2
25 = 100 e - p x
Solving,
m
J
ln 0.25 =
i.e.
-px
1 - x2
x = 0.4037
p
=
wd
Now
Tp =
wn = 1.7169 rad/sec.
1-x
wn
i.e.
2=
p
wn
1 - (0.4037) 2
Now steady state of system is 5 units.

Now steady state is defined as,
C ss =
Lim
t
c(t)
Using final value theorem we can say,

C ss =
Lim
t
c(t) =
Lim
sC(s)
s0
1
J
From C.L.T.F. C(s) = R(s)
and R(s) = 1/s
1 -K
m
2
s +
s+
J
J
1
J
C(s) =
\
1 -K
m
s s 2 +
s+
J
J
Lim
sC(s)
C ss =
s0
Lim
=
s
s 0
\
1
= 5
m
i.e.
1
J
= 5 (given)
1
K
m
2
s s +
s+
J
J
m = 0.2
TM
Now
7 - 16
m
hence 1.7169 =
J
wn =
J = 0.06784
and
x =
-K+1
2 Jm
K =
+ 0.9059
0.2
J
i.e. 0.437 =
- K+ 1
2 0.06784 0.2
Q.17
Solution : From the system shown,
K
and H(s) = 1 + Ts
G(s) =
s2
K
C(s)
G(s)
K
s2
=
=
=
\
2
R(s)
1 + G(s)H(s)
K
s + KTs + K
1+
(1 + Ts)
s2
Comparing denominator with s 2 + 2xwn s + w2n
w2n = K
and
Now
\
\
\ wn =
\
2xwn = KT
1
KT
2
... (2)
Mp = 20%
0.2 = e - px /
- px
ln (0.2) =
1- x 2
Solving for x , x = 0.4559

Tp = 2 sec.
p
=
2 =
\
wd
\
x=
... (1)
1- x2
... (3)
p
wn 1 -
x2
p
wn 1 - ( 0.4559) 2
wn = 1.7648 rad/sec
Substituting (4) and (3) in (1) and (2)

K = 3.1147 and T = 0.5166
Q.18
Solution : The T.F. of the system is,
2 s +1
C(s)
=
R(s)
2 s +1
s2
=
2 s +1
s2 + 2 s +1
1+
2
s
TM
... (4)
7 - 17
Now as numerator has term of 's' standard expression of c(t) cannot be used, though
system is second order. Hence use partial fraction method substituting R(s).
R(s) =
1
, as unit step input
s
C(s) =
2 s +1
1
1 2 s +1
=
s s 2 + 2 s + 1 s ( s + 1) 2
A
B
C
+
+
s (s + 1) 2 (s + 1)
Partial fraction
A (s + 1) + Bs + Cs (s + 1) = 2s + 1
As + 2As + A + Bs + Cs + Cs = 2s + 1
A + C = 0,
2A + B + C = 2,
C = 1,
C(s) =
A=1
B=1
1
1
1
+
s (s + 1) 2 (s + 1)
Taking inverse Laplace transform,

c(t) = 1 te t e t
\
Q.19
Solution : G(s) =
\
C(s)
=
R(s)
A
, H(s) = 1
s(s + P)
w2n
A
A
=
=
s(s + P)
s 2 + 2xwn s + w2n
s 2 + Ps + A
A
1 +
s(s + P)
w2n = A
i.e. wn =
% Mp = e - px
1 - x2
A and 2xwn = P
i. e. x =
100 i. e. 10 = e - px
P
2 A
1 - x2
100
Solving for x, x = 0.5911

Ts =
\
4
4
= 4 i. e. wn =
= 1.6917 rad sec
4 0.5911
xwn
A = w2n = 2.862
and P = 2 A x = 2
TM
7 - 18
7.21 Sensitivity of a Control System

Q.6
Solution : From given signal flow graph,
T1 = U(s)Q(s)G(s), T2 = M(s)G(s)
L1 = Q(s)G(s), D 1 = 1, D 2 = 1
\
T(s) =
T(s) =
Y( s)
U ( s) Q ( s) G ( s) + M ( s) G ( s)
=
R ( s)
1 + Q ( s) G ( s)
G( s) [U( s)Q( s) + M( s)]
1 + Q( s)G( s)
Sensitivity of T(s) with respect to G(s) is,

S TG =
T T
G T
=
G G
T G
[1 + Q( s)G( s)][U( s)Q( s) + M( s)]- [U( s)Q( s) + M( s)][Q( s)]G( s)

T
=
2
G
1+Q s G s
[
U( s)Q( s) + U( s)Q 2 ( s)G( s) + M( s) + M( s)Q( s)G( s) - U( s)Q 2 ( s)G( s) - M( s)Q( s)G( s)
[1 + Q( s)G( s)]2
=
( ) ( )]
S TG =
[U( s)Q( s) + M( s)]

[1 + Q( s)G( s)]2
G( s)
[U( s)Q( s) + M( s)]
G( s) [U( s)Q( s) + M( s)] [1 + Q( s)G( s)]2
[1 + Q( s)G( s)]
S TG =
1
1 + Q( s)G( s)
... Required sensitivity
It does not depend on U(s) or M(s).
qqq
TM
Stability Analysis of Control Systems
8.7 Special Cases of Routh's Criterion

Q.4
Solution :
s6
s5
s4
s3
Row of zeros
A(s) = 2s 4 + 4s 2 + 2 = 0
i.e. s 4 + 2s 2 + 1 = 0
dA(s)
= 4s 3 + 4s
ds
s6
s5
s4
s3
s2
s1
Row of zeros again
A (s) = 2s 2 + 2 = 0
dA (s)
= 4s = 0
ds
(8 - 1)
TM
8-2
s6
s5
s4
s3
s2
s1
s0
No sign change, hence no root is located in R.H.S. of s-plane. As row of zeros occur,
system may be marginally stable or unstable. To examine that find the roots of first
jw
auxiliary equation.
A(s) = s 4 + 2s 2 + 1 = 0
s 2 = 1,
s2 =
s 2 = 1,
+j
-2 4 - 4
=1
2
s 1, 2 = j,
s3,4 = j
The roots of A (s) = 0 are the roots of A(s) = 0. So do not

solve second auxiliary equation. Predict the stability from the
nature of roots of first auxiliary equation.
As there are repeated roots on imaginary axis, system is unstable.
Fig. 8.1
8.9 Marginal K and Frequency of Sustained Oscillations

Q.16
Solution : H(s) = 1
1+ G( s)H( s) = 1 +
(s + 2) 2 (s 2 + 6 s + 25) + K = 0
( s + 2)
i.e.
(s 2 + 6s + 25)
=0
s 4 + 10s 3 + 53s 2 + 124s + ( K + 100) = 0
Routh's array is,

s
s
s
s
4
3
2
1
53
K + 100
For stability,
10
124
40.6
K + 100
5034.4 - 10 (K + 100) > 0
i.e.
K + 100 > 0
K + 100
TM
K > 100
\ 4034.4 > 10K

i.e. K < 403.44
5034.4 - 10(K + 100) 0

40.6
... from s
... from s
8-3
100 < K < 403.44
For stability,
For sustained oscillations, K = Kmar for which row of s1 becomes row of zeros.
Kmar = 403.44
\
A ( s) = 40.6 s 2 + ( K + 100) = 0
For this Kmar,
s =
( K + 100)
= -
40.6
( 403.44 + 100)
40.6
= -12.4
s = j 3.5213 = j w
\
Hence the frequency of oscillations is w = 3.5213 rad / sec.
Q.17
Solution : The characteristic equation is 1 + G(s)H(s) = 0
1+
K (s + 10) (s + 20)
s 2 (s + 2)
=0
i.e. s3 + s2 (K + 2) + 30Ks + 200K = 0
Routh's array is,

s
s
s
3
2
1
K + 2 > 0
200 K > 0,
30K
From s row,
K+2
200K
From s row,
30K (K + 2) - 200K
K +2
From s row,
i.e. 30 (K + 2) 200 > 0
K > 2
K > 0
30 K (K + 2) 200 K > 0
as K > 0
i.e.
K > 4.667
\ 30 K > 140
200K
\ For 4.667 < K < , system is stable.

1
Kmar = 4.667 which makes row of s as row of zeros.

2
A(s) (K + 2) s + 200K = 0
\
i.e.
200 4.667
= 140
(4.667 + 2)
s =
i.e.
200 K
( K + 2)
s = j11.8321
Frequency of oscillations = 11.8321 rad/sec.

Q.18
Solution : Refer example 8.9.1 for the procedure and verify the answers :
0 < K < 4.1667, Kmar = 4.1667, w = 2.0412 rad/sec.
qqq
TM
10
Introduction to Stability Analysis

in Frequency Domain
10.4 Conceptual Approach to Frequency Response

Q.3
Solution : T(s) =
10 ( s + 2)
(s + 1) (s + 5)
10 (2 + j w)
(1 + jw) (5 + jw)
T(j w) =
Now the steady state response is given by,

c(t) = A M sin (wt + f)
where A = amplitude , w = input frequency, f = phase angle of transfer function
M = Magnitude of transfer function
10 4 + w2
M = T (j w) =
and
1 + w2 25 + w2
w
w
f = T (j w) = tan -1 - tan -1 w - tan - 1
2
5
A = 5 as x i (t) = 5 sin (wt + q)

