A Effective Study Material on

IC 6501 CONTROL SYSTEMS

By
S.SRIRAM
ASSISTANT PROFESSOR & HEAD
DEPARTMENT OF ELECTRICAL AND ELECTRONICS ENGINEERING
SASURIE COLLEGE OF ENGINEERING
VIJAYAMANGALAM 638 056

QUALITY CERTIFICATE

This is to certify that the Effective Study Material

Subject Code : IC 6501
Scubject

: Control Systems

Class

: III Year EEE

Being prepared by me and it meets the knowledge requirement of the university curriculum.

Signature of the Author

Name:
Designation:

This is to certify that the course material being prepared by Mr. S. Sriram is of adequate quality.
He has referred more than five books amount them minimum one is from abroad author.

Signature of HD
Name:
SEAL

Department: EEE
Year : III Year EEE
Subject Code : IC 6501
Subject Name : Control System Engineering

IC6501

CONTROL SYSTEMS

Date:

LTPC3104

OBJECTIVES
To understand the use of transfer function models for analysis physical systems and introduce the control
system components.
To provide adequate knowledge in the time response of systems and steady state error analysis.
To accord basic knowledge in obtaining the open loop and closedloop frequency responses of systems.
To introduce stability analysis and design of compensators
To introduce state variable representation of physical systems and study the effect of state feedback
UNIT I
SYSTEMS AND THEIR REPRESENTATION
9
Basic elements in control systems Open and closed loop systems Electrical analogy of mechanical and thermal
systems Transfer function Synchros AC and DC servomotors Block diagram reduction techniques Signal
flow graphs.
UNIT II
TIME RESPONSE
9
Time response Time domain specifications Types of test input I and II order system response Error
coefficients Generalized error series Steady state error Root locus construction- Effects of P, PI, PID modes of
feedback control Time response analysis.
UNIT III
FREQUENCY RESPONSE
9
Frequency response Bode plot Polar plot Determination of closed loop response from open loop response Correlation between frequency domain and time domain specifications- Effect of Lag, lead and lag-lead
compensation on frequency response- Analysis.
UNIT IV
STABILITY AND COMPENSATOR DESIGN
9
Characteristics equation Routh Hurwitz criterion Nyquist stability criterion- Performance criteria Lag, lead
and lag-lead networks Lag/Lead compensator design using bode plots.
UNIT V
STATE VARIABLE ANALYSIS
9
Concept of state variables State models for linear and time invariant Systems Solution of state and output
equation in controllable canonical form Concepts of controllability and observability Effect of state feedback.
TOTAL (L:45+T:15): 60 PERIODS
OUTCOMES:
Ability to understand and apply basic science, circuit theory, theory control theory Signal processing and apply
them to electrical engineering problems.
TEXT BOOKS:
1. M. Gopal, Control Systems, Principles and Design, 4th Edition, Tata McGraw Hill, New Delhi, 2012
2. S.K.Bhattacharya, Control System Engineering, 3rd Edition, Pearson, 2013.
3. Dhanesh. N. Manik, Control System, Cengage Learning, 2012.
REFERENCES:
1. Arthur, G.O.Mutambara, Design and Analysis of Control; Systems, CRC Press, 2009.
2. Richard C. Dorf and Robert H. Bishop, Modern Control Systems, Pearson Prentice Hall, 2012.
3. Benjamin C. Kuo, Automatic Control systems, 7th Edition, PHI, 2010.
4. K. Ogata, Modern Control Engineering, 5th edition, PHI, 2012.

UNIT I CONTROL SYSTEM MODELING

Basic elements in control systems Open and closed loop systems Electrical analogy of mechanical and thermal
systems Transfer function Synchros AC and DC servomotors Block diagram reduction techniques Signal
flow graphs.
S.No
Questions
Year
1.
State Masons gain formula or Write Masons gain formula.
Masons gain formula states that the overall gain of the system as follows Overall
gain,
April T = T(S) = transfer function of the system
2015,NovK= Number of forward path in the signal flow.
2014, AprilPK = forward path gain of the Kth forward path
2014, April = 1 (Sum of individual loop gains) + (Sum of gain products of all possible combinations
2013
of two non touching loops) -(Sum of gain products of all possible combinations of three
non touching loops) +
k = ( for that part of the graph which is not touching Kth forward path)
2.
Differentiate open and closed loop control system
S.No Open Loop
Closed Loop
1
Inaccurate
Accurate
Nov-2014,
2
Simple and Economical
Complex and Costlier
Nov-2010,
April-2010
3
The change in output due to external
The change in output due to
May-2013
disturbance are not corrected
external disturbance are corrected
automatically
4
May oscillate and become un stable
They are generally stable
3.
Define transfer function
Nov-2013,
The Transfer function of a system is defined as the ratio of the Laplace transform Nov 2010
of output to Laplace transform of input with zero initial conditions.
April-2011
May-2012
May-2014
4.
Name any two dynamic models used to represent control systems.
A physical system is a collection of physical objects connected together to serve an
objective. An idealized physical system is called a Physical model.
Once a physical model is obtained, the next step is to obtain Mathematical model.
When a mathematical model is solved for various i/p conditions, the result represents April-2013
the dynamic behaviour of the system.
A control system is a collection of physical object connected together to serve an
objective. The mathematical model of a control system constitutes a set of differential
equation.
5.
What are the advantages of the closed loop control system?
The advantages of closed loop system are:
1. Accuracy of such system is always very high because controller modifies and Nov 2012,
manipulates the actuating signal such that error in the system will be zero.
April 2012
2. Such systems sense environmental changes, as well as internal disturbances and May-2014
accordingly modify the error.
3. In such system, there is reduced effect of non-linearitys and distortions.
6.
What are the properties of signal flow graphs?
The basic properties of signal flow graph are
Signal flow graph is applicable to linear systems.
It consists of nodes and branches.
A node adds the signal of all incoming branches and transmits this sum to all
April - 2012
outgoing branches.
Signals travel along branches only in the marked direction and is multiplied by the
gain of the branch.
The algebraic equations must be in the form of cause and effect relationship.
7.

Dene open-loop and closed-loop control systems.

Open loop

Nov-2011,
April-2011

8.

9.

The control system in which the output quantity has no effect upon the input
quantity is called open loop control system. This means that the output is not feedback to
the input for correction.
Closed loop
The control system in which the output has an effect upon the input quantity so as
to maintain the desired output values are called closed loop control system.
What is meant by block diagram of a control system? What are the basic components
of a block diagram?
Block Diagram
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.
Components
The basic elements of block diagram are blocks, branch point and summing point.
Draw the analogous electrical network for the mechanical system in Figure 1 using forcevoltage analogy.

Nov-2011

April-2010

10.

What type of feedback is preferred in control system and why?

Negative feedback is preferred in control system. The negative feedback results in better April-2011
stability in steady state and rejects any disturbance signals. It also has low sensitivity to May-2014
parameter variations. Hence negative feedback is preferred in closed loop control systems. May-2016

11.

Write down the transfer function of the system whose block diagram is shown below.

April-2011
Nov- 2012

12.

13.

Ans: C(S) / R(S) = G1(S)+G2(S)+G3(S)-G4(S) G5(S)

Name the Three Functional components used in control systems. Describe the role
played by each.
1.Error Detector: It compares the actual output to produce the error.
2.Controller: It accepts the error and produces the manipulated signal which control the
Nov- 2014
plant or the process.
3.Feedback: It senses the output and feeds it back at the input for the comparison
purpose.
What is a synchro? Where is it used?
Synchro is basically a rotary device which is an electromagnetic transducer which operates
on the same principle as that of transformer. It converts angular position of shaft into an May-2014
electric signal. It is used as an error detector and encoder in many control system May-2016
applications.

