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[ POVVERLINE RE"IiIEVV c EiNi-S-ER, 1iI1nlc;~
PART 1 : CONTROL SYSTEMS
I

the

Three Basic Tvpesof Control Systems.

I. Man"madecontrol systems
Narural, includingbiologica!

The Control Systems Enqineerinq Problem:

I.. Ana/ysis- is the )\1v.i:;SJigi!liQn
M the propeniesof an existing system.
2. Design - problern is the cboice and arnlJlgemcnt of control system components to perform a
specific task.

The Representation of the Problem: The Mode!

Three basic represemations (models) of phvsica! componcnts and systems are extensively
employed in ,he studyofconrrol systems. ,
I. DiffcrClltial equations and \/thel' mathematical relations,
2. Block diagrams
:;. Signa i flow graphs

The Linear Systems & Superposition:

A lil1earsyskms is a system which hilSthepn:?pertvthat If an input XI(r) produces arl OlltplltYI(t)
and an input x; (I) produces'an output of ,r, (I), then an inp~t (', x, (I) -I-( ',x, (I) produces an output
Ci YI (I) + C,)', (I) 1,)1'all pairs or input XI (I) and .\ c (f) and all pairs of constants C! and ('" A Linear
Systenl can bc oftcn !\:prcsentcd by linear diffe:'ential~quatio!l,
The principle ,of superposil ion: Tile re$ponsc Y(f) .of a linear system due to several inputs Xi (r),
X2(I ),...."xn (I) acting sill1ulraneou'ilvis equal to the 'slimof the respimses of'each input acting alone, That is
if' y, (I) is the response due to the inpUt X (r). tikl1:
"

y(d == I>"
':',1
(I)
The Solution of Linear Constant Coefficient Ordinary Differential Equation:
eonside!' the classof Differential Equationof the form:
*'" d'v *' ' d'x
L, C! "- .::: L, 1J --
"ot> 'dt' <oil; d/'
Where: " I " is time" the coefticientsa, &hi ~re constant.
X ==x(1) <the input> is 3 kno\I'n time function and
y = Y(l) <theourput.> isthe unknownso!utiOl)oft/l,eequation.
n =: is c,dled the order of the ditTefelllial e(juariOn,

The solution of a differentia! equation 01.' this class can be divided into two parts. a "free
responsed" and a "force responsed". The sum of these two responsesconstitute the "total responsed"
or Thesolution )':(1) of the equation.
fi.

,',

Electrical Analoqies: .,.

There are two electrical analogies of mechanical systems:

I. The Voltage-Force or 'Mass-Inductance analogy
1. The Curre'nt-Force or Mass-Capacitance analogy

The followingtabk shows both the voltage-force & currcnt-force"analogies for mechanical.systems:
"'-.
VoltageJforce analogy Current-force analogy
Force, F ! Voltage, u Force. F I Current, i
Velocity. dxldt Velocity, dxldt
Damping, b , Current, i Damping.b Conductance, G
Mass, m Inductance. L Mass. m , I Voltage, u
Capacitance. C
Spring constant, k '1' Elastance, R
Resistance,1!C Spring constant; k ! Reciprocal of L (1IL)

In general. in laying out equivalent electric circuits for mechanical systems. the following rule is observed:
If the forces act in series in the mechanical system. thc electrical elements representing Ihese forces
. are put in parallel. Forces in parallel are represented by elements in selles in electric circuits.

Stabilitv & Transfer Functions:

Stability of a system is determined by its response to inputs or disturb~ne~s. A stabJe system is one
that. 'will remain at rest unless ex.c'itcdby an external source and. will retUrn to rest ir all excitations are
removed,A systemis "stable" ifeverybounded inputproduces a bounded output. ' .