\Steady state response can be obtained as,
c(t) =
5 10 4 + w2
1 + w2 25 + w2
sin ( wt + q + f)
50 4 + w2
1 + w2
w
w
sin wt + q + tan - 1 - tan -1 w- tan - 1
2
5
25 + w2
(10 - 1)
TM
10 - 2
Introduction to Stability Analysis in Frequency Domain
10.6 B. W. (Bandwidth)
Q.2
Solution : For the equivalent second order system Mr = 2 and wr = wn
1
Now
Mr =
We are given
Mr = 2
2 =
1 - 2 x2 = 3
2 x 1 - x2
i.e.
2 x 1 - x2
4=
1
4 x2
(1 - x 2 )
16 x 2 (1 - x 2 ) = 1
16 x 2 - 16 x 4 = 1
16 x 4 - 16 x 2 + 1 = 0
x2 =
Hence
x2
Key Point
16 256 - 64
32
16
192
= 0.5 0.433
32
32
= 0.0669 or 0.933 and x = 0.2588 or 0.966
A system with relative damping factor greater than 0.707 does not exhibit any
peak in the frequency response hence the acceptable answer is only x 2 = 0.0669.
1 - 2 x2
Also
wr
wn = 3.223 rad sec
= wn
3 = wn
i.e.
1 - 2 ( 0.2588) 2
The transfer function of equivalent second order system is,

M(s) =
=
Rise time,
In this case,
\ Also
Tr =
w2n
s 2 + 2 x wn s + wn2
(3.223) 2
s 2 + 2 (0.2588) (3.223) s + (3.223) 2
10.387
s2
+ 1.668 s + 10.387
p-q
wd
where q = tan
1 - ( 0.2588) 2
q = tan -1
0.2558
wd = wn
-1
1 - x 2
radians
x
= tan -1 0.9659 = 1.3 radians

0.2588
1 - x 2 = 3.223 1 -( 0.2588) 2 = 3.11 rad/sec
TM
\ Rise time,
p -1.3
= 0.592 sec
3.11
Tr =
p
p
=
= 1.0101 sec
wd
3.11
Time to peak, Tp =
Settling time,
10 - 3
4
4
(For 2 % error band) =
0.2588 3.223
x wn
Ts =
= 4.795 sec
3
= 3.596 sec (for 5 % error band)
x wn
Ts =
Period of oscillations,
2p
2p
=
= 2.02 sec.
wd
3.11
Tosc. =
Number of oscillations during settling

N =
Peak overshoot,
Mp = e - x p
xp
Since
Ts
4.795
=
= 2.37
Tosc.
2.02
1 - x2
1- x 2
0.2588 p
1 - ( 0.2588) 2
= 0.8417
Overshoot = e - 0.8417 = 0.4309
Thus the system exhibits 43.1 % overshoot.

Sketches of frequency response and estimated time response are shown.
1
Mr = 2
+0.37
Total 2.37
oscillations
before it
settles
c(t)
w
(rad/sec)
Fig. 10.1 Frequency response
Fig. 10.2 Step response (estimated)
Q.3
Solution : Mp = 16.2 % and Tp =
p
5 3
TM
t(sec)
Now
\
\
Mp = e - p x
1- x 2
100
16.2 = e - p x
1- x 2
100
1 - x2
-1 . 8201
-px
ln(0.162) =
10 - 4
x2
1 -x
x 2 = 0.2513
i.e.
x = 0.5
p
p
=
wd
5 3
And
Tp =
wd = 5 3 = wn 1 - x 2
wn = 10 rad/sec
For sinusoidal input,

i)
wr = wn 1 - 2x 2 = 10 1 - 2 ( 0 . 5) 2 = 7.071 rad/sec
ii)
Mr =
1
2x 1 - x2
1
2 0 . 5 1 - ( 0 . 5) 2
= 1.1547
Q.4
Solution : G(s) =
K
,
s(s + a)
H(s) = 1
C(s)
G(s)
=
=
R(s)
1 + G(s)H(s)
i)
K
s(s + a)
K
=
2
K
s + as + K
1+
s(s + a)
Comparing denominater with s 2 + 2xwn s + wn 2 ,

w2n = K,
2xwn = a,
Now,
Solving,
While
Mr =
wn =
x=
....(1)
a
2 K
1
2x 1 - x2
....(2)
= 1.04
x = 0.6021
....x cannot be more than 0.707.
wr = wn 1 - 2x 2 = 11.55
TM
10 - 5
wn = 22.027 rad/sec
From equation (1), K = 485.1861

From equation (2), a = 26.5248
ii)
B.W. = wn 1 - 2 x 2 + 2 - 4 x 2 + 4 x 4
= 22.027 1 - 2 ( 0.6021) 2 + 2 - 4 ( 0.6021) 2 + 4( 0.6021) 4
= 25.2308 rad/sec
Ts =
4
4
= 0.3016 sec
=
0.6021 22.027
x wn
Q.5
Solution : G(s) =
K
, H(s) = 1
s(1 + Ts)
C(s)
G(s)
=
=
R(s)
1 + G(s) H(s)
Comparing this with
\
Now
w2n
s 2 + 2 x wn s + w2n
w2n =
K
T
2x wn =
1
T
,
K
T
\ wn =
Mp = 25 %
1
2 KT
x =
i.e.
for unit step input

1 - x2
25 = e - p x
Solving,
K
KT
s(1 + Ts)
K
=
=
2
K
Ts + s + K s 2 + 1 s + K
1+
T
T
s(1 + Ts)
100
i.e. ln 0.25 =
px
1 - x2
x = 0.4036
In frequency domain,
wr = 8 rad/sec = wn
\
\
8 = wn
1 - 2x2
and
x = 0.4036
1 - 2 (0.4036) 2
wn = 9.744 rad/sec
wn =
K
T
i.e.
w2n =
K
T
... (1)
TM
x =
\
10 - 6
1
2 KT
1
4KT
x2 =
i.e.
... (2)
K = T w2n From equation (1), substituting in equation (2),

x2 =
1
4 T w2n T
T 2 = 0.0161
K = 12.071
Mr =
i.e.
1
2x
- x2
T = 0.1271
1
2 0.4036 1 - (0.4036) 2
= 1.354
Q.6
Solution : For the second order system,
Mp = 10 %
-px
1 -x
Solving,
= ln ( 0.1)
1- x2
10 = e - p x
i.e.
px
i.e.
1 - x2
100
= 2.3025
x = 0.5911
Tr =
p-q
wd
q = tan -1
where
p - 0.9383
0.1 =
wn = 27.3158 rad/sec
wn 1 - x
i.e. wn =
1 - x2
= 0.9383 rad
x
2.2032
0.1 1 - ( 0.5911) 2
From these values, Mr and B.W. can be calculated as,

Mr =
1
2 x 1 - x2
1
2 0.5911 1 - ( 0.5911) 2
= 1.0487
B.W. = wn 1 - 2 x 2 + 2 - 4 x 2 + 4 x 4
= 27.3158 1 - 2 ( 0.5911) 2 + 2 - 4 ( 0.5911) 2 + 4 ( 0.5911) 4
= 31.686
qqq
TM
11
Bode Plot
11.7 Calculation of G.M. and P.M. from Bode Plot

Q.16
Solution : Step 1 : G(s) is in the time constant form.
Step 2 : In this example, K is unknown. Draw the magnitude plot without K. The factors are,
i) Pole at the origin
1
.
(s)
The straight line of slop 20 dB/dec passing through the intersection point of w = 1 and 0
dB.
ii) Simple pole,
1
1
, T1 = 0.5, wC1 =
= 2.
1 + 0 .5 s
T1
The straight line of slop 20 dB/dec for w > 2.

iii) Simple pole
1
1
, T2 = 0.2, wC 2 =
= 5.
1 + 0.2 s
T2
The straight line of slope 20 dB/dec for w > 5.

Range of w
Resultant slope
0 < w < wC1 (2)
20 dB/dec
2 < w < wC2 (5)
20 20 = 40 dB/dec
5 < w<
40 20 = 60 dB/dec
Note : The effect of K is to shift the entire magnitude plot upwards or downwards by
20 Log K dB. So find the shift required in magnitude plot without K to match the required
specification.
Step 3 : Phase angle table,
G(jw) =
K
jw(1 + 0 . 5jw) (1 + 0 . 2jw)
(11 - 1)
TM
11 - 2
tan 0.02w
fR
5.71
2.29
98
90
45
21.8
156.8
90
68.19
45
203.19
10
90
78.69
63.43
232.12
90
90
90
270
1
jw
0.2
90
Bode Plot
tan
0.5w
Step 4 : Sketch the Bode plot. From the plot wpc = 3.3 rad/sec.
Steps to find K for given G.M. :
1) Draw the horizontal line below 0 dB at a distance of given G.M., till it intersects
vertical line of wpc . This is point A .
2) Draw the vertical line from wpc , till it intersects magnitude plot without K. This is
point A.
3) The point A must be at A to match given G.M. Hence A to A is the shift
required i.e. contribution by K which is 20 Log K dB.
4) Upward shift must be taken positive and downward shift negative.
20 Log K = Shift (AA )
In this example,
20 Log K = 6 dB
... G.M. = 6 dB
... G.M. = 6 dB
K = 2
Steps to find K for given P.M. :
1) Draw the hoizontal line above 180 line at a distance of given P.M., till it
intersects phase angle plot. This is point B.
2) Draw the vertical line from B, till it intersects the magnitude plot without K. This
is point C .
3) This C must be on 0 dB line at C, as the vertical line through point B must be wg c
line for given P.M.
4) Thus distance of C from 0 dB line is the shift required to satisfy given P.M. This
must be 20 Log K dB.
5) Upward shift (C C) must be taken positive while downward shift (C C) must be
taken negative.
20 Log K = Shift (C C)
TM
TM
Fig. 11.1
0.1
25
C' C shift
for P.M. = 25
5 6 7 8 91
20 dB/dec
C'
wpc
3.3
A'
40 dB/dec
10
5 6 7 8 91
3
Without K
60 dB/dec
100
5 6 7 8 91
AA' shift for G.M. = + 6 dB
2
3
1000
Log w
Scale : On Y axis
1 unit = 20 dB, 30
SEMI-LOG PAPER (5 CYCLES X 1/10)

2
4 5 6 7 8 91
3
(1/s)
5 6 7 8 91
In this example,
20 Log K = 6 dB
270
240
210
180
150
120
90
fR
40
20
0 dB
6 dB
20
40
60
MR

11 - 3
Bode Plot
... for P.M. = 25
K = 2
... for P.M. = 25
\
Note : For same value of K, both specifications are matched. But this may not be the
case, all the time. (See Fig. 11.1 on next page).
11 - 4
Bode Plot
Q.17
Solution : Step 1 : Arrange G(s)H(s) in time constant form
K
G(s)H(s) =
\
s
s
(1 + 2s) (2) 1 + (10) 1 +

2
10
K
20
=
(1 + 2s) (1 + 0.5s) (1 + 0.1s)
Step 2 : Factors
K
i) is unknown.
20
ii) Simple pole,
1
, T1 = 2,
1 + 2s
iii) Simple pole,
1
, T2 = 0.5,
1 + 0.5s
iv)Simple pole,
1
, T3 = 0.1,
1 + 0.1s
wC =
1
wC
wC
1
= 0.5
T1
=
1
=2
T2
1
= 10
T3
Step 3 : Magnitude plot analysis.

