M.Tech in Electronics Instrumentation & Control Engg.

Semester-II
OPTIMAL AND ROBUST CONTROL ( CS-201)
Q.1

Attempt any two parts:-

(A) The tanks A and B shown in fig each have a capacity of 10gal.Both
tanks are filled at t=0, tank A with 60lb of salt dissolved in water, and tank B
with water. Fresh water enters tank A at the rate of 8gal/min, the mixture of
salt and water (assumed uniform)leaves A and enters B at the rate of
8gal/min, and the flow is incompressible. Let q(t) and p(t) be the no. of
pounds of salt contained in tank A and B,
respectively.
(i)Write a set of equations for the system.
(ii)Draw a block diagram (or signal flow graph) for
the system.
(iii)Find the state transition matrix (t).
(iv)Determine q(t) and p(t)for t0.
(B)
Find the minimum length both any two points using Euler Lagrange
equation.
(C)

Give the necessary & sufficient condition for optimal control.

Q.2

Attempt any two parts:-

10 x 2 =20

(A)
What is optimization? Define how constrained & unconstrained
problems are involved in the formulation of optimal control?
(B)

What is Algebric Riccati equation explain briefly.

(C)

The system
x 1

(t)= x 2(t)

x 2

2
(t)= x 1 ( t ) + [ 1x1 ( t ) ]+u (t)

is to controlled to minimize the performance measure

1

J=

1/2[2 x 21 ( t ) + x 22 (t)+u2 (t )] dt
0

The initial and final state values are specified.

(i)Determine the co state equations for the system.

(ii)Determine the control that minimizes the Hamiltonian for:

(i ) u(t)
Q.3

not bounded.

(ii)

|u(t )| 1.0 .

Attempt any two parts:-

10 x 2 =20

(a)
Explain Robust control theory ? How Robust control techniques used to
control the dynamics of unknown plants.
(b)
If the condition for the linear time-invariant optimal control law are
satisfied by a linear regular problem, the constant K matrix must be a
solution of the algebraic equations
0=KA At Q+ KB R1 Bt K
Using this result, determine the optimal control laws for:
(i)The first order system x =ax ( t ) +u( t)

with performance measure

J=

[ q x 2 ( t ) +r u2 ( t ) ] dt ,q ,r > 0
0

Show the variation of the pole of the closest loop system for 0<q/r<
(ii)The System

x 1

(t)= x 2(t)

x 2

(t)= 4 x 1 ( t )4 x 2 ( t )+ u(t )

and the performance measure

J=

[2 0 x 21 ( t )+ 5 x 22 (t)+u 2( t)]dt
0

Find the location of the poles of the controlled (closed-loop) system and
compare with the pole locations for the open-loop system.
(C)
Consider the system shown in fig. Assuming the control signal to be
u(t) = -kx(t) determine the optimal feedback gain matrix k such that the

following performance index is minimized

Q=

[ ]
1 0
0 u

x = Ax+ Bu

J=

( x T Qx+u 2) dt
0

, where

(u 0) from fig. find that the state equation for the plant is

A=

[ ]
0 1
0 0

, B=

[]
0
1

x2

x1

-k

Q.4

Attempt any two parts:-

10 x 2 =20

(A) Describe different types of stability under stabled unstructured

uncertainties.
(B)

What are the stability margin of H2 Controllers.

(C)

Explain Lagrange multiplier method.

Q.5

Attempt any two parts:-

(A)

Show Robust

10 x 2 =20

performance with output multiplicative uncertainty.

(B)
Write down the short notes on .
Norm.

(i)Gain phase margin.

(ii)Henkel

(C)
Write short notes on Robust control theory ? How Robust control
techniques used to control the dynamics of unknown plants.
OPTIMAL AND ROBUST CONTROL ( CS-201)
1. Answer any four of the following
[54= 20]
(a) What is optimization? Define how constrained & unconstrained problems are involved in
formulation of optimal control.
(b) Discuss less structured representation of uncertainty.
(c) Give the necessary & sufficient condition for optimal control.
(d) Find the minimum length of any two points (use Eulers Lagrange equation).
t 2 t
(e) Find the curve with the minimum arc length joining the points (0,0) and the line
.
2. Answer any two of the following
[102= 20]
(a)Explain Robust control theory? How Robust control techniques are used to control the
dynamics of unknown plants.
(b) Find the curve with minimum arc length between the point x(0) = 0 and curve
t t 2 10t 24

(c)What is Algebraic Riccati equation explain briefly.

3. Answer any two of the following
(a)What are the stability margin of H2 Controllers.
(b)The first order system x =ax ( t ) +u( t) with performance measure

[102= 20]

J=

[ q x 2 ( t ) +r u2 ( t ) ] dt ,q ,r > 0
0

Show the variation of the pole of the closest loop system for 0<q/r<
x 1

(c) The System

(t)= x 2(t)

x 2

(t)= 4 x 1 ( t )4 x 2 ( t )+ u(t)

and the performance measure J=

[2 0 x 21 ( t )+ 5 x 22 (t)+u 2( t)]dt
0

Find the location of the poles of the controlled (closed-loop) system and compare with the
pole locations for the open-loop system.
4. Answer any two of the following
[102= 20]
(a)Discuss briefly formulation of optimal control problem (minimum time problem,
minimum fuel problem, and minimum energy problem).
(b) Explain Lagrange multiplier method.

