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IV Semester ECE
Control Systems
PHYSICAL SYSTEMS:
INTRODUCTION:
Page 1
SYSTEM
Electrical
Mechanical
(translational)
Mechanical
(rotational)
Thermal
Fluidic
THROUGH
VARIABLE
Current I
Force, F
Torque, T
Rate of flow of
heat energy,q
Volumetric rate
of fluid flow,Q
IV Semester ECE
ACROSS
VARIABLE
Potential difference
or voltage V.
Relative velocity,v
Relative angular
velocity ,
Difference in temp.
T
Difference in
pressure,P
An equation describing a physical has integrals and differentials. The response can be
obtained by solving such equations. The steps involved in obtaining the transfer function
are:
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IV Semester ECE
Linear system.
A system is said to be linear if it obeys the principle of superposition and
homogeneity. The principle of superposition states that the response of the system to a
weighted sum of the responses of the system to each individual input signals.
The system is said to be linear, if it satisfies the following two properties:
Adaptive property that is for any x and y belonging to the
domain of the function f, we have
F(x+y) = f(x) +f(y)
Solved by A.Devasena., Associate Professor., Dept/ECE
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IV Semester ECE
F(x) = f(x)
These two properties together constitute a principle of superposition.
Most of the systems are non-linear in nature because of different non-linearities
such as saturation, friction, dead zone etc. present in the system.
The roots of the denominator are the system poles and the roots of
the numerator are system zeros. The system stability can be
described in terms of the location of the roots of the transfer
function.
Advantages of transfer function.
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IV Semester ECE
Increased accuracy.
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IV Semester ECE
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IV Semester ECE
BLOCK:
It indicates the function of particular system. R(s) is the reference or controlling
variable.
G(s) is the transfer function of the particular system.C(s) is output or controlled variable.
R(S)
C(S)
G(S)
SUMMING POINT:
It is used to add or subtract one or more signals. + indicates the add or subtract function.
+ indicates the signal is added to reference signal. -indicates the signal is subtracted to
reference signal. It is called negative feedback. The signal which is added or subtracted to
the reference signal is called feedback signal.
Summing point
R(S)
C(S)
+
TAKE OF POINT
Some of the signal at the top are bypass and it is given to other block for further
performance.
Take off point
R(S)
C(S)
G(s)
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IV Semester ECE
(1)
(2)
(3)
(4)
(5)
(6)
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IV Semester ECE
R(S)
R(S)
C(S
)
G2
G1
C(S)
G1G2
Rule 2: if the blocks are in parallel then, the blocks are added or subtracted
depending on the summing point signal.
G2
R(S)
G1+G2
C(S)
G1
R(S)
+
+
C(s)
R(S)
R(S)
C (S)
C(S)
=
1/G
G
G
G
Solved by A.Devasena., Associate Professor., Dept/ECE
Page 9
IV Semester ECE
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IV Semester ECE
1. Using block diagram reduction techniques find C(s) / R(s) as in fig. Fig1.2.1.1
R(s)
G1
-
C(s)
I
H1
II
H2
Fig1.2.1.1
C(s)
G1
1+G1H1
II
H1
=
1 +G1H1 + G1H2
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IV Semester ECE
G1
R(s)
C(s)
1 + G1H1+G1H2
Fig1.2.1.2
Answer.
G3
+ C(S)
R(S)
G1
-
G4
G2
H1
H2
Fig 1.2.2.1
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IV Semester ECE
Step 1: Combine the blocks G1 &G2 which are in cascade and combine the
blocks G2 &G3 which are in parallel as shown in fig 1.2.2.2.
R(S)
C(S)
G1 G4
-
G2 +G3
I
H1
II
H2
Fig 1.2.2.2
Step 2: Eliminate feedback loopI and combine the blocks (G1G4 / 1+ G1G4H1) &
(G2 + G3) which are in parallel as shown in fig. Fig 1.2.2.3
C(S)
G1G4
G2+G3
R(S)
1+ G1G4H1
II
H2
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IV Semester ECE
G1G4
G2 +G3
C(s)
1 +G1G4H1
=
R(s)
1+
G1G4
G2 +G3
1 + G1G4H1
G1G4
G2 +G3
=
1 + G1G4H1
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IV Semester ECE
3.Find the transfer function C(s) / R(s) for the block diagram shown below
as shown in (fig 1.2.3.1)
(A.U.2004)
R(s)
C(s)
G1(s)
-
G2(s)
I
II
(fig 1.2.3.1)
C(s)
G1(s)
G2(s)__
1 + G2 (s)
II
(fig 1.2.3.2)
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IV Semester ECE
R(s)
G1(s)G2(s)__
1 + G2 (s)
II
Fig 1.2.3.3
=
1 +
G1(S) G2(S)
1 + G2(S)
G1(S) G2(S)
C(s)
R(S)
R(S)
=
(1 + G2(S)) + G1(S) G2(S)
C(S)
G1(S) G2(S)
(1 + G2(S)) + G1(S) G2(S)
Answer.
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IV Semester ECE
H3
T1
R(s) S1
+
G1
C(s)
S3
G2
G3
S2
G4
T2
H1
H2
Fig.1.2.4.1.
Step:1.
Shifting the summing point S2 before the block G1 and shifting the
take off point T2 after the block G4
1 / G1
1 / G4
R(s) S1
+
+
G2
G1
-
C(s)
S3
G3
G4
S2
H1
H2
Fig.1.2.4.2.
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IV Semester ECE
Step:2.
Exchange the summing points and take off points using associative law
and combining the series blocks we get
H3 / G1G4
III
R(s)
+
S2
+
G1 G2
+ S1
C(s)
S3
G3 G4
H1
II
H2
Fig.1.2.4.3.
Step:3
Eliminating inner feedback loops I, II
H3 / G1G4
III
R(s)
+
+
G1 G2______
1 + G1G2H1
C(s)
G3 G4______
1 + G3G4H2
S1
Fig.1.2.4.4.
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IV Semester ECE
Step:4
Combine the blocks in series
H3 / G1G4
III
R(s)
+
+
C(s)
G1 G2 G3 G4____________
(1 + G1G2H1)( 1 + G3G4H2)
S1
Fig.1.2.4.5.
Step 5:
Eliminate the feedback loop III
G1 G2 G3 G4_________
(1 + G1G2H1)( 1 + G3G4H2)
C(s) =
R(s)
1 + G1 G2 G3 G4____________
(1 + G1G2H1)( 1 + G3G4H2)
C(s) =
R(s)
__H3___
G1G4
______G1G2G3G4_________________
(1 + G1G2H1)( 1 + G3G4H2) +G2G3H3
Answer.
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IV Semester ECE
5. Using block diagram reduction technique, find the transfer function from
each input to the output C(s) for the system shown in fig.1.2.5.1.
(AU: 2005)
X(s)
R(s)
G4
+
G1
G2
-
G3
G5
+
C(s)
H5
Fig.1.2.5.1.
R(s)
+
G1
G2
-
G3
G5
+
C(s)
II
I
III
H5
Fig.1.2.5.2.
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IV Semester ECE
R(s)
C(s)
+
__G2____
(1 + G2)
G1
G5______
(1 + G5H5)
G3
III
Fig.1.2.5.3.
R(s)
C(s)
__G2 G3 G5_____
(1 + G2) (1 + G5H5)
G1
-
III
Fig.1.2.5.4.
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IV Semester ECE
R(s)
G1
__G2 G3 G5_________________
{ (1 + G2) (1 + G5H5)}+ {G2G3G5)
C(s)
Fig.1.2.5.5.
R(s)
_ G1G2 G3 G5_________________
{ (1 + G2) (1 + G5H5)}+ {G2G3G5)
C(s)
Fig.1.2.5.6.
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IV Semester ECE
X(s)
C(s)
-1
G2
G3
G5
+
II
I
H5
Fig.1.2.5.6.
X(s)
-1
C(s)
+
G2____
( 1+ G2 )
G3
+
G5_______
( 1+ G5H5)
Fig.1.2.5.7.
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IV Semester ECE
X(s)
C(s)
G5_______
( 1+ G5H5)
G4
+
III
- G2G3____
( 1+ G2 )
Fig.1.2.5.8.
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IV Semester ECE
X(s)
C(s)
G5_______
( 1+ G5H5)
G4
+
III
- G2G3____
( 1+ G2 )
Fig.1.2.5.8.
Step 8: eliminate feedback loop III and combine the blocks in series
X(s)
G4G5(1 +G2)_____________
(1+ G5H5 )(1 +G2)+ G2G3H5
C(s)
Answer.
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IV Semester ECE
6. Reduce the block diagram shown in fig.1.2.6.1. and obtain C(s) / R(s)
(AU: may 2007)
G5
R(s)
S1
S2
S3
C(s)
+
G1
+
G2
G3
G4
H1
H2
Fig. 1.2.6.1.
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IV Semester ECE
Step :1
Shifting the take off point between the blocks G2 and G3 to after the
block G3
1/G3
R(s)
S1
G5
S2
S3
C(s)
+
G1
G2
G3
G4
H1
H2
Fig. 1.2.6.2
Step :2
Combine the blocks G2 and G3, 1/G3 and G5 which are in series
G5/G3
R(s)
S1
S2
S3
C(s)
+
G2 G3
G1
-
G4
I
H1
H2
Fig. 1.2.6.3
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IV Semester ECE
Step :3
Eliminate feed back loop I, and then combine blocks G4 and G5 / G3
which are in parallel
R(s)
C(s)
S1
G1
G4 + (G5/G3)
G2 G3_____
1 + G2G3H1
H2
Fig. 1.2.6.4
Step :4
Combine the blocks which are in series
R(s)
S1
C(s)
-
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IV Semester ECE
Step :5
Eliminate the feed back loop II
C(s)
R(s)
1+
C(s) =
R(s)
G1G2G3(G3G4 + G5 )
G3(1 + G2G3H1)
H2
R(s)
S1
S2
G1
-
C(s)
G2
I
S3
H1
Fig.1.2.7.1.
