QUESTIONS

UNIT-I
PART-A
1. Write Mason’s gain formula
2. What is system?
3. What is control system?
4. What are the two major types of control systems?
5. Define open loop and closed loop systems.
6. What is feedback? What type of feedback is employed in control system?
7. Why negative feedback is preferred in control systems?
8. Distinguish between open loop and closed loop systems.
9. Define transfer function.
10. Write force balance equation of ideal spring, ideal mass ideal friction.
11. Name the two types of electrical analogous for mechanical system.
12. What is signal flow graph?
13. Write down force-voltage analogous equations relating the mechanical
and electrical system for a simple mars spring-damper system.
14. What are the two assumptions to be made while deriving transfer
function of electrical systems?
15. Define path.
16. Define non touching loop.
17. what are the merits and demerits of closed loop system.
PART-B
1.Write the differential equations describing the motion of the mechanical system
shown in Fig. Also find the transfer function X(s) /F(s).Draw force voltage and
force current analogous circuit. (16)

2.Derive the transfer function of Armature controlled and field controlled dc

servo motors (16)
3.Obtain the overall transfer function of the system shown in Fig. (8)

4.Reduce the block diagram and obtain transfer function C(s)/ R(s) shown in
Figure. (10)
5.Find C/R for the signal flow graph shown below by mason gain formula (8)

6. Draw the signal flow graph for the block diagram given in Fig.
and obtain the transfer function C(s)/R(s). (16)

UNIT-II
PART-A
1. What is time response?
2. What is transient and steady state response?
3. Name the test signals used in time response analysis.
4. Define step signal and Ramp signal.
5. Define parabolic signal and impulse signal
6. How is system classified depending on the value of damping?
7. What is damped frequency of oscillation?
8. List the time domain specifications.
9. Define rise time, delay time, peak time, peak over shoot.
10. What is steady state error and What are the static error constants?
11. Define position, velocity and acceleration error constants.
12. What are generalized error constants? And List the advantages of
generalized error constants.
13. What are the effects of damping ratio on the time response of a second
order system?
14. Define order of the system
15. Closed loop transfer function of a second order system is given by
400/ (s2+2s+400). Determine damping ratio and natural frequency of
oscillation.
16. What is the effect on system performance when a proportional controller is
introduced?
17. What is the disadvantage in proportional controller?
18. What is the effect of PI controller on the system?
19. What is the effect of PD controller on the system?
20. Why derivative controller is not used?
 PART-B
1.Define and derive various Time domain specifications (16)
2,Write short notes on standard Standard Test Signals used in control system. (6)
3.Derive the unit step response of second order undamped system.(8)
4.Derive the unit step response of second order under damped system. (8)
5.Find the steady state error for unit step, unit ramp and unit acceleration inputs
for the following systems. (8)

6.Write Generalized error series and what are the advantages of Generalized
error series. The open loop transfer function of a servo system is given by,
10 3t 2
G (s) Evaluate the error series for the input, r(t)=1+2t+
S (0.2S + 1) 2

7.Draw the root locus for the open loop transfer function of a unity feedback
k
control system given below. G(S) = (10)
S ( S + 6 S + 10 )
2

8.Draw the root locus for the open loop transfer function of a unity feedback
k
control system given below. G(S) = find the value of K so that
S ( S + 2)( S + 4)
the damping ratio of the closed loop system is 0.5 (16)
UNIT-III
PART-A
1. What is frequency response analysis?
2. What is Nichol’s chart? What are the advantages of Nichol’s chart?
3. What is polar plot?
4. Define Phase Margin and gain cross over frequency.
5. Define Gain Margin and Phase cross over frequency
6. How do you calculate the gain margin from the polar plot?
7. How do you find the stability of the system by using polar plot?
8. What are the advantages of Bode plot?
9. List the Frequency domain specifications?
10. When the transfer function is said to be in minimum phase and non-
minimum phase?
11. What is cut off frequency? What is Band width?
12. Define resonant peak and resonant frequency?
13. Define corner frequency in frequency response analysis
14. What are the advantages and disadvantages of frequency response
analysis
15. The damping ratio and the natural frequency of oscillation of a second
order system is 0.5 and 8rad/sec respectively. Calculate the resonant peak
and resonant frequency.
16. What is All pass system?
17. What is approximate bode plot?
18. What is minimum phase system?
19. What is non minimum phase transfer function?