14.

What are the basic elements in control systems?

Mass , Spring and dashpot for Mechanical Translational system
Moment of inertia, Torsional Spring, Dashpot for Mechanical Rotational System.

May-2016

15.

What is the difference between a.c. servo motor and 2 phase induction motor?
A servomotor has low inertia and ha low power motor. Two phase induction motor has
high inertia and high power motor.
May- 2012
A servomotor has small X and R ratio so its torque- speed characteristics are linear. It can
be instantly start or stopped. The characteristics of 2 phase induction motor are non
linear. Accurate control is possible with servo motor than two phase induction motor.
Big Questions
1.

Write the differential equations governing the

mechanical translational system as shown in
figure. Draw the Force Voltage and Force
current electrical analogues circuits and verify
by mesh and node equations.
Solution :
1. Mass-spring-dashpot mathematical model equation(4 marks)
2. Force Voltage Analogy Circuit (2 marks)
3. Force Voltage Analogy Equation(4 marks)
4. Force Current Analogy Circuit(2 marks)
5. Force Current Analogy Equation(4 marks).

16

Nov
2014
(MK)

2.

16
Write the torque equation of the rotational system
shown below and derive the expression for transfer
function ()/().
Solution
1. Equivalent circuit diagram ( 2 marks)
2. Model Equation (2 marks)
3. Transfer function (4 marks)

April

2014
(MK)

3.

Derive the tranfer function of armature controlled DC motor.

Steps:
1. Explantion of aramture control model (3 marks)
2. Mechanical model equation and circuit ( 3 marks)
3. Transfer Function (2 marks)
The speed of DC motor is directly proportional to armature voltage and inverselyproportional to
flux in field winding. In armature controlled DC motor the desired speed isobtained by varying the
armature voltage. This speed control system is an electro mechanicalcontrol system. The electrical
system consist of the armature and the field circuit. The mechanicalsystem consist of the rotating
part of the motor and load connected to the shaft of the motor.
Let Ra = Armature resistance, ohm
La = Armature inductance H
ia = Armature current, A
Va = Armature Voltage
eb = Back emf, V
Kt Torque constant NM/A
T = Torque developed by motor, Nm
= Angular displacement, rad
J = Movement of inertial of motor and load, kg- m2/rad
B = Frictional coeff of motor and load, NM
Kb = Back emf constant V
By KVL,

16

April

2014
(MK)

4.

Use Masons Gain formula to obtain C(s) / R(s) of the system shown below

Steps :
1.Drawing step by step reduction diagrams (4 marks)
2.Reducing and obtaining transfer function (4 marks)

16

Nov
2013
(BK)

5.

In the system shown in fig below R,L and C are electrical parameters while R,M and B are
mechanical parameters.find the transfer function X(s)/E1(s) for the system,where E1(t) is input
voltage while x(t) is the output displacement

Steps :
1.
2.
3.
4.
5.
6.

Electrical equivalent circuits ( 2 marks)

Mathematical model equation (3 marks )
Transfer function and explanation (3 marks)
mechanical equivalent circuits ( 2 marks)
Mathematical model equation (3 marks )
Transfer function and explanation (3 marks)

16

Nov2012
(MK)

6.

Explain the functional blocks of closed loop feedback control system.

Steps :
1. Definition of closed loop(2 marks)
2. Functional blocks diagram (2 marks)
3. Explanation of individual blocks ( 2 marks)
Closed-loop Systems
A Closed-loop Control System, also known as a feedback control system is a control system which
uses the concept of an open loop system as its forward path but has one or more feedback loops
(hence its name) or paths between its output and its input. The reference to feedback, simply
means that some portion of the output is returned back to the input to form part of the systems
excitation.

16

April

2015
(BK)

Closed-loop systems are designed to automatically achieve and maintain the desired output
condition by comparing it with the actual condition. It does this by generating an error signal which
is the difference between the output and the reference input. In other words, a closed-loop
system is a fully automatic control system in which its control action being dependent on the
output in some way.
Typical Closed-loop System Representation

This sensor would monitor the actual dryness of the clothes and compare it with (or subtract it
from) the input reference. The error signal (error = required dryness actual dryness) is amplified
by the controller, and the controller output makes the necessary correction to the heating system
to reduce any error. For example if the clothes are too wet the controller may increase the
temperature or drying time. Likewise, if the clothes are nearly dry it may reduce the temperature
or stop the process so as not to overheat or burn the clothes, etc.
Then the closed-loop configuration is characterised by the feedback signal, derived from the
sensor in our clothes drying system. The magnitude and polarity of the resulting error signal, would
be directly related to the difference between the required dryness and actual dryness of the
clothes.
Also, because a closed-loop system has some knowledge of the output condition, (via the sensor) it
is better equipped to handle any system disturbances or changes in the conditions which may
reduce its ability to complete the desired task.
For example, as before, the dryer door opens and heat is lost. This time the deviation in
temperature is detected by the feedback sensor and the controller self-corrects the error to
maintain a constant temperature within the limits of the preset value. Or possibly stops the
process and activates an alarm to inform the operator.
The term Closed-loop control always implies the use of a feedback control action in order to

reduce any errors within the system, and its feedback which distinguishes the main differences
between an open-loop and a closed-loop system.
The accuracy of the output thus depends on the feedback path, which in general can be made very
accurate and within electronic control systems and circuits, feedback control is more commonly
used than open-loop or feed forward control.
Closed-loop systems have many advantages over open-loop systems. The primary advantage of a
closed-loop feedback control system is its ability to reduce a systems sensitivity to external
disturbances, for example opening of the dryer door, giving the system a more robust control as
any changes in the feedback signal will result in compensation by the controller.
Then we can define the main characteristics of Closed-loop Control as being:

To reduce errors by automatically adjusting the systems input.

To improve stability of an unstable system.
To increase or reduce the systems sensitivity.
To enhance robustness against external disturbances to the process.
To produce a reliable and repeatable performance.

Whilst a good closed-loop system can have many advantages over an open-loop control system, its
main disadvantage is that in order to provide the required amount of control, a closed-loop system
must be more complex by having one or more feedback paths. Also, if the gain of the controller is
too sensitive to changes in its input commands or signals it can become unstable and start to
oscillate as the controller tries to over-correct itself, and eventually something would break. So we
need to tell the system how we want it to behave within some pre-defined limits.

7.

State any four block diagram reduction rules.

Steps:
Rules diagram and equation each (2 mark)
Block diagram rules
Cascaded blocks

Moving a summer beyond the block

Moving a summer ahead of block

Moving a pick-off ahead of block

16

Nov
2014
(GK)

Moving a pick-off behind a block

Eliminating a feedback loop

8.

Determine the overall transfer function of the system represented by the block diagram.
Steps:
1. Block reduction by using rules with reduced diagram (4 marks)
2. Obtain transfer fucntion (4 marks)

April

2014
(MK)

Nov
2013
(MK,
BK,G
K)

Solution

C/R= 1/[1-H+H] ; C/R = 1

9.

