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CS/M.Tech (EE-CI) /SEM-1/CIM-101/2012-13

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2012
CONTROL SYSTEM-I
Time Allotted : 3 Hours Full Marks : 70
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The figures in the margin indicate full marks.
Candidates are required to give their answers in their own words
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as far as practicable.
Answer Question no. 1 compulsorily and any four from the rest.

1. Choose the correct alternatives for the following and justify.

7 × 2 = 14
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i) A unity feedback system has the forward transfer

K ( 2s + 1 )
function G ( s ) = . The input ( 1 + 6t )
S ( 5s + 1 ) ( s + 1 )2
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is applied to the system. The value of K for a steady-

state error to be less than 0⋅1 is
a) K > 120 b) 10 < K < 50
c) K > 60 d) None of these
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ii) For the system

 0 1 0
x& ( t ) =   x (t ) +  1  u ( t ) ; y ( t ) = [1 0 ] x ( t )
 − 2 − 3  
a c.

the system transfer function is

S S +3
a) 2
b) 2
S + 2S + 3 S + 3S + 2
1 S +1
c) 2
d) .
S + 3S + 2 S 2 + 3S + 2
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iii)
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Fig. 1

Two Block diagrams are shown in Fig. 1. These are

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same in input-output behaviour for the value of X ( s ) is
a) −G(s) b) C1 ( s ) − G ( s )
1 C1 ( s )
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c) d) .
G (s ) G (s )

iv) If the closed-loop unit step response of a linear system

is C ( t ) = 1 + 0⋅2 e −60t − 1⋅2 e −10t , then the undamped

natural frequency and damping ratio of the system is

er.

r
a) wn = 18 ⋅ 6 , ρ = 0 ⋅ 72
s
r
b) wn = 24 ⋅ 49 , ρ = 1 ⋅ 428
s
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r
c) wn = 30 ⋅ 5 , ρ = 0 ⋅ 64
s
r
d) wn = 12 ⋅ 2 , ρ = 0 ⋅ 44 .
s
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v) A linear system with the characteristic equation :

S 5 + S 4 + 2S 3 + 2S 2 + 3S + 5 = 0 has

a) All roots in the left half of s-plane

a c.

b) One root in the right half of s-plane

c) Two roots in the right half of s-plane

d) Two roots on the imaginary axis.

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vi) A linear system is characterised by a state model with

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matrices :
 −1 0 0
A=  , B =   , C = [1 2 ]
 0 −2 1 
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The system is

a) controllable and observable

b) controllable but unobservable

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c) uncontrollable but observable

d) uncontrollable and unobservable.

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vii) If damping ratio is ρ = 0⋅5 and unit step is applied to the

system shown in Fig. 2, then

a) α = 0⋅2, Mp = 16⋅3 % b) α = 1⋅2, Mp = 15⋅5 %

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c) α = 0⋅8, Mp = 24⋅2 % d) none of these.

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Fig. 2

2. The open-loop transfer function of an uncompensated unity

K
feedback control system is G ( s ) = . Design a
a c.

s (s + 2 )

suitable compensator for the system so that the static

velocity error constant Kv is 20 sec −1 and phase margin is at
in

least 55°. 14

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3. a) Derive the transfer function E 0 ( s ) / E i (s ) for the

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network shown in Fig. 3
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Fig. 3

R1 = R 2 = 1 M Ω
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C1 = C 2 = 1 µ F 5

b) Obtain a mathematical model describing the motion of

an Inverted Pendulum-on-the cart system. Consider a

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control force u is applied to the cart and the pendulum

moves only in a two dimensional plane. Assume that the

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c.g. of the pendulum rod is at its geometric centre and

the angle of rod θ from the vertical line and θ& are small

quantities. 9
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4. a) Discuss the advantages of D.C. servomotors as

actuators in servo-applications. Considering that the

motor load consists of inertia and viscous friction, show

a c.

how an approximate transfer function of a d.c.

servomotor can be obtained by linearisation of the

speed- torque curves about an operating point. 8

in

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b) For the system shown in Fig. 4, determine the values of

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gain K and velocity feedback constant K t so that the

maximum overshoot in the unit step response is 0⋅25

and the peak time is 0⋅8 sec. With these values of K and
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K t , obtain the rise time and settling time. 6
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Fig. 4
5. a) Discuss the effects of a PD controller on the functioning
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of a closed loop control system with a second order

plant transfer function. 4
b) Develope a Block diagram and derive over-all transfer
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function for controlling the angular position of a shaft

using potentiometer error detector and an armature
controlled d.c. servomotor.
Compute the damping ratio, peak overshoot and settling
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time. Given :
Kp ( pot. sensitivity ) 2⋅5 V/rad, K A (ampl.) = 15,
Ra = 0⋅2Ω K T = 12 × 10 −5 nm/A, K b = 15 × 10 −5
a c.

V/rad/s, Gear ratio = 100 : 10, Equivalent

−5
J = 15 × 10 Kg - m , Equivalent B = 10 × 10 −5
2

nm/rad/s referred to the motor side. 10

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6. a) Check the controllability and observability of the system

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with state model : 4
0 1 0 0
x& ( t ) =  0 0 1  x (t ) + 0 u (t ); y (t ) = [10 0 ] x (t )
 
 0 0 0  1 
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b) The state model of a third order control system is
described by :
 0 1 0  0
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
x& ( t ) =  0 0 1  x (t ) + 0 u (t )
 
 − 30 − 31 − 10  1 
y (t ) = [10 0 ] x (t )
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It is desired to modify the transient and steady state

performance of the system by linear state feedback.
To meet the design specifications, the dominant closed
loop poles are to be located at Sd = − 4 + j 3 and the
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third pole has to be shifted to Sd = − 10 . The steady-

state error to a step input has to be made zero.
Compute the required controller gains which would
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satisfy the above performance requirement. Show an

implementation scheme assuming all state variables are
available for measurement. 10
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7. a) The plant transfer function of a unity feedback process

control system is available as
210
G p (s ) = 3 2
s + 20s + 121s + 210
a c.

Perform the Zeigler-Nichols controller settings for PI and

PID controllers to be employed in the forward path.
Determine the closed loop transfer function with PI
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control action. 9

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b) A system is described by the transfer function

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Y (s ) 20 (10s + 1)
G (s ) = =
U (s ) s 3 + 3s 2 + 2s + 1

Find the state and output equation of the system. Give a

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Block diagram representation of the state model. 5

8. a) A linear time invariant system is represented by a state

model :
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− 1 1  0
x& ( t ) =  x (t ) + 1 u (t ).
0 − 2  
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If the system is initially relaxed, determine the state

response due to a unit step input. 7

1
b) Write short notes on any two of the following : 2×3
2
i) State diagrams of Digital systems.
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ii) Hydraulic Actuator system with negative feedback.

iii) Effect of adding a zero to the transfer function of a

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control system

iv) Linear observer-based state feedback control

system with scalar input and output.

v) Phase variables and transformation to controllable

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canonical form.
a c.
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