Marks Scored:

KATHMANDU UNIVERSITY
End Semester Examination
February/March,2016
Level B. E. Course : COEG 401
Year IV rl 0 HAR 20i0 Semester : I
Exam Roll No. : F. M. :20

Registration No.: Date

SECTION "A"
[20 Q x I =20 marks]
l) If the programming unit of the PLC is removed,
the operation of user program will be affected.
the operation of user program will not be affected
E the user program will be terminated automatically
f none of the above will occur.

2) The root-loci of a closed loop system is shown in figure; the system is

K=0

K=5

fl stable for K < 5 E unstable for all K>0

E stubl. for all K>0 f] unstable for K ) 5

3) If a system is controllable and observable, then

input and output are related to dominant state variable.

input and output are related to least dominant state variable.
E input and output are related to all state variable.
E relation with state cannot be identified.

4) Which system would give best performance in terms of transient and steady state
performance?
with poles in the left half of s-plane and close to the imaginary axis.
with poles in the left half of s-plane and far from the imaginary axis.
with poles in the right half of s-plane and close to the imaginary axis.
with poles in the right half of s-plane and far from the imaginary axis

s) With feedback, the transient response of the system as compared to that without
feedback
n rise slowly n d..uy slowly I rise fast tr decay fast
6) The system defined by A , =l-7
LI ?],=[i].=" ola a[o] is

E observable and controllable E observable but not controllable

n nether controllable nor observable n controllable but not observable
 I0 HhR 2016

7) Given the system,

xr(xr+ur)
and y, = { + u, , for the working point

urn=2, !r=--
[;]t \+ x2

Zu*:5 fJu.:-5 u*: l0 tr u*: -10

8) Root-loci will show asymptotic behavior when
E there are more open loop zero then open loop pole
there are more open loop pole then open loop zero
there are equal number of open loop pole and open loop zero
f] there are repeated open loop pole at the origin

e) The compensator G("F 3r+ isa

n Pl-controller I PD-controller
E Phase-lead compensator E Phase-lag compensator

l0) A unity gain negative feedback 14

Slep Response

system has system transfer function 12

^l
ot.
.t, +J.s+l
_.Thesystemis 1

compensated by PID controller with

Ko:17, K6:2 and Ki:l with response
as shown in figure. What should be
done to obtain perfect transient and
ii2
steady state response?
ta
Tims (soconds)

T Increase K6 and decrease K1 [ Der..ure Ko and increase K;

Increase K6 and increase Ki n D..r.*e Ie and decrease Ki

II ) For a MIMO system with 2 inputs and 4 outputs, size of its transfer function matrix
is

n+rr Jqrz Zz*+ Err+

12) A system has open loop transfer function of -] . The gain margin and phase
s' +2s +l-
margin of the system are
0
Gain margin 0 phase margin I Gain margin 20 phase margin - l g0
T Gain margin o phase margin -180 E cuin margin 20 phase margin o

l3) The initial slope of the god. plot for a system with four poles at origin is
_.
n -zo dB/decade I-+o db/decade I -oo dg/decade tr+o oB/decade

U
 1 0 HIR 2Uto
14) The transfer function of the following system is

i y=[o t]l
=
[-" ?],.[;].
tr ctri=*
E c(r) =;i
l5) If PID controller is implemented in forward part of a closed loop system, the
damping ratio is rise time is and steady state error is

n d..r.ured, unchanged, increased I unchanged, decreased, increased

fl d".r.ured, increased, decreased E inrr.ur"d, decreased, decreased

Fill in the blanks.

16) 3
Gain margin of the open loop transfer function r ,lj ==. i,
(s+10)(s+20)
17) Slop of magnitude plot of frequency response of the system at frequency 100 is

l8) Implement the following sequential circuit in ladder diagram.

x!
X1

y!

X2

-
 t

I0 HAR 2016

19) Write down machine code of sequential circuit in question l8 using basic instruction
set of PLC.

20) Draw the bode diagram o1 ---1--

s(s + 100)

(I]
1'
o
.=
(!
o)

g)
{t)
E'
c)
o
6
E
(L

-,1 0 2
10 10 10 0 10
Frequency (rad/sec)
 KATHMANDU UNIVERSITY
End Semester Examination
February/March,20l6
Level : B.E. Course : COEG 401
Year : IV I fi |'intr /uio Semester : I
Time : 2 hrs. 30 mins F.M. :55
SECTION "B"
Attempt ANY FIVE questions. Semilog graph papers will be provided.
r)
i) Block diagram of a closed loop control system is shown in figure below,

R(s) 0.01
K Y(s)
(s+2)(s+20)(s+200)
10

Compensate the system using phase-lag compensator to meet the following

specifications t9l
o Position error < l0o%
o Phase margin > 60o
. Gain margin > l0 dB
o Gain crossover frequency as large as possible.
ii) Write about role of sample and hold in digital control system t2l
2)
i) The nonlinear state space of a system is given as follows,

l-"1 f *, I

L;]=[,-' #)*'!'r=k'xz
Where,
g = 9.8 , k, = 6.5x 10-a and t, = 100
Find the linearized state space equation at working voltage ut = 4Volts [3.s]

ii) Discretize the following system using forward Euler and ZOH. t4.51

,=
[i, ;], [?]'=', rla
= = rol

iii) Explain in brief the method of linearization of state space representation of a non-
liner system. t3l
3)
i) Assume practical second order system and write down MATLAB program to
design PID compensator for the system. Explain how PID compensator can
improve transient and steady state performance of the system. You can incorporate
appropriate figure and chart to support your explanation. t6]
ii) Obtain the state space representation of the system using both cascade and parallel
realization. t5l
s'
' =(s + 2)(s +3)
G(s)
 rl 0 HhR 20it)
4)
i) Implement the following system using operational amplifier t7)
G(s)=b(s)=--4-
- \-/
a(s) (s+2)'(2s+3)

ii) Justifu the statement, "Controllable form of non-minimal system controllable but
not observable". t4]

s)
i) Write the state equation of the system shown in figure in which X1, X2 ?rd X3
constitute the state vector. Determine whether the system is controllable and
observable or not. t6l
o

2
xz(s) 2
,s X,( ^t
s+3 s(s+1
xz(s)

,s

ii) Draw the op-amp circuit of P, PI, PID and phase lag compensator. t2l
iii) Write short notes on integral performance criteria. t3l

6)
i) Objective of the below system is to separate gray object from white object and
place them in separate container. t8l
Conveyer A I
B
Camera

Container B
t
Motor A

Object
sensor A
Motor B
Object
sensor C
Conveyer B

Container A sensor B

Control Algorithm:
Stepl: Move Conveyer A until an object is sensed by object sensor A
 ,l 0 Iiil,rr /i.j iil

Step2: Activate camera and take input from camera

Step3: Move conveyer B to left if object is white and move it to right if object is
gray.
Stepl: Stop conveyer B ifobject is sensed by object sensor B or object sensor C and
return to step l.