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IV Semester ECE
G3
R(s)
S1
C(s)
G1____
1 +G1H1
G2
S3
Fig.1.2.7.2.
Step :2 Shifting the summing point S3 before the block (G1 / 1+G1H1) and
Combine the blocks G2 & (G1 / 1 +G1H1) which are in series.
G3
R(s)
1 + G1H1
G1
+
C(s)
+
+
S3
G2G1___
1 +G1H1
S1
II
Fig.1.2.7.3.
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IV Semester ECE
R(s)
{G3(1 + G1H1)}
1+
G1
C(s)
G1G2________
(1 +G1H1) +G1G2
Fig.1.2.7.4.
___G1G2________
1+G1H1 +G1G2
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IV Semester ECE
G2
R(s)
+
+
C(s)
G5
G4
G3
G1
I
II
H2
H1
Fig.1.2.8.1
Step 1:
Eliminate the feed back loops I ,II and combine the blocks G2 and G3
which are in parallel
R(s)
C(s)
G5
G4____
1 +G4H2
(G2+G3)
G1____
1 +G1H1
III
Fig.1.2.8.2
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IV Semester ECE
Step 2:
Combine the blocks in series
R(s)
C(s)
G1(G2+G3) G4 G5___
( 1 +G4H2) (1 +G1H1)
III
Fig.1.2.8.3
Step 2:
Eliminate the feed back loop III
C(s) =
R(s)
G1(G2+G3) G4 G5___
( 1 +G4H2) (1 +G1H1)
1+
__G1(G2+G3) G4 G5___
( 1 +G4H2) (1 +G1H1)
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IV Semester ECE
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IV Semester ECE
1..Using Masons gain formula obtain C(s)/R(s) for the signal flow graph shown in
fig1.3.1
C(S)
=
R(S)
Here K = 2
Forward paths
P1 = G1G2
P2 = G1G3
Individual loops
L1 = - G1H1
L2 = - G1G2H2
L3 = - G1G3H2
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IV Semester ECE
1 = 1
2 = 1
P1 1 + P22
C(S)
R(S)
(G1G2)(1) + (G1G3)
=
= 1 + G1H1+ G1G2H2 + G1G3H2
Ans.
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IV Semester ECE
2. Using Masons gain formula, determine C(S) / R(S) for the figure 1.3.5
2.Using Masons gain formula obtain C(s)/R(s) for the signal flow graph
shown in fig1.3.2
K
PK K
1
Here K =1
Forward paths
P1 = G1G2G3
Individual loops
L1 = - G1H2
L2 = - G2G3H3
L3= - G1G2H1
There are no two non touching loops.
= 1 (L1 +L2+L3) = 1 (- G1H2 - G2G3H3 - G1G2H1)
1 = 1
C(S) = P11
R(S)
____ (G1G2G3)(1)______________
1 + G1H2 + G2G3H3 + G1G2H1
Ans.
Page 37
IV Semester ECE
3. Using Masons gain formula, determine C(S) / R(S) for the figure 1.3.3
K
PK K
1
C(S)
=
R(S)
Here K =2
Forward paths
P1 = G1G2G3
P2 = G4
Individual loops
L1 = - G2H1
L2 = G1G2H1
Page 38
C(S)
R(S)
(G1G2G3)(1) + (G4)(1)
P1 1 + P22
=
IV Semester ECE
1 + G1H2 - G1G2H1
Ans.
Page 39
IV Semester ECE
K
PK K
1
C(S)
=
R(S)
Here K =2
Forward paths
P1 = G1G2G3G4
P2 = G5G6G7G8
Individual loops
L1 = G2H2
L2 = G3H3
L3 = G6H6
L4 = G7H7
C(S)
=
R(S)
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IV Semester ECE
5. Using Masons gain formula, determine C(S) / R(S) for the figure 1.3.5
Fig.1.3.5
By Masons Gain formula
K
PK K
1
C(S)
=
R(S)
Here K = 2
Forward paths
P1 = G1G2G4G5
P2 = G1G2G3
Individual loops
L1 = - G4 G5H2
L2 = - G2G4G5H1
L3 = - G1 G2G4 G5
L4 = - G1 G2G3
L5 = - G2G3H1
L6 = - G3H2
There are no two non touching loops
= 1 - ( L1 + L2 + L3 + L4 + L5+ L6 )
= 1 (- G4 G5H2 - G2G4G5H1 - G1 G2G4 G5 - G1 G2G3 - G2G3H1 - G3H2)
= 1 + G4 G5H2 + G2G4G5H1 + G1 G2G4 G5 + G1 G2G3 + G2G3H1 + G3H2)
1 = 1
Solved by A.Devasena., Associate Professor., Dept/ECE
2 = 1
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IV Semester ECE
P1 1 + P22
C(S)
=
R(S)
(G1G2G4G5)(1) + (G1G2G3)(1)
=
1 + (G4 G5H2 + G2G4G5H1 + G1 G2G4 G5 + G1 G2G3 + G2G3H1
+ G3H2)
G3H2)
Ans.
6.Find the transfer function for the signal flow graph as shown in fig 1.3.6
Page 42
IV Semester ECE
K
PK K
1
C(S)
=
R(S)
Here K =3
Forward paths
P1 = G1G2G3G4 G5G6
P2 = G1G2G7G6
P3 = G1G2G3G4 G8
Individual loops
L1 = - G4H4
L2 = - G5 G6H1
L3 = -G2G3G4 G5G6 H2
L4 = - G1G2G3G4 G5G6 H3
L5 = - G8H1
L6 = - G1G2G7 G6H3
L7 = -G1G2G3 G4G8 H3
L8 = -G2G3 G4G8 H2
L9 = - G2G7 G6H2
There are two pairs of two non touching loops. They are
L1L6 = G1G2 G4G6G7H3H4
L1L9 = G4 G2G6G7H2H4
= 1 (L1 +L2+L3 + L4 + L5 + L6 + L7 +L8 + L9) + (L1L6 + L1L9)
= 1 ( - G4H4 - G5 G6H1 - G2G3G4 G5G6 H2 - G1G2G3G4 G5G6 H3 - G8H1
- G1G2G7 G6H3 - G1G2G3 G4G8 H3 - G2G3 G4G8 H2 - G2G7 G6H2)
+( G1G2 G4G6G7H3H4 + G4 G2G6G7H2H4)
1 = 1
2 = 1 ( - G4H4)
3= 1
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IV Semester ECE
P1 1 +P12 + P33
C(S)
=
R(S)
7.Determine the transfer function C(S)/R(S) for the signal flow graph
shown in fig.1.3.7.
Page 44
IV Semester ECE
K
PK K
1
C(S)
=
R(S)
Here K =2
Forward paths
Individual loops
P1 = G1G2G3
L1 = - G1 G2H1
P2 = G1G4
L2 = - G2 G3H2
L3 = -G1G2G3
L4 = - G4 H2
L5 = - G1G4
= 1 (L1 +L2+L3 + L4 + L5 )
= 1 ( - G1 G2H1 - G2 G3H2- G1G2G3 - G4 H2- G1G4)
= 1 + G1 G2H1 + G2 G3H2+ G1G2G3 + G4 H2+G1G4
1 = 1
2 = 1
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IV Semester ECE
P1 1 +P12
C(S)
=
R(S)
(G1G2G3)(1) + (G1G4)( 1 )
1 + G1 G2H1 + G2 G3H2+ G1G2G3 + G4 H2+G1G4
Ans.
8.Find C(S)/R(S) for the following system using masons gain formula
for the signal flow graph shown in fig.1.3.8.
Page 46
IV Semester ECE
K
PK K
1
C(S)
=
R(S)
Here K =5
Forward paths
Individual loops
P1 = G1G2
L1 = G9
P2 = G4
L2 = G3
P3= G7G8
L3 = G5G6
P4 = G1G5 G8
P5 = G7G6 G2
There is one pair of two non touching loops. It is
L1L2 = G9 G3
= 1 (L1 +L2+L3 ) + (L1L2)
= 1 ( G9 + G3 + G5G6) + (G9 G3)
= 1 - G9 - G3 - G5G6 + (G9 G3)
1 = 1 L1 = 1 G9
2 = 1 (L1 +L2+L3 ) + (L1L2) = 1 - G9 - G3 - G5G6) + (G9 G3)
3 = 1 L2 = 1 G3
4 = 1
5 = 1
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IV Semester ECE
C(S)
=
R(S)
9. Determine the transfer function C(s)/ R(s) for the signal flow
graph shown in fig. 1.3.9.
Page 48
IV Semester ECE
K
PK K
1
C(S)
=
R(S)
Here K =2
Forward paths
Individual loops
P1 = G1G2 G3
L1 = - G1G2H1
P2 = G4
L2 = - G2G3H2
L3 = - G1G2 G3
L4 = - G4
L5 = G2G4 H1 H2
1 = 1
2 = 1
Page 49
IV Semester ECE
P1 1 +P12
C(S)
=
R(S)
10.Determine the transfer function C(S) /R(S) using Masons gain formula
for the signal flow graph shown in fig.1.3.10
Page 50
IV Semester ECE
K
PK K
1
C(S)
=
R(S)
Here K =2
Forward paths
Individual loops
P1 = G1G2 G3 G4
L1 = - G1G2 G3 G4H1
L2 = - G3G4H2
P2 = G1 H3 G4
L3 = - G1G4 H3 H1
L4 = - G3G4
Page 51
IV Semester ECE
P1 1 +P12
C(S)
=
R(S)
Ans.
Page 52
IV Semester ECE
13.For the signal flow graph given in fig.1.3.13. Valuate the closed loop
transfer function of the system.
(A.U.April.2006)
Page 53
IV Semester ECE
K
PK K
1
C(S)
=
R(S)
Here K =2
Forward paths
P1 = a12a23a34a45
Individual loops
L1 = a23a32
L2 = a23a34a45 a52
P2 = a12a23a35
= 1 (L1 +L2+L3 L4 + L5 )
= 1 (a23a32 + a23a34a45 a52 + a23a34a45 a42 + a44 + a23a35)
= 1 a23a32 - a23a34a45 a52 - a23a34a45 a42 - a44 - a23a35
1 = 1
2 = 1 L4 = 1- a44
Page 54
IV Semester ECE
P1 1 +P12
C(S)
=
R(S)
Ans.
