BITS-PILANI, K K BIRLA GOA CAMPUS

Semester II, 2021-22

CONTROL SYSTEMS (ECE F242/ EEE F242/ INSTR F242)
Midsemester examination, Regular [CB] Date: 14/03/2022
Maximum Marks: 90 Duration: 90 minutes
Write the answers to the qucstions in P'art-A on a separate, printed answersheet provided. Write
only the final answers.
Rough-work for Part A can be done only on the last two pages (4-sides) of the Main Answersheet.
U s e the Main Answersheet to write the answers to the questions in PartB.
PartA (15X3M= 45 marks, First 40 minutes)

Q 1: A battery modeled as a capacitor C is charged by a DC source through a current path of resistance R, as

shown in Fig. Fig-AQ-1. The input is vnt) = 5 u(t) V and the parameters are given by R= 5 k2 and
C=1000 uF. The battery voltage v,() is chosen as the output. Determine the transfer function The
Vin (5)
pole of the transfer function is located at s = p. The value ofpis

inS Vs)

Fig. Fig-AQ-1
Q2: Forthe system described in Q1, how long (tfinal, in seconds) does the battery voltage v,(t) take to reach
99% of the input DC value?

Q 3: Suppose that, for the system described in Q 1, the output is chosen as the current (i(t)) through the
capacitor with the input chosen as the voltage vin (t). The zero of this system is located at s = z. The value
of Z is

Q4: A unit step signal is applied to a system G(s) = " The steady state value ofthe response (css) is
(S+2)

Q5: The dynamics of a plant is modeled through the following differential equation: dy(t) + 2y(t) = 3x(t). A
dt
unit step is applied to the system. Assume the initial condition to be zero (that is. at t = 0, y(t) = 0). Find
the response y(t) = y1 at t = 1 second, for the unit step input. The value of y is

6 : The loop-gain in a unity gain negative feedback control system is given by G(s) = T k Ifthe reference
(s-2)
input R(s) is a unit step, find the value of the constant k = k, that ensures a stable closed-loop response C(S)
with a settling time (95% accuracy) of 3 seconds.
100
Q7: The loop-gain in a unity gain negative feedback control system is given by G(s) =- Find the
s(S+12)
setling time (t, in seconds) , assuming 2% tolerance, for the unit step response of the closed-loop system.

Q 8: The loop-gain in a unity gain negative feedback control system is given by G(s) = Calculate the
+12)
damped frequeney of oscillations (oa in radians/s) in its closed-loop response for the reference input of a
unit step.
Q9: The loop-gain in a unity gain negative feedback control system is given by G(s) = 10(s+a) Find the value
s(0.5s+1)
of the zero a. so that the closed-loop steady state error in tracking a unit ramp input is equal to 20%

10: Considera unity gain negative fecdback system with the plant transfer function Obtain
165+1
the value of k for which the closed loop system has exactly poles on the imaginaryaxis.
=
kmg two

Q11: Consider a negative fecdback system with the plant (forward) transfer function G (s) = k(s+4)
s(5+1) and the

feedback transfer function H(s) = Let k = kmarg >0 denote the gain at which the closed loop system
is marginally stable. The value of kmarg is

Q12: A negative fecdback system has the forward path transfer function G(s) = k(s+3) and a feedback
s2435+2
transfer function H(s) =1. Let k = kpa and k = kg), (0 < kgA < kp) denote the gain at the break-away
point and the gain at break-in point, respectively, in the root locus of the closed-loop system. The valuc of
kBA is
Q13: For Q 12 above, the valuce of kgj is

Q14: Consider a negative feedback system with the plant transfer function G(s) = 3k and the feedback
s+?
transfer function H(s) = r3 Let k = kmarg2>0 denote the value ofthe gain for which the closed loop
(s+3)
system is marginally stable and let s = j b, b> 0 denote the corresponding location of the imaginary axis
crossing point (for one of the branches of root locus). The value of kmarg2 is
Q 15: For Q 14 above, the value of b is
 Part B (45 marks, 50 minutes)
Instructions:
Write all the steps elearly and give cexplanations for complete credit.
Overwritten answers will not be rechccked.
Make suitable assumptions wherever neeessary and mention them clearly.

