Académique Documents
Professionnel Documents
Culture Documents
Prepared By,
Mr. V.C.EUGIN MARTIN RAJ (LECT/EEE)
UNITI
CONTROLSYSTEMMODELING
1. What is system and control system?
A number of components are connected in a sequence to perform a
specific function, the group is called system.
In a system when the output quantity is controlled by varying the input
quantity then the system is called control system.
2. List out the advantages of closed loop transfer function.
(AU, May-10)
The closed loop systems are accurate.
The closed loop systems are accurate even in the presence of nonlinearity.
The sensitivity of the systems may be made small to make the
system more stable.
The closed loop systems are less affected by noise.
3. Compare open loop system with closed loop system?
S.No.
1
2
3
(AU, May-10)
4. Give two examples for open loop and closed systems.(AU, Dec-09)
Temperature control system.
Traffic control system.
Numerical control system.
Position control system.
5. Define transfer function.
(AU, May-10)
The Transfer function of a system is defined as the ratio of the laplace
transform of output to Laplace transform of input with zero initial conditions.
6. What are the basic elements used for modeling mechanical rotational
system(AU,Dec-09)
Moment of inertia J, Kg-m2/rad
Dashpot with rotational frictional coefficient B, N-m/(rad/sec)
Torsional spring with stiffness K ,N-m /rad.
7. Name two types of electrical analogous for mechanical system.
Force - voltage analogy.
Force -current analogy.
(AU, Dec-09)
(AU, Dec-07)
Mass M, Kg,
Stiffness of spring K, N/m
Viscous friction coefficient dashpot B, N-sec/m
13. What is block diagram? What are the basic components of block diagram? (AU,Dec-07)
A block diagram of a system is a pictorial representation of the functions performed
by each component of the system and shows the flow of signals. The basic elements of
block diagram block, branch point and summing point.
14. Write any two advantage and disadvantages of block diagram representation?(AU, Dec)
Advantage
Very simple to construct the block diagram for complicated systems.
The function of individual element can be visualized from block
diagram.
Disadvantage
Block diagram does not include any information about the physical
construction of the system.
Source of energy is generally not shown in the block diagram. So
number of different block diagrams can be drawn depending upon the
point of view of analysis. So block diagram for given system is not
unique.
15. State Masons Gain formula.(AU, Dec-09)
The formula can be stated as
Overall gain,T =
PK K
.
Source is the input node in the signal flow graph and it has only
outgoing branches.
Sink is an output node in the signal flow graph and it has only
incoming branches.
19. Define non-touching loop.
If there is no node common in between the two or more loops, such loops are said to
be non- touching loops.
20. What are the basic properties of signal flow graph?
(AU, Dec-10)
The basic properties of signal flow graph are
Signal flow graph is applicable to linear systems.
It consists of nodes and branches.
A node adds the signal of all incoming branches and transmits this sum
to all outgoing branches.
Signals travel along branches only in the marked direction and is
multiplied by the gain of the branch.
UNITII
TIMERESPONSEANALYSIS
1. What is time response?
The response given by the system which is function of the time, to the applied
excitation is called time response of a control system.
2. Name the test signals used in control systems?
(AU, Dec-09)
The commonly used test input signals in control system are impulse, step,
ramp, acceleration and sinusoidal signals.
3. What do you mean order of a control system?
(AU,Jun-10)
The order of the system is given by the order of the differential equation
governing the system. It is also given by the maximum power of s in the
denominator polynomial of transfer function. The maximum power of s also gives
the number of poles of the system and so the order of the system is also given by
number of poles of the transfer function.
4. List the time domain specifications.
The time domain specifications are
Delay time
Rise time
Peak time
Peak overshoot
(AU, Dec-09)
7. Second order system has a damping ratio of 0.5 and a damped frequency of 4.2
rad/sec. Find the 5% settling time in the step response.
(AU, Dec-07)
Settling time, ts = 3/n = 3/(0.5*4.2) = 1.42 second.
8. How can we classify second order system based on damping ratio? (AU, Dec-09)
Undamped system, = 0
Underdamped system, 0 < < 1
Critically damped system, = 1
Over damped system, > 1.
9. What is damped frequency of oscillation and damping ratio?
(AU, Jun-09)
Damped Frequency of Oscillation
In under damped system the response is damped oscillatory. The frequency of
damped
Oscillation is given by d = n (1- 2)
Damping Ratio
The damping ratio is defined as the ratio of the actual damping to critical damping
10. What is mean by dynamic error coefficient? Mention its significance.(AU, Dec07)
They are the coefficients of generalized error series. The generalized error
series is given by
e(t) = C0r(t) + C1 r (t) + (C2/2!) r\'\'(t) + (C3/3!) r\'\'\'(t) + ............. + (Cn/n!)
rn\'(t).