(c)If the condition for the linear time-invariant optimal control law are satisfied by a linear
regular problem, the constant K matrix must be a solution of the algebraic equations
0=KA At Q+ KB R1 Bt K
Using this result, determine the optimal control laws for:
The first order system x =ax ( t ) +u( t)

with performance measure

J=

[ q x 2 ( t ) +r u2 ( t ) ] dt ,q ,r > 0
0

Show the variation of the pole of the closest loop system for 0<q/r<

5. Answer any two of the following

[102= 20]
H
(a) Show Robust
performance with output multiplicative uncertainty.

(b) Write down the short notes on . (i)Gain phase margin. (ii)Henkel Norm.
(c) Write short notes on level of performance that can be achieved in feedback design.

Digital Control Engineering (CS-202)

1.
Answer any four of the following
[54= 20]
(a) Define the following term
(i)

State variables

(ii)
State
(iii)
State Vector
(iv)
State space
(b) Find the inverse Z- transform of

z (2 z 211 z +12)
X ( z )=
( z1 )( z2)3
(c ) Explain Jury stability criteria. Determine the stability of the sytems described
by following characteristics equation:(z) = 4z4 + 2z3 + z2 + 2z
(d) Find the response of y(n) + y(n-1)-2y(n-2) = u(n-1) + 2u(n-2)
Due to y(-1) = 0.5 . y(-2) = 0.25
(e) With help of a neat sketch explain the working of a weighted resistor type DAC.

2. Answer any two of the following

x 2 =20]
(a) Describe the gain and phase characteristics of Zero order Hold.
(b) Discuss the frequency domain characteristics of the Zero Order Hold.
(c ) What is Sample and Hold(S/H) device and how does it operate. Define the
following term:(i)
(ii)

Acquisition Time
Aperture Time

[10

(iii)
Droop Rate
3. Answer any two of the following
x 2 =20]

[10

(a) Explain Pulse Transfer Fuction of Zero Order Hold and derive the relation
between G(s) and G(z).
(b)A system with Sample and Hold is shown in fig (1)
h(t)

r(t)
ZOH
R(s)

c(t)
G(s)

R*(s)

H(s))
C(s)

C*(t)
C*(s)

A
s ( s b)
Given G (s)=

G zoH (s) G (s)

Show that

lim
T

= G(s)
0

(c ) Derive the z- transfer function of the closed loop system in which error signal
being sampled.

4. Answer any two of the following

x 2 =20]
(a) Describe the full order state observer with a neat diagram.

[10

(b) A discerete time system is described by the following state equations

X(k+1) =

0
1
0.16 1

y(k) =

1 0

X(k) +

1
1

u(k)

X(k)

Obtain the state transition matrix of the system.

(c ) What is Controllibity and Obeservability of Linear Time Invariant System ?
Discuss in detail.

5. Answer any two of the following

x 2 =20]

[10

(a) Describe the digital quantization .How does it affect the operation of a digital
control system ? Discuss.
(b) Decompose the following transfer function by parallel decomposition. Also draw
the state diagram and write the discrete state equations in vector matrix form:

C ( z)
z 0.1

R( z ) ( z 0.5) ( z 0.8)

Obtain the State Variable Model in Canonical Form.

(c)Write short notes on any two of following:(i)
(ii)
(iii)

Estimation and Identification

Properties of z-transform
Design of Digital Controller

Digital Control Engineering (CS-202)

1.
Answer any four of the following
[54= 20]
(a)Find the Z-transform X(z) and sketch pole zero plot with the ROC for following
sequence

3 u(n) 1 2 u(n 1)

X ( n) 1

(b) Find the inverse Z-transform of

x( z )

2 z (3 z 17)
( z 1) ( z 2 6 z 25)

(c) Define the following term

(i)
State variables
(ii)
State
(iii)
State Vector
(iv)
State space
(d) With help of a neat sketch explain the working of a weighted resistor type
DAC.
(e) Find the response of y(n) + y(n-1)-2y(n-2) = u(n-1) + 2u(n-2)
Due to y(-1) = 0.5 . y(-2) = 0.25
2.
Answer any two of the following
10 x 2 =20
(a)What are main sources of quantization errors in digital implementation of
control algorithms? Discuss in detail.
(b)Describe the Samples and Hold circuit. Define the following term:(i)
Acquisition Time
(ii)
Aperture Time
(iii)
Droop Rate
(c) Describe the gain and phase characteristics of Zero order Hold.
3.
Answer any two of the following
10 x 2 =20
(a) A system with Sample and Hold is shown in fig (1)
h(t)

r(t)
ZOH
R(s)

R*(s)

c(t)
G(s)

H(s))
C(s)

A
s ( s b)
Given G (s)=

C*(t)
C*(s)

 G zoH (s) G (s)

