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Set No. 1

IV B.Tech I Semester Supplementary Examinations, February 2007 ADVANCED CONTROL SYSTEMS (Electrical & Electronic Engineering) Time: 3 hours Max Marks: 80 Answer any FIVE Questions All Questions carry equal marks ⋆⋆⋆⋆⋆ 1. State the basic theorem for determining the concept of controllability of time varying system utilizing state transition matrix. Explain the same with proof. [8+8] 2. Check the stability of the system described by • x1 = −x1 + 2x2 x2 1 • x2 = −x2 by using the variable gradient method. 3. (a) Consider the system with 0 1 0 0 0 1 2 0 B = 1 0 and C = A= 3 0 1 1 1 0 1 Convert the system into a single-input controllable system.

[16]

2 0

0 1

(b) Design a state feedback control law for this system so that the closed loop system has poles at -1, -2, -3. [8+8] 4. For the discrete time system given Gp(s) = 1/S.G0 (s) = 1−eS r(t)=unit step T=1 sec. Find optimal transfer function T*(z) so that output C(t) follows input r(t) minimizing

−ST

α

Je =

k=0 α

[r(kT ) − c(kT )]2 with u2 (kT ) = 0.5

k=0

Ju =

[16]

**5. (a) Derive the transversality condition in extermination of functions. (b) Prove that for the functional
**

t1

J(x) =

t0

A(x, t)

1 + xdt

• •

•2

the transversality condition reduces to orthogonlity is x y = −1 where y(t) is the curve on which the movable right points lies. [8+8] 6. Derive the recurrence relation required to be solved in the dynamic programming problem of a multiple decision process in direct time [16] 7. (a) Explain the popular nonlinearities. 1 of 2

Code No: RR410205

Set No. 1

(b) For the system shown in Figure 1, determine the amplitude and frequency of the limit cycle. [6+10]

Figure 1: 8. A second - order servo containing a relay with dead-zone and hysteresis is shown in the block diagram of Figure 2. Obtain the phase-trajectory of the system for the • initial conditions e(0) = 0.6.5, e(0) = 0. Does the system have a limit cycle? If so, determine its amplitude and period. [16]

Figure 2:

⋆⋆⋆⋆⋆

2 of 2

Code No: RR410205

Set No. 2

IV B.Tech I Semester Supplementary Examinations, February 2007 ADVANCED CONTROL SYSTEMS (Electrical & Electronic Engineering) Time: 3 hours Max Marks: 80 Answer any FIVE Questions All Questions carry equal marks ⋆⋆⋆⋆⋆ 1. Suppose you are given a n-dimensional linear time-invariant system. How do you transform into a observability canonical form. State and prove the theorem used. [8+4+4] 2. Check the stability of the system described by • x1 = −x1 + 2x2 x2 1 • x2 = −x2 by using the variable gradient method. 3. (a) Consider the system X = Ax + Bu 1 0 0 1 0 A = 0 2 0 ; B = 0 1 0 0 3 1 1 Obtain the controllable companion form (b) Prove that if the linear time-invariant system is controllable and bi( = 0) is the ith column of B, then there exists a feedback matrix ki such that the single• input system x = (A + Bki ) x + bi ri is controllable. [8+8] 4. A plant is described by the equations 0 1 0 x= x+ ux1 (0) = 1x2 (0) =Choose the feedback law u=−K[x1 +x1 ] 0 0 1

α •

[16]

**Find the value of k so that J=1/2
**

0

(x2 + x2 + λu2)dt is minimized when 1 2

(a) λ = 0 (b) λ = 1 Also determine the values of minimum J in two cases. [4+4+4+4]

5. Illustrate with an example the problem with terminal time t1 ﬁxed and x (t1 ) free. [16] 6. For the system • x = u, with |u| ≤ 1, ﬁnd the control which drives the system from an arbitrary initial state to the origin and minimizes J = |u(t)| dt, t1 is free.

