Control Systems EE PDF

Control
Systems
1
1. Basics of Control Systems =
s  12
Closed Loop T.F
Open Loop T.F =
01. Ans: (c) 1  Closed Loop T.F
d 2 y(t) dy(t) 1
Sol: 2 3  4y(t) = r(t) + 2r(t-1)
dt 2
dt = s  12 =
1
Apply LT on both sides 1
1 s  2s
2
s  12
2s2 Y(s)+3sY(s)+4Y(s) = R(s)+2e-sR(s)
Y(s)(2s2 + 3s+4) = R(s)(1+2e-s)
04. Ans: (a)
Y(s) 1  2e  s
 2 Sol: G changes by 10%
R (s) 2s  3s  4
G
  100  10%
G
02. Ans: (b)
C1 = 10% [ open loop] whose sensitivity is
Sol: I.R = 2.e–2tu(t)
100%]
Output response c(t) = (1–e–2t) u(t)
%G change = 10%
Input response r(t) = ?
% of change in M 1
C(s) 
T.F = % of change in G 1  GH
R (s)
10%
2 % of change in M =  1%
T.F = L(I.R) = 1  (10)1
s2
% change in C2 by 1%
1 1

C(s) 1
R(s) = = s s2 = 05.
T.F 2 s
s2 Sol: M = C/R
1 C GK
R(s) = M
s R 1  GH
r(t) = u(t) M K
K 
SM  1
K M
03. Ans: (b) [∵K is not in the loop  sensitivity is
Sol: Unit impulse response of unit-feedback 100%]
control system is given M H   GK  H
c(t) = t.e–t H 
SM    
H M H  1  GH  M
T.F = L(I.R)
ACE Engineering Academy Hyderabad|Delhi|Bhopal|Pune|Bhubaneswar| Lucknow|Patna|Bengaluru|Chennai|Vijayawada|Vizag |Tirupati | Kukatpally

: 3 : Postal Coaching Solutions
  Forward Path1: G1G3G4

 GK(G)   H 
  Forward Path 2: G2G3G4
 1  GH  2   GK 
  
 1  GH  Forward Path 3: G2G4
 GH G 1G 3 G 4  G 2 G 3 G 4  G 2 G 4
H 
SM =
1  GH  1  G 1G 3 G 4 H 1 H 2 H 3  G 3 G 4 H 1 H 2  G 4 H 1
06. 02. Ans: (a)

Sol: Given data Sol: Number of forward paths = 2
G = 2 103, G = 100 Number of loops = 3
G
% change in G 
G
100  5%
Y (s )
1 1 1
  1 0   
1
s s s s

 1
% change in M  0.5% 1 1 1
 
R s 1 1
   
1   1   1   1    1  
% of change in M 1 s s s s s s 

% of change in G 1  GH 1 1 1  s2 1 s2
 3 3
0.5% 1  s3 s  s  2s
 1 1 1 1 s 1
5% 1  2 103 H 1  2  2  2  1 2
s s s  s s2
1  2 103 H  10
1  s2 1 1
H  4.5  10 3   2 
s s 1 s
07. Ans: (b)

ct
03.
output mm
Sol: K  = = Sol: Number of forward paths = 2
input r t 0
c
Number of loops = 5,
08. Ans: (d) Two non touching loops=4
Sol: Introducing negative feedback in an
amplifier results, increases bandwidth. TF 
  
24 1   0.5 10 1   3
 
1   24 3  4  5  2  1   0.5  [301.5  2]   1   24
 
 2  
2. Signal Flow Graph and Block Diagram 76 19
 
88 22
01. Ans: (d)
Sol: No. of loops = 3 04.
Loop1: – G1G3G4H1H2H3 Sol: Number of forward paths = 2
Loop2: – G3G4H1H2 Number of loops = 5
Loop3: – G4H1 G1G 2G 3  G1G 4
T.F 
No. of Forward paths = 3 1  G 2G 3H 2  G1G 2 H1  G1G 2G 3  G 4 H 2  G1G 4

: 4 : Control Systems
05. Ans: (c) S

Sol: From the network S 1
1
Vo s   Is  ............(1) Vi(s) V0(s)
1 + –
sC + + + 2 +– s 2
1 S
– Vi(s) + RI (s) + Vo(s) = 0
1  1 
I(s) = Vi s    Vo s  .............(2)
R R
Vi(s) V0(s)
From SFG +
S 1 – 2 + S 2
 + 
S 1
Vo(s) = x.I(s) ............(3)
1
I(s) = Vi (s)  y Vo s  .......... (4)
R
From equ(1) and (3) Vi(s) V0(s)
–
1 + 1 + 2 + S 2

x=
sC
From equ(2) and (4)
1 1/2
y= 
R Vi(s)
V0(s)
–
+ 1 + 2 + s 2
 
06. Ans: (a)

Sol: Use gain formula
1/2
G (s)
transfer function = Vi(s)
 1  – 2S V0(s)
1   G (s)  G (s)  +

1 + 2
G (s) 1  2S
 
G (s)
= =–1
1  1  G (s) 1/2
Vi(s) V0(s)
07. +
– 2s
 1 + 2
1  2s
Sol: +
– 2s  1
1 2s
S
+ + + + + – V0(S) Vi(s)
2 S 2 4s V0(s)
Vi(S) – – – + 1
1  4s
S
2s  1
2s

4s 3. Time Response Analysis

V0 (s) 4s
  1  4s =
Vi (s) 1  2(2s  1) 8s  3
1  4s
01. Ans: (a)
C(s) 1 8
08. Sol:  , R (s) 
R (s) 1  sT s
Sol: Apply Mason’s Gain formula
N C(s) =
8

 c(t) = 8 1  e  t / T 
Yout M  k k
s(1  sT)
M  k 1
 0.32

Yin  3.6 = 8 1  e T 
No. of forward paths = 2  
0.32
First forward path gain = G1G2G3G4
0.45 = 1 − e T
Second forward path gain = G5G6G7G8
0.32
No. of loops = 4 0.55 = e T
First loop gain = G2H2  0.32

