Anna University Examination Question Solution

B.E./B.Tech.Degree Examinations, MAY 2017

Fifth Semester
IC 6501- CONTROL SYSTEMS
Question paper Code-72004
Electrical and Electronics Engineering
(Common to Instrumentation and Control Engineering and Electronics and
Instrumentation Engineering)
Regulation 2013
Time:Three hours Maximum:100 marks
PART A – (10x2 = 20 marks)
1. Why negative feedback is preferred in closed loop control systems?
The negative feedback results in better stability in steady state and rejects any
disturbance signals.

2. What is block diagram? State its components.

A block diagram of a system is a pictorial representation of the functions performed
by each component of the system and shows the flow of signals. The basic elements
of block diagram are block, branch point and summing point.

3. Define maximum peak overshoot.

The maximum peak overshoot is defined as the ratio of maximum peak value
measured from the maximum value to final value.

4. Determine the type and order of the following system.

G(s) = (S+1)/S3(S2+2S+1)(s+3) a) Type 3 and 5th order system

5. What is frequency response?

The frequency response is the steady state response (output) of a system when the
input to a system is a sinusoidal signal.
6. State about Lead Lag compensation.
In order to meet out smaller steady state error requirement for type-2 system, if
phase lead compensator is used, the increase in gain must be reflected at all
frequencies. One solution to this problem is to cascade two first order lead
compensators. If noise in the control system is a problem then a lag compensator is
cascaded with a lead compensator. This is referred to as a lag lead compensator.

7. What is characteristic equation?

The denominator of the closed loop transfer function i.e., 1+G(s)H(s)=0 is called the
characteristic equation.
8. State Nyquist stability criterion.
If the contour TGH of the open loop transfer function G(s)H(s) corresponding to the
Nyquist contour in the S plane, encircles the (-1+j0) point in the counter clockwise
direction as many times as the no of RHS plane poles of G(s)H(s), then the closed
loop system is stable.

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 Anna University Examination Question Solution
9. Draw the block diagram representation of a state model.

10. What is controllability?

A system is said to be completely state controllable if it is possible to transfer the
system state from any initial state x(t0) to any other desired state in specified finite
time by a control vector u(t).
PART-B (5x16=80 marks)
11.(a) For the mechanical system shown in Fig.1 Write the differential equation
describing the behavior of the system. Draw the electrical analogous circuits. [16]

Fig.1
Solution:
m1x1  k1x1  b1x1  k2  x1  x2   F1(t )  (1)
m2 x2  k2  x2  x1   k3  x2  x3   b3  x 2  x3   F2 (t )  (2)
m3 x3  b3  x3  x 2   k3  x3  x2   0  (3)

Mechanical equivalent:

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 Anna University Examination Question Solution

Force current Analogy:

Force Voltage Analogy:

OR
11.(b) i) Derive the transfer function of Ac servo motor. [12]
Refer.Q.No.11.b.i) Nov 2016 Answer Key
11.(b) ii) Compare open loop and closed loop control system. [4]
Refer.Q.No.11.a.i) April 2016 Answer Key
12.a. Derive the time response of undamped and critically damped second order
system for unit step input. [16]
unit step response of a second order un damped system:
Let the closed loop transfer function of the second order system is,

C ( s)  2

 n
R( s) S  2 S   2
2
n n

C ( s)  2

For an un damped system   0 ,  n

R( s) S 2   2
n

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 Anna University Examination Question Solution
1
For a unit step input, R( s ) 
S
 2

C ( s)  n

S S2  2
n 
Applying partial fraction expansion to equation (1)
 2
A BS  C
n   2

S S2  2
n  S S  2
n


 2  A S 2   2   BS  C  S
n n 
Comparing the co efficient of like powers of ‘S’
S 2 terms ;0  A  B
S terms ;0  C

Constant terms,  2  A 2
n n
A  1; B  1; C  0
1 S
C ( s)   2
S S  2
n
C (t )  1  Cos  t
n  
Step Response of critically damped system:

2

 1
C ( s) n

R( s ) 2
S  2 S 
2
n n
2 2
 
C ( s)  n  n

 n
2
S S  2 S 
n
2
  
S S 
n
2

n 2 A B C
  
S  S n  S
2
 S  n   S  n  2

Solving for constants,

A 1; B  1;C  
n

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 Anna University Examination Question Solution
1 1 n
C (s)   
s s 
 
2
n s  n
n t n t
C (t )  1  e  nte
12. b.(i) A unity feedback control system has an open loop transfer function
10
G ( s)  . Find also rise time, peak time, maximum overshoot and settling
S  S  2

time for unit step of 12 units. [8]

Solution:
10
The open loop transfer function of the system is, G ( s) 
S  S  2
10
C(S) S  S + 2 10
= =
R(S) 1+ 10 S 2 + 2S +10
S  S + 2
2  2
n

