Subject Code / Name: IC6501/ Control Systems

UNIT-I
SYSTEMS AND THEIR REPRESENTATION
PART-A
1.

2.

3.

4.

5.

6.
CS 7

Name the basic elements used in control systems.

(AU ND 14)-3
Error detector,
Amplifier and controller,
Actuator,
Plant and
Sensor or feedback system
Define transfer function.
(AU ND 14)-3
A Transfer Function is the ratio of the output of a system to the input of a
system, in the Laplace domain considering its initial conditions and equilibrium
point to be zero. If we have an input function of X(s), and an output
function Y(s), we define the transfer function H(s) to be:

List the major advantages and disadvantages of open loop control systems.
(AU MJ 14)-2
Advantages:
The open loop systems are simple, economical, easy to construct and
stable.
Disadvantages:
The open loop systems are inaccurate, unreliable
What
are
the
applications
of
Synchros?
(AU MJ 14)-3
To control the angular position of load from remote place or long distance.
To automatic correction of changes due to disturbances in the angular
position of the load.
Name any two dynamic model used to represent control systems.
(AU MJ 13)
Block diagram reduction
Signal flow graph representation.
Write
the
masons
gain
formula
of
signal
flow
graph.
KCE/EEE/QB/IIIYr/CS

Subject Code / Name: IC6501/ Control Systems

(AU MJ 13)-3
Masons Gain formula states that the overall gain of the system is

T=

7.

8.

9.

10
.

1
k P k k

k - No. 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
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.
Compare open loop and closed loop system.
(AU MJ 13)-5
OPEN LOOP SYSTEM
CLOSED LOOP
SYSTEM
Inaccurate
Accurate
Simple and economical
Complex and costlier
The Changes in output due to
The Changes in output due to external
external disturbance are not
disturbance are corrected automatically
corrected
Great efforts are needed to design a stable
They are generally stable
system
List the basic elements for modelling in translational and rotational systems.
(AU MJ 13)-2
Translational system: Mass (M), Dash pot (B), Spring (K), Input- Force.
Rotational system: Moment of Inertia (J), Dash pot (B), Spring (K), InputTorque.
What are the advantages of the closed loop control system?
(AU ND 12)-3
It usually performs accurately even in presence of non-linearities. Change
of system
Component is automatically taken care of.
Increased bandwidth
Reduced sensitivity of the ratio of output to variation in system
characteristics.
Write down the transfer function of the system whose block diagram is shown
below.
(AU ND 12)-2

Solution:
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Subject Code / Name: IC6501/ Control Systems

C (s)
=G1 ( s ) +G2 ( s ) +G3 ( s ) G4 ( s)G5 (s)
R (s )
11
.

12
.

What
are
the
properties
of
signal
flow
graph?
(AU MJ12)
A branch indicates the functional dependence of one signal upon another.
A signal
Passes only in the direction specified by the arrow of branch.
A node adds all signals of all incoming branches and transmits this sum to
all outgoing branches.
A mixed node which has both incoming and outgoing branches may be
treated as an output node by adding an outgoing branch of unity gain.
What is meant by block diagram of a control system? What are the basic
components

of

block

diagram?

(AU ND 11)
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
13
.

14
.

15
.

16
.

point.
State the importance of a feedback element in control system.
(AU MJ 11)
The feedback element is the control and partial elimination of the effect of
disturbance signal in the control system.
Difference between servo motor and dc motor.
(AU MJ 09)
Servo motor
DC motor
Servo motors have three wires
DC motors have two wire (power &
(power, ground & control)
ground)
Servo motors does not have
DC motors have Continuous rotation
continuous rotation
motors
Define thermal resistance.
(AU ND 07)
The resistance for the heat transfer between two substances is defined as the
ratio of change in temperature and change in heat flow rate.
Thermal resistance R= (Change in temperature, ( C) / Change in heat flow
rate, (kcal/sec))
Define servomechanism.
Servomechanism is the feedback control system in which the controlled
variable or the output is a mechanical position (or) its time derivatives such as
velocity or acceleration.

17
.

18
CS 9

Give some examples of servomechanism.

What

Position control system

Power steering apparatus for an automobile
Missile launchers
Roll stabilization of ships
is source and sink?
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Subject Code / Name: IC6501/ Control Systems

.
Source is the input node in the signal flow graph and it has only outgoing
branches.
Sink is an output node in the signal flow graph and it has only in coming
branches.
19
.

Define thermal capacitance.

