2016

WORKBOOK
Detailed Explanations of

Try Yourself Questions

Electronics Engineering
Control System

Mathematical Models
and Block Diagram

T1 : Solution
[Ans: (b)]
T2 : Solution
R

ei

Eo(s) =

eo

1
I (s)
sC

...(i)

1
E i (s)
sC
I( s) =

1
1

1
1

+
R +

R +

sC sC
sC
sC
R +

1
1

+
R +

sC sC

(Using current division rule)

=

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E i (s)
E i (s)
1

=
1
1
sCR + 2
R+
R +
+ R (sCR + 2)
sC + R
sC
sCR + 2

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1
E i (s)
sC
E0(s) =
(1 + RSC ) + SCR (SCR + 2)
SC
E 0 (s)
1
1
= 2 2
= 2 2 2
E i (s)
S C R + 3 SCR + 1 S T + 3ST + 1

T3 : Solution
R

Vi

1/Cs

V0
=
Vi

V0

1/ Cs
1
=
1
RCs + 1
R+
Cs

T4 : Solution
J

d 2
d
+D
+ S = T
2
dt
dt

(s) =

T
Js + Ds + S

T /J
D
S
s2 + s +
J
J

On comparing the denominator with

s 2 + 2 n s + n2 = 0
We have,

S
J

n =

T5 : Solution
Characterstic equation

Js2 + Bs + K = 0
n =

2 n = B

n =
=

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B
2

B
2 K
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Electronics Engineering Control System

Settling time

1
1

n B

e.g. independent of gain

T6 : Solution
b1( x&1 x&0 ) + k1( x1 x0 ) = b2 ( x&0 y& )
b2 ( x&0 y& ) = k2y

By taking laplace transform

b1[s x1(s)] + k1[x1(s)] k1[x0(s)] = b2 [sX0 (s) sY(s)]
b2 [sX0(s) sY(s)] = k2y(s)
Eliminatiing y(s) from last two equation

b2s
X (s)
(b1s + k1)X1(s) = b1s + k1 + b2s b2s
b2s + k2 0

b1
b2

k s + 1 k s + 1
X 0 (s)
1
2
=
X1(s)
b1 b2
b2
k s + 1 b s + 1 + k s
1

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Time Response Analysis

T1 : Solution

G(s) =

s(s + p)

Now, the closed loop system

T(s) =

K
2

s + sp + K

Comparing it with standard equation

K = n2
2n = p

ts =

4
n

n = 1
p=2

now,
e

1 2

= 0.1

= 0.537

p
= 1.69
2

n =

K = n2 = 2.85

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Electronics Engineering Control System

T2 : Solution
Taking Laplace transform we get

X ( s) =

1
1
1
.12

(s + 6s + 5)
s (s + 2)

X(s) =

12
1
1
.12
s(s + 5)(s + 1)
s
(
s
+
2)

Now, using final value theorem

sX (s)
lim x(t ) = slim
0

12
12s

X(s) = slim

0 (s + 5)(s + 1)
(s + 5)(s + 1)(s + 3)

12
= 2.4
5

T3 : Solution
To find the impulse response let us difference the response.
c (t) = 12 e10t 12e60t
tanking inverse laplace transform we get

C (s) =

600
(s + 10)(s + 60)

C (s) =

600
s + 70s + 600
2

c (s) is the impulse response thus comparing it with the standard equation.
2 n = 70
n =

600

= 1.428 1.43

T4 : Solution
Since real port of the given second order equation is at 0.602 thus they can be considered as dominant
poles.
Thus

tp =

d = n 1 2
n =
and

2.829 = 1.6819

2 n = 1.204

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1.204
= 0.3579
2 1.6819

d = 1.6819 1 2

d = 1.577
tp = 1.999 2

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Stability

T1 : Solution
Given, Open loop transfer function < 1
i.e.
G(s) H(s) < 1
G
or,
(j) H(j) < 1
or,
X < 1
Gain margin,

GM =

1
i.e. G.M. > 1
X

Gain margin (in dB) > 0

Since gain margin of the given system is positive, therefore, the system is always stable.
T2 : Solution
With negative feedback, the system stability will increase. In open loop system.
G(s)

R(s)

C(s)

The gain of the system is G(s).

Where as in closed loop system
R(s)

G(s)

C(s)

H(s)

The closed loop gain of the systems

G(s) H (s)
hence it is divided by 1 + G(s) H(s), in closed loop
1 + G(s) H (s)

system with negative feedback gain decreases.

