PART A (TWO MARKS)

1. What is system?
When a number of elements or components are connected in a sequence to
perform a specific function, the group thus formed is called control system.

2. What is control system?

A system consists of a number of components connected together to perform

a specific function. In a system when the output quantity is controlled by varying the
input quantity then the system is called control system.

3. What are the two major types of control system?

The two major types of control system are open loop and closed loop control
system.

4. Define open loop control system. [MAY/JUNE07] [NOV/DEC11]

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.

5. Define closed loop control system. [MAY/JUNE07] [NOV/DEC11]

The control system in which the output has an effect upon the input quantity
so as to maintain the desired output value is called closed loop control system.

6. Define transfer function. [APR/MAY08] [MAY/JUNE09] [DEC09]

[MAY/JUNE10] [NOV/DEC10] [NOV/DEC11] [NOV/DEC12]

The Transfer function of a system is defined as the ratio of the Laplace

transform of output to Laplace transform of input with zero initial conditions. It is also
defined as the Laplace transform of the impulse response of the system with zero
initial conditions

7. What is feedback? [NOV/DEC11]

The feedback is a control action in which the output is sampled and a

proportional signal is given to input for automatic correction of any changes in
desired output.

1
8. What type of feedback is employed in control system and why?
[NOV/DEC11]

Negative feedback is employed in control system. The negative feedback

results in better stability in steady state and rejects any disturbance signals. It is also
has low sensitivity parameter variations.

9. What are basic components of automatic control system? [NOV/DEC08]

The components of feedback control system are plant, feedback path

elements, error detector and controller and amplifier.

R(s) C(s)
CONTROLLER OPEN LOOP SYSTEM
(PLANT)

FEEDBACK

10. Distinguish between open loop and closed loop system. [MAY/JUNE09]

[APR/MAY10] [MAY/JUNE10] [NOV/DEC10] [APR/MAY11] [NOV/DEC11]

S.No Open loop System Closed loop System

1 Inaccurate and unreliable Accurate and reliable

2 Simple and economical Complex and costlier

The changes in output due to The changes in output due to

3 external disturbances are not external disturbances are corrected
corrected automatically. automatically.

Great efforts are needed to design a

4 They are generally stable
stable system

11. What are the advantages and disadvantages of open loop system?

Advantages

(i).The open loop systems are simple and economical

(ii).The open loop systems are easier to construct

(iii).Generally the open loop systems are stable.

2
Disadvantages:

(i).The open loop systems are inaccurate and reliable.

(ii).The changes in the output due to external disturbances are not corrected
automatically.

12. What are the advantages and disadvantages of closed loop system?
[APR/MAY08] [DEC09] [MAY/JUNE10]

Advantages

(i).The closed loop systems are accurate.

(ii).The sensitivity of the systems may be made small to make the system
more stable.

(iii).The closed loop systems are less affected by noise.

Disadvantages:

(i).The closed loop systems are complex and costlier.

(ii).The feedback in closed loop systems may lead to oscillatory response.

(iii).The feedback reduces the overall gain of the system.

(iv).Stability is a major problem in closed loop system and more care is

needed to design a stable closed loop system.

13. Give an example for open loop and closed loop control systems. [DEC09]

Open loop control system

All control systems operated by present timing mechanism are open loop

1. Automatic washing machine

2. Electric switch

3. Automatic toaster

Closed loop control system

1. Traffic signal system

2. Liquid level control system

3. Temperature control system

3
14. What is an error detector in a control system? [NOV /DEC 2007]

The error signal is generated by the error detector; it is the difference between
reference signal and feedback signal

15. What is meant by linear time invariant system? [NOV/DEC06]

When the parameters of a control system are stationary with respect to time
during the operation of the system, the system is called as linear time invariant
system.

16. What is multi-variable system? [APR/MAY08]

A system with more than one input and more than one output is called multi-
variable system.

17. What are the basic elements used for modeling mechanical translational
system and write its force balance equations. [NOV/DEC10] [NOV/DEC11]
[NOV/DEC12]

Element Diagram Force Balance Equation

d 2x
Mass (M) f fm M
dt 2
With one dx
f fb B
displacement dt
Dashpot d
With two
f fb B x1 x2
(B) dt
displacements

With one
f f k Kx
displacement
Spring (K)
With two
f f k K x1 x2
displacements
18. What are the basic elements used for modeling mechanical rotational
system and write its torque balance equations.