Construct ladder diagram and Grafcet diagram to implement above control algorithm.
[Note: Output from camera: I if object is gray and 0 if object is white.
: Motor B is controlled by a H-Bridge circuit and moves clockwise and anti-
clockwise if (0,1) and (1,0) is given respectively. The motor stops if (0,0) is
given to the circuitl

ii. Using appropriate example and figure, briefly explain the role of feedback in
system.
transient and steady state performance of the t3]

Appendix

Matrix
Matrix V=[CICA

State to Transfer Function

brs3 + brs' +brs+bo
G(s) = G(o) +
so +ars' +ors2 +of +ao
Controllable form
- cl3 -42 -at -ao I
I 0 0 0 0
A_ B-
0 I 0 0 0
0 0 I 0 0

c =lb, b2 bt bo ] a = [c(*)]

a3 o2 al
loraz
U- I
Ii 0la3
Io 001
 APR 0 3 20ii
KATHMANDU UNIVERSITY Marks Scored:
End Semester Examination
March/April2017
Level : B.E. Course : COEG 401
Year : IV Semester: I
Exam. Roll No. : Time : 30 mins. F.M. :20

Registration No.: Date

SECTION "A"
[20 Q. x l:20 marks]

l) A compensator is in the form C(s) = *"(#)r* ,1,K" ) 0 &t >0 The

compensator may be realized by op-amp circuit for

E Proportional plus integral action
Proportional plus gain-limiter integral action
Proportional plus derivative action
Proportional plus bandwidth-limiter derivative action

2) If a first order unit negative feedback system is controlled by a proportional

controller, increment in proportional gain will
n in.t ut. the time constant and decrease the steady state error to step input.
E decrease the time constant and decrease the steady state error to step input.
E de"rease the time constant and increase the steady state error to step input.
E increase the time constant and increase the steady state error to step input.
3) The steady state error due to step command can be eliminated from proportional
controller with type-0 plant by
i. intentionally misadjusting reference input
ii. introducing integral mode in the controller

n None of the above statements are true

fl Statement (i) is true but statement (ii) is false
Statement (ii) is true but statement (i) is false
Both the statements are true

4) If there is constant error in the output signal, derivative control will

E reduce the error to zero
fl reduce the error but not necessarily to zero
n hur. no effect on the error
f] ir.r.ur.s the error
5) Consider a unity-feedback system with open loop transfer function
C(s) = +-. Increase in gain K will cause
s(l + s)
E the gain crossover frequency to reduce I the system to respond more slowly
n tne gain crossover frequency to increase I non.
6) The transfer function of a system is C(s)='9,('*=o:'f).
' The phase shift at or0
(l + 0.5s)
and rrl=o will be respectively
n gO and 0 degree E -tSOand lS0degree
E -qO and 90 degree n non"
7\ A type-l system can be changed to type-2 feedback system by the cascading

npo E pt n either PD or PI n neither pD or pl

8) Controllable form of state space realization of a minimal transfer function is
fl controllable and observable n controllable but not observable
I not controllable but observable n not controllable and not observable

e) The compensator G(sF rsa

,;ffi,
E Pl-controller n PD-"ontroller
E Phase-lead compensator E Phase-lag compensator
l0) A unity gain negative feedback
system has system transfer function Slep Response

of^l The system is

s'+3s+l
compensated by PID controller with
Kp=17, Ka:2 and Kt:l with unit step 0ll

response as shown in figure. What a Ui

should be done to eliminate rl.1
overshoot and zero steady state error
for unit step input? t.l

)) li .]-:

Iime (s€conds)

E Increase Ka Ki
and decrease f] Decreas€ Ka snd increase Ki
n In"."as. Ka and increase Ki f] D..r.ure Ka and decrease Ki

ll) A system has continuous state space matrices A, B, C and D. The discretized
matrices Z, E , e and Dusing Forward Euler method for sampling time I are
respectively.

D t +r,q, TB, c and D Zr,q, I +TB, c and D

Jr,q,TB,c and D Zr,q,TB,TC andTD
12) which of the following process of pLC has longest time allocation?
fl Input scan r output scan E projru, ,.u,
Terminar scan r
l3) which of the following is deficiency of proportional controller?
tr It has limitation to change the steady state error
lt scales up the error signal by the same amount throughout the response.
very large value of proportional constant can lead to instability
E all of the above
 APR 03 2017

l4)AlagcompensationnetworknormallyconsiStsof- elements.
nnar- Ela,c Enac E R, L&C
l5) Sequential controller is applied for
I conditional logic E tequential logic
E relay logic E all of the above

l6) The op-amp circuit for the given basic block diagram is:

TI
-2 ) 1 x
.9

tr lmF tr lmF
u u
s00rl 250rl

500c,
500(l

n u
500rl
n u lmF
250(r

17) State equations of the circuit shown in the figure below are:
R
c [FGl-l c
u1

R
x1 R
x2

tr h=xr*11, E =''*'' xt=-xr-ur

Er'=-xr-ilr
]',
xz=Xt Xz = -Xt Xz=Xt Xz = -Xt

I 8) Transfer function of following system is

[oool I

,=lr o ol x+ 0 u y =fo o o.s]l

[oro] 0

n tir, E- l/sr Z2lst [-2lst

l9) Zero state response of a system results only form the
E internaldisturbance E external input E feedback E driving input

20) For a minimal system, size of matrix should be equal to order of

system.
n output E input n state f] direct transfer
t

KATHMANDU UNIVERSITY
End Semester Examination APR 03 2017
March/April2017
Level : B.E. Course : COEG 401
Year : IV Semester : I
Time : 2 hrs. 30 mins. F.M. :55
SECTION "B"

Attempt ANY FIVE questions. Semilog graph papers will be provided

l)
i) Block diagram of a closed loop control system is shown in figure below,

R(s) E( 0.t
K Y(s)
(s+l)(s+10)(s+100)
l0

Design compensator for the system to meet the following specifications t9]
o Position error < l0oZ
o Phase margin > 60o
o Gain margin > l0 dB
o Gain crossover frequency as large as possible.

ii) Briefly describe process scan of PLC and how this scan process by affected by
setting PLC in terminal mode and run mode. tzl
2)
i) Write down generalized matrix for realization of state space represenation of non
linear system. Realize the following non linear system to state space form. L2+41

[;, l-- [ x,'sin (r.r, )+8x, I +f, /r = -xt2 + x2 -+ gl

[',', *cos(u, )+ lJ -+ .fz
L;, ]

ii) Discretize the following system using forward Euler andZOH tsl
,=[? ;],=[l]'=1, olo = [o]
3)
i) Obtain the state space representation of the system using both cascade and parallel
realization. t5l
G(s)=*ffi
iii) Realize the state space of the system obtained in (i) by operational amplifier. t6l
4)
i) Using an appropriate example of a non-minimal system, Justify the statement,
"Observable form of non-minimal rystem is observable but not controllable".
t5I

ii) Draw operational amplifier circuit for P, PI, PID and phase lag compensator. t3]
iii)Write down MATLAB program to obtain transfer function from state space
representation of a MIMO system. t3l

s)
i) The system below is a unity feedback control system with a minor rate feedback
Ioop.
a) In the absence of rate feedback, determine the peak overshoot of the system to
unit step input, and the steady state error resulting from unit ramp 121 input.
Determine the rate feedback constant which will make the damping ratio 0.8.

b) What is the steady state error to unit ramp input with this setting of rate
feedback constant? t3l
c) If the system also includes P controller, determine the value of proportional
constant and rate feedback constant for damping ratio to be 0.8? t3]

