02 - Control System All Chapters PDF

1
Control Systems
07.
1. Basics of Control Systems
Sol: A0 = 2000 100
02.
Sol:
Af = 0.5%
CS
G S
R S 1 G SHS
A = 2000
dA = 100
r(s) +
c(s)
G(S)
dA 100
1
A 2000 20
H(S)
No. of loops 1 i.e., G(S) H(S)

(i)
No. of forward paths 1

By applying Masons gain formula
dA 1
100 5%
A 20
%change in output A f
1
% change in A
1 A
0 .5 %
1
5% 1 2000
C S
G S
G S
R S 1 G S H S 1 G S H S
1
1
10 1 2000
03.
Sol: Sensitivity STH
%change in T
% change in H
T
T H
= T
.
H H T
H
(ii)
1 GH 0 G G
T
H
1 GH 2
S TH
G2
1 GH
ACE Engineering Academy
G
T=
1 GH
closed loop T.F
H
G
1 GH
Af =
9
2000
1 A
2000
1 2000
9
2000
2000
200
10
GH
GH
1 GH
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: 24 :
Postal Coaching Solutions
08.
2. Signal Flow Graph & Block Diagram
Sol: G(S) =
i)
25
,
SS 2
H(S) =
1
4
G S
TF =
1 G SHS
1
i) S TG
1 GH
1
25
1
1
S S 2 4
01.
G3
1 G 3H 3
Sol:
H2
R
E
+
G1
G3
H3
4 S S 2
4 S S 2 25
G2
1 G 2H2
4 S 2 8S
4 S 2 8S 25
R
G1
S TG / s j j1
G2
8 j 4 2
G2
1 G 2H 2
G3
1 G 3H 3
25 4 8 j
2
8j 4
= 0.398
21 8 j
G1G2G3
ii)
25
1
GH
SS 2 4
S TH
25
1
1 GH
1
SS 2 4
=
25
4SS 2 25
25
4 S 8S 25
25
25
=
= 1.11
4 25 8 j 21 8 j
(1 G2H2 )(1 G3H3 )
G1G 2 G 3
1 G 2 H 2 1 G 3H 3
C
G1G 2 G 3
R 1
1 G 2 H 2 1 G 3H 3
G1G 2 G 3
C
R 1 G 2 H 2 1 G 3 H 3 G1G 2 G 3
: 25 :
02.
Control Systems
04.
Sol: No. of loops are
Sol:
G3
R
+
+
G2
G1
H2
L1 = 3
L2 = 4
L3 = 24
L4 = 10
L5 = 0.5
No. of two Non touching loops
L1L4 = (3)(10) = 30
H1
3
2
L1L5 = (3)(0.5) =
No. of loop are two L1 = G2H2
1 4
=2
2 2
L2L5 = (4) =
L2 = G1G2H1
No. of forward paths are two
1
2
L3L5 = (24) = 12
P1 = G1G2
No. of forward paths

P2 = G2G3
P1 = 2(3)(4)
= 1 (L1 + L2) = 1 + G2H2 + G1G2H1
P2 = 5(2)(1) = 10
Pk k
T=
= 24
k 1
1 = 1 +
1 3
2 2
(Since Non touching loops
for forward path 1 is L5)

Pk = forward paths
2 = 1 + [3] = 4
1 = 1, 2 = 1
T=
P11 P2 2 P1 P2
T=
G 1G 2 G 2 G 3
1 G 2 H 2 G 1G 2 H 1
3
24 10(4)
2
T=
= 1+3+4+24+10+
= 42+30+2+14 = 88
T=
1
3
+30+ +2+12
2
2
36 40 76
=
88
88
: 26 :
3. Time Response Analysis
03.
Sol: i) kt = 0
02.
Sol:
G(S) =
d2y
dy
b 4y r
2
dx
dx
ka = 5
5
, H(S) = 1
S 0.5S 1
Kv = Lt SG S Lt
(s2+bs+4)y(s) = r(s)
5S
5
S0 S0.5s 1
S0
y s
1
2
r s s bs 4
ess =
Compare with second order standard equation
CS
n
2
R S S 2n S 2n
2
ii)
1 1
= 0.2
kv 5
Ka
C (S )
S ( 0 . 5 s 1)
SK t
Ka
R (S )
1
S ( 0 . 5 s 1) S ( 0 . 5 s 1)
Compare with the characteristic equation
4
2
n
n 2 rad/sec
2n = b
=
b
4
%Mp 15%
Ka
S(0.5s 1) SK t K a
Ka
2
S
S SK t K a
2
2K a
S 21 K t S 2K a
2
2n = 2(1+Kt)
12
n = 1+Kt
0.15
= 0.5169
=
2K a
given = 0.7
0.7 n = 1+Kt -------(1)
b
4
b > 2.067
R +
By substituting value in the above equation

we will get b > 2.06
n =
Ka
s 0 .5 s 1 K t
: 27 :
ess =
1
5
06.
Kv = 5
4
s4
R(s)
Ka
5 Ka = 5[1+Kt]--------(2)
1 Kt
0.7 2K a 1 K t
Control Systems
T.F =
Ka
[from eq. (2)
5
C(s)
CS
4
R S s 4
R(S) =
1
S
K
0.49 2K a = a
25
C(S) =
Ka = 0.49 50
Ka = 24.5
1+Kt =
4
1
1

S S 4 S S 4
Apply ILT
49 1
=4.9
2 5
C(t) = (1 e4t)u(t)
Kt = 3.9
time constant form :
K
S 1
04.
Sol: Given data

= 1.25 [over damped system]
1
4
rise time : tr = t0.9 t0.1= 0.3122 sec
n = 200 rad/sec
setting time : 2% 4 ts = 1 sec
Dc gain = 1
The response to the second order system for the
unit step input is
1
(n n
C(t) 1 1
e
2
2 1
1) t
1
n n
1
e
2
2 1
2 1 t
By substituting and n values in the above

equation the response is
C(t) = 1
4 100 t 1 400 t
e
e
3
3
15
s 15
R(s)
T.F =
C(s)
15
S 15
R(S) =
1
S
: 28 :
c(s) =
1
1
S S 15
c(s) = (1 e15t)u(t)
=
b)
1
15
7 2 t
c( t ) e 2 t cosh 3t
e sinh 3t u ( t )
3
1
step response R(s) =
S
4S 1
C(S) =
S(S2 4S 1)
Again apply the partial fractions and ILT
tr = 0.1465 sec
08.
ts = 0.266 sec
T.F =
1
S S 1
2
n = 1,
07.
R
4S 1
S2
= cos-1() radians
4S 1
C( S )
4S 1
S2
2
R( S ) 1 4 S 1 S 4 S 1
S2
a)
i) t d
1 0 .7
1.35 sec
n
ii) t r
2.418 sec
d
impulse response
iii) t p
R(s) = 1
C(s) =
4s 1
S 4S 1
iv) 2% ts = 4
Apply partial fractions

C(S) =
ts = 8sec
4( S 2 ) 7
S 22
4S 2
S 22
3.627 sec
d
7
3
3 (S 2) 2
1
1
2
1
n
.1
2
( 0 .5 )
v) % Mp = e
10.52
Apply ILT
= 16.3%
: 29 :
09.
% Mp = 25%
tp
2 sec
d
k1
T.F
2
k
1 (1 k 2S) 21 S k1 k1k 2S
S
1 2
= 0.25
= 0.4037
1
.
T
k 1 / S2
e /
Control Systems
n 1 2
2
11.
k1
K
T
2.
1
2 KT
1
K
K2
K1
0 .2
0 .8
K2
K
1
1
2
K1
K1 4 16
K2
1
K1
16
T.F
A
S ks A
n = 1.7169 rad/sec
n =
k1 = 2n 1.7169 2 2.94
Given = 0.6
k1 = 2.94
d = 8
2n = k1k2
n =10rad/sec
2 0.4 1.72
k2
2.94
A 2n 10 2 100
A = 100
k2 = 0.472
2n = k
10.
K
T.F = 2
S T S K
=
2(0.6)(10)=k
k=12
K/T
1
K
S2 S
T
T
n =
input R(S) =
K
1
; 2n =
T
T
2
S
C(S)
100
2
R (S) S 12S 100
: 30 :
C(S)

