8. fa) er the state equation : Tx Oo 1h xy 0 = + ray Lx -2 -3 i xt) 1 Find the state vector X(t) fort > 0 when the input r(t) is a unit step input. 20 (a) Consider the system shown in Fig. 6(a) where the damping ratio & = 0-6 and the natural frequency ©, * 5 Fad/sec. Obtain the values of rise time (,, peak time t_, maximum overshoot M_ and settling time t, for the 2% criterion when the syst em subjected to a unit-step input. & RG) oF ce) O ss + 2E @,) Fig, 6(a! ~O (a) Determine the stability of the closed- er whose transfer function is given 10 T= 20 (> S28" 438 138. (a) A system is described by the following state variable equation % 12 a)fa] fi x2 }=]0 1 all xe feo] as} lat tfhas} Lt Find its characteristic equation. Determine the controllability matrix. Js the system controllable? 8+7+5=20 G) Explain the ‘principle of the argument’ of the complex-variable theory. Explain how this is adopted to determine the stability of control systems. iii) ‘The critical point in using the Nyquist criterion is (-1, 0) in G(s)H(s) plane and not the origin (0, j0). Why ? liv) For minimum phase transfer function, G(s)H(s), the’ polar plot is sufficient to determine the stability of the system. Explain. 54+5+5+5=20 2. (a) The loop Transfer function of a system is given by Tst4 G(s)H(s) = ater e) s Find the number of roots located on the imaginary axis and also their values using the. Routh table. Is there any root on the right hand side of the s-plane ? 5+10+5=20~ For K, =O, find the values of Kp and Kp so‘that the system has no steady-state rot with’ step ifiput, has a damping ratio of 0-9 and the dominant time tant ‘of 1. ca 20 wo fant ‘of 1 5. @ f Using Réuth-Hurwitz criteria, . * determine the maximum value of K for, which the following control system is stable 4 43. (a) The, output/efror fer, function. of @ control system with upit feedback loop is 4 us qm K ee a4 ty “Slssh) +sT) sured the Nyquist locus and hence ‘ étermine. the stability of the system, Ce: The diagrarh, is to’be drawn on ‘swer-book itself.) ~ 20 2. (a) The diagram-of a speed control system is given below The generator ¢, ick, z 4% volts per field amperg¢“The motortelmf. en is 15 volts si >. The motor torque Ky ig! 0-5 \N m per armature ampere ‘and) the | ifertia of ‘motor and load is 10% Assuming negligible ¢ friction, f “determine the 20(c} For the block diagram shown in the figure below, find the overall transfer function of the system. Verify the same, using signal-flow graph analysis : cls) (i) What are the limitations of Routh, Hurwitz and continued fraction stability criteria when used for determining system stability? What is Nyquist analysis? Where is this technique used? 6 (ij) Why are integral and derivative controllers not used in practice? 4 (ii) For the block diagram representation of the figure shown below, determine the system characteristic equation. Is the system represented by this block diagram stable? 10 R(s)— (s¥Iy(s+3) Te (s#2}(s+4){) Some control systems have more than one inputs applied at different points in the system. How do we find the response of such systems, using block diagram algebra? Illustrate your answer with the help of a simple example. 10 ja) Identify the correctness of the following statements. Justify your answers : (i) The root locus gives idea about system’s transient behaviour. 3 (i) For an inherently stable second order system, al! the coefficients of characteristic equation are of the same sign. 4 iii) A critically damped system has sustained oscillations. 