+ + l6 v(s)
s(s + 4)

d,S

ii) Write short notes on integral performance criteria. t3l

6)
i)
x
t aVser switch I and crossing light I

tD

-)x
Path A
One ZSra
road Crossing

o
T
Light A (t o User swtch 2 and crossing light 2
Traffic
Light B

One way
road
ln the road layout shown in figure above:
o Two one way road path A and path B cross each other and traffic can flow only
through one path. (Traffic from path A cannot go to path B and vice versa)
o Traffic at path A and B are controlled by traffic light A and B respectively.
o Both traffic light A and B contains Red (stop) and Green (go) lights.
. There is zebra crossing in right side of path A and is equipped with user control
switch and crossing light I and2 with red and green light.
 APR 03 2017

Control objective:
o Both traffic light A and B should alternately light green and red for 30 second each.
o When traffic light A is green crossing light I and 2 should light red.
o when traffic light B is green crossing light I and 2 should light green.
o If traffic light A is green and either of user switch I or 2 is pressed,
o Traffic light A should light red
o Traffic light B, crossing Iight I and 2 should light green for 20 seconds
o After 20 seconds, traffic light A should light green for 30 seconds and usual
process should continue.
Construct state chart, Grafcet diagram and ladder diagram to implement above control
objective. Ul
b) Implement following digital circuit using ladder logic and write down machine code
of ladder diagram using basic instruction set of PLC(With reference to DL24O of Direct
Logic)
t4l
xr
X1

y!

X1

Appendix

Controllabil Matrix
Observabil Matrix v=[clcAlcA- I

State to Transfer Function

6rs3 + brsz + brs + bo
G(s) = G(o) + 4
s + ars3 + ars'+ 4ls + ao
Controllable form
-03 02 -ol -ao I

A_
I 00 0 0
B_
0 t0 0 0
0 0l 0 0

c =lb, b2 bt br) o = [c(-)]

lora2al
0l0302
U-
001o.
00 0l
 KATHMANDU LTNIVERSITY Score:
End Semester Examination
February/March, 2018
Level B.E. Course : COEG 401
Year IV Semester: I
Exam Roll No: Time:30 mins. F.M. :20
Registration No.: Date },IAR O B 2O1B
SECTION "A"
[20 Q.xl:20 marks]

l) Which compensator is implemented in operational amplifier circuit below?

0rt0uI BIT&}I

a) P b) PI c) PID d) Phase lag

2) If the unit step response of a second order system is very sluggish, factors that may
be responsible for large value of rise time may be
i. large value of gain margin and phase margin.
ii. system poles lie in imaginary axis.
a) None of the above statements are true.
b) Statement (i) is true but statement (ii) is false.
c) Statement (ii) is true but statement (i) is false.
d) Both the statements are true.

3) For a negative feedback control system, using proportional controller will

i. improve disturbance signal rejection.

ii. improve steady state tracking accuracy.
a) None of the above statements are true.
b) Statement (i) is true but statement (ii) is false.
c) Statement (ii) is true but statement (i) is false.
d) Both the statements are true.

4) Which of the following is true for derivative control?

a) Reduces steady state error.
b) Suppresses noise.
c) Results in large controller output for abrupt change in reference.
d) Increases settling time.

s) A phase lag compensator may be realized using op-amp circuit of

a) proportional plus integral action
b) proportional plus gain-limiter integral action
c) proportional plus derivative action
d) proportional plus bandwidth-limiter derivative action
 6) Op-Amp is used as inverting amplifier to serve as P controller in a negative
feedback control system. Decreasing input resistor of the amplifier will

a) reduce the gain crossover frequency

b) cause the system to respond more slowly
c) increase the gain crossover frequency
d) increase the phase crossover frequency

7) The transfer function of a system is c(s)= !"r*1!?. The phase shift at rrr:50
s'(s + 0) 1

and co:200 will be respectively

a) -90o and -180o b) -180o and -180o
c) -270 o and 90 o
d) none

8) A type-l system can be clanged to type-2 system by cascading_.

a) PD b) PI c) either pD or a; none fi
e) Observable form of state space realization of a minimal transfer function is

a) controllable and observable b) controllable but not observable

c) not controllable but observable d) neither controllable nor observable

10) In the closed loop system shown in figure below , it is desired that the output y
changes by unit step with zero error at steady state. This can achieve this by
providing reference signal equal to
Ref Y
K
rS+l

a) step function of magnitude I

b) step function of magnitude (l+K)/K
c) step function of magnitude K(l+K)
d) none

I l) A unity gain negative feedback

system has system transfer function 1I
Step Responsa

of^l , - . The system is

s'+3s+l
compensated by PID controller with
Kp=17, Ka=2 and Ki=l with unit step OB

response as shown in figure.

What t
should be done to eliminate
01
overshoot and zero steady state error
for unit step input? t).i

;ai ;lt iln

Timo (s€conds)

a) Increase Ie and decrease Ki b) Decrease Ka and increase Ki

c) Increase Ko and increase Ki d) Decrease Ka and decrease Ki

-
I
},IAR O B 2O1B

12) Disturbance in a negative feedback closed loop control system

a) is useful since it helps in improving the system performance.
b) is not always useful and it depends on the location and type of dynamic system
with respect to the disturbance
c) always deteriorated the system performance
a) is not critical for feed forward system.

13) Which of the following statements are true for sampling time of digital closed
loop control system?
a) It defines the time between successive pulses and hence cannot represent
frequency information beyond the limitation of sampling theorem
b) It defines the speed of the system.
c) It defines the processing capability of the system
d) All the above

t4) rhe system given by ;=[l i]r.[l],and y=[r 0]a is

a) controllable and observable b) controllable but not observable
c) not controllable but observable d) neither controllable nor observable

l5) A negative feedback cascaded system has 2 inputs and 3 outputs. Ifall the inputs
and outputs are considered, the size of transfer function matrix is
a) l2x2l b) [2x3] c) [3x3] d) [3x2]

l6) Which of the following is not the primary component of PLC system?
a) Memory b) Microprocessor
c) Signal conditioning unit d) Output module

17) For a negative feedback control system shown in figure below, the value of
proportional gain is 5. The step response of the system is

Ref I Y
K --
s'+2s+3

Sl.p R.rponr. Slop R.spom.

i|.3 rl5

,J5 J{5
0a
t7
o:n
'J!
0i
t).5
|25
0.r i
0-r
n.15

t..2 0.1

I 5 24li8101?11161B
llm (.&ond.)
a) Iim. (r.cond.) b)
 Step Rospon3a Slsp R.spons€
C8 r:i

.:t

.4
trs
.a
a5
.3

i ic
c

0
-!r

El fiO riu t€ -15 15 5

c) 1'lm6 (s€con&)
d) Time (Brcond6)

l8) Transfer function of following state space representation of the system is

Io I
A=l C tI rlo = [o]
Lo 2 ],=[;]
s-l b) I 2
a) 2^
S _Z
i-2
' s'-2s c)
s 2^ d) 2^
-./. ,s - z.s

l9) Draw the Ladder diagram equivalent of following combination logic.

Y,=((x,x,).q) +x,.Xn

Write down assembly code for following ladder logic.

