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1
R(s) Y(s)
+ + s(s + 1)
- -
Ks
(C) Phase shift of the closed loop transfer function at very low frequencies (ω→0)
(D) Phase shift of the closed loop transfer function at very high frequencies (ω→∞)
Answer: (A)
1
Y s s s 1
R s 1 Ks 1
s s 1 s s 1
1
s s 1
s s 1 Ks 1
s s 1
1
s s Ks 1
2
1
2
s K 1 s 1
n 1 rad s
2n K 1
2 K 1
K 1
2
Peak overshoot
MP e
1 2
u 1
R(s) Y(s)
+ + s(s + 1)
- -
Ks
1
Y s s s 1 1 1
2
U s 1 Ks s s Ks s s 1 K
s s 1
tan 1
2 K 1
0
2
Torque
Tm Maximum torque
A’ B’
Stable region
A B
T TLoad
A” B” Unstable region
TFL
Tst
O Slip
s=sm s=1
s=0
(N=0)
(N=Ns) s
a) At A machine can be operated in Open loop only & At B machine can be operated
in Closed loop only.
b) At B machine can be operated in Open loop only & At A machine can be operated
in Closed loop only.
Answer: (C)
1
G s
s 3s 2
2
The steady state value of the output of the system for a unit impulse input applied at
time instant t= 2 will be
(A) 0
(B) 0.5
(C) 1
(D) 2
Answer: (A)
R(s) C(s)
G(s)
R(s) K C(s)
+
- s(s + 2)
1+sP
Answer: (D)
K
C s s s 2
R s K 1 sP
1
s s 2
K
s 2 s K sKP
2
K
s 2 KP s K
2
0.7
n 2 K , 2n 2 KP
K 25, P 0.2
5. When the system shown in figure (a) below is subjected to a unit-step input, the
system output responds as shown in figure (b). Determine the values of K and T
from the response curve. (Ogata)
R(s) K C(s)
+
- s(Ts +1)
(a)
c(t)
0.254
1
0 3 t
(b)
a) T=1.09, K=5
b) T=1.09, K=1.42
c) T=7.07, K=1.42
d) T=1.42, K=1.09
Answer: (B)
K
C s s Ts 1
R s 1 K
s Ts 1
K
Ts s K
2
K T
s K
s
2
T T
K
n 2
T
K
n
T
1
2n
T
1 1
2n T
T 1
2 K T
1
2 KT
1 2
Maximum overshoot, M P e
Peak time, t P
n 1 2
Given, P 0.254
tP 3
T 1.09, K 1.42
6. In The system shown in figure below has . Input is unit-step. To get
the steady state error zero. What should be the simplest controller (C(s))?
r + y
C(s) G(s)
-
a) Proportional controller
b) PI Controller
c) PID Controller
Answer: (A)
Plant has an integrator, so proportional controller can also make steady state
error zero.
7. In The system shown in figure below has . Input is unit-step. To get
the steady state error zero. C(s) should be
r + y
C(s) G(s)
-
a) Proportional controller
b) PD Controller
Answer: (C)
8. In The system shown in figure below has . Input is unit-step. To
a) ↑
b) ↑
c) ↑& ↓
Answer: (C)
1 4
e + u
0
+
1
1.3333
s
a) 4.5 sec
b) 6 sec
c) 10 sec
d) 2.66 sec
Answer: (A)
K P 4, Ti 3
u
2.5KP
2KP
KP
t
Ti Ti
2
1.5Ti
u k q0e k q1e k 1 q2 e k 2
Answer: (A)
T k 1
u ( k ) K p e( k ) 0
i
e(i) T e(k ) e(k 1)
d
i 0 0
u (k ) u (k ) u (k 1)
T
K p e(k ) e(k 1) 0 e(k 1) d e(k ) 2e(k 1) e(k 2)
i T0
q0e(k ) q1e(k 1) q2e(k 2)
11. Consider the feedback system shown below which is subjected to a unit step
input. The system is stable and has following parameters Kp=4, ki= 10, ω=500 and
ξ= . 07. The steady state value of Z is( Gate)
Ki
Z
1 s
+ 2
+- Kp +
0 s2 + 2s + 2
(A) 1
(B) 0.25
(C) 0.1
(D) 0
Answer: (A)
As PI controller is present steady state error will be zero. So, output = input.
12. Find the steady state error for the system shown in figure below for step changes in d? (For, r=0,
K=2)
d
r + e + + 1
K
‐ s(s + 1)
a) 2
b) 1
c) 0.5
d) 1.5
Answer: (C)
1
es s s 1
d s 1 K
s s 1
1
s sK
2
1
d s
s
lim
S.S.E, s 0 se s
1 1
0.5
K 2
13. The error input to a proportional‐plus‐derivative (PD) and proportional‐plus‐integral (PI)
controller is shown as in Figure below. Assuming the controller output at t = 0 is zero, Match the PD
and PI the controller’s output for 0 ≤ t ≤ 6. (Kp=1, Ki=1, kd=1)
Error
Time
0 1 2 3 4 5 6
a) Output of PD Controller: A; Output of PI Controller: C
b) Output of PD Controller: C; Output of PI Controller: B
c) Output of PD Controller: A; Output of PI Controller: B
d) Output of PD Controller: B; Output of PI Controller: C
Answer: (C)