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T3 : Solution
The correct sequence of steps needed to improve system stability is to use negative feedback,
reduce gain and insert deviation action.

T4 : Solution
A discrete time system is stable if all the roots of the characteristic equation lie within the circle of unit
radius.
Im (z)
j1
Z-plane

Re(z)

j1

T5 : Solution

0 < K < 1 + 1 ; [1 > 0 and 2 > 0 and this is the only possible case.]
2

T6 : Solution
2
s

R(s)

C(s)

1
s+1

R(s)

K + 2s

s2

C (s)

1
s+1

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Electronics Engineering Control System

10

R(s )

(s + 1) (K + 2s)
2

(s + 1) (s ) + 2s + K

s2

C(s)

R(s)

s (s + 1) (2s + K)
2

(s + 1)s + 2s + K

c (s )

C (s)
s 2 (s + 1)(2s + K )
R (s) = s 2 (s + 1) + 2s + K
K = 2

at

C (s)
s 2 (s + 1)2
=
R (s)
(s 2 + 2)(s + 1)
Thus poles at j 2 and one at 1.

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Root Locus Technique

T1 : Solution
Characteristic equation is given as
1 + G(s) H(s) = 0
On comparing this characteristic equation with the equation given in problem, we have

G(s) H(s) =

K
s(s + 1) (s + 2)

P = Number of open loop poles = 3 = number of branches on root locus

Z = 0 = Number of branches terminating at zeros.

X
-2

X
-1

X
0

Angle of Asymptotes: The P Z branches terminating at infinity will go along certain straight lines.
Number of asymptotes = P Z
= 30=3
=

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180(2q + 1)
P Z

1 =

180 (2 0 + 1)
= 60
3

2 =

180(2 1 + 1)
= 180
3

3 =

180(2 2 + 1)
= 300
3

q = 0. 1, 2 ...

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Electronics Engineering Control System

12

Centroid: It is the interpection point of the asymptotes on the real axis. It may or may not be a part of root
locus.
Centroid =

Real part of open loop poles Real part of open loop zeros
PZ

0 1 2
= 1
3

Centroid (1, 0)
Break-away or break-in points: These are those points on whose multiple roots of the characteristic
equation occur.

0.422

X
2

X
1

1.5

s(s2 + 3s + 2) + K = 0
K = (s3 + 3s2 + 2s)
dK
= (3s2 + 6s + 2) = 0
ds
s = 0.422, 1.577

Now verify the valid break-away point

K = 0.234 (valid) at s = 0.422

K = negative (not valid) at s = 1.577
T2 : Solution

OLTF =
Poles are at
and

k
2

s (s + 4s + 8)
s1 = 0

s2, 3 =

4 16 32

= 2 j2

There are 3 poles and no zero with root loci, all terminating at infinity.
=

(2q + 1)180
= 60, 180, 300 for q = 0, 1, 2 (angle of
P Z

asymptotes)
Centroid =

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0 2 + j 2 2 j 2 4
=
= 1.33
3
3

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1+

= 0

s (s + 4s + 8)

13

k = s(s2 + 4s + 8) = (s3 + 4s2 + 8s)

for break away points,

dk
= 0
ds

dk
= (3s2 + 8s + 8)
ds

s1, 2 =
=

8 64 4 8 3
23
8 64 96
= 1.33 j 0.943
6

dk
is imaginary, there is no breakaway point from the real axis.
ds
Imaginary axis crossing:
Characteristic equation = s(s2 + 4s + 8) + k
= s3 + 4s2 + 8s + k = 0

As

32 k
4

From Routh-Hurwitz Criteria:

For k = 32, the system is marginally stable and beyond k = 32 the system becomes unstable.
Hence,
4s2 + k = 4s2 + 32

s = j 2 2 = j
= 2 2 = 2.83
The root locus cuts the imaginary axis at j2.83.
-2 + j2

P3

135

P1
90
2 j2

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P2 2

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14

Electronics Engineering Control System

1 = 180 tan1 2 = 135
2
2 = 90
p = 1 + 2 = 135 + 90 = 225
= 2 p = 0 225 = 225
Angle of departure,
D = 180 + = 180 225 = 45
Root locus of the given system:
+ j 2.83
+j2.3
2 + j 2
45
60
2

1.33

2 j 2

j2.3
j 2.83

T3 : Solution

G(s) H(s) =

K
s(s + 1) (s + 4)

Step-1 Number of open loop poles ;