Thermal capacitance is defined as the ratio of change in heat stored and
change in temperature.
Thermal capacitance C= (change in heat stored, (kcal)/ change in temperature
(C))

20
.

1.

Define self-loop.
A path starting from one node and terminating at the same node without
crossing any other node even once is called self-loop.
PART-B
Consider the mechanical system shown in figure, write the differential
equation describing the dynamics of the system and also draw the electrical
analogy for the system.(16)
(AU MJ 13)

2.

The block diagram of a control system is shown in figure, determine the

transfer function. (8)
(AU MJ 13)

3.

Give the step by step procedure of determining transfer function using signal
flow graph. (8)

4.

(AU MJ 13)
Find the transfer function of the block diagram shown in figure, using masons
gain formula.

(16)

(AU MJ 13)

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Subject Code / Name: IC6501/ Control Systems

5.

Construct the equivalent signal flow graph and obtain C/R using Masons
formula for the given block diagram. (16)
(AU ND 12)

6.

For the block diagram shown below, find the output C due to R and
disturbance D. (16)
(AU
ND 12)

7.

Write the differential equation governing the mechanical rotational system

shown in figure. Draw the torque-voltage and torque-current electrical
analogous circuits and verify by writing mesh and node equation. (16)
(AU ND 12)

8.

Find C(S) / R(S) for the signal flow graph shown below.(16)
(AU ND 12)

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Subject Code / Name: IC6501/ Control Systems

9.

Using block diagram reduction technique. Find the closed-loop transfer

function C/R of the system. Whose block diagram is shown below. (16)
(AU MJ 12)

10
.

Construct the signal flow graph for the following set of simultaneous equations
obtains the overall transfer function using Masons gain formula.(16)
(AU MJ 12)

11 Consider the mechanical system shown below. Identify the variables and write
.
the differential equation. (16)
(AU ND 11)

12
.

Draw the torque-voltage electrical analogus circuit for the following

mechanical systems shown. (16)
(AU ND 11)

13
.

Obtain the transfer function of the following electrical network. (16)

(AU ND 11)

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14
.

For the signal flow graph shown in figure. Find C(S) / R(S) by using Masons
gain formula. (16)
(AU ND 11)

15
.

Find the transfer function C(s) / R(S) of block diagram shown below. (8)

16
.

Write the differential equation governing the system shown in figure. Draw the

(AU ND 11)

electrical
analogies

circuits based on both (a) Force Voltage (b) Force Current

for

the

translational

mechanical

system.

(16)

(AU MJ 11)

17
.

Obtain the overall transfer function of the following system by Masons gain
formula. (16)
(AU
MJ 11)

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Subject Code / Name: IC6501/ Control Systems

UNIT II
TIME RESPONSE
PART-A
1.

Write PID controller equation.

2.

(AU ND 14)
Transfer function of PID Controller Gc(S)=Kp+(Ki/S)+KdS
What are the standard testing signals used in control system?
(AU MJ 14)
The commonly used test input signals are Impulse, Step, Ramp, Acceleration
and sinusoidal signals.
The closed loop transfer function of a second order system is given by

3.

M(S) = (400/ (S +2S+400)).

400
S +2 S+ 400 Determine the damping ratio and
2

natural frequency of oscillation.

(AU MJ 13)
Solution: Natural frequency of oscillation n, (n2 = 400)
n = 20
Damping ratio
,
4.

5.

6.

7.

8.

= 0.05

Give the steady state errors to a various standard inputs for type-2 system.
(AU MJ 13)
ess for step input = 0
ess for ramp input = 0
ess for parabolic input = A/K
What are transient and steady state response of a control system?
(AU ND 12)
The transient response is the response of the system when the system
changes from one state to another. The steady state response is the response
of the system when it approaches infinity.
With reference to time response of a control system, define peak time.
(AU ND 12)
It is the time taken for the response to reach the peak value for the very first
time (or) it is the time taken for the response to reach peak overshoot, M p .
List the advantages of generalized error coefficients.
(AU MJ 12)
Steady state is function of time.
Steady state can be determined from any type of input
Generalized error series gives error signal as a function of time.
Using generalized error constants the steady state error can be
determined for any type of input but static error constants are used to
determine m state error when the input is anyone of the standard input.
Why derivative controller is not used in control system?
(AU ND 11)

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Subject Code / Name: IC6501/ Control Systems

9.