PART-B
1.Sketch the bode plot for the following transfer function and determine the gain
10
cross over frequency and phase cross over frequency G ( s) (16)
S (1 + 0.4s)(1 + 0.1s)
2.Sketch the bode plot for the following transfer function and determine the
system gain K for the gain cross over frequency to be 5 rad /sec
G(S) = KS2/ (( 1+ 0.2S )( 1+0.02S )) (16)
3.Draw the polar plot for the following transfer function (16)
10 ( S + 2)
G(S) =
S ( S + 1)( S + 3)
4.Draw the polar plot for the following transfer function (16)
(1 + 0.2 S )(1 + 0.025 S )
G(S) = 3
S (1 + 0.005 S )(1 + 0.001 S )

UNIT-IV STABILITY AND COMPENSATOR DESIGN

PART-A

1. State Nyquist stability Criterion.

2. What is root locus?
3. What is the necessary condition for stability?
4. What is characteristic equation?
5. How the roots of characteristic are related to stability?
6. What do you mean by dominant pole?
7. What are break away points?
8. How will you find the root locus on real axis?
9. What is centroid? How the centroid is calculated?
10. State BIBO stability criterion.
11. State any two limitations of routh stability criterion
12.What are the two types of compensation?
13.What are the three types of compensators?
14.What are the uses of lead compensator?
15.What is the use of lag compensator?
16.When is lag lead compensator required?
17.What is a compensator?
18. Advantages of nyquist stability criterion over routh stability criterion.
19. What are the advantages and disadvantages of the lead compensator?
20. What is the transfer function of lag /lead compensator.

PART-B
1.Using Routh criterion, determine the stability of the system represented by
the following characteristic equation . (6)

2.Construct Routh array and determine the stability of the system represented by the
characteristic equation .
(8)

3.Construct Routh array and determine the stability of the system represented by
the characteristic equation .Also determine the number of roots lying on right half
of S- plane and on imaginary axis. (8)

4.Examine the stability of the characteristic polynomial for K ranging from

0 to ∞. (8)
=0
5.Comment on the stability of the closed loop system as the gain K is changed (8)
6.Realize the basic compensators using electrical network (16)
7.Explain the Design procedure of lag compensator (8)
8.Explain the Design procedure of lead compensator (8)
9.Explain the Design procedure of lag compensator (10)

UNIT-V
PART-A

1. What are the advantages of state space analysis?

2. What are state and state variables
3. What are phase variables?
4. Define state equation and explain its types.
5. define state transition matrix
6. Write the advantages of state space approach.
7.Define state space
8. Define completely state controllable. Name the two test for controllability.
9. Define completely state observable. Name the two test for observability.
10. What is the advantage and disadvantage in canonical form of state model.

PART-B
1.A system is represented by the state equation X’ = AX+B: Y = CX where

−
? ? ? Ê0ˆ

−−
Á ˜
A=?? ? ? ? , B = Á 0 ˜ , C = ?? ? ??determine the transfer function of the
? ? ?? Á10 ˜
Ë ¯
system. (8)

−−
2.The state space representation of a system is given below
??′ ? ? ? Ê x1 ˆ Ê 0 ˆ

−−−
Á ˜ Á ˜
??′= ? ? ? ? ? * Á x2 ˜ + Á 0 ˜ U
??′ ? ? ? Á x3 ˜ Á 1 ˜
Ë ¯ Ë ¯
??
Y = ? ? ? *?? obtain the transfer function (8)
??
3.Determine the controllability and observability of the following system
??′ ? ? ? Ê x1 ˆ Ê0ˆ

−−
Á ˜ Á ˜
??′ = ?? ? ? ? * Á x2 ˜ + Á 0 ˜ U
??′ ? ? ? Á x3 ˜ Á10 ˜
Ë ¯ Ë ¯
Ê x1 ˆ
Á ˜
Y = [1 0 0 ] * Á x 2 ˜ (16)
Á x3 ˜
Ë ¯
 ?
4.A system is characterized by the transfer function G(S) =??????????????identify the first
state as the output. determine whether or not the system is completely controllable or
observable (16)
5.Obtain the state space representation for the electrical network (16)