− 0.59 =
Second loop gain =  G6H6 T
Third loop gain =  G3H3 T = 0.535 sec
Fourth loop gain =  G7H7
Non touching loops = 4 02. Ans: (c)
Loop gains  G2H2G6H6 Sol: cos  = 
 G2H2G7H7 cos 60 = 0.5
 G6H6G7H7 cos 45 = 0.707
 G2H2G3H3 Poles left side 0.5    0.707
Transfer function = Poles right side 0.707    0.5
 0.5 ≤     0.707
G 1G 2 G 3 G 4 1  G 6 H 6  G 7 H 7   G 5 G 6 G 7 G 8 3 rad/s  n  5 rad/s
1  G 2 H 2
 G3H 3 
1  G 2 H 2  G 3`H 3  G 6 H 6  G 7 H 7  G 2 H 2 G 6 H 6 
G 2 H 2 G 7 H 7  G 3 H 3G 6 H 6  G 3 H 3G 7 H 7 03. Ans: (c)
Sol: For R-L-C circuit:
Vo s 
T.F =
Vi (s)
1
Vo s   Is 
Cs

1 Vi s  1 4a
= =
Cs 1 2 2
R  Ls 
Cs 1 1  4a
V s  1   a  0.25
T.F = o  2 2 2
Vi s  RCs  LCs 2  1
1 05. Ans: 4 sec
= LC 100
R 1 Sol: T.F =
s  s
2
L LC
s  1s  100
R 1 100
s2  s  =0 
L LC s  101s  100
2
s2 + 2ns + 2n  0 2n  100
1 R n = 10
n = 2n 
LC L 2n = 101
101
R C =
 20
2 L
 > 1 system is over damped i.e., roots are
10 10  10 6
 = 0.5 real & unequal.
2 1 10 3
Using dominate pole concept,

 100 1
1  2 T.F = = , Here  = 1 sec
M.P = e 100s  1 s  1
= 16.3%  16%  setting time for 2% criterion = 4
= 4 sec
04. Ans: (b)
8 / ss  2  Ct p   C 
Sol: TF  06. Mp =
  8 as 8  C 
1    
 ss  2 ss  2   1.254  1.04
8   0.2
 1.04
ss  2  8 as  8

ln M P 2
8
= ln M P 2   2
s  2 s  8as  8
2
8 Mp = 0.2 ;  = 0.46

s   2  8a  s  8
2
07. Ans: (d)

 2n  8 n = 2 2
Sol: Given data: n = 2, = 0.5
2n = 2 + 8a

Steady state gain =1 (D) If the poles are complex & right side of
K1 s-plane, response goes to ‘’ with
OLTF  and H(s)  K 2
s  as  2
2
damped oscillations.
G(s) (E) If the poles are real & right side of s-
CLTF 
1  G(s) plane, the step response goes to ‘’
C(s) K1 without any oscillations.
 2
R (s) s  as  2  K 1 K 2
DC or steady state gain from the TF 09. Ans: (c)
K1 Sol: If R  damping 
1
2  K 1K 2 R C
 =
K1(1 – K2) = 2 ……… (1) 2 L
2
CE is s + as + 2 + K1K2 = 0 (i) If R, steady state voltage across C will
n = 2  K1K 2 = 2 be reduced (wrong)
(Since steady state value does not
4 = (2+K1K2)
depend on  )
K1K2 = 2 ………. (2)
Solving equations (1) & (2) we get If  , C () = remain same
K1 = 4, K2 = 0.5
2 n = a

(ii) If  , d  d  n 1  2 
1 (iii) If  , ts   3rd
2  2 = a
2 Statement is false
a=2 (iv) If  = 0 2
True 0
08. Ans: A – T, B – S, C- P, D – R, E – Q  2 and 4 are correct
Sol:
(A) If the poles are real & left side of s- 10.
plane, the step response approaches a Sol: (i) Unstable system
steady state value without oscillations. error = 
(B) If the poles are complex & left side of s- 10s  1
(ii) G(s) =
plane, the step response approaches a s2
steady state value with the damped 1
Step  R (s) =
oscillations. s
(C) If poles are non-repeated on the j axis, kp = 
the step response will have fixed A 1
ess   0
amplitude oscillations. 1 kp 1 

Parabolic  ka = 10 A 400
Error (ess) = 
1 KV KV
ess =  0.1
10 KV = Lim s G(s)
s 0
11. 20K
KV = Lim s
Sol: G(s) = 10/s2 (marginally stable system) s 0 s(1  0.1s)
 Error can’t be determined KV = 20K
12. 400
ess =
1 1 20K
Sol: ess  , R(s) =
11 s 20 
ess = 
A 1 1 1 K 18
e ss    
1  k p 1  k p 11 1  10 K = 114.5
kp = Lt G(s)
s 0
15. Ans: (d)
10 = Lt G(s)
s 0 d2y
Sol:  e( t )
k = 10 dt 2
1 s2 Y(s) = − E(s)
R(s) = (ramp)
s2 1
x(t) = t u(t) X(s) =
A 1 1 s2
e ss   
k v k v 10
(System is increased by 1) X(s)  E(s) 1 Y(s)
 ess = 0.1 s2
+
13. Ans: (a)
Sol: T(s) 
s  2 (unstable system)
s  1 s  22 1
Y(s)  E(s)
s2
14. Ans: (b) Y(s)  1

Sol: Given data: r(t) = 400tu(t) rad/sec E(s) s 2
Steady state error =10º E (s) 1

 X(s) 1
i.e., ess = (10  ) radians 1 2
180  s
20K  s2
G(s) = and H(s) = 1 E(s)  X (s )
s(1  0.1s) 1  s2
r(t) = 400tu(t)  400/s2

 s2 1 1 18. Ans: (c)

  2 
1 s 2
s 1 s2 Md 2 x dx
Sol: f(t) = 2
 B  Kx ( t )
 1  dt dt
 L1    sin t
1  s 
2
Applying Laplace transform on both sides,
with zero initial conditions
16. Ans: (a) F(s) = Ms2X(s)+BsX(s) + KX(s)
Sol: ess = 0.1 for step input X(s) 1

For pulse input = 10 F(s) Ms  Bs  K
2
time = 1 sec Characteristic equation is Ms2 + Bs+K = 0

error is function of input B K
s2 + s = 0
t   input = 0 M M
 Error = zero Compare with s2 + 2 ns + 2n = 0
B
2n =
17. Ans: (c) M
Cs  100 B K
Sol:  = n =
R s  s  1s  5 2 MK M
100  0.2
1 1
s  1s  5 Time constant T =
 n
100
 1
s  1s  5  20 =  2M
B
100
 2M
s  6s  5  20
2
T=
B
100
= 2 Hence, statements 2 & 3 are correct
s  6s  25
2n = 25, n = 5
19. Ans: (c)
2n = 6 Sol: type 1 system has a infinite positional error
6 3 constant.
 
