QUE.

1) Determine step, ramp & parabolic error

constant for the following system. Open loop
transfer function is given
1) G(s)= 1200/(1+0.2s)(1+11s)
Ans.>>
For step input r(t) =u(t)
R(s)=1/s
𝑅 (𝑠 )
E(s) =
1+𝐺(𝑆)

1/𝑆
= 1200
1+(
1+0.2𝑠)(1+11𝑠)

(1(1+0.2𝑠)(1+11𝑠))/𝑠
=
1+11.2𝑠+2.2𝑠 2 +1200
(1(1+0.2𝑠)(1+11𝑠))/2.2𝑠
=
𝑠 2 +5.09𝑠+545.90

For ramp input r(t)=r(t)

1
R(s)=
𝑠^2
𝑅 (𝑠 )
E(s) =
1+𝐺(𝑆)
 1/𝑠^2
= 1200
1+(
1+0.2𝑠)(1+11𝑠)

(1(1+0.2𝑠)(1+11𝑠))/𝑠^2
=
1+11.2𝑠+2.2𝑠 2 +1200

(1(1+0.2𝑠)(1+11𝑠))/2.2𝑠^2
=
𝑠 2 +5.09𝑠+545.90

For parabolic input r(t)=p(t)

1
R(S)=
𝑆^3
𝑅 (𝑠 )
E(s) =
1+𝐺(𝑆)

1/𝑠^3
= 1200
1+(
1+0.2𝑠)(1+11𝑠)

(1(1+0.2𝑠)(1+11𝑠))/𝑠^3
=
1+11.2𝑠+2.2𝑠 2 +1200

(1(1+0.2𝑠)(1+11𝑠))/2.2𝑠^3
=
𝑠 2 +5.09𝑠+545.90
 2) G(s)=120/𝑠(𝑠 2 + 10𝑠 + 120)

For step input r(t)=u(t)

R(s)=1/s
𝑅 (𝑠 )
E(s) =
1+𝐺(𝑆)
1/𝑠
= 120
1+ 2
𝑠(𝑠 +10𝑠+120)

(𝑠 3 +10𝑠 2 +120𝑠)/𝑠
=
𝑠 3 +10𝑠 2 +120𝑠+120

For ramp input r(t)=r(t)

R(s)=1/s^2
𝑅 (𝑠 )
E(s) =
1+𝐺(𝑆)
1/𝑠^2
= 120
1+
𝑠(𝑠2 +10𝑠+120)

(𝑠 3 +10𝑠 2 +120𝑠)/𝑠^2
=
𝑠 3 +10𝑠 2 +120𝑠+120
 For parabolic input r(t)=p(t)
R(s)=1/s^3
𝑅 (𝑠 )
E(s) =
1+𝐺(𝑆)

1/𝑠^3
= 120
1+ 2
𝑠(𝑠 +10𝑠+120)

(𝑠 3 +10𝑠 2 +120𝑠)/𝑠^3
=
𝑠 3 +10𝑠 2 +120𝑠+120
110
3) G(s)=
𝑠(1+0.2𝑠)(1+12𝑠)

For step input r(t)=u(t)

R(s)=1/s
𝑅 (𝑠 )
E(s) =
1+𝐺(𝑆)
1/𝑠
= 110
1+ (
𝑠 1+0.2𝑠)(1+12𝑠)

(2.4𝑠 3 +12.2𝑠 2 +𝑠)/2.4𝑠

=
𝑠 3 +5.08𝑠^2+0.41𝑠+45.83

For ramp input r(t)=r(t)

 R(s)=1/s^2
𝑅 (𝑠 )
E(s) =
1+𝐺(𝑆)
1/𝑠^2
= 110
1+ (
𝑠 1+0.2𝑠)(1+12𝑠)

(2.4𝑠 3 +12.2𝑠 2 +𝑠)/2.4𝑠^2

=
𝑠 3 +5.08𝑠^2+0.41𝑠+45.83

For parabolic input r(t)=p(t)

R(s)=1/s^3
𝑅 (𝑠 )
E(s) =
1+𝐺(𝑆)

1/𝑠^3
= 110
1+ (
𝑠 1+0.2𝑠)(1+12𝑠)

(2.4𝑠 3 +12.2𝑠 2 +𝑠)/2.4𝑠^3

=
𝑠 3 +5.08𝑠^2+0.41𝑠+45.83

120
4) Sub que 4) G(s)=
𝑠(𝑠 2 +10𝑠+110)

For step input r(t)=u(t)

R(s)=1/s
 𝑅 (𝑠 )
E(s) =
1+𝐺(𝑆)

1/𝑠
= 120
1+ 2
𝑠(𝑠 +10𝑠+110)

1/𝑠
= 120
1+ 3
𝑠 +10𝑠2 +110𝑠

(𝑠^3+10𝑠+110𝑠)/𝑠
=
𝑠 3 +10𝑠 2 +110𝑠+120

For ramp input r(t)=r(t)

R(s)=1/s^2
𝑅 (𝑠 )
E(s) =
1+𝐺(𝑆)

1/𝑠^2
= 120
1+
𝑠(𝑠2 +10𝑠+110)

1/𝑠^2
= 120
1+ 3
𝑠 +10𝑠2 +110𝑠

(𝑠^3+10𝑠+110𝑠)/𝑠^2
=
𝑠 3 +10𝑠 2 +110𝑠+120

For parabolic input r(t)=p(t)

R(s)=1/s^3
𝑅 (𝑠 )
E(s) =
1+𝐺(𝑆)

1/𝑠^3
= 120
1+ 2
𝑠(𝑠 +10𝑠+110)