Element Diagram Force Balance Equation

4
Moment of inertia of mass d 2
T Tj M
(J) dt 2

Dashpot With one d

T Tb B
with displacement dt

rotational
frictional
With two
d
coefficient
displacements
T Tb B 1 2
dt
(B)

With one
T Tk K
Torsional displacement
Spring
with
With two
stiffness(K) T Tk K 1 2
displacements

19. Write the force equation for the system and the mathematical model of the

given mass-spring-dashpot system in. [NOV /DEC 2007] [APR/MAY 2008]

d 2x
fm M
dt 2 f fm fb fk
dx d2x dx
ff F f M B Kx
dt dt 2
dt
f k Kx

20. What do you mean by analogous system?

[DEC09]
Two equations of similar form are defined as
analogous system. The advantage of analogous system is if the response of one
system is known then the other system is also known without actually solving it.
21. Write the analogous electrical elements in force voltage analogy and
forcecurrent analogy of mechanical translational system. [APR/MAY08]
[APR/MAY11]
5
 Mechanical
Force Voltage Analogy Force Current Analogy
Translational system

Force (f) Voltage (e) Current (i)

Velocity (v) Current (i) Voltage (e)

Displacement (x) Charge (q) Flux ()

Frictional coefficient (B) Resistance (R) Conductance (G=1/R)

Mass(M) Inductance (L) Capacitance (C)

Stiffness(K) Inverse of capacitance (1/C) Inverse of inductance (1/L)

Newtons second law Kirchhoffs voltage law Kirchhoffs current law

(f = 0 ) ( v =0 ) ( i = 0 )

22. Write the analogous electrical elements in torque voltage analogy and
torque current analogy of mechanical rotational system.

Mechanical rotational
Torque Voltage Analogy Torque Current Analogy
system

Torque (T) Voltage (e) Current (i)

Angular Velocity () Current (i) Voltage (e)

Angular Displacement () Charge (q) Flux ()

Frictional coefficient (B) Resistance (R) Conductance (G=1/R)

Moment of inertia(J) Inductance (L) Capacitance (C)

Stiffness of spring(K) Inverse of capacitance (1/C) Inverse of inductance (1/L)

Newtons second law Kirchhoffs voltage law Kirchhoffs current law

( T= 0 ) ( v = 0 ) ( i = 0 )

23. Name two types of electrical analogous for mechanical system.

The two types of analogies for the mechanical system are

(i).Force - Voltage analogy (Torque -Voltage analogy)

(ii).Force - Current analogy (Torque -Current analogy)

24. Draw the analogous electrical network for the mechanical system in fig
using force-voltage analogy. [APR/MAY 2010]
6
 F (t) v (t) B1 R1 v1 i1

M1 L1 B1 R2 v2 i2

M2 L2 K 1/C

25. What is block diagram? What are the basic components of block diagram?
[NOV/DEC 2011]

A block diagram of a system is a pictorial representation of the functions

performed by each component of the system and shows the flow of signals. The
basic elements of block diagram are block, branch point and summing point

26. What is the basis for framing the rules of block diagram reduction
technique? [MAY/JUNE09]

The rules for block diagram reduction technique are framed such that any
modification made on the diagram does not alter the input output relation.

27. What are the basic connections for a block diagram?

(i).Cascade (ii).Parallel (iii).Feedback

28. What are the advantages of block diagram representation?

(i).East to form the overall block diagram for the whole system by simply
connecting the blocks of each component.

(ii).The functional operation of the system is readily visualized by examining

the block diagram rather than the physical system itself.

29. What are the drawbacks of block diagram?

(i).Interaction between blocks.

(ii).Concealment of important functions.

7
 (iii).For complicated systems, the block diagram reduction process is tedious
and time consuming.

30. Find the output for the block diagram given below. [NOV /DEC 2007]

Y s G1 X 1 s X 2 s G 2

31. Write down the transfer function of the system whose block diagram
shown below. [APR/MAY 2011]

C ( s)
G1 ( s ) G2 ( s ) G3 ( s ) G4 ( s )G5 ( s )
R( s)

32. Draw the canonical form of closed loop control system and write its
transfer function. [NOV/DEC07]

C s G s
T .F
R s 1 G s H s

33. State the block diagram

simplification rule for removing the feedback loop. [MAY/JUNE09]

C(s) = [R(s) - C(s) H(s)] G(s)

8
C(s) = R(s) G(s) - C(s) H(s) G(s)

C(s) + C(s) H(s) G(s) = R(s) G(s)

C(s) [1+ H(s) G(s)] = R(s) G(s)

C s G s

R s 1 G s H s

34. What is a signal flow graph?

A signal flow graph is a diagram that represents a set of simultaneous

algebraic equations. By taking Laplace Transform the time domain differential
equations governing a control system can be transferred to a set of algebraic
equations in s-domain.

35. What is transmittance? [NOV/DEC10]

The transmittance is the gain acquired by the signal when it travels from one
node to another node in signal flow graph.

36. What is sink and source? [MAY/JUNE10] [NOV/DEC10]

Source is the input node in the signal for graph and it has only outgoing
branches. Sink is an output node in the signal flow graph and it has only incoming
branches.

37. Define non touching loop and path.

Non touching loop: The loops are said to be no touching if they do not have
common nodes.

Path: It is a traversal of connected branches in the direction of the branch arrows.

The path should not cross a node more than once.