10 5
d   n 1   2 20. Ans: (a)
1
3
2
Sol: Given G(s) = , H(s)  1 .
 5 1   s1  s s  2 
5
It is type-I system
4
 5 = 4 rad/sec Positional error constant k p  Lt G (s) H(s)
5 s 0

1 Cs  10
k p  Lt 
s 0 s(1  s)(s  2) R s  ss  0.8  10K   10
= 10
=
Steady state error due to step input s  s0.8  10K 10
2
1 n  10 2n = 0.8 + 10 K
= 0
1 k p
1
 2   10  0.8  10K
2
A  K = 0.236
21. Open loop T/F G(s) =
SS  P 
     cos 1  
tr = 
A d n 1   2
C.L T/F =
S  SP  A
2
  /3
n  A =  0.74 sec
2.88
Setting time = 4 / n  4 
tp =  1.1sec
4 d
2n = P  4
P/2 

1 2
8 %Mp = e = 0.163  100 = 16.3%
n = P/2 P= 2
4 4 4
ts (for 2%) =   2.53 sec
 
n 0.5  10
1  2 
e  0 .1   n 10
1 2
4. Stability
= 2.3
2
  0.5373 01. CE = s5 + 4s4 + 8s3 + 8s2 + 7s + 4 = 0
1 2
 1.5373 2 = 0.5373
s5 1 8 7
 = 0.59
n = 1
s4 4(1) 8(2) 4(1)
 n = 1.694  A =   2.87 2
n
s3 6(1) 6(1) 0
22.
Sol: s2 1 1 0  Row of AE
R(s) 10 1 C(s)
S  0.8  10K S s1 0(2) 0 0  Row of zero
s0 1

AE CE
No. of AE roots = 2 No. of CE roots = 5 No. of sign changes below No. of sign changes in
AE = 2 1st column = 2
No. of sign changes No. of sign changes
No. of AE roots = 4 No. of CE roots = 5
Below AE = 0 in 1st column = 0
No .of RHP = 2 No. of RHP = 2
No. of RHP = 0  No .of RHP = 0 No .of LHP = 2 No. of LHP = 3
No. of LHP = 0 No. of jp = 2 No. of jp = 0 No. of jp = 0
No. of jp = 2  No .of LHP = 3 System is unstable
System is marginally stable. (ii) s6 + 2s5 + 2s4 + 0s3 −s2 − 2s − 2 = 0
s6 1 2 –1 –2
(ii) s2 + 1 = 0 5
s 2(1) 0 2(1) 0
s =  1 j =  jn
s4 2(1) +0 2(1) 0
n = 1 rad/ sec s3 0(4) 0 0 0
Oscillating frequency n = 1 rad/sec s2 0() 1 0 0
s1 4/
02. (i) s5 + s4 + s3 + s2 + s + 1 = 0 –s0 –1
+ s5 1 1 1 AE = s4 − 1 = 0
+ s4 1 1 1 dAE
 4s 3  0  0
+ s3 0(2) 0(1) 0 ds
1
+ s2 1
2 CE AE
1
(1) – s –3 0 No. of CE roots = 6 No. of AE roots = 4
(2) + s0 1 No. of sign changes No. of sign changes
in the 1st column= 1 below AE = 1
No .of RHP = 1 No. of RHP = 1
No .of LHP = 3 No. of jp = 2
No. of jp = 2 No. of LHP = 1
AE (1) = s4 + s2 + 1 = 0
dAE 
 4s 3  2s  0
ds
 2s3 + s = 0

03. CE = s3 + 20 s2 + 16s + 16 K = 0
s3 1 K+2
3
s 1 16
s2 a K+ 1
  
a K  2  K 1 
s2 20 16K s1 0
a
20(16)  16K
1 s0 K+1
s 20 0
0
s 16K Given,
n = 2
2016  16K  s1 row = 0
(i) For stability 0
20 s2 row is A.E
 20 (16) − 16 K > 0 a ( K + 2) − ( K + 1) = 0
 K < 20 and 16 K > 0  K > 0 K 1
a=
Range of K for stability 0 < K < 20 K2
(ii) For the system to oscillate with n it AE = as2 + K + 1 = 0
must be marginally stable K 1 2
= s  K 1  0
i.e., s1 row should be 0 K2
s2 row should be AE  s2 
(k+1)   1  0
A.E roots =  jn k2 
s2 + k + 2 =0
 s1 row  20 (16) − 16 K =0
s =  j k  2 
 K = 20
n = k2 2
AE is 20s2 + 16 K = 0
20s2 + 16 (20) = 0 k=2
k 1 3
 s =  j4 a=  = 0.75
k2 4
n = 4 rad/sec
04.
K s  1
Sol: CE = 1 + 0
s  as 2  2s  1
3
s3 + as2 + (K + 2) s + K + 1 = 0
s3 + as2 + (K+2) s + (K+1) = 0

05. s1 4K
Sol: s3 + ks2 + 9s + 18 so 1K
s3 1 9
AE = s4 + 2s2 + 1K
s2 K 18 d
(AE)  4s  4s 3
9K  18 ds
s1 0
K 1K > 0 no poles are on RHS plane and
0
s 18 LHS plane.
All poles are on j- axis
Given that system is marginally stable,
 0 < K < 1 system marginally stable
Hence
s1 row = 0
07. Ans: (d)
9K  18
0 Sol: Assertion: FALSE
K
Let the TF= s. “s” is the differentiator
9K = 18  K = 2
2
Impulse response L-1[TF] = L-1 [s] =  (t)
A.E is 9s + 18 = 0
Lt ( t )  0
Ks2 + 18 = 0, t 
2s2 + 18 = 0  It is BIBO stable

2s2 = – 18 Reason: True
s =  j3 x(t) = t sint
x(t)
 n = 3 rad/sec.
06. Ans: (d) t

k
Sol: Given transfer function G (s) 
(s  1) 2
2
Characteristic equation 1 – G(s).H(s) = 0

k Lt x ( t )  Lt t sin t is unbounded
t  t 
1 0
(s  1) 2
2
s4 + 2s2 + 1 – k = 0 ….. (1) 08. Ans: (a)