The coefficients C0, C1, C2 , ......,Cn are called generalized error coefficients or
dynamic error coefficients.
Significance:
12. Give the relation ship between generalized and static error coefficients.
The following expressions shows the relation between generalized and
static error coefficient
C0=1/(1+Kp);
C1=1/Kv
C2=1/Ka
Where, the Coefficients C0, C1, C2 are called generalized error coefficient or
dynamic error coefficients.
The Kp, Kv and Ka are called static error constants.
13. Mention two advantages of generalized error constants over static error
constants:
Generalized error series gives error signal as a function of time.
Using generalized error constants the steady state error can be detena for
any type of input but static error constants are used to determine m state
error when the input is anyone of the standard input.
14. Why derivative controller is not used in control systems?
The derivative controller produces a control action based on rate of change
of error signal and it does not produce corrective measures for any constant error.
Hence derivative controller is not used in control systems.
15. Define Transient response and steady state response.
Transient Response
The output variation during the time, it takes to achieve its final value is
called as transient response. The time required to achieve the final value is called
transient period.
Steady State Response
It is that part of the time response which remains after complete transient
response vanishes from the system output.
16. Give the effects of PI, PD controller.
The PI controller increases the order of the system by one, which results in
reducing the steady state error .But the system becomes less stable than the
original system.
The effect of PD controller is to increase the damping ratio of the system
and so the peak overshoot is reduced.
17. What are the various static error constants? What is steady state error?(AU, May-08)
Positional Error Constant (Kp)
Velocity error constant ( Kv)
Acceleration Error Constant (Ka)
Steady State Error
The steady state error is the value of error signal e (t), when t tends to
infinity. The steady state error is a measure of system accuracy. These errors arise
from the nature of inputs, type of system and from non-linearity of system
components.
18. What will be the nature of response of a second order system with different types of
damping?
For over damped system the response is exponentially rising but the rise
time will be very large.
UNITII
TIMERESPONSEANALYSIS
1. What is time response?
The response given by the system which is function of the time, to the applied
excitation is called time response of a control system.
2. Name the test signals used in control systems?
(AU, Dec-09)
The commonly used test input signals in control system are impulse, step, ramp,
acceleration and sinusoidal signals.
3. What do you mean order of a control system?(AU,Jun-10)
The order of the system is given by the order of the differential equation
governing the system. It is also given by the maximum power of s in the
denominator polynomial of transfer function. The maximum power of s also gives the
number of poles of the system and so the order of the system is also given by number of
poles of the transfer function.
4. List the time domain specifications.
The time domain specifications are
Delay time
Rise time
Peak time
Peak overshoot
(AU, Dec-09)
7.Second order system has a damping ratio of 0.5 and a damped frequency of 4.2
rad/sec. Find the 5% settling time in the step response.(AU, Dec-07)
Settling time, ts = 3/n = 3/(0.5*4.2) = 1.42 second.
8. How can we classify second order system based on damping ratio? (AU, Dec-09)
Undamped system, = 0
Underdamped system, 0 < < 1
Critically damped system, = 1
Over damped system, > 1.
9. What is damped frequency of oscillation and damping ratio?
(AU, Jun-09)
Damped Frequency of Oscillation
In under damped system the response is damped oscillatory. The frequency of
damped
Oscillation is given by d = n (1- 2)
Damping Ratio
The damping ratio is defined as the ratio of the actual damping to critical damping
10. What is mean by dynamic error coefficient? Mention its significance.(AU, Dec-07)
They are the coefficients of generalized error series. The generalized error
series is given by
e(t) = C0r(t) + C1 r (t) + (C2/2!) r\'\'(t) + (C3/3!) r\'\'\'(t) + ............. + (Cn/n!)
rn\'(t).
The coefficients C0, C1, C2 , ......,Cn are called generalized error coefficients or
dynamic error coefficients.
Significance:
Steady state is function of time.
Steady state can be determined from any type of input.
11. What are the different types of controller?
P-controller
PI controller
PD controller
PID controller
12. Give the relation ship between generalized and static error coefficients.
The following expressions shows the relation between generalized and
static error coefficient
C0=1/(1+Kp);
C1=1/Kv
C2=1/Ka
Where, the Coefficients C0, C1, C2 are called generalized error coefficient or
dynamic error coefficients.
The Kp, Kv and Ka are called static error constants.
13. Mention two advantages of generalized error constants over static error
constants:
Generalized error series gives error signal as a function of time.
Using generalized error constants the steady state error can be detena for
any type of input but static error constants are used to determine m state
error when the input is anyone of the standard input.
14. Why derivative controller is not used in control systems?
The derivative controller produces a control action based on rate of change
of error signal and it does not produce corrective measures for any constant error.
Hence derivative controller is not used in control systems.