K
i) No pole at the origin, is unknown so starting Bode plot is nothing but 0 dB line
20
which will change its slope at wC = 0.5.
1
ii) At wC = 0.5, simple pole occurs which contributes as 20 dB/dec line. This line will
1
continue upto wC = 2.
2
iii) At wC = 2, simple pole occurs which contributes as 20 dB/dec individually and

2
hence resultant slope will become 20 20 = 40 dB/dec from wC = 2 onwards till
2
next corner frequency wC = 10.
3
iv)As wC = 10, simple pole occurs which contributes as 20 dB/decade individually

3
and hence resultant slope will become 40 20 = 60 dB/dec from wC = 10 onwards
3
till as there is no other factor present.
Step 4 : Phase angle plot
K

20
G(jw) H(jw) =
(1 + 2jw) (1 + j0.5w) (1 + 0.1jw)
Though ( K 20) is unknown, it is not going to contribute any phase angle. Hence phase angle
plot is independent of value of ( K 20) and hence wpc is true, resultant specification from
this phase angle plot which is independent of value of ( K 20).
1
1
1
= - tan -1 2w ,
= - tan -1 0.5w ,
= - tan -1 0.1w ,
1 + 2jw
1 + 0.5 jw
1 + 0.1jw
TM
TM
Fig. 11.2
240
210
180
150
120
90
20
P.M.= 30
5 6 7 891
3
wpc
5 6 7 891
40
wpc = 4.9 10
wC3
4
2
60
3
4
5 6 7 891
P.M. = +30 = +18dB
100
SOLUTION
o
For P.M. = +30
(K/20) = 7.94
i.e. K = 158.86
Magnitude plot without K

20
- tan -1 05
. w
- tan -1 01
. w
fR
1
63.43
26.56
5.7
95.7
2
75.96
45
11.3
132.26
5
84.28
68.19
26.5
179.03
10
87.13
78.69
45
210.82
90
90
90
270
1000
Log w
AB = Upward shift required to meet
5 6 7 891
Shifted magnitude plot to

o
meet P.M. = +30
tan -1 2w
Required wgc = 3.3 for P.M. = 30
wC1 = 0.5 1 wC2 = 2
0.1
40
20
0 dB
+20
20 dB/dec
+40
40 dB/dec
+60
60 dB/dec

11 - 5
Bode Plot
Step 5 : Sketch the Bode plot, as shown in the Fig. 11.2
11 - 6
Bode Plot
wpc = 4.9 rad/sec

For
P.M. = +30,
+30 = P.M. = 180 + G(jw) H(jw)|w = wgc
\ G(jw) H(jw)|w = wgc = 150

Without effect of ( K 20), wgc cannot be determined. So now adjust effect of ( K 20) i.e. shifting
plot upwards till it intersects 0 dB line at such a frequency where G(jw) H(jw)|w = wgc i.e.
P.M. = +30.
To get `2.8 as wg c , magnitude plot is required to be shifted upwards from A to B as
shown in plot which is the effect of ( K 20) i.e. 20 log ( K 20).
Shift
AB = +18 dB upwards.
\
20 log ( K 20) = +18
( K 20) = 7.94
K = 158.86
to meet P.M. as 30
Q.18
Solution : Step 1 : Arrange G(s)H(s) in the time constant form.
The factors of (s 2 + 30s + 20) are (s + 29.31) (s + 0.682)
Key Point
As the factors of quadratic are real, they must be treated as separate simple poles.
So quadratic factor no longer remains quadratic in nature.

\
G(s)H(s) =
=
=
2000 0.3 (1 + s 0.3)
4(1 + s 4) (s + 29.31) (s + 0.682)

2000 0.3 (1 + s 0.3)
4 (1 + s 4) 29.31 (1 + s 29.31) 0.682 (1 + s 0.682)

7.5(1 + 3.33s)
(1 + 0.25s) (1 + 0.034s) (1 + 1.466s)
Step 2 : Factors
i) K = 7.5
ii) Simple zero, (1 + 3.33s) , T1 = 3.33,
1
= 0.3
T1
wC =
1
iii) Simple pole,
1
,
1 + 1.466s
T2 = 1.466,
wC
iv) Simple pole,
1
,
1 + 0.25s
T3 = 0.25,
wC
v) Simple pole,
1
,
1 + 0.034s
T4 = 0.034,
wC
TM
1
= 0.682
T2
1
=4
0.25
1
= 29.3
T4
11 - 7
Bode Plot
Step 3 : Magnitude plot

i)
Contribution by K = 7.5 is 20 log 7.5 = 17.5 dB. So starting magnitude plot as

w 0 is straight line of slope 0 dB. This will continue till wC = 0.3.
1
ii) At wC = 0.3, simple zero occurs which contributes as +20 dB/dec individually
1
and hence resultant slope will become 0 + 20 = 20 dB/dec from wC = 0.3
1
onwards till next corner frequency wC = 0.682.
2
iii) At wC = 0.682, simple pole occurs which contributes as 20 dB/decade

2
individually and hence resultant slope will become 20 20 = 0 dB/dec from
wC = 0.682 onwards till next corner frequency wC = 4.
2
iv) At wC = 4, simple pole occurs which contributes as 20 dB/dec individually and

3
hence resultant slope will become 0 20 = 20 dB/dec from wC = 4 onwards till
3
next corner frequency wC = 29.3.
4
v) At wC = 29.3 simple pole occurs which contributes as 20 dB/dec individually

4
and hence resultant slope will become 20 20 = 40 dB/dec from wC = 29.3
4
onwards till w as there is no other factor present.
Step 4 : Phase angle plot :
G(jw) H(jw) =
7.5(1 + 3. 33jw)
(1 + 0.25jw) (1 + 0.034jw) (1 + 1.466jw)
7.5 + j0 = 0 1 + 3. 33 jw = +tan -1 3. 33 w
1
= - tan -1 0.25 w,
1 + 0.25 jw
1
= - tan -1 0. 34 w,
1 + 0.034 jw
1
= tan -1 1.466 w
1 + 1.466 jw
Phase angle table :

w
+ tan -1 3. 33 w
- tan -1 0.25w
- tan -1 0.034w
- tan -1 1.466w
fR
0.1
18.41
1.4320
0.1948
8.3401
+ 8.45
73.28
14.036
1.9473
55.70
+ 1.6
10
85.7
68.19
18.77
86.09
87.35
20
89.13
78.69
34.24
88.04
111.81
50
89.65
85.42
59.53
89.21
144.52
TM
11 - 8
Bode Plot
100
89.82
87.7
73.61
89.6
161.10
+ 90
90
90
90
180
Step 5 : Sketch the Bode plot

With K = 2000, P.M. = + 40, wgc = 45 rad/sec,
G.M. = + dB
and wpc =
system stable.
For P.M. = + 30, wgc should be 64 as shown in plot. So plot must be shifted upwards
from A to B to get P.M. = + 30.
This shift AB = +7 dB upwards.
So effect of constant must be (17.5 due to K + 7 dB) = 24.5 dB required
So 20 log K = 24.5 i.e. K = 16.78. But K = K/266.67, by adjusting G(s)H(s) in time
constant form.
\ New K = 16.78 266.67 = 4474.65 for P.M. = 30. (See Fig. 11.3)
1
60
40
5 6 7 891
5 6 7 89 1
5 6 7 89 1
5 6 7 89
0 dB/dec
0 dB/dec
+20 dB/dec
wgc
20 dB/dec
40 dB/dec
For K = 7.5
20
B
0 dB
20
+30
0
Resultant
SOLUTION
With K = 2000
wgc = 45 rad/sec
o
o
30
60
90
120
150
180
wpc =
P.M. = +40
G.M. = +
STABLE
o
o
To get P.M. = 30
additional shift required to be
introduced is A to B
i.e. +7 dB by increasing K.
K = 4475.65 to get
o
P.M. = 30
o
o
For P.M. = +30
+40 + P.M.
P.M. = +30
Log w
0.1
10
wgc = 45
100
1000
o
New wgc = 64 required for P.M. = 30
Fig. 11.3
TM
11 - 9
Bode Plot
Q.19
Solution : The open loop transfer function is
K
G(s) =
s (1 + 0.2s) ( 1 + 0.02 s)
The various factors are :
i) Constant K is unknown
ii) One pole at the origin.
The magnitude plot is the straight line of slope 20 dB/decade passing through
intersection point of w = 1 and 0 dB line.
iii) The simple pole,
wC
1
(1 + 0.2 s)
1
0.2
= 5
Magnitude plot is straight line of 0 dB upto 5 and straight line of slope 20 dB/decade
after 5.
iv) The simple pole,
1
( 1 + 0.02s)
1
= 50
0.02
Magnitude plot is straight line of 0 dB upto 50 and straight line of slope 20 dB/decade
after 50.
wC
The resultant slope table is,

Range of w
G(jw) =
Slope
start < w < 5
20 dB/decade
5 < w < 50
40 dB/decade
50 < w <
60 dB/decade
K
jw(1 + 0.2jw) ( 1 + 0.02 jw)
The resultant phase angle plot is,
TM
11 - 10
f1 for s
90
0.5
f 2 for
1
1 + 0.2s
Bode Plot
f 3 for
1
1 + 0.02s
fR
0.2 w
tan - 1
1
0.02 w
tan - 1
1
90
5.7
0.57
96
90
11.3
1.14
102
90
45
5.7
141
50
90
84
45
219
25
90
78
26.5
194
From the Bode plot shown in the Fig. 11.4. (See Fig. 11.4 on next page.)
wpc = 16 rad/sec
Now to find limiting value of K, wgc = wpc
So point A should at point B to get wgc = wpc . So shift required from A to B is the
contribution by K, which is allowed till system does not reach on the verge of instability.
20 log K = shift AB
\
\
20 log K = + 35 dB
K = 56.23
Hence range of K for stability is,

0 < K < 56.23
Q.20
Solution :
G(s)H(s) =
K
s(1 + 0.1s)(1 + 0.25s)(1 + 0.001s)
The G(s)H(s) is in time constant form. The various factors are,

i)
ii)
iii)
K is unknown.
One pole at origin, straight line of slope 20 dB /dec passing through intersection
of w = 1 and 0 dB .
1
1
, simple pole, T1 = 0.25, wC1 =
=4
1 + 0.25s
0.25
Straight line of slope 20 dB/dec for w 4.

