Control System
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QUANTUM SERIES
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B.Tech Students of Third Year
of All Engineering Colleges Affiliated to
Dr. A.P.J. Abdul Kalam Technical University,
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(Formerly Uttar Pradesh Technical University)
CONTROL SYSTEM
By
Varun Gupta
TM
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Control System (EN : Sem-5)
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CONTENTS
KEE–502 : CONTROL SYSTEM
UNIT-1 : CONTROL SYSTEM CONCEPTS (1–1 C to 1–39 C)
Control System Concepts: Elements of control systems, concept of
open loop and closed loop systems, Examples and application of
open loop and closed loop systems, Mathematical Modelling of
Physical Systems (Electro Mechanical), Determination of transfer
function by block diagram reduction techniques and signal flow
method using Mason’s gain formula, Basic Characteristics of negative
feedback control systems. Control System Components:
Constructional and working concept of AC & DC servomotor,
synchro’s, stepper motor and tachometer.
UNIT-2 : TIME RESPONSE ANALYSIS (2–1 C to 2–38 C)
Time Response Analysis: Standard test signals, time response analysis
of first and second order systems, time response specifications of
second order system for unit step input, location of roots of
characteristics equation and corresponding time response, steady
state errors and error constants. Basic modes of feedback control:
Proportional, Derivative, Integral and PID controllers.
UNIT-3 : STABILITY & ALGEBRAIC CRITERIA (3–1 C to 3–25 C)
Stability and Algebraic Criteria: Concept of stability and its
necessary conditions, Routh-Hurwitz criteria and its limitations.
Root Loc us Tec hni que: Sali ent features of root loc us plot,
Procedure for plotting root locus, root contours.
UNIT-4 : FREQUENCY RESPONSE ANALYSIS (4–1 C to 4–39 C)
Frequency Response Analysis: Frequency Response analysis from
transfer function model, Construction of polar and inverse polar
plots. Stability in Frequency Domain: Nyquist stability criterion,
Determination of gain and phase margin from Bode & Nyquist
Plots, Correlation between time and Frequency Responses.
UNIT-5 : INTRODUCTION TO DESIGN (5–1 C to 5–41 C)
Introduction to Design: The design problems and preliminary
considerations of lead, lag and lead-lag compensation networks,
design of closed loop systems using compensation techniques in
time and frequency domains. State Space Technique: The concept of
state & space, State-space model of physical system, conversion of
state-space to transfer function model and vice-versa, State transition
matrix, Concept of controllability and observability and their testing.
SHORT QUESTIONS (SQ-1C to SQ-20C)
SOLVED PAPERS (2013-14 TO 2019-20) (SP-1C to SP-43C)
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ELECTRICAL & ELECTRONICS ENGINEERING
CONTROL SYSTEM
Pre-requisites of course: Basic signal systems
Course Outcome Knowledge
Level, KL
Upon the completion of the course, the student will be able to:
Obtain transfer functions to predict the correct operation of open loop and closed
CO 1 loop control systems and identify the basic elements, structures and the K3
characteristics of feedback control systems.
Measure and evaluate the performance of basic control systems in time domain.
CO 2 K4
Design specification for different control action.
Analyze the stability of linear time-invariant systems in time domain using Routh-
CO 3 K4
Hurwitz criterion and root locus technique.
Determine the stability of linear time-invariant systems in frequency domain using
CO 4 K4
Nyquist criterion and Bode plot.
Design different type of compensators to achieve the desired performance of
CO 5 control System by root locus and Bode plot method. Develop and analyze the K5
intermediate states of the system using state space analysis.
KL- Bloom’s Knowledge Level (K1, K2, K3, K4, K5, K6)
K1 – Remember K2 – Understand K3 – Apply K4 – Analyze K5 – Evaluate K6 – Create
Detailed Syllabus:
Unit-I:
Control System Concepts: Elements of control systems, concept of open loop and closed loop systems,
Examples and application of open loop and closed loop systems, Mathematical Modelling of Physical Systems
(Electro Mechanical), Determination of transfer function by block diagram reduction techniques and signal
flow method using Mason’s gain formula, Basic Characteristics of negative feedback control systems.
Control System Components: Constructional and working concept of AC & DC servomotor, synchro’s,
stepper motor and tachometer.