3 A control system is represented by the state space equations = % =X, x3 = -2x, ~ 3x, +, and the output equations are ¥y =X) + 3xy + 2a, %=% Draw the state transition signal flow graph and find the characteristic roots of the system, 20Determine the break-in point in the root locus of a comer systeut wis « K(s+2) 5 GP +s+10) (i) Prien ae fire: For the control system : GG) HE) = RO. ow = 107 Newion m por radisec J=5 «13 ken? enix van PAB fe ver wet gO) KA a ARTI the steady state enror for unit ramp input is 0.01, Determine the value of K. 5 The smitte proxinaton of Sena te vino pa i econ (Bode Plot) is shown below. Determine the transfer functi f teat = ota aa | Gain in a 10 jOdBlecteve 6 abvoctave ‘ , w (rer 2) io /'s0_ 100 ww (og scale) |_--12 dBvoctave x Bloctaveee ‘State and explain various test inputs in control systems. fay HA Reo Me Prez cin tow aT oe Using the Block diagram simplification method reduce the block diagram ‘of the following control system eae ate wediwet ART ator wa ge Pests FETS wee REF ee P 20 to a block diagram of the following type cs) y Jeane state controllability of a system. Apply the controllability to determine the controllability of a system modelled by the state-space model as -2 -2 0 1 0 a 0 0 1|x+Jo 4 uz 0-3. -4 101 y=[1 1 0]x 10 7° NE a ee) > rf ar. 0 =| 0 pS u \ =i c=[3 4 Pe Giada Boag and obtfin the fransfer function. 10For a position control system as | shown ih the fig ire below, determine the range of compensator gain K and the st soa in thal fr which the system is “aly < 20 Ros) f (e+ a) ¥(s) Desired GD sie a +9) Actual position Compensator Plant position Ce A plant has open-loop transfer fi . 2 8 = GpoIas 0! Determine the complete stability inl atin of the unity feedback closed loop system by sketching Nyauist path afd Nyquist plot. 16 Draw fae approximate time response of an underdamped second order ©) systexh subjected to unit step input disturbance in desired value for the following cases of complex conjugate poles : @), with constant real part | @Gi with constant imaginary part “ Gii) with constant damping ratio In each case consider at least 2 sets of values and mention the most important feature of the response. 20 ‘A system has open-loop transfer function vad by ~~ 10 { G@)= GDG+H Evaluate the parameters of a PD ebntrolldy with this system wit unity feedback so that the closed loop system Bag poles located at —3 + j4. Indicate the nature of closed loop time r€sponsgf to unit sep input change. ae en 20An approxi de plot of magnitude for a system was obtained and is shown belew. ge the system in terms of minimum phase transfer functiog. 10 @ What do you mean by a state transition sate and explain properties of state transition Matrix. A process contol system is described e model gel |x. f], o1 0 volt ota & ‘Use Laplace Transfo thou obtain state transition matrix ¢(t) for the system. oP * 360 “A second order closed loop system is stable, ifthe open loop system has al itsgfleM Ri of s-plane”: Use Nyquist Criterion to justify your answer. a N see -1 0 0375] fo oO -1 -0.375 |x+] 0 | rel oO Given that the above is a linear timeinvaiant (LT) systgmq. how, would you check the stability of the system ? Tf there is an unstable mode in ‘® it controllable? Tf the unstable mode is controllable shift it to a stable positio by state feedb ack, (20) -~ 3 ME 60 (@) _—_Sury stability test states that ifthe first element of descending order pol a> 0, then all roats of the polynomial Q(@) are inside the unit circle if and o st element in each odd-numbered rows positive in the derived array Cc(}) An open loop transfer function of unity feedback system is given by a()= Tan Determine the damping factor, undamped natural frequency, datn frequency end time response for aunit step input (20) (© What do you understand by the term controllability of a system? essary and sufficient conditions to be satisfied by the coefficient matrices of a sf/stem, go that the system is completely controllable. Hence check the controllability of a systtg.baving for its state description, the matrices 0 1 07 fo =|0 0 1 |a-lo 105-2) [1 (20) (@ Sketch the under-damped fue ose of a second order control system to a step input. Define clearly the “Del dt se time", Peak time”, Peak-overshoot”, “Settling time” and “Steady state er Show them sn the sketch ao) (bh) A system is reps ry the following equations: + 0) x, iQ Rat 2 stu £(e Find the transfer function, oS by signal flow technique. State Nyquist Stability Criteria and investigate the stability of the closed loop system with the following open loop transfer function. 