 2  10    3.16
n n
2  2    0.316
n
 
%M p  Ae 1  100%
2

M p 12 e0.316 / 10.1  4.2%

 
t  = =1.05 sec
p
d 2
 n 1-ζ
  3.14 1.25
t  = =0.63 sec
r  3
d

12.b.ii) For servomechanisms with open loop transfer function given below
explain what type of input signal give rise to a steady state error and calculate
their values. [8]
20( S  2)
i) G ( s )  S ( S 1)( S 3)
10
ii) G ( s )  ( S 2)( S 3)
Solution:

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 Anna University Examination Question Solution
S  K ( s  z ) ( s  z )
i) K  lt SG  s  H  s   lt 1 2
 constant
v s0 s0 S ( s  p ) ( s  p )
1 2
A A
e ramp    const.
ss K const.
v
20( S  2)
K  lt S G  s  H  s   lt S S ( S 1)( S 3)  13.3
v s0 s0
A 1
ess ramp
   0.075
K 13.3
v
K ( s  z ) ( s  z )
ii) K  lt G  s  H  s   lt 1 2
p s0 s0 ( s  p ) ( s  p )
1 2
A
e step 
ss 1 k
p
K  lt G  s  H  s   lt ( S 2)(
10
S 3)  1.67
p s 0 s 0
1
e   0.375
ss 1  1.67

13.(a) Construct Bode plot for the system whose open loop transfer function is
given below and determine the gain and phase cross over frequencies.
10
G( S )  [16]
S (0.4S  1)(0.1S  1)
Refer.Q.No.13.a. April 2016 Answer Key
13.b. The open loop transfer function of a unity feedback system is given by
1
G(S ) 
S (1  S )(1  2S )
Sketch the polar plot and determine the gain margin and phase margin. [16]
Refer.Q.No.13.a. Nov 2016 Answer Key
14.(a)i) Using Routh criterion, determine the stability of the system represented by the
characteristic equation, S4 + 8S3 + 18S2 + 16S + 5 = 0. Comment on the location of the roots
of characteristic equation. [6]

s4 : 1 18 5
s3 : 8 16
s2 : 16 5
s1 : 1.7
s0 : 5
On examining the elements of first column of Routh array it is observed that all the
elements are positive and there is no sign change. Hence all the roots are lying on the left
half of s-plane.

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 Anna University Examination Question Solution
14.(a)ii) Write down the procedure for designing Lag compensator using Bode
plot. [10]

Design of lag compensator using Frequency domain Approach:

1. The open loop gain K of the uncompensated system is determined so as to satisfy the
requirement on the particular error co-efficient.
2. Using the gain K thus determined, the bode plot of the uncompensated system is
drawn & PM & GM is determined.
3. If the specifications on the PM & GM are not satisfied, then the frequency point
where the phase angle of the uncompensated system is equal to -180° +ϕs+12° is
determined.
4. This frequency is chosen as the new gain cross over frequency.
5. The gain of the uncompensated system at g new is measured and equated to

 20log   . There from the  parameter of the lag network is calculated.

1 g new  new
6. The corner frequency , c   (or ) g
T 10 2
1 c1
7. Then the other corner frequency, c 2   is determined.
T 
14.b. Explain in detail the realization of Lag, Lead, Lag-Lead electrical networks. [16]
Realization of Lead Compensator:
V0 ( S ) R2

Vi ( S ) R2  Z1 ( S )
Where,
R1 / C1S R1
Z1 ( S )  
R1 
1 1  R1C1S
C1S
V0 ( S ) R2 R2 (1  R1C1S )
 
Vi ( S ) R  R1 R2  R2 R1C1S  R1
1  R1C1S
2

R2
Let T  R1C1 &   ,  1
R1  R2

V0 ( S )  1  TS  T 1/ T  S 
 
Vi ( S ) 1  TS  T 1/ T  S 

V0 ( S ) S  1/ T

Vi ( S ) S  1/ T

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 Anna University Examination Question Solution
Pole is at S  1/ T ; Zero is at S  1/ T . Since  1 the zero is always located to the right
of the pole in the complex plane.
Realization of Lag Compensator
The network of the lag compensator looks like low pass filter.
V0 ( s) Z 2 ( s)

Vi ( s) R1  Z 2 ( s)
where,
1 ( R2C2 S  1)
Z 2 ( s)  R1  
C2 S C2 S
V0 ( s) ( R2C2 S  1) / C2 S 1  R2C2 S 1  R2C2 S
  
V0 ( s) R  R2C2 S  1 R1C2 S  R2C2 S  1 C2 S ( R1  R2 )  1
1
C2 S
V0 ( s) 1  R2C2 S
 let T  R2C2   R1  R2  1
V0 ( s) 1  R C S ( R1  R2 )
2 2
R2

