1. Introduction
1. What is Control System? Differentiate between Continuous Control System and
DiscreteData Control System with example.
2. Explain open loop & closed loop control system. State their merits & demerits.
Distinguish between closedloop and openloop system.
3. What do you mean by feedback control system? What are the basic components
of closedloop control system? Discuss the function of these components.
4. What do you mean by LTI system.
2. Mathematical Modeling
1. What do you mean by “Mathematical Model” of a system?
2. Define transfer function of a system.
3. What do you mean by “type” and “order” of a system?
4. Write ForceVoltage and ForceCurrent analogy.
5. Write down the differential equations governing the behavior of mechanical
system shown in the following fig. Also draw an analogous electrical circuit.
K
J1 J2
T Θ
Applied torque output
K2 B1
M2
K1 B2 X1
M1
X2
2
K1
M2
x2
K2
M1
x1
f
8. Write the differential equations of the mechanical system shown in figure 1. Also
obtain an analogous electrical circuit.
X1 X2
F(t)
F12
K K
M2
M1
F1 F2
Vo ( s )
9. Find out the transfer function for the electrical network shown in Figure1
VI ( s)
VI Vo
3
V ( s)
10. Derive the transfer function, o , for the electrical network shown in below.
VI ( s)
R1
C1
VI Vo
R2
 
H2
H1
ii.
4
+
R(s) + + C(s)
G1 G2 G3
+
 
H1
ii.
iv.
G4
R(s)
+ + G1 + +
G2 G3
C(s)

H3
  
H2
H1
v.
R(s) + 12 + 1 C(s)
  s ( s + 1)
αs
11. For the system shown below determine the value of a & b so that the system has
damping ratio of 0.7 & ω n =4 rad/sec.
R(s) + + a 1 C(s)
  s+2 s
Obtain the rise time, peak time, settling time & steady state error of the system for
a unit step input.
7
12. For the system shown in figure below, determine the values of k and T so that the
maximum overshoot in the unit step response is 0.254 and peak time is 35. Obtain
rise time and settling time.
R(s) + k C(s)
s ( sT + 1)

14. Find the static error constants & the steady state error of a unity feedback linear
10
control system whose forward path transfer function is G ( s ) = , when
s ( s + 1)
subjected to a polynomial input r(t)=a0+a1t+a2t2.
15. A control system with a PD controller is shown in the figure, Find the values of
KP & Kd so that the ramp error constant is 1000 & the damping ratio is 0.5
+ 1000
Kp + Kd s s(s+10)

8
5. The open loop transfer function of a unity feedback control system is given by
K
G( s) =
( s + 2)( s + 4)( s 2 + 6s + 25)
By applying Routh’s Criterion determine
i. The range of K for which the closed loop system will be stable.
ii. The value of K which will cause sustained oscillation in the closed loop
system. What are the corresponding oscillation frequencies.
6. Determine the range of values of K (K>0) such that the characteristic equation
s3 + 3(K+1)s2 + (7K+5)s + (4K+7) =0 has roots more negative than s = 1.
7. Rootlocus
1. Sketch the root locus diagram as K is varied from zero to infinity for the system
whose open loop transfer function is given by
K
G ( s) H ( s) =
s ( s + 1)( s + 3)
Determine (i) the value of K for ξ=0.5
(ii) the value of K for marginal stability
(iii) the value of K at s= 4.
(iv) gain margin and phase margin
[Ref. B. S. Manke]
9
2. Sketch the root locus diagram as K is varied from zero to infinity for the system
whose open loop transfer function is given by
K
G ( s) H ( s) =
s ( s + 2)( s + 4)
Determine the value of K to have 40% overshoot for unit step input.
[Ref. B. S. Manke]
3. Applying the rules of construction, draw the rootloci of the following systems
whose openloop transfer function is
K
i.
s ( s + 6)( s 2 + 4 s + 13)
K
ii.
s( s + 4)( s 2 + 4s + 13)
iii.
(
K s2 + 4 )
s ( s + 2)
[Ref. B. S. Manke]
8. Frequency Response
1. Define different frequency domain specifications for a second order system.
2. The closed loop transfer function of a feedback control system is given by
C ( s) 1
=
R( s ) (1 + 0.01s )(1 + 0.06s + 0.1s 2 )
Determine the Resonant peak, Resonant frequency & bandwidth of the system.
3. Without Bode plot, from definition determine the value of K for a unity feedback
control system having open loop transfer function
K
G ( s) H ( s) =
s ( s + 2)( s + 4)
such that (a) gain margin=20 dB (b) phase margin=60°.
[Ref. B. S. Manke]
9. Bode Plot
1. What are the advantages of dB plotting?
2. Draw the Bode Plot of the following systems having open loop transfer function
as follows. Find out the Gain margin & phase margin from the plot and comment
on stability of the system.
2 ( s + 0.25 )
i. G ( s) H ( s ) =
s ( s + 1)( s + 0.5)
2
48 ( s + 10 )
ii. G ( s) H ( s) =
s ( s + 20)( s 2 + 2.4s + 16)
[Ref. B. S. Manke]
10
40 dB/dec
10
Magnitude (dB)
0
8
30
40
0 1 2
10 10 10
Frequency (rad/sec)
[Ref. B. S. Manke]
ii.
db
32 6db/octave
6db/octave
25
12db/octave
7. Draw the Nyquist Plot for the following systems having open loop transfer functions
as follows and determine the stability condition.
Ks 3
i. G ( s) H ( s) =
( s + 1)( s + 2)
K
ii. G ( s) H ( s) =
s (T + 1)
2
[Ref. B. S. Manke]
I1(t) I2(t)
5. Develop a state space model for a system whose dynamics is represented by the
following equation
d 3 y (t ) d 2 y (t ) dy (t )
3
+3 3
+5 + 7 y (t ) = 11u (t )
dt dt dt 3
6. Obtain state variable models of the systems whose transfer function s are given by
Y (s) s 2 + 2s + 1
i. =
U (s) s + 7 s 2 + 14 s + 8
3
Y (s) 2s + 1
ii. =
U (s) s + 2s + 3
2
Y (s) 1
iii. =
U (s) ( s + 2 )( s + 3)( s + 4 )
12
5 x (t ) + x(t ) = u (t )
y(t) = x(t)
Find the transfer function of the system.
⎡ x1 ⎤
y = [1 0] ⎢ ⎥
⎣ x2 ⎦
(a) Find the transfer function of the system.
(b) Compute state transition matrix.
(c) Solve the state equation for a unit step input under zero initial condition.
[Ref. B. S. Manke]
2. Draw circuit for OPAMP based realization of P, PI and PID controller. Derive
expressions for InputOutput relationship of such controllers in terms of circuit
parameters.
13
R(s) + k C(s)
s ( s + 1)(0.5s + 1)
Compensate the system so that static velocity error coefficient Kv is 5/sec. The
phase margin is at least 40 degree. And the gain margin is at least 10db.
3. A lead compensator required for a position control system to provide a phase lead
of 350 & a gain of 6.5 dB at ω = 2.8 rad/sec. What will be the transfer function of
the compensator?