RH criteria Sol: Assertion: TRUE
If feedback is not properly utilized the
s4 1 2 1K closed loop system may become unstable.
3 Reason: True
s 4 4 -
s2 1 1K Feedback changes the location of poles

2 K
Let G(s) = H(s) =1 =
s 1
 1  j 3 
3
= –3 [180+ 60] = –720

Open loop pole s = –1 (stable)
2 It is not odd multiples of 180, Hence s2 is
2 not lies on Root locus.
CLTF  s  1 
 2 s 1
1
s 1 02. Ans: (a)
Closed loop pole is at s = 1 (unstable) Sol: Over damped – roots are real & unequal
After applying the feedback no more 0<k<4
system is open loop. It becomes closed loop (b) k = 4 roots are real & equal
system. Hence poles are affected.  Critically damped  = 1
(c) k > 4  roots are complex
5. Root Locus Diagram 0 <  < 1 under damped
01. Ans: (a) 03. Ans: (a)

Sol: s1 = –1+ j 3 Sol: Asymptotes meeting point is nothing but
s2 = –3  j 3 centroid
K  poles   zeros
G(s).H(s) = centroid  =
pz
s  2
3
30
s1 = –1 + j 3 = = –1
30
K centroid = (–1, 0)
G(s).H(s) =
 1  j 
3
32
K 04. Ans: (b)


1  j 3  dK
3
Sol: break point = 0
ds
= –3tan–1( 3 ) d
G1 (s).H1 (s)   0
= – 180 ds
d
It is odd multiples of 180, Hence s1 lies on ss  1s  2  0
Root locus ds
3s2 + 6s + 2 = 0
s2 = –3– j 3
s = – 0.422, –1.57
K
G(s).H(s) =
 3  j 
3
32 –2 –1 0

But s = – 1.57 do not lie on root locus K

1
So, s = –0.422 is valid break point.  0.423 0.423  1 0.423  2 
Point of intersection wrt j axis
K = 0.354
s  3s  2s  k  0
3 2
when the roots are complex conjugate then
the system response is under damped.
s3 1 2 From K > 0.384 to K < 6 roots are complex
s2 3 k conjugate then system to be under damped
6k
s1 0 the values of k is 0.384 < K < 6.
3
s0 k
06. Ans: (c)
As s1 Row = 0 Sol: If the roots are lies on the real axis then
k=6 system exhibits the non-oscillatory response.
3s2 + 6 = 0 from K  0 to K  0.384 roots lies on the
s2 = –2 real axis. Hence for 0  K  0.384 system
s=j 2 exhibits the non-oscillatory response.
point of inter section: s =  j 2

07. Ans: (a)
Sol:
05. Ans: (b)

Sol:
–3 0
–2
break k=6
point
k = 0.384
–2 –1 0 d
G (s).H(s)  d  k s  3
s = 0.423 ds ds  ss  2 
s2 + 6s + 6 = 0
break points – 1.27, – 4.73
K 4.73  1.27
radius =  1.73
s  s  1 s  2  2
center = (–3, 0)
substitute s = –0.423 and apply the
magnitude criteria.

08. Ans: (c) 11. Ans: (d)

K s  3 Sol: Poles s = –2, –5 ; Zero s = –10
Sol: G(s).H(s) =
s(s  2)
k s 4 
 4 4  2 j
 4  3
=
 4 2 =8 –10
X
–5
X
–2

 1
09. Ans: (a)

 Breakaway point exist between –2 and –5
Sol: s24s+8 = 0  s = 22j are two zeroes
s2+4s+8 = 0  s = 22j are two poles
12.
 A  180  GH S22 j Sol: Refer Pg No: 79, Vol-1 Ex: 7
ks  2  2 js  2  2 j
GH 
s   2  2 js   2  2 j
6. Frequency Response Analysis
k4 j
GH S22 j 
44  4 j
= 90  45 = 45 01. Ans: (c)
100
A = 180  45 =  135 Sol: G(s).H(s) =
ss  4s  16
10. Ans: (b) Phase crossover frequency (pc):

Sol: s24s+8 = 0  s = 22j are two zeroes G(j).H(j)/   pc = –180
s2+4s+8 = 0  s = 22j are two poles –90 –tan–1(pc/4) – tan–1(pc/16) = –180
 d  180 0  GH S22 j –tan–1(pc/4) – tan–1(pc/16) = –90
tan[tan–1(pc/4) + tan–1(pc/16)] = tan(90)
ks  2  2 js  2  2 j
GH S 2 2 j   pc pc
s   2  2 js   2  2 j S 2 2 j 
4 16  1
k  4 4  4 j pc pc 0
 1 .
4 j 4 16
= 180+1804590 = 225 2pc = 16  4  pc = 8 rad/sec

d = 180+ 225 = 405
d =  45 02. Ans: (d)
100
Sol: G(s).H(s) =
s(s  2)s  16

Gain margin (G.M) = 1  2  0.958  2  0.0417

G  jH  j pc
 = 0.204 (Mr >1)
G ( j).H( j)   100
pc   16 2pc  16 2
2
pc
pc 06. Ans: (a)
5 1
= Sol: Closed loop T.F =
64 s2
64
G.M = = 12.8 1
5 Input
cos(2t+20) s2 Output Acos(2t+20+)
03. Ans: (c)

2 e 0.5s 1 1 1 1
Sol: G(s).H(s) = A   
s  1 2  4 44 8 2 2
gain crossover frequency,  = – tan–1/2
gc = G  j.H j   1 = – tan–12/2
gc
  = – tan–1(1) = – 45
2
1
 12
gc
output 
1

cos 2 t  20 o  45o 
2 2
gc
2
 1  4  gc = 3 rad / sec 1
= cos(2t  25 o )
2 2
04. Ans: (b)