*,ll*ol-
X1 X3 Y1
OUT
)

x2 X4 Y2
OUT )
X3 X5
 KATHMANDU UNIVERSITY
End Semester Examination
February/March, 2018 }IAB O B 2O1E
Level : B.E. Course : COEG 401
Year : IV Semester: I
Time : 2 hrs. 30 mins. F.M. :55
SECTION "B"
Attempt any FIVE questions. Semilog graph papers will be provided

l)
i) Block diagram of a closed loop control system is shown in figure below,
R(s)
K
I
s(s + 2)

Using Bode plot, evaluate value of proportional gain and design phase lag
compensator for the system to meet the following specifications t9]
o Velocity error < l0olo
o Phase margin > 60o
. Gain margin > 12 dB
o Gain crossover frequency as large as possible.
ii) Derive the expression for evaluating transfer function from state space
representation of a system. I21
2)
i) Derive the state space representation and draw the block diagram of single input
multiple output system shown in figure below. Write down MATLAB program to
obtain transfer funcetion from state space representation. 16+2l
Input u: F and Output yl andy2
b
F

k
Y2 Yr

ii) Discretize the following system using forwardZOH. t3l

,=[? ;],=[l]'=1, olo = [o]
3)
i) Obtain the state space representation of the system using both cascade and parallel
realization. t6l
G(s)=(,*#r*a

ii) Find the state space representation of the system given in the figure below
considering the states, Xt and Xz, as indicated in the figure. Realize the state space
using Op-Amps. t5l
 X:(s)
u( I
Y(s)
s+2 .r+l s+2

4)
i) Explain with an appropriate example and necessary graph, how derivative control
can aid to improve transient performance of underdamped system,,.
t5]

ii) With an appropriate block diagram, explain the working of digital control system.
Explain the significance of sampling time and method of discretization of state space
representation of a system.
t3]

iii) Write down MATLAB program to obtain transfer function from state space
representation of a MIMO system. t3l
s)
i) Consider a practical system and justify the statement, "Non minimal system is never
controllable because it has unnecessary state". l4l
+;')l
ii) Given the following system:, = ['' \+x' *a ! = xr +u , frndthe linearized
| 3x, + xr'
model of the system for u", =2 14]

iii) Write short notes on frequency domain analysis for stability t3l
6)
i) Objective of the below system is to separate gray object from white object and place
them in separate container. 17)
Cmera
Conveyer A
6
Container B
t
Motor A

Object
sensor Motor B

Object
sensor C
Conveyer B

Container A sensor B

Control Algorithm:
Stepl: Move Conveyer A until an object is sensed by object sensor A.
Step2: Activate camera and take input from camera
Step3: Move conveyer B to left if object is white and move it to right if object is gray.
Stepl: Stop conveyer B ifobject is sensed by object sensor B or object sensor C and retum to
step l.
Construct Grafcet diagram and ladder diagram to implement above control algorithm.
[Note: Output from camera = I if object is gray and 0 if object is white.
: Motor B moves clockwise and anti-clockwise if (0,1) and (1,0) is given
respectively. The motor stops if (0,0) is given to the circuit]
ii) The open loop transfer function of unit feedback system isG(s)' = s(2+
;;f sT)
;,.
a) By what factor the amplifier gain K should be multiplied so that the damping
0.6
ratio is increased from 0.2 to l2l
b) By what factor the time constant T should be multiplied so that the damping
ratio is reduced from 0.9 to 0.2 l2l
 Marks Scored
KATHMANDU LINIVERSITY
End Semester Examination
July, 2018
Level B.E Course : COEG 402
Year IV Semester: II
Exam Roll No. : Time: 30 mins. F.M. :10
Registration No.: Date JUL 2 i 2o1B
((A,
SECTI
[20Qx0.5:10marks]
Tick the most appropriate answer.

1. If one or more task is running in the operating system but fail to make any progress,
this condition is termed as
a. deadlock b. starvation c. halted d. race condition

12. Board which intends to become bus master sends request to bus arbiter via _
a. bus request line b. control line
c. bus allocation line d. master allocation line

J Which of the following is not the criteria for classifying CNC machine?
a. Axis of operation b. Machining tool c. Machining speed d. Control system.
4. In real time control svstem
a. CPU clock is never used
b. sequential programming is done
c. multitasking is possible
c. single interrupt line is always dedicated to a single process
5 In Multibus II interrupts are handled using
a. multi master operation b. shared interrupt
c. Daisy-chain connection d. interrupt as unsolicited message

6. In computer-based control system, sampling time depends upon

a. number of states of the system b. limitation of control signal
c. measurement of the system d. bandwidth of the system

7 Which of the following is not real time operating system?

a. RTLinux b. Linux c. AMX d. DeltaOS

8. Hysteresis controller is an example of

a. Feedforward control b. on/off control
c. real time control d. PID control

9. In practical systems, Integral part of PID controllers may cause

a- anti-aliasing b. bumpless transfer
c. unnecessaryovershoot d. control signal limitation

10 The condition of several boards trying to be bus master at the same time, creating a
conflicting situation, is called
a. bus arbitration b. bus contention c. block transfer d. none
1 1. Decide whether each of the following answer is true (T) or false (F). A digital ramp
ADC
i. has large and fixed conversion time
ii. Requires start/stop signal to initiate/terminate conversion process.
a. (i)r(ii)r b.(i)r(ii)F c.(i)F(ii)r d.(i)F(ii)F
12. Decide whether each of the following answer is true (T) or false (F). In adistributed
digital control system
i. microcomputers do not communicate with each other and perform task
independently
ii. feedback from physical world is fed to local computer
a. (i)r(ii)r b.(i)r(ii)F c.(i)F(ii)r d.(i)F(ii)F
13 Decide whether each of the following answer is true (T) or false (F). Can be used to
measiire temperature of molten metal in a furnace.
i. Combination of thermistor and R to V converter.
ii. Combination of thermocouple and signal conditioning unit.
a. (i)r (ii)r b. (i) r (ii)F c. (i) F (ii)r d. (i) F (ii) F

14. Which of the following is not true?

a. In multitasking environment with one processor, more than one task can be
running in CPU.
b. In Static Priority allocation, the low priority tasks may not execute at all.
c. Shared resources are accessed in Critical Region of the code.
d. Rendezous can be used for Inter Process Communication.
15 Adaptive system with gain scheduling is implemented for system
a. with linear control requirement.
b. which operates in various operating region.
c. whose response is very slow.
d. whose sources of disturbances are known.
Fill in the blanks

16. In hierarchical control system two console at level four are and

17. VMEBus has interrupt lines.

18. IEC 381 standard value for voltage signal is

19. In closed loop PID controller a condition where there is large change in controller
output due to step change in set point is termed as

20. Cables are shielded and grounded to reduce coupling

 KATHMANDU UNIVERSITY
End Semester Examination
July,2018 JttL 2 2 2018
Level : B.E. Course : COEG 402
Year : IV Semester : II
Time : 2 hrs 30 mins F. M. :40
SECTION ''B''
[5Q*8:40marks]
Attempt ANY FIVE questions. Assume missing parameters suitably

a. Write about the significance of multiplexers and demultiplexers in computer-based control

system and explain with an appropriate block diagram how they can be used to reduce
system size and complexity. t4l
b. Draw the functional block diagram and compare centralized and distributed computer-
based control system t4]

2. A two axis CNC machine should be able to cut wood to user defined length and width.
HMI of the machine includes input area for length and width to be cut and start/stop
button.
For above mentioned control objective design following parameters.
- Mechanical layout of the machine.
- Sensor selection and placement.
- Actuator selection and placement.
- Selection and design of control system architecture.
- Overall system layout with placement of sensors, actuators and controller.
- Control algorithm using conventional andreal-time programming. t8]
3. a. Write down computer program or algorithm to implant position and velocity form of
PID controller. Also explain the significance of sampling time in your program. t3l
b. What are the methods of synchronizing control loop in a computer-based control
system. t5l