STATE Masons gain formula using using Masons Gain formula to find X2 / X1

SOLUTION
Steps:
1. Obtaing touching and non
touching loops( 2 marks)
2. Feedback Loops ( 2 marks)

3. Obtaining and transfer function (4 marks)

T1 = G1 G2 G3 G6 G7 G8
T2 = G1 G4 G6 G7 G8
T3 = G1 G2 G3 G5 G8
T4 = G1 G4 G5 G8
The Feedback Loops Are
L1 = G3 G6 G7 H2
L2 = G2 G3 G6 G7 G8 H1
L3 = G4 G6 G7 G8 H1
L4 = G2 G3 G5 G8 H1
ALL LOOPS ARE TOUCHING TO EACH OTHER
= 1-[L1 +L2 +L3 +L4 + L5]
1=2=3=4=1
(X2/X1) = (T1 1+ T2 2 + T3 3 + T4 4 )/
10. A block diagram is shown below. Construct the equivalent signal flow graph and obtain C/R using
Masons formula.

16

Apr/
May
2011
Nov/
Dec
2012
(MK,
GK,B
K)

12

May2012
May2016
(MK,
BK,G
K)

12

May2016
(MK,
BK,G
K)

Ans: 1+G1G2G3/ 1+G2G3H2+G1G2H1+G1G2G3H3

11. Write the differential equations governing the mechanical rotational system as shown in fig. Draw
the both electrical analogous circuits.

Ans: L1di1 / dt+ R1(i1-i2)+1/C1( i1-i2)dt=e(t)

L2di2 / dt+ R1(i2-i1)+ R2(i2-i3)+1/C2( i2-i1)dt =0
L3di3 / dt+ R2(i3-i2)+1/C3i3dt =0
12. Convert the Given Block Diagram is shown in fig to signal flow graph for and determine the closed
loop transfer function C(s) / R(s).

Ans: G1G2-G3+G1H / 1+G1H+G1G2G3

UNIT II TIME RESPONSE ANALYSIS

Time response Time Domain Specifications- Type of Test Input-I and II Order System ResponseError
Coefficients- Generalized Error series- Steady state error- Root locus constructionEffects of P, PI,PID modes of
feedback- Time response analysis.
S.No
1.

2.

3.

4.

5.

6.

7.

8.

9.
10.

11.

12.

Question
How do you find the type of a system?
The type number is given by number of poles of loop transfer function at the origin. The
type number of the system decides the steady state error.
What are the various time domain specifications?
The time domain specifications are
i. Delay time
ii. Rise time
iii. Peak time
iv. Peak overshoot
What is the effect of PI controller on the system performance?
It is device that produces a control signal consisting of two terms one proportional
to error signal and the other proportional to the integral of error signal.
What are type 0 and type 1 system?

Year
April -2015

Nov-2014
May-2016

Nov-2014,
Nov-2013
May-2016
April -2014

What is meant by rise time?

The time taken for response to raise from 0% to 100% for the very first time is rise
time.
What are the units of Kp, Kv and Ka?
Position error constant Kp = . The steady state error in type-0 system when the input is unit
step is given by .
The velocity error constant Kv = . The steady state error in type-1 system when the input is
unit ramp is given by .
The acceleration error constant Ka = . The steady state error in type-2 system when the
input is unit parabolic is given by .
Give the steady state errors to a various standard inputs for type 2 system

April -2014
Nov-2011
Nov-2012
Nov-2013
April-2011

What are transient and steady state response of a control system?

Thetransientresponseis theresponse of the system when theinputchangesfrom onestateto
another.Theresponse of thesystem astis calledsteadystateresponse
With reference to time response of a control system, define peak time.
It is thetime taken fortheresponse toreach thepeakvaluefortheveryfirsttime.
Why derivative controller is not used in control system?
The derivative controller produces a control action based on rate of change of error signal
and it does not produce corrective measures for any constant error. Hence derivative
controller is not used in control system
List the advantages of generalized error coefficients.
i) Steady state is function of time.
ii) Steady state can be determined from any type of input.
With reference to time response of a control system, dene Rise time.
It isthe time taken fortheresponse toraise from0 to 100% fortheveryfirsttime.

Nov-2012

April-2013

Nov-2012
April
2012, April2011
May-2016
April - 2012

Nov-2011

13.

How a control system is classified depending on the value of damping?

April-2011

14.

What is meant by peak overshoot?

Peak overshoot is defined as the ratio of maximum peak value measured from the
Maximum value to final value
What is meant by steady state error?

Nov-2010

15.

Nov-2010

The steady state error is the value of error signal e(t) when t tends to infinity.
16.

The block diagram shown in the Figure 2 represents a heat treating oven. The set paint is

April-2010

1000 C. What is the steady-state temperature?

17.

18.

19.

What is root locus?

It is the path taken by the roots of characteristic equation when the open loop gain k is
varied from 0 to (infinity).
State the rule for obtaining the breakaway point in root locus?
Construct the characteristic equation 1+ G(s)+H(S) = 0 of the system.
From this equation, separate the terms involving K and terms involving S. Write the
value of K in terms of S. i.e. K = f(s)
Differentiate the above equation with respect to S. equate it to zero. I.e.dK/ds = 0.
Roots of the equation dK/ds = 0 gives us the breakaway points.
What are the effects of addition of open loop poles?
It increases order of the system by one, so which reduces steady state error, hence
improver steady state response.

April
2012
April
2011

April-2010

20.

What do you meant by characteristic equation? Why that name?

The location of the roots of the characteristic equation to the open-loop frequency
response of the system. In this, the computation of closed-loop poles is not necessary to
determine the stability of the system and the stability study can be carried out graphically
from the open-loop frequency response.
21.
What is a type and order of a system?
The type of a system is the number of poles of loop transfer function lying at the origin of splane. But the order of a system is the number of poles of transfer function.
22.
State the rule for obtaining the breakaway point in root locus?
Construct the characteristic equation 1+ G(s)+H(S) = 0 of the system.
From this equation, separate the terms involving K and terms involving S. Write the
value of K in terms of S. i.e. K = f(s)
Differentiate the above equation with respect to S. equate it to zero. I.e.dK/ds = 0.
Roots of the equation dK/ds = 0 gives us the breakaway points.
23.
What are the effects of addition of open loop poles?
It increases order of the system by one, so which reduces steady state error, hence
improver steady state response.
Big Questions:
S.No
1.

Question
Briefly discuss about transient response specifications
Steps :
Specifications Definition(12 marks )
Diagram (4 marks)
Transient Response Specifications
Unit step response of a 2nd order underdamped system:
td delay time: time to reach 50% of

or the first time.

tr rise time : time to rise from 0 to 100% of

tp peak time : time required to reach the first peak.
Mp maximum overshoot : 100%

ts settling time : time to reach and stay within a 2% (or

5%) tolerance of the final
0.4 < < 0.8
Gives a good step response

Rise time
The rise time is defined as the time it take
Maximum Overshoot

16

May-2016

May-2015

April
2011

April-2010

Year
April
2015
May2016
(MK)

The maximum overshoot is the percentage by which the maximum value of

the transient response exceeds the steady state value .

2.

Peak Time
The peak time is defined as the time at which the maximum overshoot occurs.
Settling Time
The settling time is defined as the time after which the output is within a specified steady
state value.
What are the various standard test signals? Draw the characteristics diagram and
8
obtain the mathematical representation of all.
Steps :
Impulse(definition,diagram and equations )(2 mark)
Step(definition,diagram and equations)(2 mark)
Ramp(definition,diagram and equations)(2 mark)
Sin and/or cos(definition,diagram and equations)( 2 mark)
Test signals:
Impulse
Step
Ramp
Sin and/or cos

Nov
2014
(MK)

3.