The derivative controller produces a control action based on the rate of

change of error signal and it does not produce corrective measures for any
constant error.
The damping ratio and natural frequency of oscillation of a second order
system is 0.5 and 8 rad/sec respectively. Calculate resonant peak and
resonant frequency.
(AU MJ 11)
Solution :
Given :

= 0.5 and n = 8

Resonant peak Mp

M p=e
Resonant frequency d = n
10
.

11
.

12
.

13
.

14
.

12

1 2

Mp

Mp

= 0.163

d = 6.928

With reference to time response of a control system, define Rise time.

(AU MJ 11)
It is the time taken for response to rise from 0 to 100% for the very first time.
For under damped system, the rise time is calculated from 0 to 100% .
For over damped system it is the time taken by the response to rise from 10%
to 90%.
For critically damped system, it is the time taken for response to rise from 5%
to 95%.
How a control system is classified depending on the value of damping?
(AU MJ 11)
Depending on the value of damping, the system can be classified into the
following four cases:
Case 1: Undamped system, = 0
Case 2: Under damped system, 0 < < 1
Case 3: Critically damped system, = 1
Case 4: Over damped system, > 1
Define type and order of a control system.
(AU MJ 11)
Type number is specified for loop transfer function but order can be specified
for any transfer function. (Open loop or closed loop transfer function).
The type number is given by number of poles of loop transfer function lying at
origin of s-plane but the order is given by the number of poles of transfer
function.
What are error coefficients Kp, Kv, Ka of a Type-0 system?
(AU MJ 11)
Positional error coefficient Kp = K
Velocity error coefficient Kv = 0
Acceleration error coefficient Ka = 0
What is meant by peak overshoot?
(AU ND 10)
It is defined as the ratio of the maximum peak value measured from final
value to final value. Let final value = c(), Maximum Value = c(t p)
Peak Overshoot, Mp = [c(tp) - c() ] / c()

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15
.

16
.

17
.

18
.

19
.

20
.

1.

2.

3.

What is meant by steady state error?

(AU ND 10)
The steady state error is the value of error signal e(t), when t tends to infinity
The steady state error is a measure of system accuracy. These errors arise
from the nature of inputs, type of system and from non-linearity of system
components.
Define delay time.
Delay time is the time required for the response to reach 50% of the final
value.
Define settling time.
Settling time is the time required for the response to reach and stay within a
specified tolerance band (2% to 5%) of its final value.
Define pole.
The pole of a function F(S) is the value at which the function F(S) becomes
infinite. Poles are the roots of the denominator polynomial.
Define zero.
The zero of a function F(S) is the value at which the function F(S) becomes
zero, where F(S) is a function of complex variable S. They are the roots of
numerator polynomial.
What is weighting function?
The impulse response of the system is called weighting function. It is given by
inverse Laplace transform of system transfer function.
PART-B
Consider a second order model and damping ratio 0<<1. Find the response y
(t) to a input of unit step function. (16)
(AU MJ 13)
The unit impulse response of a unit feedback control system is given by c (t) =
-te-t + 2e-t (t0) find the open loop transfer function. (8)
(AU MJ 13)
The unity feedback system is characterized by an open loop transfer function
is G(S) =K/(S(S+10).

4.

K
S (S +10) Determine the gain K ,so that the

system will have a damping ratio of 0.5.For this value of K, determine settling
time, Peak overshoot and time to Peak overshoot for a unit-step input. (8)
(AU ND 12)
A unity feedback system has the forward transfer function

( S )=

5.

G ( S )=

K 1 (2 s+1)
s (5 s +1)(1+ s)2

. The input r (t) = (1+6t) is applied to the system.

Determine the minimum value of K1, if the steady error is to be less than 0.1
(8)
(AU ND 12)
With suitable block diagrams and equations, explain the following types of
controllers
employed
in
control
system.
(16)

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6.

7.

8.

9.

(AU ND 12)
(i) Proportional controller
(ii) Proportional-plus-integral controller
(iii) PID controller
(iv) Integral controller
The open loop transfer function of a unity feedback control system is given
G(S) = K/(S (ST+1)) by where K and T are positive constants. By what factor
should the amplifier gain be reduced so that the peak over shoot of unit step
response of the system is reduced from 75% to 25%.
(16)
(AU MJ 12)
Discuss the effect of derivative control on the performance of a second order
system. (8)
(AU MJ 12)
Derive an expression to find steady state error of a closed loop control system.
(8)
(AU ND 11)
Consider a unity feedback system with open-loop transfer function, G

( s )=

10
.
11
.

