Control Engineering

NPTEL Online Course (Jan-Apr 2020)

Indian Institute of Technology Madras
Solutions 2
Note: Unless mentioned otherwise, all signals are causal, i.e., their value is zero for all time t < 0.

1. The Laplace transform of f (t) = 5 + 4e−2t is

5(s+10)
(a) s(s+4)
9s+10
(b) s(s+4)
9s+10
(c) s(s+2) [correct]
4s+10
(d) s(s+5)

Solution: Consider the function given f (t) = 5 + 4e−2t . Taking Laplace transform of given
function
F (s) = L[f (t)] = L[(5 + 4e−2t )]
Z ∞ Z ∞ Z ∞
= (5 + 4e−2t )e−st dt = 5e−st dt + 4e−2t e−st dt
0 0 0
Z ∞ Z ∞
−st
= 5e dt + 4e−(s+2)t dt
0 0
 −st ∞  ∞
e  4 −(s+2)t 

= 5  + e
s 
0 s+2 
0
5 4
= +
s s+2
9s + 10
=
s(s + 2)

2. Find the convolution of e−t with sin(t) applying the convolution theorem.

(a) 0.5(e−t − cos(t) + sin(t)) [Correct]

(b) e−t − cos(t) + sin(t)
(c) 0.5(e−t + sin(t))
(d) e−t − cos(t)

Solution: Laplace transform of the following function are

1 1
L(e−t ) = ; L(sin(t)) =
s+1 s2 + 1
By convolution theorem, we know
1 1 1h 1 1 s i
L(e−t ∗ sin(t)) = L(e−t ) × L(sin(t)) = × 2 = + 2 − 2
s+1 s +1 2 s+1 s +1 s +1
Taking inverse Laplace transform, we have

e−t ∗ sin(t) = 0.5(e−t + sin(t) − cos(t))

1
3. Using the initial value theorem of Laplace transform, the initial value of the function is
s+1
X(s) =
s(s + 2)

(a) 0
(b) 0.5
(c) 1[correct]
(d) 2
Solution: Using initial value theorem, the initial value of x(t) is
s+1
lim sX(s) = lim s = 1 = x(0)
s→∞ s→∞ s(s + 2)

Initial value,
lim x(t) = x(0) = 1
t→0

4. Using the final value theorem, the final value of given function is
5s + 4
X(s) =
s(5s + 2)

(a) 1
(b) 2[correct]
(c) 2.5
(d) ∞
Solution: By final value theorem,
5s + 4 5s + 4
lim sX(s) = lim x(t) = lim s = lim = 2.
s→0 t→∞ s→0 s(5s + 2) s→0 s(5s + 2)

Therefore, the final value of the function is x(∞) = 2

5. The inverse Laplace transform of the function given below is
s−3
F (s) =
(s2 + 4s + 13)

(a) e−2t sin 3t − 5

3 cos 3t
(b) e−2t cos 3t − 5


3 sin 3t [correct]
(c) e−2t cos 3t − 5


3 cos 3t
(d) e−2t sin 3t − 5


3 sin 3t

Solution: The function in s-domain can be expressed as:

s−3 s−3 s+2−5
F (s) = = 2 =
s2 + 4s + 13 s + 4s + 4 + 9 (s + 2)2 + 32

Therefore,
s+2 (5/3)(3)
F (s) = −
(s + 2)2 + 32 (s + 2)2 + 32

2
 Taking inverse Laplace transform

       
s+2 (5/3)(3) s+2 3
L−1 F (s) = L−1 − = L−1 −(5/3)L−1
(s + 2)2 + 32 (s + 2)2 + 32 (s + 2)2 + 9 (s + 2)2 + 32
(1)
Therefore,
5
f (t) = e−2t cos 3t − e−2t sin 3t
3
Now,  
s+2 (5/3)(3)  5 
L−1 − = e−2t cos 3t − sin 3t
(s + 2)2 + 32 (s + 2)2 + 32 3

6. Consider a simple mass-spring-friction system as given in the Fig.below where K1 ,K2 - Spring
stiffness’s, f- Friction, M - Mass, F - Force, x - Displacement.The transfer function X(s)
F (s) of the
given system will be

1
(a) M s2 +f s+K1 K2
1
(b) M s2 +f s+(K1 +K2 ) [correct]
1
(c) M s2 +f s+K1 K2 /K1 +K2
K2
(d) M s2 +f s+K1

Solution: Mechanical equation of given system is

d2 x dx
F =M
+f + (K1 + K2 )x
dt2 dt
Taking Laplace transform of the above, we get

F (s) = M s2 X(s) + f sX(s) + (K1 + K2 )X(s)

Or
X(s) 1
= 2
F (s) M s + f s + (K1 + K2 )
¨ + 5x(t)
7. Using the Laplace transform for x(t) in the following differential equation x(t) ˙ + 3x(t) =
X(s)
10u(t), find the transfer function U (s) (with zero initial conditions)

3
 10
(a) s(s2 +5s+3)
10
(b) s(3s2 +5s+1)
10
(c) s2 +5s+3 [correct]
10
(d) 3s2 +5s+1)

Solution: The given equation is

d2 x dx
2
+5 + 3x(t) = 10u(t)
dt dt
Taking Laplace transform on both sides

[s2 X(s) − sX(0+ ) − X(0+ )] + 5[sX(s) − X(0+ )] + 3[X(s)] = 10U (s)

Since the initial conditions are given to be zero,i.e. , X(0+ ) = 0, therefore

s2 X(s) + 5sX(s) + 3X(s) = 10U (s)

X(s) 10
= 2
U (s) s + 5s + 3

8. The transfer function of the linear system is the

(a) Ratio of the output vo (t) and input vi (t)
(b) Ratio of derivative of the output and the input
(c) Ratio of Laplace transform of the output and that of input with all initial conditions zero
[correct]
(d) None of them
Solution: The transfer function of a system is a property of the system and is given by ratio of
Laplace transform of output by Laplace transform of input.
Vo (s)
9. Consider the circuit diagram shown in the figure below.The transfer function Vi (s) is

vi C v0

1
(a) (s+1/RC)
s
(b) (s+1/RC)
1/RC
(c) (s+1/RC) [correct]
RC
(d) (s+RC)

4
 Solution: Let i be the current through the circuit. By KVL, we get
vi (t) = Ri(t) + vo (t)
Z
1
vo (t) = i dt
C
Applying Laplace transform, we get
Vi (s) = RI(s) + Vo (s)
1
Vo (s) = I(s)
sC
1
Vo (s) 1
= = RC 1
Vi (s) (1 + sRC) s + RC

10. The transfer function of the system shown in the given figure is

R R

1 AMP. 1
Ei ( s ) Gain =1 E0 ( s )
Cs Cs

τ = RC

1
(a) (1+τ s)
1
(b) (1+τ s)2 [correct]
τs
(c) (1+τ s)
τs
(d) (1+τ s)2

Solution: Assuming that the voltage across the amplifier as V (s), the equivalent electrical
circuit of given figure is

E0 (s) 1 1
= =
V (s) RCs + 1 τs + 1
V (s) 1 1
and = =
Ei (s) RCs + 1 τs + 1

5
Transfer function is given by
! !
E0 (s) E0 (s) V (s)
=
Ei (s V (s) Ei (s)
! !
1 1 1
= =
τs + 1 τs + 1 (τ s + 1)2