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Set No. 1

IV B.Tech I Semester Supplimentary Examinations, February 2008 ADVANCED CONTROL SYSTEMS (Electrical & Electronic Engineering) Time: 3 hours Max Marks: 80 Answer any FIVE Questions All Questions carry equal marks ⋆⋆⋆⋆⋆ 1. State the basic theorem for determining the concept of controllability of time varying system utilizing state transition matrix. Explain the same with proof. [8+8] 2. For the system • 0 1 x = x −2 −3 ﬁnd a suitable Lyapunov function V(x). Find an upper bound on time that it takes 1 to within the area deﬁned the system to get from the initial condition x(0) = 1 by x2 + x2 = 0.1 . [16] 1 2 3. (a) Consider the system X = Ax + Bu 1 0 1 0 0 A = 0 2 0 ; B = 0 1 1 1 0 0 3 Obtain the controllable companion form (b) Prove that if the linear time-invariant system is controllable and bi( = 0) is the ith column of B, then there exists a feedback matrix ki such that the single• [8+8] input system x = (A + Bki ) x + bi ri is controllable. 4. (a) Discuss some typical control problems to provide some physical motivation for the selection of a performance measure.

4 (b) Consider a unity feedback system with G(s) = s(s+α) •

The output is required to track unit step input. Find the value of α that minimizes integral square error. [8+8] 5. Illustrate with an example the problem with terminal time t1 free and x(t1 ) ﬁxed [16] 6. For the system • x = u, with |u| ≤ 1, ﬁnd the control which drives the system from an arbitrary initial state to the origin and minimizes J = |u(t)| dt, t1 is free.

0 t1

[16]

7. (a) Explain the popular intentional nonlinear elements and their functionalities. (b) Derive the Describe function for Saturation nonlinearity. [6+10]

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**Code No: RR410205 8. A linear second-order servo is described by the equation . .. 2 e + 2 ζ ω e + ωn e = 0
**

n

Set No. 1

•

where ζ = 0.15, ωn = 1 and e(0) = 1.5, e(0) = 0 Determine the singular points. Construct the phase trajectory, using the method of isoclines. [16] ⋆⋆⋆⋆⋆

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Code No: RR410205

Set No. 2

IV B.Tech I Semester Supplimentary Examinations, February 2008 ADVANCED CONTROL SYSTEMS (Electrical & Electronic Engineering) Time: 3 hours Max Marks: 80 Answer any FIVE Questions All Questions carry equal marks ⋆⋆⋆⋆⋆ 1. State and prove canonical decomposition theorem. 2. Check the stability of the system described by • x1 = −x1 + 2x2 x2 1 • x2 = −x2 by using the variable ?gradient method. 3. (a) Consider a single-input/single-output system • 0 0 1 u x + X= 1 −1 − 2 y= 1 2 X Check for controllability and observability. (b) Now introducing a feedback signa[u = r + [2 − 1]X in (a) comment on controllability and observability. [4+4+4+4] 4. A plant is described by the equations 0 0 1 u x1 (0) = 1 x2 (0) =Choose the feedback law u=−K[x1 +x1 ] x+ x= 1 0 0

α

[8+8]

[16]

**Find the value of k so that J=1/2
**

0

(x2 + x2 + λu2 )dt is minimized when 1 2

(a) λ = 0 (b) λ = 1 Also determine the values of minimum J in two cases. [4+4+4+4]

5. Illustrate with an example the problem with terminal time t1 ﬁxed and x (t1 ) free. [16] 6. (a) State and explain the principle of optimality. (b) Obtain the Hamilton Jacobi equation for the system described by • x = u(t) subject to the initial condition x(0) = x0 Find the control law that minimizes

t1

j = 1/2x2 (t1 ) +

0

(x2 + u2 ) dt : t1 Speciﬁed

[2+6+8]

7. (a) Explain the popular inherent nonlinear elements and their functionalities. (b) Derive the Describe function for an on-oﬀ nonlinearity. [6+10]

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Code No: RR410205

Set No. 2

8. Consider the system shown in Figure 8 , the input r is a unit-ramp function. Draw . [16] a typical trajectory in the e e plane.

