SUBJECT CODE/NAME: EC6405/CONTROL SYSTEM ENGINEERING

APRIL/MAY 2017-UNIVERSITY QUESTIONS WITH ANSWERS

PART A -QUESTIONS

1. State Mason gain formula

Refer Page no.3, Q.no.16
2. Differentiate closed loop and open loop control system
Refer Page no.8, Q.no.2
3. Define steady state error
Refer Page no.102, Q.no.23
4. Draw the transfer function model for PID control
Refer Page no126, copy only the block diagram
5. What is meant by gain margin?
Refer Page no.144, Q.no.6
6. What is the necessity of compensators?
Refer Page no.147, Q.no.26
7. What are the advantages of Routh stability criterion?
The advantages are
(i) Stability can be judged without solving the characteristic equation
(ii) The number of roots in right half of S plane can be found in case of unstable
condition
(iii) The range of K for system stability can be calculated
8. Define Nyquist stability criterion.
Refer Page no.205, Q.no.3
9. List some advantages of sampled data control system.
1. Improved stability
2. Use digital components
3. Control algorithms easily modified
4. Many system inherently are digital
10. State sampling theorem
Refer Page no.237, Q.no.5

PART B QUESTIONS:

11 a) Draw the equivalent electrical analogous circuit for the mechanical system thrown below force –
voltage analogy.
 k
u(t)

y(t)
b

Free body diagram at node M By D’ Alembert’s Principle

Y (t)
u(t) = fm+fb+fk
fm
md 2 y bdy
ft   ky
u(t) = dt 2 dt
fk

mdv
u(t) =  bv  k  v dt (1)
dt

Force – voltage analogous circuit

Electrical analogous elements for mechanical system

u (t)  e(t), m  L b  R k  yc.

+ C
--
e(t) -

-
-
Mesh equation

di 1
dt c 
e(t)  Ri  L  idt (2)

equation (1) & (2) analogous.

11. b) Using block diagram reduction technique, find C/R.

H2

R(s) C(s)
+ + G1 G2 G3
+
- - - a
H1

Solution:

Moving the branch point a, ahead of G3

H2

R(s C(s)
G1 G2 G3
) + + +
- - -

H1/G3

Combining the cascade blocks, G2 and G3

H2

R(s C(s)
G1 G2 G 3
) + + +
- - -

H2/G3

Eliminating the feedback, H2

 R(s G 2G3 C(s)
+ + G1
) 1  G 2G3H2
- -

H2/G3

Combining the cascade blocks,

R(s G 2G3 C(s)

) + +
- - 1  G 2G3H2

H2/G3

Eliminating the feedback path H1/G3

G1G 2 G 3 H1
G H
1  G 2G3H2 G3

G1G 2 G 3
G 1  G 2G3H2 G1G 2 G 3
 
1  GH G1G 2 G 3 1  G 2 G 3 H 2  G1G 2 H1
1
H1
1  G 2G3H2
G3

R(s) G1G 2 G 3
+ 1  G 2 G 3 H 2  G1G 2 H1
-

Eliminating the unity feedback path

G1G 2 G 3
G  H  1.
1  G 2 G 3 H 2  G1G 2 H1
G1G 2 G 3
G 1  G 2 G 3 H 2  G1G 2 H1 G1G 2 G 3
 
1  GH G1G 2 G 3 1  G 2 G 3 H 2  G1G 2 H1  G1G 2 G 3
1
1  G 2 G 3 H 2  G1G 2 H1

R(s) G1G 2 G 3 C(s)

1  G 2 G 3 H 2  G1G 2 H1  G1G 2 G 3
C s G1G 2 G 3

R s 1  G 2 G 3 H 2  G1G 2 H1  G1G 2G 3

12) a) The unity feedback system is characterized by an open loop transfer function
G(s)=K/S(S+10).Determine the gain K, so that the system will have a damping ratio of 0.5 for the value of
K. Determine settling time, peak overshoot and peak time for unit step input

Refer Page Number: 136, Question Number 14.

12) b) Explain about brief the operation of P, PI & PID control competes using simple MATLAB
programme.

Let us assume the following transfer function

1
H(s) =
s  10s  10
2

Mat lab code: (without controller)

H = tf ([1]), [1 10 103]

Step (H)

Proportional Controller (P):

The response of the closed loop signal can be obtained by using the following MATLAB code.

kp = 10;

G = tf (kp 1)

t = 0:0.01:10.