0 t1

[16]

7. (a) Explain the concept of limit cycle and jump responses. (b) Derive the equation for the describing function N for the hysteresis nonlinearity shown in Figure 1. [6+10] 1 of 2

Code No: RR410205

Set No. 2

Figure 1: 8. A second - order servo containing a relay with dead-zone and hysteresis is shown in the block diagram of Figure 2. Obtain the phase-trajectory of the system for the • initial conditions e(0) = 0.6.5, e(0) = 0. Does the system have a limit cycle? If so, determine its amplitude and period. [16]

Figure 2:

⋆⋆⋆⋆⋆

2 of 2

Code No: RR410205

Set No. 3

IV B.Tech I Semester Supplementary Examinations, February 2007 ADVANCED CONTROL SYSTEMS (Electrical & Electronic Engineering) Time: 3 hours Max Marks: 80 Answer any FIVE Questions All Questions carry equal marks ⋆⋆⋆⋆⋆ 1. State the basic theorem for determining the concept of controllability of time varying system utilizing state transition matrix. Explain the same with proof. [8+8] 2. State, prove and explain Lyapunovs stability theorm. Also explain what are the suﬃcient conditions of stability. [2+2+4+8] 3. (a) Given the system X Ax + where = Bu 1 0 0 1 0 2 0 B = 0 1 A= 0 1 1 0 0 3 Design a linear state variable feedback such that the closed-loop poles are located at -1,-2 and -3. (b) Explain the concept of Stabilizability. 4. (a) Determine the optimal control law for the system described by • 0 0 1 u x+ X= 1 −2 − 3

α

[10+6]

**Such that the following performance index is minimized J= (xT x + u2 )dt
**

0

(b) Discuss inﬁnite-time state regulator problem? 5. (a) Derive the transversality condition in extermination of functions. (b) Prove that for the functional

t1 •2

[8+8]

J(x) =

t0

A(x, t)

1 + xdt

• •

the transversality condition reduces to orthogonlity is x y = −1 where y(t) is the curve on which the movable right points lies. [8+8] 6. (a) State and prove optimal control problem based on dynamic programming in discrete time system (b) Explain the principles of causality and invariant imbedding. 7. (a) Explain the eﬀect of inherent nonlinearities on static accuracy. (b) Derive the Describe function for an on-oﬀ nonlinearity with hysteresis.[6+10] 8. For the nonlinear system shown in Figure 1 below, draw the phase-trajectory start. . ing from (e , e ) = (2,2) in the (e , e ) - plane. ˙ ˙ [16] 1 of 2 [2+6+8]

Code No: RR410205

Set No. 3

Figure 1: The characteristics if the nonlinearity (NL) is given below: y = 2x if |x| ≤ 1 y = +2 if x > 1 y = -2 if x < −1

⋆⋆⋆⋆⋆

2 of 2

Code No: RR410205

Set No. 4

IV B.Tech I Semester Supplementary Examinations, February 2007 ADVANCED CONTROL SYSTEMS (Electrical & Electronic Engineering) Time: 3 hours Max Marks: 80 Answer any FIVE Questions All Questions carry equal marks ⋆⋆⋆⋆⋆ 1. State the basic theorem for determining the concept of controllability of time varying system utilizing state transition matrix. Explain the same with proof. [8+8] 2. (a) Derive the necessary and suﬃcient conditions of the direct method of Lyapunov for the stability of linear continuous autonomous systems. (b) Determine whether or not the following quadratic form is positive deﬁnite. [8+8] Q = x2 + 4x2 + x2 + 2x1 x2 −6x2 x3 −2x1 x3 2 3 1 3. (a) Explain the diﬀerent methods of determination of observer gain matrix (b) Consider the system described by the state model • −1 +1 ; C = [1, 0] Y =Cx where A = X = Ax 1 −2 Obtain the state observer gain matrix using all 3 methods. The desired given values for the observer matrix are µ1 = −5, µ1 = −5 [8+8] 4. (a) The second order linear System • X1 (t0) = −0.2 x1 (t) + x2 (t) + u(t) X (t) = −0.5 x2 (t) + 0.5 u(t)

2 •

**Minimize the performance index.
**

5

J=1/2 x2 (t) + x2 (t) + u2 (t)) dt 1 2

0

(b) Draw block diagram of optimal control system for (a)

[8+8]

5. Illustrate with an example the problem with terminal time time t1 and x(t1 ) f ree. [16] 6. (a) State and prove optimal control problem based on dynamic programming in discrete time system (b) Explain the principles of causality and invariant imbedding. [2+6+8]

7. Determine the amplitude and frequency of the limit cycle of the system shown in Figure 1. [16] 8. (a) Explain the isocline method for construction of phase -plane portrait. (b) Determine the locations and types of singular points of the nonlinear system described by. [8+8] x1 = 0.3 − 0.1 x1 + x2 − 0.188x2 x2 − 0.75x3 ˙ 1 2 1 of 2

Code No: RR410205

Set No. 4

Figure 1: x2 = 0.25x1 − 0.1 x2 + 0.047x3 + 0.188 x1x2 ˙ 2 2 . ⋆⋆⋆⋆⋆

2 of 2

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