8
Discuss the effect of PI controller in the forward path of a system.

April 2015

Or
With its block diagram explain the concepts of PI and PD compensation.
Or

With suitable block diagram and equations,explain the following types of controllers
emploued in control systems:
i.
Proportional controller
ii.
Proportional plus- intergral controller
iii.
PID controller
iv.
Integral controller

16

Steps :
i.
ii.
iii.
iv.

Proportional controller (4 mark)

Proportional plus- intergral controller( 4 mark)
PID controller( 4 mark)
Integral controller( 4 mark)

Proportional control
With the proportional control action only, the closed loop system looks like:

From eqn. (5) and Fig. 2, it is apparent that:

The time response improves by a factor

(i.e. the time constant
decreases).
There is a steady state offset between the desired response and the output

response =
This offset can be reduced by increasing the proportional gain; but that may also cause

Nov
2014

Nov2012
(MK)

increase oscillations for higher order systems.

The offset, often termed as steady state error can also be obtained from the error
transfer function and the error function e(t) can be expressed in terms of the Laplace
transformation form:

Often, the proportional gain term, Kp is expressed in terms of Proportional Band. It is

inversely proportional to the gain and expressed in percentage. For example, if the gain
is 2, the proportional band is 50%. Strictly speaking, proportional band is defined as the
%error to move the control valve from fully closed to fully opened condition. However,
the meaning of this statement would be clear to the reader afterwards.
Proportional plus- intergral controller
With P-I controller the block diagram of the closed loop system with the same process is
given inIt is evident from the above discussions that the P-I action provides the dual
advantages of fast response due to P-action and the zero steady state error due to Iaction. The error transfer function of the above system can be expressed as:

In the same way as in integral control, we can conclude that the steady state error would
be zero for P-I action. Besides, the closed loop characteristics equation for P-I action is

from which we can obtain, the damping constant as:

whereas, for simple integral

control the damping constant is:

Comparing these two, one can

easily observe that, by varying the term Kp, the damping constant can be increased. So
we can conclude that by using P-I control, the steady state error can be brought down to

zero, and simultaneously, the transient response can be improved. The output responses
due to (i) P, (ii) I and (iii) P-I control for the same plant can be compared from the sketch
shown in Fig.
Proportional-Integral-Derivative (PID) control
It is clear from above discussions that a suitable combination of proportional, integral
and derivative actions can
provide all the desired
performances of a closed loop
system.
The order of the controller is
low, but this controller has
universal applicability; it can be
used in any type of SISO
system, e.g. linear, nonlinear, time delay etc. Many of the MIMO systems are first
decoupled into several SISO loops and PID controllers are designed for each loop. PID
controllers have also been found to be robust, and that is the reason, it finds wide
acceptability for industrial processes. However, for proper use, a controller has to be
tuned for a particular process; i.e. selection of
P,I,D parameters are very important and
process dependent. Unless the parameters are
properly chosen, a controller may cause
instability to the closed loop system. The method of tuning of P,I,D parameters would be
taken up in the next lesson.
It is not always necessary that all the features of proportional, derivative and integral
actions should be incorporated in the controller. In fact, in most of the cases, a simple P-I
structure will suffice.

4.

A unity feedback system is characterised by an open loop transfer function =

.determine the gain k show that the system will have a damping ratio of
[ + ]

April
2014,No
v-2012
(MK)

16

Nov
2013
(MK)

0.5.For this value of k,determine peak overshoot and peak time for a unit step input.
Steps:
Transfer function ( 2 mark)
Settling time (3 mark)
Peak overshoot (3 mark)

5.

Solution
1+G(s) H(s) = 0
S2+10s+K=0
W= 10 rad/sec
Settling time = ts= 1/() =5% tolerneance band =0.6 sec
2% tolerneance band =0.8 sec
Percentage Peak Overshoot = %Mp=16.3%
A unity feedback system is characterized by the open loop transfer function

.Determine the steady state error for a unit step , unit ramp and unit
+. (.+)

acceleration unit.Also determine the damping ratio and natural frequency of the
dominant roots.
Steps:
Finding Kp,Kv and Ka (6 marks)
Finding steady state error ( 10 marks)
Solution:
Kp = Lt G(s) H(s)

Kp=
Kv= 1
Ka=0
ess = 1/(1+Kp)=0
ess = 1/(Kv)=1
ess = 1/(Ka)=
6.

()

Consider a second order model () =

+ +

input of unit step function

Steps :
Characteristics equation and damping ( 4 marks)
Underdamped (6 marks)
Critically damped ( 6 marks)

;0<<1.Find the response y(t) to a

16

April2013
(BK)

7.

8.

A Unity feedback control system has an open loop transfer function K / S(S2+4S+13)
Sketch the root locus of the system
Ans:
P1=0,P2=-2+j3,P3=-2-j3
Centroid=-1.33
K=52
For a Unity feedback control system, the open loop transfer function is given by G(s)=
10(s+2)/ s2(s+1)
i)Find the position, velocity and acceleration co-efficients

16

May2016
(BK)

12

May2016
(GK)

9.

10.

ii)Also find the steady state error when the input is R(s) = 3/s-2/s2+1/3s3
Ans:
Kp=, Kv=, Ka=20
Ess= 1/60
A Unity feedback system has 10/ s2(s+2). Find the steady state error and generalised
coefficient for r(t)=6t4+5t3+4t2+2t+3

Sketch the root locus for the open loop transfer function of unity feedback control

system given below. =

.

[ ++ ]

Steps :

Locate poles and zeros ( 4 marks)

Root locus real axis( 2mark)
Find the asymptotes and centroid( 4 mark)
Graph , break awy and in points ( 6marks)

16

May2016
(MK)

16

Nov
2014
(MK,GK,
BK)

11.

The open loop transfer function of a servo system with unity feedback system is G(S)

Nov -

=10/ S (0.1S+1).Evaluate the static error constants of the system. Obtain the steady
state error of the system When subjected to an input given by the polynomial r(t) =
a0+a1t +a2 /2 t2 .
Steps:
Finding Kp, Kv and Ka ( 4 marks)
Finding Staedy state error
Solution
10
=
(0.1 + 1)
10
Kp = lim0 = 0(0+1) =

2012
(MK,
GK,BK)

10
=10sec-1
(0+1)
0 10
= (0+1) =0

Kv = lim0 =
Ka = lim0 2

Staedy state error for a0 input is

0

1 =
= 0 =0
( +1) (+1)

Staedy state error for a1tinput is

2 =
1

1
1
=
= 0.11
( )
10

Staedy state error for 2 a2tinput is

3 =

12

2
2
=
=
( )
0

Total steady state error is given by

= 1 + 2 + 3
= 0+0.11 + =
For a unity feedback control system the open loop transfer function G(S) = 10(S+2)/ S2
(S+1). Find (a) Position, velocity and acceleration error constants.(b) The steady state
error when the input is R(S). where R(S) =3/(S 2)(S2 +1/3S3 )
Steps
Kp (4 marks)
Velocity error constant ( 4marks)
Solution
Position error constant, kp = L+ G(S) H(S)
S 0

Nov
2012
(MK,BK,
GK)

UNIT III FREQUENCY RESPONSE ANALYSIS

Frequency Response - Bode Plot- Polar Plot Determination of closed loop response from open loop responsecorrelation between frequency domain and time domain specifications- Effect of Lead, Lag, and Lead Lag
Compensation on frequency response- Analysis.
S.No
1.

