Std. No.

ROYAL UNIVERSITY OF BHUTAN

COLLEGE OF SCIENCE AND TECHNOLOGY
PHUENTSHOLING: BHUTAN

SPRING SEMESTER EXAMINATION: 2023

Class : BE Third Year

Module : Control Systems

Module Code : CST401

Max. Marks : 40

Max. Time : 3 Hrs

General Instructions:
1. Answer all the questions.
2. Use pencil to draw diagrams.

Page 1 of 12
Question No.1 [1, 2, 2, 1, 2, 1, 1, 1]
1.1 Define Controller, Comparator, Controlled Variable, and Manipulated Variable.
Answer
Controller: is a mechanism that seeks to minimize the difference between the actual value of a system
(i.e. the process variable) and the desired value of the system (i.e. the set point)
Comparator: compares two input voltages and outputs a binary signal indicating which is larger.
Controlled Variable - It is the quantity or condition that is measured and controlled. Normally
controlled variable is the output of the control system.
Manipulated variable - It is the quantity of the condition that is varied by the controller so as to affect
the value of controlled variable.

1.2 Name eight types of control system.

Answer
1. Open loop control system
2. Feedback control system
3. Multivariable control system
4. Servo and regulator control system
5. Linear and non linear control system
6. TV and TI control system
7. Lumped and distributed control system
8. Continuous and descrete control system
9. Static anddynamic control system
10. Adaptvie control system

1.3 Differentiate between feed forward and feedback control system.

Answer
Feedback control system Feed Forward Control system
Systems in which corrective action is taken Systems in which corrective action is taken
after disturbances affect the output before disturbances affect the output
Not required Measurable Disturbance or noise
Corrective action taken after the disturbance Corrective action taken before the actual
occurs on the output. disturbance occurs on the output.
Variables are adjusted depending on errors. Variables are adjusted based on prior knowledge
and predictions.
Use of roll sensor as feedback element in ship Use of flowmeter as feed forward block in
stabilization system. temperature control systems.

1.4 What are type and order of a system?

Answer
Order
It is highest power of characteristic equation and represent total number of poles
Type
It is number of poles at origin.
1.5 Write sufficient and necessary conditions for Routh-Hurwitz Stability Criterion
Answer
Necessary conditions:
None of the coefficients of the characteristic equation should be missing or zero.
All the coefficients must be real and should have the same sign.
Sufficient condition:
For the system to be stable, each term of the first column of Routh array be positive with same sign.

Page 2 of 12
1.6 Differentiate between bode plot and Nyquist plot.
Answer
Bode plot Nyquist plot
Represent frequency response from 0 to infinity Represent frequency response from negative
infinity to infinity
Use semilog graph Use S plane

1.7 What is phase crossover frequency and gain crossover frequency in Bode plot?
Answer
Phase crossover frequency is frequency at which phase curve cross -1800 line in phase plot.
Gain crossover frequency is frequency at which gain curve cross 0dB line in gain plot.

1.8 What is inflection point in Cohen-coon Method of PID tuning?

Answer
It highest slope point on the step response curve of the system.

Question No.2 [3, 3, 3, 3, 6]

2.1.Find transfer function of the circuit given below.

Answer
By using kvl
𝐿𝑠
𝑉 (𝑡 ) = 𝑉 (𝑡)
𝐿𝑠 + 𝑅

𝑉 (𝑡 ) 𝐿𝑠
=
𝑉 (𝑡) 𝐿𝑠 + 𝑅

2.2. In a mass damper system shown below, the point ‘P’ takes 6s to reach 98% of new steady state
position when the force of 2N is applied. Find the value of Time constant, Rise time, the value
of spring coefficient if b=2.25Ns/m.

