4.

The sensors used to feedback the outputs of the temperature control and magnetic levitation
experiments are ---------------- and …………. respectively. [2]
1. RTD (resistance temperature detector) 2. Hall effect sensor
5. A student in lab class says, ‘since a lag network introduces phase lag at all frequencies, it
can’t be used for increasing the stability of a system’. Comment on this statement. [2]

False. Lag compensator uses gain reduction ( at higher frequencies) to improve

performance. When lag network is used, gain cross frequency shifts to left which results in
higher phase margin. At higher frequency, phase lag by the lag network is very small.

6. Write a MATLAB code to display a single state trajectory of a second order linear system
with an equilibrium point which is unstable node. Sketch the approximate trajectory. [5]

ts=[0 1];
function c= lquiz(t,x);
c=[x(2);-2*x(1)+3*x(2)];
x0=([-2;-1]);
[t,x]=ode23('lquiz',ts,x0);
plot(x(:,1),x(:,2))

Only the function will be different in other sets. (4+1). If the code is correct, then only the second
part will be checked. If there is mistake in the code, no marks will be awarded. IN the end term
exam also, there will be a question based on ODE command.
7. Nonlinear systems exhibit many phenomena which are not seen in linear systems. Name any
two (other than limit cycles and chaos). [2]
Jump resonance, multiple equilibrium points, input dependent stability, subharmonics oscillations,
frequency entrainment
8. How the error detector and controller are physically implemented in magnetic levitation
experiment?

If you write OPAMP circuit, then 1 mark can be awarded

9. Which of the state variable(s) (name the physical variables) are measured by direct
application of sensors in the Flexible Link Manipulator experimental setup? If all the state
variables are not measured, how is the full-state information used for state-feedback control?

1
 : the rigid angular displacement at the base, and : the angular displacement of
the tip of the flexible link are the two variables that are directly measured.
and are calculated using time-derivative operators.

10. A state-state representation of the linearized system of the Flexible Link Manipulator
.

The necessary condition for the existence of a state-feedback gain matrix such that is

Hurwitz is (A,B) is controllable. Verify the condition for the above matrices. 1 mark
[0 0.0001 -0.0005 -0.0504
0 -0.0001 0.0005 0.0757
0.0001 -0.0005 -0.0504 0.8866
-0.0001 0.0005 0.0757 -1.1011]