−−
6.Determine the transfer matrix from the data given below (8)
? ? È1˘
A= ? ? B = Í ˙ C = [1 1]D = 0
? ? Î1˚
???
7.The transfer function of a control system is given by G(S) =???????????????
check for controllability. (16)
 QUESTIONS & ANSWERS
UNIT-I SYSTEMS AND THEIR REPRESENTATION
PART-A
1.Write Mason’s gain formula
T= 1/∆ ∑K PK ∆K
The overall gain or transfer function
k – no. of forward paths in the signal flow graph
Pk – forward path gain of kth forward path
Δ – 1- (sum of individual loop gains) + (sum of gain products of all possible
combinations of two non-touching loops) – (sum of gain products of all possible
combinations of three non- touching loops) + etc.,
Δk – Δ for that part of the graph which is not touching kth forward path.
2. What is system?
When a number of elements or components are connected in a sequence to perform a
specific function is called a system.
3. What is control system?
When the output quantity is controlled by varying the input quantity, then the system
is called control system. The output quantity is called controlled variable or response, the
input quantity is called command signal or excitation.
4. What are the two major types of control systems?
Open loop control systems, and
losed loop control systems
5. Define open loop and closed loop systems.
Open loop system: Any physical system which does not automatically correct the
variation in its output is called an open loop control system.
Closed loop system: A system in which the controlling action or input is dependent on
the output or changes in output is called closed loop control system.
6. What is feedback? What type of feedback is employed in control system?
Feedback is a property of the system by which it permits the output to be compared
with input so that appropriate controlling action can be decided.
Negative feedback is employed in control systems.
7. Why negative feedback is preferred in control systems?
Negative feedback results in better stability in steady state and rejects any disturbance
signals. It also has low sensitivity to parameter variations. Hence, negative feedback is
preferred in control systems.
8. Distinguish between open loop and closed loop systems.
Open loop system Closed loop system
Inaccurate and unreliable Accurate and reliable
Simple and economical Complex and costly
Changes in output due to external Changes in output due to external
disturbances are not corrected automatically disturbances are corrected automatically
They are generally stable Great efforts are needed to design a stable
system.

9. Define transfer function.

The transfer function of a linear time invariant system is defined as the ratio of
Laplace transform of the output variables to the Laplace transform of the input variables
under the assumption that all initial conditions are zero.
10. Write force balance equation of ideal spring, ideal mass ideal friction.
Let a force F be applied to an ideal spring with spring constant K. The spring will
offer an opposing force SK which is proportional to displacement.
Let a force F be applied to an ideal friction with friction constant B. The damper will offer an
opposing force S which is proportional to velocity.
Let a force F be applied to an ideal mass M, the mass will offer an opposing force SM which
is proportional to acceleration.
11. Name the two types of electrical analogous for mechanical system.
The two types of analogies for the mechanical system are force-voltage and force-
current analogy.
12. What is signal flow graph?
A signal flow graph is a diagram that represents that represents a set of simultaneous
algebraic equations. By taking Laplace transform, the time domain differential equations
governing a control system can be transferred to a set of algebraic equations in s-domain.
13. Write down force-voltage analogous equations relating the mechanical and electrical
system for a simple mars spring-damper system.
Mechanical system F(s) = M s2 X(s) + B s X(s) + K X(s)
V(s) = Ls2 Q(s) + R s Q(s) + 1/C Q(s) – force-voltage analogy
I(s) = C s2 Φ(s) + 1/R s Φ(s) + 1/L Φ(s) – force-current analogy
14. What are the two assumptions to be made while deriving transfer function of
electrical systems?
1. The system should be approximated by a linear lumped constant parameters model
by making suitable assumptions.
2. It is assumed that there is no loading. i.e. no power is drawn at the output of the
system.
15. Define path.
It is the journey from one node to another in the direction of branch arrows.

16. Define non touching loop.

Loops are said to be non touching if they do not possess any common node.