1
1
iv)
= 10
1 + 0.1 s
0.1
v)
Straight line of slope 20 dB/dec for w 10.

1
1
, simple pole , T3 = 0.001, wC3 =
= 1000
1 + 0.001s
0.001
TM
TM
Fig. 11.4
2
3
5 6 7 8 91
2
- 40 dB/dec
- 20 dB/dec
10
100
5 6 7 8 91
SHIFT A + B
= 35 dB
wpc = 16
5 6 7 8 91
2
3
2
3
5 6 7 8 91
1000
Log w
Scale
On Y axis : 1 unit = 20 dB, 30
5 6 7 8 91
- 60 dB/dec
11 - 11
0.1
- 270
- 240
- 210
-180
- 150
- 120
- 90
fR
- 20
0 dB
+ 20
+ 40
+ 60

Bode Plot
11 - 12
Bode Plot
Straight line of slope 20 dB/dec for w 1000 (See Fig. 11.5 on next page.)
Range of w
Resultant slope
0 < w wC1 ( 4)
20 dB/dec
4 < w wC2 (10)
20 20 = 40 dB/dec
10 < w wC3 (1000)
40 20 = 60 dB/dec
1000 < w <
60 20 = 80 dB/dec
Phase angle table : G(jw)H(jw) =
K
jw(1 + 0.25jw)(1 + 0.1jw)(1 + 0.001jw)
- tan -1 0. 25 w - tan -1 0.1 w
- tan -1 0. 001 w
fR
2.29
0.022
98
45
21.8
0.22
157.02
90
68.19
45
0.57
203.76
100
90
87.7
84.28
5.71
267.69
90
90
90
90
360
1
jw
0.4
90
5.71
90
10
Draw the Bode plot without K.

As P.M. = 40, draw the horizontal line at 40 above 180 line till it intersects phase
angle plot at point C.
Draw vertical line from C till it intersects magnitude plot at point D.
The point D must be on 0 dB line to have P.M. = 40 as the frequency corresponding to
point D must be wgc . The shift required from D till 0 dB line is the contribution by K .
Shift DE = 20 Log K = + 8 dB (Upward hence positive)
\
\
K = 2.5118
......For P.M. = 40
Then draw magnitude plot parallel to that without K and then find the point of
intersection of wpc line with new magnitude plot. This point is A. The corresponding
gain margin is A to B.
G.M. = + 12 dB
\
Q.21
Solution : G(s)H(s) =
\
G(s)H(s) =
80000
s(s + 2)(s + 50)(s + 200)
80000
s
s
s
s 2 1 + 50 1 + 200 1 +
2
50
200
TM
TM
Fig. 11.5
P.M.= + 40
5 6 7 8 91
20 dB/dec
wpc=6.2
10
G.M. = + 12 dB
5 6 7 8 91
40 dB/dec
wgc
2.5
60 dB/dec
100
5 6 7 8 91
2
4
2
3
5 6 7 8 91
(1/s)
1000
Without
K
80 dB/dec
DE = Upward shift
to get P.M.= 40
Log w
Scale:
On y axis: 1 unit = 20 dB , 30
5 6 7 8 91
New magnitude plot
11 - 13
0.1
300
270
240
210
180
150
120
fR
90
20
0 dB
+ 20
+ 40
+ 60
MR
1
in dB
+ 80

Bode Plot
11 - 14
Bode Plot
4
s(1 + 0.5s)(1 + 0.02s)(1 + 0.005s)
.... Time constant form
The various factors are,

i) K = 4 i.e. 20 log 4 = 12.04 dB, line parallel to log w axis.
1
, one pole at origin, straight line of slope 20 dB/dec passing through intersection
s
of w = 1 and 0 dB.
ii)
iii)
1
1
, simple pole, T1 = 0 . 5, wC1 =
=2
1 + 0.5s
T1
Straight line at slope 20 dB/dec for w 2.

iv)
1
1
= 50
1 + 0.02s
T2
Straight line of slope 20 dB/dec for w 50

v)
1
1
= 200
1 + 0.005s
T3
Straight line of slope 20 dB/dec for w 200
Phase angle table :
Range of w
Resultant slope
0 < w wC1 ( 2)
20 dB/ dec
2 < w wC2 (50)
20 20 = 40 dB / dec
50 < w wC3 ( 200)
40 20 = 60 dB / dec
200 < w
60 20 = 80 dB / dec.
G(jw)H(jw) =
4
jw(1 + 0.5jw)(1 + 0.02jw)(1 + 0.005jw)
1
jw
- tan -1 0. 5w
- tan -1 0. 02w - tan -1 0. 005w
0.2
- 90
-5 .71
- 0.229
- 0.05
- 9619
.
- 90
- 45
- 2.29
- 057
.
-137.86
50
- 90
- 87.7
- 45
-14.03
- 23673
.
20
- 90
- 84.2
- 21.8
-5.71
- 201.71
- 90
- 90
- 90
- 90
- 360
fR
The Bode plot is shown in the Fig. 11.6. From Bode plot, (See Fig. 11.6 on next page.)
TM
wgc = 3 rad/sec,
G.M. = + 20 dB,
TM
Fig. 11.6
wpc = 10 rad /sec.
P.M. = + 33
2
4
20dB/dec
5 6 7 8 91
P.M.
+ 33
wgc=3
wgc=3
10
wpc
wpc
10
5 6 7 8 91
2
3
100
5 6 7 8 91
G.M.
= + 20 dB
4
3
(1/s)
60 dB/dec
40 dB/dec
1000
Logw
wgc = 3 rad/sec
80 dB/dec
K = 4,12 dB
Scale:
On y axis: 1 unit = 20 dB , 30
SEMI-LOG PAPER (5 CYCLES X 1/10)

4 5 6 7 8 91
2
3
wpc = 10 rad/sec
G.M. = + 20 dB
P. M. = +33
System Stable
5 6 7 8 91
11 - 15
0.1
300
270
240
210
180
150
120
90
fR
20
0dB
+ 20
+ 40
+ 60
MR
1
in dB
+ 80

Bode Plot
Q.22
Solution :
G(s) =
11 - 16
Bode Plot
20 (1 + 0.2 s)
s (1 + 0.5 s)
Step 1 : G(s) is in time constant form.

Step 2 : Factors are,
i)
K = 20 i.e. 20 log K = 26.02 dB, line parallel to log w axis.
ii) One pole at origin, straight line of slope 20 dB/Dec passing through intersection
point of w = 1 and 0 dB.
iii) Simple pole,
1
1
, T1 = 0.5, wC1 =
= 2 straight line of slope 20 dB/dec for
1 + 0.5 s
T1
w 2.
1
= 5 straight line of slope + 20 dB/dec for
T2
iv) Simple zero, (1 + 0.2 s), T2 = 0.2, wC2 =

w 5.
Frequency range
Resultant slope
0 < w wC1 (2)
20 dB/dec
2 < w wC2 (5)
20 20 = 40 dB/dec
5 <w
40 + 20 = 20 dB/dec
Step 3 : Phase angle table

20 (1 + 0.2 j w)
G(j w) =
j w (1 + 0.5 j w)
w
1
jw
- tan -1 05
. w
+ tan -1 0.2w
fR
0.1
90
2.86
+ 1.14
91.71
90
45
+ 21.8
113.19
90
68.19
+ 45
113.19
20
90
84.28
+ 75.96
98.31
90
90
+ 90
90
Step 4 : The bode plot is shown in the Fig. 11.7. (See Fig. 11.7 on next page.)
Step 5 : From the bode plot,
wgc = 9 rad/sec
G.M. = + dB
wpc = rad/sec
P.M. = + 70
The system is absolutely stable in nature.

TM
TM
Fig. 11.7
20 dB/dec
4 5 6 7 8 91
10
wgc =9
4 5 6 7 8 91
40 dB/dec
2
2
2
3
20 dB/dec
100
4 5 6 7 8 91
P.M.
+ 70
2
3
4 5 6 7 8 91
wpc =
1000
G.M. = + dB
P.M. = 70
System absolutely stable
wgc = 9 rad/sec
(1/s)
Log w
K, 26 dB
Scale
On Y axis = 1 unit = 20 dB, 15
4 5 6 7 8 91
11 - 17
180
0.1
165
150
135
120
105
90
75
40
fR
20
0 dB
+ 20
+ 40
+ 60
MR 1
in dB

Bode Plot
11 - 18
Bode Plot
11.10 Calculation of Transfer Function from Magnitude Plot

Q.1
Solution : Starting slope 0 dB so no pole or zero at origin. At each corner frequency slope
changes.
First change in slope is at w = 1, wC1 = 1.
Change in slope is second slope initial slope = 20 0 = 20 dB/dec.
i.e. factor is simple zero with wC1 = 1
1
=1
i.e.
T1 =
wC1
\ Factor is (1 + T1 s) i.e. (1 + s)
Now next change in slope is at w 1
\ wC2 = w 1 Change in slope 0 20 = 20 dB/dec so factor is simple pole. Now w 1 is
not known.
Let us write equation for that line,
y = m x + C i.e. magnitude in dB = m Log w + C
m = + 20 dB/dec
Now at
w = 1,
Substituting 0
magnitude in dB = 0 dB
= 20 Log 1 + C
C = 0
\
\ Equation is magnitude in dB = 20 Log w
Now at
w = w 1,
Magnitude in dB = 15 dB given
\ Substituting
15 = 20 Log w 1
w 1 = 5.623 rad/sec = wC2 .
T2 =
\ Factor is
1
1
= 0.177
=
wC2
5.623
1
1
=
1 + T2 s
1 + 0.177 s
Next change in slope is at w2 .