K a= 0
200S
S(S 12S 100)
2
ess
Lt SC(s) Lt
S0
S0
200
=2
S(S 12S 100)
2
peak value of the response is 2

13.
A A

Ka 0
b) G (S)
10
S(S 2)
(i) 2u(t)
a) G (S)
10
S 2
i) 2u(t)
kp = 5
e ss
Kp = Lt G (S) =
S0
eSS
2
0
1
(ii) 3t u(t)
A
1 kp
eSS
A
3
kv kv
A=2
ess =
2
1
1 5 3
ii) 3t u(t)
ess
A
Kv
Kv= 0
ess =
k v Lt S
S0
10
5
S(S 2)
eSS
3
5
iii)
(2+3t) u(t)
0
3
5
eSS
3
5
iii) (2+3t) u(t)
3
ess =
iv)
t2
u(t)
2
t2
iv) u ( t )
2
eSS
A
ka
k a Lt S2 G (S) 0
S0
: 31 :
eSS
14.
17.
i) G (S)
Control Systems
10
S (S 1)
S (S 3)
C(S)
S (S 17 )
1/S
This is a unstable system

For unstable systems we can not calculate the
steady state errors.
ii) G (S)
S
3
S (S 1) 1
10(S 1)
S2
R(S) +
1
3
S(S 3)(S (S 1) 1)
C(S)
k p Lt G (S)
S0
eSS
1
1
0
1 kp 1
k a Lt S2
s0
a)
10(S 1)
10
S2
C
1
3
R S(S 3)(S (S 1) 1) 1
b)Type of the system = 1

c) k p Lt G ( S )
S 0
eSS
15.
G (S)
1
0 .1
ka
10
S2
eSS
18.
G (S)
5
5
0
1 kp 1
20
, H(S) 1
(S 1)(S 5)
Two poles at origin

It is unstable system
We can not calculate the steady state errors
for unstable systems.
Characterstic equation is
(S+1)(S+5)+20=0
S2 +6S+25= 0
n = 5, 2n =6, =0.6
tp
: 32 :
d = 5 1 0.6 2 4
General equation for error signal
t p sec
4
e( t ) r ( t )C 0 r ( t )C1 r( t )
Mp e
/ 1
C
C2
r( t ) 3 ...
2!
3!
r n ( t )
100 9.47%
Cn
...
n!
Given Forward path system

Time at first undershoot =
19.
G (S)
2
sec
d 2
K
S 1
k p Lt G (S) K
K
, H (S) 1
S 1
F(S)
1
1 G (S)H(S)
For step input:
S0
eSS
G (S)
R (S)
1
1 K
The drawback in static error coefficients is that

it does not show the variation of error with time
and input should be a standard input.
The generalized error coefficients gives the
steady state error as a function of time. Also
using the generalized error coefficients, the
steady state error can be found for any type of
input.
The error signal in S domain, E(S) can be
expressed as a product of two S-domain
functions.
1
S
e( t ) r ( t )C 0 r ( t )C1 r( t )
C
C2
r( t ) 3 ...
2!
3!
r n ( t )
Cn
...
n!
d
F(S)
S 0 ds
C 0 Lt F(S), C1 Lt
S 0
d2
dn
F
(
S
).....
C
Lt
F(S)
n
S0 dS 2
S0 dS n
C 2 Lt
C 0 Lt F(S)
S 0
R (S)
1
E (S)
R (S)
1 G (S)H(S) 1 G (S)H(S)
F(S)
1
1 G (S)H(S)
F(S)R (S)
Where, F(S)
1
1 G (S)H(S)
1
K
1
1
S 1
: 33 :
S 1
S K 1
F(S)
Control Systems
e ( t ) t.
S 1
S 0 S K 1
C 0 Lt
e( t )
1
K
1.
K 1
K 12
t
K
K 1 K 12
1
K 1
C0
4. Stability
d
F(S)
S 0 ds
C1 Lt
Lt
S 0
01.
d S 1
ds S K 1
1.S K 1 S 1 1
Lt
S 0
S K 12
(K 1) 1
(K 1)
R (S)
K 1
S4 1
S3 3
S2 3
K+10
K+10
S1 6-(K+10)
S0 K+10
1
, r ( t ) 1, r ( t ) 0
S
e ( t ) 1.
e( t )
S4 +3S3+5S2 +6S+(K+10) = 0
1
K
(0).
K 1
K 12
For the s/m to be stable

K+10 > 0 &
1
K 1
6 k 10 > 0
K > 10
K+4<0
K<4
For Ramp input:

10 < K < 4
1
R (S) 2
S
Where C0 , C1 are same as above
R (S)
02.
S3 4S2 5S + 6 = 0
1
, r ( t ) t , r ( t ) 1
S2
: 34 :
S3 1
S2 4
1
04.

CE
S3+ KS2+9S + 18 = 0
3.5
6
S3 1
S2 K
18
S1
9-
18
K
S0 9
The number of sign changes in first coloumn of
RH criteria is 2
Two poles on right hand side.
03.
c(t) = 1 e-t (1 + t)
c(s) =
18
for marginal stable
k
K=2
1
1
1
S S 1 (S 1) 2
2S2 +18 = 0
S 2 9
S2 2S 1 S2 S 1
S(S 1) 2
S 3 j jn
n 3rad / sec
(S 1) 2
05.
T (S)
S8
S S 5S3 5S 2 3S 2
5
1
C (S 1) 2
S
R(S) =
2
1
R
S 2S 1
S
S5 1
S4 -1
The system is stable
S2
S3 0/
Since all poles lies in the left half s plane.

S1
1 5
1+
2 2
5 1
S0 -2
: 35 :
Now sub = 0
Four poles on RHS

Three poles on LHS
Zero pole on j axis
In first column number of sign changes is 3

Three poles on RHS
Control Systems
08.
T (S)
Two poles on LHS
10(S 5)
S 6S 2 11S 6
3
Characteristic equation is
S3+6S2+11S+6+10(S+5) = 0
CE
06.
1+ GH = 0
S3+6S2+21S+56 = 0
8
1 0
6
5
4
S(S 2S S 2S3 4S2 8S 4)
S72S6 S5 +2S4 +4S3 8S2 4S + 8 = 0
S4 1
1 4
S6 2 2
8 8
S5 0
S3
21
S2
56
S1
70
6
S0
56
Form an Auxilary equation

system is stable
2S6 + 2S4 8S2 + 8 = AE
dAE
12S5 8S 2 16S
ds
S6 2
S5 12
S4 2
2
8
16
3
S3 88
128
S2
S1
S0
48
8
11
100
0
3
8
8
16
09.
8
0
TF
5 (S 4)
2S S 3S2 5S 10
4
S4 2
10
S3 1
S2 7 10
0
S1 10
The no. of sign changes are two

Two poles lies on RHS
Two poles lies on LHS
: 36 :
10.
G (S)
10
S 2S 3S3 6S 2 5S 3
5
CE
11.
1+ GH = 0
3
S5 1
S4 2
13
S2
6+
TF
40
S 4S 8S3 8S 2 7S 4
5
S5 1
S4 4
S3 6
S2 4
S + 2S + 3S + 6S + 5S + 13 = 0
S3 0/
3
2
S1
0/
S1
0/
S0 7
13
3 13 2
2 3 6
AE 4S2 4
dAE
ds
S0 5
8S
i) System is Marginally stable
Sub = 0
ii) 4S2 + 4 = 0
Number of sign changes = 2
n = 1 rad/sec
Two poles on RHS , 3 poles on LHS
12.
S5 + S4 + 2S3 + 2S2 + S + 1 = 0
S5 1
S4 1
S3 0
S2 4
S2
S1
S
S
: 37 :
ii)
AE S4 2S2 1
dAE
ds
4S3 4S
AE 2 S2 1
dAE 2
2S
ds
Unstable system because repeated poles on j
axis
13.
i) S5 + S4 + S3 + S2 + S + 1 = 0
AE S 4 S 2 1
dAE
ds
4S3 2S
Two poles on RHS and 3 poles on LHS and

Zero poles on jaxis.
S5
S4
S3
S3
S2
0.5 1
Control Systems
S5 + S3 + S2 + 1
S5
S4
0()
S3
-1
S2
2 1
1
S1
2 1
S0
1
1
2 1
S2
1
1
2 1 1 1
1
1
S
2 1
2 1
No of sign changes = 2
-6
Row of zero = 1 at S1
S0
Hence auxiliary equation A.E = S2+1 = 0

S = j1
No. of poles on j axis = 2
: 38 :
No. of LHS = 1
14.