14. Using Masons gain formula find C(S) /R(S) for the fig. 1.3.14.
Page 55
IV Semester ECE
K
PK K
1
C(S)
=
R(S)
Here K =2
Forward paths
Individual loops
P1 = G1G2 G3 G4 G5
L1 = H1
L2 = G3H2
P2 = G1 G2 G3 G4 G6
L3 = G4 H3
L4 = H4
The combination of two non touching loops:
L1 L2 = H1G3H2
L1 L3 = H1 G4 H3
L1 L4 = H1H4
L2 L4 = G3H2 H4
Page 56
IV Semester ECE
1 = 1
2 = 1
P1 1 +P12
C(S)
=
R(S)
1 ( H + G H2+ G4 H3 + H4 )
)(1) + (a12a23a351)( 1- 3a44
)
+ (H1G3H2 + H1 G4 H3 + H1H4 + G3H2 H4)
(H1 G4 H3 H4 + H1G3H2 H4 )
Ans.
Page 57
IV Semester ECE
1. Obtain the analogous electrical network for the system shown in fig.5. (AU:Nov./Dec.2007)
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2. Draw the equivalent mechanical system of the system shown in fig.6. write the set of
equilibrium equations for it and obtain electrical analogous circuits using i) F-V analogy
ii)F-I analogy.
( AU: May2009)
As shown in fig.6. M1,K1,and B1 are under the displacement x1 as K1 and B1 are with
respect to rigid support. K2 is between x1 and x2 as it is responsible for the change in
displacement. While M2 , K3 and B2 are under the displacement x2. Hence the equivalent
mechanical system is as shown in fig.6.a.
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Due to force f(t) applied to M1, it will displace by the displacement x1(t).
As K1 and B1 are between M1 and fixed support, both are under same
displacement x1(t)
Due to friction B3, the force transferred to M2 is different than f(t), hence M2 will
displace by the displacement x2(t).
As K2 and B2are between M2 and fixed support, both are under same displacement
x2(t)
The equivalent system is shown in fig.7.b.
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Both B1 and B2 are between mass M and fixed support. Hence under the
influence of x(t). the spring k between mass M and fixed support. Hence under the
influence of x(t).
The equivalent mechanical model is shown in fig.8.b.
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The equivalent nodal diagram for the given mechanical system is shown in
fig.9.b.
At node x1
0 = M2(d2x1(t)/ dt2) + K1x1(t) + K1x1(t) + K2(x1(t)- x2(t)) -----------------------------(1)
F(t) = M1(d2x2(t)/ dt2) + K2(x2(t)- x1(t)) ----------------------------(2)
Taking Laplace transforms of equations(1) and (2) we get
0 =M2s2X1(s) + K1X1(s) + K2(X1(s) X2(s)) -----------------------(3)
F(s) =M2s2X1(s) + K2 (X2(s) X1(s)) -----------------------(4)
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6. For the spring, damper and mass system shown in fig.10.a. Obtain the
differential equations governing the system. F(t) is the force applied
(Au:2005).
The equivalent nodal diagram for the given mechanical system is shown in
fig.10.b.
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7. Show that the systems shown in fig.11.a and fig.b are analogous system. (AU:
April-2007)
There are three displacements xi(t) xo(t) and xy(t). The input is xi(t) and output is
xo(t). So transfer function of the mechanical system is X0(s) / Xi(s). The
equilibrium equations are
B1d(xo(t)- xi(t))/dt + K1(xo(t)- xi(t)) + B1d(xo(t)- xy(t))/dt = 0 ---------(1)
B2d(xy(t)- xo(t))/dt + K2xy(t) = 0 ------------------------------------ (2)
Taking Laplace transform of both equations, neglecting initial conditions,
B1sXo(s) - B1sXi(s) + K1Xo(s) - K1Xi(s) + B2sXo(s) B2sXy(s) = 0
Therefore Xo(s)[sB1 + k1 +s B2] + Xi(s)[sB1 + k1] B2sXy(s) = 0 --------------------- (3)
B2sXy(s) - B2sXo(s) + K2Xy(s) = 0
Therefore Xy(s)[sB2 + k2 ] = B2s Xo(s)
Therefore Xy(s) = {B2s / [sB2 + k2 ]} Xo(s)} ------------------------------------------(4)
Substitute equation 4 in equation 3,
Xo(s)[sB1 + k1 +s B2] - Xi(s)[sB1 + k1] - B2s{B2s / [sB2 + k2 ]} Xo(s)}
Therefore Xo(s)[ sB1 + k1 +s B2 s2B22 / (sB2 + k2) = Xi(s)[sB1 + k1]
Xo(s) / Xi (s) = [sB1 + k1][ sB2 + k2] / {s2B1B2 + sB1K2 + sK1B2 + K1K2 + s2B22 +
sK2B2 s2B22}
Xo(s) / Xi (s) =
___________ k2K1 ( 1 + B1/K1) ( 1 + B2/K2) ___________
k2K1 [( 1 + s2B1B2/K1K2 +s B1/K1 + s B2/K2) + s B2/K1
Xo(s) =
__________ ( 1 + B1/K1) ( 1 + B2/K2) ____ ------------Required transfer function.
Xi (s)
( 1 + B1/K1) ( 1 + B2/K2) + s B2/K1
The s domain network for the given electric network is
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Ei(s) [ R1 + 1 /sC1]
Z(s) + R1 + 1/sC1
Ei(s)( 1 + sR1C1)
sC1Z(s) + sC1R1 +1
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22. Find the impulse response of the second order system whose open loop transfer
function
G(S)=
____9_____
S2+4S+9
2Zn = 4.
n=3
Z= __4_ _ =
2n
___4__ = 0.667
23
Obtain the unit step response of a second order system [under damped condition]
[AU: nov/dec
06]
___n2_______
S2+2ZnS+n2
Zn=
n1-Z2 = d
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S1,2= +j d
For unit step input R(S)=1/s
C(S)= R(S) [
___n2_______ ] = [ ___n2_______ ]
2
S +2ZnS+n2
S(S2+2ZnS+n2)
C(S)=A + __BS+C____
S
S2+2ZnS+n2
___n2_______ =A(S2+2ZnS+n2)+(BS+C)S
S2+2ZnS+n2
S2+2ZnS+n2
n2= AS2+2AZnS+An2+BS2+CS
n2=S2(A+B)+S( 2AZn+C)+A n2
equvating constant term
n2= A n2
A=1
Equvating S term
0= 2AZn +C
C=2AZn
C=2Zn
2
Equvating S term
0=A+B
0=1+B
B=-1
Zn=
C(S)= 1 + ___-S-2___
S
S2+2S+n2
C(S)= 1 - { ___S+2___}
S
S2+2S+n2
=(S+ )+ n -Z n
(Zn=
2= Z2 n2
WKT
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d = n1-Z2
d2 = n(1-Z2)
= (S+ ) 2+ d2> put this expression in the denominator ofC(S) we get
C(S)= 1 - { ___S+2___}
2
2
S
(S+) +d
Now
L-1 { ___S+___} = e-atcost
(S+)2 +2
L-1 { ______ } = e-atsint
(S+)2 +2
Adjusting for C(s) we get
C(S)= 1 - { ___S+_ _ + ____ ____ }
S
(S+)2 +d2 (S+)2 +d2
Multiply and divide by d to the last term
C(S)= 1 - { ___S+_ _ + _ _ _ d ___ }
S
(S+)2 +d2 d (S+)2 +d2
Now put
Zn=
And
n1-Z2 = d
C(t)=1- e-tcosd t- e-tsind t
d
C(t)=1- e- Zn tcosd t+ e-Zn t sind t
n1-Z2
C(t)=1- e-Zn t
(1-Z2 d t+Zsin d t)
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n1-Z2
by trigonometry
sin ( d t +)= sin ( d t)cos +cos + cos ( d t) sin
we can write
cos =Z
1-Z2
cos
Z
= tan-11-Z2 radians.
Z
Hence using this in the expression
sin = tan=
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IV Semester ECE
Find kp , kv , ka and steady state error for a system with open loop transfer function as
G(S)H(S)= 15(S+4)(S+7)__
S(S+3)(S+6)(S+8)
Where the input is r(t)=4+t+t2
The given open loop transfer function in time constant form
G(S)H(S)= 15(S+4)(S+7)__
S(S+3)(S+6)(S+8)
=15 4 7(1+S) (1+s)
4
7
S 3 6 8(1+s_) (1+s_) (1+s_)
3
6
8
= 35(1+0.25s)(1+0.14s)______
12s(1+0.3s)(1+0.16s)(1+0.125s)
=2.9(1+0.25S)(1+0.14S)
s(1+0.3s)(1+0.16s)(1+0.125s)
Now
kp= Lt
S->0
G(S)H(S)=
KV= Lt
S G(S)H(S)= 2.9(1+0.25S)(1+0.14S)
S-> 0
s(1+0.3s)(1+0.16s)(1+0.125s)
KV=2.9
Ka= = Lt S2 G(S)H(S)=0
S->0
Input is =4+t+t2=4+t+2.t2
2
Now input combination of three standard inputs
A1=4 step of 4
A2=1 ramp of 1
A3=2, parabolic input of 2.
a) For step 3 the error is
Ess 1=A1___ = 4___ = 0
1+kp
1+
Solved by A.Devasena., Associate Professor., Dept/ECE
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G(S)___. R(S)
1+G(S)H(S)
E(S)=R(S)-B(S)----- >1
WKT
B(S)=R(S)-B(S)------ >2
Put eq 2 in eq1
E(S)=R(S)-C(S)H(S)------ >3
WKT
C(S)=E(S)G(S)------- >4
Put 4 in eq 3
E(S)=R(S)-E(S)G(S)H(S)
E(S)+E(S)G(S)H(S)=R(S)
Solved by A.Devasena., Associate Professor., Dept/ECE
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IV Semester ECE
[1+G(S)H(S)]E(S) =R(S)
E(S)=___R(S)___
1+G(S)H(S)
E(S)=___R(S)__
1+G(S)
ESS= Lt SR(S)_____
s->0 1+G(S)H(S)
Steady state error deoends on
(i)
(ii)
(iii)
= Lt S.A/S_____
s->0 1+G(S)H(S)
= Lt A_____
s->0 1+G(S)H(S)
ESS=_____A___
1+ Lt G(S)H(S)
s->0
For a system selected Lt
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IV Semester ECE
s->0
positional error co_efficient of the system denoted as Kp.