17. what are the merits and demerits of closed loop system.
Merits:
1. closed loop system is more accurate than then open loop system due to feedback.
2. They are more accurate even in the presence of non linearities.
Demerits :
1. Closed loop system is less stable than open loop.
2. The overall gain of the system is reduced due to feedback

1.Write the differential equations describing the motion of the mechanical system shown in Fig.
Also find the transfer function X(s) /F(s).Draw force voltage and force current analogous circuit.

Solution :
It has two masses. M1 and M2
 Mass1:Free body diagram Mass2: Free body diagram

For Mass1 :Force balance equation in differential form can be written as

f = fm1+fB1+fk1
d 2 X1 d ( X1 - X 2 )
f(t) = M 1 + B 1 + K 1 ( X 1 - X 2 ) ---------(1)
dt 2 dt
d 2 X1 dX 1 d X2
f(t) = M 1 2
+ B1 - B1 + K 1 X 1 - K 1 X 2 ---------(2)
dt dt dt
Take Laplace transform on both sides of eqn (2)
F(s) = M 1 S 2 X 1 ( s) + B1 SX 1 ( s) - B1 SX 2 ( s) + K1 X 1 ( s) - K 1 X 2 ( s)
F(s) = X 1 ( s)( M 1 S 2 + B1 S + K1 ) - X 2 ( s )( B1 S + K 1 ) ---(3)
For Mass2 :Force balance equation in differential form can be written as
0= fm2+fB1+fk1 +fB2+fk2
d2X2 d ( X 2 - X1) dX 2
0 = M2 2
+ B 1 + K 1 ( X 2 - X 1 ) + B2 + K 2 X 2 -----(4)
dt dt dt
d2X2 dX 2 dX1 dX 2
0 = M2 2
+ B 1 - B 1 + K 1 X 2 - K 1 X 1 + B2 + K 2 X 2 -----(5)
dt dt dt dt
Take Laplace transform on both sides of eqn (5)
0 = M 2 S 2 X 2 ( s) + B1 SX 2 ( s) - B1 SX 1 ( s ) + K 1 X 2 ( s ) - K 1 X 1 ( s ) + B2 SX 2 ( s ) + K 2 X 2 (s )
0 = X 2 ( s)( M 2 S 2 + B1 S + K1 + B2 S + K 2 ) - X 1 ( s )( B1 S + K1 ) -------(6)
0 = - X 1 ( s)( B1 S + K1 ) + X 2 ( s)( M 2 S 2 + ( B1 + B2 ) S + K1 + K 2 ) -------(7)
Equations (2) and (5) are differential equations for mass1 and mass2
From equation(7)
X 2 ( s)( M 2 S 2 + ( B1 + B2 ) S + K1 + K 2 ) X 1 ( s)( B1 S + K1 )
( B1 S + K 1 )
X 2 ( s) X 1 ( s) --(8)
M 2 S + ( B1 + B2 ) S + K 1 + K 2
2

Substitute X2(s) value from eqn (8) in eqn (3)

( B1 S + K1 )
F(s) = X 1 ( s )( M 1 S 2 + B1 S + K 1 ) - X 1 ( s ) ( B1 S + K 1 )
M 2 S + ( B1 + B2 ) S + K 1 + K 2
2

( B1 S + K1 ) 2
F(s) = X 1 ( s)[(M 1 S 2 + B1 S + K1 ) - ]
M 2 S 2 + ( B1 + B2 )S + K1 + K 2

( M 1 S 2 + B1 S + K1 )(M 2 S 2 + ( B1 + B2 )S + ( K1 + K 2 ) - ( B1 S + K1 ) 2
F(s) = X 1 ( s)
M 2 S 2 + ( B1 + B2 )S + K1 + K 2
Hence transfer function (L.T of output /L.T input )
X 1 (s) M 2 S 2 + ( B1 + B2 ) S + K1 + K 2
=
F(s) ( M 1 S 2 + B1 S + K1 )(M 2 S 2 + ( B1 + B2 ) S + ( K1 + K 2 ) - ( B1 S + K1 ) 2
Force -Voltage and circuits force -current analogous:
Force –Voltage
From the given block diagram, no.of masses is two hence no.of loops is two.
Replace force by voltage source, Mass by Inductor, Dashpot by resistance and spring by
capacitor then force voltage analogous circuit is given by