07. Ans: (c)
Sol: gc = 3rad / sec
Sol: Initial slope = 40 dB/dec
P.M = 180+ G  j.H j /   gc
Two integral terms  12 
-1
G(j).H(j)/ gc = –0.5 gc – tan (gc) s 
K
= – 109.62  Part of TF  G s Hs  
s2
P.M = 70.39
at  = 0.1
change in slope = –20 – (–40)
05. Ans: (a)
= 20
1
Sol: Mr = 2.5 =  s 
2 1   2 K 1  
Part of TF = G(s) H(s)   2 0.1 
1 s
2 1   2 
2.5 At  = 10 slope changed to 60 dB/dec
 4   2  0.04  0 Change in slope = 60(20)
=  40dB/dec

 s  09. Ans: (b)

K 1  
 0.1  Sol:
TF (G(s)H(s))  2
2 s  X1 X2
s   1 1 10 20 
 10  y1
12 dB/oct
20 log K− 2 (20 log 0.1) = 20 dB
20 log K = 2040 y2=20 dB +6 dB/oct
20 log K = 20
K = 0.1
2
 s   s 
0.11  s  K 1   1  
10   20 
G s Hs    0.1  G s Hs   
2 s 
2 1  s 2
s 1  
 10  y 2  y1
 40 dB / dec
0.1  10 2 s  0.1 x 2  x1

0.1s 2 s  102 20  y1
 40
100s  0.1 log 10  log 1
G s Hs   2
s s  10
2
y1  60 dB 1
 20 log K = 60
08. Ans: (b) K = 103
Ks
Sol: G s Hs   10 3 s  10  s  20
2
 s  s  G s Hs  
1  1   10 2  20  s  1
2
 2  10 
12 = 20 log K+ 20 log 0.5 
s  102 s  20
2s  1
2
12 = 20logK + (−6)
20 log K = 18 dB = 20 log 23
10. Ans: (d)
K=8
Sol: |G(s)H(s)
8s  2  10
G s Hs  
2  s 10  s  40 dB/dec
160s
G s Hs   20
2  s 10  s  20 dB/dec

0 1 1 2
20
40 dB/dec

12. Ans: (c)

1 calculation: Sol: For stability (–1, j0) should not be enclosed
0  20 by the polar plot.
log 1  log 1 For stability
= –20 dB/dec 1 > 0.01 K
1 = 0.1  K < 100
2 calculation:
13.
20  0
Sol: GM = 40 dB
log  2  log 1
1
= – 20dB/dec 20 log  40  a = 102
a
2 = 10 POI = 100
 s 
K 1  
 0 .1 
G s Hs   14.
 s  1
s 2 1   Sol: (i) GM   10  20 dB
 10  0.1
20logK2 (20 log 0.1) = 20 PM = 180– 140= 40
20 logK = 2040
K = 0.1 (ii) PM = 180150= 30
1 1
0.1  0.1  s  GM   POI = 0
G s  H s  0.1 0
1
s 2 10  s  (iii) PC does not exist
10
1
100.1  s  GM    PM = 180 + 0 = 180
 2 0
s 10  s 
(iv) gc not exist
pc = 
11.
1
200 100 GM = 
Sol:  0
ss  2   s
s 1   PM = 
 2
1
1 (v) GM = 2
x  KT  100  = x = − 50 0.5
2
PM = 180 − 90
= 900

15. Ans: (d) GH plane

Sol: For stability (–1, j0) should not be enclosed
=
by the polar plot. In figures (1) & (2) (–1, j0) 0.8
(– 1,0)
is not enclosed.
Systems represented by (1) & (2) are =0
stable.
even though the value of K is double, the
16. Ans: (b) system is stable (negative real axis
Sol: Open loop system is stable, since the open magnitude is less than one)
loop poles are lies in the left half of s-plane Oscillations depends on ‘’
 P = 0. 1
 as K is increased  reduced, then
From the plot N = –2 . K
No.of encirclements N = P – Z more oscillations.
N = –2, P = 0 (Given)
N  P  Z 18. Ans: (a)
2 = 0 – Z 10s  12
Sol: Given system G(s) =
Z=2 ss  2 s  3
Two closed loop poles are lies on RH of s- It is a non minimum phase system since
plane and hence the closed loop system is s = 12 is a zero on the right half of s-plane
unstable.
19.
17. Ans: (c) 10(s  3)
Sol: Given that G(s)H(s) =
Sol: s (s  1)
GH plane
= s-plane
0.4
(– 1,0) Nyquist Contour j
=+
C2
C1
=0 0
R
=0+ 
=0-
Kc C4
 0.4 When K = 1
K C3
K
Now, K double, c  0.4 =-
K
Kc = 0.42 = 0.8

 Nyquist plot is the mapping of Nyquist 

 tan 1 ( )  [90 0  180 0  tan 1 ())
3
contour(s-plane) into G(s)H(s) plane.
 The Nyquist contour in the s-plane   180 0   pc
enclosing the entire right half of S-plane  pc

 tan 1 ( )  [90 0  180 0  tan 1 ( pc ))  180 0
is shown figure. 3
The Nyquist Contour has four sections C1,  pc
tan 1 ( )  tan 1 ( pc )  90 0
C2, C3 and C4. These sections are mapped 3
into G(s)H(s) plane Taking “tan” both the sides
Mapping of section C1: It is the positive  pc
  pc
imaginary axis, therefore sub s = j, 3  tan 90 0  
(0∞) in the TF G(s) H(s), which gives   pc
2
1
the polar plot 3
10(s  3)  pc
2
G(s)H(s) = 1 0
s (s  1) 3
Let s = j  pc  3 rad/sec
10( j  3) Therefore the point of intersection is
G(j)H(j) =
j( j  1)
10 pc 2  32
10 ω2 +9 ω G(j )H(j ) at pc   10
G(j)H(j) =  { tan -1   pc 1  pc 2
2
ω ω +1 3
[900 + 1800  tan-1()]}
Point of
img
At  = 0  2700 intersection =0-
At  = pc= 3  101800 G(s)H(s)-plane

0
At  =   090
real
point of intersection of the Nyquist plot with 10 =-
respect to negative real axis is

calculated below
10(jω+3) The mapping of the section C1 is shown
ArgG(j)H(j) = arg
jω(jω  1) figure.
= 1800 will give the ‘pc’ Mapping of section C2: It is the radius ‘R’
Magnitude of G(j)H(j) gives the point of semicircle, therefore sub s= lim Re jθ ( is
R 
intersection
from 900 to 00 to 900) in the TF G(s)H(s),
which merges to the origin in G(s)H(s)
plane.