Unit-II:
Time Response Analysis: Standard test signals, time response analysis of first and second order systems, time
response specifications of second order system for unit step input, location of roots of characteristics equation
and corresponding time response, steady state errors and error constants.
Basic modes of feedback control: Proportional, Derivative, Integral and PID controllers.
Unit-III:
Stability and Algebraic Criteria: Concept of stability and its necessary conditions, Routh-Hurwitz criteria
and its limitations.
Root Locus Technique: Salient features of root locus plot, Procedure for plotting root locus, root contours.
Curriculum & Evaluation Scheme EN (V & VI semester) Page 7
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ELECTRICAL & ELECTRONICS ENGINEERING
Unit-IV:
Frequency Response Analysis: Frequency Response analysis from transfer function model, Construction of
polar and inverse polar plots.
Stability in Frequency Domain: Nyquist stability criterion, Determination of gain and phase margin from
Bode & Nyquist Plots, Correlation between time and Frequency Responses.
Unit-V
Introduction to Design: The design problems and preliminary considerations of lead, lag and lead-lag
compensation networks, design of closed loop systems using compensation techniques in time and frequency
domains.
State Space Technique: The concept of state & space, State-space model of physical system, conversion of
state-space to transfer function model and vice-versa, State transition matrix, Concept of controllability and
observability and their testing.
Text Book:
1. I. J. Nagrath & M. Gopal, “Control System Engineering”, 6th Ed. New Age International
Publishers, 2018. 4th Edition
2. M. Gopla, “Control System Principles and Design”, McGraw Hill 4th Edition
3. Ogata, "Modern Control Engineering, 5th Edition", Pearson Education, 2015
4. B.C. Kuo & Farid Golnaraghi, “Automatic Control Systems”, 10th Edition, McGraw Hill
5. D. Roy Choudhary, “Modern Control Engineering”, Prentice Hall of India.
1. Salivahanan, "Control Systems Engineering", Pearson Education, 2015.
6. Ambikapathy, “Control Systems”, Khanna Publishers
Reference Books:
1. (Schaums Outlines Series) Joseph J. Distefano III, Allen R. Stubberud, Ivan J. Williams, “Control
Systems”, 3rd Edition, McGraw Hill, Special Indian Edition, 2010.
2. Norman S. Mise, Control System Engineering, Wiley Publishing Co.
3. Ajit K Mandal, “Introduction to Control Engineering” New Age International.
4. R.T. Stefani, B.Shahian, C.J.Savant and G.H. Hostetter, “Design of Feedback Control Systems”
Oxford University Press.
5. Samarjit Ghosh, “Control Systems theory and Applications”, Pearson Education.
Curriculum & Evaluation Scheme EN (V & VI semester) Page 8
Control System
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1 Control System
Concepts
Part-1 ............................................................................... (1–2C to 1–6C)
• Concept of Control System
• Physical Systems and their Mathematical Modeling
A. Concept Outline : Part-1 ............................................................. 1–2C
B. Long and Medium Answer Type Questions ............................... 1–2C
Part-2 ............................................................................ (1–7C to 1–17C)
• Construction and Working of AC & DC Servomotor
• Synchros
• Stepper Motor and Tachometer
A. Concept Outline : Part-2 ............................................................. 1–7C
B. Long and Medium Answer Type Questions ............................... 1–7C
Part-3 .......................................................................... (1–17C to 1–30C)
• Transfer Function Models • Block Diagram Algebra
• Signal Flow Graph • Mason’s Gain Formula
A. Concept Outline : Part-3 ........................................................... 1–17C
B. Long and Medium Answer Type Questions ............................. 1–18C
Part-4 .......................................................................... (1–30C to 1–37C)
• Open Loop and Closed Loop Systems and their Sensitivity Analysis
A. Concept Outline : Part-4 ........................................................... 1–30C
B. Long and Medium Answer Type Questions ............................. 1–31C
Control System Concepts
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PART-1
Concept of Control System,
Physical Systems and their Mathematical Modeling.
CONCEPT OUTLINE : PART-1
• Open loop control system :
1. The control action is independent on the desired output.
2. In this system the output is not compared with the reference
input.
• Closed loop control system : In a closed loop control system
the control action is dependent on the output.