12
.

13
.
14
.

15
.

75
( s +1 ) ( s+ 3 ) (s +8) .

Design a PID controller to satisfy the following specifications: The steady-state

error for unit ramp input should be less than 0.08.Damping ratio = 0.8 and
Natural frequency of oscillations = 2.5 rad/sec. State the expressions for the
transfer function of the PID controller and for the open loop transfer function
of the compensated system.
(AU ND 11)
Derive the expressions for unit ramp response of the first order system. (8)
(AU MJ 11)
A second order system is given by

C (s)
25
= 2
R (s ) s +6 s+25 . Find its rise time, peak

time, peak overshoot, setting time with respect to unit step input. Also obtain
the
expression
for
its
output
response.
(16)
(AU MJ 11)
Write short notes on:
(a) PI compensation
(8)
(b) PID compensation. (8)
(AU MJ 11)
Derive an expression for Peak time, Rise time, Delay time and Settling time.
(16) (AU MJ 09)
A unity feedback system is characterized by the open loop transfer function
G(S) = (1/(s (1+0.5s)(1+0.2s))). Determine the steady state error for unit step,
unit ramp and unit acceleration input. Also determine the damping ratio and
natural
frequency
of
dominant
roots.
(16)
(AU MJ 09)
The open loop transfer function of a system with unity feedback gain is given
by
G(S) =20/S 2+5S+6. Determine the damping ratio, maximum

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16
.

17
.
18
.
19
.
20
.

21
.

22
.
23
.

1.

2.

3.

4.

overshoot, rise time and peak time. Derive the used formulas. (16)
(AU ND 07)
Evaluate the static error constants for a unity feedback system having a
forward path transfer function G(S) = 50/(S(S+10)). Estimate the steady state
error of the system for the input r(t) is given by r(t)=1+2t+t 2.
(AU ND 07)
Consider a second order model and damping ratio =1. Find the response y (t)
to a input of unit step function. (16)
Consider a second order model and damping ratio =0. Find the response y (t)
to an input of unit step function. (16)
Consider a second order model and damping ratio >1. Find the response y (t)
to a input of unit step function. (16)
Sketch the root locus of the system whose open loop transfer function is

G( s)

K
s( s 2)( s 4)

. Find the value of K, so that the damping ratio of the

closed loop system is 0.5.
(16)
Draw the root locus for the open- loop transfer function of a unity feedback

G( s)

K
s( s 1)( s 3)

control system given below and determine,

i
The value of K for G=0.5
ii
The value of K for marginal stability
The value of K at S= -4
(16)
What are the rules to be followed in root locus construction? (8)

G( s)

k ( s 3)
.
s( s 1)( s 2)( s 4)

Sketch the root locus of the system having

(16)
UNIT III
FREQUENCY RESPONSE
PART-A
Write the expression for resonance frequency and resonance peak in terms of
time
response
specifications.
(AU ND 14)
Resonant Peak( Mr)=1/(2(1-2)0.5), Resonant frequency (r) = n(1-22)0.5
Define
gain
margin.
(AU ND 14)-3
Gain margin is the magnitude in decibels at phase cross over frequency.
What
is
constant
M-circles?
(AU MJ 14)
The magnitude of closed loop transfer function with unity feedback can be
shown to be in the form of circle for every value of M. These circles are called
M-circles.
Draw
the
polar
plot
of
an
integral
term
transfer
function.
(AU ND 13)

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Subject Code / Name: IC6501/ Control Systems

G(s) = 1 / S
5.

Define

phase

margin.

6.

(AU ND 13)-4
Phase margin is the phase angle at gain cross over frequency.
What
is
Nichols

chart?

(AU ND 12)
The Nichols plot is a frequency response plot of the open loop transfer
function of a system. It is a graph between magnitude of G (j) in db and the
7.

phase of G (j) in degree, plotted on an ordinary graph sheet.

What is meant by Corner frequency in frequency response analysis?
(AU ND 12)-2
The magnitude plot can be approximated by asymptotic straight lines. The
frequencies

corresponding to the meeting point of asymptotes are called

corner frequency. The slope of the magnitude plot changes at every corner
8.

frequencies.
Draw the circuit of lead compensator and draw its pole zero diagram
(AU MJ 11)
Circuit

Diagram

Pole Diagram

9.

What are the two contours of Nichols chart?

(AU MJ 11)
Nichols chart of M and N contours, superimposed on ordinary graph. The M
contours are the magnitude of closed loop system in decibels and the N

10
.