Force –Current
From the given block diagram, no.of masses is two hence no.of nodes is two.
Replace force by Current source, Mass by capacitor, Dashpot by conductance and
spring by inductor then force current analogous circuit is given by

2. Derive the transfer function of Armature controlled and field controlled dc

servo motors (16)
∑ A DC servo motor is a low power rating DC motor used as an actuator to drive a load.
DC servo motors have a high ratio of starting torque to inertia and therefore they have
a faster dynamic response.
∑ DC motors are constructed using rare earth permanent magnets which have high
residual flux density and high coercivity.
∑ In this motor no field winding is used, the field copper losses are zero and hence, the
overall efficiency of the motor is high.
∑ The speed torque characteristic of this motor is flat over a wide range, as the armature
reaction is negligible. Moreover speed is directly proportional to the armature voltage for
a given torque. Armature of a DC servo motor is specially designed to have low inertia.
∑ Types : 1.Armature controlled DC servo motor 2.Field controlled DC servo motor.

Armature controlled DC servo motor

∑ Here the speed of the motor is controlled by controlling the field current voltage.
Let Ra --armature winding resistance
La'--- armature winding inductance '
if ----field current is a constant
ia----armature current
eb ---back e.m.f
J --moment of inertia
B0--- frictional coefficient
Ө---angular displacement of the motor

Fig. Armature controlled DC servo motor.

 ∑ When the armature is supplied with a DC voltage of ea volts, the armature rotates and
produces a back e.m.f eb.
∑ The armature current ia depends on the difference of ea and eb. The torque produced
by the motor is given by,
∑ T = KT ia----------- (1)
where KT is the motor torque constant.
The back emf is proportional to the speed of the motor and hence
∑
eb=Kb q ------(2)
The differential equation representing the electrical system is given by,

Taking Laplace transform of eqns. (1), (2) and (3) we have

The mathematical model of the mechanical system is given by,

--------------(8)
Taking Laplace transform of eqn. (8),
-----(9)
Using eqns. (4) and (7) in eqn. (8), we have

----(10)
Solving for Ө(s), we get

----(11)
The block diagram representation of the armature controlled DC servo motor is developed in
steps, as shown in Fig. Representing eqns. (6), (4), (9) and (5) by block diagrams
respectively, we have

Fig.Individual blocks of the armature controlled DC servo motor.

∑ Combining these blocks suitably we have the complete block diagram as shown in
Fig.

Fig.Complete block diagram of an armature controlled DC servo motor

 ∑ Usually the inductance of the armature winding is small and hence neglected. The overall
transfer function, then, becomes,

----(12)

-----(13)
Where

∑ It can be seen from eqn. (12) that the effect of back emf is to increase the effective
frictional coeffcient thus providing increased damping.
∑ Eqn. (13) can be written in another useful form known as time constant form, given
by,

Field controlled DC servo motor

The field controlled DC servo motor is shown in Fig.
∑ Here the speed of the motor is controlled by applying variable armature voltage.

Fig. Field controlled DC servo motor

Let Rf --field winding resistance
Lf'--- field winding inductance '
if ----field current is a constant
ia----armature current
J --moment of inertia
B0--- frictional coefficient
Ө---angular displacement of the motor
Apply KVL to the field circuit and take laplace transform we get

-------(1)
-------(2)
-----(3)
Combining eqns. (1), (2) and (3) we have Transfer function as

---(4)
 The block diagram is shown in Fig.

7.Obtain the overall transfer function of the system shown in Fig. (8)

Solution:
Step 1 : Moving the pick off point to the right of block G3 and combining blocks G2 and G3 in
cascade, we have,

Fig. Pick off point moved to right of block G3

Step 2: Moving the pick off point to the right of block G2 G3

Fig. Moving pick off point to right of G2 G3

Step 3.' Reducing the feedback loop with G2 G3 and H3, and combining it with block G1 in
cascade,

Fig .Reducing feedback loop and combining it with G1

The two feedback paths have the same inputs and both are subtracted from R(s) at
the summer. Hence they can be added and represented by a single block as shown in Fig.
Step 4.' Finally the closed loop in Fig. is and given by
 Result: Overall transfer function of the system C(s)/ R(s)

4.Reduce the block diagram and obtain transfer function C(s)/ R(s) shown in Figure.