Transfer Function H (.i-) or a systemi;, defined as that fi!Cwr in the equation fur} '(.\) mul[iplying
the Iransforril of tile input "r(s). For the given system de;;cribe.abovc. the transfer function is:
r(s)"" H(s). );'(s) + (terms dueto all initialvalues .\';~oy:;)
Note: H(s) is independentof the input signal. it solely determined by the parameters of the circuit
or network,

Block Diaqrams & Signal Flow Graphs:

, Block diagrams. these are shorihand. graphic,,1represen[ijtiollSor either the schematic diagram of
a physical system.or the seTof mathematicalequation characterizing its paris.
Signal flow graphs - is a pictOrial representation or Ihe simulraneous equations describing. a
system. It graphically displays the transmission of signals Ihl'Ough Ihe ;,ystem. as doe,,-thc hlock ,diagram. But it
is easier to draw and ,therefore easier to manipulate than the block diagram.

The Mason's Gain Formula:

A procedure that allows to find the transfer function. by inspection. of either a block diagram or a
signal flowgraph.
. C(s) ! {- .
f (s ) =0 ---,- =0-- L JL/\.
. R(s) 1'..11 . .
Where: IV" = gain of the kth, ternrforwardpath (k = L2 n)tr01l1inputnode R(s)to the output
node ('(s)
6 = I -. (sum of all loop gain) (sum of producTsor loop gains over all sets of .two non-
T

touching loops) '. (sum or productsor loopsgains over all setsof 'tlm:e: non-touching
loops) . .. .

il, = value of 11ifailioops Ihat touch the'kth. t(JI'\\'ard path ham R to C are expected,

The function A(s)is kn'ownas the "detenninant" of thc signal !low graph.
 PART 2 :ELECTROMAGNETICS
Coulombs Law I Electrostatics:

It states that the force between t\\lO very small ot;Jjecrsseparated in a Va~LJlIIJ1
or free space by a
distance which is large compared to their size i, PFc1purt'ionallo lhecharge '111eachalld inverse!y proportional
IO the sqllare of the distance between them.' .

Math~m?tica/!y: F = QI Q2, a R Newtons

. 4m:.R-

Where: QI' Q2 = respective charges in Coulomb, R= separation distance in ineters

[: = permittivity of the medium = Eo' Er (for air f:,. = 1.0)
... OOC I'i~f' I ..9 -
6'0 = pel"lnJttJvlly cOIl,tant ~. ().(L)'41()
X "r; III "= -:; , !0 f','rn
J67T
a R = unit vector in the direction of R

Electric Field IntensitY:.

It is a vectol' forcc on a unit positive lest charge. Elcctric field intensity rnust be measured by the unit-
Newton per Coulomb or Volts per meter.
E=- Q Volts Newton
Mathematically: ... or
4m: .-R2' a R m Coul
Standard Charqe Canfiquartion:
1. Point charge - a field of a single point charge Q is given by:

Q Volrs Nevdon
E o,~---, a, or --_._---- . ,phe:'ical coordinates'"
4lrE '1' 111 Coni

1.. Infinite line charge... if charge distribution with uniffJrlTJdensity of p, (CouUm) aiong an
infinite straight line which will be chosen as the Z-axis. then the tield intensity is given by:
Volts Newton
E =-p, ---. 0 I' -.- <cvlindrical coordinates'
'2;~:.-; a, mCou/

3.
Infinite sheet charge -. if charge is distributed with a uni Conn dcnsityof p, (Colil'm")
over the plane. then the tleld imensity is' given by:
p, Volts Newton ..
E =.-'- a n or <cartesmncoordmates>
2f: m' Caul
Where: a II.c, unit vector perpendicular (norlllal) to the plane
Gauss's Law:
The electric flux passing through any closed surface is equa! to the total charge enclosed. For the
electric fTux densitv, D we have: lJl
. = 0-ene .-- m I = 1 08 (is'. .
tC)
'

Where: III = electric flux in Coulomb (a scalan

D = electric flux density in Coulomb/Ill' (a vector)

d.5 = differentiaJ surface inm' (a vector) & 1 = integral of closed surface

Note: D =I:"L.',E in COLI lomb"mc

Gauss Divergence Theorem:

The surface integral of normal component D over the surface is equal to the volume integral of
divergence D over the volume integral. .
1D 8 dS = Jpc dV = f(V. n)dV in Coulomb
 ,,'

