IES COLLEGE OF TECHNOLOGY, BHOPAL

B.E. VI Sem Electrical and Electronics Engineering

Session 2014-15
Control System (EX-602)

Lesson Plan
Department

Electrical & Electronics Engineering

Name of Teacher
Subject

Control Systems

S.No.

Session

2014-15

Semester

VI

Sub. Code

EX-602

Topics to be covered

Proposed number of
lectures

Unit-I
1.

Electrical, Mechanical Systems

2.

Hydraulic Systems

3.

Concept Of Transfer Function

4.

Simulation Of Differential Equations In Analog Computer

5.

State Space Description Of Dynamic Systems

6.

Open And Closed Loop Systems

7.

Signal Flow Graph

8.

NPTEL video

9.

11.

Masons Formula
Components Of Control Systems: Error Detectors
(Synchros & Potentiometer)
Servomotors (AC & DC)

12.

Application of AC & DC Servomotors

13.

Techo Generators

14.

Power Amplifier

15.

Steeper Motors

10.

Unit-II

2
2

S.No.

Proposed number of
lectures
2

1.

Test Signals, Time Response Of First Order Systems

2.

Time Response Of Second Order Systems

3.

Time Domain Performance Specifications

4.

Proportional, Derivative And Integral Control

5.

Solution Of State Equation: Eigen Values &Eigenvectors

6.

Digitalization State Transitive Matrix

7.

Stability Routh-Hurwit stability Analysis

Unit-III
Introduction to Root Loci
Construction of Loci
Effect Of adding, Poles And Zeros On The Loci
Stability By Root Loci
Unit-IV
Introduction Bode Plots
Effect Of Adding, Poles And Zeros
Polar Plot
Nyquist Stability Analysis
Relative Stability : Gain And Phase Margins
Unit-V
Lead, Lag Compensation
Lag Compensation
Lag-Lead Compensation
Design Of Compensating Networks

1.
2.
3.
4.
1.
2.
2.
3.
4.
1.
2.
3.
4.

Topics to be covered

1
1
2
2
1
2
2
2
2
2
2
2
2

Reference Book:1. IJ Nagrath and M. Gopal, Control System Engineering, New Age International.
2. K. Ogata, Modern Control Engineering, PHI.
Teaching Aids:1. Power Point.
2. Digital Class

IES COLLEGE OF TECHNOLOGY, BHOPAL

B.E. VI Sem Electrical and Electronics Engineering
Session 2014-15
Control System (EX-602)

Assignment 1
Date of issue:

Date of submission:

1.

Using masons gain formula determines the ratio C/R for the system represented by the
following diagram.

2.

Determine the overall transfer function of the following diagram.

3.

Obtain the response of unity feedback system whose open loop transfer function is G(S) =4 / {s
(s + 5)} and when the input is unit step.

4.

Obtain the analogous electrical network for the following:

5.

Find the transfer function of the given block diagram by using Masons gain formula

IES COLLEGE OF TECHNOLOGY, BHOPAL

B.E. VI Sem Electrical and Electronics Engineering
Session 2014-15
Control System (EX-602)

Assignment-2
Date of issue:

Date of submission:

1.

For closed loop control system the characteristic equation is given as

s(s+4)(s2+4s+20)+k = 0

2.

Root locus:G ( s) H ( s)

k
s ( s 3)( s 5)

Also comment on stability of the system.

3.

Sketch the complete root locus of system having

G ( s) H ( s)

4.

For a unity feedback system the open loop transfer function is given by
G(s) H (s)

5.

k
s( s 1)( s 2)( s 3)

k
s ( s 2)( s 6s 25)
2

Draw the root locus for:G ( s) H ( s)

k
s ( s 6)( s 4s 13)
2

IES COLLEGE OF TECHNOLOGY, BHOPAL

B.E. VI Sem Electrical and Electronics Engineering
Session 2014-15
Control System (EX-602)

Assignment-3
Date of issue:

Date of submission:

1.

Draw the bode plot:-

G ( s)

2.

288( s 4)
s ( s 1)( s 2 4.8s 1.44)

Draw the bode plot:-

G ( s) H ( s)

1
s(0.025s 1)(0.25s 1)

3.

Explain the Nyquist stability criteria.

4.

Consider the transfer function:-

G(s) H (s)

60
( s 1)( s 2( s 5)

Using the Nyquist stability criteria. Determine whether the closed loop system is stable or not.
5.