4. a. Draw operational block diagram and explain the working of MRAC. tzl
b. Justify with an appropriate example how unprotected resource in an operating system
can bring race condition. 14)
c. Write about digital filter and its benefits over analog filter. 12)

5. a. Explain with an example how mutual exclusion can bring deadlock in an OS t3l
b. Distinguish synchronous and asynchronous data transfer. 12)
c. Explain the working of successive approximation ADC. t3l

6 Write short notes on (,4NY FOUR) [4Q ' 2: 8)

a. Discrete and continuous level sensor
b. Computer numeric control
c. Human interface design principle.
d. Inter process communication.
e. SCADA
f. Task scheduling strategies.
 .,

Marks Scored:
KATHMANDU UNIVERSITY
End Semester Examination [C]
June,20l8
Level : B.E. Course : COEG 401
Year : IV Semester: I
Exam. RollNo. : Time: 30 mins. F. M. :20

Registration No.: Date JUN 182018

('A"
I20 Q. x l:20 marksl

I Which of the following is deficiency of proportional controller?

a) It has limitation to change the steady
b) It scales up the error signal by the same amount throughout the response.
c) Very large value of proportional constant can lead to instability
d) All of the above

o 2. With feedback the, the transient response of the system as compared to without feedback.
a) decays slowly b) rise at fast rate
c) rise at slow rate d) no effect on transient performance

J. A large time constant corresponds to

a) sluggish system b) faster system
c) overdamped system d) underdamped system

4. In the unity feedback system shown in the figure, the value of the derivative feedback
constant a, which will give (:0.9, is
8
a) 0.386 b) 0.4s7 s(.s + ?)
c) 0.562 d) 0.238

5 Frequency ranges of Bode magnitude and phase are described by

-il a) the lowest and highest important frequencies of dominant factors of the open-loop
transfer function.
b) the lowest and highest important frequencies of all the factors of the open-loop
transfer function.
c) resonant frequencies ofthe second order factors.
d) non ofthe above.

6 Civen the system, ,(r) = -2sin(x(r)) + 4uQ),for the working point x,,
7T

2'
a) urr= 0 b) urr:0.5 c)un=| d) u,,:2
7 Which of the following information about stability can be obtained from Bode plot.
a) the value of open loop gain at which the system will become marginally stable.
b) how far the system is from becoming marginally stable.
c) number of closed-loop poles in the right plane for a specified open-loop gain.
d) both (a) and (b)
 I

. t"n
8 Which system would give best performance in terms of control engineering?
a) With poles in the left half of s-plane and close to the imaginary axis.
b) With poles in the left half of s-plane and far from the imaginary axis.
c) With poles in the right half of s-plane and close to the imaginary axis.
d) With poles in the right half of s-plane and far from the imaginary axis.

9 Which of the following is true for derivative control?

a) decrease overshoot and increase steady state error
b) decrease both overshot and settling time.
c) increase both overshoot and settling time.
d) increase overshoot and decrease settling time.

10. PLC when kept in run mode

a) do not access internal memory b) can interact with i/o module
c) debugging mode is active d) uses additional computational time

Fill in the blanks.

I 0
a-
1 l. Rank of the matrix, ,TS
-5 I

l2 For a MIMO system with 2 inputs and 4 outputs, size of its transfer function matrix is

l3 Gain crossover frequency of a system 4s+l tt

14. For a system to be'stable gain crossover frequency should be

phase crossover frequency

I
15. GM of system with open loop transfer function G (s) ls dB.
s+)

16. MATLAB command for calculating the pole of a state space model is a
17. Parallel realization is a method of obtaining of transfer function.

18. If velocity error of a system is infinite, then the type of the system is

19. Tracking speed of a control system can be analyzed by observing

ttttttt I rrtttttttttl)
o o
Phase (deg) NJ
Magnitude (dB)

o
dJ ,-t
9)

(D
I

o o-
o
o-
-Tt oq
Ft
!a
c
TD

o
a-o o
f o
t
o)
o
L)
@
o
o lt
%l
,^I
LI

o +.'t*l'
tal
vl

oN

l=
=
ec
N
(=
a
a

-l

\
r.

KATHMANDU UNIVERSITY
End Semester Examination [C]
June,20l8 Jt[{ 1 B 201$
Level : B.E. Course : COEG 401
Year : IV Semester: I
Time :2hrs.30mins F.M. :55
SECTION "B"

Attempt ANY FIVE questions. Semilog graph papers will be provided.

r)
i) In the closed loop negative feedback control system defined in figure below,

I Y(s)
K
s(s+1)(s+100)

a
Using frequency domain analysis, evaluate the value of K to meet flowing specifications.
t9]
o velocit y enor <5Yo
. Phase margin > 40o
. Gain margin > 12 dB
o Gain crossover frequency as large as possible.

ii) Write down MATLAB command to evaluate transfer fiction from state space
representation of a system. tzl

2) x
i)
t
-a *Yser
switch I and crossing light I

One w
road
Path A

T
n
o
Zeba
C ross i ng
-lx
Light A d
0< User switch 2 and crossing light 2
TraiTic
Light B

One way
road

In the road layout shown in figure above:

oTwo one way road path A and path B cross each other and traffic can flow only
through one path. (Traffic from path A cannot go to path B and vice versa)
oTraffic at path A and B are controlled by traffic light A and B respectively.
oBoth traffic Iight A and B contains Red (stop) and Green (go) lights.
oThere is zebra crossing in right side of path A and is equipped with user control
switch and crossing light I andZ with red and green light.
Control objective:
o Both traffic light A and B should alternately light green and red for 30 second each.
o When traffic light A is green crossing light I and 2 should light red.
o When traffic light B is green crossing light I and2 should light green.
o If traffic light A is green and either of user switch I or 2 is pressed,
o Traffic light A should light red
o Traffic light B, crossing light 1 and 2 should light green for 20 seconds
o After 20 seconds, traffic light A should light green for 30 seconds and usual
process should continue.
Construct Grafcet diagram and ladder diagram to implement above control objective. t9]

ii) Draw and explain the block diagram of a PLC system. l2l

3)
i. Find the state space representation of the system given in the figure below considering the
states, Xr and X2, aS indicated in the figure. Realize the state space using Op-Amps. t5l
a_
I X'(s) Y(0
2 2
s+l

I
5
s*1
ii. Show that the system given in Q4i) can also be represented by the following state space. t3l

-;'l ,=[l] .=10 a] and D=[0]

A_
t;
iii. Realize the state space given in Q3ii) using Op-Amps. t3l

4)
i) Discretize the following system using forward Euler and ZOH. t6l
a
ro -'1 ,=
o=l', r 3l
[1'1. = L
Ir -o]o
r = [o]
L3.l
ii) Given the following system: * = 4x2 +7u and y: 5x. 13l
a) Find the linearized equation for the system.
b) Assume that we want x,, = 1. Find u* for this working point.
c) Find the linearized system for the working point from b)'
iii) Briefly explanin about the general process of linerazing state spact equations. tzl

s)
i) Obtain the state space representation of the system using both cascade and parallel
realization t6l

G(s)=G+;*e
 f

dJ'f I I 2ols

ii) The open loop transfer function of unit feedback system is G(s) =s(l,,2K
+ sI)
=.
.

a) By what factor the amplifier gain K should be multiplied so that the damping ratio is
increased from 0.2 to 0.6 - t2)
b) By what factor the time constant T should be multiplied so that the damping'ratio is
reduced from 0.9 to 0.2 t3l