2.

3.

4.

5.

6.

Question
What is the use of Nichols chart or State the uses of Nicholas chart or List the
advantages of Nichols chart?
The advantages are:
i) It is used to find the closed loop frequency response from open loop frequency
response.
ii) Frequency domain specifications can be determined from Nichols chart.
iii) The gain of the system can be adjusted to satisfy the given specification.
List the advantages and disadvantages of phase lag network
The lag compensator Improve the steady state behaviour of a system, while nearly
preserving its transient response.
Define gain and phase margin
Gain Margin
The gain margin is defined as the reciprocal of the magnitude of open loop
transfer function at phase cross over frequency.
Phase Margin
The phase margin is the amount of additional phase lag at the gain cross over
frequency required to bring the system to the verge of instability.
What is corner frequency or What is mean by corner frequency in frequency
response analysis?
The magnitude plot can be approximated by asymptotic straight lines. The
frequencies corresponding to the meeting point of asymptotes are called corner
frequency.
What are the constant M and N circle?
The magnitude, M of the closed loop transfer function section with unity feedback
will be in the form of circles in complex plane for each constant value of M. The
family of these circles are called M circles.
Let N= tan where is the phase of closed loop transfer function with unity
feedback. For each constant of N, a circle can be drawn in the complex plane the
family of these circles are called N circles.
Draw the polar plot of an integral term transfer function.

Year
April -2015, Nov2014, April 2012,
Nov-2010

April -2015

Nov-2014, April2014,Nov - 2013

April 2014, Nov2012, April-2011

Nov - 2013

April-2013
April-2011
May-2012

7.
8.

9.

Write the MATLAB statement to draw the bode plot of the given system.
What is Nichols chart?
The Nichols chart consists of M ad N contours superimposed on ordinary graph.
Along each M contour magnitude of closed loop system, M will be a constant.
Along each N contour, the phase of closed loop system will be constant.
Name the parameters which constitute frequency domain specications. Or

10.

What are the specifications used in frequency domain analysis?

1. Resonant peak, Mr.
2. Resonant frequency,
3. Bandwidth
4. Cut-off rate
5. Gain margin
6. Phase margin
Determine the frequency domain specification of a second order system
when closed loop transfer function is given by

()
()

April-2013
Nov-2012

Nov-2011, Nov2010

April-2010

++

11.

Draw the pole zero plot of lag-lead compensator.

April-2011

12.

Draw the circuit of lead compensator and draw its pole-zero diagrams

April-2011

13.

What are the characteristics of phase lead network?

1.Increase the bandwidth
2.Improve the speed of response
3.Reduce the peak overshoot
What are the main advantages of Bode plot?
The main advantages are:
i) Multiplication of magnitude can be in to addition.
ii) A simple method for sketching an approximate log curve is available.
iii) It is based on asymptotic approximation. Such approximation is sufficient if
rough information on the frequency response characteristic is needed.
is available.iv) The phase angle curves can be easily drawn if a template for the
phase angle curve of 1+ j
Define Relative stability
Relative stability is the degree of closeness of the system; it is an indication
of strength or degree of stability.
What is lead compensator? When it is preferred?
It has a zero and a pole with zero closer to the origin.
Define Phase and Gain cross over frequencies?
The frequency at which, the phase of open loop transfer functions is 180 is called
phase cross over frequency pc.
The gain cross over frequency gc is the frequency at which the magnitude of the
open loop transfer function is unity.
What is Lag-Lead compensation?
The lag-lead compensator is the combination of a lag compensator and a

April-2015
Nov-2013

14.

15.

16.
17.

18.

May-2016

May-2016

May-2016
May-2016

May-2016

lead compensator. The lag-section is provided with one real pole and one real zero,
the pole being to the right of zero, whereas the lead section has one real pole and
one real came with the zero being to the right of the pole.
Big Questions:
S.No
1.

Question
Draw the pole zero diagram of a lead compensator. Propose lead
compensation using electrical network. Derive the transfer function. Draw the
bode plots.
Steps:
1. Lead compensator diagram and definition ( 3 mark)
2. Transfer function ( 5 marks)
3. Lag compensator diagram and definition ( 3 mark)
4. Transfer function ( 5 marks)
Lead Compensator
It has a zero and a pole with zero closer to the origin. The general form of
the transfer function of the load compensator is

Subsisting

Transfer function

Lag Compensator
It has a zero and a pole with the zero situated on the left of the pole on
the negative real axis. The general form of the transfer function of the lag

Marks
16

Year
Nov 2012
(MK)

compensator is

Therefore, the frequency response of the above transfer function will be

Now comparing with

Therefore

2.

Describe the lead- lag compensators design procedure.

8
Steps:
1. Definition and circuit ( 4 mark)
2. Transfer function ( 4 mark)
Lag-Lead Compensator
The lag-lead compensator is the combination of a lag compensator and a
lead compensator. The lag-section is provided with one real pole and one real
zero, the pole being to the right of zero, whereas the lead section has one real
pole and one real came with the zero being to the right of the pole.
The transfer function of the lag-lead compensator will be

The figure shows lag lead compensator

Nov
2014,Nov
2013
May-2016
(MK)

The above transfer functions are comparing with

Then

Therefore

3.

Explain in detail the design procedure of lead compensator using bode plot
Steps :
1. Definition ( 2 marks)
2. Procedure (6 marks)
3. Gain margin and Phase margin(4 mark)
4. Graph (4mark)
Bode plot
Plots of the magnitude and phase characteristics are used to fully describe the
frequency response
A Bode plot is a (semilog) plot of the transfer function magnitude and phase
angle as a function of frequency.
The gain magnitude is many times expressed in terms of decibels (dB)
db = 20 log 10 A
BODE PLOT PROCEDURE:
There are 4 basic forms in an open-loop transfer function G(j)H(j)
Gain Factor K
(j)p factor: pole and zero at origin
(1+jT)q factor
Quadratic factor
1+j2(W / Wn)-(W2 / Wn2)
Gain margin and Phase margin
Gain margin:
The gain margin is the number of dB that is below 0 dB at the phase
crossover frequency
(=-180). It can also be increased before the closed loop system becomes
unstable
Term
Corner Frequency
Slope db /dec
Change in slope
20/jW
-----20
1/ (1+4jW)
WC1=1/4 = 0.25
-20
-20-20=-40
1/(1+j3w)
wc2=1/3=0.33
-20
-40-20=-60

Phase margin:
The phase margin is the number of degrees the phase of that is above 180 at the gain crossover frequency
Gain margin and Phase margin

16

April 2013
May-2016
(MK)

4.

5.

What are the advantages and disadvantages of frequency response analysis?

Steps
1. Advantages ( 3 marks)
2. Disadvantages ( 3marks)
ADVANTAGES:
Good indicator of transient response.
Explicitly shows location of closed-loop poles. Tradeoffs are
clear.
DISADVANTAGES:
Requires transfer function of plant be known.
Difficult to infer all performance values.
Hard to extract steady-state response (sinusoidal inputs).