Determine the transfer function of a system whose asymptotic gain plot is given below

IES COLLEGE OF TECHNOLOGY, BHOPAL

B.E. VI Sem Electrical and Electronics Engineering
Session 2014-15
Control System (EX-602)

Assignment-4
Date of issue:

Date of submission:

k
s( s 1)

1.

2.

3.

The open loop transfer function of a unity feedback system is

. The system is critically
damped and the steady state error is 0.5 when unit ramp is applied. Find out the natural
frequency of the system.
Determine the static error constant and find steady state error when the standard input are
applied to the system whose block diagram is as shown in fig.

Determine Kp, Kv, & Ka. Also the corresponding steady error for the system whose loop
transfer function is given by:-

G ( s) H ( s )

4.

A unity feedback control system transfer function of open loop is given by:-

G ( s)

5.

5( s 4)
s ( s 1)( s 5)

100
s( s 10)

Determine settling time, peak overshoot & time to peak overshoot for unit step input.
Explain static error coefficient & type of transfer function & steady state error.

IES COLLEGE OF TECHNOLOGY, BHOPAL

B.E. VI Sem Electrical and Electronics Engineering
Session 2014-15
Control System (EX-602)

Assignment 5

Date of issue:

Date of submission:

1.

Explain the compensating network.

2.

Explain phase lead network.

3.

Design the phase lead compensating network

G( s) H ( s )

100
s (1 0.5s )
2

4.

Compare phase lag- lead compensating network.

5.

Explain phase lag lead compensators.

IES COLLEGE OF TECHNOLOGY, BHOPAL

B.E. VI Sem Electrical and Electronics Engineering
Session 2014-15
Control System (EX-602)

Mid Sem-I
Max. Marks: 20
Note: Attempt all questions

Min. Marks: 07
Time: 2 Hrs

1.

Drive the expression for the Masons gain formula used to simplify the signal flow
graph.

2.

Draw the signal flow graph for the following network and determine the transfer
function.

3.

Determine the transfer function for the given differential equation using Laplace
transform:
dc (t)
d2c (t )
+4
+c ( t )=r (t)
2
dt
dt
Assume all the initial conditions to zero.

4.

Draw the signal flow graph for the following feedback control system and find its
transfer function. Also verify the answer with the help of block diagram reduction
method.

5. Consider the following characteristics equation:

S 4 + K S3 + S2 + S+1=0
Determine the range of K for stability.

IES COLLEGE OF TECHNOLOGY, BHOPAL

B.E. VI Sem Electrical and Electronics Engineering
Session 2014-15
Control System (EX-602)

Mid Sem-II
Max. Marks: 20
Note: Attempt all questions
1.

Min. Marks: 07
Time: 2 Hrs

Sketch the complete root locus of system having

G ( s ) H ( S )=

K
S (S+1)(S +2)( S+ 3)

Find the range of K, over which the system is stable.(7)

2.

Describe the P.M., G.M., phase cross over frequency, gain cross over frequency on bode
plot.

3.

State and explain Nyquist stability criterion. Using Nyquist criterion determines whether
the following system stable or not?
G ( S ) H ( S )=

1+4 S
S (1+S )( 1+ 2 S)
2

4.

Draw a phase-lead network and explain the phase-lead compensation.

5.

Obtain the time response of the following system.

[][

][ ] [ ]

x 1
3 x1 + 0 u
= 0
x 2 2 5 x 2 2

where, u(t) is the unit step function occurring at t=0. Assume zero initial conditions

IES COLLEGE OF TECHNOLOGY, BHOPAL

B.E. VI Sem Electrical and Electronics Engineering

Session 2014-15
Control System (EX-602)

Tutorial-1
1.

Give the comparison between open-loop and close-loop system.

2.

Drive the expression for the Masons gain formula used to simplify the signal flow graph.

3.

Define transfer function. Determine the overall transfer function of the following close
loop control system.

4.

Draw the signal flow graph for the following network and determine the transfer function.

5.

Draw the signal flow graph for the following network and determine the transfer function.

IES COLLEGE OF TECHNOLOGY, BHOPAL

B.E. VI Sem Electrical and Electronics Engineering
Session 2014-15
Control System (EX-602)

Tutorial - 2
1.

Describe the concept angle of arrival in root locus.

2.

Write short notes on standard test signal.

3.

The following expression denotes the time response of a servomechanism:

c (t )=1+ 0.2e60 t1.2 e10t

4.
5.

Obtain the expression for the close loop transfer function of the system.
Determine the Undamped frequency and damping ratio. Assume unit step input.

