M.Tech.

(Power Electronics & Power System / Industrial Drives & Control) First Semester
(C.B.C.S.)
Advanced Control Theory

P. Pages : 4 NRT/KS/19/4405/4420
Time : Three Hours *0394*
Max. Marks : 70
_____________________________________________________________________
Notes : 1. All questions carry marks as indicated.
2. Solve Question 1 OR Questions No. 2.
3. Solve Question 3 OR Questions No. 4.
4. Solve Question 5 OR Questions No. 6.
5. Solve Question 7 OR Questions No. 8.
6. Solve Question 9 OR Questions No. 10.
7. Assume suitable data whenever necessary.
8. Use of non programmable calculator is permitted.

1. a) A linear time invariant system is described by the following state model. 8

 x1   0 1 0   x1   0 
x = 0 0 1  x  +  0  u
 2    2  
 x 3   −6 −11 −6   x 3   2 

Transform this state model and there from obtain the explicit solutions for the state vector
and output when control force u is a unit step function & initial state vector is
 x T0 = 0 0 2 .
b) Write the state equation of the system shown in fig. Q. 1 (b) in which x1, x 2 & x 3 constitute 6
the state vector. Determine whether the system is completely controllable & observable.

U(s) 2 x2(s) 2 x1(s)

s ( s + 1)
+_ +_
s+3
x3(s)
s

Fig. Q. 1 (b)

OR

2. Consider the position control system using a d. c. motor in armature control mode Let
choice of state variables be c c ia  with all the three state feedback loops open the
system is

 x1  0 1 0   x1   0 
x  =  0 −1 1  x  +  0  u
 2     2  
 x 3   0 −1 −10   x 3   10 

Find:
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 i) Draw block diagram of the position control system. 3

ii) Show signal flow graph. 3

iii) Find controllability. 2

iv) Design state variable feedback. 6

Such that the following design specification are to be met for its transient response
 = 0.5, n = 2 rad / sec
s  − 10  n

3. a) For the sampled data control system shown in fig. Q. 3 (a) Find the output c(k) for r(t) = 6
unit step.

T=1 sec
r(t) e(t) 1 c(t)
+_ ZOH
s +1

1/s
Fig. Q.3 (a)

b) A sampled-data control system of order one with transportation lag is shown in fig. Q. 3 8
(b). Determine the condition for system stability if   T .

T
r(t) e(t) Aa c(t)
+_ ZOH −s
e s+a

Fig. Q. 3 (b)

OR

4. a) For the sampled data feedback system with a digital n/w in feedback path as show in fig. 8
Q. 4 (a) Find C(z)/R(z).

T
r(t) e(t) c(t)
+_ ZOH G(s)
e(kT)
T
H(z)
c(kT)
Fig. Q. 4 (a)

b) Describe Shannon's sampling theorem for sampled data control system. 6

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5. a) Investigate stability of the system shown in fig. Q. 5 (a) for sampling period T = 0.4sec, 8
3 sec.

T
r(t) e(t) k c(t)
ZOH
s (s + 2)
+_
e(k)

Fig. Q.5 (a)

b) A linear continuous time plant of a sampled-data system is described by the state equation. 6
 0 1 0
x=  x+ u
 −4 0  2
Determine the value of sampling period T which makes the system uncontrollable.

OR

6. Consider a linear system, 14

0 1   0 
x=  x+ u
0 −5  100 
y = 1 0 x
The feedback controller for the system is given by
x 
u =  −k1 −k 2   1  + r
x2 
Assume that the states x1 & x 2 are not accessible for feedback. An observer system is to
be designed to reconstruct x. Design the feedback matrix G so that x − x will delay as fast
as e − l0t

7. a) Consider a nonlinear system 7

x1 = x 2
x 2 = − x 2 − x13
Find the stability.

b) Explain variable Gradient Method. 7

OR

8. a) A simple mass, spring & viscous friction system is shown in fig. Q. 8 (a) 8

x
K
b M

Show that system is stable.

b) Explain Krasovskii's method. 6

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9. Consider the plant 14
 x1   1 0   x1   1 
 x  =  −1 2   x  +  0  u
 2   2  
i) Prove that the system is unstable
ii) Prove that the system is uncontrollable
iii) Select any values for matrices Q & R with the constraint that they are positive
definite and design a controller for the plant so as to minimize

1
 (x
T
J= Qx + u T R u) dt
2
0
check that resulting overall system is stable.

OR

10. Explain in details. 14

i) Minimum principle of Pontryagin.

ii) Two point boundary value condition.

iii) Riccati equation.

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