S3 +20S2 +16S+16K = 0
+j1
j1
iii)
-1
S5 2
-2
S4 2
-2
S3 0
S3 8
16
S2 20
16K
S0 16K
-2
i) For the system to be stable
320 16K
0
20
20 > K
i.e 0 < K < 20
ii) System to oscillate k = 20
20S2 +16(20) = 0
S2 0/ -2
n = 4 rad/sec
S1 16
S0
320 16K
20
S1
S6 + 2S5 + 2S4 - S2 -2S 2 = 0

S6 1
S3 1
-2
15.
T.F
Number of sign changes below AE is one

one pole on RHS
RHP = 1
jp = 2
LHP = 3
K
2S
2
K
S (S 1)
1 2
S (S 1)
KS2 (S 1)
S 2 (S 1) K 2S
CE
S3 + S2 + 2S + K = 0
S3 1
S2 1
S1 2K
S0 K
: 39 :
K=2
Control Systems
i) The system to be stable for
S = j 2
K 0&
Img
26 80 8K
0
26
K < 260
0 < K < 260
Real ()
ii) The system to cause sustained oscillations

K = 260
for K = 2 the poles like as shown in the

above figure
26S2 +260 = 0
S j 10
17.
Given open loop Transfer function
G (S)
n 10rad / sec
K
S(S 4)(S 2 4S 20)
5. Root Locus Diagram
S(S+4)(S2+4S+20) +K = 0
CE
(S2 + 4S)( S2 + 4S + 20) + K = 0
01.
G(s)H(s) =
K
s(s 6)(s 2 4s 13)
S4 + 4S3 + 20S2 + 4S3 + 16 S2 + 80S + K = 0

Poles s = 0, 6, 23j
S4 + 8S3 + 36S2 + 80S + K = 0
P=4
4
S1
36
80
26
80
8K
26
Z=0
Centroid
6 2 2 10
2.5
40
4
Angle of asymptotes
(2q 1)
; q 0,1, 2, 3
PZ
= 45, 135 , 225, 315
: 40 :

d = 70.5
Img
+3j
-70.5
(iii) For stability condition apply R-H
criteria i.e,
0< K < 227.76

6 4.2 =2.5 2
real
+70.5
02.
3j
(i) Break points.
d
d
1
G (s)H(s)
0
2
ds
ds s(s 6)(s 4s 13)
3
G(s)H(s) =
K (s 1)
s 2 (s 9)
d
G (s)H(s) 0
ds
d s 1
0
ds s 2 (s 9)
(s 2 (s 9) (s 1)(3s 2 18s) 0
= [4s + 30s + 74s + 78] = 0

3
= 4s + 30s + 74s + 78 = 0
s[s 2 9s (s 1)(3s 18)] 0

s2 + 9s = 3s2 + 18s +3s + 18
s = 4.2, 1.64 1.38j

1.64 1.38j is not a valid break
point
The only valid break point is 4.2.
2s2 + 12s + 18 = 0
s2 + 6s + 9 = 0
(ii) Angle of departure
d = GH s ve complex pole 180

GH s 23j
Img
s = -3
-9
-4 = -3 -1
0 Real
K
(2 3j)(2 3j 6)(2 3j 2 3j)(2 3j 2 3j)
K
=
(2 3 j)(4 3 j)(6 j)
=
K
123.736.890
P = 3, z = 1
=
(2q 1)(180) (2q 1)(180)
; q = 0, 1
3 1
2
= 90, 270
= 289.4
: 41 :
=
8
4
2
Control Systems
s = 3.225, 0.775, 2.
All the 3 points are valid breakpoints
s = 3 is the only valid break point (or)
CE s(s + 4)(s2 + 4s + 5) + K = 0
Substitute s values in magnitude condition then,
s4 + 8s3 + 21s2 + 20s + K = 0
if K value is +ve then it is valid break point

s4
21
20
s2
32
2
Poles are s = 0, 4, 2 i.
s1
422
Centroid =
2
4
370 8K
37
2
s0
other wise not.
03.
K
G(s)H(s) =
s(s 4)(s 2 4s 5)
(2q 1)(180)
(2q 1)(45o ); q = 0, 1, 2, 3
40
= 45o, 135o, 225, 315o
370 8K
0
37
2
Img
&K>0
370 > 8K
+j
K < 46.25
o
135 45o
3.225 -2 =
-1
G(s)H(s) =
0 < K < 46.25

Real
In the above range of K the system is stable
(ii)For K = 46.25
-j
37
s 2 46.25 0
2
K
s(s 4)(s 2 4s 5)
s = j 2 .5
(i) Break points:
d
G (s)H(s) 0
ds
04.
i.e., 4s3 + 24s2 + 42s + 20 = 0

n =
2.5 rad/sec
G(s)H(s) =
K (s 2)
s(s 2 2s 1)
Number of Poles P = 3
: 42 :
Number of Zeroes Z = 1
Number of root loci = 3 (P > Z)
Poles s = 0, 1, 1
Zeros s = 2
Centroid =

(a) Break point:
d
G (s)H(s) 0
ds
1 1 (2)
0
3 1
2s + 4 = 0
s = 2
d
Break points:
G (s)H(s) 0
ds
Centroid
d
s2
0
3
2
ds s 2s s)
4
2
2
= 90o
(s 3 2s 2 s) (s 2)(3s 2 4s 1) 0
Img
s 3 2s 2 s 3s 3 4s 2 s 6s 2 8s 2
K=0
2s 3 8s 2 8s 2 0
-2
-4
s 3 4s 2 4s 1 0
K=0
0 Real
s = 2.618, 0.381, 1
Img
2 is the valid break point
-2
-1
-0.381 0
(b) G (s)H(s) 1
Real
K
1
s(s 4)
s(s 4) K
The valid break points are 0.381, 1.
K s2 2(2 4) 4
2.618 is not a valid break point because it does

not lies on root locus.
05.
G(s)H(s) =
K s22 j (2 2 j)(2 2 j 4)
(2 2 j)(2 2 j) 8
K
s(s 4)
Poles s = 0, 4.
06.
G(s)H(s) =
K (s 3)
s(s 2)
Number of root loci = 2 (P > Z)

: 43 :
Poles
s = 0, 2
Zeros
s = 3
Control Systems
K s22 j (2 2 j)(2 2 j 4)
(2 2 j)(2 2 j) 8
Number of root loci = 1
4.732 1.267 0 0
,
2
2
(i) Break points:
(iii) Centre c =
d
G (s)H(s) 0
ds
d s3
0
ds s(s 2)
Radius r =
(s 2 2s) (s 3)(2s 2) 0
s 2 2s 2s 2 2s 6s 6
07.
G(s)H(s) =
1.267 4.732
= 1.732
2
K
s(s 4)(s 4s 20)
2
s 2 6s 6 0
Number of Poles s = 0, 4, 2 4i
s = 1.267, 4.732
Number of Loci = 4(P > Z)

