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PART A
closed loop
Accurate and reliable
complex and costly
Changes in output due to
external disturbances are
corrected automatically
Great efforts are needed to
design a stable
13. State the basic elements for modeling in translational and rotational system.
Sl. Translational system
Rotational system
No.
1
Force, f
Torque T
2
Velocity v
Angular velocity
3
Displacement X
Angular displacement
4
Mass M
Moment of inertia J
5
Frictional coefficient B
Frictional coefficient
6.
Stiffness K
Stiffness K
14. What are the Basic elements in electrical and mechanical system?
Electrical system
Mechanical
Sl.
Translational system
Rotational system
No.
1
Voltage V
Force, f
Torque T
2
Current I
Velocity v
Angular
velocity
3
Charge q
Displacement X
Angular
displacement
4
Inductance L
Mass M
Moment of inertia J
5
Resistance R
Frictional coefficient B
Frictional
coefficient
6.
Inverse of capacitance
1/Cs
Stiffness K
Stiffen K
PART B
Y
G1
G2
H1
G4
FIG.1
G3
3. Write the differential equations for the mechanical system shown in fig. Obtain an analogous
electric circuit based on force-current analogy.
F(t)
1
2
12
M2
M1
K1
K1
B1
B2
4. Consider the signal flow graph shown in fig. Obtain the closed loop transfer function
()
()
by
R(s)
G1
G7
G2
G3
G4
G5
G(s)
-H1
-H2
5. Discuss the mathematical modelling of fundamental components of mechanical translational
system. Obtain the mathematical model of the mechanical system shown in the figure below.
X2
K3
X3
j(t)
M3
B2
M2
K2
X1
B1
M1
K1
6.
a. Using block diagram reduction technique, find
()
()
H3
R(s)
G1
G2
H2
H1
G3
C(s)
7. Obtain the transfer function C/R for the block diagram shown in Figure using the block
diagram reduction technique
G4
R(s)
G1
C(s)
G3
G2
H1
H2
8. Find the transfer function for the signal flow graph shown in figure using Manson gain
formula
G4
R(s)
G1
G2
-H2
G3
C(s)
-H1
-1
9.
a. What are open and closed loop control system? State and explain the three major
objectives of control system analysis and design.
b. Construct a block diagram for the simple electrical network shown in fig. (a) (ii) and
hence obtain the signal flow graph.
R1
Ei
R2
i1
C1
i2
C2
Eo
10.
a. Derive the transfer function of a field controlled DC servomotor.
b. Describe the various block diagram reduction rules with examples
UNIT II
TIME RESPONSE
PART A
(+1)
10(+2)
2 (+5)
10(+2)
2 (+5)
2 10(+2)
0 (
2 (+5)
= 0 2 ()() =
) = 0 (
10(+2)
(+5)
)=4.
12. What are the generalized error coefficients? How they are determined
They are the co-efficient of generalized error series. The generalized error series is given by
() = 0 () +
1
1!
() +
2
2!
() +
3
3!
() + +
().
(), () =
1
1+()()
14. For a unity feedback control system shown in fig. Find the ratio of time constants of open
loop response to closed loop response
()
()
2
+4
Ratio = 2.99
15. What are the difference between steady state and generalized error coefficients
Steady state error
Generalized error coefficients
coefficients
1 It is a measure of system accuracy.
2 Static error constants are used to
determine steady state error when
the input is any one of the standard
input.
1. Derive the expression for unit step response of under damped second order system
2. Obtain the expression for dynamic error coefficients of the following system
10
() =
(1 + )
3. A unity feedback system is characterized by an open loop transfer function
() =
( + 10)
Determine the gain K so that the system will have a damping ratio of 0.5. For this value of K,
determine settling tome, peak overshoot and time to peak overshoot for a unit step input
4. The open loop transfer function of a servo system with unity feedback is
10
() =
(0.1 + 1)
Evaluate the static error constants (Kp, Kv, Ka) for the system. Obtain the steady state error
5.
a. Discuss the unit step response of second order system
b. Obtain the unit step response and unit impulse response of the following system
()
()
10
2 +2+10
6.
a. Write short notes Dynamic error coefficients
b. For a unity feedback second order system, the open loop transfer function is
() =
2
( +2
7.
a. Derive the expression for time domain response of second order system for underdamped
case subjected to a step input.
b. The characteristic equation of a feedback control system is 4 +3 3 + 12 2 ( 16) +
= 0. Sketch root locus plot for 0<K<. Determine the range of gain for which the
system is stable.