Show that

lim
T

= G(s)
0

(b) Write the statement of Caley Hamilton Theorem also compute state transition
matrix and matrix experiential.
(c) Explain Jury stability criteria. Determine the stability of the sytems described
by following characteristics equation:(z) = 4z4 + 2z3 + z2 + 2z

4. Answer any two of the following

10 x 2 =20
(a) Evaluate controllability and observability of the following state model:-

0 0 0
F 1 0 3
0 1 4

40
G 10
0

C 0 0 1

(b) Describe the full order state observer with a neat diagram.
(c) What do you understand by similarity transformations? Describe its usage.
5. Attempt any two questions:10x2 =20
(a)How can you signify that quantization effect and sampling effect in digital
control system.
(b) Decompose the following transfer function by parallel decomposition. Also
draw the state diagram and write the discrete state equations in vector matrix form:

C ( z)
z 0.1

R( z ) ( z 0.5) ( z 0.8)

(c)Write short notes on any two of following:(iv)

State Transition Matrix

(v)
(vi)

Properties of z-transform
Design of Digital Controller
Medical Imaging Technique ( CS-026)

Ques.1 Answer any four of the following

[54= 20]

(a)What is a digital image processing? Discuss the image formation model of a

monochrome image.
(b)Describe the fundamental steps in digital image processing
(c) What do you mean by brightness adaptation and discrimination of a digital
image? Define weber ratio.
(d)Explain the Digital image representation.
(e)What do you mean by adjacency, connectivity in a digital image?
Ques.2 Answer any two of the following
[102= 20]
(a) What do you mean by image enhancement? Explain some basic gray level
transformation of a digital image.
(b) Define Histogram and discuss the histogram equalization method in a gray
level image.
(c) Suppose that a digital image is subjected to histogram equalization. Show
that a second pass of histogram equalization will produce exactly the same
result as the first pass.
Ques.3 Answer any two of the following
[102= 20]
(a) In a given application an averaging mash is applied to input images to reduce
noise, and the a Laplace mask is applied to enhance small details. Would the
result be the same if the order.
(b) Deduce the two dimensional DFT and its inverse of a digital image.
(c) Explain the basic steps for filtering in the frequency domain also discuss the
basic properties of filters.
Ques.4 Answer any two of the following
[102= 20]
(a)Discuss the Slant Transformation of an image and explain all the properties.
(b)What do you mean by tomography? Explain optical coherence tomography in
brief.
(c) Discuss the practical aspect of optical coherence to mography system design.
Ques.5 Answer any two of the following
[102= 20]

(a) What is Ultrasound? How ultrasonic detectors work.

(b) What is thermography? Explain the technique heated thin foll steady-state
method for thermography.
(c) What do you mean by positron emission tomography. Discuss the basic
principle of positron emission tomography.

Intelligent Controls (CS-021)

6. Answer any four of the following
(a) What do you mean by Evolutionary algorithm.
(b) What is Genetic Algorithm. State the importance of it.
(c) What the various type of crossover and mutation techniques?
(d) State Charles Darwins theory of evolution.
(e) Mention the Application of genetic algorithm.

[54= 20]

7. Answer any two of the following

[102= 20]
(a) Define an artificial neural network and state the properties of the processing element of an
ANN
(b) List the components of the biological neuron and compare with ANN.
(c) Show that the derivative of unipolar sigmoidal function and bipolar sigmoidal function is
1f ( x)

f ' ( x )= [ 1+ f ( x ) ] [1f ( x ) ]
'
respectively.
2
f ( x )=f ( x ) and
8. Answer any two of the following
[102= 20]
(a) Design neural network with only one McCulloch-Pitts neuron that implements the three basic
logic operations:
(i)
NOT (x1) ;
(ii)
OR (x1 , x2) ;
(iii)
NAND (x ,x ) , where x and x {0,1}
1

(b) For the network shown in figure, calculate the net input to the output neuron. X1
0.3

X1

0.2
0.5

X2

0.1

Y1

-0.3
0.6

X3

(c) Compare and contrast traditional algorithm and genetic algorithm.

9. Answer any two of the following

[102= 20]
(a) Differentiate between messy genetic algorithm and parallel genetic algorithm.
(b) Explain the Fuzzy Set and Crisp Set Theory with example.
(c) Implement XOR function using McCulloch-Pitts neuron (consider binary data).
10. Answer any two of the following
[102= 20]
(a) With neat flowchart, explain the operation of a simple genetic algorithm.
(b) If A={3, 4, 6,7 } , obtain the Power Set and Total number of Power Set.
(c) Explain the Fuzzy Logic Control System with block Diagram.
(f) What is Genetic Algorithm. State the importance of it.
(g) Define an artificial neural network and state the properties of the processing element of an
ANN.
(h) Show that the derivative of unipolar sigmoidal function and bipolar sigmoidal function is
1f ( x)

f ' ( x )= [ 1+ f ( x ) ] [1f ( x ) ]
'
and
respectively.
2
f ( x )=f ( x )
(i) Implement XOR function using McCulloch-Pitts neuron (consider binary data).