V0 ( s) 1  TS
 
T S1
T  
V0 ( s) 1  T  S  T S  1
 T 
1 1
 s 

 Gc ( S )  
V0 ( s ) T
V0 ( s )  1 
 s  T 
 
Realization of Lag Lead Compensator:
It is a combination of lag and a lead compensator. The lead compensator increases the
bandwidth and fastens the speed of response. But lag compensator decreases BW and slows
down the speed. For large error constants large leads are required for compensation,
resulting in excessively large Band width, which is undesirable from noise transmission
point of view. So for large specified error constant, moderately large bandwidth and to
improve both transient and steady state response a lead lag compensator is used.
R1 / C1S R1
Z1 ( S )  
R1 
1 1  R1C1S
C1S

1 ( R2C2 S  1)
Z 2 ( s)  R1  
C2 S C2 S

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 Anna University Examination Question Solution
 1  1 
S   S  
V0 ( s ) Z 2 ( s )
   R2C2  R1C1 
Vi ( s ) Z1 ( s )  1 1 1  1
S2     S 
 R1C1 R2C2 R2C1  R1C1R2C2

Let 1  R1C1 and  2  R2C2

 1  1
 S   S  
 1  2 
 Gc ( S )  
V0 ( s )
Vi ( s)  1  1 
S   S 
  1   2 
1 1 1 1 1
We have,    
R1C1 R2C2 R2C1 1  2
Also, R1C1R2C2  1 2

From which   1
 1  1
 S   S  
  1  2   S  1   2 S  1
Hence, Gc ( S )   1
 1      1S  1   2 
S   S      S  1
  1  2  lag 
 
lead

1 1
The lead lag compensator has zeros at, S  ,
1  2
1  
The lead lag compensator has poles at, S  ,
 1  2
15.(a) Check the controllability and observability property of a system having
following coefficient matrices. [16]

 1 0 0 10  1 
A   1 2 0  ; B   1  ; C  0 
    T

 2 1 3  0  0
Kalman’s test:
The controllability matrix is, Qc   B AB A2 B 
 1 0 0  10  10
AB   1 2 0   1    8 
 2 1 3  0   21 

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 1 0 0   10   10 
A2 B  A[ AB]   1 2 0   8    26 
 2 1 3  21   75
10 10 10 
 Qc   1 8 26 
 0 21 75
Qc  1080  0 (ie) its rank is r  n  3. The system is completely controllable.
The observability matrix is, Q0  C T AT C T ( AT )2 C T 
 1 1 2  1   1
AT C T   0 2 1  0   0 
 0 0 3 0  0 
 1 1 2   1 1 
( AT ) 2 C T  AT  AT C T    0 2 1   0   0
 0 0 3  0  0
1 1 1 
 Q0  0 0 0 
0 0 0 
Qc  0 (ie) its rank is r  3. The system is unobservable.

15.b.i) What are state variables? Explain the state space formulation with its
equation? [8]
The state variables of dynamic systems are the smallest set of variables which
determine the state of the dynamic system.
STATE MODEL OF LINEAR SYSTEM:
The nth order differential equation of linear system in time domain is,
yn +bn-1 y n-1 +.......+b2   0 y =bu t 
y +b1 y+b  1
where bn-1 ,.....b2 ,b1 ,b0 are constants
u  t  is forcing function
Let the state variables be,
x1  y
x1  y  x2
x1  
 y  x2  x3
. . ..
y n1  x n1  xn
y n  xn
Now equation (1) becomes
xn  bu  t   b0 x1  b1 x2  b2 x3  ......  bn1 xn

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 Anna University Examination Question Solution
In Matrix form,
 x1  0 1 0 .... 0   x1  0 
 x  0 0 1 .... 0   x  0
 2   2  
.  . . . .... .  .  . 
       u
.  . . . .... .  .  . 
.  0 0 0 .... 1  .  0 
      
 xn   b0  b1 ......  bn 1   xn  b 
. 
 X    A X    B  u  is the state equation

y  1 0 . . . . . 0 x1 x2 ... xn 
T

y  C  X    d  u  is the output equation

Matrix A has all 1’s in the upper off diagonal, its last row is comprised of the
negative of the coefficients of the original differential equation and all other elements
are zero.
15.b.ii).Given that,

 0   0    
A1 =  ;A =
 2 - 0  ;A = -   Compute the state transition matrix.[8]
0      
Solution:

 0   0  
A = A1  A2    
 0   - 0 

e At  e
A1  A2 t
 e A1t e A2t
 1 
 0 
S   0  1 S   e t 0
 L1  SI  A1    L1 
1
e A1t    
S   
L
   0  0 1  0 e t 
 S   
 S  
 S    2
1 S  
2
S  
2 2
 L1  SI  A2    L1 
1
e A2t   L  
   S    S 
 S 2   2 S 2   2 

 cos t sin t 
e A2t   
  sin t cos t 

e t 0   cos t sin t   e t cos t e t sin t 

e e e
At A1t A2t
   
0 e t    sin t cos t   e t sin t e t cos t 

Prepared By Prof.S.Nagammai,HOD/ EIE /KLNCE Page A.11