Kp= Lt G(S)H(S) =positional error co-efficient
s->0
and corresponding error is
ess=__A__
1+kp
Reference i/p is ramp of magnitude A
R(S)=A/S2.
ESS= Lt SR(S)_____
s->0 1+G(S)H(S)
= Lt S.A/S2_____
s->0 1+G(S)H(S)
= Lt A_____
s->0 S[1+G(S)H(S)]
ESS =_____A___
Lt S G(S)H(S)
s->0
for a seleted system Lt S G(S)H(S) is constant an called velocity error co efficient as
Kv.
s->0
ESS=A/Kv
Kv= Lt S G(S)H(S) =velocity error effect.
s->0
reference input is parabolic of magnitude A
R(t)=__A__ t2
2
R(S)= _A__
Solved by A.Devasena., Associate Professor., Dept/ECE
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IV Semester ECE
S3
ESS= Lt SR(S)_____
s->0 1+G(S)H(S)
= Lt S.A/S3_____
s->0 1+G(S)H(S)
= Lt A_____
s->0 S2[1+G(S)H(S)]
ESS =_____A___
Lt S2 G(S)H(S)
s->0
for a seleted system Lt S2 G(S)H(S) is constant an called velocity error co efficient as
Ka.
s->0
ESS=A/Ka
Ka= Lt S2 G(S)H(S) =acceleration error effect.
s->0
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s.1/s__
1+G(S)
= ____1____
1+
Lt G(S)
s->0
____1__ = __1___
1+kp
1+k
Velocity error essv(t) = Lt
s->0
s.1/s2__
1+G(S)
= ____1____
1+
Lt s G(S)
s->0
= 1/0=
s.1/s__
1+G(S)
= ____1____
1+
Lt G(S)
s->0
____1__ = 0
1+
Solved by A.Devasena., Associate Professor., Dept/ECE
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IV Semester ECE
s.1/s2__
1+G(S)
= ____1____
Lt s+ s G(S)
s->0
= ____1____
Lt s G(S)
s->0
= 1/k
Lt
s->0
G(S)=k(Tz1S+1) (Tz2S+1).
S(Tp1S+1) (Tp2S+1).
G(S) ==kp
Lt s G(S) =k=kv
s->0
Lt s2 G(S) =0=ka
s->0
s.1/s2__
1+G(S)
= ____1____
1+
Lt G(S)
s->0
____1__ = 0
1+
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IV Semester ECE
s.1/s2__
1+G(S)
= ____1____
Lt s G(S)
s->0
= 1/=0
Lt
s->0
G(S)=k(Tz1S+1) (Tz2S+1).
S2(Tp1S+1) (Tp2S+1).
G(S) ==kp
Lt s G(S) ==kv
s->0
Lt s2 G(S) =k=ka
s->0
F2(S) =R(S)
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2!
3!
Substituting e(t)= t
F1() [R(t)-R(t)+2 R(t)+ 2 R(t)+..]d
0
2!
3!
t
=
t
F1() R(t) d - F1() R(t)d+.
0
Ess=lt
e(t)
t->
=
lt
t
t
t-> [ F1() R(t) d - F1() R(t)d+]
0
2!
K1= - F1() d
K2= - F1() 2 d
0
Substituting these values we have
Ess= k0R(t)+k1R(t)+k2 R(t)+.
2!
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F(s)= F1()e-sd
0
Lt
s->0
s->0
- k0 e
substituting
= dF1(S)
ds
k0 = F1() d
0
K1=
lt
s->0
dF1(S)
ds
in general
Kn=
lt
dn F1(S)
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ds
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IV Semester ECE
=E(S)[kp+ki_]
S
Assuming kp=1 we can write
G(S)=(1+ki ) n2 =
___s_
S(s+2z n)
(ki+s) n2
s2(s+s2z n)
(ki+s) n2
s3+2z ns2+s n2+ki n2
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C(S) = (1+sTd) n2
R(S) s2+2[2zn+ n2Td] + n2
C0mparing the denominator with standard form s2+2z ns+ n2
n2 term is same as in the standard form
but 2z n =2z n+ n2Td
z= 2z n + n2Td
z n
z n
because of this derivative controller the damping ratio increases by a factor nTd
2
Kp= lt G(S)H(S) =
S->0
KV= LT S G(S)H(S) = n
s->0
2z
as there is no change in co efficient, the error will also remain same.
PD controller has following effects on the system.
1.
2.
3.
4.
5.
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IV Semester ECE
Pd controller improves transient portion, pi controller improve steady state portion combination
of two may be used to improve overall time response of the system.
G(s) =(K+STd+KI ) n2
S____
S(S+2Z n)
C(S) =
R(s)
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IV Semester ECE
E(S)=R(S)-C(S)H(S)
C(S)=E(S)G(S)
E(S)=R(S)-E(S)G(S)H(S)
E(S)+E(S)G(S)H(S)=R(S).
E(S)=R(S)___
1+G(S)H(S) for non unity feed back .
E(S)=R(S)___
1+G(S) for unity feed back.
This E(S) is the error in laplace domain and is expression in s. we want to calculate the error
value. In the time domain corresponding error will be e(t). now steady state of the system is that
state. Which remains as t-> .
Steady state error ess=Lt e(t)
t->
standard test signals:
the impulse signal has zero amplitude every where expect at the origin as shown in fig.
mathematically the impulse signal can be represented by
A (t)=0 for t#0 and
A (t) dt= A
-
Where tends to zero. Here the value a represents the area of the signal or energy content of
the signal and the laplace transform of the impulse is given by.
L[ A (t)] =A
A (t)dt = 1
-
The laplace transform of the unit impulse signal is
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L[ (t)] =1.
Step signal:
Step signal of size A is a signal that changes from zero level to another level A is a zero
time and stays there for ever as shown fig. the step signal is applied to the system to study the
behavior of the system for a sudden change in input.
Mathematically
r(t) = A for t> 0
= 0 for t< 0
The laplace transform of the the step signal is R(S)=L[r(t)]=A/s.
Ramp signal:
The ramp signal increases linearly with time from an initial value of zero at t=0.
Mathematically representation of the ramp signal is given by
R(t) = At for t> 0
= 0 for t=0
Where A represents the slope of the line
The laplace transform of the ramp signal is known as unit ramp signal.
Parabolic signal:
The instantaneous value of a parabolic signal varies as square the time from an initial
value of zero at t=0.
Mathematically representation of the
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Parabolic signal is
r(t)=At2 t>0.
= 0 t<0.
The laplace transform of the parabolic signal is given by
R(s)= L[At2 ] =2A/s3
To have a convinent form for laplace transform of parabolic signal is A/s3 . the parabolic signal
in time domain is often defined as At2/2.
Steady state erroer and error constants
The stady state error ess is the difference between the input (or desired value ) and the
output of a closed loop system for a known input as t->.
Mathematically
Ess = Lt e(t)
t->
= Lt [r(t)-c(t)]
t->0
bu using final value theorem
Vi(s)=1/s.
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V0(t) = 1 i(t) dt
C
V0(S) = ___1__
VI(S)
1+SRC
V0(S) = ___1__
VI(S)
1+TS where T=RC
= A + __b__
s
1+SRC
1= A(1+SRC) +BS
1=A+ASRC+BS
1=A+S(B+ARC)
Equate constant term
1=A
Equate s term
0=S(B+ARC)
Put A=1
Solved by A.Devasena., Associate Professor., Dept/ECE
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IV Semester ECE
B+RC=0
B=-RC
V0(S) = 1 + __-RC__
S 1+SRC
= 1 + __-RC__
RC (S+1/RC)
= 1 + __-1_____
S
(S+1/RC)
Taking laplace inverse
V0(t) =1- e-t/RC
=css+ct(t)
Closed loop transfer function of a system is given by
C(S) = G(S)___
R(S)
1G(S)R(S)
The equation which gives poles of system is called characteristics equation which is
1+G(S)H(S)=0
For the first order system this equation is also first order is general of the form
1+TS=0
AS closed loop poles are the roots of characteristics equation so for first order system there is
only one closed loop pole i.e s=-1/T
The time taken for the step response of a system to reach 63.2% of the final value is known as
the time constant of the system.
Unit ramp response of a first order system:
The transfer function of a first order system is given by
C(S) = ___K__
R(S)
(TS+1)
For a ramp input r(t)=t; t>0; R(S)=1/S2. There fore
C(S) = ___K__
S2 (TS+1)
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C(S)= K [A +B + __C__]
S S2 TS+1
__K__ = K[AS(TS+S)+BTS+B+CS2 ]
S2(TS+1)
S2(TS+1)
__K__ = K[AS(TS+S)+BTS+B+CS2 ]
1=AS(TS+S)+BTS+B+CS2
equate s term
A+BT=0
1+BT=0
BT=-1
B=-1/T
equate s2 term
AT+C=0
C=-AT
C=-T
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1.a.)G(s)H(s) =______1______
(s +2)(s +4)
The characteristic equation is
1 + G(s)H(s) = 0
1 + ___1______ = 0
(s +2)(s +4)
( s + 2 ) ( s+4 ) + 1 =0
s2 + 6s + 9 = 0
a0 =1 a1 = 6 a2 =9
Rouths array
s2
s1
s0
No sign change in the first column of the Rouths array, hence the
system is stable.