Consider a unity feedback open loop transfer function G(s) =

.
+. (.+)

Draw the bode plot and determine the gain and phase margin. And stability of
the system.
Steps:
1. Constant ( 2 marks)
2. T1 and resultant slope table ( 5 marks)
3. Table of angular frequency ( 3 mark)
4. Graph ( 6 mark)
Solution :
Open loop transfer function G(s) =

100
.
1+0.1 (0.2+1)

Assume H(s) = 1
G(s)H(s) is in time constant form
Constant K = 100
20 log K = 40 db
One pole at origin : straight line of slope -20 db/decade passing through
intersection point of = 1 and 0 db
1
is a simple pole T1 = 0.2
1+0.2
1 = 1/T1 = 5 rad/sec
The staright line of slope -20 db/decades for 10
The resultant slope table is
Range of frequency
Resultant Slope
Starting slope
-20 db/dec
0 << 5
-20 db/dec
5 10
-40 db/dec
10
-60 db/dec

April 2014
(MK)

16

April 2013
(MK)

deg

1
5
8
10
50

6.

Given G(S) =

-90
-90
-90
-90
-90
-90
.
+ (+)

-tan-1
0.1deg
-5.71
-26.56
-38.65
-45
-78.69
-90

-tan-1 0.2
deg
-11.3
-45
-58
-63.43
-84.28
-90

deg
-107
-161.5
-186.6
-198.4
-252.9
-270

, Find K For The Following Two Cases:

16

i.
Gain Margin Equal To 6 Db
ii.
Phase Margin Equal To 450
Steps:
1. Constant ( 2 marks)
2. T1 and resultant slope table ( 5 marks)
3. Table of angular frequency ( 3 mark)
4. Graph ( 6 mark)

Nov 2012
(BK)

Solution:
G(S) =

0.2
+2 (+8)

(/16) 0.2

+1
2

( +1)

A = K/16
T1 = 0.5
1 = 1/T1 = 2 rad/sec
T2 = 1/8
2 = 1/t2 = 8 rad/sec
Phase Angle table
Semi log graph
7.

The open loop transfer function of a unity feedback system is given by G(s) =

.Sketch the polar plot and determine the gain and phase margin.
+ (+)

Steps:
1. Constant ( 2 marks)
2. T1 and resultant slope table ( 5 marks)
3. Table of angular frequency ( 3 mark)
4. Graph ( 6 mark)

16

Nov 2014
(BK)

8.

Sketch the polar plot of a unity feedback system is given by G(s) =[

.
+ ]

Also

10

April 2014
(GK)

find the frequency at which () = .

Steps:
1. Constant ( 2 marks)
2. T1 and resultant slope table ( 2 marks)
3. Table of angular frequency ( 2 mark)
4. Graph ( 4 mark)

9.

Plot the Bode diagram for the following transfer function and determine the
phase and gain cross over frequencies.
G(S)= 10/ S(1+0.4S)(1+0.1S)
Ans:
Gain Cross over Frequency = 5 rad/sec
Phase Cross over Frequency = 5 rad/sec

16

May-2016
(MK,BK,GK)

10.

Draw polar plot G(S)= 10/ S(S+5)(S+2).

16

May-2016

11.

Draw polar plot G(S)= 1/ S(S1+S)2

Ans:
Gain Margin= 2
Phase Margin= 210

12.

The open loop transfer function is given by G(s) =

.
+. ( +)

For this unity

feedback system, determine the value of k show that the gain margin is 6dB.
Solution :
Let s = jw
G(jw) =

(MK,BK,GK)
May-2016
(MK,BK,GK)

16

April 2014
(MK,BK,GK)

1+0.1 ( 1+ )

At phase cross over frequency wpc the G(jw) is real and so equate the imaginary
part eqiual to zero
At w = wpc
1
wpc =
= 3.162 rad/sec
0.1

()

=wpc

1.1 2

= 0.0909K

Gain margin Kg = 1.9953

Gain margin Kg =

1
( ) =w pc

= 5.5135 = K

UNIT IV STABILITY AND COMPENSATOR DESIGN

Characteristic Equation- Routh-Hurwitz Criterion- Nyquist Stability Criterion- Performance criteria- Lag, Lead and
lag-lead networks- Lag/Lead Compensator using bode plots
S.No
1.

2.

3.

4.

5.

6.

7.

Question
What is the angle of asymptotes in the root locus of a system with n poles and m
zeroes?
Asymptotes are straight lines which are parallel to root locus going to infinity and
meet the rootlocus at infinity
Angles of asymptotes = 180 (2q+1); q= 0, 1, 2, ....(n-m)
Define BIBO stability
A linear relaxed system is said to have BIBO stability if every bounded (finite) input
result in abounded (finite) output.
What is meant dominant pole?
The dominant pole is a pair of complex conjugate pole which decides the transient
response of the system. In higher order systems the dominant poles are very close
to origin and all other poles of the system are widely separated and so they have
less effect on transient response of the system.
What is meant by relative stability
Relative stability is the degree of closeness of the system; it is an indication of
strength or degree of stability.
Write the necessary and sufficient condition for the stability in routh stability
criterion.
The necessary and sufficient condition for stability is that all of elements in the
first column of the south array should be positive.
State Nyquist stability criterion.
If the Nyquist plot of the open loop transfer function G(s) corresponding to the
nyquist contour in the S-plane encircles the critical point 1+j0 in the contour in
clockwise direction as many times as the number of right half S-plane poles of
G(s),the closed loop system is stable.
State two limitations of Routh stability criterion? Or What is routh stability
criterion?
Rouths criterionstates that, the necessary and sufficient condition for the stability

Year
April -2015

Nov-2014,Nov-2010

Nov-2014

April - 2014

April-2013

April-2013, April
2012,April-2010
Nov-2013
May-2016
Nov-2012, Nov-2011

8.

9.

is that, all the elements in the first column of the Rouths array be positive. If the
condition is not met, the system is unstable, and the number of sign changes in
the elements of the first column of Rouths array corresponds to the number of
roots of characteristic equation in the right half of the S-plane.
State the advantages of Nyquist stability criterion over that of rouths criterion? Nov-2012
It gives same information about absolute stability as provided by rouths
criterion.
Useful for determining the stability of the closed loop system from open
loop transfer function without knowing the roots of characteristic
equation.
Information regarding frequency response can be obtained.
Very useful for analyzing conditionally stable systems.
It also indicates relative stability giving the values of G.M. and P.M.
Nov-2011, AprilDene stability of a system.
2011
The stability of a system relates to its response to inputs or disturbances. A system
which remains in a constant state unless affected by an external action and which
returns to a constant state when the external action is removed can be considered
to be stable.A systems stability can be defined in terms of its response to external
impulse

inputs.

Definition
A system is stable if its impulse response approaches zero as time approaches
infinity. The system stability can also be defined in terms of bounded (limited)
10.

11.

12.

13.

14.

15.

16.

inputs.
What is Routh stability criterion?
Nov-2011, May-2013
Routh criterion states that the necessary and sufficient condition for stability is
that all of the elements in the first column of the routh array is positive. If this
condition is not met, the system is unstable and the number of sign changes in the
elements of the first column of routh array corresponds to the number of roots of
characteristic equation in the right half of the S-plane.
What is characteristic equation?
May-2016
The denominator polynomial of C(S) / R(S) is the characteristic equation of the
system.
What is the relation between stability and coefficient of characteristic
polynomial?
If the coefficients of characteristic polynomials are negative or zero, then some of
roots lie on right half of s-plane. Hence the system is unstable. If the coefficients
of characteristic polynomial are positive and if no coefficient is zero then there is a
possibility of the system to be stable provided and the roots are lying on left half
of s-plane.
What is auxillary polynomial?
In the construction of routh array a row of all zero indicates the existence of an
even polynomial as a factor of given characteristic equation. In an even
polynomial the exponents of S are even integers or zero only. This even
polynomial factor is called auxiliary polynomial. The coefficients of auxiliary
polynomial are given by the elements of the row just above the row of all zeros.
What is quadrant symmetry?
The symmetry of roots with respect to both real and imaginary axis is called
quadrant symmetry.
In routh array what conclusion you can make when there is a row of all zeros?
All zero row in routh array indicates the existence of an even polynomial as a
factor of the given characteristic equation. The even polynomial may have roots
on imaginary axis.
When lag/lead/lag-lead compensation is employed?
Lag compensation is employed for a stable system for improvement in
steady state performance. Lead compensation is employed for

stable/unstable system for improvement in transient state performance.