10  3
Img G(e j )H(e j )  j
 1800  
e
G(s)H(s) plane When,  = 900 ∞2700
real  = 400 ∞2200
 = 00 ∞00
 = 400 ∞1400
10(s  3)  = 900 ∞900
G(s)H(s) 
s(s  1) It is clear that the plot is clockwise ‘∞’
j
2(Re  3) radius semicircle centred at the origin
G(Re j )H(Re j )  0
Re j (Re j  1)
Img
The plot is shown in figure.
G(s)H(s) plane
Mapping of section C3: It is the negative
imaginary axis, therefore sub s = j, real
(∞    0) in the TF G(s)H(s), which

gives the mirror image of the polar plot and
is symmetrical with respect to the real axis, Combining all the above four sections, the
The plot is shown in figure. 10(s  3)
Nyquist plot of G(s)H(s) 
Img
s(s  1)
is shown in figure below
G(s)H(s)-plane From the plot N=1
=- Given that P=1
real
N=PZ
Z = P  N = 1  1= 0, therefore system is
stable Img
=0-
Mapping of section C4: It is the radius ‘’ G(s)H(s) plane
semicircle, therefore sub s  Lim e j

 0 Real
10
o o
(90    90 ) in the TF G(s)H(s), which (1,j0)
gives clockwise infinite radius semicircle in

G(s)H(s) plane.
The plot is shown below
10(e j  3)
G(e j )H(e j ) 
e j (e j  1)

20. At  = 50 rad/sec, slope is changed to

Sol: The given bode plot is shown below. –12dB/octave.
 change in slope = – 12 – (–6)
6 dB/octave 6 dB/octave = – 6 dB/octave
Gain in dB 50 100 W(log scale)
0
12 10  There is a real pole at corner frequency
20 dB
12 dB/octave 3 = 50 rad/sec.
6 dB/octave 1 1 1
 
1  ST3  S  1  S 
1    
 3   50 
At  = 100 rad/sec, the slope changed to –6
Initial slope = – 6 db/octave.
dB/octave.
i.e. there is one pole at origin (or) one
 change in slope = – 6 – (–12) = 6
integral term.
dB/octave.
portion of transfer function
 There is a real zero at corner frequency
K
G (s)  4 = 100 rad/sec.
s
At  = 2 rad/sec, slope is changed to 0dB/  s   s 
 1  sT4   1    1  
octave.  4   100 
 change in slope = present slope –  s  s 
K1  1  
previous slope  2  100 
 Transfer function 
= 0 – (–6) = 6 dB/octave  s  s 
s 1  1  
 There is a real zero at corner frequency  50  10 
1 = 2. 1 1
.
K s  2 s  100  2 100
 s   s 
1  sT1   1    1   ss  50s  10  1 1
.
 1   Z 
50 10
At  = 10 rad/sec, slope is changed to 2.5K s  2s  100

–6dB/octave. ss  10s  50
 change in slope = – 6 – 0 In the given bode plot,
= – 6 dB/octave. at  = 1rad/sec, Magnitude = –20dB.
 There is a real pole at corner frequency 2
    
2
 20dB  20 log K  20 log   20 1     20 1   

2 = 2. 2  100 
2 2
1

1

1  
 20 log 1     20 log 1   
1  sT2  s  1  s   50   10 
1    
  2   10  At  = 1 rad/sec,

–20 = 20logK – 20 log/ = 1 rad/sec 03. Ans: (b)

[ Remaining values eliminated] k 1  0.3s 
Sol: T.F =
– 20 = 20logK 1  0.17s
 K = 0.1 0.3
T = 0.17, aT = 0.3  a =
Transfer function 0.17
C(s) 0.25s  2s  100 C=1F

R (s) ss  10s  50 R 1R 2 R  R2
T= C, a  1
R1  R 2 R2
7. Controllers & Compensators R 1R 2 0.17
  170000
R 1  R 2 1  10 6
01. Ans: (a) R1  R 2
 1.764
 Z2  R2
Sol: GC (s) =  1  
 Z1  aT = R1 C
= (–1)(–1) 

R2 
1 

sC  R1=
aT 0.3
C

C
 0.3 10 6  
 R1 
 
  = 300 k
1 Bv
(100  10 3 ) 
Gc (s) = s  10 6 300 k + R2 − 1.76 R2 = 0
10 6
300
1  0.1s R2 =  394.736
Gc (s) = 0.70
s
= 400 k
02. Ans: (c)

04. Ans: (d)
Sol: CE  1+ Gc (s) Gp (s) = 0
Sol: PD controller improves transient stability
1  0.1s 1
 1  and PI controller improves steady state
s s  11  0.1s  stability. PID controller combines the
1  0.1s advantages of the above two controllers.
 1 0
ss  11  0.1s 
 s2 + s+ 1 = 0  n = 1, 05.
   
  Sol: For KI = 0 
 1  2 
e     0 .5
 0.163 Cs 

K P  K D s 
Mp = 16.3% R s  ss  1  K P  K D s 
K P  K Ds

s  1  K D s  K P
2

1
n = KP s 1 0  0
= [6 5 1] 0 s 1  0
2n = 1 + KD   
 5 3 s  6   3
 2(0.9) KP  1 KD
3s 2  15s  18

 1.8 KP  1 KD ……… (1) s 3  6s 2  3s  5
1
Dominant time constant 1
n 03. Ans: (d)
d 2 y 3dy
 n 
1
= 1.111 Sol:   2 y  u t 
0.9 dt 2 dt
KP = 2n = 1.112 2nd order system hence two state variables
are chosen
= 1.234
Let x1 (t), x2 (t) are the state variables
From eq. (1),
CCF − SSR
1
 1.8   1 KD Let x1 (t) = y (t) ……….. (1)
0.9
x2 (t) = y(t)
 ……….. (2)
 KD = 1
Differentiating (1)
8. State Space Analysis x 1 (t) = y (t) = x2 (t) ……….. (3)
x 2 (t) = y (t) = u (t) − 3y1(t) − 2y(t)
01. Ans: (a) = u(t) − 3x2 (t) − 2x1( t) ……. (4)
1
Sol: TF = 2  x 1   0 1  x1   0 
s  5s  6  x    2 3  x   1  u  t 
 2    2  
1
 A B
s  2s  3
From equation 1. The output equation in
1 1
=  matrix form
s2 s3
 2 0  1  X1 
 A  B  y(t) = [1 0]  ,D 0
 0  3  1 X2 
C = [1 1]
04. Ans: (b)
02. Ans: (c) Sol: OCF − SSR
Sol: Given problem is Controllable canonical  x 1   0  2  x1  1 
form.  x    1 3   x   0  u  t 
 2   2  
(or)
x 
TF = CsI  A  B  D
1 y(t) = [0 1]  1 
x 2 