Img
Break in
K=
-4.732 -3
Break away
K =0
K=0
-2 -1.267 0 Real
Centroid =
8
2
4
Angle of assymptotes
= 45o, 135o, 225o, 315o
Break points:
Both points are valid break points.
d
1
4
0
3
2
ds s 8s 36s 80s)
(ii) G (s)H(s) 1
s(s 2)
K
s3
1(1) 1
K s1
= 0.5
2
2
d
G (s)H(s) 0
ds
4s 3 24s 2 72s 80) 0

s = 2, 2 i 2.5
: 44 :
26s2 + 260 = 0
Img
4i
135
s2 = 10
+2.5i
45
-4
-2
s = j 10
0 Real
n =
-2.5i
10 rad/sec
-4i
All the 3 points are valid break points
08.
G(s)H(s) =
CE
K (s 1)
s 2 (s 10)
Same as Question 2
s(s + 4) (s + 4s + 20) + K = 0
2
6. Frequency Response Analysis
s4 + 8s3 + 36s2 + 80s + K = 0
s4
36
s3
80
26
s1
G(s) =
37.5dB
80dB/dec
60dB/dec
26 80 8K
0
26
K < 260
0 < K < 260
20dB/dec
60dB/dec
0.1
(i) The value of K for the system to be stable

K>0&
10(s 3)
s(s 2)(s 2 s 2)
G (s)H(s)
26 80 8K
26
s0
02.
2 2
(rad/sec)
Corner frequencies are 1.414, 2, 3

Initially the magnitude is
10 3
7 .5
4
GH 0.1 20 log
7 .5
37.5dB
0 .1
(ii) For K = 260

: 45 :
Control Systems
G (s)H(s) 70.9o
Gain Margin(GM):
gc
GM =
1
G (s)H(s)
PM = 109.07o

= 90 tan-1 2 + tan-1 3 tan-1 22

By equating to 180 then we get the phase
cross-over frequency i.e
o
180 = 90 tan-1 2 + tan-1 3 tan-1 22

By solving the above equation we will get pc =
1.33 rad/sec
G (s)H(s)
10 2 9
(2 4)(2 (2 2 ) 2 )
G (s)H(s) 7.598
pc
04.
G(s)H(s) =
K
s(1 0.001s)(1 0.25s)(1 0.1s)
PM = 40o = 180 + G (s)H(s) ---- (1)

gc

-1
-1 ____
= 90tan 1000 tan 4 tan 10

(2)

-1
G(s)H(s)
K

1
1000
gc
2 2
1 1
4 10
gc
135o = 90 tan-1 1000 tan-1 4
gc

tan 10 [from eq (1)]

-1
GM =
1
0.131
G (s)H(s)
pc
Phase Margin(PM):
PM = 180 + G (s)H(s)
gc

4 10
Let x =
2
1
40
gc
By equating G (s)H(s) 1
10 2 9
(2 4)(2 (2 2 ) 2 )
gc = 2.49 rad/sec
gc

gc
4
10
2
45 = tan-1 1000 tan-1
40
x
1000
tan(45) =
x
1
1000
: 46 :
x
x
1000 1000
GM =
4 10
4
10
1
2
1000 2 1000
1
1
40
40
1
G (s)H(s)
4.73
pc
GM = 13.5 dB
05.
From the plot initial slope is 40dB/dec
it has two poles at origin.
14
14
1
1000 40 1000 40 2
1
At 1 one zero is added then slope becomes

20dB/dec
40 2 14
14 2 14
40 2
1000 40 2
By solving the above equation

gc = 2.425 rad/sec
s
K 1
1
TF
s
s 2 1
2
20 0
20
log 1 log 1
1
1 1
1000 4 10
K 2.425
gc
2.4252 2.4252 2.4252

1
1
1

1000 4 10
1 = log1
1 = 10-1 = 0.1
1 = 0.1 rad/sec
20 20
20
log 0.1 log 2
K = 2.918
By equating equation (2) to 180o then we will
get phase cross over frequency, i.e
2 = log0.1 log2
log2 =2 + (1) = 1
pc = 6.28 rad/sec
log2 = 1
G (s ) H (s )
pc
2.918
6.28 6.28 2 6.28 2

1 1
1
1000 4 10
2
6.28
= 0.21138
2 = 10 rad/sec
20 log
K
2
20dB
0.1rad / sec
: 47 :
Control Systems
K = 2(10) = (0.1)2(10) = 0.1
log = 1
= 10
0.11
0.1
TF =
s
s 2 1
10
06.
G (s)H(s)
+ 20dB/dec
6dB
(i) similarly like the above problem the

function has initial slope 20 dB/dec it
has one pole at its origin
s
K 1
2
TF =
s
s 1
1
20 log
0.1
TF =
Ks
s
s
1 1 1 10
20 log K 0.1 6
K = 100
K 20
100s 2
25s 2
4ss 1
ss 1
2
(ii) Bode plot can be plotted in logarithmic

graph and the given graph is also in
logrithamic.
Convert it into linear graph
= 0.1
TF
07.
20s
(s 1)(0.1s 1)
G(s)H(s) =
K (s 1)
(s 0.5)(s 2)
G (s)H(s)
K 2 1
(2 0.52 )(2 4)

= tan-1 tan-1 2 tan-1
log = 0
=1
= tan-1 tan-1 2 tan 1
Initial slope is increasing i.e +20dB/dec one

zero is at origin
K
40
1
log = 1
10
K = 102 = 100
TF =
20dB/dec
: 48 :

At = 0 180 o
= tan-1 + tan-1 2 tan 1 2

At = 0 K 180 o
180
270
0
0
At = 0 90 o
270
90
K
180
=0
90
For K = 1.25 & 2.5 the (1+j0) is inside the

circle.
If T1 is greater than T2 then zero is near to

origin so plot should be counter clockwise.
Number of clockwise infinite radius semi circle
in the nyquist plot clockwise is equal to type of
the system.
(ii) T2 > T1 G(s)H(s) =
For stability
N = PZ
G (s)H(s)
Here P = 1 and N = 1
N=P
G(s)H(s) =
K 1 2 T12
2 1 2 T22
= 180 tan-1 (T2) + tan-1(T1)
The system is stable.
08.
K (1 sT1 )
(s 2 )(1 sT2 )
K (1 sT1 )
(s 2 )(1 sT2 )
At = 0
180 o
At = 0 180 o
If T2 is greater than T1, then pole is near to
origin plot direction should be clockwise
270 wise.
(i) T1 > T2
G (s)H(s)
K 1 2 T12
2 1 2 T22
180
= 180 + tan-1(T1) tan-1 (T2)

At = 0
180 o
90
: 49 :
09.
G(s)H(s) =
Control Systems
8s
(s 1)(s 2)
G (s)H(s)
270
8
(2 1)(2 4)
180

= 90 tan-1 1 tan-1 2
= 90 tan 1 tan 1
2
0 270 o
8 90 o
pc
270
G (s)
0
180
90
G(s)H(s) =
G (s)
K
s(1 sT1 )(1 sT2 )
K
(1 T12 )(1 2 T22 )
1
T1T2
pc
11.
1 2
1 2pc T1T2 0

= 270 + tan-1() + tan-1 2

=0
T T
90
1
2
180 = 90 tan-1 1 2 T T
GM =
K
T1 T2
1 1
T2 T1
1
T1T2
K T1T2
(T1 T2 )
T1T2
K (T1T2 )
T1 T2
1
1
T T2
=
1
G (s)
KT1T2 KT1T2
pc
T
2
1
= 90 tan-1(T1) tan-1(T2)
RH criteria :
The characterstic equation is
=0
90 o
S3T1T2+S2(T1+T2) + S + K = 0
0 270 o
For stability the condition is