11

contours are the corresponding phase angle locus of closed loop system.
Write
the
applications
of
lead
compensator
network.
(AU MJ 11)
Lead compensator essentially yields an appreciable improvement in transient
response and a small improvement in steady state response.
What are frequency domain specifications?

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.

(AU ND 11)-3
Resonant peak, Resonant frequency, Bandwidth, Cut-off rate, Gain margin and

12
.

phase margin.
What

are

and

circles?

(AU ND 11)-2
The magnitude, M of closed loop transfer function with unity feedback will be in
the form of circle 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 value of N, a circle can be drawn in the complex

13
.

plane. The family of these circles is called N circles.

Derive the transfer function of a lead compensator.
(AU MJ 10)
The transfer function of lead compensator

E o (s) (1+ sT )
=
E i (s ) ( 1+sT )
14
.

What are the advantages of Nichols chart?

(AU ND10)
It is used to find closed loop frequency response from open loop

frequency response.
The frequency domain specifications can be determined from Nichols

chart.
The gain of the system can be adjusted to satisfy the given
specification.

15
.

16
.

17
.
18
.

What

is

cut-off

frequency?

(AU MJ 10)
The frequency at which resonant peak has a value of 1/ (2) 0.5 is of
special significance and this is called as the cut-off frequency c.
Define

Bandwidth.

(AU MJ 09)
Bandwidth is defined as the frequency at which the magnitude of M(j) drops
to 70.7% of its zero frequency level (or) 3dB-down the zero frequency gain.
What is the advantage in proportional controller?
Proportional controller produces a constant steady state error.
What is the effect of PI controller on the system performance?
The PI controller increases the order of the system by one, which results in
reducing the steady state error. But the system becomes less stable than the

19
.

original system.
What is the effect of PD controller on the system performance?

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The effect of PD controller is to increase the damping ratio of the system and so
20
.

the peak overshoot is reduced.

Why derivative control is not used in control systems?
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.

1.

Hence the derivative control is not used in control systems.

PART-B
Sketch the Bode plot showing the magnitude in decibels and phase angle in
degree as a function of log frequency for the transfer function G(S) = (75
(1+0.2S))/(S (S2+16S+100)). From the Bode plot, determine the gain cross-over

2.

frequency. (16)
(AU MJ 14)
Discuss the correlation between time and frequency response of second order
system. (16)

3.

(AU

MJ 14)
How the closed loop frequency response is determined from the open loop
frequency response using Nichols chart? Explain how the gain adjustment is
carried out on the Nichols chart.(16)
(AU MJ14)

4.

G( s)

100
s(1 0.1s )(1 0.2 s )

Consider a unity feedback open loop transfer function

Draw the
Bode plot and find the phase and gain cross over frequencies, phase and gain
margin
5.

the

stability

of

the

system.

(16)

(AU MJ13)
Sketch the polar plot for the following transfer function and determine the gain
and

6.

and

phase

margin.

G(S)=

1/s(1+s)(1+2s).

(16)

(AU MJ13)
Sketch Bode plot for the following transfer function and determine the system

G( s)

Ks

(1 0.2 s )(1 0.02 s )

gain K for the gain cross over frequency to be 5 rad/sec

(16)

(AU MJ 13)-2

7.

G(s)

80
s( s 2)( s 20)

Sketch the bode plot for

.Comment

on

. Determine G.M, P.M, gc , pc

the

stability

of

the

system.

(16)

(AU MJ 11)

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8.

Ke 0.2 s
s ( s 2)( s 8)
1. Given G(s)=

(i)

, find K for the following two case: (16)

gain margin equal to 6db

(ii) Phase margin equal to 45

9.

(AU MJ 11)

G(S )

10
S ( S 1)

A unity feedback control system has

Draw the bode plots and

explain.(16)
10
.
11
.
12
.
13
.
14
.
15
.
16
.

(AU ND 11)
A unity feedback control system has G(S)= K/S(S+4)(S+10). Draw the Bode
plot.

Find

when

phase

margin

30.

(16)

(AU MJ 10)
Explain the frequency domain specifications of a typical system. (16)
(AU MJ 10)
Draw the Bode plot for the open loop transfer function G(S)= 200(S+10)/S(S+5)
(S+20). (16)
(AU MJ 10)
Explain the effect on polar plot if a pole at origin is added to the transfer
function?

Draw

the

polar

plot

of

first

order

system.