38. Write Masons Gain formula. [NOV/DEC06] [NOV/DEC08] [MAY/JUNE09]

[DEC09]

Masons Gain formula states that the overall gain of the system is

1
Overall gain, T = Pk k
k

K= Number of forward paths in the signal flow graph.

Pk- Forward path gain of kth forward path

= 1- [sum of individual loop gains] + [sum of gain products of all possible

9
 combinations 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.

39. What are the basic properties of signal flow graph? [NOV/DEC07]
[APR/MAY11] [NOV/DEC2011]

(i).Signal flow graph is applicable to linear systems.

(ii).It consists of nodes and branches. A node is a point representing a

variable or signal. A branch indicates functional dependence of one signal on the
other.

(iii).A node adds the signals of all incoming branches and transmits this sum
to all outgoing branches.

(iv) Signals travel along branches only in the marked direction and it is
multiplied by the gain of the branch.

(v).The algebraic equations must be in the form of cause and effect

relationship.

40. Draw the signal flow graph for the network. [APR/MAY08]

C
Using block diagram reduction technique, obtain the transfer function
R

STEP 1:i.Eliminating the feed forward bath

ii.Combining the blocks in cascade
10
STEP 2: Eliminating the feedback path

STEP 3: Combining the blocks in cascade

STEP 4: Eliminating the feedback path

STEP 5: Combining the blocks in cascade

11
 C G1G2 (1 G3 )(G4 G5 )
Transfer function =
R 1 (1 G3 ) (G4 G5 ) H 2 G2 H 1 (1 G3 ) (G4 G5 )

Determine the transfer function of the network in the figure. [APR/MAY10]

In Laplace domain

Apply KVL to loops,

From equation (2),

Substituting the value of I1(s) in equation (1),

12
Substituting the equation (4) in equation (3),

C s
Find for the signal flow graph shown below. [NOV/DEC 2010] [NOV/DEC
R s
2011]

Step 1: Forward path gains.

There are two forward paths K=1

Forward path-1 P1:

13
Gain of forward path-1 P1 = G1G2G3G4G5

Step 2: Individual loop gains

There are five individual loops

Loop 1 Loop2 Loop 3 Loop 4 Loop 5

Loop gain of individual loop 1 P11= - G1H1

Loop gain of individual loop 2 P21= - G3H3

Loop gain of individual loop 3 P31= - G4H4

Loop gain of individual loop 4 P41= - G5H5

Loop gain of individual loop 5 P51= - G1G2G3H2

Step 3: Gain of products of non-touching loops

Gain of products of two non-touching loops

There are four combinations of two non touching loops

First combination Second combination Third combination

Fourth combination Fifth combination

Gain product of first combination of two non touching loops

P12=P11P21= (-G1H1) (-G3H3) = G1G3H1H3

14
Gain product of second combination of two non touching loops

P22=P11P31= (-G1H1) (-G4H4) = G1G4H1H4

Gain product of third combination of two non touching loops

P32=P11P41= (-G1H1) (-G5H5) = G1G5H1H5

Gain product of fourth combination of two non touching loops

P42=P21P41= (-G3H3) (-G5H5) = G2G5H3H5

Gain product of fifth combination of two non touching loops

P52=P51P41= (-G1G2G3H2) (-G5H5) = G1G2 G3G5H2H5

Gain of products of three non-touching loops

There is only one combination of three non touching loops

Gain product of combination of three non touching loops

P123=P11P21 P41= (-G1H1) (-G3H3) (-G5H5) = -G1G3G5H1H3H5

Step 4:Calculation of and k

15
 1 P11 P21 P31 P41 P51 P12 P22 P32 P42 P123
G1G3H1H3 G1G4 H1H 4 G1G5 H1H5
1 G1H1 G3H3 G4 H 4 G5H 5 G1G2G3H 2
G3G5H3H5 G1G2G3G5 H 2 H5
G1G3G5 H1H3H5
G1G3H1H3 G1G4 H1H 4 G1G5H1H5
1 G1H1 G3H3 G4 H 4 G5 H5 G1G2G3H 2
G3G5 H3H5 G1G2G3G5H 2 H5
G1G3G5 H1H3H5
1=1.there is no part of graph which is not touching with first forward path.

Step 5:Transfer function

1 1
By Masons gain formula for the transfer function T Pk k P1 1
K

K = 1 [We have only one forward paths]

G1G2G3G4G5
T
G1G3H1H3 G1G4H1H4 G1G5H1H5
1G1H1 G3H3 G4H4 G5H5 G1G2G3H2
G3G5H3H5 G1G2G3G5H2H5
G1G3G5H1H3H5

16
Construct the signal flow graph for the following set of system equations,
Y2 = G1Y1 + G3Y3 --------------------- (1)
Y3 = G4Y1 + G2Y2+ G5Y3 ------------- (2)
Y4 = G6Y2 + G7Y3 ----------------------- (3)
Node variables are Y1,Y2,Y3 and Y4
SFG for equation (1) SFG for equation (2) SFG for equation (3)

Complete signal flow graph

Step 1: Forward path gains.