6) Write notes on. (Attempt ANY FOUR)

a) Controllable and observable form of non-minimal transfer function. 12.7s1
b) Op-amp circuit for P, PD, PID controllers [2.7sl
c) Frequency domain analysis for stability [2.7sl
d) Process cycle of PLC 12.7sl
e) Realization of non-minimal transfer function l2.7sl
-o f) Linearization of non linear state space 12.751

-a)
 Mark Scored:

KATHMANDU UNIVERSITY
End Semester Examination
February/March,2019
Level B.E Course : COEG 401
Year IV Semester: I
Exam Roll No. : Time: 30 mins. F. M. :20

Registration No.: Date ttB 2 5 201$

SECTION "A''
[20 Q.x l=20 marks]

l) The Op-Amp circuit for block diagram below is

u -2 2 1 x
1 ^5'

a) b)
1mF lmF
u u
500(, 250rr

c) d)
s00c,
500c)

- u
500cl u
250f,
*'

2) Consider the following statement for an underdamped second-order system.

i.Peak overshoot in step input response reduces as damping is increased from 0.2 to 0.6
ii.Resonance peak in frequency response reduces as damping is increased from 0.2 to 0.6
a) None of the above statements are true.
b) Statement (i) is true but statement (ii) is false.
c) Statement (i) is false but statement (ii) is true.
d) Both the statements are true.

3) The steady state error due to step input can be eliminated from proportional control
system with type-0 plant by
i. introducing differential mode in the controller.
ii. introducing integral mode in the controller.
a) None of the above statements are true.
b) Statement (i) is true but statement (ii) is false.
c) Statement (ii) is true but statement (i) is false.
d) Both the statements are true.
4) Consider the following statements
I If an open loopsystem is unstable, applying feedback will always improve its stability.
ii. If an open loopsystem is subject to parameters variations, applying feedback will always
improve robustness.
a) None of the above statements are true.
b) Statement (i) is true but sratement (ii) is false.
c) Statement (i) is false but statement (ii) is true.
d) Both the statements are true.

s) In a digital control scheme, selection of large sampling interval

a) improves the steady state performance
b) deteriorates the steady staie performance
c) has no effect on steady state performance
d) influences steady state perfoimance that depends on plant parameters

6) A system with large rise time can be made faster by

a) shifting the pole far from imaginary axis
b) shifting the pole close to imaginary axis
c) adding azero
d) none of the above

t) The main characteristics of lag compensator is/are,

a) it is a low pass filter
b) zero is larger than pole
c) it is a first order system with a zero and a pole
d) all the above
8) The initial slope of the Bode plot for a system with repeated poles at origin is

a) 20 dB/decade b) 40 dB/decade c) -20 dB/decade d) -40 dB/decade

9) The compensator scheme that is highly sensitive to noise is

a) PD b) Pr c) both PD and PI d) neither PD of PI

10) Controllable form of state space realization of a minimal transfer function is _. \

a) controllable and observable b) controllable but not observable
c) not controllable but observable d) neither controllable nor observable
11) In the closed loop system shown in figure below, it is desired that the output Y changes
by unit step with zero effor at steady state. This can achieve this by providing reference
signal equal to

Ref Y
K
rS+l

a) step function of magnitude 1 b) step function of magnitude (1+K)/K

c) step function of magnitude K(l+K) d) none
 FEB 2 5 2019

12) A unity gain negative feedback system has system transfer function of j . fn.
step response of the system with unit proportional gain is shown is figure (1
- below.
l.a)
What should be done to obtain step response as shown in figure ( 1 1.b)

Sta! R!spons6 Step R.rran$e

o. 1.{

r1

0
I
a 0.1
I a
{E
J-
I
--t'-.'.-'1..-'''---l-.^"-

0.5 i r.5 3.5 4 5 456

'fie {.ecoodr) ".S fm. (t.cdds)

Figure 1 l.a Figure I 1.b

a) Increase Kp b) Decrease rp
c) Increase Ko and decrease Kp d) Decrease Ko and decrease Kp

13) Disturbance in a negative feedback closed loop control system

a) is useful since it helps in improving the system performance.
b) is not always useful and it depends on the location and type of dynamic system with
respect to the disturbance
c) always deteriorated the system performance
d) is not critical for feed forward system
14) The phase provided by the Phase Lag Compensator with transfer function at gain
crossover frequency of the system should be
a) -3 degree b) -6 degree c)'12 degree d) none

15) Open loop transfer function of a unity feedback system is G(s) = s(s,K.+ 5) The gain K
=,.
that will result in phase margin of 50o approximately is
a) 15 b)20 c)25 d) 30

16) Bode plot characteristic which is the best indicator of the close-loop step response rise
-.
time is
a) phase margin b) gain margin
c) phase crossover frequency d) gain crossover frequency
17) For a negative feedback control system shown in figure below, the value of proportional
gain is 2 , derivative constant is 5 and integral constant is 4. The step response of the
system is _.

Kp

Ref 1 Y
Ki
s'-2os-30
Kd

d {F

0.r5

BI
c1 0c5

5 6 10 :2
a) b)
Srep Rcxyse

3
E
€

"14

2.5 3.5
lie
c) (s.cooCa)
d) Trns lsa{r}1d^l

18) Wfrigt, lystem would give best performance in terms of control engineering?
a) with poles in the left half of s-plane and close to the imaginary axis.
b) with poles in the left half of s-plane and far from the imaginary axis.
c) With poles in the right half of s-plane and close to the imaginary axis.
d) With poles in the right half of s-plane and far from the imaginary axis.
 FEB 2 5 2OB

19) Draw the Ladder diagram equivalent of following combination logic.

Y,=((x,+x,).q)+x.+X^

20) Write down assembly code for following ladder logic.

XO
x4
YO

x2 x3
 KATHMANDU UNIVERSITY
End Semester Examination
February/N4 arch,2019 ttB 2 5 2019
Level : B.E. Course : COEG 401
Year : IV Semester : I
Time : 2 hrs. 30 mins. F.M. :55
SECTION "B"

Attempt ANY FIVE questions. Semilog graph papers will be provided.

1)
i) Block diagram of a closed loop control system is shown in figure below,

Y(s)
R(s) E(s)
K I
s(s+1)(s+2Xs+3)

Using Bode plot, evaluate value of proportional gain and design phase lag compensator
for the system to meet the following specifications l7l
o Velocity error < 5Vo
o Phase margin > 40o
ii) For the circuit shown in the figure below:
C
R2

l-
R1

a) Find the transfer function of the circuit l2l

b) What additions are required for using the circuit as a phase lag compensator? 12)

2)
i) For the system shown in figure below, determine the value of gain K and velocity feedback
constant Kn, so the maximum overshoot in the unit-step response is 0.2 and the peak time
is one second. With these values of K and Kn, obtain the rise time and settling time. Assume
that J = lKg-m2 and f=1N-m/rad/sec t6l

R(s) K c(s)
1
Js+ f .t

Kh
 ii) fzx,(x,+u\1
Given the following sysrem: i = L'_' _ _ r' I and ! =2xr+u , find the linearized model
L unt'^2 J
of the system for u, =2
tsl
3)

i) The open loop transfer function of unit feedback system is G(s) - s(l+K
sI)
a) By what factor the amplifier gain K should be multiplied so that the damping ratio is
increased from 0.2 to 0.8 t3l
b) By what factor the time constant T should be multiplied so that the damping ratio is
reduced from 0.9 ro 0.3 t3l
ii) Discretize the following system using forward ZOH
t3l
A=l
Io
olD =[o]
[-r ll,=[?]'=,,
iii) Write short notes on integral performance criterion
L2)

4)
i) Obtain the state space representation of the system using parallel realization.
tsl
10(s + 3Xs + 4)
G(s) =
(s+l)(s+2)(s+5)
ii) Represent the state space obtained in (i) using op-Amp circuit
t6l
s)
i) Explain with an appropriate example and necessary graph, how derivative
control can aid
to improve transient performance of second order underdamped system.
t6l
ii) Justify the statement, "Controllable form of non-minimal transfer function
is controllable
but not observable."
t5l
6)
Shown in the figure is an Elev ator System. M1 {ForuP Motion}
Elevator is operated by two motors.