Lag-Lead compensation is employed for stable/unstable system for
improvement in both steady state and transient state performance
17.
What is a compensator?
A device inserted into the system for the purpose of satisfying the specifications is
called as a compensator.
18.
What are the uses of lead compensator?
The uses of lead compensator are
speeds up the transient response
increases the margin of stability of a system
increases the system error constant to a limited extent.
19.
What are the two types of compensation?
The two types of compensation are
i. Cascade or series compensation.
ii. Feedback compensation or parallel compensation.
20.
Define Phase lag and phase lead?
A negative phase angle is called phase lag. A positive phase angle is called phase
lead.
Big Questions:

1.

The open loop transfer function of a unity feedback system is given by =

(+)(+) ++

. by applying the Routh criterion. Discuss the stability of a closed

loop system as a function of K.

Steps:
Characteristics equation and solving (10 marks)
Finding K ( 6 marks)

16 Nov
2013
(MK)

2.

Determine the range of K for stability of unity feedback system whose open loop
transfer functiom is =

+ +

Using Routh stability criterion

Steps:
Poles,Asymptotes on Real Axis ( 3 marks)
Finding K value ( 3 marks)
Solution :
Number of Poles p=3 s =0,-1,-2
Denominator = 0
Number of zeros z =0
Numerator = 0
No of separate of root loci=no of poles = 3
The starting point of root locus are from poles at 0,-1,-2 end point of root locus at infinite
as zeros are absent
Na=p-z=3-0=3
Asymptotes on Real Axis =(0-1-1)-0/3=-3/3=-1
Angle of Asymptote k= (2k+1)pi/(p-z)
0 =pi/3=60 1=pi=180 2=300
Characteristics equation = 1+G(s) H(s)=0
K=-[s3+3s2+2s]
Dk/ds = 0 = 3s2+6s+2
Breakaway poin = -0.42
K=6
S=+- j1.41
K=0.385
Mp1 = 0.42
Mp2 = 0.58
Mp3 = 1.58

Nov-2012
(MK)

3.

Obtain routh array for the system whose charcteristics polynomial equation is
+ + + + + + = . check the stability
Steps :
Stability table ( 4 marks)
Finding polynomial and stable ( 4 marks)

4.

Sketch the Nyquist plot for a system with open loop transfer functiom is =

16 Nov
2012
(MK)

1+0.4 (+1)
.
1+8 1

Steps :

And determine the range of K or which the system is stable.

Locate poles and zeros ( 2 marks)

Root locus real axis( 2mark)
Find the asymptotes and centroid( 4 mark)
Graph nyquist and root locua ( 8 marks)

Nov
2014,April
2013
(MK)

5.

6.
7.
8.
9.

Draw the Nyquist plot for the system whose open loop transfer function
G(S) H(S) = K / S(S+2)(S+10). Determine the range of K for which closed loop system is
stable.
Write the procedure for the design of lag compensator using bode plot.
Write the procedure for the design of lag compensator and Lag-lead compensator using
bode plot.
Design a lead compensator for a unnity feedback system with an open loop transfer
function Gf(s)= K/ s(s+1) for the specifications of Kv=10s-1 and m=350
By using Routh Criterion, Determine the stability of the system represented by following
characteristic equation + + + + + = .
Steps :

16 May -2016
(MK)
8

May-2016
(BK)
16 May- 2016
(GK)
16 May-2016
(BK)
8 April
2014
(MK,GK,BK
)

 Stability table ( 4 marks)

Finding polynomial and stable ( 4 marks)
Solution :

No of Sign changes = 2
The system is unstable.
10. Draw the nyquist plot and find the stability of the following open loop transfer function
of unity feedback control system. Gc(s)H(s)

(+)
= .
+

if the system is conditionally stable,

find the range of K for which the system is stable.

Steps :
Find the asymptotes and centroid( 4 mark)
Graph nyquist and root locua ( 4 marks)
Gain margin and Phase margin(4 mark)
Graph (4mark)

16 April
2015
(MK,GK,BK
)

UNIT V STATE VARIABLE ANALYSIS

Concept of state variables- State models for linear and time invariant systems- Solution of state and output
equation in controllable canonical form Concepts of Controllability and Observability Effect of state feedback.
S.No
1.

2.

3.

4.

Question
Define controllability of a system or Give the concept of 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) at any other desired state X(t), in specified finite time by a
control vector U(t).
State sampling theorem
Sampling theorem states that a band limited continuous time signal with highest
frequency fm, hertz can be uniquely recovered from its samples provided that the
sampling rate Fs is greater than or equal to 2fm samples per second.
What are sampler and hold circuits?
Sampler
The device used to perform sampling is called sampler.
Hold circuits
A device used to convert digital signal into analog signal.
Draw the circuit diagram of sample and hold circuit.

Year
April -2015 ,
Nov-2013

April -2015,
Nov-2010

Nov-2014

April- 2014

5.

6.

What are the properties of state transition matrix

The following are the properties of state transition matrix
1.
(0) = eAx0 = I (unit matrix).
2.
(t) = eAt = (e-At)-1 = *(-t)]-1.
3.
(t1+t2) = eA(t1+t2) = (t1) (t2) = (t2) (t1).
Define state equation?
State equation relates the next state of a system to its current state and input.

April- 2014,
April-2010

Nov-2013

x =Ax +Bu

7.

8.

9.

10.

11.

12.

The state of a system is given by a set of state variables, representing the mathematical
model of the system and chosen in such a way that the knowledge of their initial values
and the input of the system is enough for one to predict all future states and outputs.
What are the advantages of state space representation?
There are several advantages to using the state space representation compared with
other methods. Some of these are:
the ability to easily handle systems with multiple inputs and outputs;
the system model includes the internal state variables as well as the output
variable;
the model directly provides a time-domain solution, which ultimately is the thing
of interest;
the form of the solution is the same as for a single 1st-order differential equation;
the effect of initial conditions can be easily incorporated in the solution;
the matrix/vector modeling is very efficient from a computational standpoint for
computer implementation
Define state and state variables?
State
The state of dynamic system is defined as a minimal set of variables such that the
knowledge of these variables at t =to together with the knowledge of inputs t > 0
completely determine the behavior of the system for t > to.
State variables
The variables involved in determining the state of dynamic system are called state
variables. Generally x1(t),x2(t),x3(t).xn(t) are called state variables.
What is meant by sampled data controlled system?
In a control system, if the signals in any part/point of the system is discrete ( digital or
sampled) then the entire system is said to be sampled data system.
What is meant by quantization?
The process of approximating a discrete time continuous valued signal into a discrete
valued signal is called quantization. If the sampled analog value lies in between two
digital adjacent values then the sampled analog value will be represented by a digital
value which is nearer to the analog value than the other. This process of approximation is
called quantization.
How the model matrix is determined?
The modal matrix M can be formed from eigenvectors. Let m1, m2, m3 . mn be the
eigenvectors of the nth order system. Now the modal matrix M is obtained by arranging all
the eigenvectors column wise as shown below.
Modal matrix , M = [m1, m2, m3 . mn].
What is alias i n sampling process?