,,;
>.
But p,,== Jiv D = \7,. D" from !\1axwelh $;q~lati9q-
", , ' ,-' - ,,- ' ,p ','
, a a C
WhereV = "de!" or "nabla" operator = --- a, + - a +'-::':"a "
as, "
, "', ", ,," "~""," - , """',, ",,' f' ox-. -' ,a~\L'

tilectHc-Potential BeiWeeh Two'Points:; '":,,,

The potential of point' "A"wiili i'espectio point "f3" is defined as the work done in moving a uni
positive charge Ql: fron] "8" to "A",
Work ' ' ,

V;H =~
Q,
=- fE..dl
f<
in volts or Joule
C'0ul
Relation 01' V to [ is E = -\7 I', where \7 V ==gradient of V,
Current and Current Density:
Theeleclricchargcs in motion constitute a current. Current density is a vector J,

I = fJ ..dS in Amp
Poisson's Eguation &Laplace's Equation:
From \7.. D = P : also D = &', E and E = _\7 V
'" -,0 , --p
Consider, y' .E(- vT)== P thus, v .. V' J =c ,--- or v': I - == :.
[; [;

Where: \7 .. V V ==divergence of divergen~e of \i = Laplacian of V

Ampere's Law & Magnetic Field:

Biot-Savart Law --- a differential lie!d strength dH, results II-om differellli,1I cune"lt
I, de, The [Ield varies inversely with the distance squared, ",independent ,ot'the $tIlToundlllg medium, and
has a direction given by thecros$-product of I ell and a I.
I ell x a, , Amp
H = J ,,-- l!'1-,-- -----
'J 4-" r:' mereI'
Current Densitv, J & Maqnetic Field, H:
V x II = J ';=(curl H) ==a E
Where: 0'= conduclivily ofthc material in mhl).'jJle!er-

'ia, a, a - i
Curl B =,-
° 1
-
G ai faB,
--'-j = i , "-
-- --:-'-
aB, "
:a \ + i
( 3B,
;;--:...- ---;:-'-
DH - ':
Ia, + 1--
( DB , 3H.-
Ia =
- ~.::---'--
d::) \oz'cx) \ox (;\'
I:~ ~', ~==I \ GY
Flux Densitv & Stokes Theorem: (Ampere's Circuital Law)

B ==/-I}( 1A. elf "' 1B" d,')' ~ JI" 1.1 a liS ,~)
\Vhere:, A = magncticpOTentialvector.
Elec.tromaqnetic Waves:
Wave Equations: v: x H =-(0- -<-j mE:) E,tlso 17x E = -j di}..iH
\7"E=O & V..H'=O
Propagation Constant: r = (X-f iP
i-T!'='-;=-.
L/E!! 10'\
~-~-i',
Where: a = attenuation factor in neper'l1l = fi) 'I ') i,- i I + i-! - 1 I,
\,
i C"
", -- !V '- (Ov i , .

i. j
,--------

,-'
i ~ !7"'-~
. i pc; i I 1 a i . i
l
f3 ::= pI1aseshirt constant in rad'm -=(I) i-: ,I J + j -- i -j-1 ,
\! 2 I \ \ ro£! i
 Ii!
.. \

A\PO~~~~:,~:::;:_E::~:~:~}n
1
1

[ PO"~RL'R' , ':

CONTROL SYSTEw.S..&: ELE:,C-r:n.O1V.l..B:GI\IET:lC::S :,

1
R.EV.E~ PftOBLEI\IIS "

I
1. Is a short-hand, pictorial representation of the cause-and-effect rel~tionship between ;~ I
the input and output of a physical system. "
A. flow chart (g) block diagram
S. bar chart D. signal flow graph

2.A power-amplifying feedback control system wherein the controlled variable is

mechanical position or a time derivative of position such as velocity or acceleration is...
A:
S.
timer
regulator
" . (::9servomechanism
D. automation
<
'
"s:n;:,\.<',@
'~~"-r'c'"
.'1Kf-.J "

3. Is that part of the total response which does, not approach zero as time approaches
infinity?
@ steady state - 7>11'CJe.f<.","S R>I"~ c; C. ' signal
S. transient C't'{WT\C\'\.J-;:- S'P\-'IJ) D. force

