B E/B TECH DEGREE EXAMINATIONS,APRIL/MAY 2014

6 SEMESTER
(2011 Regulation)
UEE11604 ADVANCED CONTROL THEORY
(Electrical and Electronics Engineering)

Time: 3 hours Maximum: 100 Marks

Answer ALL questions
Part A (10 X 2 = 20 Marks)
1. Define state of the system. Write the input and output state space equation
2. Convert the given transfer function to phase variable state model
2 5S 4S S
5
R(s)
C(s)
2 3
+ + +
= .
3. Define phase plane.
( Find the singular point
+ 0.6 + 3y + y
2
=0
5. Define international nonlinearity. Give example.
6. Write the describing function for on-off relay.
7. Show that the following quadratic form is positive definite.
()

8. Define asymptotic stability.
9. State the need for observer.
10. Stare the control law for state feedback.


Part B (5 X 16 = 80 Marks)
11. a. (i) Derive state model for the system given
Assume output y = X1(t) .



(8)
(ii) Using Cayley Hamilton technique, find state transition matrix u (t)
for
A =
(

5 6
1 0
and verify the same using similarity transformation.

(8)
(OR)
b.
| |
(
(
(

= =
(
(
(

+
(
(
(

=
0
0
1
X(0) 0 1 1 y
u(t)
0
0
0
X
2 - 0 0
1 5 - 0
0 1 4 -
X
X

Using similarity transformation, find a state transition matrix and
hence find state solution and output.



(16)

12 a. (i) A regulator system has the plant
| | u
u
0 0 1 Y
1
0
0
X
6 - 11 - 6 -
1 0 0
0 1 0
X
=
(
(
(

+
(
(
(

The state variable X1 is directly measurable and need not be observed.
Design a reduced order state observer such that the poles are at
-2 j3 . 464




(8)
(ii) Explain how the state trajectories will appear for various pole
locations in a linear system and comment on stability in each case.
(8)
(OR)
b. Draw the phase trajectory of the system using Isocline method.

+x = 0 with x =1 and

as initial condition.
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13. a. Using describing function analysis, investigate the possibility of a
limit cycle in the system and determine its amplitude and frequency
and investigate its stability.


(16)

(OR)
b. Explain how stability analysis can be done for a nonlinear system
using describing function method.


14. a (i) State Lyapunovs stability theorems for asymptotic stable and
unstable with neat diagram
(8)
(ii) How Popovs criterion is used for determination of stability of
nonlinear systems
(8)
(OR)
b (i) Comment on the stability of the non linear system using Lyapunovs
indirect method (Linearisation method)
- (0.1 -

) + y+y
2
=0

(8)
(ii) Consider a nonlinear system described by equations

= -3X1 +X2

=X1-X2-X2
3
using Kravasvoski method constructing a Lyapunov
function with P as an identity matrix investigate the stability of
equilibrium state.


(8)

15 a (i) A single input system is given by
u
(
(
(

+
(
(
(

=
1
0
10
X
3 - 1 2
0 2 - 1
0 0 1 -
X

Design a state feedback controller, which will give closed loop poles at
-1j2, -6.


(8)
(ii) Write a detailed note on optimal controller (8)
(OR)
b



(i)


(ii)

A regulator system has the plant

[


] [

]
[ ]
Design a control law u = -k x so that the closed loop system has eigen
values at -1.8j2.4.

Design a full order state observer to estimate the state vector. The
observer matrix is required to have eigen values at -8, -8.





(16)


B E/B TECH DEGREE EXAMINATIONS,APRIL/MAY 2014
6 SEMESTER
(2011 Regulation)
UEE11604 ADVANCED CONTROL THEORY
(Electrical and Electronics Engineering)

Time: 3 hours Maximum: 100 Marks

Answer ALL questions
Part A (10 X 2 = 20 Marks)
1. The system matrix A of a plant model is given as
A =
(
(
(

3 1 1
2 0 1
2 1 4
. Find the poles of the system.
2. State and output equations for a system is
X 4] [5 CX y
u
1
0
X
21/4 - 5 -
1 0
Bu AX X
= =
(

+
(

= + =

Check observability of this system.
3. What are the disadvantages of phase plane analysis?
4. What are isoclines?
5. Mention the various types of nonlinearity
6. What are limit cycles?
7. Explain BIBO system.
8. Verify for positive definiteness of the given matrix.
(
(
(

=
2 1 1
1 2 1
1 1 2
P


9.
Given A = | | 0 0 1 C ,
0 0 10
1 0 17
0 1 8
=
(
(
(

Design observer gains to have eigen values as-5, -10 j20.
10. What is reduced order stator observer?

Part B (5 X 16 = 80 Marks)
11. a. (i) A plant model is given as

=
(

0 2
1 3
x +
(

1
0
u
y = | | 0 1 X
Determine the transfer function by assuming X(0) =
(

0
0
.




(8)
(ii) The closed loop transfer function of a feedback system is
()
()

( )
( )( )

Construct the state model with system matrix A is a diagonal matrix.

(8)

(OR)

b. A plant model is given by

=
(

3 2
1 0
X +
(

1
0
, X(0) =
(

1
1

y = | | 0 1 X
The state transition matrix (t) is given by
(

+ +


t t t t
t t t t
e e e e
e e e e
2 2
2 2
2 2 2
2

Find the state solution x(t) and output y(t).



(16)

12 a. Explain in detail how stability analysis can be done for linear and
nonlinear systems using phase plane analysis.
(16)

(OR)


b. For the given system, construct the phase plane trajectory using
either isocline method or delta method + 3 + x =0
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13. a. Determine the describing function of a hardening spring described by
W = x+x
3
/2.
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(OR)


b. Using the describing function analysis, determine the nature of limit
cycle and its amplitude and frequency of the given system.



14. a (i) Determine stability of the given LTI autonomous system (8)
= AX using Lypunov method A = [


]
(ii) Explain POPOVs stability criterion. (8)
(OR)
b A second order system is represented by
(
(
(

= =
4 1 - 2 -
1 - 1 1
2 - 1 8
A where AX X

. Assuming matrix q to be identified

matrix, are liapunov theorem and determine the stability of the origin
of the system. Write liapunov function V(X).

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15 a (i) An observable system is described by
X

= u
1
1
2
X
0 2 0
1 1 3
0 2 1
(
(
(

+
(
(
(

; y = [0 0 1]X
Design a full order state observer so that the eigen values are at -4, -
3j1.



(8)
(ii) Write a detailed note on model predictive controller (8)
(OR)
b

A plant is described by the equation
X

=
(

2 0
0 1
X + u
(

1
1

Y = | | 3 1 X
Add to the plant equations an integrator r y = Z

(r in a constant
reference input) and select gains K, Ki so that if u = -kX KiZ the
closed loop poles are at -2, -1 jV3.





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