8.
a. Explain briefly the function and uses of PID controller
b. Sketch the root locus of the system whose OLTF is
() =
.
( + 2)( + 4)
Find the value of K so that damping ratio of the system is 0.5
9. Derive the time response of a first order control system subjected to
i.
Unit step input function
ii.
Unit ramp input function
iii.
Unit impulse input function
10.
a. The overall transfer function of a control system is given by
()
()
16
( 2 +1.6+16)
. It is
desired that the damping ratio be 0.8.Determine the derivative rate feedback constant Kt and
compare rise time, peak time, maximum overshoot and steady state error for unit ramp input
function without and with derivative feedback control.
b. Draw the root locus of the following system
()() =
UNIT III
10
( + 1)( + 2)
FREQUENCY RESPONSE
PART A
1. Write the expression for resonance frequency and peak in terms of time response
specifications
, = 1 2 2
1
1 2 2
, =
1
Kg in decibel = 20 log|()|
1
|()|=
= 20|()|=
1
2
1
1
(4 4 + 1 )2 2 2
1
(+1)
and () = 1 +
10
(0.1+1)(0.01+1)
crossover frequency.
2. Using polar plot, determine gain crossover frequency, phase crossover frequency, gain margin
and phase margin of feedback system with open-loop transfer function
10
()() =
(1 + 0.2)(1 + 0.002)
3. Sketch the Bode plot showing the magnitude in decibels and phase angle in degrees as a
function of log frequency for the transfer function
() =
75(1 + 0.2)
( 2 + 16 + 100)
200( + 10)
( + 5)( + 20)
a. What is the effect on polar plot if a pole at origin is added to the transfer function?
Explain. Draw the polar plot of a first order system.
b. For the following system, sketch the polar plot
() =
500
( + 6)( + 9)
7. Sketch the Bode plot for the following open loop transfer function
4(1+
() =
)
2
2
8
(1+)1+0.4( )( )
8. For the following unity feedback system obtain the values of K and r to get a peak resonance
of 1.26 at a resonance frequency of 10.5 rad/sec
() =
( + 1)
9.
a. Draw the Bode plot for the transfer function given below:
()() =
48(+10)
(+20)( 2 +2.4+16)
Sketch the polar plot and determine the gain and phase margin
10.
a. Derive the expression for radius and centre of constant M and N circles
b. Explain how closed loop frequency response is obtained from open loop frequency
response using Nichols chart.
UNIT IV
PART A
If the roots of characteristics equation has positive real part then the impulse response of the
system is not bounded (the impulse response will be infinite as t). Hence the system will
be unstable. f the roots has negative real part then the impulse response is bounded.(then the
impulse response becomes 0 as t).Hence the system will be stable.
4. State the Nyquist stability criterion
If G(s)H(s) contour in the G(s)H(s)-plane corresponding to Nyquist contour in s-plane
encircles the point -1+j0 in the anticlockwise direction as many times as the number of right
half s-plane poles of G(s)H(s). Then the closed loop system is stable.
5. State the necessary and sufficient condition for stability
All the coefficients of the characteristics polynomial be positive.
6. Why are marginally stable systems considered unstable under the BIBO definition of stability
If the system has distinct roots on the imaginary axis, then the system is said to be marginally
stable; This system is not unstable as there is no root in the right-half of s-plane. But in this
instance, the impulse response does not decay to zero although it is bounded. In addition,
certain bounded input produce bounded output. Therefore marginally stable system are
unstable from Rouths criterion point.
7. For the loop transfer function ()() =
(+6)
(+3)(+5)
diagram.
Centroid =
8(6)
21
= 2
20
(+10)
(+2)
(+)
(+)
1
1
) (+ )
1
1
1
1
(+
) (+
)
1
1
(+
1 sin
1 + sin
17. What type of compensator suitable for high frequency noisy environment?
Lag compensator is essentially low pass filter and so high frequency noise signals are
attenuated.
18. Mention the important characteristics of lead compensator
The lead compensation increases requires the bandwidth
19. What is lag-lead compensator
A compensator having the characteristics of lag-lead network is called lag-lead compensator.
If a sinusoidal signal is applied to a lag-lead compensator then the output will have both phase
lag and lead with respect to input, but in different frequency regions.
20. Why is the phase margin increased above that desired when designing a lag compensator?
When designing a lag compensator the crossover frequency is decreased which causes the
phase angle is increased.
