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Scheme of Valuation/Answer Key

(Scheme of evaluation (marks in brackets) and answers of problems/key)
APJ ABDUL KALAM TECHNOLOGICAL UNIVERSITY
SIXTH SEMESTER B.TECH DEGREE(R&S) EXAMINATION, JULY 2021
Course Code: EE304
Course Name: ADVANCED CONTROL THEORY
Max. Marks: 100 Duration: 3 Hours
PART A
Answer all questions, each carries5 marks. Marks

1 (5)

Sketching realisation 3 marks Sketching the realisation

with opamp circuit can also be given credit.

Deriving transfer function 2 marks Corresponding

derivation to the opamp circuit may also be given credit.
2 Writing the closed loop characteristic equation-2 marks (5)
Finding the closed loop poles -16.1, -2.96 + 3.32i and -2.96 - 3.32i – 2 marks
The two complex conjugate poles close to the origin -2.96 + 3.32i and -2.96 - 3.32i
are the dominant ones- 1 mark
Full credit may be awarded if the student attends the question without solving the
C.E and writing the conclusion as follows
The system has three poles one to the left of -15 on the real axis is not dominant and
the other two closer to the origin and to the right of the open loop pole at -5 are the
dominant poles – 5 marks
3 - 3 marks, since diagonal matrix STM can be directly written (5)

Computing -2marks

4 Block diagram 3 marks, Additional components Sampler, ADC, digital controller, (5)
DAC, Hold ckt (or reconstruction ckt) 2 marks for atleast 4 elements.
5 Inherent 1 mark example(Friction is an example) 1 mark, Intentional 1 mark (5)

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example (Relay control system is an example) 2 marks,

6 Definition 2 marks, writing the general expression for gain and angle 1 mark. (5)
Assumptions: Single, static, time-invariant nonlinearity linear component of the
system is low pass and eliminates harmonic frequencies at the output of nonlinearity
(only fundamental component is allowed to pass) 2 marks.
7 Do not obey superposition, have multiple equilibrium points, exhibits limit cycle, (5)
Frequency entrainment, Jump resonance, sub harmonic oscillation, etc. Five points
5 marks.
8 Infinite equilibrium points (+nπ,0) with n=0,1,2,3,… 5 marks. 3 marks can be (5)
awarded if only one equilibrium point as (0,0) alone is identified.
PART B
Answer any two full questions, each carries10 marks.
9 Adjust the gain to meet Kv as 10- 2 marks. Bode plot of gain adjusted system- 4 (10)
marks. Design of lag compensator- 3 marks. Bode plot of compensated system- 1
marks.

Compensator transfer function , where a can be α or β depending on

the compensator which is lag or lead. To achieve Kv=10 Kc should be 10 (2 marks).

Sketch the bode plot of the gain compensated system phase margin is 18

degree at 3.1 rad/s. (4 marks)

The gain cross over frequency is specified to be 1 rad/s which means the possible
compensator is a lag because the above bode diagram crossover frequency is 3.1
rad/s. Addition of lead compensator increases the cross over frequency further. The
frequency at which the required phase margin is achieved when the phase angle is -
180+40+5(tolerance) =135 degree which is at 1 rad/s as specified in the question.

Gain at 1 rad/s is 20dB so β=10. corner frequencies at 1/10th of

gain crossover frequency ie (3

marks) To justify the design is satisfactory sketch the bode plot of compensated
system and show that phase margin is 40 degree. (1 marks)

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50

-50

-100
10 -2 10 -1 10 0 10 1 10 2

-80

-100

-120

-140

-160

-180
-2 -1 0 1 2
10 10 10 10 10

10 Computing damping ratio for less than 20% over shoot means more than 0.454 (can
be approximated as 0.5) (1 mark), Natural frequency required for 0.454 damping
ratio is 5.8737 rad/s (approximated to 0.5 damping ratio it is 5.4 rad/s) 1 mark,
desired dominant pole -2.7+j5.3 approximated case (-2.7+j4.7) 1 mark,

since
the dominant pole is not on the root locus a lead compensator is required and the
phase lead required is 23.7 degree (approximated case 26.22 deg) 2 mark, locating

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zero of compensator at -3 corresponding pole of the compensator will be at -5.4

at 2 Marks. Identifying gain of compensator 2 marks

(approximated case ). Identifying

velocity error constant satisfies kv>5 1 mark

(approximated case velocity error constant ).

11 a) Ultimate gain ku=12 1 mark, ultimate time period Pcr=1.405s ( )1 (6)

mark, P controller kp=0.5*ku=6 1 mark, PI controller kp=0.45*ku=5.4 and

Ti=Pcr/1.2=1.1708 1 mark, PID controller kp=0.6*ku=7.2, Ti=Pcr/2=0.7025 and Td=
Pcr /8= 0.1756 2 marks
b) Realisation 2 mark, working 2 marks (4)

PART C
Answer any two full questions, each carries10 marks.
12 a) Transformation matrix 2 marks.

Transforming the 3 matrices 3 marks.

b) Computing the characteristic equation (5)

3 marks, unstable since the sign of coefficient in not identical 2 marks.
13 a) Identifying the desired characteristic equation - 2 marks, Controller (5)
gain k=[7 11] (student can use any formula for feedback gain or can even equate
coefficients of CE and the CE with feedback gain ie. |sI-A+bk|=0)- 3 marks
b) Computing transfer function 5 marks. (5)

14 a) Proving to be unstable 6 marks (6)

|an|<a0 0.065<1

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P(1)=1.2950>0
(-1)4P(1)=1.2950>0 2 marks
Rows z0 z1 z2 z3 z4
1 0.065 -0.37 0.63 0.6 1
2 1 0.6 0.63 -0.37 0.065
3 -0.9958 -0.624 -0.589 0.409
4 0.409 -0.589 -0.624 -0.9958
5 0.8243 0.8623 0.8417
Table 2 marks
|-0.9958|=0.9958>0.409
0.8243>0.8417 not satisfied 1 mark
Hence the system is unstable. 1 mark.
b) Structure 2 marks (4)
Anxn, bnx1, c1xn, d1x1 dimensions 2 marks
PART D
Answer any twofull questions, each carries 10 marks.
15 (10)
Describing function 1

marks, sketching polar plot

2 marks, -1/N
locus as X varies from 2 to infinity -1/N varies from -1 to -∞ ie along negative real
axis 2 marks, Limit cycle exist at the crossing point at -1.43 Stability of limit cycle
Stable by perturbation approach 2 marks, frequency of limit cycle (phase angle of
equate to -180 degree and solve ) 3.16 rad/s be 2 marks and amplitude
equating the magnitude at crossing point with magnitude of -1/N X=7.2 1 marks
16 Writing isocline equation 4 marks (2 marks each for the two isocline equations) (10)

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x1>0 , and x1<0 , Sketching the isoclines 3

marks sketching the trajectory 3 marks.

Credits may be given if the student attempt with any other approach.
17 Computing a P matrix from PA+ATP= -I (identity matrix) gives (10)

5 marks. Proving that the matrix P is positive definite,

p11=1.0278>0 and |P|=0.0974>0 proves definiteness 3 marks. Concluding the

system is globally asymptotically stable 2 marks.
Credits may be given even if the student takes any other negative definite matrix
other than -I (identity matrix), solve and prove. Also marks may be given even if the
student checks through eigen values of A matrix having negative real part.
****

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