15. Define Transient response and steady state response.
Transient Response
The output variation during the time, it takes to achieve its final value is
called as transient response. The time required to achieve the final value is called
transient period.
Steady State Response
It is that part of the time response which remains after complete transient
response vanishes from the system output.
16. Give the effects of PI, PD controller.
The PI controller increases the order of the system by one, which results in
reducing the steady state error .But the system becomes less stable than the
original system.
The effect of PD controller is to increase the damping ratio of the system
and so the peak overshoot is reduced.
17.What are the various static error constants? What is steady state error?(AU, May08)
Positional Error Constant (Kp)
Velocity error constant ( Kv)
Acceleration Error Constant (Ka)
Steady State Error
The steady state error is the value of error signal e (t), when t tends to
infinity. The steady state error is a measure of system accuracy. These errors arise
from the nature of inputs, type of system and from non-linearity of system
components.
18.What will be the nature of response of a second order system with different types of
damping?
For over damped system the response is exponentially rising but the rise
time will be very large.
UNITIII
FREQUENCYRESPONSEANALYSIS
1. Define resonance peak and bandwidth of the system?
(AU, Dec-10)
Resonance Peak
The maximum value of the magnitude of closed loop transfer function is
called resonant peak.
Bandwidth
The bandwidth is the range of frequencies for which the system gain Is
more than 3 dB. The bandwidth is a measure of the ability of a feedback system to
reproduce the input signal, noise rejection characteristics and rise time.
2. What is frequency response?
(AU, Dec-09)
A frequency response is the steady state response of a system when the
input to the system is a sinusoidal signal.
3. Give example for frequency response plot.
Bode plot
Polar plot
Nichols plot
M and N circles
Nichols chart
(AU, Dec-09)
4. Define phase cross over frequency and gain cross over frequency. (AU, Dec-09)
Phase Cross Over Frequency
The gain cross-over frequency is the frequency at which the magnitude of
the open loop transfer function is unity.
Gain Cross Over Frequency
The phase cross-over frequency is the frequency at which the phase of the
open loop transfer function is 180.
5. List the Frequency domain specifications?
The frequency domain specifications are
Resonant peak.
Resonant frequency.
Bandwidth
Cut-off rate
Gain margin
Phase margin
(AU, Jun-07)
(AU, Jun-10)
It is used to find closed loop frequency response from open loop frequency
response.
The frequency domain specifications can be determined from
Nichols chart.
The gain of the system can be adjusted to satisfy the given specification.
The absolute and relative stability of the closed loop system can be
estimated from the knowledge of the open loop frequency response.
The practical testing of system can be easily carried with available
sinusoidal signal generators and precise measurement equipments.
Lag compensator.
Lead compensator.
Lag-Lead compensator.
improvement in transient state performance.
UNIT-IV
STABILITY ANALYSIS
1. What are the main significance of root locus?
(AU, Dec-09)
(AU, Dec-09)
(AU, Dec-10)
(AU, May-08)
(AU, May-08)
At breakaway point the root locus breaks from the real axis to enter into
the complex plane.
At breakin point the root locus enters the real axis from complex plane
(AU, Jun-09)
The path taken by the roots of the open loop transfer function when the loop gain
is varied from 0 to infinity are called root loci.
12. What do you mean by dominant pole?
(AU, Dec-09)
UNIT-V
STATE VARIABLE ANALYSIS
1. What is state vector?
(AU, Dec-10)
The state vector is a (nx1) column matrix (or vector) whose elements are
state variables of the system. (Where n is the order of the system).It is denoted by
X(t).
2. What is input and output space?
(AU, Dec-10)
The set of all possible values which the input vector U(t) can have (or
assume) at time t forms the input space of the system.
The set of all possible values which the output vector Y(t) can have (or
assume) at time t forms the output space of the system.
3. What are the three basics elements used to form state diagram?
(AU, Nov-10)
The state space analysis is applicable to any type of systems. They can be
used for modeling and analysis of linear & non linear systems, time
invariant & time variant systems and multiple input & multiple output
systems.
The state space analysis can be performed with initial conditions.
The variables used to represent the system can be any variables in the
system.
Using this analysis the internal states of the system at any time instant can
be predicted.
5. What is a state and state variable?
(AU, Jun-10)
The state is the condition of a system at any time instant.
A set of variable which describes the state of the system at any
time instant are called state variables.
6. Give the need for controllability test and observability test?
(AU, Jun-10)
(AU, Jun-10)
Sampling theorem states that a band limited continuous time signal with
highest frequency fm, hertz can be uniquely recovered from its samples provided
that the sampling rate Fs is greater than or equal to 2fm samples per second.
8. State the duality between controllability and observability?
(AU, Jun-10)
14. What are the disadvantages of state space modeling using physical variable?
The advantages of choosing the physical variable are the following,