Questions-Answers
Long Answer Type and Medium Answer Type Questions
Que 1.1. Explain open loop and closed loop control system with
the help of suitable examples.
Answer
A. Open loop control system :
1. The open loop control system is also known as control system without
feedback or non-feedback control system.
2. In open loop systems the control action is independent of the desired
output.
3. In this system the output is not compared with the reference input.
4. The component of the open loop systems are controller and controlled
process.
Controlled
Input Controller Output
process
Fig. 1.1.1.
Examples :
1. Automatic washing machine
2. Immersion rod
3. A field control DC motor.
B. Closed loop control system :
1. Closed loop control system is also known as feedback control system.
Control System
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2. In closed loop control system the control action is dependent on the
desired output.
3. Any system having one or more feedback paths forms a closed loop
system. In closed loop systems the output is compared with the reference
input and error signal is produced.
4. The error signal is fed to the controller to reduce the error and desired
output is obtained.
Error signal
Reference Controlled
Amplifier Controlled process
input + – output
+
Feedback
Fig. 1.1.2.
Examples :
1. Air conditioners
2. Autopilot aeroplane
3. Electric iron.
Que 1.2. Compare the open loop control system and closed loop
control system, also give few examples for each system.
AKTU 2013-14, Marks 05
Answer
S. No. Open loop Closed loop
1. Feedback is not present. So Feedback is present. So changes
any change in output has no in output effects input.
effect on the input.
2. It is not much accurate. It is very accurate.
3. It is very sensitive to errors Less sensitive to errors and
and disturbances. disturbances.
4. It has small bandwidth. It has large bandwidth.
5. Simple in construction and is Complicated in design and costly.
cheap.
6. Highly affe cted by no n- Less affected by non-linearity.
linearity.
7. Examples : Washing Examples : Ele ctric iro n,
machine, traffic signal. automatic gear.
Control System Concepts
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Que 1.3. Derive force-voltage analogy.
Answer
Translation mechanical systems :
1. A translational spring-mass-damper system is shown in Fig. 1.3.1.
f(t) Applied force
x Displacement
K
M
Spring Mass Damper
Fig. 1.3.1. Translational spring-mass-damper system.
2. Here, M = Mass of system
f(t) = Applied force
D = Coefficient of damping
K = Spring deflection constant
3. The equation of motion for the system is obtained by applying
D Alembert’s principle,
d2 x dx
M =–D – Kx + f(t) ...(1.3.1)
dt2 dt
4. Rearranging eq. (1.3.1), we get
d2 x dx
M D Kx = f(t) ...(1.3.2)
dt 2 dt
Force-voltage analogy :
1. The analogy of eq. (1.3.2) with the voltage equation of an electrical
circuit can be established by considering electrical circuit shown in
Fig. 1.3.2.
R L
e(t) i C
Fig. 1.3.2. Electrical circuit for force-voltage analogy.
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2. The voltage equations for the circuit is as follows :
di 1
L Ri idt = e(t) ...(1.3.3)
dt C
3. As the current is the rate of flow of electric charge.
dq
i= ...(1.3.4)
dt
4. Substituting eq. (1.3.4) in eq. (1.3.3),
d2q dq 1
L R q = e(t) ...(1.3.5)
dt 2 dt C
5. Comparing eq. (1.3.5) and (1.3.2), we get
Table 1.3.1. Force-Voltage Analogy
Mechanical system Electrical system
Force, f Voltage, e
Velocity, v Current, i
Displacement, x Charge, q
Mass, M Inductance, L
Damping coefficient, D Resistance, R
Compliance, 1/K (stiffness, K) Capacitance, C
Que 1.4. Derive force-current analogy.
Answer
Translational mechanical system : Refer Q. 1.3, Page 1–4C, Unit-1.
Equation of spring-mass-damper system
d2 x dx
M D Kx = f(t) ...(1.4.1)
dt 2 dt
Force-Current analogy :
1. The nodal equation as obtained for the circuit shown in Fig. 1.4.1 is
analogous to spring-mass-damper system described by the eq. (1.4.1).
iL iR iC
i(t) L e
R C
Fig. 1.4.1. Electrical circuit for force-current analogy.