4. Is that part of the total response which approaches zero as time approaches infinity?
. A. steady state. C. signal
(8~ transient ~ 'N"'.]H ~,-A'~. f:..E~ R> }J.\'-s, D. force
. j . (c..oI.,{"'ilh.,;",<,:...I"1,'\\>-OG .$:<>'--'iJ) ,

5. Laplace transform method of solution is applicableto equations containing:

A. differential terms only C. vector terms only
, S, integral terms only (5)
' scalar terms only "

6. ,Method of determining continuous system stability, a criterion that can be applied to an

. nth. Order characteristic equation.
@ Routh criteria C. continued fraction criteria
S. HurNitz criteria D. locus of point

7. Is another method for determining whether all the roots of the characteristic equation of
a continuous system have negative real parts:, ' ,
A. Routh criteria ' ,. C. continued fraction criteria
@ Hurwitz criteria D. locus of point, " '

2(.1 + 1)
8. Determine the initial value of the function ((I) whose Laplace is F(s) =-':/- , .~ ~-l-'- .
M ".. ... + ,),1 + ,. "s
A. 1 ~ 2 G. 0 D. 3. ,

" ;
I

9. Determine the final ,value ofthe functionl(t) whose Laplace is F('d = ss+,)
( 2~X+ I) - )
s+) i!
'J i,
A.-=- 8. - I C. 0, r~D. J -2' i:
f
15 15 '~ 75
/I
, .

10. Consider the system with differential equation 1"+2.1'= u'+u , find the transfer function.
l
A> s + I, B. ~.:.-.~ C ~-- D. .~.
fC) s+2 s+1 .1'+2 .\'+1

!"'J!::~ f.<f'o.-~!'-'i'\-'1'(' F<:>i"" !--"! -g T-i...e. , 2.. ' ."'!'=-. 0'

 11. Find the transfer function C(s)/R(s) for the system shown.

+
P"($) C(s)
+

A _GIG2 (iD,~i +(;2 c, (;\ -G, D. ,~iG2

l-C-- 2 H I ~~/]-GH I I I-G2H: JI H I
1 - (~-

12. Determi~e the damping ratio S and undamped natural frequency OJ"in rad/see for the
el2Y d}'
second order system: 2- -:-4 -,.. + 8 y = 8x
ell 2 dt .
C~) 0.5, 2. 8. 0.5,4 C. 0.25, 1 D. 2,4

13. Determine the time constant 7' in sec and damped natural frequency (:),: in rad/see for
d" v ~dy
the second order system: + )-'."
-.:'- -1.91' = 9,
dt2 dl' , '.

A 0.4, 066 D. 0.25, 0.55

8. 0.5, 1,66 @) 0.4, 1.66

14, Given )"'+3y'+2y ==U , with initial condition J'(O) = 0, y'(O} = 1, find the free response
fA\
'...j c" .. c.2' B. - e"-j-e-2, C, c" -:- 0, _., e" - c.2/

15 From the differential equation of prob. #14. find the force response if u(t) = 1
'

A I ,..,., ."/ (, -' I ? -, "1 \

, -Le +e'
C
\v)
,../ '),
.:.
(J C -:-e';

1 , ]
8 ( .1 .2/

) 0 (1
,.., -, ~. "
)
'2 1- e +e . 2' - Le -:- Le '

16. Find the total response y(t) of the differential equation y" + 3y' -:-2 y ==] of prob #15 with
initial conditions ;-(0) = 0, y' (0) = ] ,
] 21 ] ,1 "

j (
( ) ( -21'
) 21
'

Ai 1-:- e 8. 4'] + e ,.
,~.

'.92' \1 - e '
",'

) D.
(
4' 1 - e
)
"
17. A servo system for a pen plotter is given by the f9110wingblock diagram. Find the value
ofK required to get the fastest response without any overshoot is given by: I

+ f
1<.(5) K (($) I
S ($+2)

A. 10 (8:) 1 C. 5 0, 100
~. 18. Find the force on a+100.).lCoutcha~ge at (0,0,..3)m, if four like charges of +20 ~iCoul.
are located on the x and y axes i: 4ri1. 0". ..
W 1.73 az NeVI/ion. C. 3.71 az Newton
B. 0.72 az Newton . D, 2p az Newto.n,
19. What is the flux crosses the closed surface which contains a charge distribution in the
form of a plane disk of radius 4m with a density p, = ~in~ t. Coul/m2?
. '. '.. . 21'

A. 2/rr. Coul C IT Caul

8. 1[/2 Caul @ 2n Caul

20. Find the charge in the volume defined by 1sr s 2m in spherical coordinates if :
.
-~ cas-~.rp C II 3 ..
P, =
'..
,---
r"
au m
A. 10x Caul @ 5x Caul
8. 51x Caul D. 10lxCou!

