EE 387: CLASSICAL CONTROL SYSTEMS MARKING SCHEAME

Q1. Briefly explain with an aid of a diagram what a control system is. (10 marks)
Ans:

A control system is basically an interconnection of various components in a particular

configuration to provide a desired system response or output. The system controls the variable
output to the desired value by applying proper input or controlling signal to the system input
terminals. The input-output relationship of the system represents the cause and effect
relationship of the system parameters controls the output signal to have desired output. The
basic illustration of a control system is shown below: (8marks)

Input
(Controlling Signal)

Control System

Output
Controlled

(2MARKS)

Q2. As control engineers we tolerate the differences between desired response and actual
response because of the many advantages of control systems, state five of these advantages.
(10marks)
Ans:

Power Amplification: Statellite dish can be positioned by a low power knob at the input
but requires large power to rotate. Power gain is one good reason for building control
systems.
Dangerous Applications remote control of a robot arm for handling nuclear material.
Compensation for Human Deficiencies e.g. to help handicapped people for the exoskeleton used by Ripley in Alliens.
Convenience by change of form of Input Temperature control is by the position of a
dial on a thermostat, output is heat.
Compensation of Disturbances Typical control variables are temperature, position and
velocity, voltage, current or frequency. The control system must yield the correct output
even in the presence of disturbances.

(2marks each for the above )

Q3. (a) Briefly explain with an aid of a diagram Open Loop Control System.
(b) State two advantages and two disadvantages of open loop control system.
(10marks)
Ans (a)
An open loop system is that system in which the control action is independent of the system
output. Thus, an open loop system utilizes a controller to control the system process in such a
way as to obtain the desired output without considering the actual system output as shown below.
(3marks)

Desired System
Output
Amplifier
Output

Controller

Controlled
System Process

System

This type of system is sensitive to surrounding conditions like vibrations, voltages, aging etc
(3marks)
(b) ADVANTAGES OF OPEN LOOP SYSTEM

Relatively simple, resulting in cost, reliability and maintainability advantages.(1mark)

Inherently stable.(1mark)

DISADVANTAGES OF OPEN LOOP SYSTEM

Relatively slow in response to demanded changes.(1mark)

Inaccurate, due to lack of corrective action for error (departure of actual value from
desired value)(1mark)

Q4. (a) Give one practical example each of an open loop control system and closed loop control
system.
(b) Briefly explain the thermostatic control of room temperature as an example of closed loop
control system.(10marks)

Ans.

(a) Examples are the control system in a microwave oven, automatic toaster system, traffic
control system etc(2marks)
A familiar example of a closed-loop control system is thermostatic control of room
temperature.(2marks)

(b) A familiar example of a closed-loop control system is thermostatic control of room

temperature. The desired temperature as set on the thermostat is the reference; the actual
temperature is recorded on a thermometer. When the room temperature falls below the
reference temperature, the thermostat is activated, a valve in the furnace is opened and
heat is sent into the room until the desired temperature is reached.(5marks)
1mark for a suitable diagram.

Q5. Reduce the block diagram below to open loop form:

(10marks)
SOLUTION

(2marks for each step)

Q6. (a) Briefly explain with an aid of a diagram Closed Loop Control System.
(b) State two advantages and two disadvantages of closed loop control system.
(10marks)
Ans (a)

A closed loop control system is that system in which the control action is somehow dependent
upon the system output. Thus, a closed-loop control system measures the actual system output,
compares it with the input and determines the error, which is then used for controlling the system
output to have the desired value. The block diagram of a closed-loop control system is shown
below: (3marks)

Reference
Controlled
Input
Error
Output
R(s)
Comparator
C (s)

Actuating

Controlling

Signal
Amplifier

Signal
Controller

System Plant

Output Measuring Device

(3marks)

Feedback Path

(b)
ADVANTAGES OF CLOSED-LOOP SYSTEM

Relatively fast in response to demanded changes

Relatively accurate in matching actual to desired value
Relatively independent of operating conditions
Transient performance and steady state errors can be controlled more conveniently and
with a greater degree of flexibility than with open loop systems often by simple
adjustment gains in the loop and by redesign of the controller (called the compensation)

(2marks for any two)

DISAVANTAGES OF CLOSED LOOP SYSTEM

Relatively complex, and therefore more expensive than open loop systems
Potentially unstable under fault condition

(2marks for the two above)

Q7. (a) How do we determine if a System is Stable?

Recall from our study of system pole and zeros that poles to the left of the imaginary axis in the
s-plans-a region called the left-half plane (LHP) yield responses that are either decaying
exponentials or damped sinusoids. These natural responses decay to zero as time approaches
infinity. Thus:
Closed-Loop stability: a closed loop control system is stable if all the closed loop poles are
located in the left half plane.

(b) A feedback control system has the open loop transfer function G(s) =
Determine the error in the response of the system to an input, r(t) = t2

Solution
It is necessary to evaluate only C0, C1 and C2.
Now

G(s) =

System is type 1

20 (1+ 0.1 s)
s(1+0.2 s )

Bode gain K1 = 20

C 0=0

C1 =

[ (
2

C2 =

1 d
1
2
2 d s 1+ 0 (s)

1
K1

)]

= 20

s =0

s( s+5)
1 d d
2 ds ds s ( s+5 )+ 10(s +10)

s=0

10 (s +10)
s ( s+5) .

s ( s+ 5 ) +10( s+10)

2
d
s
+20
s+50
= 5

ds

Thus
e(t) = C0t2 + C1.2t + C2.2
e(t) = 0 +

e(t) =

t
10

2
2
t+
20 400
+

1
200

s=0

1
400