2544 aye) wy drawing Nyeuis plat ‘Wherever the Nyquist plot crosses the real or imaginary axis determine the frequency and the inert value @o _ (203 = 60) (@ Ifa system is stable with unity feedback, the op is aso stable (©) Atwo-phase ac Servomotor is similar in a conventional induction motor (OQ If'in the state variable description of, . Wimax is singular, then the system is unstable, Waso ee (©) The state equations for a system are given by pote Sf where O- ao 0 20}, Nad D=|0 0-3 0 Deteraiine the output resp tovunit step input. 0) (@ Obtain the transfer function of phase lead network, Show that 1 1 - and o, = She Tey On Te where ty wa and T have usial meanings. 0) ©) Theunity feedback system has forward path transfer function su $0" TRAE Determine steady stae error coefficients Kp, Ky arid Ky. Hence find the steady state error in output if @ unit ep input Oo Gi) nitramp input and Gi) nit parabolic input are given. fre en@ The roots of a seeond order ys eer 1+j2 and -1-42. Determine the followings ifthe system is excited by @ Damping ratio, @) Maximum g «ai f oscillation cy of oscillation 20) the speed-torque characteristics of a 24 ac servomotor and compare it with fF oFinary 36 induction motor. Hence describe the laborstory method to obtain its segue characteristic. ® (20) ‘The unity feedback system has forward path transfer function KE o(s)-__*_ Chere ices Sketch the Nyquist diagram. If K = 4, determine whether the given systemic stable or not, IE the system is stable, determine its gain margin, What is the maximum value of K thet will make its gain margin zero ? 0) (@) In analog simulation of physical smbdifed with addition ofa zero 20 (a) Stee variable approach for analysis is applicable only to linear time invari gM (©) Routh-Hurwitz and continous fraction stability cit eelphete he system is stable or unstable. They do not tell anything ebout the relgime fait ofthe system ; 6) Wiles sd openness tin anh congeetn & increases the system bandwidth.@ @ aN @ @ @ Select any three of the following statements redilihenMdefully and identify the corect and the incorrect ones, Justify your answer using not: | @ ‘ 20x 3=60 ‘The steady - state eors ff input to type-0, type-1 and type-2, unity feedback ‘infinite respectively, Ass rete ta egsig OF | 1 If fr xo-| see ¢ 2 > ne the state transition matrix. 20 3 ‘The magnitude of a transfer Sinction whose poles are only in the left half of pla and ‘whose zeros ate mirror images of the poles about the ‘jw’ axis eee ease in frequency, _ Explain the following @ Gain margin (i) Phase margin. How are they determined from Nyquist plot and Bode plot? & 20 Discuss the performances of proportional plus derivative and proportional plus integral controllers, 20 100 words in each casa 2x =60 Ifthe roots of characteristic of Plinear digital contol system lie within unity cede | in z-plane, the system isWel systems on the tollowing (@ Explain the ettects ot negetrve teed a 20 @ Stability Gi) Extemal dsty er (@ —-Routh-Hurwitz criterion is an algebraic method that provides informatio Ko Sane tute stability of linear time invariant system that has a characteristic owas fant co- efficient rete forms of B a and 8. (a) Write the di controllers. What are various methods of tuning them , # Discuss in brief Rvnat do you understand by lead compensa- Draw the approximate Bode plot for a typical fead onsator. Design a suitable control system for a mis- 1 to introduce a lead of 35° and gain of 6.5 db at 2.8 rad’s. What will be the transfer function of this lead compensator that will satisfy the above requirement? 