(16)

(AU MJ 10)
For the following system, sketch the polar plot. G(S)H(S)=500/S(S2+6)(S+9).
(16) (AU MJ 10)
Explain how the closed loop response is obtained from open loop response. (16)
(AU MJ 07)
Sketch the polar plot for the system whose open loop transfer function given as
G(S) =1/S (1+S)2.

Determine the gain margin and phase margin.(16)

(AU MJ 07)
UNIT IV
STABILITY AND COMPENSATOR DESIGN
1.

How

the

roots

of

PART-A
characteristics
equation

related

to

stability?

(AU MJ 14)
If the roots of characteristic equation have positive real part then the impulse
response of the system is not bounded. Hence the system will be unstable. If
the roots have negative real parts then the impulse response is bounded.
2.

Hence the system will be stable.

State
Nyquist

stability

criterion.

(AU MJ 14)-3
If the nyquist plot of the open-loop transfer function G(S) H(S) corresponding
to the nyquist contour in the s-plane encircles the critical point -1+j0 in the
counter clockwise direction as many times as the number of right half s-plane
poles of G(S) H(S), the closed loop system is stable.
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3.

Write the necessary and sufficient condition in routh array for stability.
(AU MJ 13)
The necessary and sufficient condition in routh array for stability is that all of

4.

the elements in first column of the routh array should be positive.

State
the
properties
of
lead
compensator.
(AU ND 13)
The lead compensation increases the bandwidth and improves the speed of
response. It also reduces the peak overshoot. If the pole introduced by the
compensator is not cancelled by a zero in the system, the lead compensation

5.

increases the order of the system by one.

What
is
the
necessary

condition

for

stability?

(AU MJ 13)
The necessary condition for stability is that all the co-efficient of the
6.

characteristic polynomial be positive.

What
is

compensator?

(AU MJ 13)
A device inserted into the system for the purpose of satisfying the
7.

8.

9.

specifications is called compensators.

List
the
types

of

compensators.

(AU MJ 13)
Lag compensators, Lead compensators and Lag-Lead compensators.
What is root locus?
(AU ND 12)
It is the locus (or) path of the roots traced on the s-plane as its parameter is
changed.
State the advantages of Nyquist stability criterion over that of Rouths criterion.
(AU ND 12)
In this method we can predict the closed loop stability of a given system
from open loop data.
It can be modified for non-linear control system.
For unstable system, it indicates how to stabilize the system with the
help of suitable compensating networks to obtain desired closed loop
system specification.

10
.

11
.

12

What

are

the

salient

features

of

root

locus

plots?

(AU MJ 11)
The root locus technique is the best method for adjusting the location of
closed loop poles to get desired output of the given system. This method
permits accurate computation of the time domain response in addition to yield
readily available frequency response information.
State the rule for obtaining the breakaway point in root locus.
(AU MJ 11)
The breakaway point can be obtained as roots of characteristic equation after
making dK/ds = 0
Define stability of a system.

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.

13
.

14
.

15
.

16
.

17
.
18
.
19
.

20
.

1.

2.

(AU ND 11)
A system is said to be stable if every bounded input produces a bounded
output.
State any two limitations of Routh stability criterion.
(AU ND 11)
R-H criterion uses s-plane concept for getting result about the stability of a
given system.
If all the roots of characteristic equation have negative real parts, then the
system is said to be stable.
What are the effects of addition of open loop poles?
(AU MJ 10)
Stability of system is enhanced.
Range of gain will increase.
Settling time speeds up.
Using Routh criterion, determine the stability of the system represented by the
characteristic equation S4+8S3+18S2+16S+5=0.Comment on the location of
the
roots
of
characteristics
equation.
(AU ND 10)
No sign change in first column of Routh array. So the system is stable
What
is
meant
by
BIBO
stability?
(AU ND 10)
A linear relaxed system is said to have BIBIO stability if every bounded input
results in a bounded output.
What are the disadvantages in frequency domain design?
It gives the information on closed loop systems transient response indirectly.
What are the types of compensation schemes?
Series Compensation and Parallel or feedback compensation.
What is compensation?
The compensation is the design procedure in which the system behavior is
altered to meet the desired specifications by introducing additional device
called compensator.
Compare series and parallel compensator.
Series compensator
Parallel
Compensator
Simple in design
Not as simple as series compensator
Number of components required Number of components required in
is more
feedback compensator is less
PART-B
The open loop transfer function of a unity feedback system is given by
G(S)=K/(S+2)(S+4)(S2+6S+25). By applying Routh Criterion, discuss the
stability of the closed loop system as a function of K. Determine the values of
K which will cause sustained oscillations in the closed loop system. What are
the
corresponding
oscillation
frequencies?
(16)
(AU MJ 14)
Describe the procedure for the design of lag compensator using Bode plot.(16)
(AU MJ 14)

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3.