P = 3
Number of open loop zeros ; Z = 0
Number of branches terminating at infinity
= PZ=3
Step-2 Angle of asymptotes
=

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(2q + 1)180
where q = 0, 1, 2
P Z

1 =

180
= 60
3

2 =

3 180
= 180
3

3 =

5 180
= 300
3

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Step-3

Centroid =
=

15

real part of open loop poles real part of open loop zeros
P Z
(1 4) (0)
5
=
30
3

Step-4 Break away point

K + s(s2 + 5s + 4) = 0
K = s3 5s2 4s
dK
= 3s2 10s 4 = 0
ds
3s2 + 10s + 4 = 0

s1, s2 = 0.4648, 2.8685

Valid break-away point will be 0.4648

(i) Routh array table
s3 1

s2

s1

20 K
5

s0 1

For system to be stable

20 K > 0

K < 20

For system to be marginally stable.

K = 20
A(s) = 5s2 + 20 = 0

s = 2j

j2.886
j2
l1
4

l2
5
3

l3

0.46
j2
j 2.886

(ii) To find K,
= cos1 = cos1(0.34) = 70.123

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Electronics Engineering Control System

16

K = l1 l2 l3
Gain margin (GM) =

K (Marginal stability)
K (desired )

T4 : Solution
1
x

+j

2 1
x
1

d = 180 (p z)

1
= 180 180 + tan1 + 90 225
2

= 108.4
T5 : Solution
Given that

G(s) =

K
(s + 2) (s 1)

Using root locus method, the break point can be

Im

Re

0.5

obtain as

1 + G(s) = 0

1+
or

K
(s + 2) (s 1) = 0
K = (s + 2) (s 1)
dK
= 2s 1 = 0
ds

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17

or
s = 0.5
To have, both the poles at the same directions
G (s )

s = 0.5

= 1

K = 2.25
T6 : Solution
Let the poles be P1, P2 and P3 and the zero will be Z1. The D.C gain be K.
Thus the transfer function will be
K (s + z1)
T(s) = (s + P )(s + P )(s + P )
1
2
3

at

T(s) =

Ks K
=
s3 s2

angle = 180
= 2

K = 2

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Frequency Response Analysis

T1 : Solution
Given,

G(s) =

K (1 + 0.5s) (1 + as)
s
s

s 1 + (1 + bs) 1 +
8
36

(1 + as) is addition of zero to the transfer function whose contribution in slope = +20 dB/decade or
6 dB/octave.
(1 + bs) is addition of pole to the transfer function whose contribution in slope = 20 dB/decade or 6 dB/
octave
Observing the change in the slope at different corner frequencies, we conclude that

a =
From

1
1
rad/s and b =
rad/s
4
24

= 0.01 rad/s to = 8 rad/s,

slope = 20 dB/decade

Let the vertical length in dB be y

0y

20 = log8 log0.01

or,

20 =

or,
Applying
we have:
or,
Now,
or,

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y
y
58
C
C

=
=
=
=
=

log K =

y
log8 + 2
58 dB
m x + C at = 0.01 rad/s,
20 log 0.01 + C
58 40 = 18
20 log K
18
= 0.9
20
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19

K = log1 (0.9) = (10)0.9 = 7.94

1

a
4
=
bK
1
7.94
24

24
= 0.755
4 7.94

a
= 0.755
bK

T2 : Solution
OLTF = G(s) =

1
(s + 2)2

For unity feedback system,

H(s) = 1
G(s)
=
CLTF =
1 + G(s) H (s)

1
(s + 2)2
1
1+
(s + 2)2

1
s + 4s + 5
Close loop poles will be the roots of s2 + 4s + 5 = 0
s = 2 + j and 2 j
i.e.

T3 : Solution

G(s) H(s)

1
s (s + 1)

After adding pole at origin

G(s) H(s)

1
s 2 (s + 1)

So, nyquist plot of a system will rotate by 90 in clockwise direction.