April- 2013,
Nov-2011

April- 2013,
Nov-2012

Nov-2012

April -2011,
April-2012,

April-2012
Dec-2010

Nov-2011

If sampling frequency is less than twice the maximum frequency content in the signal
then there is a superimposition of high frequency components on the low frequency. This
is called aliasing or frequency folding.
13.

Name methods of state space representation for phase variables.

The methods of state space representation for phase variables are
1. Using phase variables called companion form of realization
2. Direct decomposition of transfer function.

April-2011
May-2016

3. Canonical variables called fosters method or parallel programming

4. Jordans canonical form for the repeated roots.
5. Gullemins method called cascade programming.
14.

Nov-2010
Mention the need for state variables?
May-2013
In the conventional approach the significance initial conditions lose their importance. It is
not suitable for analysing higher order systems and multiple input multiple output
systems. The conventional approach is suitable only for time invariant systems and also
only for specific type of inputs systems such as step, ramp and parabolic etc .all these
limitations of conventional approach are eliminated in state variable method. Thus to
obtain the precise optimum solution considering the initial conditions for any type of

15.

16.

input the state variables are necessary.

Define Observability?
A system is said to be completely observable if every state X(t) can be completely
identified by measurements of the output Y(t) over a finite time interval.
Define state vector?
The state vector is (n*1) column matrix whose elements are state variables of the system.

April-2015
May-2016
May-2013

Big Questions:

1.

State and explain sampling theorem

Steps :
Definition ( 2 mark)
Graph and explantion ( 2 marks)
Sampling Theorem and its Importance
Sampling Theorem:
A bandlimited signal can be reconstructed exactly if it is sampled at a rate atleast twice the
maximum frequency component in it.
Figure 1 shows a signal g(t) that is bandlimited.

4 Nov
2014
(MK)

2.

()

Obatin state model of the system described by the following tranfer function () = ++
Steps:
State diagram ( 2 marks)
state variable( 3 marks)
finding A,B,C and D (3 marks)

8 April
2014
(MK)

Solution:
y (s)
5
=
() [( + 0) + 6] + 7
Hence the state diagram Assigning output of each intergrator as the state variable
1 = 2 ,2 = 3 , 3 = 62 71 + , = 51
= +
Y=cx+du
Where,
0
1 0
0
0
0 1 B= 0 C = 5 0 0 D=[0]
7 6 0
1
Obtain the trasfer function model for the following state space system

=
B=
C = D= []

=
3.

Solution:
[]

T.F =C[Si A]-1 B =

[ ] ( 1 marks)
( 1 marks)

(1 marks)

8 April
2014
(MK)

4.

Adj [ ] = [Cofactor ]T ( 2 marks)

C Adj ( 1 marks)

Transfer Function =

(+5)
(
+2 (+3)

2 marks)

For the given state variable representation of a second order system given below find the state
response for a unit step input and
1 ()
1

1
0
0
=
+
+
=
by using the discrete time approximation.
2 ()
2
2
1
2
Steps :
[]

T.F =C[Si A]-1 B =

[ ] ( 2 marks)
( 2 marks)
Adj [ ] = [Cofactor ]T ( 4 marks)
C Adj ( 2 marks)

Transfer Function =

(2 marks)

(+5)
(
+2 (+3)

4 marks)

1 Nov
6 2013
(MK)

5.

Consider the system with the state equation

+ , = []

Check the controllability of the system.

Steps:
1. Kalmans test ( 8 marks)
2. Gilberts test ( 8 marks)

1 Nov
6 2013
(MK)
May2016

6.

A System Is Represented By The State Equation = + ; Y=Cx Where A=

,B

= And C= [100] .Determine The Transfer Function Of The System.

Steps :
[]

T.F =C[Si A]-1 B =

[ ] ( 2 marks)
( 2 marks)
Adj [ ] = [Cofactor ]T ( 4 marks)
C Adj ( 2 marks)

Transfer Function =

(2 marks)

(+5)
(
+2 (+3)

Soultion
[]

T.F =C[Si A]-1 B =

1
0
[ ] = 0 + 1
1
0
1
+ 10
= [ + 1 + 10 + 1]
Adj [ ] = [Cofactor ]T
C Adj

4 marks)

April1 2013
6 (GK)

10

Transfer Function = ( 2 +11+11)

7.

The state space representation of a system is given as

= + ; = obtain the transfer function

[]
-1
T.F =C[Si A] B =
(2 marks)

[ ] ( 2 marks)
( 2 marks)
Adj [ ] = [Cofactor ]T (42 marks)
C Adj ( 2 marks)

Transfer Function =

(+5)
(
+2 (+3)

1 Nov6 2012
(BK)

4 marks)

Soultion
[]

T.F =C[Si A]-1 B =

+ 2 1
0
[ ] = 0
+ 3 1
3
4
+5
= + 2 + 3 + 3 + 3 + 4( + 2)=S3+10S2+43S+41
2 + 8 + 19
+5
1
T
Adj [ ] = [Cofactor ] ==
3
2 + 7 + 10
+2
3 9
4 11
2 + 5 + 9
1
C Adj = [0 1 0]
+2
2 + 5 + 6
+2
Transfer Function = 3 +10 2 +43+41
8.

y (s)

A system is characterised by the transfer function () = 3 +5 2 +11+6.identify the first state as the
output.Determine whether or not the system is completely controllable and observable.
Steps:
state model ( 2 marks)
Qc = [B:AB:A2B] ( 7 marks)
Qo = [CT : AT CT :( AT)2 CT] ( 7 marks)
Soultion

+
+ =

Where y =output
X1 =y, =

X 2 , =

= X3

= = =-6X1 -11X2 -5X3-+3u

Hence the state model
1
0
1
0 1
0
2 = 0
0
1 2 + 0
3
6 11 5 3
3
= 1 0
0
1
0
0
A= 0
0
1 , B = 0 ,C=[1 0 0]
6 11 5
3
Qc = [B:AB:A2B]

0 2
3

- April1 2013
6 (BK)

0
0
3
Qc = 0
3
15 = - 27 =not eequal to zero
3 15 42
Hence the rank is 3 = n hence the stsrem is controllable
Qo = [CT : AT CT :( AT)2 CT]
1 0 0
Qo= 0 1 0 = 1 =
0 0 1
Completely observable
9.

Obatin the state transition matrix for the state model whose system matrix A is given by

=

Steps:
[]

T.F =C[Si A]-1 B =

[ ] ( 1 marks)
( 1 marks)
Adj [ ] = [Cofactor ]T ( 2 marks)
C Adj ( 1 marks)
Transfer Function ( 2 marks)

Solution
Use L.T method
1
[ ] =
0
= 1

1
1

(1 marks)

1
1

Adj [ ] = [Cofactor ]T =
2

1
1 2
1
1

8 April
2014
(MK,G
K,BK)

1 1
0
1

= 1 [ ]1 =
0
10. With a neat block diagram, derive the state model and its equations of a linear multi-input-multioutput system.

11. Expalin about the effect of state feedback

1 May0 2016
(MK,G
K,BK)
4 May2016
(MK,G
K,BK)