1. a.

The transfer function

G(s) =
10(s+2)e
3s
s
2
+9s+20
For impulse input U(s) = 1
So, the impulse response for the given system is
y(t) = L
1
{G(s)} = L
1

10(s+2)e
3s
s
2
+9s+20

y
imp
(t) = L
1

30e
3s
s+5

20e
3s
s+4

= 30e
5(t3)
20e
4(t3)
For step input,
y
step
(t) =

t
0
y
imp
(t)dt = 1 + 5e
4(t3)
6e
5(t3)
b. For the input u(t) = 2sin4t + cos0.1t,
U(s) =
8
s
2
+16
+
s
s
2
+0.01
1
Y (s) = G(s).U(s) =
10(s+2)e
3s
s
2
+9s+20
.

8
s
2
+16
+
s
s
2
+0.01

Final value theorem,

lim
t
y(t) = lim
s0
s.Y (s)
The steady state value, y
ss
(t) = lim
s0
s10(s+2)e
3s
s
2
+9s+20
.

8
s
2
+16
+
s
s
2
+0.01

= 0
c. Bode plot:
1. G(s) =
10(s+2)e
3s
s
2
+9s+20
2. G(j) =
10(j+2)e
3j

2
+9j+20
=

150
25+
2

80
16+
2

30
25+
2

20
16+
2

3. Magnitude= |G(j)| =

150
25+
2

80
16+
2

2
+

30
25+
2

20
16+
2

2
and
Phase = tan
1

30
25+
2

20
16+
2
150
25+
2

80
16+
2

4. For dierent values of , we plot the magnitude plot in dB and phase plot.
2
e.
3
4
2. a. The dynamic behavior of the liquid level in each leg of the manometer
tube is given by,
d
2
h

dt
2
+
Gdh

R
2
dt
+
3g
2L
h

=
3
4L
p

(t)
Taking Laplace transform on both sides,
s
2
H

(s) +
G
R
2

sH

(s) +
3g
2L
H

(s) =
3
4L
P

(s)
H

(s) =
3
4L
/
3g
2L
1
3g
2L
s
2
+
G
R
2

3g
2L
s+1
P

(s)
H

(s) =
K

2
s
2
+2s+1
P

(s)
K =
1
2g
=

2L
3g
=
3
R
2

2L
3g
b. The manometer will produce oscillatory response when the value of is
between 0 and 1.
0 < < 1
0 <
3
R
2

2L
3g
< 1
c. By making larger, the value of decreases, reducing the damping eect.
Hence, the response will be more oscillatory. If is made larger, then the
damping ratio increases, suppressing the oscillations.
3. a.The transfer function of the electrical heater that exhibits second order
dynamics is given by,
T

(s) =
K

2
s
2
+2s+1
P

(s)
For the electrical heater with,
K = 3

C/kW
= 3 min
= 0.7
T

(s)
P

(s)
=
3
9s
2
+4.2s+1
Step response of a second order system is
T

(t) = K

1 e

cos

1
2
t

1
2
sin

1
2
t

5
T(t) 70 = 18

1 e
0.7t
3

cos
0.71t
3
+
0.7
0.71
sin
0.71t
3

T(t) = 88 18e
0.7t
3

cos
0.71t
3
+ 0.98sin
0.71t
3

C
The power input to the heater is changed from 20kW to 26kW.
The new steady state temperature will be 70

C +(3

C/kW 6kW) = 88

C
b. The overshoot that will occur in the given heater temperature is
Overshoot = e
(/

1
2
)
= 0.046
The peak magnitude is (1+0.046). The temperature at the peak 1.04618 =
18.83

C. Hence, the maximum temperature that can be observed is 18.83+70 =

88.83

C.
The time taken for the rst peak to occur is given by,
t
p
=

1
2
= 13.2sec
4. a. Valve 1 is closed, (R
1
) and q
1
= 0
A
2
dh2
dt
= q
0
q
2
q
2
=
h2
R2

H2(s)

Q0(s)
=
R2
A2R2s+1

Q2(s)

Q0(s)
=
1
A2R2s+1
b. Valve 1 is partially open, 0 < R
1
< 1
A
2
dh2
dt
= q
0
q
1
q
2
A
1
dh1
dt
= q
1
q
2
=
h2
R2
and q
1
=
h2h1
R1
dh2
dt
=
1
A2R1
h
1

1
A2

1
R1
+
1
R2

h
2
+
q0
A2
c. The transfer function
Q

2
(s)
Q

0
(s)
will be of the form
Q

2
(s)
Q

0
(s)
=
1
(

1
s+1)(

2
s+1)
or

Q2(s)

Q0(s)
=
1

2
s
2
+2s+1
where is the time constant of the system that depends on the resistances
of the valves. The gain of the system will be equal to 1.
6
d. The response to changes in q
o
is slower in Case b since the interacting
system is second order system whereas the tank system in Case a is a rst
order system.
5. a. The settling time (T
s
) and the delay (D) are obtained from step response
of the system
D = 3sec and T
s
= 4.28 3 = 1.28sec
The relation between the settling time and the time constant of the system
is, T
s
= 5
= 0.256sec
>> n=[10 2];d=[1 9 20]; >> sys=tf(n,d)
Transfer function:
10s+2
s
2
+9s+20
The best rst order plus delay transfer function is G(s) =
1
0.256s+1
e
3s
.
b. Matlab code:
function output = assignment5_b(parameter,t)
D=3;k = parameter(1); tau = parameter(2);
output = k * (1 - exp(-(t-D)/tau));
7
end
>> [y,t]=step(sys,(0:0.1:1000));
>> parameter=lsqcurvet(@(parameter,tdata)assignment5_b(parameter,tdata),[1;1],t(1:end),y(1:end))
parmeter =
1.0014
4.3899
>> sys_approx=tf(parameter(1),[parameter(2) 1])
Transfer function:
1.001
4.39s+1
>> sys_approx.iodelay=3;
>> step(sys,sys_approx)
c. The rst order plus delay transfer function that was obtained by graph-
ical method had similar response time with that of the actual system. But
the response time of the system obtained from lsqcurvet was long (sluggish
response).
8
9