\ wC3 = w2 . change is 20 0 = 20 dB/dec
\ Factor is simple pole.
To find w2 write equation for that line having slope 20 dB/dec.
mag in dB = m Log w + C
\
mag in dB
= 20 Log w + C.
TM
11 - 19
Bode Plot
At w = 1000, mag in dB = 0
Substituting
0 = 20 Log 1000 + C
C = + 60 dB
\
\ Equation is, mag in dB = 20 Log w + 60
At w2 , mag.in dB = 15 = 20 Log w2 + 60
\ 20 Log w2 = 45
\
w2 = 177.82 = wC3
T3 =
\ Factor is
1
= 0.0562
wC3
1
1 + 0.00562 s
The last change in slope is at

w = 1000 = wC4
Change is 0 ( 20) = + 20 dB/dec so factor is simple zero
wC4 = 1000
\
T4 =
1
= 0.001
wC4
\ Factor (1 + T4 s) = (1 + 0.001s)
\ The total transfer function is product of all of them
G(s)H(s) =
(1 + s) (1 + 0.001 s)
(1 + 0.177 s) (1 + 0.00562 s)
Q.2
Solution : Assume that the magnitude at w = 40 is 0 dB.
Now the equation for the first straight line of slope 40 dB/dec is,
y = 40 log w + C 1
At
w = 40,
y = 0 dB
0 = - 40 log 40 + C 1
\
C 1 = + 64.082
The equation of second straight line of slope 20 dB/dec is,
y = 20 log w + C 2
At
\
\
... (1)
w = 40,
y = 0 dB
0 = - 20 log 40 + C 2
C 2 = + 32.0411
TM
... (2)
11 - 20
Bode Plot
i) To find w1 , substitute y = 20 in equation (2)

20 = - 20 log w1 + 32.0411
\
52.0411 = - log w1
\
w1 = 400 rad/sec
ii) To find A 1 , substitute w = 10 in equation (1)
A 1 = - 40 log 10 + 64.082
\
A 1 = 24.082 dB
iii) Now the equation of third straight line of slope 40 dB/dec is,
y = - 40 log w + C 3
At w = 1000, the y can obtained by substituting w in equation (2)
y = 20 log 1000 + 32.0411
\
y = 27.9589 dB
Thus
A 2 = 27.9589 dB
iv) The equation of third line now is,

y = - 40 log w + C 3
At w = 1000,
\
... (3)
y = 27.9589
27.9589 = - 40 log 1000 + C 3
\
C 3 = 92.0411
So to find w2 , substitute y = 40 dB in equation (3),
40 = - 40 log w2 + 92.0411
\
\
w2 = 2000 rad/sec
Q.3
Solution : The slope 6 dB/octave is same as 20 dB/decade while the slope 12 dB/octave
is same as 40 dB/decade. Hence the starting slope is 20 dB/decade hence there is one
pole at the origin.
Now this line of slope 20 dB/decade would have intersected 0 dB line at w = 10. Hence
at w = 1 its magnitude is +20 dB/dec. This indicates that at w = 1 the magnitude plot has
experienced a shift of +20 dB. This is the contribution by K.
20 Log K = 20
\
\
Log K = 1
K = 10
\
The first change in slope is at wC = rad/sec. The change is of +20 dB/dec due to which
1
resultants slope becomes dB/dec after wC = 5. Hence the corresponding factor is simple
1
zero.
TM
\
\
T1 =
Factor =
1
wC
11 - 21
=
1
Bode Plot
1
= 0.2
5
(1 + T1 s) = (1 + 0.2 s)
The next change in slope is at wC = 30 rad/sec. The change is of 40 dB/dec. Hence the
2
corresponding factor is simple pole with order 2. So repeated simple pole is the factor.
1
1
=
= 0.033
\
T2 =
wC2
30
\
Factor =
1
(1 + T2
s) 2
1
(1 + 0.033 s) 2
Hence the transfer function is the product of all the factors.

\
G(s)H(s) =
10 (1 + 0.2 s)
s (1 + 0.033 s) 2
qqq
TM
12
Polar and Nyquist Plots

12.5 Stability Determination from Polar Plot

Q.4
Solution : For drawing the rough sketch of polar plot we note that ,
100
G(jw)H(jw) =
w w2 + 2 2 w2 + 4 2 w2 + 8 2
and
w
w
w
f = - 90 - tan -1 - tan -1 tan -1
2
4
8
Giving gain and phase at w = 0.1, 1, 10 as given below

w
0.1
10
GH
15.62
1.39
0.00808
95.01
137.7
288
At
w =
0.1,
GH @
100
100
@
@ 15.62
0.1 2 4 8
6.4
At
w =
1,
GH @
100
100
= 1.39
=
1 5 4 8 71.55
At
w =
10,
GH @
100
1
= 0.00808
@
10 10 10 164 10 164
Similarly we calculate f and write in the

above table. It is clear that it is difficult to
plot the polar plot to scale, however a rough
sketch can be made. This is shown.
To determine stability we must find x. This
can be done provided, we know the
frequency at which f = - 180. This can be
easily be achieved by trying more values of w
greater than 1.
(12 - 1)
TM
w=0
90
Fig. 12.1 A rough sketch of polar plot
w =
At
12 - 2
f = - 90 - 45 - 26.56 - 14 = 175.5
2,
At
w = 2.2,
f = - 90 - 47.72 - 28.8 - 15.4 = 181.92
Obviously the phase cross over frequency is very nearly = 2.2 rad/sec
GH|w
Hence
= w pc
=x =
100
2
2.2 2.2 + 2
2.2 2 + 4 2 2.2 2 + 8 2
100
100
=
2.2 2.973 4.565 8.296
247.7
= 0.403
Since x < 1, the system is stable and GM =
1
1
=
= 2.477
x 0.403
Moreover GM in dB = 20 log 2.477 = 7.87 dB

Similarly by trial we find wgc , the gain cross over frequency.
For example at w = 1.2
GH =
100
1.2 5.44 17.44 65.44
100
1.2 2. 332 4.176 8.08
100
= 1.05 @ 1
94.4
Thus wgc is around 1.05 rad/sec

And f at wgc is,
1.05
1.05 - tan -1 1.05
f = - 90 - tan -1
tan -1 -
2
4
8
@ 138.5
This gives PM = 180 + ( 138.5) = 41.5

For the above problem
Gain cross over frequency = 1.05 rad/sec phase cross over frequency = 2.2 rad/sec
Gain Margin = GM = 2.477 or 7.87 dB
Phase Margin = 41.5
The system is stable.
Verification of G.M. by ROUTHS CRITERION.
We can find critical value of K by ROUTHS criterion.
1 + G(s)H(s) = 0
1+
K
= 0
s (s + 2) (s + 4) (s + 8)
TM
gives
K=1
12 - 3
or
s (s + 2) (s + 4) (s + 8) + K = 0
or
s (s 2 + 6s + 8) (s + 8) + K = 0
or
s (s 3 + 14 s 2 + 56 s + 64) + K = 0
s 4 + 14 s 3 + 56 s 2 + 64 s + K = 0
ROUTH'S TABLE
s4
s3
s2
s1
1
14
51.4
3289.6 - 14K
51.4
s0
56
64
K
Thus for stability 3289.6 14 K > 0

or
14 K < 3289.6
or
K < 234.97
critical
K = 234.97
critical K 234.97
=
= 2.35 or 7.42 dB
actual K
100
The answer agrees very closely with what we determined by Polar Plot ( 2 dB is accepted
using Bodes or M-f plot).
and
GM =
Incidentally when K = 234.47, s row in the Routh Table is all zero and the auxiliary
equation formed by s 2 row is
51.4 s 2 + K = 0
s = j
or
K
234.97
= j
= 2.13 rad/sec
51.4
51.4
This is close to wpc .