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2. According to nodal analysis
iL + iC + iR = i(t) ...(1.4.2)
3. The common voltage across the three parallel elements of the circuit is
denoted as e. The following relations are obtained :
1
edt
L
iL = ...(1.4.3)
1
iR = e ...(1.4.4)
R
de
iC = C ...(1.4.5)
dt
4. Substituting eq. (1.4.3), (1.4.4) and (1.4.5) in eq. (1.4.2),
1 1 de
edt e C
L
= i(t) ...(1.4.6)
R dt
5. The voltage e is related to flux linkages associated with inductance L as
follows :
d
e= ...(1.4.7)
dt
d
6. Putting e = in eq. (1.4.6), we get
dt
1 1 d d2
C 2 = i(t)
L R dt dt
d 2 1 d 1
C = i(t) ...(1.4.8)
dt2 R dt L
7. Comparing eq. (1.4.1) and (1.4.8), we get
Table 1.4.1. Force-Current Analogy
Mechanical system Electrical system
Force, f Current, i
Velocity, v Voltage, e
Displacement, x Flux linkage,
Mass, M Capacitance, C
Damping coefficient, D Conductance, G
Stiffness, K (compliance, 1/K) Inductance, L
Control System
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PART-2
Construction and Working of AC and DC Servomotor,
Synchros, Stepper Motor and Tachometer.
CONCEPT OUTLINE : PART-2
• Servomotors are of two types :
1. AC servomotor 2. DC servomotor
• Synchro : A synchro is an electromagnetic transducer
commonly used to convert angular position of a shaft into an
electric signal.
• Stepper motor : The stepper motor is a special type of
synchronous motor which is designed to rotate through a specific
angle for each electrical pulse received from its control unit.
Questions-Answers
Long Answer Type and Medium Answer Type Questions
Que 1.5. Describe the AC servomotor for control application.
AKTU 2013-14, Marks 10
OR
Explain construction and working of AC servomotor.
AKTU 2014-15, Marks 10
Answer
Construction :
1. Fig. 1.5.1 shows the schematic diagram of a 2 AC servomotor.
2. The stator has two distributed windings which are displaced from each
other by 90 electrical degrees.
3. One winding is called the reference or fixed phase and other winding is
called control phase.
Working principle :
1. Reference phase is supplied from a constant voltage source Vr 0°.
The other winding i.e., control phase is supplied with a variable voltage
of the same frequency as the reference phase but its phase is displaced
by 90° (electrically).
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2. The control phase is usually supplied from a servo amplifier.
3. The speed and torque of the rotor are controlled by the phase difference
between the control voltage and the reference phase voltages.
4. The direction of rotation of the rotor can be reversed by reversing the
phase difference from leading to lagging between the control phase
voltage and the reference phase voltage.
Control winding Vc Amplifier From controller
Reference winding
Vr
Squirrel-cage rotor Fixed AC voltage
Fig. 1.5.1.
Applications :
1. In feedback control systems
2. In aircraft and spacecraft
3. In tracking and guidance systems
4. In robotics
5. In radar and machine tools
6. In process controller
7. In radio controlled cars and airplanes.
Que 1.6. Write a short note on armature-controlled DC servo
motor.
Answer
1. Consider the armature controlled DC motor (DC servo motor) and
assume that the demagnetizing effect of armature reaction is neglected,
field voltage is constant and magnetic circuit is linear. Armature
controlled DC servo motor is shown in Fig. 1.6.1.
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Ra La
B
ia J
V E T
if
Lf
Constant
Fig. 1.6.1.
2. Let Ra = Armature resistance
La = Armature inductance
ia = Armature current
E = Induced emf in armature
V = Applied armature voltage
= Angular displacement of the motor shaft
T = Torque developed by motor
J = Equivalent moment of inertia of motor shaft
and load referred to the motor
B = Equivalent viscous friction coefficient.