Answer

𝑑𝑥
𝐹(𝑡) = 𝑘𝑥 + 𝑏
𝑑𝑡
Applying LT
𝐹 (𝑠) = 𝑘𝑋(𝑠) + 𝑏𝑠𝑋(𝑠)

Page 3 of 12
 𝑋(𝑠) 1
=
𝐹(𝑡) 𝑘 + 𝑏𝑠
𝑋(𝑠) 1 1
= .
(
𝐹 𝑡 ) 𝑘 𝑏
𝑠+1
𝑘
Therefore first order system
Satelling time
𝑡 = 4𝑇
𝑡 6
𝑇 = = = 1.5𝑠
4 4
Rise time
𝑡 = 2.2𝑇 = 3.3𝑠
Value of k
𝑏
𝑇=
𝑘
𝑏 2.25
𝑘= = = 1.5𝑁/𝑚
𝑇 1.5

2.3. Find the transfer function of block diagram shown below.

Answer

Page 4 of 12
Page 5 of 12
2.4. Find steady state error of a system given below for unit step, unit ramp and unit parabola as an
input. Consider negative unity feedback.
3
(𝑠) = ; 𝐻(𝑠) = 1
𝑠(𝑠 + 8)
Answer
𝑠𝑅(𝑠)
𝑒 = lim
→ 1 + 𝐺(𝑠)
Unit step input
1
𝑅(𝑠) =
𝑠
1
𝑠 1
𝑒 = lim 𝑠 = lim
→ 3 → 3
1+ 1+
𝑠(𝑠 + 8) 𝑠(𝑠 + 8)
1
𝑒 == =0
1+∞
Unit ramp
1
𝑅(𝑠) =
𝑠
1 1
𝑠
𝑒 = lim 𝑠 = lim 𝑠
→ 3 → 3
1+ 1+
𝑠(𝑠 + 8) 𝑠(𝑠 + 8)

1
𝑠 (𝑠 + 8) 8
𝑒 = lim = lim = = 2.667
→ 𝑠(𝑠 + 8) + 3 → 𝑠(𝑠 + 8) + 3 3
𝑠(𝑠 + 8)

Unit parabola

1
𝑅(𝑠) =
𝑠
1 1
𝑠
𝑒 = lim 𝑠 = lim 𝑠
→ 3 → 3
1+ 1+
𝑠(𝑠 + 8) 𝑠(𝑠 + 8)

1
𝑠 (𝑠 + 8) 8
𝑒 = lim = lim = =∞
→ 𝑠 (𝑠 + 8) + 3 → 𝑠(𝑠 (𝑠 + 8) + 3) 0
𝑠(𝑠 + 8)

2.5. Draw root locus of the system given below. Consider negative unity feedback.
𝒌
𝑮(𝒔) = 𝟑 𝟐
𝒔(𝒔 + 𝟖𝒔 + 𝟑𝟕𝒔 + 𝟓𝟎)
Answer

Page 6 of 12
 𝒌
𝑮(𝒔) =
𝒔(𝒔𝟑 + 𝟖𝒔𝟐 + 𝟑𝟕𝒔 + 𝟓𝟎)
Zeros and poles
𝑁𝑜 𝑧𝑒𝑟𝑜𝑠; 𝑃𝑜𝑙𝑒𝑠 ∶ 𝑠 = 0; 𝑠 = −2; 𝑠 = −3 + 4𝑖, 𝑠 = −3 − 4𝑖
No.of zeros=0
No. of poles=4

Number of root locus branches

𝑁𝑢𝑚𝑏𝑒𝑟 𝑜𝑓 𝑟𝑜𝑜𝑡 𝑙𝑜𝑐𝑢𝑠 𝑏𝑟𝑎𝑛𝑐ℎ𝑒𝑠 = 𝑁𝑜. 𝑜𝑓 𝑝𝑜𝑙𝑒𝑠 − 𝑁𝑜. 𝑜𝑓 𝑧𝑒𝑟𝑜𝑠
𝑁𝑢𝑚𝑏𝑒𝑟 𝑜𝑓 𝑟𝑜𝑜𝑡 𝑙𝑜𝑐𝑢𝑠 𝑏𝑟𝑎𝑛𝑐ℎ𝑒𝑠 = 4 − 0 = 4
Asymptotes
𝑁𝑢𝑚𝑏𝑒𝑟 𝑜𝑓 𝑎𝑠𝑦𝑚𝑝𝑡𝑜𝑡𝑒𝑠 = 𝑃 − 𝑍 = 4 − 0 = 4
2𝑘 + 1
∅ = × 180
𝑃−𝑍