PART B
1. Consider the closed-loop system shown in fig.2 ,determine the range of K for which the
system is stable
( 2 + + 1)( 2 + 4)
Fig.2
2.
a. The open loop transfer function of a unity feedback control system is given by
() =
( + 2)( + 4)( 2 + 6 + 25)
By applying Routh criterion, discuss the stability of the closed loop system as a
function of K. Determine the values of K which will cause sustained oscillations in
the closed loop system. What are the controlling oscillation frequencies?
b.
3. For each of the characteristics equation of feedback control system given, determine the range
of K for stability. Determine the value of K so that the system is marginally stable and the
frequency of sustained oscillations.
i.
4 +25 3 + 15 2 + 20 + = 0
ii.
4 + 3 + 2 + + 1 = 0
iii.
3 +3 2 + ( + 2) + 4 = 0
iv.
4 + 3 + 5 2 + 10 + 10 = 0
4.
a. Explain procedure Lead compensator design using bode plots.
b. Sketch the Nyquist plot for the open loop transfer function
()() = 4
.
( + 1)
5. By use of the Nyquist criterion, determine whether closed-loop systems having the following
open-loop transfer function is stable or not. If not, how many closed loop poles lies in the
right half s-plane?()() =
10
(+1)(2+1)
6.
a. For the transfer function given below, find the constraints on 1 and 2 such the function
will have only two poles on axis.
1 + 2
+ 1 3 + 2 + 2 + 1)
b. Describe the effect of addition of a pole to a stable system.
() =
( 4
7.
a. By applying Nyquist stability criteria, find the range of K for which the closed loop
system having the following loop transfer function is stable.
b. A unity feedback system has an open loop transfer function
5
()() =
( + 1)(0.5 + 1)
Design a suitable compensator to maintain phase margin of at least 40 .
9. a. Consider the unity feedback system whose open-loop transfer function is
() =
(. 1 + 1)(0.2 + 1)
:
i.
Velocity error constant = 30
ii.
Phase margin = 30
iii.
Bandwidth 1 = 12 /
b. Explain the electric network realization of a lead compensator and also its frequency
response characteristics
10. a. Describe the procedure for the design of lag compensator using Bode plo
. Design a suitable lag compensator for the system so that the static velocity
s(s+2)
error constant is 20 1 , the phase margin is at least 550 and the gain margin is at
least 12 db.
UNIT V
PART A
1.
.
Define state and state variable.
The state is the condition of a system at any time instant, A set of variable which describes the state of
the system at any time instant are called state variables.
2.
What is controllability?
A system is said to be completely state controllable if it is possible to transfer the system state fom any
initial state X(t0) at any other desired state X(t), in specified finite time by a control vector U(t).
3.
What is observability?
A system is said to be completely observable if every state X(t) can be completely identified by
measurements of the output Y(t) over a finite interval of time.
4.
5.
6.
7.
8.
ii.
iii.
iv.
9.
10. Draw the block diagram of the state model of a linear system.
11. Write the state equation and output equation of LTI system.
X = Ax + Bu
y = Cx + Du
12. Define State space.
The set of all possible values which the state vector X(t) can have (or assume) at time t forms the state
space of the system.
13. Define the characteristics equation of a matrix.
The characteristics equation of a nXn matrix A is the nth degree polynomial of equation | | =
0 , where is the unit matrix
14. What are Eigen values and Eigen vector?
A non-zero column vector X is an eigenvector of a square matrix A, if there exists a scalar such that
AX= , .
15. What is a state vector?
The set of all possible values which the input vector u(t) can have at time t forms the state space of the
system.
16. What is canonical form of state model?
If the system matrix, A is in the form of diagonal matrix then the state model is called canonical
form.(In diagonal matrix, we have the Eigen values on the main diagonal and all other elements are
zero)
17. What is the need of observability test?
The observability test is necessary to find whether the state variables are measurable or not. If the state
variables are measurable then the state of the system can be determined by practical measurements of
the state variables.
18. What are Eigen value and Eigen vector?
A non-zero column vector X is an eigenvector of a square matrix A, if there exists a scalar such that
AX = X, then is an Eigen value of A.
19. What is state diagram?
The pictorial representation of the state model of the system is called state digram. The state diagram of
the system can be either in block diagram or in signal flow graph form.
20. Mention few types of system can be analysis through state space analysis.
Linear system, Non-linear system,, Time variant system, Time varying system and multiple input and
multiple output system.
PART B
1.
2.
3.
4.
R1
L2
R2
e(t)
()
()
10(+4)
(+1)(+3)
()
()
10
3 +4 2 +2+1
()
()
10(+4)
(+1)(+3)
Construct three different state model for this system give block diagram representation for
each state model.
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