Question 1: A dynamical system is deseribed by the following set of cquations:

X(s) = R(s)- X2(s), Xz (s) = G, (s)X, (s), X,(s) = X2(s)-X, (s), X, (s) = X, (s) + X,(s)- X,(s). X,(s) =
G2(s)X4(s), C(s) = Xs (s) + X, (s), where X, (s) denotes the Laplace transform of the intermediate signals
xi(t) for i-1,..5. Let R(s) and C(s) denote the Laplace transform of the input r(t) and output c(t),
respectively.
a) The following schematic shows the signals X;(s), i=1,..S, R(s) and C(s) as part of the block diagram of
the system.

R(s) Xi(s) X2(s) Xs(s) Xa(s) Xs(s) C(s)

Complete the block diagram which represents the system described above. Show the subsystems G, (s) and
G2(s). as well as the adders and take-away points at appropriate places in the block diagran with reference
to the above schematic. [3M
b) From the block diagram in part (a) above, determine the transfer function C(S) using block diagram
R(s)
reduction. Show all the important steps. [4M
c) The following schematic shows the signals X;(s), i-1,.5 , R(s) and C(s) as part of the signal flow graph
of the system described above.
O O O O O
R(s) Xi(S) X2(s) Xs(s) Xa(S) Xs(s) C(s)
Complete the signal flow graph which represents the system deseribed above. Show the subsystems G1(s).
G2(s), and all other gains at appropriate places in the signal flow graph with reference to the above
schematic. 3M
d) From the signal flow graph in part (c) above, determine the transfer function using Mason's gain
R(S)
formula. [SM
Question 2: The plant G (s) = c a i s controlled by a controller G(s) in a unity gain negative feedback
control system, as shown in Fig. Fig-B-Que-2.

>

Fig. Fig-B-Que-2
a) Find the gain G.(s) = k, of the Proportional controller G(s) that will result in the closed loop time constant
to be 20% of that of the open loop. 3M
b) With G(s) = kp , the gain computed from part (a), find the following for a unit step reference input: steady-
state error and settling time (in seconds) assuming 2% tolerance with respect to steady-state output. [3M
c)The controller in part (b) is now replaced by an Integral controller given by G(s) = Find the minimum

gain k that ensures the steady-state error in tracking a unit ramp input to be s 5%. 3M
d) In this part we assume the compensator to be G(s) = ki/s, where k/ =25. Find the following fora unit step
reference input: peak time, settling time (for 2% tolerance) and the peak value of the output c(t).
[6M
Question S: Let the plant transfer function in a closed-loop system be given by Gp(s) +5) and a

compensator G,(s) = k is conneeted in series with the plant. A scnsor with the transfer function H(S) = ;
measures the output of the plant and completes the loop by negative feedback. The characteristic equation of the
Overall negative feedback control system is given by 1 +G (s)G,(s)11(s) = 0.

n the root locus analysis, let k = kna > 0 and s = s8A be the gain at the breakaway point and the location of
tne breakaway point, respectively. Let k = kimg>0 and s = Simg be the gain at the imaginary axis crossing

point and the location of the imaginary axis crossing point (corresponding
to the posilive imaginary axis),
respectively.
Answer the following questions:
the location of the breakaway point s =
SgA: [4M)
a) Obtain the gain at the breakaway point k kua >0 and
=

b) Obtain the gain at the imaginary axis crossings k = kimg >0 and the auxiliary polynomial. 3M
c) Compute the location of the imaginary axis crossing s =
Simg (corresponding
to the positive imaginary axis)
for k = kimg0. [2M
of the control system. Label the graph
d) Draw a neat sketch of the root locus for the closed-loop analysis
properly and show numerical values of all the points computed
at steps (a), (b) and (c). 4M
whether the point s 1 +2j
= is a root of the closed loop characteristic
c) Use the angle criterion and check
equation 1+G(s)Gp (s)H (s) 0 for some k> 0. Justify your
=
answer. 2M