There are two forward paths K=4

Forward path-1 P1: Forward path-2 P2:

Gain of forward path-1 P1 = G1G2G7

Gain of forward path-2 P2 = G4G7

Forward path-3 P3: Forward path-4 P4:

17
Gain of forward path-3 P3 = G1G6

Gain of forward path-4 P4 = G3G4G6

Step 2: Individual loop gains

There are two individual loops

Loop 1 Loop2

Loop gain of individual loop 1 P11= G2 G3

Loop gain of individual loop 2 P21= G5

Step 3: Gain of products of non-touching loops

There are no possible of combinations of non touching loops

Step 4: Calculation of and k

1 P11 P21 1 G2 G3 G5

1=1.there is no part of graph which is not touching with first forward path.

2=1.there is no part of graph which is not touching with first forward path.
3=1- G5.
4=1.there is no part of graph which is not touching with first forward path.
Step 5: Transfer function

By Masons gain formula for the transfer function

1 1
T
K
Pk k ( P1 1 P2 2 P3 3 P4 4 )

K = 4 [We have four forward paths]

G1G 2 G7 G4 G7 G1G6 (1 G5 ) G3 G 4 G6
T
1 G 2 G3 G 5

18
 C s
Using masons gain formula, determine the transfer function .
R s
[APR/MAY11]

Step 1: Forward path gains.

There are two forward paths K=2

Forward path-1 P1:

Gain of forward path-1 P1 = 1 5 4 2 10 1 400

Forward path-1 P2:

Gain of forward path-2

P2 =
1 10 2 10 1 200

Step 2: Individual loop gains

There are three individual loops

Loop 1 Loop2 Loop3

Loop gain of individual loop 1 P11= 4 1 4

19
 Loop gain of individual loop 2 P21= 2 2 4

Loop gain of individual loop 3 P31= 1

Step 3: Gain of products of non-touching loops

Gain of products of two non-touching loops

There are two combinations of two non touching loops

First combination Second combination

Gain product of first combination of two non touching loops P 12=P11P21= 4 4 16

Gain product of second combination of two non touching loops

P22=P21P31= 4 1 4

Gain of products of three non-touching loops

There are no possible combinations of three non touching loops

Step 4: Calculation of and k

1 P11 P21 P31 1 4 4 1 10

1= 1 1 2 2= 1 4 5

Step 5: Transfer function

By Masons gain formula for the transfer function

1 1
T
K
Pk k ( P1 1 P2 2 )

K = 2 [We have two forward paths]

400 2 200 5 1800

T 18
18 10

Obtain the overall transfer function of the system shown by block diagram,
using signal flow graph technique

20
Assigning the notes at input, output, each branch points and each summing
points

PART B (12 MARKS)

1. Evaluate the transfer function of the network shown in the figure.

21
S-Domain circuit

1
R1
Cs R2 I s Ei ( s)
1
R1 Cs

R1
1 R1Cs R 2 I s Ei s (1)

R 2 I s E 0 s ( 2)

From equations 1 and 2.

E0 s

R2

R2 1 R1Cs

sR1 R2 C R2
Ei s R1 R1 R2 1 R1Cs sR1 R2 C R1 R2
R2
1 R1Cs

2. Evaluate the transfer function of the network shown in the figure.

S-Domain circuit

22
23
 1 1
R1 sL1 Cs Cs I1s Ei s

1 1 I2 s 0
R2 sL2
Cs Cs
R2I2s EO s (1)
1
R1 sL1 Ei s
Cs
1 Ei s
0
Cs
I 2 s Cs
1 1 1 1 1 2
R1 sL1 R sL R sL
Cs Cs 1 1 Cs 2 2 Cs Cs
1 1
R2 sL2
Cs Cs
Ei s
Cs Ei s.Cs
2 2

R1Cs s L1C 1 R2Cs s L2C 1 1 R1Cs s L1C 1 R2Cs s2L2C 1 1
2

22
Cs
From equation1,
Ei s .Cs
R2 2 EO s

R1Cs s L1C 1 R2Cs s L2C 1 1
2

EO s R2.Cs 24
2

Ei s R1Cs s L1C 1 R2Cs s2L2C 1 1
3. For the mechanical rotational system, write the differential equation and
X 2 s
determine the transfer function
F s

Free body diagram of Mass M1

d 2 x1
f m1 M 1
dt 2
dx
f b1 B1 1
dt
f k1 K 1 x1 x 2

By Newtons second law,

f m1 fb1 f k 1 0
d 2 x1 dx
M1 2
B1 1 K 1 x1 x 2 0 (1)
dt dt

Taking Laplace transform on both sides,

25
 M 1 s 2 X 1 s B1 s X 1 s K 1 X 1 s X 2 s 0

X 1 s M 1 s 2 B1 s K 1 K 1 X 2 s 0
X s M s
1 1
2
B sK K X
1 1 1 2 s
K1 X 2 s
X 1 s (a )
M 1 s 2 B1 s K 1