4.

5.
6.
7.

Explain the electric network realization of a lead compensator and also its
frequency
response
characteristics.
(16)
(AU MJ 14)
Construct Routh array and determine the stability of the system represented
by the characteristic equation and comment on the location of roots. (16)
(AU MJ 13)
(i)
S5+S4+2S3+3S+5=0
(ii)
S7+5S6+9S5+9S4+4S3+20S2+36S+36=0
Describe
the
design
procedure
of
lag-lead
compensator.
(16)
(AU MJ 13)
Describe the design procedure of lead compensator using Bode plot. (16)
(AU MJ 13)
Sketch the Nyquist plot for a system with open loop transfer function

G( s) H ( s)

K (1 0.4 s )( s 1)
.
(1 8s )( s 1)
and determine the range of K for which the system
stable.(16)

8.

is
(AU ND 12)
Determine the range of K for stability of unity feedback system whose open

G( s)

K
.
s( s 1)( s 2)

loop transfer function is

(AU ND 12)
9.

using Routh stability criterion. (16)

s 6 2 s 5 8s 4 12s 3 20 s 2 16 s 16 0

. Check the stability of the given

characteristics equation using Rouths method.(16)
(AU MJ 11)
10
.

11
.

s 6 2 s 5 8s 4 12s 3 20 s 2 16 s 16 0

. Check the stability of the given

characteristics equation using Rouths method.(16)
(AU MJ 11)
Draw the Nyquist plot for the system whose open loop transfer function is

G( s) H ( s)

K
.
s( s 2)( s 10)
Determine the range of K for which the closed loop
is
stable.(16)

12
.

system
(AU MJ 11)
The open loop transfer function of a unity feedback control system is

G f ( s)

k
s( s 1)( s 2)

Design a suitable lag-lead compensator so as to meet the specifications.

50
Static velocity error constant Kv=10 sec
CS 25

-1

,phase margin =

, and gain

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Subject Code / Name: IC6501/ Control Systems

13
.

14
.

margin 10 dB.(16)
(AU MJ 11)
A unity feedback system is characterized by the open loop transfer function,

G( s)

k
.
( s 2)( s 10s 2 49 s 100)
3

Using Routh-Stability criterion; calculate the

range of values of K for system to be stable. Determine the value of K, which
will cause sustained oscillations in the closed loop system, Also determine the
frequency
of
sustained
oscillations.
(16)
(AU MJ 11)
Sketch the Nyquist plot for a system with open loop transfer function

G( s) H ( s)

K (1 0.4 s )( s 1)
.
(1 8s )( s 1)
and determine the range of K for which the system

15
.

is stable. (16)
(AU ND 11)
List the advantages of Rouths array method of examining stability of a control
system. (8)
(AU ND 11)

16
.

G(S )
A unity feedback control
compensator such that the

10
S ( S 1)

system has
.Design a lead
closed loop system will satisfy the following

30
specifications: Static velocity error constant = 20 sec.
Gain margin

Phase margin =

10 dB. Draw the bode plots and explain. (16)

(AU ND 11)

17
.

18
.

Using Routh criterion, investigate the stability of a unity feedback control

e at
s ( s 2)
system whose open-loop transfer function is given by G(s) =
. (16)
(AU MJ 10)
Construct the Nyquist plot for a system whose open loop transfer function is

G( s) H ( s)
given by
(AU ND 10)

1.

K (1 S ) 2
S3

.Find the range of K for the stability. (16)

UNIT V
STATE VARIABLE ANALYSIS
PART-A
What are the advantages of state space representation?
(AU MJ 13)
It can be applied to non linear system.

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2.

3.

4.

5.

6.

7.

8.

9.

10

It can be applied to tile invariant systems.