05. Ans: (c) 06. Ans: (c)

Sol: Normal form − SSR Sol:
R1 L1 i2(t) L2
Y(s) 1 1
TF =  2 
G (s) s  3s  2 s  1 s  2 i1(t)
Vi + Vc=O/P1 R2 O/P2
 Diagonal canonical form −
The eigen values are distinct i.e., − 1 & − 2.
 Corresponding normal form is called as
diagonal canonical form
DCF − SSR O/P1  y1 = Vc
Y(s) b b O/P2  y2 = R2 i2
 1  2
U(s) s  1 s  2 Vc 
y =  y1   1 0 0   i1 
b1 = 1, b2 = −1  
 y 2  0 0 R 2   i 2 
b b
Y(s) = 1 U(s)  2 U(s) y=CX
1
s 2
s
x1 x2
1 0 0 
C=  
Let Y(s) = X1 (s) + X2 (s) 0 0 R 2 
Where y(t) = x1(t) + x2 (t) ………. (1)
b1 07. Ans: (a)
Where X 1 (s)  U(s)
s 1
Sol: T.F = C[sI–A]–1B + D
s X1 (s) + X1 (s) = b1 U(s) 1
s  4 1  1
Take Laplace Inverse = 1 0
 3 s  1 1
x 1 + x1 = b1 u(t) ……… (2)
1 s  1  1  1
b = 1 0
X2(s) = 2 U(s) s  5s  1   3 s  4 1
2
s2
s  1  1  1
s X2 (s) + 2 X2 (s) = b2 U(s) =
1
1 012   
s  5s  1   3 s  4 22 1
2
Laplace Inverse
x 2  2x 2  b 2 u(t)
s  1  112  
1 1
=
 x 1    1 0   x1   1  s  5s  1
2
1 21
 x    0 2   x    1  u t 1
 2    2    s  1  1
From(1) output equation. s  5s  1
2
s
x  
y(t) = [1 1]  1  s  5s  1
2
x 2 

08. Ans: (c) 11. Ans: (c)

Sol: State transition matrix (t) = L–1[(sI–A)–1] Y(s) b s2  b s  b3
Sol:  3 1 2 2
s  3  1  U(s) s  a 1s  a 2 s  a 3
sI – A = 
 0 s  2 at node x 1
1 s  2 1  x 1 = –a1x1 – a2x2 – a3 x3
[sI – A]–1 =
s  2s  3  0 s  3

at x 2 = x1 & x 3  x 2
 1 1   x 1   a1  a 2  a 3   x1 
 s  2s  3
= s  3   x 2    1 0 0  =  x 2 
 0 1   x 3   0 1 0   x 3 
 s2 
e 3 t e 2 t  e 3 t    a1  a 2  a3 
L–1[[sI – A]–1]= 
e 2 t 
  A =  1 0 0 
 0
 0 1 0 
09. Ans: (b)

Sol: Controllability 12.
M  B AB A 2 B.. A n 1B  Sol: The given state space equations:
 X
X
0 1  0   1  2
AB          X u
X
 2  3 1  3 2 3 1
0 1    2X  3X  u
X 3 2 3 2
M 
1  3 and output equations are :
M  1  0 (Controllable) Y1  X1  3X 2  2u 1
Observability Y2  X 2 Y2
Y1
N C T T T
A C .... (A ) T n 1
C T
 1
–2 1
0  2 1  2
A C 
T T
     
X  1/S
  X
X 1 2
1  3 1  2 3 1/S X3 X 2 1/S X1 3
1  2 –3 –1
N  2
1  2 1
1
N  0 (Not observable) u2 u1
10. Ans: (c)

Sol: According to Gilberts test the system is
controllable and observable.

The given state space equations in matrix Ms 2


 B 2 s  B1s X 0  B1sX i
for
X 0 (s) B1

X i (s) Ms  B1  B 2
 
X 0 1 0  X1   0 0
1
  0 0 1  X  
 1 0
  u1 
 2 
 u 2 
X
   2  02. Ans: (a)
 0 1  
X
 
 3 0  2  3 X 3  21
1 N 2 T2
3 3 31 3 2
 X1  Sol:  
 Y  1 3 0   2 0  u 1   2 N 1 T1
 X 2 
1
Y    
0 0 u 
 
2
0 1 0 X  23    2
22 21 T2  J 2
2  B2 2
 3 31
N  N
T2  J 2  1  
1  B2 1  1
Where A: State matrix  N2  N2
B: Input matrix N1
T1  T2
C: Output matrix N2
D: Transition matrix
N1   N1    N1   
Characteristic equation  J2   1  B2   1 
N2   N 2   N 2  
sI  A  0
2 2
0 N  N 
 s 0 0  0 1  J 2  1  
1  B2  1   1
0 s 0   0 0
   1   N2   N2 
0 0 s  0  2  3
S 1 0
03. Ans: (c)
 0 S 1  0 Sol: Nodal diagram
0 2 S3
Mechanical systemForce Current Analogy
 ss(s  3)  2  1(0)  0 Mass (M) Capacitance (c)

 s s 2  3s  2  0  Damper (B) Conductance (1/R)
 s(s  1)(s  2)  0 Spring co-efficient(k) Inductance (1/L)
The roots are 0, –1, –2. Force Current
Mechanical network is shown below
x2 k1 x1
9. Mathematical Modeling of
Mechanical Systems
k12
B12
01. Ans: (c)
F
M2 M1
d2x0 dx d k2
Sol: M  B 2 0  B1 x 0  x i   0 B2
dt 2 dt dt

04. Ans: (c) 05. Ans: (b)

d2x d2x dx
Sol: t   m  kx Sol: M 2
f  (K 1  K 2 )x  F
dt 2 dt dt
1  ms 2 Xs   kXs  X(s)

1
1  ms 2  k Xs 
2
F(s) Ms  fs  K 1  K 2
1
Xs   06. Ans: (b)
ms  k
2
Sol: In force current analogy