Free body diagram of Mass M2

d 2 x2
f m2 M 2
dt 2
dx
f b 2 B2 2
dt
f k 1 K 1 x 2 x1
f k 2 K 2 x2

By Newtons second law,

f m1 f b1 f k 1 f k 2 f (t )
d 2 x2 dx
M2 2
B2 2 K1 x 2 x1 K 2 x 2 f (t ) ( 2)
dt dt

Taking Laplace transform on both sides,

M 2 s 2 X 2 s B2 s X 2 s K 1 X 2 s X 1 s K 2 X 2 s F s

X 2 s M 2 s 2 B2 s K 1 K 2 K1 X 1 s F s (b)

Sub the equation (a) in equation (b).

X 2 s M 2 s 2 B2 s K 1 K 2 K 1 X 1 s F s
K X s
X s M s B2 s K 1 K K
M s B s K F s
2 1 2
2 2 2 1 2
1 1 1

M 2 s 2 B2 s K 1 K 2 M 1 s 2 B1 s K 1 K1 2
X 2 s

F s
M 1 s 2

B1 s K 1

T .F
X 2 s


M 1 s 2 B1 s K1


F s M 2 s 2 B2 s K 1 K 2 M 1 s 2 B1 s K 1 K 1 2
26
Result:

The differential equations are,

d 2 x1 dx1 d 2 x2 dx2
1. M 1 B1 K 1 x1 x 2 0 2. M 2 B 2 K1 x 2 x1 K 2 x 2 f (t )
dt 2 dt dt 2 dt

The transfer function is,

T .F
X 2 s


M 1 s 2 B1 s K1


F s M 2 s 2 B2 s K1 K 2 M 1 s 2 B1 s K1 K12
4. Write the differential equations governing the mechanical rotational system
shown in the figure and obtain the transfer function of the system.

Free body diagram of Moment of inertia J1

d 2 1
T j1 J 1
dt 2
Tk K 1

By Newtons second law,

T j1 Tk T
d 21
J1 K 1 T (1)
dt 2

Taking Laplace transform on both sides,

J 1 s 21 s K 1 s s T s
1 s J 1 s 2 K K s T s ( a )

Free body diagram of Moment of inertia J2

d 2
T j2 J 2
dt 2
d
Tb B
dt
Tk K 1

By Newtons second law,

27
 T j1 Tb Tk 0
d 2 d
J2 2
B K 1 0 (2)
dt dt

Taking Laplace transform on both sides,

J 2 s 2 s Bs s K s 1 s 0
s J 2 s 2 Bs K K1 s 0
s J 2 s 2 Bs K K1 s

s
J s 2
2

Bs K s
(b)
1
K

Sub the equation (a) in equation (b).

1 s J 1 s 2 K K s T s
J s 2
Bs K J 1 s 2 K s
2

K s T s
K

J 2 s 2 Bs K J 1 s 2 K K 2 s
T s
K
s K
T .F
T s
J 2 s Bs K J 1 s 2 K K 2
2

Result:

The differential equations are,

d 21 d 2 d
1. J 1 K 1 T 2 .J 2 2
B K 1 0
dt 2 dt dt

The transfer function is,

s K
T .F
T s
J 2 s Bs K J 1 s 2 K K 2
2

5. For the mechanical system shown in fig. Draw the Force-Current and Force-
Voltage analogous circuits and verify by writing mesh and node equations.

28
Free body diagram of Mass M1

d 2 x1
f m1 M 1
dt 2
dx
f b 1 B1 1
dt
f k1 K 1 x1
f k K x1 x 2
d
fb B x1 x2
dt

By Newtons second law,

f m1 fb1 fb f k1 f k f1 (t )
d 2 x1 dx d
M1 2
B1 1 B x1 x 2 K 1 x1 K x1 x 2 f 1 (t ) (1)
dt dt dt

Free body diagram of Mass M2

d 2 x2
f m2 M 2
dt 2
dx
fb2 B2 2
dt
fk2 K 2 x2
f k K x 2 x1
d
fb B x2 x1
dt

By Newtons second law,

f m 2 fb2 fb f k 2 f k f1 (t )
d 2 x2 dx d
M2 2
B2 2 B x 2 x1 K 2 x 2 K x 2 x1 f 2 (t ) (2)
dt dt dt

Replace the displacements by velocities in differential equations,

d 2 x dv dx
, v, x v dt
dt 2 dt dt

dv1
M1 B1 v1 B v1 v 2 K 1 v1 dt K v1 v 2 dt f 1 (t ) (3)
dt

dv2
M2 B2 v 2 B v 2 v1 K 2 v 2 dt K v 2 v1 dt f 2 (t ) (4)
dt

29
Force-Voltage Analogy

Two masses in mechanical system analogues to two meshes in electrical

system.

f1(t) and f2(t) in mechanical system represented by a voltage sources e 1(t) and
e2(t) in two meshes of electrical system.