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1.b.)G(s)H(s) =_____9______
s2(s +2)
The characteristic equation is
1 + G(s)H(s) = 0
1 + ___9______ = 0
s2(s +2)
s2(s +2) + 9 =0
s3 + 2s2 +9 = 0
a0 =1 a1 = 2 a2 =0 a3 =9
Rouths array
s3
1
b1 = 2 x 0 1x 9 = - 4.5
s
b2 = 0
S0
- 4.5
9
c1 = - 4.5 x 9
=9
- 4.5
There are two sign changes in the first column of the Rouths array. Hence
the system is unstable.
2. Utilize the Routh table to determine the number of roots of the following
polynomials in the right half of the s-plane. Comment about the stability of the
system.
(AU:May/June 2006)
( i ) s5 + 2s4 + 3s3 + 6s2 + 10s + 15
( ii ) s5 + 6s4 + 15s3 + 30s2 + 44s + 24
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Rouths array:
s5
10
15
s4
s3
2.5
s3
s2
6-5
s1
2.5
Replace the 0
by small
positive
number
15
6 5 2.5
____ _________ - 15
6-5
s0
15
s5
s4
s3
2.5
15
s1
2.5
s0
15
10
15
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Rouths array:
s5
15
44
24
s4
30
s3
10
40
s2
s1
24
Replace the 0
by small
positive
number
s1
s0
24
15
44
s4
30
24
s3
10
s1
s0
24
40
24
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F(s) = s4 + 22s3 + 10 s2 + s + K = 0
a0 = 1 a1 = 22 a2 = 10 a3 = 1 a4 = K
Rouths array
s4
10
s3
22
s2
9.95
s1
9.95 22K
9.95
s0
For a stable system, the first column of the rouths array must be
positive.
Therefore K > 0 , And 9.95 22K > 0
0 < K < 0.452.
The marginal value of K is 0.452.
Consider 9.95s2 + K = 0. when K = 0.452, to find the frequency of
oscillations s= + j 0.913 or j = + j 0.913. = 0.213 rad/sec.
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4. Using Rouths criterion for stability, discuss the stability of the system whose
characteristic equation is s3 + 10s2 + 50s + 500 = 0
(AU: April/ may 2005)
50
s2
10
500
s1
50
s2
10
500
s1
20
s0
500
No sign change in the first column of the Rouths array. But due to
special case 2, system , may not be stable. For sufficient conditions
solve A(s) = 0.
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10s2+ 500 = 0
s2 = - 50
s = + j 50.
as dominant roots are on imaginary axis, and no root in right half of s-plane
because no sign change in first column of rouths array. the system is
marginally stable. It oscillates with the frequency 50 rad./ sec.
5. Using Routh Hurwitz criterion, determine the relation between K and T so that unity
feedback control system whose open loop transfer function given below is stable.
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1.Sketch the root locus diagram of the following open loop transfer function
G(s)H(s) =________K_____
s(s+2)(s+5)
(AU: Nov/DEC:2005)
Step 1:
Number of poles P = 3
At s
0,-2,-5
Number of Zeros Z= 0
Step 2:
Number of separate root loci (branches)= Number of poles (P) = 3
Step 3:
The starting point of the root locus branches are from poles 0,-2,-5.
Terminating point of the root locus branches are at ZEROs. But here we have
no ZEROs. So The root locus branches terminates at infinity.
+j
+
-
P2
P3
-5
P1
-2
-j
Consider P1. to the R.H.S. of P1 the sum of poles and zeros are
odd. So P1 is the part of root locus. Consider P2. to the R.H.S. of
P2 the sum of poles and zeros are even. So P2 is not the part of
root locus. Consider P3. to the R.H.S. of P3 the sum of poles and
zeros are odd. So P3 is the part of root locus.
Solved by A.Devasena., Associate Professor., Dept/ECE
Page 104
IV Semester ECE
Step 4:
Number of asymptotes Na = P-Z = 3- 0 = 3
Angle of asymptotes : n = (2n+1) ( n = 0,1,2,.P-Z-1)
PZ
Here n = Na = P-Z = 3-0 = 3 n = 0,1,2.
For n =0 0 = (2(0)+1) = 60
30
For n =1 1 = (2(1)+1) = 180
30
For n =2 2 = (2(2)+1) = 300
30
Step 5:
Centroid ( )
= ( real parts of poles) - ( real parts of zeros)
PZ
= (0 -2-5) (0)
30
= -7 = -2.3
3
Step 6:
Breakaway point:
1 + G(s)H(s) = 0
1+
K_________ = 0
s(s+2)(s+5)
s(s2 + 7s + 10) +K= 0
K = - s(s2 + 7s + 10)
K = - (s3 + 7s2 + 10s)
to find breakaway point, differentiate k with respect to s and equate to
zero.
dk = 0
ds
dk = - 3s2 - 14s 10 = 0
ds
i.e. 3s2+ 14s +10 = 0
now solve the above quadratic equation, we get s = - 0.88 , -3.78.
The valid breakaway point is 0.88. because breakaway point must be
a part of root locus.
Solved by A.Devasena., Associate Professor., Dept/ECE
Page 105
IV Semester ECE
Step 7:
Intersection of root locus with imaginary axis (j)
Characteristic equation = 1 + G(s)H(s) = 0
s3 + 7s2 + 10s + k = 0
a0 = 1 a1 = 7 a2 = 10 a3 = k
Rouths array
s3
10
s2
s1
7(10) K
7
s0
= 0
= 0
K = 70
K = 70 in above equation.
7s2 +70 = 0
s2 +10 = 0
s = + j 10 = + j 3.2
The complete root locus is shown in fig.4.1
Solved by A.Devasena., Associate Professor., Dept/ECE
Page 106
IV Semester ECE
fig. 4.1
Page 107
IV Semester ECE
2.Sketch the root locus diagram of the following open loop transfer function
G(s)H(s) =________K_____
s(s+1)(s+3)
(AU: Nov/DEC:2006)
Step 1:
Number of poles P = 3
At s
0,-1,-3
Number of Zeros Z= 0
Step 2:
Number of separate root loci (branches)= Number of poles (P) = 3
Step 3:
The starting point of the root locus branches are from poles 0,-1,-3
Terminating point of the root locus branches are at ZEROs. But here we have
no ZEROs. So The root locus branches terminates at infinity.
+j
+
-
P2
P3
-3
P1
-1
-j
Consider P1. to the R.H.S. of P1 the sum of poles and zeros are
odd. So P1 is the part of root locus. Consider P2. to the R.H.S. of
P2the sum of poles and zeros are even. So P2 is not the part of
root locus. Consider P3. to the R.H.S. of P3 the sum of poles and
zeros are odd. So P3 is the part of root locus.
Page 108
IV Semester ECE
Step 4:
Number of asymptotes Na = P-Z = 3- 0 = 3
Angle of asymptotes : n = (2n+1) ( n = 0,1,2,.P-Z-1)
PZ
Here n = Na = P-Z = 3-0 = 3 n = 0,1,2.
For n =0 0 = (2(0)+1) = 60
30
For n =1 1 = (2(1)+1) = 180
30
For n =2 2 = (2(2)+1) = 300
30
Step 5:
Centroid ( )
= ( real parts of poles) - ( real parts of zeros)
PZ
= (0 -1-3) (0)
30
= -4 = -1.33
3
Step 6:
Breakaway point:
1 + G(s)H(s) = 0
1+
K__________ = 0
s(s+1)(s+3)
s(s+1)(s+3) +k = 0
K = - s(s2 + 4s + 3)
K = - (s3 + 4s2 + 3s)
to find breakaway point, differentiate k with respect to s and equate to
zero.
dk = 0
ds
dk = - 3s2 - 8s 3 = 0
ds
i.e. 3s2+ 8s +3 = 0
now solve the above quadratic equation, we get s = - 0.451 , -2.22
The valid breakaway point is - 0.451. because breakaway point must
be a part of root locus.
Solved by A.Devasena., Associate Professor., Dept/ECE
Page 109
IV Semester ECE
Step 7:
Intersection of root locus with imaginary axis (j)
Characteristic equation = 1 + G(s)H(s) = 0
s3 + 4s2 + 3s + k = 0
a0 = 1 a1 = 4 a2 = 3 a3 = k
Rouths array
s3
s2
s1
12 K
4
s0
K
0
= 0
= 0
K = 12
Now , consider auxiliary equation
4s2 +K = 0
Put
4s2 +12 = 0
s2 +3 = 0
s = + j 3= + j 1.714
The complete root locus is shown in fig.4.2
Solved by A.Devasena., Associate Professor., Dept/ECE
Page 110
IV Semester ECE
fig. 4.2
Page 111
IV Semester ECE
3.Obtain the root locus for a unity feedback system with open loop transfer
function G(s)H(s) =________K_____
(AU: may/june:2006 )
2
s(s +6s+25)
Step 1:
Number of poles P = 3
At s
0,-3+j4, -3 j4
Number of Zeros Z= 0
Step 2:
Number of separate root loci (branches)= Number of poles (P) = 3
Step 3:
The starting point of the root locus are from poles 0, -3+j4, -3 j4. the
terminating point of the root locus is at ZERO. Here we have no
ZEROs. So the root locus terminates at infinity.
+j
-3+j4
P1
-
0
-j
-3-j4
Consider P1. to the R.H.S. of P1 the sum of poles and zeros are odd.
So P1 is the part of root locus.
Page 112
IV Semester ECE
Step 4:
Number of asymptotes Na = P-Z = 3- 0 = 3
Angle of asymptotes : n = (2n+1) ( n = 0,1,2,.P-Z-1)
PZ
Here n = Na = P-Z = 3-0 = 3 n = 0,1,2.
For n =0 0 = (2(0)+1) = 60
30
For n =1 1 = (2(1)+1) = 180
30
For n =2 2 = (2(2)+1) = 300
30
Step 5:
Centroid ( )
= ( real parts of poles) - ( real parts of zeros)
PZ
= (0 -3-3) (0) = -2
30
Step 6:
Breakaway point:
1 + G(s)H(s) = 0
1+
K__________ = 0
s(s2+6s+25)
s(s2+6s+25)+K = 0
K = - s(s2+6s+25)
K = - (s3 + 6s2 + 25s)
to find breakaway point, differentiate k with respect to s and equate to
zero.
dk = 0
ds
dk = - 3s2 - 12s 25 = 0
ds
i.e. 3s2+ 12s +25 = 0
now solve the above quadratic equation, we get
s = - 2 + j0.539
this point is not on the root locus. Therefore there is no breakaway
point.