6.

feedback

control
system
K
G ( s ) H ( s )=
2
S (S+3)(S +2 S+ 2)

has

an

open

loop

transfer

function:

Find the root locus as K is varied from 0 to .

7.

Sketch the complete root locus of system having:

G ( s ) H ( S )=

K
S ( S+1)(S +2)(S+ 3) .

Find the range of K, over which the system is stable.

IES COLLEGE OF TECHNOLOGY, BHOPAL

B.E. VI Sem Electrical and Electronics Engineering

Session 2014-15
Control System (EX-602)

Tutorial -3
1.

Describe the step in developing a Bode plot.

2.

Discuss polar plot with an example.

3.

Describe the P.M., G.M., phase cross over frequency, gain cross over frequency on bode
plot.
50
G ( s )=
Draw the bode plot for the transfer function:
S (S +0.25)(1+0.1 S)

4.

From the graph determine:

a. Gain cross over frequency
b. Phase crossover frequency
5.

State and explain Nyquist stability criterion. Using Nyquist criterion determines whether
1+4 S
G ( S ) H ( S )= 2
the following system stable or not?
S (1+S )( 1+2 S) .

IES COLLEGE OF TECHNOLOGY, BHOPAL

B.E. VI Sem Electrical and Electronics Engineering

Session 2014-15
Control System (EX-602)

Tutorial -4
1.

Write short notes on PD and PI controller.

2.

Give the advantages of lag compensator.

3.

Describe the type of compensation.

4.

Draw a phase-lead network and explain the phase-lead compensation.

5.

Write down the properties of Z-transform and define Z- transform.

IES COLLEGE OF TECHNOLOGY, BHOPAL

B.E. VI Sem Electrical and Electronics Engineering
Session 2014-15
Control System (EX-602)

Tutorial -5
1.

What are the different advantages of state space approach over other method?

2.

Write short notes on state transition matrix.

3.

Explain in detail the concept of observability and controllability.

4.

Obtain the time response of the following system.

x 1
3 x1 + 0 u
= 0
x 2 2 5 x 2 2

[][

5.

][ ] [ ]

Where, u(t) is the unit step function occurring at t=0. Assume zero initial conditions.
For the system
x ( t )= Ax ( t )+ Bu(t ) and y (t )=Cx (t)
Where

] []

0
1
0
0
A= 0
0
1 ; B= 0 C=[ 4 5 1 ]
6 11 6
1

Predict the controllability and observability for the system.

IES COLLEGE OF TECHNOLOGY, BHOPAL

B.E. VI Sem Electrical and Electronics Engineering

Session 2014-15
Control System (EX-602)

Unit Test -1
Max. Marks: 10
Note: Attempt any three questions.
1.

Determine

the

overall transfer

Min. Marks: 05
Time: 1 Hrs
function of

the

following diagram

Find
2. the transfer function of the given block diagram by using Masons gain formula

3.

Give the comparison between open-loop and close-loop system.

4.

Drive the expression for the Masons gain formula used to simplify the signal flow
graph.

5.

Obtain the analogous electrical network for the following:

IES COLLEGE OF TECHNOLOGY, BHOPAL

B.E. VI Sem Electrical and Electronics Engineering

Session 2014-15
Control System (EX-602)

Unit Test 1I
Max. Marks: 10
Note: Attempt any three questions.
1.

Min. Marks: 05
Time: 1 Hrs

A feedback control system has an open loop transfer function:

G ( s ) H ( s )=

K
2
S (S+3)( S +2 S+ 2)

Find the root locus as K is varied from 0 to .

2.

Root locus:G ( s) H ( s)

k
s ( s 3)( s 5)

Also comment on stability of the system.

3. Describe the concept angle of arrival in root locus.
4. Draw the root locus for:G ( s) H ( s)

k
s ( s 6)( s 4s 13)
2

5. The following expression denotes the time response of a servomechanism:

c (t )=1+ 0.2e60 t1.2 e10t

IES COLLEGE OF TECHNOLOGY, BHOPAL

B.E. VI Sem Electrical and Electronics Engineering
Session 2014-15
Control System (EX-602)

Unit Test 1II

Max. Marks: 10
Note: Attempt any three questions.

Min. Marks: 05
Time: 1 Hrs

Determine
the transfer function of a system whose asymptotic gain plot is given below
1.

2.

