EE 4001 CONTROL SYSTEM-II

PROBLEM SHEET-2

Q1) Investigate the sign definiteness of the scalar function given by:

𝑃(𝑥1 , 𝑥2 , 𝑥3 ) = 𝑥12 + 4𝑥22 + 𝑥32 + 2𝑥1 𝑥2 − 6𝑥2 𝑥3 − 2𝑥3 𝑥2

Q2) Non-linear element in the block diagram given in Fig.1 is such that its describing function is
1
given by: K N ( X )  45 0 . Find the amplitude and frequency of the periodic oscillation, if it
X
exits. Is the oscillation sustainable (stable).

r(t) y(t) 10 2
x(t) c(t)
K N (X ) s 1  0.5s 
+ -

Figure 1

Q3) Obtain the describing function for a non-linear element represented by the function,
y(t )  k x 3 (t ) , where k is constant.

Q4) Obtain the describing function for following nonlinear elements having corresponding
input-output characteristics:
y(t) y(t)

+2 +2

x(t) -1 x(t)
+1

-2 -2

(a) Ideal Relay (b) Relay with deadzone

y(t)
y(t)
+M
2
1 x(t)  x(t)
-1 +
+1
-M

(c) Simple deadzone (d) Saturation or limiter

 y(t)

+M

  (   h)

(   h)  x(t)
-M

(e) Relay with Hysteresis and deadzone

Q5) For the following systems, use the quadratic Lyapunov function, 𝑉(𝑥) = 𝑥12 + 𝑥22 to show
that origin is asymptotically stable.
𝑑 𝑑
(a) 𝑥 = −𝑥1 + 𝑥22 b) 𝑥 = −𝑥1 + 𝑥12 𝑥2
𝑑𝑡 1 𝑑𝑡 1

𝑑 𝑑
𝑥 = −𝑥2 𝑥 = −𝑥2 + 𝑥1
𝑑𝑡 2 𝑑𝑡 2

𝑑 𝑑
(c) 𝑥 = −𝑥1 − 𝑥2 d) 𝑥 = (𝑥1 − 𝑥2 )(𝑥12 + 𝑥22 − 1)
𝑑𝑡 1 𝑑𝑡 1

𝑑 𝑑
𝑥 = 𝑥1 − 𝑥23 𝑥 = (𝑥1 + 𝑥2 )(𝑥12 + 𝑥22 − 1)
𝑑𝑡 2 𝑑𝑡 2

Q6) For the system represented by the state space equations given in question 5, investigate the
existence of limit cycle using Bendixson’s criteria.

Q7) Determine the stability of origin of the system using Lyapunov’s second method.

𝑑
𝑥 = −𝑥2 + 𝑥1 − 𝑥13
𝑑𝑡 1
𝑑
𝑥 = 𝑥2 + 𝑥1 − 𝑥23
𝑑𝑡 2

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