It can be applied to multiple input multiple output systems.
It gives idea about the internal state of the system.
Define
state.
(AU MJ 13)
The state of a dynamic system is defined as a minimal set of variable such
that the knowledge of these variables at t=t0 together with the knowledge of
the inputs for t t0 , completely determines the behaviour of the system for t
> t0 .
Define
state
variable.
(AU MJ 13)
The variables involved in determining the state of a dynamic system X (t), are
calked the state variables. X 1(t), X2(t)........Xn(t) are nothing but the state
variables. These are normally the energy storing elements contained in the
system.
What is meant by Sampled-data control systems?
(AU ND 12)
When the signal or information at any or some points in a system is in the
form of discrete pulses, then the system is called discrete data system or
sampled data system.
How the model matrix is determined?
(AU MJ 12)
The modal matrix M can be formed from eigenvectors. Let m 1, m2, m3mn
be the eigenvectors of a 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 meant by quantization?
(AU MJ 12)
The process of converting a discrete-time continuous valued signal into a
discrete time discrete valued signal is called quantization. In quantization the
value of each signal sample is represented by a value selected from a finite
set of possible values called quantization levels.
What are the advantages of state- space approach?
(AU ND 11)
The method takes into account the effect of all initial conditions.
It can be applied to nonlinear as well as time varying systems.
It can be conveniently applied to multiple input multiple output
systems.
Any type of the input can be considered for designing the system.
What is 'alis' in sampling process?
(AU ND 11)
The improper sampling process produces an erroneous signal which is called
an alias.
Name the methods of state space representation for phase variables.
(AU MJ 11)
state model from differential equation
state model from Transfer function
What is meant by sampling theorem?

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.

11
.

12
.

13
.

14
.

15
.
16
.

17
.

18
.

19
.

20
.

(AU ND 10)
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 F s is greater than or equal to 2f m samples per
second.
Define Acquisition time.
In analog-to-digital conversion process, the Acquisition time is defined as the
total time
required for obtaining a signal sample and the time for quantizing and
coding .It is also called conversion time.
Define state vector.
If there are n variables x1,x2,.xn to describe the state, then the vector X of n
components is called state vector.
Define state space.
The n dimensional space defined by the state variables as coordinate is called
the state space.
What is state diagram?
The pictorial representation of the state model of the system is called state
diagram. The state diagram of the system can be either in block diagram or in
signal flow graph form.
What are the basic elements used to construct the state diagram?
Scalar, Adder and Integrator.
Define characteristic equation of a matrix.
The characteristic equation of a nXn matrix A is the nth degree polynomial of
equation,
[I-A]=0, where I is the unit matrix.
Define 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).
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.
What is the need for controllability test?
The controllability test is necessary to find the usefulness of a state variable. If
the state variables are controllable then by controlling (i.e., varying) the state
variables the desired outputs of the system are achieved.
What is the need for observability test?
The observability test is necessary to find whether the state variables are
measurable or not. If the state variables are measurable then the state of the

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21
.
1.

2.

3.

4.

5.

system can be determined by practical measurements of the state variables.

List the methods to find Observability and Controllability.
Kalmans method and Gilberts method
PART-B
The state space representation of a system is given below. Obtain the transfer
function. (16)

(AU ND 12)
Determine the controllability and observability of the following system. (16)

(AU ND 12)
Obtain the state space representation of armature controlled D.C. motor with
load, shown
below. (16)

Choose the armature current i a, the angular displacement of the shaft , and
the speed d/dt as state variables and as output variables.
(AU MJ 12)
The
state
model
matrices
of
a
system
are
given
below.
(AU MJ 12)

Evaluate the observability of the system using Gilberts test. (16)

Find the controllability of the system described by the following equation: (16)
(AU MJ 12)

6.

Determine the transfer function from the data given below and also check
controllability :
(16)
(AU MJ 10)

7.

Determine the state controllability and observability of the system described

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by (16)

8.
9.

(AU ND 10)
Using cascade method decomposes the transfer function and obtains the state
model. (16)
(AU MJ 10)
Obtain the state space representation for the blow diagram shown in figure
below and also check controllability and observability.

(16)

(AU

MJ 10)
10
.

Write the state equations for the system shown below in which x1, x2 and x3
constitute the

state
11
.

12
.
13
.
14
.

vector.

(16)

(AU MJ 10)
Determine whether the system is completely controllable and observable. (16)
(AU MJ 10)

Explain in detail the state space representation for continuous time systems.
(16) (AU ND 10)
Explain in detail the state space representation for discrete time systems.
(16)
(AU ND 10)
A sampled data control systems is shown in the figure below. (16)

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15
.

Find the open loop transfer function, if the controller gain is unity with
sampling time 0.5 seconds.
(AU ND 10)
Compare conventional control method and state space analysis method. (16)

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