Draw the bode plot for the transfer function:

G ( s )=

50
S (S +0.25)(1+0.1 S)

From the graph determine:

a. Gain cross over frequency
b. Phase crossover frequency
c. G.M. and P.M.
3.

Explain the Nyquist stability criteria.

4.

Describe the P.M., G.M., phase cross over frequency, gain cross over frequency on bode
plot.
State and explain Nyquist stability criterion. Using Nyquist criterion determines whether the
following system stable or not?

5.

G ( S ) H ( S )=

1+4 S
S (1+S )( 1+2 S)
2

IES COLLEGE OF TECHNOLOGY, BHOPAL

B.E. VI Sem Electrical and Electronics Engineering
Session 2014-15
Control System (EX-602)

Quiz Test
Max. Marks: 10
Note: Attempt any three questions.
1. 1. For the system in the given figure the characteristic equation is

A
.
B.
C.

K(s + 1)(s + 3) = 0

D
.

s(s + 2) = 0

2. 2. Whether a linear system is stable or unstable that it

A.

is a property of the system only

B.

depends on the input function only

C.

both (a) and (b)

D.

either (a) or (b)

Min. Marks: 05
Time: 10 Min

3. 3. In the given figure shows pole-zero plot. If steady state gain is 2 the transfer function G(s) is

A
.
B.
C
.
D
.

4. 4. Assertion (A): Potentiometers can not be used as error detectors in position control systems.
Reason (R): The resolution of a potentiometer places an upper limit on its accuracy

A.
B.

Both A and R are correct and R is correct

explanation of A
Both A and R are correct but R is not correct explanation of A

5. C.

A is correct but R is wrong

D.

R is correct but A is wrong

For a first order system having transfer function

A
.

e-t/T

B.

T e-t/T

C.
D
.

T2 e-t/T

5.

, the unit impulse response is

6. A system has its two poles on the negative real axis and one pair of poles lies on j axis. The
system is
A.

stable

B.

unstable

C.

limitedly stable

D.

either (a) or (c)

10.
11.
12. 7. The compensator of the given figure is a

A
.

lag compensator

B.

lead compensator

C
.

lag-lead compensator

D
.

none of the above

13. 8. In an integral controller

A
.

the output is proportional to input

B.

the rate of change of output is proportional to input

C.

the output is proportional to rate of change of input

D
.

none of the above

14. 9. In Bode diagram (log magnitude plot) the factor

15.

having slope
A
.

-20 dB per octave

B.

-10 dB per octave

C.

-6 dB per octave

D
.

-2 dB per octave

16. 10. In the given figure x6 =

A
.

de(ax1 + bx2 + cx3)

B.

(a + b + c) (x1 + x2 + x3) (d + e)

C.

(ax1 + bx2 + cx3) (d + e)

D
.

a b c d e (x1 + x2 + x3)

in the transfer function gives a line

IES COLLEGE OF TECHNOLOGY, BHOPAL

B.E. VI Sem Electrical and Electronics Engineering
Session 2014-15
Control System (EX-602)

List of Experiments
1. Time response of second order system.
2. Characteristics of Synchros.
3. Effect of feedback on servomotors.

4. Determination of transfer function of A-C servomotor

5. Determination of transfer functions of D-C motor.
6. Formulation of PI & PD controller and study of closed loop responses of 1st and 2nd order
dynamic systems.
7. State space model for classical transfer function using MATLAB.
8. Simulation of transfer function using operational amplifier.
9. Design problem: Compensating Networks of lead and lag.
10. Temperature controller using PID.

IES COLLEGE OF TECHNOLOGY, BHOPAL

B.E. VI Sem Electrical and Electronics Engineering
Session 2014-15
Control System (EX-602)

Course Objective:
1

Able to know classification of different systems.

Able to understand a closed loop/ open loop system and the effect of feedback in
controlling the system.

Able to understand the system response to different inputs and studies their time domain
specifications. and understands static and dynamic characteristics.

Able to understand the design of a system by compensation techniques and by state space
analysis.

Able to study and understand digital control system and non-linear control system.

Course Outcomes:
1

Able to achieve a high label of expertise to succeed profession and research.

Able to understand the control system and their application in practical engineering
problems as in space craft, military, robots, medical science, etc.

Program Educational Objectives (PEOs):

c) Graduates will be able to design a system software, hardware component, or process to
meet desired needs within realistic constraints such as economic, environmental, social,
ethical, manufacturability and sustainability.
l) Graduates will demonstrate the ability to perform or work on engineering, technological
and scientific projects.