Q.5
Solution :
G(jw)H(jw) =
K
j w (1 + 2 jw) (1 + 0.1 jw)
We can find wpc by trial. However for this problem there is a simpler method.
K
GH =
2
w 1 + ( 2 w) 1 + ( 0.1 w) 2
= - 90 - tan -1 ( 2 w) - tan -1 ( 0.1 w)
TM
12 - 4
At w = wpc , f = 180
180 = - 90 - tan -1 ( 2w) - tan -1 ( 0.1 w)
+ 90 = tan -1 ( 2 w) + tan -1 ( 0.1 w)
90 = f1 + f2
where tan f1 = 2w and tan f2 = 0.1 w
tan f1 + tan f2
Hence tan 90 = tan (f1 + f2 ) =
1 - tan f1 tan f2
The right hand side is infinite only if 1 - tan f1 tan f2 = 0
This gives 1- 2 w 0.1 w = 0
o
0.2 w2 = 1
or
w2 = 5
or
w =
wpc = 2.236 rad/sec
Thus
Then
5 = 2.236 rad/sec
GH|w = w pc = x =
K
2.236 1 + ( 2 2. 336) 2 1 + ( 0.2236) 2
x =
K
2.236 4.582 1.0246
x =
K
10.447
The system oscillates if x = 1

or
K = 10.497
Q.6
Solution :
K
j w+ a
G (jw) =
Since G(jw) will be plotted as a vector, we find the x and y

components of the vector.
In this case G(jw) = x + jy, where x and y are obtained by
rationalisation.
K ( a - j w)
a- j w
K
G(jw) =
=
a + jw a - j
a 2 + w2
=
Ka
2
a +w
-j
x
0
Kw
a
x =
and
x = -
a2
Fig. 12.2 (a)
+ w2
Ka
Thus
G(jw)
... (i)
+ w2
Kw
... (ii)
a + w2
We now eliminate w
TM
12 - 5
Dividing equation (ii) by equation (i),

y
Kw w
=
= x
a
Ka
ya
and
w =
x
Substituting in equation (i) , we have
Ka
=
x =
2
a + ( - y a x) 2
... (Iii)
Ka
y2 a 2
a 2 +
x2
cross multiplying,
y2 a 2
= Ka
a2 x+
x
Multiplying throughout by x
a 2 x 2 + y 2 a 2 = Kax
Dividing by a 2 ,
we have
x2 + y 2
K
= x
a
... (iv)
We bring this to the form

(x - x 1 ) 2 + (y - y 1 ) 2 = R 2
which gives centre (x1 , y 1 ) and radius R
From equation (iv), x 2 or
or
x2 - 2
K
x+ y2 = 0
a
K
K 2
K 2
x + - + y 2 = 0
2a
2a
2a
2
2
x - K + y 2 = K

2a
2a
... (v)
K
This is the equation of the circle. With centre , 0
2a
K
and radius . Note that y is negative for all values
2a
of w as indicated by equation (ii). Hence only the
lower part of the circle gives the polar plot.
(10,0)
10
10
For the given problem K = 40 and a = 2 hence the

40
centre is at
, 0 i.e. (10, 0) and radius is,
2 2
Fig. 12.2 (b) Polar plot of
K
40
K
=
= 10
G(s) =
for K = 40 and a = 2
2a
4
s+a
TM
12 - 6
12.14 Steps to Solve Problems by Nyquist Criterion

Q.12
Solution : The open loop T.F. is
G(s)H(s) =
G(s)H(s) =
K (s + 10) 2
s3
K( jw + 10) ( jw + 10)
( jw) 3
There is no pole on right hand side hence for the stability N = P = 0. The Nyquist plot
should not encircle critical point 1 + j0.
The Nyquist path is,
Section-I
Section I
s=+j
M=0
= 90
s = + j0
M=
= 270
+ j0
O
j0
Rotation = 270 ( 90)

Section III
= 180 Clockwise
Section II
Section IV
s - plane
Section-II
s = + j0
270
s = j0
+ 270
Fig. 12.3
Rotation = 270 ( 270)

= + 540 Anticlockwise
Section-III
Section-III is mirror image of section-I
To find intersection of Nyquist plot with negative real axis, rationalising G(jw)H(jw).
K( jw + 10) ( jw + 10) ( jw 3 )
G(jw)H(jw) =
( - jw 3 ) ( + jw 3 )
=
j Kw 3 100 - w2 + 20 jw
- 20 Kw4
w6
+
j Kw 3 ( 100 - w2 )
w6
w6
For intersection with negative real axis,
100 w2 = 0
\
\
w2 = 100
wpc = 10
TM
\ Intersection point Q =
12 - 7
- 20 K 10 4
10 6
K
5
Hence the Nyquist plot is :
Point Q =
270
II
I
Q
O
1+j0
III
N=0
900
Fig. 12.4
i) For stability,
Q > 1
\
K
> 1
5
K > 5
ii)
For K = 7,
Q =
for stability.
7
= 1.4
5
G.M. = 20 log
1
OQ
G.M. = 20 log
1
= + 2.93 dB
1.4
Q.13
Solution :
G( jw) H( jw) =
( 2 + jw) ( 8 + jw)
( jw) 3
Step 1 : No pole in r.h.s. of s-plane, P = 0

Step 2 : For stability, N = P = 0
TM
12 - 8
Step 3 : Nyquist path is,

+j
IV
I
+j0
II
j0
III
j
Fig. 12.5 (a)
Step 4 : Section I :
s = + j
90 90
= 0 - 90
270
270 (90) = 180

Clockwise
0 0
= - 270
270
s = + j0
Section - II :
s = + j0 i.e. w = + 0
- 270
s = j0 i.e. w = 0
+ 270
270 (270) = 540

Anticlockwise
Section - III is mirror image of section - I, about real axis.

Section - IV not required.
Step 5 : Calculate point Q which is intersection of Nyquist plot with negative real axis.
( 2 + jw) ( 8 + jw)
1
... = j
G( jw) H( jw) =
3
j
( - jw)
=
j 16 + 10jw - w2
16 - w2 = 0
wpc = 4
] = -10 + j (16 - w )
w
w
2
... for making imaginary part zero.
-10
= 0.625
16
Step 6 : The Nyquist plot is shown in the Fig. 12.5 (b)
Point Q =
TM
12 - 9

270
+j0
0.625
j
1+j0
180
+j
j0
90
N=2
Fig. 12.5 (b)
Step 7 : N = 2 from the Nyquist plot and must be zero for stability.
Thus there are 2 closed loop poles located in right half of s-plane, making system
unstable.
12.15 Behaviour of Right Half Pole

Q.3
Solution : G(s) =
Ks
(s - 1) 2 (s + 5)
Step 1 : Two poles in R.H.S. of s-plane.

P = 2
\
Step 2 : According to Nyquist stability
criterion,
N = P=2
So Nyquist plot must encircle 1 + j0
twice in clockwise direction.
Section
IV
Section
j0 R
Section II
R0
j0
Section III
Step 3 : The Nyquist path is, as shown in

Fig. 12.6.
Kjw
Step 4 : G(jw) =
( -1+ jw) ( -1+ jw) (5+ jw)
Section I :
Nyquist path
s - plane
Fig. 12.6
s = + j to s = + j0
TM
12 - 10
1
90
= 0 180
90 90 90
Starting point w
270 ( 180) = 90
Clockwise
90
0
= 0 - 270
180 180 0
Terminating point w + 0
Section - II : s = + j0 to s = j0
w+ 0
0 270
w 0
450 ( 270) = 180
- 90
= 0 - 450
180 180 0
Clockwise
Key Point Pole in right half contributes + 180 for both w + 0 and w 0.
Section III : Mirror image of Section I about real axis.

Section IV : Not required.
Step 5 : Intersection with negative real axis.
Kjw(5 - jw) ( -1 - jw) 2
G(jw) =
( -1 + jw) 2 ( -1 - jw) 2 (5 - jw) (5 + jw)
=
Kjw[5 + 9jw - 3w2 + jw 3 ]

(1 + w2 ) 2 ( 25 + w2 )
Rationalizing
- Kw2 ( 9 + w2 ) + Kjw(5 - 3w2 )

(1 + w2 ) 2 ( 25 + w2 )
Equating imaginary part to zero, 5 3 w = 0

\
5
= 1.667 i.e. wpc = 1.2909 rad/sec
3
Substituting in real part intersection with negative real axis is obtained,

\
Q =
- K 1.667 (9 + 1.667)
(1 + 1.667) 2 (25 + 1.667)
= 0.09374 K
Step 6 : The Nyquist plot is as

shown in the Fig. 12.7.
270
Section I
Note that while approaching

from 0 180 to 270 in
clockwise direction, Section I of
1 + j0
Q
plot has to intersect negative 180
real axis at point Q. So from
origin, it will travel through
N=0
third quadrant and through
unstable
N=2
point Q will reach to 0 270.
+j0
j
1 + j0
j0
Section I
stable
Fig. 12.7
TM
+j
12 - 11
Step 7 : For stability, N = 2 which is possible only if,

|OQ| > 1 i.e. | 0.09374 K | > 1
\
K >
1
> 10.667
0 . 09374
So range of K for stability is 10.667 < K < .

Thus for K = 10, the system is unstable.
qqq
TM
State Variable Models

and Analysis of Control Systems
14
14.4 State Model of Electrical Systems

Q.4
Solution : Applying KVL to the two loops,
di 1
di
- i 1 2 i 2 + u(t) = 0
dt
dt
... Loop 1
di2
= 0
dt
... Loop 2
(i 1 i 2 ) + i 2 +
di2
= i1 2 i2
dt
... (1)
Using (1) in equation for loop 1,

di 1
= i 1 - (i 1 - 2i 2 ) i 2 + u(t) = 2i 1 + i 2 + u(t)
dt
using i1(t) = X1
\
and
i2(t) = X2
X 1 = 2 X 1 + X 2 + u(t)
...(3)
and
\
... (2)
X2 = X1 2 X2
...(4)
y(t) = i 1 i 2 = X 1 X 2
...(5)

1 X 1 1
X 1 = - 2
1 - 2 X + 0 u(t)

2
X 2
1
-2
A =
,
1
2
1
B= ,
0
and
C = [1 1] ,
(14 - 1)
TM
X
y(t) = [1 1] 1
X 2
D = [0]
14 - 2
State Variable Models and Analysis of Control Systems
Q.5
Solution : Select the two currents as shown
in the Fig. 14.1. And write the equations
using KVL and KCL.
i1(t) =
v2(t) =
i.e.
U(t) - v 2 (t)
1 10 6
i1
1 mF
v1(t)
1 MW
+
U(t)
(1)
v2(t)
i2
1 mF
Fig. 14.1
1
(I - I ) dt
C 1 2
i1 i2 = C
i2(t) =
U(t) 1 MW
+
+
dv 2 (t)
dt
(2)
v2 -v1
(3)
1 10 6
1
i dt
C 2
And
v1(t) =
i2(t) = C
dv 1 (t)
dt
(4)
Elliminate i1 and i2 from above equations and C = 1 10 6 F.