20(a} At any point on the root focus condition satisfied, the value of K-variable this point to be a root) is obtained as K « Point out the adpanigces|)f Frequency response studies of a system. Explain the Bode plots | for the log mag! us frequency and phase angle versus frequency for the complex | conjugate poles | | -~ o 20} State and explan the Mason's Gain formula De alfnpot-output relationships of the | system represented by the set of following line offftusing the Mason’s Gain formula. mz antt aga thm, and | a= & Xt ap kat bau | where wy and uy are the inputs and yd x) Me the states of the system | | 7 20 (@ —Desribe a simple positios ray A certain position cgatf\L is dhiven by 100 : 1 gear by a motor whose torque characterishes is of the 0.3.N) 10” N-m, where Nis the speedin RP.M. andis the voltage sup asrpliier tf the smacros produce 1 Vi degre eter aad sf the steely state enol gfoul) be & fora speed input of 20 RPM, calculate the requred amplifier Grin, Vicon Hcl the motor chat ie 60 = 10 Nra-ec. (t)—Disingyigt\\erwten open-loop and dosed-ioop system. Convert the system of Fig 1 into a a (9 Obtain the stat equations in the controller form, and (i) and observer form forthe transfer function GG) given by ae) 32 +847 ESSE 4 IBS + 295455@ ® © @ ) Stabe equations are first order differenti Ke that Ae pris to portray only the linea time-invariant systems, By aiding a pole to the dosed loop transfer fan imum enn the effect is opposite to that of adding apole to ? eum function. For a closed-loop system to be rea Fa irs 0 resricion one ocaion of the poles and zeros of the loop transfer but the poles of the closed loop transfer function must all be located inthe left ce ‘Wast we Tachogenerators ? Discuss with block diagram, their application to dosed-loop control systems. a) “The block diagram of an dectonic pacemakers given in Fig 1, where K'= 400 Fig t @—Caleuate the outpt cf) for anit step inpot (Wi) Caloulate the antegral of the square of the error between input Gi) Determine the steady-state error for a unit ramp input. Gio) Determine te wave of for which he stealy-state ear to a wall be 0.02 che cE pV yet al? jeemey O Find the transfer function ofthe sqlter Oo ww@ () oO @ oe) oO @ © Sketch and expla BH frluency-response characteristics of a second-order control system ‘Whar isthe effe yng rato on the amplitude and phase ofthe steady state output? ° 20) The, th transfer function of « position contral system with velocity feedhack is e — s(s+p) Determine the sensitivity ofthe transfer function ofthe closed-loop system to changes in K, p aud 2 for transfer function of the feedback path G) K(G) = 1, and Gi) HG) = (1 + as). The nominal values of the parameters ae K= 12, p= 3 and a=0.14 20) ‘A linear feedback control system has an open-loop transfer function (ssa) zi Fire where 4 and o ae adjustable parameters, Find the relation between 4 and 7 so that the system is stable with unity feedback, x jevasruuy Red parts of the Eigen values of a lite cyslem are always positive. Knowing the step response of, ‘response to aramp input cannot be deduced Use of a free wheeling ys Tres the quality of speed-torque characteristics of a thyristor contralled dc. State variable meth: can be agplied both to linear and non-linear systems * GY 20) A system is described by X= AXHBU « ew@ () ‘Wet do you mean by RootJocus of a systean ? Give properties of the root-locus ‘Aunty Feedback system has a forward path transfer Function & Beasts) Sketch the locus of the poles of the transfer function of the closed-loop system as “K’ varies from zero to infinity, explaining all the steps involved. es) )) ‘What is a servomotor 7 Give the characteristics of a 2-phase servomotor 2) oblhjn its transfer function. A50 Hz, 2-phase, ac. servomotor has the following parameters O Stating tore =0.186 Nm GO Rotor inertia = 12 10%kgm? Supply voltage =120V . Noload agularvelocity = 304 rad/sec Assuming straight line torque-angular speed eee the motor and zero viscous friction derive the transfer function. m=O