3. Apply KVL in armature circuit
La dia
V= Ra ia E ...(1.6.1)
dt
4. In the armature-controlled DC motor, the field current is held constant.
For a constant field current, the flux becomes constant, and the torque
becomes directly proportional to the armature current so that
T ia
T = Kia ...(1.6.2)
5. When armature is rotating, an emf is induced
K b d
E= ...(1.6.3)
dt
6. The armature current produces the torque which is applied to the inertial
mass and friction hence the force balance equation is
Jd 2 Bd
= T = KIa ...(1.6.4)
dt 2 dt
7. Taking the Laplace transform on both sides of eq. (1.6.4) and (1.6.1)
(sLa + Ra) Ia(s) + E(s) = V(s) [Initial condition is zero]
(Js2 + Bs) (s) = T(s) = KIa(s) ...(1.6.5)
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8. The transfer function of this system is obtained as
( s) K
= s[ L Js 2 ( BL JR ) s R B KK ] ...(1.6.6)
V (s ) a a a a b
9. Block diagram is shown in Fig. 1.6.2.
+ 1 Ia(s) K (s)
V(s)
– sLa + Ra s(Js + B)
E(s)
sK b
Fig. 1.6.2.
Que 1.7. Write a short note on field controlled DC servomotor.
Answer
1. A schematic diagram of a field controlled DC motor (DC servo motor)
shown in Fig. 1.7.1.
Rf Ra
ia = Constant
ef if Lf J ea
T
B
Fig. 1.7.1.
2. Here, Rf = Field winding resistance
Lf = Field winding inductance
If = Field winding current
Ra = Armature resistance
ia = Armature current
= Angular displacement.
3. The torque T developed by the motor is proportional to product of the
air-gap flux and armature current ia so we get
T = K1 i a ...(1.7.1)
where K1 is constant.
4. But the air gap flux and the field current if are proportional for the
usual operating range of the motor and ia is assumed to be constant, we
can rewrite the above equation as
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T = K2 i f ...(1.7.2)
where K2 is a constant.
5. The equations for this system are
dif
Lf R f if = ef ...(1.7.3)
dt
Jd 2 Bd
and = T = K2 i f ...(1.7.4)
dt 2 dt
6. By taking the Laplace transform on both sides of eq. (1.7.3) and (1.7.4)
where all initial conditions are zero, we get
(Lfs + Rf) if(s) = Ef(s) ...(1.7.5)
(Js2 + Bs) (s) = K2if(s) ...(1.7.6)
7. From the above equations, the transfer function of this system is obtained
as
(s) K2
= ...(1.7.7)
E f (s ) s( Lf s Rf )( Js B)
8. Block diagram is shown in Fig. 1.7.2.
1 If(s) K2
Ef(s) (s)
L fs + R f s(Js + B)
Fig. 1.7.2.
Que 1.8. Explain principle of synchros and how it works as an
error detector.
Answer
A. Principle of synchros :
1. It is a rotary transducer that converts angular displacement into an AC
voltage or an AC voltage into an angular displacement.
2. A synchros system consists of
i. A control transmitter (CX) and
ii. A control transformer (CT).
3. The control transmitter consists of a stator and a rotor. The rotor is a
dumb-bell shaped magnetic structure. The supply is given to the rotor
by means of slip rings, which are actually mounted on the stator housing.
4. The secondaries are in the skewed slot all along the periphery of the
stator and are 120° apart because of their mechanical displacement.
5. The induced secondary voltage will depend upon the angle of the rotor
shaft. For reference the zero degree position of the shaft is defined
when the rotor is in alignment with the coil S2.
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6. In this position, the voltage in coil S2 is maximum, and similarly the
maximum voltage in coils S1 and S3 will result at 120° and 240° positions
respectively. The voltage in S2 is a function of and so is the voltage in
S1 and S3. Thus,
E0s2 = A cos
E0s1 = A cos ( – 120°)
E0s3 = A cos ( – 240°)
S2
Stator
Slip rings
R1
AC supply
R2 S1
S3
Fig. 1.8.1. Schematic diagram of synchro transmitter.
7. The connections of the synchro are made between the terminals and
hence
Es1s2 = E0s1 – E0s2
= A cos ( – 120°) – A cos
1 3
= A cos sin cos
2 2
3 1
= 3 A cos sin
2 2
3 1
8. Therefore, Es2s1 = 3A cos sin
2 2
= 3 A cos ( 30) ...(1.8.1)
Similarly, Es3s2 = 3 A cos ( 150) ...(1.8.2)
Es1s3 = 3 A cos ( 270) ...(1.8.3)
B. Synchros as an error detector :
1. This is the most commonly used error detector in AC system and is
known by several names such as Selsyn, Telesyn Circutrol, Dichloyn,
Teletorque and Autosyn, etc. It has high sensitivity and infinite
resolution.