H = tf [(1), (1 10 10)]

L = feedback (G * H, 1)

Step (L, t)

Inference:

kp  decreases rise time, increases overshoot no change in setting time, steady state error decreases.

Proportional derivative controller (PD):

Mat lab code:

kp = 100;

kd = 10;

G = tf ([kd kp] 1)

t = 0:0.01:10.

H = tf [(1), (1 10 10)]
 L = feedback (G * H, 1)

Step (L, t)

Inference:

ki  Rise time decreases, over hoot & setting time increases and eliminates steady state error.

kd  No cheque in rise time & steady state errors also rise time & setting time decreases.

PIO (Proportional decreases integral divertive controller)

kp = 100;

kd = 10;

kc = 1

G = tf ([kd kp kc] [10])

t = 0:0.01:10.

H = tf [(1), (1 10 10)]

L = feedback (G * H, 1)

Step (L, t)

15
13) a) Plot the polar plot for the following transfer function G(n) 
 s  1 s  3 s  6 
Put s = jw

15
G  jw  
 jw  1 jw  3 jw  6 
15

w 2 w
1  w 2 tan 1 w 32  w 2 tan 1 6  w 2 tan 1
3 6
15
G  jw  
1 w 2
9  w 2 36  w 2
 a  jw    tan 1 w  tan 1 w  tan 1 w  tan 1 w .
3 6

Table:

Magnitude & phase plot of G (jw)

W G  jw  < G(jw)
0 0.833 0
0.16 0.82 -14
0.33 0.78 -28
0.5 0.732 -41
 1 0.55 -73
1.5 0.4 -97
6 0.043 -189
8 0 -270

13) b) Discuss briefly about the lag,lead and lag-lead with examples

Refer Page no.169, Q.no 1,2,3 and 4

14) a) Determine the range of k for stability of unity feedback system using routh stability criterion whose
transfer function.

Cn k

R n s  s  s  1  s  2   k
2

Characterises equation
 s  s 2  s  1  s  2   k  0

s 3
 s2  s   s  2   k  0
s 4  s3  s 2  2s3  2s 2  2s  k  0
s 4  3s3  3s 2  2s  k  0

s4:
1 3 k
3 2
s: 3
k
2.33
s2:
4.66  3k
s1: 2.33

k
s0:

For stability the first column of the routh array should be of same sign.

4.66  3k
 0. &k  0.
 2.33
 0  k  1.55

14) b) Explain briefly about the steps to be followed to construct a root locus plot of a given transfer
function

Refer page number: 237, Question number: 5.

15) a) Cons hunt the state model of the following electrical system.

L1

i1+i2
C1 C2
i1 i2 R2

R1

Let current through the inductance L, voltage across capacitance C1, C2 be the state variable

 X1 = C1

X2 = V1

X3 = V2

At loop 1:
 di1
V2  V1  L1  i1R1
dt
di1
L1  V2  V1  i1R1
dt
di1 V2 V1 i1
   R1
dt L1 L1 L1
x 3  x 2  x1
x R1 (1)
L1 L1 L1

At loop 2:

-V2 = (i1+i2) R2

c 2 dv 2
-V2 = i1 R2 + R2
dt

dv2  v2 i1 R 2

dt R 2 C2 C2 R 2
 x 3  x1
x   2
R 2 C2 C2

At loop 1:

dv 2 v
C2  i1  2
dt R1
dv1 v 2
C2 x 3  C1 
dt R1
  x 3  x1  x3
C2    C1X1 
 2 2 2 
R C C R 1

x3 x
 x1  C1X1  3
R2 R1
x3 x x
X1   3  1  3
R1C1 R 2 C2 C1

From (1) (2) & (3)

 R1 1 1 
 
 X1   L1 L1 L1 
   1 1 1 
X2    0   a
   C1 R1C1 R 3C1 
 X3   1 1 
 0 
 C2 C2 R 2 

Let voltages across resistor are O/P variable at O/P variable be y1, y2

y1 = i1 R1 y1 = X1 R1

y2 = V2 y2 = V2 y2 = x3
  x1 
 y1   R1 0 0   
   x2   b
 y2   0 0 1  x 
 3

Equation (a) & (b) constitute the state model.

15) b) A system is characterized by transfer function Y(s)/U(s)= 2/s3+6S2+11S+6 .Find the state model in
matrix form.

Refer page number: 266, Question number: 4.