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Electronics Engineering Control System

20

T4 : Solution
For gain margine we have to find

G(s)H(s) =

0.75
s(1 + s)(1 + 0.5s)

Phase over freqeuncy

180 = 90 tan1() tan1 (0.5 )
90 = tan1 () + tan1 (0.5 )
1.5
= tan (90)
1 0.5 2

0.5 2 = 1
=

G(j )H (j ) =

2
0.75
1+

1 + 0.25 2

0.75
1
=
4
2 1 + 2 1 + 0.5

Gain margin = 20log

1
G( j )H ( j )

= 20 log 4
= 12
T5 : Solution
90 tan1 (2) tan1 (3) = 180
tan1 (2) + tan1 (3) = 90
5
= tan (90)
1 6 2

1 6 2 = 0
=

1
= 0.41
6

T6 : Solution
The Bode plot is of type zero system
thus steady state error

ess =
Where
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1
1+ Kp

Kp = propational error constant

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or

Kp = 40 db
Kp = 100

ess =

21

1
1
=
1 + 100 101

= 0.009

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Controllers and Compensators

T1 : Solution
Higher the bandwidth means lower the selectivity and hence higher the noise.
T2 : Solution
30
T3 : Solution
The effect of addition of a zero to a transfer function is providing a phase lead.
T4 : Solution
s

1+

4
G(s) =
s

1+

25

Comparing it with the standard transfer function of phase lead compensator

G(s) =

T =

Now, frequency m occurs at

(1 + Ts)
(1 + Ts)
1
,
4

T =

1 1

T T

25 4

1
25

= 10 rad/sec.
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23

T5 : Solution
Gd (s)
R(s) +

100

1
s(4s + 1)

C(s)

KdS

Converting the blocked portion into simplified form as

1
1
Gd( s) = s(4s + 1) =
2
sKd
s
s
4
+ (1 + Kd )
1+
s(4s + 1)
R(s) +

100

C(s)

4s2+s(1 + Kd)

Now,

Now, simplifying the above block diagram as

100
4s + s(1 + Kd )
G(s) =
100
1+ 2
s
4 + s(1 + Kd )
2

=
=

100
4s + s(1+ Kd ) + 100
2

25
(1
s
+ Kd )
s2 +
+ 25
4

Comparing it with standard equation as

n = 5 rad/sec.
1 + Kd
2n =
4

Given = 0.5

1 + Kd
4
Kd = 19

5 =

T6 : Solution
Ans.

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State Space Analysis

T1 : Solution
Ans (b)
T2 : Solution

x&(t )
Taking the Laplace transform
sX(s) x(0)
[sI A] X(s)
X ( s)
x(t)
Conditions given are
Given

= Ax(t), x(0) = x0
=
=
=
=

AX(s)
x(0)
[sI A]1 x(0)
L1[sI A]1 x(0)

For

e t
1
x0 = , x(t ) =

t
1
e

For

0
x0 = , x(t ) =
1

Using the linearity property in equation (i)

K1 x1(t)
K2 x2(t)
Using the linearity property as
K1 x1(t) + K2 x2(t)
[K1x 1(0) + K2x 2(0)]
Also
X3(s)

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...(i)

e t e 2t
t

2t
e + 2e

= L1[sI A]1 x1(0) K1

= L1[sI A]1 x2(0) K2
= L 1[sI A]1
...(ii)
= [s I

A]1

x3(0)

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So,

25

1
0
3
K1 + K 2 =
1
1
5
3
K1 + 0 K 2
K + K = 5
2
1

K1 = 3
K2 = 8

So, from equation (ii), we get x(t)

x(t) = K1 x1(t) + K2 x2(t)
e t
e t e 2t
= 3
+ 8

t
t
2t
e
e + 2e
11e t 8e 2t
=

t
2t
11e + 16e

T3 : Solution
Given

0 1 x1
x&1
x& = 0 0 x

2
2
0 1
A =

0 0
s 0 0 1 s 1
[sI A] = 0 s 0 0 = 0 s

2
[sI A] = s
(t) = L 1[sI A]1

1
s2

s 1
0 s

1 1

2
= L 1 s s = 1 t

1 0 1

T4 : Solution

x&1
1 1 0 x1 0
&

x
2 = 0 1 0 x2 + 4 u
x&3
0 0 2 x3 0

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Electronics Engineering Control System

26

x1
y = [1 1 1] x2
x3
0
1 1 0

A = 0 1 0 , B = 4 , C = [1 1 1]
0 0 2
0
Check for controllability:
Qc = [B : AB : A2B]

4 8
0

= 4 4
4
0 0
0
For controllable
Qc 0
Qc = 4(0) = 0 Uncontrollable.

Here,
Check for observability:

Qo = [CT : AT CT : A2T CT ]
1 1 1
= 1 0 1
1 2 4
For observable
Qo 0
Qo = 1 Observable.

Here
T5 : Solution

1
Characterstic equation = (s I A)

2 1
=

3 s + 5

= s(s + 5) + 3
= s2 + 5s + 3

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