Ml forUpMovement
**tf 151{Down)
M2for Down Movement
Start Stop

Two Limit Switches LSI (for Down Limit)

0(}
Xs&
and LS2 (for Up Limit) are Normally
Closed contacts.
Up Bown
0()
X2&
Four Controls buttons is also provided.
*--{f L$z(Up)
STOP button is Normally Closed and
UP, DOWN buttons are Normally Open
M2 (ForDown

The required Sequence of Operation are given below

 FEB 2 5 2OB
' When START button is pushed, the platform should be in the Down position.
o When STOP button is pushed, the platform is halted at whatever position it occupies
at that time.
o When UP or DOWN push buttons are pushed the platform should move accordingly.
Note the platform should move when push button is pushed and halt when the button
is released.
(a) Write Grafcet diagram for the elevator control.
l2l
(b) Write ladder diagram for the given elevator control.
t6l
(c) Write equivalent assembly code for your ladder diagram.
(d) Consider motors Mr and Mz have over current relay OCr and OCz.
tll
Integrate the contacts of over current relays in the ladder diagram.
tz)
 I

KATHMANDU UNIVERSITY Mark Scored:

End Semester Examination [C]
May/June,2019
Level : B. E. Course : COEG 401
Year : fV semester : I
Exam Roll No. : Time: 30 mins. F.M 20

Registration No.: Date .e $ JUN 20lg

SECTION "A"
[20 Q.x l= 20 marks]

Encircle the most appropriate answer.

t.Mathematicalmode1ofasystemcanbeusedtoobserve
a. transient response.
b. steady state response.
c. both transient and steady state response.
d. neither transient nor steady state response.
o 2
,,3s
Gain of a lag compensator G. (s) = :- :' at frequency o = 0.01 rad/s is
l+os
a. 0 b. 10 c. 2A d.30

3. -dB feedback
In the unity feedback system shown in the figure, the value of the derivative
constant a, which will give ( = 0.9, is 8
0.386
a. b.0.457 s(s + 2)
c.0.562 d .0.238

4. ' Gain of a lag compensator Gr(s) ==?t at freouencv 0) = 0.01 rad/s is dB.
l+7 s
a.0 b. 10 -. c.20 d.30

5 Which controller is implemented in figure below?

10 kn

ko
-o r(t)
10
1ko

1kn
5 K()

Process v(u
u(t)

a. PI Controller b. P-D Controller c. P Controller d. Lag Compensator

6. Thepolesoftheclosed-looptransferfunctionofanoverdampedSyStemare-.
a. real andunequal b. real and equal
c. imaginary and equal d. complex conjugate

7 rhesysremderined by , A=l:
L2
]lr=[
3) )\ L
1.5
c=lt o.s]&o[o] is

a. observable and controllable b. observable but not controllable

c. neither controllable nor observable d. controllable but not observable
 l

8 If PD controller is implemented in forward part of a closed loop system, the damping

ratio is whereas rise time is
a. decreased, unchanged b. unchanged, decreased
c. decreased, increased d. increased, decreased
7'
9 Given the system, ,(r)= -2sin(.r(r)) + u(t), for the working point x. t-.
2
O.. uw = 0.15 b. u* = 0.5 c. u* = 0.75 d. u*=0.25
10. Zpro state response of a system results only form the
a. internal disturbance b. external input
c. feedback d. driving input

Fill in the blanks.

1 1. For a MIMO (Multiple Input Multiple Output) system with 2 inputs and 4 outputs, size
of its transfer function matrix is

12. Slow overdamped system can be made faster by increasing

of the control system.
the o-
13. The transfer function of the following system is

y=[o o
' [: ? l]'.[il' 0.5]l D

t4. The mathematical model of the system, G(s) = T'i91 , have differential
s'+999
equations.

15. For a third order system to be strictly proper, number of zeros should be

16. In a DC motor speed control system, the main objective is to control the speed of motor
by controlling the armature voltage using controlled rectifier. In this system, if
.
controlled rectifier is used as an actuator, output given by the system
c
I system is and disturbance is

t7. The transfer function of the state variable representation X = Ax+ Bu,Y =CX +Du is
siven bv

3
18. Gain margin of the open loop transfer function ; : ; lJ . ::: i,
(s+10)(s+20)
 I

I JUN 2019
I '+
19. Draw the bode diagram o1
-s(s +-1)
'!.

o
E
f,
=co)
d)
rU
o
=

o)
9G
Xo
ils

1o'2 1o'1 1oo 101 102

Freqqency (radlsec)

o 20 Implement the following sequential circuit in ladder diagram.

xr
X1

fr
X2

-o
o

I
 KATHMANDU UNIVERSITY
End Semester Examination [C]

Level : B.E.
May/June,2019 o I
Course
JUI'I 2019
: COEG 401
Year :fV Semester :I
Time : 2 hrs. 30 mins. F.M. :55
SECTION "B"
Attempt AIW FNE questions. Semilog graph papers will be provided.

1.
a. Block diagram of a closed loop control system is shown in figure below,
Y(s)
R(s) E(s) 1000
K
s(s+2)(s+5)(s+10)

I Using Bode plot, design compensator to meet following specifications.

o Velocity elror < ljVo
. Phase margin > 60o
i8l

b. The nonlinear state space of a system is given as follows,

,"' !'l=kvxz where, I =9.8, k,= 6.5x104 and k, = 100

[;]=[,;#]
Find the linearized state space equation at working voltage \ = 4Volts . t3l
2.'
a. Assume practical second order system and write down MATLAB program to design
PID compensator for the system. Explain how PID compensator can improve
transient and steady state performance of the system. You can incorporate
appropriate figure and chart to support your explanation. t5l
b. Obtain the state space representation of the system using both cascade and parallel
(s+aXli5)
realization. = (s+lXs+2)(s+3)
-o a
J
G(s) - 16l

a. Write the state equation of the system shown in figure in which xr, x2 and xr
constitute the state vector. Determine whether the system is controllable and
observable or not. t6]
a

xz (s) 2
u s 2 xr( s
s*3 s(s +1)

.t

Draw the op-amp circuit of P, PI, PID and phase lag compensator 12)
b. Write short notes on integral performance criteria. t3l
 x
4.

t ,r(serswitch
I andcrossinglight I
\17

Path A
One w

->x
Zebra
road Crossing

ta
Light A
0i
o User switch 2 and crossing light 2
Traffic
Light B

One way
road

a.
o
In the road layout shown in figure above,
Two one-way road path A and path B cross each other and traffic can flow only
o
through one path. (Traffic from path A cannot go to path B and vice versa)
o Traffic at path A and B are controlled by traffic light A and B respectively.
o Both traffic light A and B contains Red (stop) and Green (go) lights.
o There is zebra crossing in right side of path A and is equipped with user control
switch and crossing light I and2 with red and green light. r

Control objective:
o Both traffic light A and B should alternately light green and red for 30 second each.
o When traffic light A is green crossing tight 1 and2 should light red.
o When traffic light B is green crossing light 1 and,2 should light green.
o If traffic light A is green and either of user switch I or 2 is pressed,
o Traffic light A should light red
o Traffic light B, crossing light 1 and2 should light green for 20 seconds
o After 20 seconds, traffic light A should light green for 30 seconds and usual
process should continue.