1 1 k m
. F i
Xs   m= m m k2 MC
k  k 
s2  s 2
  
m  m 1
  B 
R
1  k  1
x t   sin  .t  K 
mk  m  L

Control Systems EE PDF

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Control Systems EE PDF

Uploaded by

Copyright:

Available Formats

Control

ACE Engineering Academy Hyderabad|Delhi|Bhopal|Pune|Bhubaneswar| Lucknow|Patna|Bengaluru|Chennai|Vijayawada|Vizag |Tirupati | Kukatpally

  Forward Path1: G1G3G4

06. 02. Ans: (a)

07. Ans: (b)

ACE Engineering Academy Hyderabad|Delhi|Bhopal|Pune|Bhubaneswar| Lucknow|Patna|Bengaluru|Chennai|Vijayawada|Vizag |Tirupati | Kukatpally

05. Ans: (c) S

06. Ans: (a)

ACE Engineering Academy Hyderabad|Delhi|Bhopal|Pune|Bhubaneswar| Lucknow|Patna|Bengaluru|Chennai|Vijayawada|Vizag |Tirupati | Kukatpally

4s 3. Time Response Analysis

First loop gain = G2H2  0.32

ACE Engineering Academy Hyderabad|Delhi|Bhopal|Pune|Bhubaneswar| Lucknow|Patna|Bengaluru|Chennai|Vijayawada|Vizag |Tirupati | Kukatpally

s2 + 2ns + 2n  0 2n  100

07. Ans: (d)

13. Ans: (a)

 s2 1 1 18. Ans: (c)

time = 1 sec Characteristic equation is Ms2 + Bs+K = 0

ACE Engineering Academy Hyderabad|Delhi|Bhopal|Pune|Bhubaneswar| Lucknow|Patna|Bengaluru|Chennai|Vijayawada|Vizag |Tirupati | Kukatpally

ACE Engineering Academy Hyderabad|Delhi|Bhopal|Pune|Bhubaneswar| Lucknow|Patna|Bengaluru|Chennai|Vijayawada|Vizag |Tirupati | Kukatpally

System is marginally stable. (ii) s6 + 2s5 + 2s4 + 0s3 −s2 − 2s − 2 = 0

ACE Engineering Academy Hyderabad|Delhi|Bhopal|Pune|Bhubaneswar| Lucknow|Patna|Bengaluru|Chennai|Vijayawada|Vizag |Tirupati | Kukatpally

ACE Engineering Academy Hyderabad|Delhi|Bhopal|Pune|Bhubaneswar| Lucknow|Patna|Bengaluru|Chennai|Vijayawada|Vizag |Tirupati | Kukatpally

2s2 + 18 = 0  It is BIBO stable

06. Ans: (d) t

Characteristic equation 1 – G(s).H(s) = 0

s4 + 2s2 + 1 – k = 0 ….. (1) 08. Ans: (a)

ACE Engineering Academy Hyderabad|Delhi|Bhopal|Pune|Bhubaneswar| Lucknow|Patna|Bengaluru|Chennai|Vijayawada|Vizag |Tirupati | Kukatpally

= –3 [180+ 60] = –720

01. Ans: (a) 03. Ans: (a)

K 04. Ans: (b)

ACE Engineering Academy Hyderabad|Delhi|Bhopal|Pune|Bhubaneswar| Lucknow|Patna|Bengaluru|Chennai|Vijayawada|Vizag |Tirupati | Kukatpally

But s = – 1.57 do not lie on root locus K

point of inter section: s =  j 2

05. Ans: (b)

ACE Engineering Academy Hyderabad|Delhi|Bhopal|Pune|Bhubaneswar| Lucknow|Patna|Bengaluru|Chennai|Vijayawada|Vizag |Tirupati | Kukatpally

08. Ans: (c) 11. Ans: (d)

09. Ans: (a)

10. Ans: (b) Phase crossover frequency (pc):

= 180+1804590 = 225 2pc = 16  4  pc = 8 rad/sec

ACE Engineering Academy Hyderabad|Delhi|Bhopal|Pune|Bhubaneswar| Lucknow|Patna|Bengaluru|Chennai|Vijayawada|Vizag |Tirupati | Kukatpally

Gain margin (G.M) = 1  2  0.958  2  0.0417

03. Ans: (c)

04. Ans: (b)

 s  09. Ans: (b)

ACE Engineering Academy Hyderabad|Delhi|Bhopal|Pune|Bhubaneswar| Lucknow|Patna|Bengaluru|Chennai|Vijayawada|Vizag |Tirupati | Kukatpally

12. Ans: (c)

ACE Engineering Academy Hyderabad|Delhi|Bhopal|Pune|Bhubaneswar| Lucknow|Patna|Bengaluru|Chennai|Vijayawada|Vizag |Tirupati | Kukatpally

15. Ans: (d) GH plane

ACE Engineering Academy Hyderabad|Delhi|Bhopal|Pune|Bhubaneswar| Lucknow|Patna|Bengaluru|Chennai|Vijayawada|Vizag |Tirupati | Kukatpally

 Nyquist plot is the mapping of Nyquist 

enclosing the entire right half of S-plane  pc

At  = pc= 3  101800 G(s)H(s)-plane

respect to negative real axis is

ACE Engineering Academy Hyderabad|Delhi|Bhopal|Pune|Bhubaneswar| Lucknow|Patna|Bengaluru|Chennai|Vijayawada|Vizag |Tirupati | Kukatpally

(∞    0) in the TF G(s)H(s), which

Mapping of section C4: It is the radius ‘’ G(s)H(s) plane

semicircle, therefore sub s  Lim e j

gives clockwise infinite radius semicircle in

ACE Engineering Academy Hyderabad|Delhi|Bhopal|Pune|Bhubaneswar| Lucknow|Patna|Bengaluru|Chennai|Vijayawada|Vizag |Tirupati | Kukatpally

20. At  = 50 rad/sec, slope is changed to

 20dB  20 log K  20 log   20 1     20 1   

ACE Engineering Academy Hyderabad|Delhi|Bhopal|Pune|Bhubaneswar| Lucknow|Patna|Bengaluru|Chennai|Vijayawada|Vizag |Tirupati | Kukatpally

–20 = 20logK – 20 log/ = 1 rad/sec 03. Ans: (b)