0<K<
T1 T2
T1T2
: 50 :
12.
G(s) =
10 4
s(s 10) 2

r n 1 2 2 5 2
n 10
10
=1
(2 100)
TF =
500
S2 10S 100
3 +100 104 = 0
Solve the above equation
gc = 20
14.
G(s) =
K
s(1 0.5s)(1 0.2s)
(i) K = 10
10
10
= 90 2tan-1
G(s) =
s(1 0.5s)(1 0.2s)
dB
G (s) = 90 2tan-1 2
gc
= 216.869
40
20dB/dec
40dB/dec
PM = 180 + G (s)
60dB/dec
gc
PM = 36.869
13.
0.1 2
Given that
20 log
The static gain = 5
Mr=
10
3
TF =
at r 5 2 rad/sec
S2 2n S n 2
1 5
2 1 2
0 .5
10
40dB
0.1
Solve for PM and GM similar to the

problems.
above
GM = 6 dB
5 n 2
Since the static gain is 5 so the transfer function

is multiplied by its magnitude i.e, static gain 5.
Mr=
10
3
PM = 20
(ii) GM = 20 dB
20 log GM 20dB
GM = 10 =
1
G (s)H(s)
pc
: 51 :
G (s)H(s)
Control Systems
dB
[1 (0.2) ][1 (0.5) ]

2
+20dB/dec
----- (1)
-1
= 90 tan (0.5) tan-1(0.2)
20dB/dec
-12dB
By solving this equation by equating to

180o then we will get pc.
1 1 2
.
2 5
pc =
17.
10(s 1)
(s 2)(s 4)
dB
+ 20dB/dec
1
18.
G(s)H(s) =
10(s 1)
s (s 0.1)(s 2 4s 10)
2
G(s)H(s) =
19.
40dB/dec
60dB/dec
10
(rad/sec)
10(s 4) 2
s(1 10s)(s 2) 2
G(s)H(s) =
10
(1 2s) (s 2 2s 2) 2
3
dB
40dB/dec
80dB/dec
0.0 0.1 1
Sol: Same as Question 17
dB
100dB
20dB/dec
2dB
7
10
K = 0.7
15.
(rad/sec)
10 rad/sec
1
K
2
10
10 [1 (0.2) 10][1 (0.5) 2 10]
K=
G(s)H(s) =
10
1 0.50.22 = 0
1=
40dB/dec
8dB
60dB/dec
(rad/sec)
140dB/dec
16.
G(s)H(s) =
10s
(s 10)(s 2) 2
1
2
20.
G(s)H(s) =
(rad/sec)
400s 2 (s 4) 2
(1 0.1s)(s 8) 2 (s 2 6s 20)
: 52 :
dB

5
T .F
+20dB/dec
+60dB/dec
20dB/dec
+20dB/dec
+40dB/dec
GH
66dB
S 1
4
gc
5 = gc 1 gc
0.0
21.
0.1
4.47
G(s)H(s) =
(rad/sec)
gc = 3.11 rad/sec
10(s 2 s 2)
(1 2s)(s 2)
dB
20dB
20dB/dec
+20dB/dec
23.
K 1
0 .1
T.F =
2
s
2
s 1
10
20 log
1
2
K
2
20
0.1
(rad/sec)
K = 10(0.1)2 = 0.1
22.
Here given that

T.F =
Initial slope 20dB i.e, it is a type-1system and

third order.
1000.1 s
s 2 s 10 2
Open loop T.F it has consists two corner

frequency at = 4 rad/sec.
GH 14 dB at 1 rad/sec
T.F.
K
S
S1
4
24.
G(s)H(s)
K
1 sT
G (s)H(s)
K
1 2 T 2
= tan-1(T)
20logK 20 log
14dB
= 0 k0o
K= 5
: 53 :
= 090o
Control Systems
270
= 0 k180o
25.
G(s)H(s)
= 090o
=0
0
K
=0
180
90
90
K
(1 sT1 )(1 sT2 )
G (s)H(s)
180
K =0
K
(1 T )(1 2 T22 )
2
2
1
270
= tan-1(T1) tan-1(T2)
27.
= 0 k0o
G(s)H(s) =
90
= 0180o
=
180
K =0
0
K
1 s
K
1 2

= tan-1 1 = tan-1()
= 0 k0o
270
1 2T1T2 = 0
=
= 090o
1
at this value it is crossing 270o line.
T1T2
90
26.
K
G(s)H(s)
s 1
G (s)H(s)
180
K
1
= tan-1 1 = [ tan-1()]
= 180 + tan-1()
K
=0
270
: 54 :
28.
G(s)H(s) =
Ke sT
s 1
30.
G(s)H(s)
G (s)H(s)
2 1
K
s(1 sT1 )(1 sT2 )
G (s)H(s)
= T tan-1()
=0
k0o
270
K
(1 2 T12 )(1 2 T22 )
G (s)H(s) = 90 tan-1(T1) tan-1(T2)
= 0
=0
K
180
G (s)H(s) G (s)H(s)
As = 0
90o
0270o
270o
90
29.
G(s)H(s) =
K
s(1 sT )
G (s)H(s)
180o
A
K
1 2 T 2
=0
= 90 tan (T)
90o
-1
=0
(i) At Point-A in the above diagram indicates

the intersection point.
90o
= 0180o
By equating phase angle to 180o the

we will get the phase cross over
frequency.
270
180
(T1 T2 )
180 = 90 tan 1 2 T T
1 2
tan(90) =
=0
90
-1
1 (T1 T2 )
0 1 2 T1T2
: 55 :
Control Systems
270
1
T1T2
pc =
G (s)H(s)
1
T1T2
T1 T2
1 1
T2 T1
KT1T2
T1 T2
90
KT1T2
T1 T2
KT1T2
, j0
point of intersection
T1 T2
(ii) GM =
180
(i)
Point of intersection = 0.1

Then critical point (1 + j0) lies outside of the
unit circle.
1
G (s)H(s)
Number of right hand open loop poles
pc
P = 0.
=
1
KT1T2
T T
2
1
Number of encirclement about the

point N = 0.
N=PZ
T1 T2
KT1T2
Z=0
Z represents the number of right half of
Similarly for PM
s - plane poles.
= 180 + G (s)H(s)
The system is stable
gc
By equating G (s)H(s) 1 we will get

gain cross over frequency. Then substitute gc
in G (s) H (s) and solve for the PM.
31, 32, 33, 34, 35 are similar to the above problem.
36.
G(s)H(s) =
K
s(1 sT1 )(1 sT2 )
This is same question 30

critical
(ii)
Point of intersection = 10
then critical point lies inside the unit
circle.
Number of encirclement
critical point N = 2
( clock wise
about
the
direction)
N=PZ
: 56 :
2 = 0 Z
22 =
Z=2
Two poles on right half s-plane
pc =
system is unstable
1
1
2 =
4
8
1
2 2
rad/sec
G (s)H(s)
37.
G(s)H(s)
4s 1
s (s 1)(2s 1)
162 1
2 (2 1)(42 1)
G (s)H(s)
G (s)H(s)
162 1
pc
( 1)(4 1)
1
8 16 1
8
1 1
1 4 1
8 8
G (s)H(s) = 180 tan-1() + tan-1(4)

tan-1(2)
=0
180
G (s)H (s)
270
pc
10.67
Critical point lies inside the unit circle.
= 0270o
180
Number of encirclement about the critical point

is N = 2.
Number of right hand open loop poles
P = 0.
90
N=PZ
By equating phase to 180 then we can get

phase cross - over frequency.
180 = 180 tan-1() + tan-1(4)
tan-1(2)
4
1 2 2
Z=2
Two poles are lies in right half s-plane.

system is unstable.
For the TF apply RH criteria then the no. of sign
changes in first column are two.
The system is unstable.
3
1 2 2
4
: 57 :
7. Compensators & Controllers
01.Sol
Control Systems
r(t)
1
S(S 1)
c(t)
Z(S)
100k 1F
VA
T.F =
1M
1
VB
n 1rad / sec
= 0.5
VB
Z(S)
Z(S)
VA (1)(1M) 1M
Z(S) = 100K +
1
1.S
s 10
1 0.1S
S
S
)
0.1 K (1 10S)
T.F
S
(1 2S)
(1
)
0 .5
Compare with the standared equation i.e
TF
Forward path gain =
From the graph the increasing slope gives the

zero at 0.1 rad/sec
K (1
VB s 10 1 0.1s
VA
10s
s
=
Mp = 16.3%
02.
= 105
1
S S 1
2
G C (S)
(S 1)(1 0.1S)
1 0 .1 S
S(S 1)(1 0.1S)
1
S(S 1)
K (1 S)
; 1ead
1 S
1 lag
= 10
= 2
= 0.2 < 1 lead network
1 1
1
.
rad / sec
10 2
20
: 58 :
1 0 .2
1 1
m sin 1
sin
1 0 .2
1
ii) T.F
m = 41.81
STK
m is Positive for lead network and it is
Negative for log network.