M1,K1,B1, K and B connected to first node in mechanical system analogues to

elements in mesh 1.

M2,K2,B2, K and B connected to second node in mechanical system

analogues to elements in mesh 2.

K and B common between two nodes is analogues to elements common

between two meshes.

The elements series in mechanical system analogues to elements series in

electrical system.

f1 t e1 t M 1 L1 B1 R1 K1 1 C1
f 2 t e2 t M 2 L2 B2 R2 K 2 1 C2
v1 i1 BR K 1 C
v2 i 2

Force-Voltage Analogy circuit:

Apply KVL to the circuit,

di1 1 1
L1 R1 i1 R i1 i2 i1 dt i1 i2 dt e1 (t )
dt C1 C

di 2 1 1
L2 R2 i2 R i2 i1 i2 dt i 2 i1 dt e2 (t )
dt C2 C

Force-Current Analogy
30
 Two masses in mechanical system analogues to two nodes in electrical
system.

f1(t) and f2(t) in mechanical system represented by a current sources i 1(t) and
i2(t) in two nodes of electrical system.

M1,K1,B1, K and B connected to first node in mechanical system analogues to

elements in node 1.

M2,K2,B2, K and B connected to second node in mechanical system

analogues to elements in node 2.

K and B common between two nodes is analogues to elements common

between two nodes.

The elements parallel in mechanical system analogues to elements parallel in

electrical system.

1 1
f1 t i1 t M 1 C1 B1 K1
R1 L1
1 1
f 2 t i2 t M 2 C2 B2 K2
R2 L2
1 1
v1 V1 B K
R L
v 2 V2

Force-Current Analogy circuit:

Apply KCL to the circuit,

dv1 1 1 1 1
C1 v1 v1 v 2 v1 dt v1 v 2 dt i1 (t )
dt R1 R L1 L

dv 2 1 1
C2 v2 v 2 v1 1 v 2 dt 1 v 2 v1 dt i2 (t )
dt R2 R2 L2 L

31
6.For the mechanical translational system shown in the figure. Draw the
torque-voltage and torque-current electrical analogous circuit.

Free body diagram of moment of inertia of Mass J1

d 21
T j1 J 1
dt 2
d
Tb 1 B1 1
dt
Tk 1 K 1 1 2

By Newtons second law,

T j1 Tb1 Tk 1 T (t )
d 21 d
J1 2
B1 1 K 1 1 2 T (t ) (1)
dt dt

Free body diagram of moment of inertia of Mass J2

32
 d 2 2
T j2 J 2
dt 2
d
Tb 2 B2 2
dt
Tk 1 K1 2 1
Tk 2 K 1 2 3

By Newtons second law,

T j 2 Tb 2 Tk1 Tk 2 0
d 2 2 d
J2 2
B2 2 K 1 2 1 K 2 2 3 0 ( 2)
dt dt

Free body diagram of moment of inertia of Mass J3

d 2 3
T j3 J1
dt 2
d
Tb 3 B3 3
dt
Tk 2 K 2 3 2

By Newtons second law,

T j 3 Tb 3 Tk 2 0
d 2 3 d
J3 2
B3 3 K 3 3 2 0 (3)
dt dt

Replace the angular displacements by angular velocities in differential

equations,

d 2 d d
, , dt
dt 2 dt dt

d1
J1 B11 K 1 1 2 dt T (t ) ( 4)
dt

d 2
J2 B2 2 K1 2 1 dt K 2 2 3 dt 0 (5)
dt

d 3
J3 B3 3 K 3 3 2 dt 0 ( 6)
dt

33
Torque-Voltage Analogy

Three moment of inertia of masses in mechanical system analogues to three

meshes in electrical system.

T(t) in mechanical system represented by a voltage sources e 1(t) of electrical

system.

J1,K1,B1 connected to first node in mechanical system analogues to elements

in mesh 1.

J2,K1,B1 and K2to second node in mechanical system analogues to elements

in mesh 2.

J3,K2,B2 to third node in mechanical system analogues to elements in mesh 3.

K1 common between nodes 1 and 2 is analogues to elements common

between two meshes 1 and 2.

K2 common between nodes 2 and 3 is analogues to elements common

between two meshes 2 and 3.

T t e t J 1 L1 B1 R1 K1 1 C1
J 2 L2 B2 R 2 K 2 1 C2
1 i1 B3 R3
2 i2

Torque-Voltage Analogy circuit:

Apply KVL to the circuit,

di1 1
L1
dt
R1 i1
C1 i
1 i2 dt e(t )

34
 di2 1 1
L2
dt
R2 i 2
C1 i 2 i1 dt
C2 i 2 i3 dt 0

di3 1
L3
dt
R3 i3
C2 i 2 i3 dt 0

Torque-Current Analogy

Three moment of inertia of masses in mechanical system analogues to three

nodes in electrical system.