Solution:
Step 1 : Move pick off point to left of G2 and combine G2 G3 in cascade. Further
G2 G3 and G4 have same inputs and the outputs are added at summer.
Hence they can be added and represented by a single block as shown in Fig.

Fig. Block diagram after performing step 1

Step 2: Moving the pick off point to right of block (G2 G3 + G4), we have

Fig. Block diagram after step 2

Step 3: Replace feedback loop (G2 G3 + G4) and H2

 Fig. Block diagram after step 3
Step 4: Simplify the feedback further

Result: The transfer function of the system is C(s)/ R(s)

5. Find C/R for the signal flow graph shown below by mason gain formula (8)

SOLUTION:

STEP 1: No .of forward path K = 1

 Forward Path Gain products P1= G1G2G3G4G5
STEP 2 : No.of individual loops 5

Individual loop gains P11, P21, P31, P41, P51

P11 = - G1H1 P12 = - G1G2G3H2 P13 = - G3H3
P14 = - G4H4 P15 = - G5H5
STEP 3 : No.of Two non touching loop pairs is 5

STEP 4: No.of three non touching loop pairs is 1

 P31 = - G1G3G5H1H3H5
STEP 5:Calculation of ∆ AND ∆?
∆ =1-( P11+ P12+ P13 +P14 +P15)+ (P21+ P22+P23+P24+P25)- P31
= 1 + (G1H1+ G1G2G3H2 + G3H3 + G4H4 + G5H5) + (G1G3H1H3+
G1G4H1H4 + G1G5H1H5 + G1G2G3G5H2H5 + G3G5H3H5)+
G1G3G5H1H3H5
1 = 1 -0 =1

? P1 D 1
STEP 6: Transfer function (C/R) ? ∑ ? ? ∆? , T
∆ D
= G1G2G3G4G5
1 + (G1H1 + G1G2G3H2 + G3H3 + G4H4 + G5H5) + (G1G3H1H3 +
G1G4H1H4 + G1G5H1H5 + G1G2G3G5H2H5 + G3G5H3H5) + G1G3G5H1H3H5
6. Draw the signal flow graph for the block diagram given in Fig. and obtain the transfer
function C(s)/R(s). (16)

Solution: The signal flow graph can be easily drawn as below

STEP 1: No .of forward path K = 2

Fwd Path1:

Fwd Path1 gains product P1= -G1G2G3

Fwd Path2:
 Fwd Path2 gains product P2= -G1G4

STEP 2: No. of individual loops 5

P11= - G1G2H1 P12= - G2G3H2 P13= - G1G2G3

P14= - G4H2 P15= - G1G4

STEP 3 : There is no Two non touching loop pairs . (P21= P22= P23=0)
STEP 4: There is no three non touching loop pairs. (P31= P32= P33=0)
STEP 5: Calculation of ∆ AND ∆?
∆ =1-( P11+ P12+ P13 +P14 +P15)+ (P21+ P22+P23)- (P31+ P32+ P33)
∆ = 1-(-G1G2H1-G2G3H2-G1G2G3-G4H2- G1G4 )+0
∆ = 1+G1G2H1+G2G3H2+G1G2G3+G4H2+G1G4
Since all the parts of graph touching with fwd paths 1 and 2,
D1 D 2 1 - 0 1
STEP 6: Transfer function (C/R)
?
?? ∑ ? ? ∆?
∆
P1 D 1 + P2 D 2
T
D
G 1 G 2 G 3 (1) + G 1G 4 (1)
T.F =
1 + G 1 G 2 H 1 + G 2 G 3 H 2 + G 1 G 2 G 3 + G 4 H 2 + G 1G 4
G 1G 2 G 3 + G 1G 4
=
1 + G 1G 2 H 1 + G 2 G 3 H 2 + G 1G 2 G 3 + G 4 H 2 + G 1 G 4