.Construct state chart, Grafcet diagram and ladder diagram to implement above
o
control objective. t8l
b. Write shot notes on architecture of PLC system. t3l

5
a. Realize the following system using operational amplifier t6l
(s+l)
G(s)=
s(s+10)(s+100)
b. Discretize the following system using Forward Euler and ZOH. tsl
olo = [o]
^=li;],=[l].="
 0I JUN 20t9.
6.
a. The system below is a unity feedback control system with a minor rate feedback
loop.
i. In the absence of rate feedback, determine the peak overshoot of the system to
unit step input, and the steady state error resulting from unit ramp input. L2)
ii. Determine the rate feedback constant which will make the damping ratio 0.8.
What is the steady state error to unit ramp input with this setting of rate feedback
constant? I3l
iii. If the system also includes P controller, determine the value of proportional
constant and rate feedback constant for damping ratio to be 0.8? t3l
+ + v(s)

;
b. Write short notes on frequency domain analysis for stability. t3l

!
 KATHMANDU UNIVERSITY Score:
End Semester Examination [C]
Apil,2023
Level : B.E. Course : COEG 401
Year : IV semester: I
Exam Roll No: Time: 30 mins F.M. : 10
00 Ai n 202$
Registration No.: Date :

SECTION "A"
t20 Q.x 0.5 = l0 marksl

Encircle the most appropriate option or write down the appropriate answer'

1 Which of the following systems is controllable?

a. A system with more inputs than outputs.
b. A system with more outputs than inputs.
c. A system with an equal number of inputs and outputs
d. A system with non-linear dynamics.
2. The transfer function of the following system is
0
"[o y=[o o'slr
,=L; 0 0
1
il,.lil. I
a. c tr)=;i b. c1s;=l c. G(s1=?
s
d. G(s) =6s+1
-'
3. A mathematical model of a system can be used to observe
a. transient resPonse
b. steady state response
c. both transient and steady state response
d. neither transient nor steady state response
4. In a digital control scheme, selection of large sampling interval
a. does not contribute on steady state performance
b. deteriorates the steady state performance
c. highly effect system's steady state performance
d. influences steady state performance that depends on plant parameters

5 The state space representation of a system is

a. unique b. not unique
c. unique if minimal d. unique for given mathematical model

6 The mathematical model of the equation G(s) = ++s'+2

has differential equations

a. I b.2 c.3 - d.4

7. For a fifth order system to be strictly proper, number of zeros should be

a. >4 b. >5 c. <5 d. =5
8. Observable form of state space realization of a non-minimal transfer function is
a. controllable and observable b. controllable but not observable
c.
observable but not controllable d. neither controllable nor observable -.
9. The condition of several boards trying to be bus master at the same time, creating a
conflicting situation, is called
a. bus arbitration b. bus contention c. block transfer d. none of these

10. Which controller is implemented in the given figure? c2

r
a. P Controller
b. PD Controller $

c. PI Controller
d. PID Controller
1 1. If PI controller is implemented in forward part of a closed loop R3

system, the rise time is and steady state error is

a. decreased,unchanged
b. unchanged, decreased
c. decreased, decreased
d. increased,decreased

12, Which of the following is TRUE for derivative control?

a. Decrease overshoot and increase steady state error.
b. Decrease both overshot and settling time.
c. Increase both overshoot and settling time.
d. Increase overshoot and decrease settling time.
13. Zero state response of a system results only form the
a. internal disturbance b. external input
c. feedback d. driving inPut

14. Which of the following is NOT TRUE for resource sharing and task allocation?
a. In a multitasking environment with one processor, more than one task can run in CPU
b. In static priority allocation, the low priority tasks may not execute at all.
c. Shared resources are accessed in Critical Region of -. the code'
d. Use of static priority allocation can bring deadlock in the system'
.
15. Which of the following instructions of PLC operates with content of stack?
a. AND b. ORB c. ANI d. OR

16. In real time control system

a. system never reaches deadlock condition
b. task priority is either fixed or determined by the operating system
c. multi-tasking is not possible
d. only event-based intemrpts are used

17. When some or all processes in a system are halted waiting for something to happen, then
the system is in
a. ISR b. starvation c. deadlock d. race condition
 0 6 ,{r,i
?id
18. To avoid integral windup, integral part is adjusted by limiting
a. Reference b. error c. output d. control signal

19. Which of the following is TRUE for ballast coding?

a. Interrupt cannot be used
b. Independent of CPU clock rate
c. CPU is never kept busy
d. Execution time of the code is not considered
20. Write down assembly code for following ladder logic.
x0 x4
YO
)
x2
 KATHMANDU UNIVERSITY
End Semester Examination [C] 0 B AiR 2023
Apil,2023
Level : B.E. Course COEG 4OI
Year : [V Semester I
Time : 2 hrs. 30 mins. F.M. 40
N "B"
[5Qx8=40marks]
Attempt AI,IY FIVE questions

a. Consider a second order system and justify the statement, "Observableform of minimal
transfer function is both controllable and observable". t3.51
b. Using appropriate system matrix, demonstrate the generalized method of linearization
of state space representation of a non-liner system. t3l
c. Write shot notes on human coginition and ergonomics. tl.5l

2
a. Write short notes on data acquisition and importance of multiplexing in real time digital
control system. t3l
b. Obtain the state space representation of the system using both cascade and parallel
realization. tsl
2
s
C/:\ =(s+Xs+2Xs+3)(s+4)

3
a. Implement the following system using operational amplifier. 141

G(s)=b(s)= . loo
a(s) s(s+l)(2s+6)
b. Draw the operational amplifier circuit of P, PI, and PID compensator t2)
c. Briefly describe gain scheduling control structure. t2)

4.
a. For an industrial process shown in figure, control
objective is to heat the plastic to certain
Ite,tla paafrc
temperature and extrude molten plastic' The
volume of the plastic extruded should be g

controllable. Draw the complete block diagram of I

E
the system by selecting appropriate sensor, actuator o
and write down control algorithm to achieve On fiaie*s
2
control objective using both conventional and real A

time programming. t5l

b. Draw Grafcet diagram and ladder diagram of a water level control of a tank system
with two sensors for detecting top and bottom water level. t3l
5.
a. Explain with an appropriate example and necessary graph, how PID compensator can
improve transient and steady state performance of a second order system. t4l
b. Write about the use of mutual exclusion in resource protection and explain how it can
bring dead lock condition in an operating system. t4l

6.
a. Write about shared intemrpt and explain how Daisy chain connection is used as a
mechanism to share single interrupt line by multiple devices. t3l
b. write about integral windup and methods to eliminate it. t3l
c. Describe the difference between sequential programming and conculrent
programming. 12)