T(t) in mechanical system represented by a current sources i(t) of electrical

system.

J1,K1,B1 connected to first node in mechanical system analogues to elements

in node1.

J2,K1,B1 and K2to second node in mechanical system analogues to elements

in node 2.

J3,K2,B2 to third node in mechanical system analogues to elements in node 3.

K1 common between nodes 1 and 2 is analogues to elements common

between two nodes1 and 2.

K2 common between nodes 2 and 3 is analogues to elements common

between two nodes 2 and 3.

T t i t J 1 C1 B1 1 R1 K1 1 L1
J 2 C2 B 2 1 R2 K 2 1 L2
1 v1 B3 1 R3
2 v2

Torque-Current Analogy circuit:

Apply KCL to the circuit,

35
 dv1 1 1
C1
dt

R1
v1
L1 v
1 v 2 dt i (t )

dv2 1 1 1
C2
dt

R2
v2
L1 v 2 v1 dt
L2 v 2 v3 dt 0

dv3 1 1
C3
dt R3
v3
L2 v 2 v3 dt 0

7.Using block diagram reduction technique, find the transfer function C/R for
the system shown in the figure.

Step 1:Rearranging the branch points.

Step 2: Combining the blocks in cascade and eliminating the feedback path.

36
Step 3:Moving the branch point after the block.

Step 4:Moving the branch point and combining the blocks.

Step 5:Combining the blocks in cascade

37
Step 6:Eliminating feedback path and interchanging the summing points.

Step 7:Combining the blocks in cascade and eliminating feedback path.

Step 8: Eliminating the feedback path

G1G2 G3 G4
C 1 G 4 H 1 H 2 G 2 G3 G 4 H 3 G1G2 G3 G4

R G1G2 G3 G4 1 H 1 H 2 G4 G1G2 G4 H 4 G1G2 H 4 G3 G4 G2 G3G4 H 3
1
1 G 4 H 1 H 2 G 2 G3 G 4 H 3

8.Using block diagram reduction techniques, find the closed loop transfer
function for the block diagram shown in the figure.

38
Step 1:Combine cascading blocks G6 and G7.

Step 2:Combine two parallel blocks G5 and G6G7.

Step 3:Move the take off point after the block G3.

39
Step 4:Combing the cascades G1 and G3 and add parallel blocks.

Step 5:Eliminate the feedback path.

G1G3
C s 1 G1G3 G8 G1G3

R s G1G3 G2 1 G1G3G8 G1G2 G1G3G4 G5 G1G3 G4 G6 G7
1 G 4 G5 G 6 G 7
1 G1G3 G8 G3

40
9.Find the overall transfer function of the system whose signal flow graph
shown in fig.

Step 1: Forward path gains.

There are two forward paths K=2.

Forward path-1 P1:

Forward path-2 P2:

Gain of forward path-1 P1 = G1G2G3G4G5

Gain of forward path-2 P2 = G4G5G6

Step 2:Individual loop gains

There are three individual loops

Loop 1 Loop2 Loop 3

41
 Loop gain of individual loop 1 P11= - G2H1

Loop gain of individual loop 2 P21= - G2 G3H2

Loop gain of individual loop 3 P31= - G5H3

Step 3:Gain of products of two non-touching loops

There are two combinations of two non touching loops

First combination of two non touching loops

Second combination of two non touching loops

Gain product of first combination of two non touching loops

P12=P11P31= (-G2H1) (-G5H3) = G2G5H1H3

Gain product of second combination of two non touching loops

P22=P21P31= (-G2G3H2) (-G5H3) = G2 G3G5H2H3

Step 4:Calculation of and k

1 P11 P21 P31 P12 P22

1 G 2 H 1 G 2 G 3 H 2 G5 H 3 G 2 G 5 H 1 H 3 G 2 G3 G5 H 2 H 3
1 G 2 H 1 G 2 G3 H 2 G 5 H 3 G 2 G5 H 1 H 3 G 2 G 3 G 5 H 2 H 3

1=1.there is no part of graph which is not touching with first forward path.

42
The part of the graph which is non touching with second forward path is,

2 1 P11 1 G2 H 1 1 G2 H 1

Step 5:Transfer function

1 1
By Masons gain formula for the transfer function T Pk k P11 P2 2
K

K = 2 [We have only two forward paths]

G1G 2 G3 G4 G5 G 4 G5 G6 1 G 2 H 1
T
1 G 2 H 1 G 2 G3 H 2 G5 H 3 G 2 G5 H 1 H 3 G 2 G3 G5 H 2 H 3
G1G2 G3 G 4 G5 G4 G5 G6 G2 G 4 G5 G6 H 1

1 G 2 H 1 G 2 G3 H 2 G5 H 3 G 2 G5 H 1 H 3 G 2 G3 G5 H 2 H 3
G 4 G5 G6 G1G3 G6 / G 2 G6 H 1

1 G 2 H 1 G 2 G3 H 2 G5 H 3 G 2 G5 H 1 H 3 G 2 G3 G5 H 2 H 3

10. The signal flow graph for a feedback control is shown in the figure.
C s
Determine the closed loop transfer function
R s

Step 1: Forward path gains.