Solved by A.Devasena., Associate Professor., Dept/ECE
Page 113
IV Semester ECE
Step 7:
Intersection of root locus with imaginary axis (j)
Characteristic equation = 1 + G(s)H(s) = 0
1+
k__________ = 0
s(s2+6s+25)
s3 + 6s2 + 25s + K = 0
a0 = 1 a1 = 6 a2 = 25 a3 = K.
Rouths array
s3
s2
s1
150 K
6
s0
25
= 0
= 0
K = 150
Now , consider auxiliary equation
6s2 +K = 0
Put
6s2 +150= 0
s2 +25 = 0
s= + j5
Solved by A.Devasena., Associate Professor., Dept/ECE
Page 114
IV Semester ECE
Step 8:
We have complex poles. So angle of departure has to be calculated.
P2
+j4
p1
-3
p2
-j4
P3
Consider point P2.
p1 = -180 tan-(3/4)
= - 143.13
p3= -90
p = p1 + p3 = - 143.13 - 90 = -233.13
z = 0
= p - z = -233.13 - 0 = -233.13
Angle of departure = 180- -233.13 = - 53.13
Similarly for point P3. the angle of departure is - 53.13
The complete root locus is shown in fig.4.3.
Solved by A.Devasena., Associate Professor., Dept/ECE
Page 115
IV Semester ECE
Fig.4.3
Page 116
IV Semester ECE
4.Determine the root locus of the system whose open loop gain is
G(s)H(s) =________K_______
(AU: Nov/Dec:2006 )
2
S(s+4)(s +4s+20)
Step 1:
Number of poles P = 4
At s
0, -2+j4, -2 j4 , -4
Number of Zeros Z= 0
Step 2:
Number of separate root loci (branches)= Number of poles (P) = 4
Step 3:
The starting point of the root locus are from poles 0, -2+j4, -2 j4 , -4 .
The terminating point of the root locus is at ZERO. Here we have no
ZEROs. So the root locus terminates at infinity.
-2+j4
P2
+j
P1
-4
-
0
-j
-2-j4
Consider P1. to the R.H.S. of P1 the sum of poles and zeros are odd.
So P1 is the part of root locus. Consider P2.To the R.H.S of the P2
the sum of poles and zeros are even. So p2 is not the part of root
locus.
Page 117
IV Semester ECE
Step 4:
Number of asymptotes Na = P-Z = 4- 0 = 4
Angle of asymptotes : n = (2n+1) ( n = 0,1,2,.P-Z-1)
PZ
Here n = Na = P-Z = 4-0 = 4 n = 0,1,2,3
For n =0 0 = (2(0)+1) = 45
4 0
For n =1 1 = (2(1)+1) = 135
40
For n =2 2 = (2(2)+1) = 225
40
For n =3 3 = (2(3)+1) = 315
40
Step 5:
Centroid ( )
= ( real parts of poles) - ( real parts of zeros)
PZ
= (0 -4-2 -2) (0)
40
= -8 = - 4
4
Step 6:
Breakaway point:
1 + G(s)H(s) = 0
1+
k__________ = 0
s(s+4) (s2+4s+20)
s(s+4) (s2+4s+20) + K = 0
k = - (s 2 +4s)( (s2+4s+20)
k = - (s4 +8s3 + 36s2 +80s)
to find breakaway point, differentiate k with respect to s and equate to
zero.
dk = 0
ds
dk = - ( 4s3 +24s2+72s +80) = 0
ds
i.e. s3 +6s2+18s +20 = 0
Solved by A.Devasena., Associate Professor., Dept/ECE
Page 118
-2
1
0
6
-2
18
-8
10
IV Semester ECE
20
-20
0
Step 7:
Intersection of root locus with imaginary axis (j)
Characteristic equation = 1 + G(s)H(s) = 0
1+
k__________
s(s+4)(s2+4s+20)
=0
s(s+4) (s2+4s+20) + K = 0
s4 +8s3 + 36s2 +80s + K = 0
a0 = 1 a1 = 8 a2 = 36 a3 = 80 a4 = K
Page 119
IV Semester ECE
Rouths array
s4
36
s3
80
s2
26
s1
2080 8 K
26
s0
26s2 +260= 0
s2 = - 10
s = + j 10 = + j 3.16
The complete root locus is shown in fig.4.3
Page 120
IV Semester ECE
Step 8:
Angle of departure:
p3
p2
p1
p4
Page 121
IV Semester ECE
Fig.4.4.
Page 122
IV Semester ECE
5. Sketch the root locus for the unity feedback system whose open loop
transfer function is
G(s)H(s) =________K_____
s(s+3)(s+8)
Page 123
IV Semester ECE
Step 1:
Number of poles P = 3
At s
0,-3,-8
Number of Zeros Z= 0
Step 2:
Number of separate root loci (branches)= Number of poles (P) = 3
Step 3:
The starting point of the root locus branches are from poles 0,-3,-8.
Terminating point of the root locus branches are at ZEROs. But here we have
no ZEROs. So the root locus branches terminates at infinity.
+j
P2
P3
P1
-
-8
-3
-j
Consider P1. to the R.H.S. of P1 the sum of poles and zeros are
odd. So P1 is the part of root locus. Consider P2. to the R.H.S. of
P2 the sum of poles and zeros are even. So P2 is not the part of
root locus. Consider P3. to the R.H.S. of P3 the sum of poles and
zeros are odd. So P3 is the part of root locus.
Page 124
IV Semester ECE
Step 4:
Number of asymptotes Na = P-Z = 3- 0 = 3
Angle of asymptotes : n = (2n+1) ( n = 0,1,2,.P-Z-1)
PZ
Here n = Na = P-Z = 3-0 = 3 n = 0,1,2.
For n =0 0 = (2(0)+1) = 60
30
For n =1 1 = (2(1)+1) = 180
30
For n =2 2 = (2(2)+1) = 300
30
Step 5:
Centroid ( )
= ( real parts of poles) - ( real parts of zeros)
PZ
= (0 -3-8) (0)
30
= -11 = -3.66
3
Step 6:
Breakaway point:
1 + G(s)H(s) = 0
1+
K__________ = 0
s(s+3)(s+8)
s(s2 + 11s + 24) +k = 0
K = - s(s2 + 11s + 24)
K = - (s3 + 11s2 + 24s)
to find breakaway point, differentiate k with respect to s and equate to
zero.
dk = 0
ds
dk = - 3s2 - 22s 24 = 0
ds
i.e. 3s2+ 22s +24 = 0
now solve the above quadratic equation, we get s = - 1.3, - 6.
The valid breakaway point is 1.3. Because breakaway point must be
a part of root locus. But -6 is not the part of the root locus.
Solved by A.Devasena., Associate Professor., Dept/ECE
Page 125
IV Semester ECE
Step 7:
Intersection of root locus with imaginary axis (j)
Characteristic equation = 1 + G(s)H(s) = 0
s3 + 11s2 + 24s + K = 0
a0 = 1 a1 = 11 a2 = 24 a3 = K
Rouths array
s3
s2
11
s1
11(24) K )
11
s0
24
= 0
= 0
K = 264
Now , consider auxiliary equation
11s2 +K = 0
Put
11s2 +264 = 0
s2 +24 = 0
s = + j 24 = + j 4.9
The complete root locus is shown in fig.4.5
Solved by A.Devasena., Associate Professor., Dept/ECE
Page 126
IV Semester ECE
Fig.4.5.
Page 127
IV Semester ECE
6.Determine the root locus of the system whose open loop gain is
G(s)H(s) =________K_______ ;
S(s+4)(s2+8s+32)
k > 0. Sketch the root locus of the system. Hence find the value of K so that
system has a damping factor of 0.707
Page 128
IV Semester ECE
Step 1:
Number of poles P = 4
At s
0, -4+j4, -4j4 , -4
Number of Zeros Z= 0
Step 2:
Number of separate root loci (branches)= Number of poles (P) = 4
The starting point of the root locus are from poles 0, -4+j4, -4j4 , -4
The terminating point of the root locus is at ZERO. Here we have no
ZEROs. So the root locus terminates at infinity.
-4+j4
+j
P2
-4
P1
-
0
-j
-4-j4
Consider P1. to the R.H.S. of P1 the sum of poles and zeros are odd.
So P1 is the part of root locus. Consider P2.Tothe R.H.S of the P2
the sum of poles and zeros are even. So p2 is not the part of root
locus.
Page 129
IV Semester ECE
Step 4:
Number of asymptotes Na = P-Z = 4- 0 = 4
Angle of asymptotes : n = (2n+1) ( n = 0,1,2,.P-Z-1)
PZ
Here n = Na = P-Z = 4-0 = 4 n = 0,1,2,3
For n =0 0 = (2(0)+1) = 45
4 0
For n =1 1 = (2(1)+1) = 135
40
For n =2 2 = (2(2)+1) = 225
40
For n =3 3 = (2(3)+1) = 315
40
Step 5:
Centroid ( )
= ( real parts of poles) - ( real parts of zeros)
PZ
= (0 -4-4 -4) (0)
40
= -12 = - 3
4
Step 6:
Breakaway point:
1 + G(s)H(s) = 0
1+
K__________ = 0
s(s+4) (s2+8s+32)
s(s+4) (s2+8s+32) + K = 0
K = - (s 2 +4s)( (s2+8s+32)
K = - (s4 +12s3 + 64s2 +128s)
to find breakaway point, differentiate k with respect to s and equate to
zero.
dk = 0
ds
dk = - ( 4s3 +36s2+128s +128) = 0
ds
i.e. s3 +9s2+32s +32 = 0
Solved by A.Devasena., Associate Professor., Dept/ECE
Page 130
1
0
-2
IV Semester ECE
9
32
32
-1.57 -11.25 -31.92
7.43
20.35
0.08
Step 7:
Intersection of root locus with imaginary axis (j)
Characteristic equation = 1 + G(s)H(s) = 0
1+
k__________
s(s+4)(s2+8s+32)
=0
s(s+4) (s2+8s+32) + K = 0
s4 +12s3 + 64s2 +128s + K = 0
a0 = 1 a1 = 12 a2 = 64 a3 = 128 a4 = K .