Substituting (1) and (3) in (2) we get,
C
\
\
dv 2
U(t) - v 2 (t) v 2 (t) - v 1 (t)
=
-
dt
1 10 6 1 10 6
dv 2
1 U(t) 1 v 1 (t) 1 2v 2 (t)
=
+
dt
C 1 10 6 C 1 10 6 C 1 10 6
dv 2
= v1(t) 2v2(t) + U(t)
dt
(5)
Using equation (3) in equation (4),

dv 1
v2 -v1
C
=
dt
1 10 6
\
Select
dv 1
= v1(t) + v2(t)
dt
X1(t) = v1(t) and X2(t) = v2(t)
(6)
Using selected state variables,
X 1 = X 1 + X 2,
X 2 = X1 2X2 + U(t)
and
Y(t) = v1(t) = X1(t)
Hence the state model is,
X(t) = AX(t) + BU(t)

where
and
Y(t) = CX(t) + DU(t)
-1 +1
0
A =
, B = , C = [1 0], D = 0
1 -2
1
TM
14 - 3

R1
Q.6
+
Solution : The currents and voltages

are shown in the Fig. 14.2. Applying
KVL to the two loops,
-i 1 R 1 - L 1
+
e1
di 1
- VC + e 1 = 0
dt
L1
i1
R2
L2
VC
+
+C
i2
e2
Fig. 14.2
i.e.
di 1
-R 1
1
1
=
i V +
e
dt
L1 1 L1 C L1 1
-L 2
And
di 2
- i 2 R 2 - e 2 + VC = 0
dt
i1 - i2 = C
dVC
dt
... (1)
i.e.
di 2 -R 2
1
1
i +
V e
=
dt
L2 2 L2 C L2 2
... (2)
dVC
1
1
= i1 - i2
dt
C
C
i.e.
... (3)
Using state variables as, X 1 = i 1 , X 2 = i 2 , X 3 = VC and e 1 = U 1 , e 2 = U 2 and output

y = i2
\
-R 1
1
1
X X +
U ,
L1 1 L1 3 L1 1
1
1
X - X ,
C 1 C 2
X1 =
X3 =
-R 1
L
1
A = 0
1
C
X2 =
-R 2
1
1
X +
X
U
L2 2 L2 3 L2 2
y = X2
1
L1
1
,
L2
0
-R 2
L2
1
C
1
L1
B= 0
1
,
L2
0
C = [0 1 0]
14.8 State Space Representation using Phase Variables

Q.4
4
Solution : Divide N and D by s
C ( s)
=
R ( s)
Comparing with
T1 D 1
T1 D 1
=
D
1 - [L 1 + L 2 + L 3 ]
T1 =
s4
2 3
2
1+ +
+
s s 3 s4
3
s4
, D 1 = 1, L 1 =
TM
s4
2
2 3
1 - - -
3
s
s
s4
-2
3
, L2 = - ,
s
s3
L3 = -
2
s4
14 - 4
Hence the signal flow graph is as shown in the Fig. 14.3.
R(s)
= U(s)
X4
1/s
X3
X4
1/s
X3
X2 1/s
X2
X1
1/s
X1 3
C(s)
= Y(s)
3
2
Fig. 14.3
From the signal flow graph,
X 1 = -2X 1 + X 2 ,
X 4 = -2X 1 + U( s),
-2
0
A=
-3
-2
X 3 = -3X 1 + X 4 ,
X2 = X3,
Y( s) = 3X 1
0
0
B= ,
0
1

1 0 0
0 1 0
,
0 0 1
0 0 0
C = [3 0 0 0 ] ,
D = [0]
This is the required state model in the form X = AX + BU.

Q.5
Solution : Using direct decomposition for the denominator,
T(s) =
s 2 + 3s + 3
{ (s + 2)s + 3] s + 1}
1
3
X3
1/s
X2
X3
X1
1/s
X2
1/s
X1
2
3
1
Fig. 14.4
TM
+
Y(s)
14 - 5

2
For numerator shift take off point once for 3s and twice for s hence total state diagram is,
Output of each integrator is a state variable.
X1 = X2,
and
X2 = X3,
X3 = U X1 3X2 2X3
Y = 3X1 + 3X2 + X3
Thus the various matrices are,

0
A= 0
-1
1
0
-3
0
0
1 , B = 0 , C = [3 3 1], D = [0]

-2
1
Q.6
Solution : Select state variables as,
dy
d2 y
= X2 =X3
= X 1 = X2 ,
dt
dt 2
y = X 1,
Hence
d3y
dt 3
= X 3 and use in given equation,
X 3 + 6X 3 + 11 X 2 + 6 X 1 = u
X3 =
- 6X 1 - 11 X 2 - 6 X 3 + u
X3
The block diagram is as shown in

the Fig. 14.5 (a).
Thus
the
state
model
is,
X = AX + Bu and y = CX with,
1/s
X1 = X2
1/s
1/s
X1
1 0
0
A= 0
0 1 ,
-6 -11 -6
0
B = 0 ,

1
X2 = X3
11
6
Fig. 14.5 (a)

X3 = X2 X2 = X1
X3
C = [1 0 0],
1
1/s
1/s
D = [0]
The signal flow graph is as shown
in the Fig. 14.5 (b).
11
1/s
Fig. 14.5 (b)
TM
X1 1
14 - 6
14.9 State Space Representation using Canonical Variables

Q.3
Solution : The T.F. T(s) can be factorised as,
T(s) =
\
T(s) =
(s + 2) 2
s (s 2 + 5s + 4)
(s + 2) 2
s (s + 1)(s + 4)
A
B
C
+
+
s s +1 s + 4
Partial fractions
Obtain A, B, C as A = 1, B = 1/3, C = + 1/3

\
T(s) =
1 1/ 3 1/ 3
+
s s +1 s + 4
The state diagram is as shown in the Fig. 14.6.

X1
X2
X1
1/s
X2
1/s
1
3
Y
+
X3
X3
1/s
1
3
Fig. 14.6
Thus
X1 = U,
Y = X1
X2 = X2 + U,
X3 = 4 X3 + U
1
1
X + X3
3 2
3
0 0
A = 0 -1
0 0
0
0
-4
1
B = 1,

1
1
C = 1
3
TM
1
3
14 - 7
14.17 Laplace Transform Method of Finding State Transition Matrix

Q.4
Solution :
s 0 0 1 s 1
[sI A] =
-
=
0 s -2 0 2 s + 3
C 12 T
C
s + 3
=
Adj [ sI A] = 11
1
C 21 C 22
2 T
s + 3
=
s
2
1
s
|sI A| = s 2 + 3s + 2 = (s +1) (s + 2)
\
eAt = L1 [(sI A) 1 ]
s+ 3
(s + 1) (s + 2)
=
2
(s + 1) (s + 2)
(s + 1) (s + 2)
= f (s)
s
(s + 1) (s + 2)
Finding partial fractions,

eAt = L1
2 1
s+1 s+ 2
( f(s)) =
2 + 2
s+ 2
s + 1
2e t e 2 t
=
2e t + 2e 2 t
1
1
s+1 s+ 2
1
2
+
s+1
s + 2
e t e 2t
e t + 2e 2t
t
2t
1 2e e
ZIR = eAt X(0) = eAt =
0 2e t + 2e 2 t
To find
ZSR = L1
f(s) B U(s)
U(t) = Unit step \U(s) = 1/s

\
ZSR = L1
= L1
s+ 3
(s + 1) (s + 2)
(s
+
1)
(s + 2)

(s + 1) (s + 2)
(s + 1) (s + 2)
s (s + 1) (s + 2)
1
=L
5
(s + 1) (s + 2)
TM
0

5 [1 / s]

2.5 5 + 2.5
s
s + 1 s + 2
5
5
s + 1 s + 2
14 - 8
2.5 5e t + 2.5 e 2 t
=
5 e t 5e 2 t
2.5 3e t + 1.5 e 2 t
X(t) = ZIR +ZSR =
3 e t 3e 2 t
0 1
Y(t) =
X(t)
2 3
t
2t
Y1 (t)
0 1 2.5 3e + 1.5 e
=
Y (t)
2 3
3 e t 3e 2 t
2
Y1 (t) = 3 (e t e
3e t 3e 2t
=
5 + 6e 2t 3e t
2t )
Y2 (t) = 5 + 3 (2e 2t e t )
These are the outputs for unit step input applied.
Q.5
Solution : The state transition matrix is,
e A t = L-1 (sI - A) -1
1 0 1 - 2
s - 1 + 2
[sI A] = s
0 1 1 - 4
- 1 s + 4
[s I - A] -1 =
Adj [sI - A]
| sI - A |
C
Adj [sI A] = 11
C21
T
C12 T
s + 4 1
=
- 2 s - 1
C22
s + 4 - 2
=
s - 1
1
|sI A| = (s 1) (s + 4) + 2 = s 2 - s + 4s -4 + 2
= s 2 + 3s - 2 = (s 0.561) (s + 3.561)
[s I - A]
-1
s+ 4
(s - 0.561) (s + 3.561)
=
1
(s - 0.561) (s + 3.561)
-2
(s - 0.561) (s + 3.561)
(s - 1)
(s - 0.561) (s + 3.561)
s+ 4
0.106
= L-1 1.106
L-1
(s
0.561)
(s
3.561)
(s
0.561)
(s
3.561)
+
+
= 1.106 e +
TM
0.561 t
- 0.106 e - 3.561 t
14 - 9
-2
= L-1 - 0.485
L-1
(s - 0.561)
(s
0.561)
(s
3.561)
+
= - 0.485 e +
0.561 t
+ 0.485 e - 3.561 t
1
= L-1 0.242 L-1
(s - 0.561)
(s - 0.561) (s + 3.561)
= 0.242 e +
0.561 t
0.242
(s + 3.561)
+ 0.242 e - 3.561 t
(s - 1)
- 0.106
= L-1
L-1
+
(s - 0.561) (s + 3.561)
(s - 0.561)
= - 0.106 e +
1.106 e 0.561 t - 0.106 e - 3.561 t
\ eA t =
0.561 t
- 0.242 e - 3.561 t
0.242 e
\
0.485
(s + 3.561)
0.561 t
1.106
(s + 3.561)
+ 1.106 e - 3.561 t
- 0.485 e 0.561 t + 0.485 e - 3.561 t
- 0.106 e 0.561 t + 0.106 e - 3.561 t
0. 5
X(t) = e A t X(0) = e A t
1
0.068 e 0.561 t + 0.432 e - 3.561 t
Y(t) =
0.561 t
+ 0.985 e - 3.561 t
0.015 e
Q.6
Solution : Let the solution is,
X(t) = eAt X(0)
Let
A
A = 1
A 3
A2
A 4
Now
2e - 4t
X(t) = - 4t
e
- 8 e - 4t
X(t) =
- 4t
- 4 e
At t = 0,
2
X(0) =
1
- 8
X(0) =
- 4
And
4e - 2 t
X(t) = - 2t
e
- 8 e - 2t
X(t) =
- 2t
- 2 e
At t = 0
4
X(0) =
1
- 8
X(0) =
-2
A
X(t) = 1
A 3
A2
X(t)
A 4
TM
14 - 10
A
X(0) = 1
A 3
A2
X(0)
A 4
A 1
- 8
- 4 = A