06.
K
S
r(s) +
10
S
Controller
r(s) +
10K
S S 10K
2
c(s)
10 S 2 S 10K 10K
e ss
S 10K
K
10K
2
(S S 10K )
S(S 1)
S S 10K
2
1
0.01
Kv
K v Lt SG (S) Lt
S \0
1
1
K v 100
Kv > 100
10k > 100
K>
T
10S(S 1)
2
.
K (S S 10K ) 2
c(s)
STK
i)
T K
.
K T
T (S 2 S 10K )(10) 10K (10)
K
(S 2 S 10K ) 2
0.1
10K
S(S 1)
C(S)
10K
2
R (S) S S 10K
100
10
S0
10K
10K
S(S 1)
8. State Variable Analysis
01.
Given differential equation is
d2y
dy
5 4 y v( t )
2
dt
dt
Apply Laplace transform to the above equation
S2Y(S) + 5SY(S) +4 Y(S) = V(S)
K > 10
: 59 :
Control Systems
Y(S)
1
2
V(S) S 5S 4
x 1 x V (1)
1 1
Controllable canonical form (CCF):
x x V (2)
2
2 2
0
1 0
x1 ( t )
V
x ( t ) 4 5 1
2
y = c1x1+c2x2+c3x3 (4)
y(t) = 1 0x ( t )
from the above four equations
Observable canonical form (OCF):
0 4 x 1
1
x1 ( t )
x ( t ) 1 5 x 2 0
2
x x V (3)
3
3 3
1

x ( t ) 0
0
0
2
0
0
0 [ x ( t )]
3
1
1 V

1
y(t) =[c1 c2 c3] x(t)

y(t) =[0 1] x(t)
Normal form:
03.
TF =
TF
Y(s)
1
2
U(s) S 5S 4
1
1 1
1 1
.
.
(S 1)(S 4) 3 S 1 3 S 4
(i), (ii), (iii) refer class room note book page

number 163 in material
(a) Applying KVL to loop (1), we get

Vi = i1R1 + (i1IL) R2 ------------ (1)
Applying KVL to loop (2), we will get
1
1
TF= 3 3
S 1 S 4
02.
L.
dI L
VC I L i1 R 2 0 -----(2)
dt
1

1 0
[x(t)
[ x ( t )] 3 V
1
0 4

3
From the figure V0 = VC -------- (3)
y(t) = [1 1] x(t)
IL = C.
from the diagram
From the figure IL = iC = C.
dv c
dt
dv c
dt
dv C
I
VC L -------- (4)
dt
C
: 60 :
From equation (1) Vi = i1R1 + (i1IL)R2
R2
LR R Vi and
1
2
i1R1 + i1R2 ILR2 = Vi

i1(R1+R2) ILRL = Vi
IC
VC
V0 = 0 1
i1(R1+R2) = Vi + ILR2
i1 =
1
R2
Vi
I L ------ (5)
R1 R 2
R1 R 2
04.
sub. equ (5) in equation (2)

L.
dIL
1
R2
VC IL
Vi
IL R2 0
dt
R1 R2
R1 R2
L.
4 0
1
A
B C 1 1
2 2
0
TF=C(SI A)-1B +D
dIC
RR
R2
VC 1 2 I L
Vi 0
dt
R1 R 2
R1 R 2
0
S 4
S 2
2
(SI A) =
R 1R 2
R2
LIC VC
IL
Vi 0
R1 R 2
R1 R 2
(SI A)-1 =
dI L
IL
dt
TF =
R2
I 1 V R 1R 2 .I
Vi
L
C
L
L
LR 1 R 2
LR 1 R 2
1
S 4
0
=
(S 4)(S 2)
S 4
-----(6)
from equations (3), (4) and (6) the state space
representation in the matrix form can be written
as
1
L IL

V
0 C
S2
0 1

2 S 4 0
(S 4)(S 2)
1 1
RR
R2
LI L VC 1 2 I L
Vi
R1 R 2
R1 R 2
R 1R 2
I L LR R
1
2

1
V
C
0
S 2
1
(S 4)(S 2) 2 S 4
TF
S4
1
(S 4)(S 2) S 2
\
05.
4 0
1
A
B C 1 1
2 2
0
: 61 :
Control Systems
State transition matrix (t) = eAt
e4t
2t
4t
e e
(t) = eAt =
= L-1{(SIA)-1}
0
S 4
(SI A)
S 2
2
06.
0
4 0
2
A 0 2 1 B 0
0
3
0 2
0
S 2
2 S 4
(SI A) 1
(S 2)(S 4)
1
S4
=
2
(S 2)(S 4)
Jordon block
0
1
S 2
C 1 2 0
According to the Gilberts test
For controllability:
2
A
B
(S 2)(S 4) S 2 S 4
A
S2
1; B
S4
i) The last row elements in Jordon block

corresponding element in B matrix is non-zero
and
S4
(SI A-1) =
1
1
S 2 S 4
e2t
ii) The remaining row elements in matrix A

corresponding row elements in matrix B should
be non-zero then it is said to controllable.
0
1
S 2
Apply inverse laplace Transform
L (SI A)
e4t
= 2t
4 t
e e
S4
L
1
1
S 2 S 4
1
S 2
4
A 0
0
0
2
0
0
2
1 B 0
3
2
non-zero
non-zero
It is controllable
e2t
: 62 :
For Observability:
C [c 0
i)
1
0
0
A
B
8 6
1
C 1 2
The first element in Jordon block

corresponding element in matrix c is nonzero and
ii) The remaining element in matrix A

corresponding elements in matrix C is also
non-zero then it is said to be observable.
non-zero
ii)
c1 ]
State transition matrix
1
0
A
8 6
0
4 0
0 2 1
0
0 2
1 2 0
07.
(t) =eAt = L-1{(SI A)-1}
S 6 1
8 S
-1
(SI A) = 2
S 6S 8
non-zero
Given the differential equation.
S
S
A
B
S 6S 8 (S 2)(S 4) S 2 S 4
2
d 2 y( t )
dy( t )
2dr ( t )
6
8 y( t )
r(t)
2
dt
dt
dt
Apply Laplace Transform to the above equation
S2Y(S) +6SY(S)+8Y(S) = 2Sr(S) +r(S)
Put S = 2
2
1
2
(S2+6S+8) Y(S) = (2S+1) r(S)
Put S = 4
Y(S)
2S 1
2
R (S) S 6S 8
4
2
2
S
1
2
S 6S 8 S 2 S 4
2
i)
State model in the phase variable canonical

form compare with the standard equation
1
1
A
B
S 6S 8 (S 2)(S 4) S 2 S 4
2
Y(S) b[C1S C 0 ]
R (S) S2 a 1S a 0
0
A
a 0
1
a 1
0
B
b
Similiarly
8
S6
and
(S 2)(S 4)
(S 2)(S 4)
Apply inverse Laplace Transform
: 63 :
L-1{(SIA)-1} = (t) = eAt
2e 2 t e 4 t
( t )
4e 2 t 4e 4 t
0
1 0
5

x ( t ) 0 2 0 x ( t ) 10
0
15
0 3
1 2t 1 4t
e e
2
2
e 2 t 2e 4 t
08.
Y(S)
10(2S 3)
U(S) (S 1)(S 2)(S 3)
i)
phase variable form
Control Systems
y(t) = 1 1 1 x ( t )
09.
Y(S)
S2 3S 1)
U(S) (S 1) 2 (S 4)
Normal form
Apply Laplace Transform
Y(S)
10(2S 3)
U(S) (S2 3S 2)(S 3)
0
1 1
0
[ x ( t )] 0 1 0 x ( t ) 1 V
0 0 4
1
10(2S 3)
S3 3S2 2S 3S2 9S 6
y(t) = 1 2 3 x ( t )
10(2S 3)
Y (S)
U (S) S3 6S2 11S 6

