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Compre Paper - SET 1

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Arkadeep Chowdhury
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Compre Paper - SET 1

Uploaded by

Arkadeep Chowdhury
Copyright
© © All Rights Reserved
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Birla Institute of Technology and Science, Pilani

Second Semester 2019-2020


EEE/INSTR F242: Control Systems
Comprehensive Examination
Date: 28.12.2020 Time: 2 Hrs MM: 135

1
Q1. In a unity negative feedback control system, the transfer function of plant is .
s(s  1)
(a) Show that the system can not be made stable with a proportional controller (Gain K).

(b) Now a derivative error controller (gain Kd) is also introduced in the system. Is the
system stable now? If yes, then what is the range of K and Kd for system to be stable?
What would be the value of Kd for system to be marginal stable and corresponding
frequency of sustained oscillations?
(c) For the original system, design a controller which is a combination of proportional
error controller (gain K) and output derivative controller (gain K1) to satisfy the
following time response specification:
Peak overshoot: 9.4% and Rise time: 0.221 sec. Determine the values of controller
gains. [2+6+17]

Q2. The block diagram of a control system is shown in Fig. Q.2. For this system:
(i) Clearly show the region in K- Plane that can be used without instability arising.
(ii) Draw the neat sketches of root contours for K=11.25 and 18.25. Clearly show the
steps involved.
(iii) While drawing the root locus, it is observed that the for certain value of K and ,
system has damping ratio of 0.707 and settling time of 1.5 sec for 5% tolerance band
corresponding to dominant pole pair. Calculate this value of K and . [12+15+8]

C(s)
R(s) + K s
s(s  5)

1
(s  2)
Fig Q.2
Q3. In the block diagram given, G(s) represents
R(s) + C(s)
the transfer function for which the polar plot K
is shown. Determine 

(i) G(s)

(ii) Value of K if phase margin is 35 and corresponding Im


= 0
gain margin (calculate mathematically). 0.5
= 
(iii) What is the steady state error for a unit ramp input? Real

How can this error be made zero for same input?


Semi circle
(iv)Draw the labeled Bode’s asymptotic plot for K=1 in G (j) at = 2 is ‒45 

your answer sheet. [10+15+5+10]


Q4. Consider the system shown in Fig. Q4, which is designed to control the liquid level H in a
cylindrical tank.
Valve
𝐹𝑖𝑛
DC Motor
Differene Amplifier
𝑉𝑖𝑛
SLIDER POT
K AMP
+ −
𝑉𝑅 𝑉𝐹
𝐻 𝐅𝐢𝐠. 𝐐𝟒
𝐻𝑖𝑛 𝐹𝑜𝑢𝑡
Level Sensor
TANK
A linear Slider POT is used which serves the purpose of feeding reference signal to level
control system and has a sensitivity of 0.2 V/cm. The Level sensor (LT) has sensitivity of
0.2 V/cm. An ideal linear difference amplifier is used with a voltage gain (𝐾𝐴𝑀𝑃 ) of 1 V/V.
Further, a motorized valve is used to vary the input flow rate (𝐹𝑖𝑛 ). This arrangement has
two parts viz. a DC motor and a valve. The valve is attached to the DC motor shaft and
provides 10 liters per min (LPM) for 10° of motor shaft rotation. The DC motor dynamics
are given as,
𝜔𝑅 (𝑠) 3.10
𝐺1 (𝑠) = =
𝑉𝑖𝑛 (𝑠) (1 + 0.1𝑠)
where, 𝜔𝑅 is the angular speed of motor in rad/s and 𝑉𝑖𝑛 is the motor driving voltage in V.
The tank contains the liquid with Fin (in LPM) and Fout (in LPM) as the input and output flow
rate respectively. The liquid level H (cm) is related with input flow rate using a first order
dynamics and has a transfer function as,
𝐻(𝑠) 2
𝐺2 (𝑠) = =
𝐹𝑖𝑛 (𝑠) (1 + 0.25𝑠)

For this system,


(i) Determine transfer function H(s)/Hin(s)
(ii) Sensitivity of the system with respect to change in KAMP for =1 rad/s
(iii) Draw the Nyquist plot, determine the gain margin and comment on system stability.
[5+5+25]

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