2×0+1
∅ = × 180 = 45
4−0

2×1+1
∅ = × 180 = 135
4−0

2×2+1
∅ = × 180 = 225
4−0

2×3+1
∅ = × 180 = 315
4−0

Page 7 of 12
Centroid of asymptotes
𝑆𝑢𝑚 𝑜𝑓 𝑝𝑜𝑙𝑒𝑠 − 𝑆𝑢𝑚 𝑜𝑓 𝑧𝑒𝑟𝑜𝑠
𝜎 =
𝑁𝑜. 𝑜𝑓 𝑝𝑜𝑙𝑒𝑠 − 𝑁𝑜. 𝑜𝑓 𝑧𝑒𝑟𝑜𝑠

0 − 2 + (−3 + 4𝑖) + (−3 − 4𝑖)

𝜎 = = −2
4−0

Break points
Character equation is given by
𝑠 + 8𝑠 + 37𝑠 + 50𝑠 + 𝑘 = 0

𝑠 + 8𝑠 + 37𝑠 + 50𝑠 = −𝑘
𝑑(−𝑘)
= 4𝑠 + 24𝑠 + 74𝑠 + 50
𝑑𝑠

4𝑠 + 24𝑠 + 74𝑠 + 50 = 0

𝑠 = −0.898 ; 𝑠 = −2.55 + 𝑗2.72; 𝑠 = −2.55 − 𝑗2.72;

𝑠 = −0.898 lie between two poles 0 and -2 therefore break away points.
Intersection of root locus with jw axis.
Using RH criterion
S4 1 37 k
S3 8 50
S2 30.75 k
S1 (1537.5-8k)/ 30.75
S0 k

1537.5 − 8𝑘
=0
30.75
𝑘 = 192.1875
𝐴(𝑠) = 30.75𝑠 + 192.1875 = 0
𝑠 = ∓𝑗2.5
Angular frequency
𝑠 = 𝑗𝜔
𝜔 = 2.5 𝑟𝑎𝑑/𝑠

Page 8 of 12
Question No.3 [4, 3, 3, 1]
3.1 Fill the table below to find K p, Ki, and Kd for tuned P controller, PI controller, and PID controller
using Zigler-Nichols method of PID tuning for a system given below.
𝟏𝟎
𝐺 (𝑠 ) = 𝟐
(𝒔 + 𝒔 + 𝟐𝟓)(𝒔 + 𝟑)

Answer

Considering only P controller, find critical Proportional gain

Closed loop characteristic eqn
1 + 𝑘 𝐺 (𝑠 ) = 0
10𝑘
1+ =0
(𝑠 + 𝑠 + 25)(𝑠 + 3)

(𝑠 + 𝑠 + 25)(𝑠 + 3) + 10𝑘 = 0

(𝑠 + 𝑠 + 25𝑠 + 3𝑠 + 3𝑠 + 75) + 10𝑘 = 0

(𝑠 + 𝑠 + 25𝑠 + 3𝑠 + 3𝑠 + 75) + 10𝑘 = 0

(𝑠 + 4𝑠 + 28𝑠 + 75) + 10𝑘 = 0

Using RH criterion
S3 1 28
S2 4 75+10kp
S1 [112-(75+10kp)]/4
S0 75+10kp

112 − 75 − 10𝑘 = 0
𝑘 = 3.7
Auxiliary equation

4𝑠 + 75 + 10kp = 0
𝑠 = jω
−4𝜔 + 75 + 37 = 0

Page 9 of 12
 𝑟𝑎𝑑
ω = 5.315
𝑠
2𝜋
𝑇= = 1.182𝑠
𝜔

Type of controller Kp Ti Td
P 1.85 inf 0
PI 1.665 0.981 0
PID 2.22 0.591 0.1477

We know that
𝐾
𝑇 =
𝐾
𝐾
𝑇 =
𝐾
Therefore
Type of controller Kp Ki Kd
P 1.85 0 0
PI 1.665 1.697 0
PID 2.22 03.756 0.328