10.
1
0
0
0

0
1 x ( t ) 0 V
x ( t ) 0
6 11 6
10
y(t) = 3 2
0 x ( t )
State transition matrix

(t) = e-At = L-1 {(SI A)-1}
1 3
1 5
A =
3
S 1
1 S 5
(SI A) =
ii)
Normal forms
Y(S)
10(2S 3)
U(S) (S 1)(S 2)(S 3)

Apply the partial fractions
10(2S 3)
5
10
15
(S 1)(S 2)(S 3) S 1 S 2 S 3
S 5 3
1
S 1
-1
(SI A) =
(S 1)(S 5) 3
S 5 3
1
S 1
= 2
S 6S 8
: 64 :
S5
2
(SI A)-1 = S 6S 8
1
2
S 6S 8
S 6S 8
S 1
S2 6S 8
di1 R1
1
1
i1 VC Vi
dt
L1
L1
L1
di 2 R 2
1
i2
VC
dt
L2
L2
Apply Inverse Laplace Transform
3 2t 1 4t
2 e 2 e
=
1
1
e 2t e 4t
2
2
3
3
e 2t e 4t
2
2
1 2t 3 4t
e e
2
2
dVC 1
1
i1 i 2
dt
c
c
0/p1 = y1(t) = VC
0/p2 = y2 (t) =R2i2
11.
R1
L
i1 1
i 0
2
V C 1

C
a) State transition matrix eAt = (t)

i) (0) = I [ identity matrix]
ii) (t1) .(t2) = e At1 .e At 2 e A ( t1 t 2 ) ( t 1 t 2 )
b) Given state transition matrix
e4t
2t
4t
e e
(t) = eAt = L-1{SI A)-1}=
e2t
4 0
2 2
For the above matrix A =
e4t
State transition matrix = 2 t
4 t
e e
12.
R1
Vi +
R2
L2
1
C
1
1
L1 i
1
L
1 1
i 2 0 Vi
L2
VC 0

0

y1 ( t ) 0 0 1
y(t) =
y 2 ( t ) 0 R 2
13.
e2t
i1

i2
0
VC
Given state transition matrix
( t ) e
At
2e t e 2 t
t
2 t
2e 2e
e t e 2 t
e t 2e 2 t
Inverse of state transition matrix
L1
L2
i1(t)
i2(t)
+
VC o/p1
eA(t) = (t)
R2
o/p2
2e t e 2 t
t
2t
2e 2e
et e2 t
e t 2e 2 t
: 65 :
14.
Control Systems
y( t ) 1 1 1 x ( t )
Given electric circuit

L
iL
R1
C
e(t) +
+
VC
16.
R2
di L R 1
1
1
i L VC e( t )
dt
L
L
L
dVC 1
1
iL
VC
dt
C
R 2C
di L R 1
dt L
dV 1
C
dt C
15.
1
1
L i L e( t )
1 V L
C 0
R 2 C
Apply signal flow graph to the above diagram
1
1 1
2
3
Y(S)
T.F
S S S
U(S) 1 1 2 3
S S2 S3
=
S2 S 1
S3 S 2 2S 3
5 1
2
A
B
a)
3 1
5
C 1 2
T.F C(SI A) 1 B D
1
S 5
(SI A)
3 S 1
S 1 1
3 S 5
(SI A) 1
(S 1)(S 5) 3
T.F
2
1 2S 10
5
2
S 6S 8
S 1 6
2
2S 9
5
S2 6S 8
S 7
Compare with standard equations in canonical form
1
0
0
0

0
1 x ( t ) 0 V
x ( t ) 0
3 2 1
1
S 1 1 2

3 S 5 5
S2 6S 8
1 2
2S 14 10S 45 12S 59
2
S 2 6S 8
S 6S 8
: 66 :

x2 =
1
0
2
B
2 3
0
b) A =
d2x
x3 =
x 2 -----(2)
dt
x 1 ( 0) 0
x ( 0 ) 1
2
x4 =
eAt =(t) =L-1{(SIA)-1}
S 1
2 S 3
d3x
d2x
dx
3
4 4x
3
2
dx
dt
dt
S 3 1
2 S
(SI A)-1 =
S(S 3) 2
u1(t) + 3u2(t) + 4u3(t) --------- (4)

By substituting above equation(1), (2) &(3) in
equation (4)
Apply ILT to the above matrix
= L (SI A )
S3
2
L1 S 3S 2
2
2
S 3S 2
1
2
= L1 S 1 S 2
2
2
S 1 S 2
2e t e 2 t
( t ) e
t
2t
2e 2e
At
d3x
x 3 -----(3)
dt 3
Given that
(SI A) =
dx
x 1 -----(1)
dt
x 3 3x 3 4 x 2 4 x1
S 3S 2
S 2 3S 2
2
1
1
S 1 S 2
1
2
S 1 S 2
e t e 2 t
e t 2e 2 t
u1(t) + 3u2(t) + 4u3(t) ------ (5)

Given that y1 = 4
y2 =
Similar to the Question 6 controllability.
18.
Let x1 = x
d2x
4u 2 u 3
dt 2
By substituting equations (1), (2) in above

equations we will get
y1 = 4x2 + 3u1
y2 = x3+ 4u2 +u3
17.
dx
3u1
dt
------------- (6)
---------- (7)
from equations (5), (6) and (7), the state model

in matrix form can be written as
: 67 :
20.
1
0 x1
x 1 0
x 0
0
1 x 2
2
x 3 4 4 3 x 3
0 0 0 u 1
0 0 0 u
2
1 3 4 u 3
x1
u1
y1 0 4 0 3 0 0
y 0 0 1 x 2 0 4 1 u 2
x
u
2
3
3
19.
Gilbert test is valid for normal form and Jordon

form
0
1 0
0 2 0
0
0 3
C 1 0 2
1
B 1
0
For Controllability:
The third element in matrix A corresponding
element in matrix B is zero.
the given system is not controllable.
Control Systems
Given state space representation
x ( t ) = Ax(t)
dx ( t )
= Ax(t)
dt
Let the matrix A=
d
dt
e 2 t
2 t
2 e
a b
c d
x (t )
2 e 2 t a b
2 t
x(t)
4 e
c d
Put t =0 in the above equation
2 a b
4 c d x ( 0)

2 a b 1
4 c d 2

a2b = 2
-------(1)
c2d= 4
-------(2)
d e t a b
x(t)
dt e t c d
e t a b
t
x(t)
e c d
For observability:
The second row and second column element in
matrix A corresponding element in matrix C is
zero.
The given system is not observable.
t=0
1 a b 1
1 c d 1

a b = 1
a b
c d
-------(3)
: 68 :
c d=1

F(S) = M2.S2X2(S) + f2S[X2(S) X1(S)] +
-------(4)
solve for eq (1) and (3)
K2[X2(S) X1(S)]
a 2 b 2
F(S) = M2S2X2(S) + f2SX2(S) f2SX1(S) +
a b 1
b 1
K2X2(S) K2X1(S)
b=1 a=0
F(S) = (M2S2 + f2S + K2) X2(S) (f2S +
c 2d 4
K2)X1(S) -------- (1)
c d 1
d 3
Differential equation for mass M1 :
Fk
Ff11
FM1
d=3
d = 3 c = 2
Fk 2
Ff2
M
1
x1(t)
1
0
A
2 3
Free body diagram of M1