21. A uniform sheet charge with Ps = (1/3n) nCoul/m2is located at z = 5m and uniform line ~

charge with-Pl= (-.25/9)nCouUmat Z = -3m, Find lEi at (x. -J. O)m. f~~.~ m \ I
(j)B. 14.42 vOlts/m._:,~
12.42 volts/m fi. C
0 4122
2122 volts/m
VOltS/ill
I
22. In a cylindrical condtJctor of radius 2mm. the 'current density varies with the distance !~
~
from the axis according to:IJI ::: 103(-'-40C' Amp/m2, the total current I is:
~
A. 5.71 mA @ 7.51 mA
l\

8. 1.57 mA . D. 5.17 mA

23. Given the general vector H ::: (y cos ax) ax .,. (y + eX)az find !J! at the origin 1

A. 1.73Amp/m2 C 1.00 Amp/m2

8. 1.57 Amp/m2 D. 2.00 Amp/m2
I
'~
24.ln cylindrical coordinates B= -=-a~
r
Tesla Determine the magnetic flux <I> crossing the i

plane surface defined by 0.5 ::; r s; 25m & 0 S;z :52 Om

A. 4.66 Wb . C. 14.64 Wb
B. 6.4,4 Wb D. 16.46 Wb

25. What is the electric field intensity' of an omni-directional antenna at 1 km distance if the .i~

transmitter power is 1 kW? (17= 120x ) i i:'C Bfi

A. 150.8 C. 173_2
8. 135.2 0 120.5

Rev. Probs.Sepc.2008
 --- """... - w - ----
S'iJPPLEI'WENTARY PROBLEWJ:S ...

1. Is an algebraic or transcendental equality which Involves more than one value of the
dependent variable corresponding to more than one value of at least one of the
independent variable(s).
A. differential equCltion C. linear equation
B. difference equation D. quadratic equation

2. Under force-voltage analogy, velocity is analogous to which of the following?

A charge' C. current
B. capacitance D inductance
3. Under force-current analogy, capacitance is analogous to which of the following?
A. mass C. displacement
B. velocity E) momentum
J. c'
4. Find the initial value of the function f(l) whose Laplace is F(.\') =,---,'.::'._---
. s., + 2s' + 9s -f 6
A1 C. 0
B. 2 D. :;;

"-
,.,. \/\ihat is the transfer function of a system whose input and output are related by the I
foliowingdifferentialequation: )"'.,-3y'+2 j = 1/'+1/
S 1- 1

A :\:T~-3.\~+-i C .~' ~~j:=-'2

B. -~~j -: D :;-~:_~_.u-
s" 1- +.'-t .\'+41'+)

6 From the differential equation given y"+4y'+4.y ~~ 311'+21/ Find the forced response.
Where X(I) =e .1, , I ?~ O.
(, ' .
A. 7\e -, e--"'., Ie "' ) C. 5(c" +-e 1: -I- Ie 21 )
B. 7(e" - c"[ + Ie ) D. 5(c",' 'n e' + [e

7. From the differentia! equation given )""+4y"+6y' 0=II. Where initial conditions:

y(O)==Lv' = 0& y" ==-1 . Find the free response

l' . .
A ..-(e<'.-e-1cos[-3c"sinl) C J-(e2'+c"COSI+3I!'sinl)
}
4
1 "", ] 'I' ~,.
B. - (C - e cas I - .., -,. .
_1e SII1I J D (c .. +e cos I - .Je S1111 )
2 . . 4 .

8. Determine the damped natural frequency (0,;, damping coefficienf a respectively for
. d' ~
the following second order :2, + 4 ::... + 8 J == 8u
ell - dl .