PART C:

16) a) For a system represented by state equation X(t) = A(t)

e2t  1 
Xt   2t 
when X  0    
 2e   2
The response is
e t  1 
and X  t     t  when X  0    
 e   1

Determine the system matrix A and the state transition matrix.

Solution:

The solution of state equation is, X(t) = eAt X(0)

Premultiply the equation (6. 15. 1) by e-At

e At X  t   e At eAt   0 
e At X  t   X  0 

e2t  1 
One of the response is X (t) =  2t 
and X  0    
2e  2

On substituting the response in equation (6. 15. 2) we get,

e2t  1 
e At  2t 
 
 2e   2 
e e 
Let e At   11 12 
e21 e22 

From equation (6. 15. 3) and (6. 15. 4) we can write

 e11 e12  e  1 
2t

e   
2t   
 21 e22  2e  2

On multiplying the equation (6. 15. 5) we get the following two equations,
 e11e21  2e12 e2t  1
e21e2t  2e22 e2t   2

e t  1 
The second solution of the state equation is X(t) =   t  and X  0    
e  1

On substituting this solution in equation (6. 15. 2) we get,

e t  1 
e At   t    
e  1

From equation (6. 15. 4) and (6. 15. 8) we can write

 e11 e12  e  1 
t

e   t    
 21 e22  e  1

On multiplying the equation (6. 15. 9) we get the following two equations,

e11 e t  e12 e t  1
e21 e t  e22 e t  1

Equation (6. 15. 10)  e t  e11e2t  e12e2t  e t

Equation (6. 15. 6) 1 e11e2t  2e12e2t  1

(-) (+) (-)

On subtracting, e12e-21 = e-1-1

From equation (6. 15. 12) we get

e t  1 e t 1
e12  2t
 2t  2t  et  e2t
e e e

1  2e12 e21
From equation (6. 15. 6) , e11 =
e2t

1  2  e t  e2t  e2t 1  2e t  2 2e t  1

e12  e  e ,
t 2t
 e11  2t
 
Put e e2t e2t
2e t 1
 2t  2t  2e t  e2t
e e

Equation (6. 15. 11)  e t  e21e21  e22e21  e t

Equation (6. 15. 7) 1  e21e2t  2e22e2t  2

(-) (+) (+)

On subtracting e22e-21 = 2-e-t

From equation (6. 15. 14) we get,

e t  2 e t 2
e22  2t
 2t  2t  et  2e2t
e e e

1  e22 e t
From equation (6. 15. 11), e21 
e t

1  (et  2e2t )e t

Put e22 = et + 2e2t,  e21 
e t

1  1  2e t 2 2e t
e 21    t   t  2e t  2e 2t
e t e e

e e12   2e t  e2t et  e2t 

e At   11  
e21 e22   2e t  2e2t e t  2e2t 
 2e t  e2t e t  e2t 
e At   t 2t 
 2e  2e e t  2e2t 

eAt is the state transition matrix.

We know that, γ [eAt] = ϕ (s)

Where ϕ (s) = (sl – A)-1; ∴ ϕ(s)-1 = (sl – A) or A= sl – ϕ(s)-1

 2 1 1 1 
  
s 1 s  2 s 1 s  2
  s    eAt    
 2  2 1

2 
 s  1 s  2 s  1 s  2 
 2  s  2    s  1  s  2    s  1   s  3 1 

  s  1 s  2   s  1 s  2     s  1 s  2  s  1s  2  
 
 2  s  2   2  s  1   s  2   2  s  1   2 s 
  
  s  1 s  2   s  1 s  2     s  1 s  2   s  1 s  2  

s  s  3  2 s 2  3s  2

Determinant of ϕ (s) =  s  1  s  2   s  1  s  2 
2 2 2 2

 s  1 s  2  1
 
 s  1  s  2  s  1 s  2
2 2
  s 1 
  s  1 s  2   s  1 s  2    s 1 
 
ϕ (s)-1 = (s+1)(s+2)  2 s3   2 s  3

  s  1 s  2   s  1 s  2  

1 0  s 1   s 0  s 1   0 1 
A = sl – ϕ(s)-1 = s      
0 1   2 s  3 0 s   2 s  3  2 3

Result:

0 1  2e t  e2t e t  e2t 

A  ; eAt   
 2 3
t 2t
 2e  2e e t  2e2t 

Part – C:

16) b) Draw the root locus diagram for a system open loop transfer function and then determine the value
of k such that the damping ratio of the dominant closed loop poles is 0.4

G(s)= 20/S(S+1)(S+4)+20kS

Out of scope for the students