M. Tech.

(Industrial Drives & Control / Power Electronics & Power System)

First Semester (C.B.C.S.)
Advanced Control Theory
P. Pages : 3 NIR/KW/18/4405/4420
Time : Three Hours *1993* Max. Marks : 70
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Notes : 1. All questions carry marks as indicated.
2. Solve Question 1 OR Questions No. 2.
3. Solve Question 3 OR Questions No. 4.
4. Solve Question 5 OR Questions No. 6.
5. Solve Question 7 OR Questions No. 8.
6. Solve Question 9 OR Questions No. 10.

1. a) Obtain the time response of following system. 8

 x1  1 0  x1  1
 x  = 1 1  x  + 1 u
 2    2  
Where u(t) is a unit step occurring at t = 0 and x T (0) = 1 0 .

b) The system is described by x1 = x 2 ; x 2 = −2x1 − 3x 2 . Find the state transition matrix 6

(STM).

OR

2. a) The system is described by equation 8

 x1   0 1 0   x1  1
 x  =  3 0 2  x  + 1 u
 2    2  
 x 3   −5 −7 6   x 3  1

 x1 
y = 1 1 1  x 2  Obtain the state variable feedback u = k  x so that closed loop
 x 3 
system exhibits an underdeveloped response with  = 0.8, t s = 4sec and time constant is
0.1 sec.

b) Discuss pole placement method by state feed back in brief. 6

3. a) Define sampled Data Control System? Explain the functioning of block diagram of SDCS. 7

b) A discrete time system is described by the following difference equation 7

y(k + 2) + 3y(k +1) + 2y(k) = u (k)
&
y(0) = 1, y(k) = 0 for k  0
Find the response of control system.

OR

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4. a) Find the inverse Z – transform of 7
2
4z − 2z
f (z) =
z3 − 5z2 + 8z − 4

b) Obtain pulse TF of system shown in fig. below. 7

x(s) 1− −sT 1 c(s)

e
s s +1
T = 1 sec ZOH Plant

Gp(s)
Fig. 4(b)
5. a) Consider the sampled data system of fig. 5 (a). Determine characteristic equation in Z 7
domain and ascertain its stability in the bilinear transformation.

T = 1sec
x(t) e(t) 5 c(t)
e*(t) s (s + 1) (s + 2)

Fig. 5(a)

b) Find the range of k for the system shown in fig. 5 (b) to be stable. 7

T = 1 sec
x(t) + k c(t)
ZOH e−Ts
_ s (s + 1)

Fig. 5(b)
OR
6. a) Explain controllability & observability test for digital control system. 6

b) Consider the characteristic equation of second order system. 8

f (z) = 2z4 + 7z3 + 10z2 + 4z + 1
Use Jurys Test.

7. a) State & explain Lyapunov’s main stability theorem with respect to stability analysis. 7

b) Comment on stability of system using Lyapunov’s stability theorem as applied to linear 7

system. Also find Lyapunov’s function.
 0 1
x= x
 −1 1
OR

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8. a) Explain Krasovskii’s method of constructing Lyapunov’s function for non – linear system. 6

b) Consider the linear autonomous system 8

 −1 −2 
x(t) =   x (t)
 +1 −4 
Using the direct method of Lyapunov determine the stability of equilibrium state.

9. a) Formulate & Solve the problem of finding the minimum distance between two points in a 8
plans using the calculus of variation approach.

b) The system defined by 7

x1 = x 2 (f ), x 2 = u (f ) is to be controlled to minimize the performance measure
2

2
J= 1 u 2 dt . Find optimal control using Hamilton method. The boundary conditions are,
0
x1 (0) = x 2 (0) = 1 & x1(2) = x 2 (2) = 0 .

OR

10. a) Explain the principle of invariant embedding. 7

b) For the system x = u with | u |  1 find the control which drives the system from an 7
arbitrary initial state to the origin and minimizer
t1
J=  u(t) / dt; t1 is free.
0

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