3
A 2 2
A 4 1
and
\
8 = 2A 1 + A 2
... (1)
4 = 2A 3 + A 4
... (2)
A 1
- 8
- 2 = A

3
A2
A 4
4
1

8 = 4A 1 + A 2
... (3)
2 = 4A 3 + A 4
... (4)
Solving (1), (3) and (2), (4) simultaneously we get,

0 - 8
A =
1 - 6
State transition matrix = eA t = L-1 [sI - A] -1
\
s
s
[sI A] =
1
s
+
6
s + 6 - 8
Adj [sI A] =
s
1
i.e.
|sI A| = s 2 + 6s + 8 = (s + 2) (s + 4)
eAt
s + 6 -8
1
s

= L-1
(s + 2) (s + 4)
2 - 1
s+2 s+4
= L-1
0.5 - 0.5
s + 2 (s + 4)
2e -2t - e -4t
eAt =
-2t
- 0.5e -4t
0.5e
s+6
(s
2)
(s + 4)
+
= L-1
1
(s + 2) (s + 4)
-8
(s + 2) (s + 4)
(s + 2) (s + 4)
-4
4
+
s+2 s+4
1
2
+
(s + 2) (s + 4)
-4e -2t + 4e -4t
-e -2t + 2e -4t
Q.7
Solution : From the given model,
1 0
A =
1 1
TM
14 - 11
1 0 1 0 s - 1 0
[sI A] = s
0 1 1 1 - 1 s - 1
T
s - 1 1
s - 1 0
Adj [sI A] =
= 1 s - 1
0
s
1
|sI A| = (s - 1) 2
[sI - A]
-1
s - 1 0
Adj [sI - A] 1 s - 1
=
=
sI - A
(s - 1) 2
1
s- 1
= 1
2
(s - 1)
1
s- 1
=L 1
2
(s - 1)
e At
-1[sI - A] -1
= L
0
et
1 = t
te
s - 1
-1
1
s - 1
et
X(t) = e At X(0) = zero input response

et
= t
te
et
t
1 e
=
0
t e t
This is the required solution.

Q.8
0 1
s -1
Solution : Find eAt for A =
thus [sI A] = 2 s + 2
2
3
[sI A]
s + 3 1
s + 3 1
-2 s
Adj [sI - A]
-2 s
=
=
=
2
|sI - A|
(
s
+
1
)
(
s
+
2)
s + 3s + 2
1
f (s) = [sI A]
s+ 3
(s + 1) (s + 2)
=
-2
(s + 1) (s + 2)
(s + 1) (s + 2)
s
(s + 1) (s + 2)
1
1
s +1 s + 2
-1
2
+
s + 1 s + 2
2 - 1
s +1 s + 2
=
-2 + 2
s + 1 s + 2
\
2e - t - e -2 t
eAt = L 1 [f (s)] =
-t
-2 t
-2e + 2e
TM
e - t - e -2 t
- e - t + 2e -2 t
14 - 12
0 0
ZIR = eAt X(0) = eAt =
0 0
Now
ZSR = L
{f (s) B U(s)}
1
s
U(s) =
1
s + 2
ZSR = L 1
s+ 3
(s + 1) (s + 3)
-2
(s + 1) (s + 2)
1
(s + 1) (s + 2) 2 1 s
0 1 1
s
s + 3
(s + 1) (s + 2)
= L 1
s+ 3
(s + 1) (s + 3)
-2
(s + 1) (s + 2)
(s + 1) (s + 2)
s
(s + 1) (s + 2)
2 + 1
s s + 3
s + 3
= L 1
s+ 3
(s + 1) (s + 3)
-2
(s + 1) (s + 2)
(s + 1) (s + 2)
s
(s + 1) (s + 2)
3 ( s + 2)
s ( s + 3)
s + 3
3
1
+
s (s + 1) (s + 1) (s + 2) ( s + 3)
= L 1
-6
5
+
s (s + 1) (s + 3) (s + 1) (s + 2) ( s + 3)
0 .5
0 .5
3
3
1
+
+
s
s
+
1
s
+
1
s
+
2
s
+
3
= L 1
0 .5
1 .5
-2
3
1
2
s + s + 1 - s + 3 - s + 1 + s + 2 - s + 3
3 - 2 . 5 e - t - e -2 t + 0 . 5 e -3 t
=
-t
-2 t 2 5 -3 t
- . e
-2 + 2 . 5 e + 2e
\
\
3 - 2 . 5 e - t - e -2 t + 0 . 5 e -3 t
X (t)
X(t) = 1 = ZIR + ZSR =
-t
-2 t
- 2 . 5 e -3 t
-2 + 2 . 5 e + 2e
X 2 (t)
Y1 (t)
1 0 X 1 (t)
Y (t) = 1 1 X (t)
2
2
t
Y1(t) = X1(t) = 3 2.5 e
and
Y2(t) = X1(t) + X2(t) = 1 + e
2t
2t
+ 0.5 e
2e
TM
3t
3t
14 - 13
14.20 Observability
Q.5
Solution : From the given model,
0
1
0
1 , B = 0 , C = [10 5 1]

11 6
1
0
A = 0
0
AB = 0
0
0
1
11 6
0
A B = A [AB] = 0
6
1
Qc = 0
0
1
12
0
= 1
12
1
0

1
1
0
0
1
11 6
[B : AB : A 2 B]
Qc =
For controllability,
0
1
12
1
= 12
61
1
12
61
Q c = 84 0 hence rank of Q c = n = 3.
Now
The system is completely controllable.

2
For observability, Qo = C T : A T C T : A T C T
0
6 10
0
6
T T =
= 1
1
0 11
5
A C

1
6 1
0
1
T2
Qo
AT
10
= 5
A T CT
6
1
1
0
= 1
6
11
0
0
1
6 6
1 = 5

1 5
6
5
Now Q o = 96 0 hence rank of Qo = n = 3

The system is completely observable.
TM
..... n = 3
14 - 14
Q.6
Solution :
For controllability, Q 6 = B : AB : A 2 B and n = 3

0
0 1
AB = 0 0
1
0 - 2 - 3
0 0
1
0 = 1 , A 2 B = A AB = - 3
( )

1 -3
7
0 0 1
Q c = 0 1 -3 , Q c = 1 0
1 -3 7
Hence rank of Q c = 3 = n hence system is completely state controllable.
( )
For observability, Q o = C T : A T C T : A T
0 0 0 10 0
A T C T = 1 0 -2 0 = 10 ,

0 1 -3 0 0
CT
( )
AT
CT
=AT
A T CT
0
= 0

10
10 0 0
Q o = 0 10 0 , Q o = 1000 0
0 0 10
Hence the rank of Q o = 3 = n hence system is completely observable.
qqq
TM

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3

Transfer Function and Impulse Response

Solutions of Selected Unsolved Examples

3.3 Transfer Function

Applying KVL to the two loops,

Using (2) in (1),

TECHNICAL PUBLICATIONS - An up thrust for knowledge

Principles of Control Systems

Transfer Function and Impulse Response

3.6 Laplace Transform of Electrical Network

TECHNICAL PUBLICATIONS - An up thrust for knowledge

Block Diagram Representation of

Solutions of Selected Unsolved Examples

5.3 Rules for Block Diagram Reduction

1 + G3H3 + G2H2 + G2G3H2H3 + G1G2H1 + G1G2G3H1H3

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Principles of Control Systems

Block Diagram Representation of Control Systems

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Principles of Control Systems

Block Diagram Representation of Control Systems

5.4 Analysis of Multiple Input Multiple Output Systems

Now consider Y(s) acting with R(s) = 0.

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Principles of Control Systems

Block Diagram Representation of Control Systems

Fig. 5.1 (a)

Fig. 5.1 (b)

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Principles of Control Systems

Block Diagram Representation of Control Systems

Geq (Forward path)

Fig. 5.1 (c)

Fig. 5.1 (d)

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Principles of Control Systems

Block Diagram Representation of Control Systems

we have to reduce block diagram solving minor feedback loop and

shifting summing point to the left as shown earlier in (i).

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Principles of Control Systems

Block Diagram Representation of Control Systems

Exchanging two summing points using associative law,

\ Block diagram becomes,

iii) With R(s) = 0 block diagram becomes,

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Principles of Control Systems

Block Diagram Representation of Control Systems

Two blocks are in parallel, adding them with signs.

Removing summing point, as sign is positive no need of adding a block.

Minor loop with G = 1

5.5 Block Diagram from System Equations

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Principles of Control Systems

Block Diagram Representation of Control Systems

Simulating each equation, the complete block diagram is,

Minor feedback loop

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Principles of Control Systems

Block Diagram Representation of Control Systems

Minor feedback loop

Minor feedback loop

Substituting the values of Z 1 , Z 2 , Z 3 , Z 4