A 2,1.5 C. 3,0.5
,.
B. h,1.25 D. -J3 f 1
 f,

9. Determine the damping ratio <:: ' undamped natural frequency (I)" respectively for the
.].' , ch'
foi/owing second 'order: " .+ ., ...:" + 91' = 9/1
ell' . ell .
A. 2/3, 2 rad/see C. 5/6. 3 rad/sec
B 4/5, 2,5 rad/see D. 1/3, 3.5I'ad/sec

10. Find the transfer function C(s)/ R(s) for the system shown.

-t of-
lZ(s) ,~ CCS)
1'"

/' ,', .,
f .r
[S] (
A ~~,~ (1':..J=.'.i..- )
(
c.
/' (I . ., !-j
)
_.S__~~J,L\ ~-~~-~~:"'-_I.c
l-G:!Hi l+GIH:

B ~~~~;:, ~gl H_~l D.

-G,(I . --([,Hi)
,------...

I--ClIH, l..-GJ-f;

11 Find the output y(l) of a system described by the differential equatioll .1"+3,1"+2.1' = 1 + I
'.vith initial conditions )(0) = O. y'(O)=-c 1
;. ., I
A 1/4lSc' ,- 7 C-2, + 21 -- 1J C. 1/4 !81' .. + .31" - 2/ .. J J
B . 1'l/ 418e'l + 7('..21 +?/-j +] i C
' 18
l !..4 L'
' -I .. ,2, ~
1J
. J. e -- )c - lJ --

12. From the differential equation of prob. #11.. find the transient response
A J/4l8c'-2/.-Ij C 1/4ls1'+7c.'rj
8. 1/4(2! -I) D. 1/4l8(' -- 71'" J
13. Given the following close-loop system' Find the value of K for the which the system
becomes marginally stable and the frequency of oscillation respectively when K is set to
make the system marginally stable. /--fint apply Routh-Hurwitz criterion

+ !
1«s) /(
.$ (~+').)(s:tio)
c Cs)

A 1O, 10Hz C. 100, 1.2 Hz

B. 240, 0.71 Hz D. 60, 2 Hz
 14. Two point charges, Q1= SOp C and O2= lOP C are located at (-1.1, -.3) m and (3, 0.1)
m respectively Find the force on 01.
A. 0.144 ax.- 0.108 8z Newton C. -0.144 ax - 0.108 a2 Newton
B. 0.144 ay + 0.108 az Newton D. 0.144 ay .- 0.108 az Nevvton

15. Find the charge in the volume defined by 0 S; x :-s:] rn, .- 1 S; .1 s; Om and 0::; :: :5 Jm if
PI' = 30x2y j.1Goul/m3?
A. -10,llCoul C -5,L1 Caul
B. 5 JLCoul D 10 f.I Caul

16. The electrical field between two concentric cylindrical conductors at r = 0.01 m and
r=0.05 m is given by lEI == 1051r volts/m. Neglect fringing Find the energy stored in
O.5m length. Assume free space.
/\. 0.025 joule C 0.422 joule
B. 0.224 joule D. 0.052 joule

17. For a line charge Pi = 0.5 nCoulfm on th'e z-axis. Find VAs, where A (2m. rr/2. 0) and
B (4m, IT,5m)
A. 6.24 volts C 2.46 voits
B. 4.26 volts D. 462 volts

18. Given the D =L~~~

-)
ax Coul/m2 Using divergence theorem determine the flux (charge)
for the volume of a.cube 2m on an edge centered at the origin and with edges par.a!!el
to the axes.
A. 40/3 Caul C 20/3 Caul
B. 80/3 Coul D. 60/3 Cou!

19. Calculate the attenuation factor for a conducting medium In which 8 == 58 XI 06 mho/m,
~lr = 1.0, Sr= 1.0 at a frequency of 10'0 MHz in neper 1m.
A. 115,391 neper/m C 315,915 neper/m
B.151,319neper/m D.319,515neper/m

20. Polarization of an electromagnetic wave is .

A the direction of its magnetic field component with respect to ground
B. the direction of its electric filed component with respect to ground
C. the orientation of antenna that generates it
D. none of these

Practice makes perl"ec'l: !

SuppLProbSepc.2008