3.2 Convert transfer function given below to state space model.

𝑌(𝑠) 𝑠+1
𝐺(𝑠) = =
𝑈(𝑠) 𝑠 +2𝑠 + 3𝑆 + 1
Answer
𝑋(𝑠) 𝑌(𝑠) 1 𝑠+1
. = .
𝑈(𝑠) 𝑋(𝑠) 𝑠 +2𝑠 + 3𝑆 + 1 1

𝑋(𝑠) 1
=
𝑈(𝑠) 𝑠 +2𝑠 + 3𝑆 + 1
……state eqn

𝑌(𝑠) 𝑠+1
=
𝑋(𝑠) 1
………output eqn
𝑑 𝑥 𝑑 𝑥 𝑑𝑥
𝑢(𝑡) = +2 +3 +𝑥
𝑑𝑡 𝑑𝑡 𝑑𝑡
………….eqn 1

𝑥 =𝑥
𝑑𝑥
𝑥 = = 𝑥̇ = 𝑥 ̇
𝑑𝑡
𝑑 𝑥
𝑥 = = 𝑥̈ = 𝑥 ̇
𝑑𝑡

Page 10 of 12
 𝑑 𝑥
𝑥̇ = = 𝑥⃛
𝑑𝑡
Substituting to eqn 1

𝑢 (𝑡 ) = 𝑥̇ + 2𝑥 + 3𝑥 + 𝑥

𝑥̇ = −𝑥 − 3𝑥 − 2𝑥 + 𝑢(𝑡)

𝑥̇ = 𝑥
𝑥̇ = 𝑥
𝑥̇ = −𝑥 − 3𝑥 − 2𝑥 + 𝑢(𝑡)
State equations are
𝑥̇ 0 1 0 𝑥 0
𝑥̇ = 0 0 1 𝑥 + 0 𝑢(𝑡) +
𝑥̇ −1 −3 −2 𝑥 1
Output equation
𝑌(𝑠) 𝑠+1
=
𝑋(𝑠) 1
𝑑𝑥
𝑦 (𝑡 ) = +𝑥
𝑑𝑡

𝑦(𝑡) = 𝑥̇ + 𝑥

𝑦(𝑡) = 𝑥 + 𝑥
𝑥
𝑦(𝑡) = [1 1 0] 𝑥 + [0]𝑢(𝑡)
𝑥

3.3 Obtain transfer function from state space model given below.
𝑥̇ −5 −1 𝑥 2
= + 𝑟(𝑡)
𝑥̇ 3 −1 𝑥 5

𝑥
𝑌 = [1 2] 𝑥
Answer

𝑮(𝒔) = 𝑪[𝒔𝑰 − 𝑨] 𝟏 𝑩 + 𝑫
−5 −1
𝐴=
3 −1
2
𝐵=
5
𝐶 = [1 2]
𝐷=0
𝑠 0 −5 −1 𝑠+5 1
𝑠𝐼 − 𝐴 = − =
0 𝑠 3 −1 −3 𝑠 + 1
𝑠 + 1 −1 𝑠 + 1 −1
[𝑠𝐼 − 𝐴] = 3 𝑠 + 5 = 3 𝑠+5
𝑠 + 1 −1 𝑠 + 6𝑠 + 8
3 𝑠+5

𝐺 (𝑠) = 𝐶[𝑠𝐼 − 𝐴] 𝐵 + 𝐷
Page 11 of 12
 𝑠 + 1 −1
𝐺(𝑠) = [1 3 𝑠 + 5 2 + [0]
2]
𝑠 + 6𝑠 + 8 5

12𝑠 + 59
𝐺 (𝑠) =
𝑠 + 6𝑠 + 8

3.4 Write four applications of close loop system.

Answer
Applications are
1. Process control (temperature, flow, pressure…)
2. Robotics and automations
3. Flight control system
4. Static excitation system
5. Governor system

****GOOD LUCK****

Page 12 of 12