1/𝑠^3
= 120
1+ 3
𝑠 +10𝑠2 +110𝑠

(𝑠^3+10𝑠+110𝑠)/𝑠^3
=
𝑠 3 +10𝑠 2 +110𝑠+120
1100
5) Sub que 5) G(s)=
𝑠(𝑠+10)(𝑠+110)

For step input r(t)=u(t)

R(s)=1/s
𝑅 (𝑠 )
E(s) =
1+𝐺 (𝑆)
1/𝑠
= 1100
1+ (
𝑠 𝑠+10)(𝑠+110)

(𝑠 3 +120𝑠 2 +1100𝑠)/𝑠
=
𝑠 2 +120𝑠 2 +1100𝑠+1100

For ramp input r(t)=r(t)

R(s)=1/s^2
𝑅 (𝑠 )
E(s) =
1+𝐺 (𝑆)
1/𝑠^2
= 1100
1+ (
𝑠 𝑠+10)(𝑠+110)

(𝑠 3 +120𝑠 2 +1100𝑠)/𝑠^2
=
𝑠 2 +120𝑠 2 +1100𝑠+1100

For parabolic input r(t)=p(t)

R(s)=1/s^3
𝑅 (𝑠 )
E(s) =
1+𝐺 (𝑆)
1/𝑠^3
= 1100
1+ (
𝑠 𝑠+10)(𝑠+110)

(𝑠 3 +120𝑠 2 +1100𝑠)/𝑠^3
=
𝑠 2 +120𝑠 2 +1100𝑠+1100
10(1+4𝑠)(1+6𝑠)
6) Sub que 6) G(s)=
𝑠^2(𝑠 2 +2𝑠+1)

For step input r(t)=u(t)

R(s)=1/s
 𝑅 (𝑠 )
E(s) = s
1+𝐺 (𝑆)
1/𝑠
= 24𝑠3 +10𝑠2 +𝑠
1+ 4
𝑠 +2𝑠3 +𝑠^2

(𝑠 4 +2𝑠 3 +𝑠 2 )/𝑠
=
𝑠 4 +26𝑠 3 +11𝑠 2 +𝑠

For ramp input r(t)=r(t)

R(s)=1/s^2
1
𝑠2
= 24𝑠3 +10𝑠2 +𝑠
1+ 4
𝑠 +2𝑠3 +𝑠^2

𝑠4 +2𝑠3 +𝑠2
𝑠2
=
𝑠 4 +26𝑠 3 +11𝑠 2 +𝑠

For parabolic input r(t)=p(t)

R(s)=1/s^3
𝑅 (𝑠 )
E(s) =
1+𝐺 (𝑆)
 1
𝑠3
= 24𝑠3 +10𝑠2 +𝑠
1+ 4
𝑠 +2𝑠3 +𝑠^2

𝑠4 +2𝑠3 +𝑠2
𝑠3
=
𝑠 4 +26𝑠 3 +11𝑠 2 +𝑠

QUE 2) Find the type of system, error constant

&steady state error for system with unity feedback,
open loop transfer function is given below for input
At^2/2
𝑘(𝑠+4)
G(s)=
𝑠(𝑠 3 +8𝑠 2 +4)

Ans>>
It is type one system,as no. of poles lies at origin is 1
𝑘(𝑠+4)
G(s)=
𝑠(𝑠 3 +8𝑠 2 +4)

Input =r(t)=At^2/2
R(s)=A/s^3
 𝑅 (𝑠 )
E(s) =
1+𝐺 (𝑆)
.
𝑠3
= 𝑘(𝑠+4)
1+ 4
𝑠 +8𝑠3 +4𝑠

.
3 (𝑠 4 +8𝑠 3 +4𝑠)
𝑠
E(s) =
𝑠 +8𝑠 3 +4𝑠+𝑘 (𝑠+4)
4

𝑙𝑖𝑚
Ess= SE(s)
𝑠→0

Ess=∞
QUE3) Determine the range of K for the system
shown in fig. so that Ess<0.004 when r(t)=0.2t
Ans>>
We knoe that, for ramp input
1
Ess= …….equ(1)
𝐾𝑣

Where Kv= velocity error constant

𝑙𝑖𝑚
Kv= 𝑠𝐺 (𝑠)
𝑠→0
 𝑙𝑖𝑚 𝑘
Kv= 𝑠
𝑠→0 𝑠(𝑆+1)

Kv=k
Putting it in equ(1)
0.2
0.004=
𝑘

K=50
For error to be less than 0.004 the range of values
of k is 50 to ∞.
QUE4)
A unity feedback control system has the following
feedback transfer function
𝑘(2𝑠+1)
G(s)= (
𝑠 4𝑠+1)(𝑠 2 +2𝑠+3)

If the input r(t)=1+5t is applied to the system ,

determine the minimum value of k to get Ess equal
to or less than 0.1
Ans>>
 𝑘(2𝑠+1)
G(s)=
𝑠(4𝑠+1)(𝑠 2 +2𝑠+3)

r(t)=1+5t
R(s)=1/s+5/s^2
We know that
Type of sytem >input then Ess=0

Type of sytem <input then Ess=∞

Therefore for unit step Ess=0
As Type of sytem >input
Now, for ramp
Type of sytem = input then Ess=k
Where k=constant
𝑙𝑖𝑚
For ramp input serror constant= 𝑠𝐺(𝑠)
𝑠>0
𝑙𝑖𝑚 𝑘 (2𝑠+1)
= 𝑠(
𝑠→0 4𝑠+1)(𝑠 2 +2𝑠+3)
 𝑘
=
3

Ess=3/k
0.1=3/k
K=30
Therefore for the error to be 0.1 or less than 0.1 the
range of values of k is 30 to ∞