9. Mathematical Modeling of
Mechanical Systems
FK 2 Ff 2 FK1 Ff1 FM1 0

K2[X1(t) X2(t)] + F2
01.
Differential equation for mass M2 :
x2(t)
FM 2
Ff2
FK 2
K1X1(t) + F1
dx1 t x 2 t +
dt
d2
d
+
M
x1 t 1 2 x1 t 0
dt
dt
By applying LT, we will get

M2
body diagram of M2
F FM 2 Ff2 FK 2
K2[X1(S) X2(S)] + F2S[X1(S) X2(S)] +

K1X1(S) + F1SX1(S) + M1S2[X1(S)] = 0
K2X1(S) K2X2(S) + F2SX1(S) F2SX2(S) +
K1X1(S) + F1SX1(S) + M1S2X1(S) = 0
F(t) =
M1S2x1(s) + (K2+K1)X1(S) + (F2S + F1S)X1(S)

(K2+F2S)X2(S) = 0
d 2 x 2 t
dx t x1 t
M2 .
f2. 2
k 2 x 2 t x1 t
2
dt
dt
X1(S)[K2+K1+(F2+F1)S+M1s2] = (K2 +
F2S)X2(S)
By applying LT we will get

: 69 :
X1(S) =
Control Systems
Equivalent electrical circuit using
(K 2 F2S)
X 2 (S)
M1S K 2 K1 F2 F1 S
Force-Voltage analogy:-
L2
L1
----- (2)
Substitute equation (2) in equation (1), we will
get
V(t)
C1
C2
I2(t)
R2
I1(t)
R1
F(s) = (M2S2 + F2S + K2)X2(S)
F2S K 2 F2S K 2 .X (S)

2
M1S2 F2 F1 S K 2 K1
02. Sol:
Differential equations for mass M3 :-
F(S) = (M2S2 + F2S + K2)X2(S)
FM3
F2S K 2 X 2 (S)
FK 4
M1S2 (F1 F2 )S (K1 K 2 )
M3
3
F = FM3 FK 4
F(S) =
M S
F2S K2 M1S2 F1 F2 S K1 K2
F2S K2 2
M1S2 F1 F2 S K1 K2
F = M 3.
X2 (S)

F(S) = M3S23(S) + K4[3(S) 2(S)]
X (S)
Transfer function, TF = 2
F(S)
TF =
M S
2
F(S) = (M3S2+K4) 3(S) K42(S) ------(1)

Differential equations for mass M2 :-
X 2 (S)
=
F(S)
M1S2 F1 F2 S K1 K 2
F2S K 2 M1S F1 F2 S K1 K 2 F2S K 2

2
d 2 3
K 4 ( 3 2 )
dt 2
FM 2
FK 2
FK3
M2
FK 4

: 70 :
FK 4 FM 2 FK 2 FK 3 0
1 S
d 2
+ K2(2 1) +
dt 2
M1S
K 2 K 3 2 (S)
----(3)
K1 D1S K 2 K 3
K4(2 3) + M2.
substitute equation (3) in equation (2)
K3(21) = 0
(2) K43(S) =
K4[2(S) 3(S)] + M2S 2(S) + K2[2(S)

1(S)] + K3[2(S) 1(S)] = 0
K42(S) K43(S) + M2S22(S) + K22(S)
K21(S) + K32(S) K31(S) = 0
K43(S) + (M2S2+K2+K3+K4) 2(S) (K2+K3)
1(S) = 0 -------(2)
Differential equations for mass M1 :
Fk1
FM1
FD1
M1
Fk 2
FK 3
1
free body diagram of M1
FK 2 FK3 FM1 FK1 FD1 0

K2(12) + K3(12) +
M 1.
d2
d
K11 D1 1 0
2 1
dt
dt

K2[1(S) 2(S)] + K3[1(S) 2(S)] +
M1S21(S)+K11(S) + D1S1(S) = 0
2(S) =
K 4 M1S2 D1S K 2 K 3 K 4 3 S
M S2 D1S K1
M 2S2 K 2 K 3 K 4 1
K 2 K 3
K 2 K 3 2
Substitute above value i.e., value of 2(s) in equation

(1)
F(S) = M 3S2 K 4 3 (S)
K 24 M1S2 D1S K1 K 2 K 3 3 (S)

M1S2 D1S
2
M 2S K 2 K 3 K 4
K
2
3
1
(K 2 K 3 ) 2
(K2+K3) 1(S) (K2+K3) 2(S) + M1S21(S) +

K11(S) + D1S1(S) = 0
TF
[M1S2 + K1 + D1S + (K2+K3)] 1(S) = (K2+K3)

2(S)
M 2S2 K 2 K 3 K 4 2 (S)
K 2 K 3 2 2 (S)
M S2 D S K K K
1
1
2
3
1
3 S
FS
3 S
FS
: 71 :
Control Systems
M S K K K M S D S K
2
K2 K3
K2 K3
FM 2
K2 K3 2
K3 K4 K1 K2 K3
K24 M1S2 D1S K1 K2 K3
2
a2
V3
FD1
M2
FK
M S K M S K M S D S
2
L4
L2
V2
FD1 FM 2 FK 0
V1
D1.
2
d
a 2 a1 M 2 . d 2 a 2 k.a 2 0
dt
dt
L3
F
C1
C2
C3
L1
G1
D1S[a2(S) a1(S)] + M2S2a2(S) + Ka2(S) = 0

D1Sa1(S) = (M2S2+K+D1S)a2(S)
03.
Differential equations for mass M1 :
FM1
FD2
FD1
M1
a 2 s
Substituting equation (2) in equation (1),
a1
free body diagram of M1
TF =
F = FM1 FD2 FD1
d 2a
da
d
F = M1. 21 D 2 . 1 D1. a 1 a 2
dt
dt
dt
TF =
D1S[a1(S)a2(S)]
a 2 s
FS
D1S
2
M1S D 2 D1 S M 2S2 D1S K D1S
F(S) = M1S2a1(S) + D2Sa1(S) +
Differential equations for mass M2:
a 2 S
FS
D1S
2
M1S D 2S D1S M 2S2 D1S K D1S
F(s) = (M1s2+D2s+D1s)a1(s)D1s a2(s)
D1Sa 1 S
-------(2)
M 2S2 K D1S
-----(1)
Equivalent circuits using force-voltage & forcecurrent analogies:Force voltage analogy
: 72 :
L1
L2
I1
R1
I2
G1
V2
R2
Force current analogy
V1
C1
G2
C2

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1

Sol: A0 = 2000 100

No. of loops 1 i.e., G(S) H(S)

No. of forward paths 1

Sol: Sensitivity STH

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closed loop T.F

Postal Coaching Solutions

2. Signal Flow Graph & Block Diagram

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(1 G2H2 )(1 G3H3 )

Sol: No. of loops are

No. of forward paths

= 1 (L1 + L2) = 1 + G2H2 + G1G2H1

(Since Non touching loops

for forward path 1 is L5)

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Postal Coaching Solutions

Compare with second order standard equation

Compare with the characteristic equation

By substituting value in the above equation

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time constant form :

Sol: Given data

rise time : tr = t0.9 t0.1= 0.3122 sec

setting time : 2% 4 ts = 1 sec

By substituting and n values in the above

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Postal Coaching Solutions

Apply partial fractions

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Postal Coaching Solutions

peak value of the response is 2

iii) (2+3t) u(t)

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This is a unstable system

b)Type of the system = 1

Two poles at origin

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Postal Coaching Solutions

General equation for error signal

Given Forward path system

For step input:

The drawback in static error coefficients is that

For the s/m to be stable

For Ramp input:

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Postal Coaching Solutions

The system is stable

Since all poles lies in the left half s plane.

Four poles on RHS

In first column number of sign changes is 3

Two poles on LHS

Form an Auxilary equation

2S6 + 2S4 8S2 + 8 = AE

The no. of sign changes are two

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Postal Coaching Solutions

i) System is Marginally stable

Number of sign changes = 2

Two poles on RHS , 3 poles on LHS

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