INSTRUCTIONS

Use black or blue pen only.

Write your answers and solutions on any clean sheet of paper. You may use the back of each
page, so long as both sides are legible.

Write your name, student number, and section on the front page. Staple multiple sheets.
Indicate necessary units.
Unless otherwise specified, MATLAB and Octave solutions will not be considered.

Answers are due on October 19, 2017 during class hours.

2
n
1. Consider a second order system with transfer function, G(s) = 2 .
s2 +2n s+n

(a) Determine the time instant, tp , when the maximum value of the output is reached. You may assume a unit
step input. Hint: Find y(t) first. Additional Hint: Recall calculus concepts of finding minima and maxima of a
function.
(b) Find an expression for the maximum overshoot, Mp , occurring at the peaking time,tp , in terms of . Consider
y(t )y,ss
Mp = py,ss

2. Consider the system shown below. At t = 0, the system is at equilibrium, and x measures 0 m. At t = 0+ , a force
of u(t) = 4 N is applied to the mass. It oscillates, reaching a maximum displacement of x = 170cm at t = 7 seconds.
Eventually the mass settles at a displacement of x = 100cm.

u(t)
b

k x(t)

(a) What is the transfer function of the system? Express in terms of variables (e.g. m, b, etc.)
(b) What is the natural frequency of oscillation of the block of mass, n in rad/sec?
(c) Solve for the values of the constants of the transfer function.
(d) Simulate the system with the values obtained. Attach a code snippet from Octave or Matlab as well as the step
response.

3. A closed loop system with negative unity feedback has the following forward transfer function,

s+4
G(s) = s5 +2s4 +2s2 +12s3 +3s+8

Complete the Routh-Hurwitz table and establish if the system is stable or not. Solve for the roots to verify your answer.
4. Consider the closed loop system with forward transfer function,

K(s+9)
G(s) = s(s2 +4s+11)

Assume negative unity feedback.

(a) Sketch the root locus for 0 K < , by hand.
(b) Determine the range of values of K that ensures system stability.