There are two forward paths K=2.

Forward path-1 P1:

Forward path-2 P2:

43
Gain of forward path-1 P1 = G1G2G3G4G5

Gain of forward path-2 P2 = G1G2G5G6

Step 2:Individual loop gains

There are four individual loops

Loop 1 Loop2 Loop 3 Loop4

Loop gain of individual loop 1 P11= G2H1

Loop gain of individual loop 2 P21= G3H2

Loop gain of individual loop 3 P31= G4H3

Loop gain of individual loop 4 P41= G6 H2H3

Step 3:Gain of products of two non-touching loops

There are only one combination of two non touching loops

First combination of two non touching loops

Gain product of first combination of two non touching loops

P12=P11P31= (G2H1) (G4H3) = G2G4H1H3

44
Step 4:Calculation of and k

1 P11 P21 P31 P41 P12

1 G 2 H 1 G3 H 2 G 4 H 3 G6 H 2 H 3 G 2 G 4 H 1 H 3
1 G 2 H 1 G3 H 2 G 4 H 3 G 6 H 2 H 3 G 2 G 4 H 1 H 3

1= 2=1.there is no part of graph which is not touching with first forward path 1 and
2

Step 5:Transfer function

1 1
By Masons gain formula for the transfer function T Pk k P1 1 P2 2
K

K = 2 [We have only two forward paths]

C s G1G2 G3 G 4 G5 G1G 2 G5 G6
T s
R s 1 G 2 H 1 G3 H 2 G 4 H 3 G 6 H 2 H 3 G 2 G 4 H 1 H 3

11. Convert the block diagram to signal flow graph and determine the transfer
function using Masons gain formula.

Step 1:The nodes are assigned at input, output at every summing point and
branch point.

45
Step 2: Forward path gains.

There are two forward paths K=2.

Forward path-1 P1:

Forward path-2 P2:

Gain of forward path-1 P1 = G1G2G3

Gain of forward path-2 P2 = G4

Step 2:Individual loop gains

There are three individual loops

Loop 1 Loop2 Loop 3

Loop gain of individual loop 1 P11= - G1G2H1

Loop gain of individual loop 2 P21= - G2 G3H2

Loop gain of individual loop 3 P31= - G2H1

Step 3:Gain of products of two non-touching loops

There are no possible combinations of two non touching loops, three non
touching loops.
46
Step 4:Calculation of and k

1 P11 P21 P31

1 G1G2 H 1 G2 G3 H 2 G2 H 1
1 G1G2 H 1 G2 G3 H 2 G2 H 1

1=1.there is no part of graph which is not touching with first forward path.

The part of the graph which is non touching with second forward path is,

2 1 P11 P21 P31 1 G1G2 H 1 G2 G3 H 2 G2 H 1 1 G1G2 H 1 G2 G3 H 2 G2 H 1

Step 5:Transfer function

1 1
By Masons gain formula for the transfer function T Pk k P1 1 P2 2
K

K = 2 [We have only two forward paths]

G1G2 G3 G4 1 G1G2 H 1 G2 G3 H 2 G2 H 1
T
1 G1G2 H 1 G2 G3 H 2 G2 H 1
G1G2 G3 G4 G1G2 G4 H 1 G2 G3 G4 H 2 G2 G4 H 1

1 G1G2 H 1 G2 G3 H 2 G2 H 1

PART C (ASSIGNMENT QUESTIONS)

1. Write down the differential equations governing the mechanical rotational

system shown in fig. Draw the torque-voltage and torque-current analogous
circuit and verify by writing mesh and node equations.[NOV/DEC09].

47
2. For the signal flow graph given in figure, evaluate the closed loop transfer
function of the system.[NOV/DEC06].

3. Reduce the block diagram shown in figure and obtain the overall transfer
function.[MAY/JUNE07]

4. Write the differential equation governing the behavior of the mechanical

system. Also obtain an analogous electrical circuit based on F-V analogy and
F-I analogy [APR/MAY08]

48
 C s
5. For the signal flow graph shown in figure and obtain the value of
R s

[MAY/JUNE07]

6. Obtain the transfer function of the mechanical system.

7. Derive the transfer function of the system by 1).Block diagram reduction

technique ii) Signal Flow graph.

49
 X 2 s
8. Write the differential equations and obtain the transfer function for the
F s
mechanical system shown in figure. Also draw the force-voltage analogous
circuit. [NOV/DEC07]

9. a.Obtain the transfer function of the mechanical rotational system given

below. [NOV/DEC08]

b.Obtain the transfer function of the electrical network given below.

[NOV/DEC08]

10. Reduce the block diagram given below. [NOV/DEC08].

50