Figure 8 ⋆⋆⋆⋆⋆

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Code No: RR410205

Set No. 3

IV B.Tech I Semester Supplimentary Examinations, February 2008 ADVANCED CONTROL SYSTEMS (Electrical & Electronic Engineering) Time: 3 hours Max Marks: 80 Answer any FIVE Questions All Questions carry equal marks ⋆⋆⋆⋆⋆ 1. Convert the system x(t) = y(t) = −1 0 0 −2 1 1 x(t)+ 1 1 u(t)

x(t)

(a) Find, if possible, a control law, which will derive the system 1 in2sec. from X(0) = 0 to x1 = 1 (b) Find, if possible, the state x(0) when 3 y(t) = 1 e−2t + 2 for u(t) = 1, t > 0 2 2. Check the stability of the system described by • x1 = −x1 + 2x2 x2 1 • x2 = −x2 by using the variable ?gradient method. 3. (a) Explain the diﬀerent methods of determination of observer gain matrix (b) Consider the system described by the state model • −1 +1 where A = ; C = [1, 0] Y =Cx X = Ax 1 −2 Obtain the state observer gain matrix using all 3 methods. The desired given values for the observer matrix are µ1 = −5, µ1 = −5 [8+8] 4. Consider the plant • 1 0 x+ X= −1 − 2 1 u 0 [8+8]

[16]

(a) Select any values for matrix Q and R with the constraint that they are positive deﬁnite and design a controller for the plant so as to minimize.

α

X T Qx + uT Ru dt

0

(b) Check that the resulting overall system is stable.

[8+8]

5. Illustrate with an example the problem with terminal time t1 ﬁxed and x (t1 ) free. [16] 6. (a) Formulate the continuos time process as a multi state decision process 1 of 2

Code No: RR410205 (b) What is the principle causality?

Set No. 3

[8+8]

7. Determine the amplitude and frequency of the limit cycle of the system shown in Figure 7. [16]

Figure 7 8. A second - order servo containing a relay with dead-zone and hysteresis is shown in the block diagram of Figure 8. Obtain the phase-trajectory of the system for the • initial conditions e(0) = 0.6.5, e(0) = 0. Does the system have a limit cycle? If so, determine its amplitude and period. [16]

Figure 8 ⋆⋆⋆⋆⋆

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Code No: RR410205

Set No. 4

IV B.Tech I Semester Supplimentary Examinations, February 2008 ADVANCED CONTROL SYSTEMS (Electrical & Electronic Engineering) Time: 3 hours Max Marks: 80 Answer any FIVE Questions All Questions carry equal marks ⋆⋆⋆⋆⋆ 1. Convert the system x(t) = y(t) = −1 0 0 −2 1 1 x(t)+ 1 1 u(t)

x(t)

(a) Find, if possible, a control law, which will derive the system 1 in2sec. from X(0) = 0 to x1 = 1 (b) Find, if possible, the state x(0) when 3 y(t) = 1 e−2t + 2 for u(t) = 1, t > 0 2 2. State any two properties of B1 B0 and explain them. [8+8] [8+8]

3. (a) Explain the linear system with full-order state observer with neat block diagram. (b) Design a full-order state observer for the given state model. 1 −1 ; C = [1, 0] Given A = −2 1 and given values are µ1 = −5,µ2 = −5. 4. (a) Explain output Regulator problem? (b) Consider the linear plant of a system characterized by the transfer function G(s)0=100/s2 . Make the output C(t) follow a unit step input r(t) minimizing.

α

[8+8]

**J= {(x(t) − c(t)2 + 0.25u2 (t)}dt where u(t) is the actuating signal of the
**

0

plant.

[8+8]

5. Illustrate with an example the problem with terminal time t1 ﬁxed and x (t1 ) free. [16] 6. Obtain the Hamilton- Jacobi equation for the system X1 = X2 X2 = 2X1 +4 J = X(0) = 0 To minimize J = 1/2X2 (t1 ) 1/2(x2 + x2 + u2 )dt 1 2

0 t1

Final t1 is specif ied.U(t)andX(t) are not constrained. 1 of 2

[16]

Code No: RR410205

Set No. 4

7. (a) Explain the concept of limit cycle and jump responses. (b) Derive the equation for the describing function N for the hysteresis nonlinearity shown in Figure 7. [6+10]

Figure 7 8. Draw a phase-plane portrait of the system deﬁned by . x 1 = x1 + x2 . x 2 = 2x1 + x2 . ⋆⋆⋆⋆⋆

[16]

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