Page 131
IV Semester ECE
Rouths array
s4
64
s3
12
128
s2
53.3
s1
6826.7 12K
53.3
s0
53.3s2 +568.9= 0
s2 = - 568.9
53.3
s = + j 3.26
Page 132
IV Semester ECE
Step 8 :
Angle of Departure
-4+4j
P3
p2
P2
p1
-4
p4
P4
-4-4j
Angle of departure d = 180 + p
Consider point P3
p = - p1 - p2 -p4
= - (135 + 90 + 90 )
= - 335
Angle of departure d = 180 + p
= 180- 335
= - 135
Similarly at P4
d = + 135
The complete root locus is shown in fig. 4.6.
Page 133
IV Semester ECE
G(S)H(S) =________K_______
S(s+4)(s2+8s+32)
Fig.4.6.
Page 134
IV Semester ECE
+j4
-4
-j4
Page 135
IV Semester ECE
7.Sketch the root locus diagram of the following open loop transfer
function
G(s)H(s) =________K_(s+4)____
s(s2 +8s + 13)
Page 136
IV Semester ECE
Step 1:
Number of poles P = 3
At s
0,-3+2j,-3-2j
Number of Zeros Z= 1
s
-4
Step 2:
Number of separate root loci (branches)= Number of poles (P) = 3
Step 3:
The starting point of the root locus branch are from poles 0,-3+2j,-3-2j
. the terminating point of the root locus at ZEROs. Here we have one
ZERO. So one branch terminates at ZERO. The other poles terminate
at infinity.
+j
- 3+ 2j
+
P2
P1
-
-4
0
- 3 - 2j
-j
Consider P1. to the R.H.S. of P1 the sum of poles and zeros are
odd. So P1 is the part of root locus. Consider P2. to the R.H.S. of
P2 the sum of poles and zeros are even. So P2 is not the part of
root locus.
Page 137
IV Semester ECE
Step 4:
Number of asymptotes Na = P-Z = 3- 1 = 2
Angle of asymptotes : n = (2n+1) ( n = 0,1,2,.P-Z-1)
PZ
Here n = Na = P-Z = 3-1 = 2 n = 0,1,
For n =0 0 = (2(0)+1) = 90
31
For n =1 1 = (2(1)+1) = 270
31
Step 5:
Centroid ( )
= ( real parts of poles) - ( real parts of zeros)
PZ
= (0 -3-3) (-4)
31
= -2 = -1
2
Step 6:
Breakaway point:
In this problem, no poles are adjacent to each other. The pole at origin
terminates at ZERO s = -5. the complex poles move to infinity along 90
And 270 asymptotes. Hence there is no valid breakaway point.
Step 7:
Intersection of root locus with imaginary axis (j)
Characteristic equation = 1 + G(s)H(s) = 0
1+
K_(s+4)____
s(s2 +6s + 13)
=0
Page 138
IV Semester ECE
Rouths array
s3
s2
s1
s0
78 + 2K
8
13 + K
4K
4K
Page 139
IV Semester ECE
Step 8 :
Angle of Departure for complex poles:
Consider Point P2
Angle of departure d = 180 - p + z
= 180 ( - p1 - p3) + z1
= 180 (146 + 90 ) + 63
= + 7 .
Similarly for P3, the angle of departure is - 7
-3 +j2
P2
z1
p1
-5
p3
P3
-3 - j2
The complete root locus is shown in fig.4.7.
Page 140
IV Semester ECE
Page 141
IV Semester ECE
8. Sketch the root locus for the system and comment on stability
G(s)H(s) = K(s + 4)(s + 5) , K > 0
(s+3)(s+1)
Step :1
Number of poles P =2
At s
-3,-1
Number of ZEROs = 2
At s
-4 , -5
Step 2:
Number of separate root loci (branches)= Number of poles (P) =2
Step 3
The starting point of the root locus are from poles -3,-1.terminating
point of the root locus is at ZEROs i.e. -4,-5
P4
P3
-5
P2
-4
P1
-3
-1
Page 142
IV Semester ECE
Consider P1. to the R.H.S. of P1 . the sum of poles and zeros are odd. So P1 is
the part of root locus. Consider P2. to the R.H.S. of P2 . the sum of poles and
zeros are even. So P1 is not the part of root locus. Consider P3. to the R.H.S. of
P3 . the sum of poles and zeros are odd. So P3 is the part of root locus.
Consider P4. to the R.H.S. of P4 . the sum of poles and zeros are even. So P4 is
not the part of root locus.
Step 4:
Number of asymptotes Na = P-Z = 2- 2 = 0
When number of asymptotes = 0, then the root locus plot is circular. So no
need to find the intersection of asymptotes on real axis. Because asymptotes
are required only when number of poles is not equal to number of zeros. i.e.
P >z.
Step 5:
There is no need to find centroid. Because P Z = 2 2 = 0.
Step 6:
Breakaway point
1 + G(s)H(s) = 0
1 + K(s + 4)(s + 5) = 0
(s+3)(s+1)
(s+3)(s+1) + K(s + 4)(s + 5) = 0
(s2 +4s+3)+ K(s2 + 9s +20) =0
K = - (s2 + 4s +3)
(s2 + 9s +20)
To find breakaway point, differentiate k with respect to s and equate
to zero.
dk = 0
ds
Page 143
IV Semester ECE
=0
( s + 3)(s + 1) + K( s + 4)(s + 5)
S2(1 + K) + s(9K + 4) + (20K + 3) = 0
a0 = 1 + K a1 = 9K + 4 a2 = 20K + 3
Rouths array
s2
1+K
s1
9K + 4
s0
20K + 3
20K + 3
Page 144
IV Semester ECE
Page 145
IV Semester ECE
Fig.4.8.
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9. The open loop transfer function G(S) = K(s + b) / s(s+a) and H(s) =1. for the
system shown below, prove that a part of root locus is a circle. (AU: April:2004).
R(s)
+
G(s)
C(s)
H(s)
G(s)H(s) = K(s + b)
s(s + a)
For a complex point on the root locus s = + j
G(s)H(s) = ____K( + j + b)_____
( + j ) ( + j + a)
At that point
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G(s) H(s)
IV Semester ECE
tan -1 ( / +b)___________
tan -1 ( / ) tan -1 ( / +a)
Angle of positive K is 0
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G(s) H(s)
IV Semester ECE
_ A +B____
1 AB
(2 + a)______
( + a) 2
( / +b) - (2 + a)______
( + a) 2
= tan-1
1 + ( / +b)
(2 + a)______
( + a) 2
tan-1
1 +( / +b) (2 + a)______
( + a) 2
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= 0
(2 + a - 2) ( 2 +a )( +b) = 0
{ (2 + a - 2) - ( 2 +a ) ( +b)} = 0
0
therefore { (2 + a - 2) - ( 2 +a ) ( +b)} = 0
i.e. 2 + a - 2 - 22 - 2 - 2b - ab = 0
(adding and subtracting b2 we get)
+ 2b + b + - b - ab = 0
2
10. Prove that the breakaway points of the root locus are the solutions of dK/ds = 0.
where K is the open loop gain of the system whose open loop transfer function is
G(s)
(AU: April-2004)
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Therefore dK(s) = ds
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G(s)) =________K__________
s(s + 1)(s + 3)(s + 4)
Step 1:
Number of poles P = 4
At s
0,-1, -3, -4
Number of Zeros Z= 0
Step 2:
Number of separate root loci (branches)= Number of poles (P) = 4
Step 3:
The starting point of the root locus branches are from poles 0,-1,-3, -4.
Terminating point of the root locus branches are at ZEROs. But here in this
problem, we have no ZEROs. So the root locus branches terminates at
infinity.
Consider P1. to the R.H.S. of P1 the sum of poles and zeros are odd. So P1 is
the part of root locus. Consider P2. to the R.H.S. of P2 the sum of poles and
zeros are even. So P2 is not the part of root locus. Consider P3. to the R.H.S. of
P3 the sum of poles and zeros are odd. So P3 is the part of root locus. Consider
P4. to the R.H.S. of P4 the sum of poles and zeros are even. So P4 is not the
part of root locus.
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Step 4 :
Number of asymptotes Na = P-Z = 4- 0 = 4
Angle of asymptotes : n = (2n+1) ( n = 0,1,2,.P-Z-1)
PZ
Here n = Na = P-Z = 4-0 = 2 n = 0,1, 2,3.
For n =0 0 = (2(0)+1)
40
= 45
For n =1 1 = (2(1)+1)
40
= 135
For n =2 2 = (2(2)+1)
40
= 225
For n =3 3 = (2(3)+1)
40
= 315
Step 5:
Centroid ( )
= ( real parts of poles) - ( real parts of zeros)
PZ
= (0 -1-3 4 ) - (0) = - 8__ = -2
31
4
Step 6:
Breakaway point:
1 + G(s)H(s) = 0
1+
K__________ = 0
s(s+1)(s+3)(s + 4)
s(s+1)(s+3)(s + 4)+ K = 0
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K = - { s(s+1)(s+3)(s + 4)}
= -{ s4 +7s3 +13s2 +7s +12}
dK = 0
ds
dK = -{4s3 +21s2 +26s +7} = 0
ds
4s3 +21s2 +26s +7= 0
-0.4
21
26
-1.6
7.76
-7.2
19.4
18.24
-0.2
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Step 7:
Intersection on j axis.
Characteristic equation = 1 + G(s)H(s) = 0
1 + ___ K___________ = 0
s( s + 1)(s + 3) (s+4
s( s + 1)(s + 3) ( s + 4) + K = 0
s4 +7s3 +13s2 +7s +12 + K = 0
a0 = 1 a1 = 7 a2 = 13 a3= 7a4 = 12 + K
Rouths array
s4
13
12 + K
s3
s2
12
12+ K
s1
12*7 7(12+K)
12
s0
12 + K
To have intersection on j axis, any one row should be zero. Make s1
row to be zero.
12*7 7(12+K) = 0
12
84 7(12+K) = 0
K=0
Put K = 0 in s2 row.
12 s2 + 12 + K = 0
s2 = - 1; therefore s = + j1
the root locus intersects on j axis at + j1.
The complete root locus is shown in fig. 4.9.
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Fig.4.9.
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12. Sketch the root locus of the system having G(s)H(s) =______K(s + 2)_____
(s +1)(s + 3+j2)(s+3- j2)
(AU:Nov/Dec:2007)
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Step 1:
Number of poles P = 3
At s
-1,-3+2j,-3-2j
Number of Zeros Z= 1
s
-2
Step 2:
Number of separate root loci (branches)= Number of poles (P) = 3
Step 3:
The starting point of the root locus branch are from poles -1,-3+2j,-3-2j
. the terminating point of the root locus at ZEROs. Here we have one
ZERO. So one branch terminates at ZERO. The other poles terminate
at infinity.
- 3+ 2j
+j
P2
P1
-
-2
0
- 3 - 2j
-j
Consider P1. to the R.H.S. of P1 the sum of poles and zeros are
odd. So P1 is the part of root locus. Consider P2. to the R.H.S. of
P2 the sum of poles and zeros are even. So P2 is not the part of
root locus.
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Step 4:
Number of asymptotes Na = P-Z = 3- 1 = 2
Angle of asymptotes : n = (2n+1) ( n = 0,1,2,.P-Z-1)
PZ
Here n = Na = P-Z = 3-1 = 2 n = 0,1,
For n =0 0 = (2(0)+1) = 90
31
For n =1 1 = (2(1)+1) = 270
31
Step 5:
Centroid ( )
= ( real parts of poles) - ( real parts of zeros)
PZ
= (-1-3-3) (-2)
31
=
-2.5
Step 6:
Breakaway point:
In this problem, no poles are adjacent to each other. So no breakaway point
is there.
Step 7:
Intersection of root locus with imaginary axis (j)
Characteristic equation = 1 + G(s)H(s) = 0
1 + ___K_(s+2)________
( s+1)(s2 +6s + 13)
=0
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Rouths array
s3
19 + K
s2
13+2K
s1
s0
7(19+K) - (13+2K)(1)
7
13 + 2K
= 0
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Step 8 :
Angle of Departure for complex poles:
Consider Point P2
Angle of departure d = 180 - p + z
= 180 (p1 +p3) + z1
= 180 (135 +90 ) + 116.5
= + 7 1.56.
Similarly for P3, the angle of departure is - 7 1.56
-3 +j2
P2
z1
-2
p1
-1
-3 - j2
P3
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Fig.4.10.
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Step 1:
Number of poles P = 4
At s
0, -3+j1, -3 j1 , -4
Number of Zeros Z= 1
At s
-1
Step 2:
Number of separate root loci (branches)= Number of poles (P) = 4
Step 3:
The starting point of the root locus are from poles 0, -3+j1, -3 j1, -4.
the simple pole at the origin terminates at ZERO (i.e at s= -1). Two complex
poles go to infinity along 60 ,300 asymptotes. The simplepole at s = - 4 go
to infinity along 180 asymptote.
+j
-3 + j
P3
-4
P2
P1
+
-1
-3 - j
-j
Consider P1. to the R.H.S. of P1 the sum of poles and zeros are odd.
So P1 is the part of root locus. Consider P2.To the R.H.S of the P2
the sum of poles and zeros are even. So p2 is not the part of root
locus. Consider P3.to the R.H.S. of P3, the sum of poles and zeros
are odd. So P3 is the part of root locus.
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Step 4:
Number of asymptotes Na = P-Z = 4- 1 = 3
Angle of asymptotes : n = (2n+1) ( n = 0,1,2,.P-Z1)
PZ
Here n = Na = P-Z = 4-1 = 3 n = 0,1,2,
For n =0 0 = (2(0)+1) = 60
4 1
For n =1 1 = (2(1)+1) = 180
41
For n =2 2 = (2(2)+1) = 300
41
Centroid ( )
= ( real parts of poles) - ( real parts of zeros)
PZ
= (0 -4-3 -3) (-1)
41
= -9 = - 3
3
Step 6:
Breakaway point:
In this problem, no poles are adjacent to each other. So no breakaway
point is not there.
Step 7:
Intersection of root locus with imaginary axis (j)
Characteristic equation = 1 + G(s)H(s) = 0
1+
K(s +1)__________
s(s+4)(s2+6s+10)
=0
s(s+4) (s2+6s+20) + K = 0
s4 +10s3 + 34s2 + ( 40 + K )s + K = 0
a0 = 1 a1 = 10 a2 = 34 a3 = 40 + K a4 = K
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IV Semester ECE
Rouths array
s4
s3
10
34
40 + K
s2
( 300 - K)
10
s1
s0
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6. Two stator windings of the ac servo motors are oriented __ electrical degrees apart
a) 90
b) 60
c) 120
d) 180
A
7. Which of the following is not true for an ac servo motor:
a) Has low inertia rotor
b) Is a single phase motor
c) Has slip torque characteristics as straight line with negative slope
d) Reference voltage frequency is high compared to signal frequency
B
8. A gyroscope operates on the principle of:
a) Law of conservation of energy
b) Law of conservation of momentum
c) Electro-mechanical conversion
d) Newton's third law of motion
B
9. AC Servo motor is basically a:
a) Universal motor
b) Capacitor motor
c) 2 phase induction motor
d) 3 phase induction motor
C
10. The output of synchro error detector is a:
a) Voltage signal of the receiver
b) Voltage signal of constant amplitude
c) Suppressed carrier modulated signal
d) Angular displacement of the control transformer rotor
C
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1. __ can be used for converting the angular the angular position of a shaft into electrical
signal:
a) LVDT
b) Synchros
c) DC Servo motor
d) AC Servo motor
A
2. Synchros are widely used for transmission of __ data:
a) Angular
b) Digital
c) Mathematical
d) Computed
A
3. The input to a controller is always a/an __
a) Error
b) Servo
c) Amplifier
d) Sensor
A
4. The thermocouple directly converts temperature into:
a) dc voltage
b) ac voltage
c) direct current
d) alternating current
A
5. Potentiometers are used in control systems:
a) To improve frequency response
b) To improve time response
c) To improve stability
d) As error sensing transducer
D
6. Tachometer is employed to measure
a) Rotational speed
b) Displacement
c) Torque developed
Solved by A.Devasena., Associate Professor., Dept/ECE
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D. Error Signal
Answer: A
2. Introduction of the feedback reduces the effects of:
A. Noise signal
B. Disturbances
C. Error signals
D. Error and noise signals
E. Noise signals and disturbances
Answer: E
3. A control system in which control action depends on the output is called the __
control system
A. Open loop
B. Closed loop
C. Stable
D. Unstable
Answer: A
4. In a control system the use of negative feedback:
A. Eliminates the chances of instability
B. Increases the reliability
C. Reduces the effects of disturbance and noise signals in the forward path
D. Increases the influence of variations of component parameters on the system
performance
Answer: C
5. A controller essentially is a:
A. Comparator
B. Sensor
C. Amplfier
D. Clipper
Answer: B
6. In a control system, the controller output is given to:
A. Sensor
B. Comparator
C. Amplifier
D. Final Control element
Answer: D
7. The deviation of the primary feedback signal from the reference input is called
the:
A. Actuating signal
B. Error signal
C. Command
Solved by A.Devasena., Associate Professor., Dept/ECE
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IV Semester ECE
D. Manipulated variable
Answer: A
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IV Semester ECE
B. -3
C. 3/41
D. 2/31
Ans: C
[3] The Z-transform of x(K) is given by [IES 2010]
x(Z)= {(1-e-T)z-1} / {(1-z-1)(1-e-Tz-1)}
The initial value of x(0) is
A. Zero
B. 1
C. 2
D. 3
Ans:
[4] Consider the following statements with reference to the phase plane:
1. They are general and applicable to a system of any order.
2. Steady state accuracy and existence of limit cycle can be predicted.
3. Amplitude and frequency of limit cycle if exists can be evaluated.
4. Can be applied to discontinuous time system.
Which of the above statements are correct? [IES2010]
A. 1,2,3 and 4
B. 2 and 3 only
C. 3 and 4 only
D. 2,3 and 4 only
[5] For the circuit shown below, the natural frequencies at port 2 are given by s+2=0 and
s+5=0,without knowing which refers to open-circuit and which to short-circuit. Then the
impedences Z11 and Z22 are given respectively by [IES2010]
A.
B.
C.
D.
K1{(s+5)/(s+2)}, K2{(s+2)/(s+5)}
K1{(s+2)/(s+5)}, K2{(s+5)/(s+2)}
K1{(s)/(s+2)}, K2{(s+2)/(s+5)}
K1{(s+2)/(s+5)}, K2{(s+2)/(s+5)}
Ans: C
[6] Consider the following statements in connection with two-position controller:
1.If the controller has a 4% neutral zone,its positive error band will be 2% and negative
error band will be 8%.
2.The neutral zone is also known as dead band.
3.The controller action of a two-position controller is very similar to that of a pure on-off
Solved by A.Devasena., Associate Professor., Dept/ECE
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IV Semester ECE
controller.
4.Air-conditioning system works essentially on a two-position control basis.
Which of the above statements are correct? [IES2010]
A. 1,2 and 3 only.
B. 2,3 and 4 only.
C. 2 and 4 only.
D. 1,2,3 and 4
[7] The polar plot of an open loop stable system is shown below. The closed loop system
is [GATE 2009]
A.Always stable
B.Marginally stable
C.Unstable with one pole on the RH s-plane
D.Unstable with two poles on the RH s-plane
[8] The open loop transfer function of a unity feedback system is given by G(s) =(e 0.1s
)/s.The gain margin of this system is
[GATE 2009]
A. 11.95 dB
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