2. The schematic diagram of synchro-pair error detector is shown in
Fig. 1.8.2.
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3. The stator windings of the control transformer are connected electrically
to the control transmitter and hence the magnetic field established in
the control transformer depends upon the terminal voltages of the
control transmitter, which are functions of the angular position of the
transmitter rotor.
4. Since the voltage induced in the rotor of the control transformer
depends upon the angle at which its turns are cut by the magnetic field
of the stator, this induced voltage is determined both by the angular
position of the transformer rotor and the angular direction of the
stator magnetic field.
5. Numerically, the voltage induced in the transformer rotor is equal to
the sine of the difference angle between r and L multiplied by the
maximum voltage induced.
6. When the control transformer is connected as a component of the
servo system, the correct zero position must be selected.
7. The voltages given by eq. (1.8.1), (1.8.2) and (1.8.3) are now impressed
across the corresponding stator terminals of the control transformer.
8. When the rotor positions of the two synchros are in perfect alignment,
the voltage generated across the terminals of the CT rotor windings is
zero.
9. When the two rotor shafts are not in alignment, the rotor voltage of
the CT is approximately a sine function of the difference between the
two shaft angles.
R1 Synchro Control R1
transmitter (CX) transformer (CT)
S2 S2 Output voltage
AC source proportional to
sin ( r – L)
Stator Stator
R2 R2
S3 S3
S1 S1
r L
Fig. 1.8.2. Synchro error detector.
Que 1.9. Explain the working principle of stepper motor with
neat diagram. Also give applications.
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Answer
A. Stepper motor :
1. A stepper motor is a form of AC motor. The input given to this motor is
in the form of electric pulses.
2. For every input pulse, the motor shaft turns through a specified number
of degrees, called a step.
3. Shaft of stepper motors moves through one angular step for each
input pulse. The range of step size may vary from 0.72° to 90°.
B. Principle of operation :
1. Stators of stepper motors have salient poles on which concentrated
windings are wound. These windings may be appropriately connected
so as to result in two, three or four phase windings, on the stator.
2. The rotors of stepper motors carries no winding. The rotors are made
from either permanent-magnet or ferromagnetic material.
3. A stepper motor is fed through an external drive circuit. The function
of this drive circuit is to receive input voltage pulses and to deliver
appropriate currents to the stator windings of the stepper motor.
4. These currents set up air-gap field which moves through one angular
step for each input pulse. The rotor follows the axis of air-gap magnetic
field on account of the development of reluctance torque and/or
permanent-magnet torque.
5. Stepper motors vary widely in their designs and configurations, these
can be classified into three main types; variables-reluctance motors,
permanent-magnet motors and hybrid motors.
C. Operation of variable reluctance stepper motor :
Rotor
SA A
SB
SD D B
C
Stator
Vd SC
Fig. 1.9.1. 4 , 4/2 pole variable reluctance stepper motor.
1. It is a 4, 4/2-pole (4 poles in stator and 2 in rotor), single-stack, variable
reluctance stepper motor. Four phases A, B, C, and D are connected to
DC source and are energized in the sequence A, B, C, D, A.
2. When winding A is excited, the rotor aligns with axis of phase A. The
rotor is stable in this position and cannot move until phase A is
de-energized.
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3. Next phase B is excited, A is disconnected. The rotor moves through 90°
in clockwise direction to align with the resultant air-gap field which now
lies along the axis of phase B.
4. Further, phase C is excited and B is disconnected, the rotor moves
further a step of 90° in the clockwise direction. Thus, as the phases are
excited in the sequence A, B, C, D, A the rotor moves through a step of
90° at each transition in clockwise direction.
5. The rotor completes one revolution in four steps. The direction of
rotation can be reversed by reversing the sequence of switching the
windings, i.e., A, D, C, B, A.
6. The magnitude of step angle for any variables reluctance or permanent
magnet stepper motor is given by :
360
=
MNr
where, = Step angle
M = Number of stator phases or stacks
Nr = Number of rotor teeth or rotor poles.
7. The step angle is also expressed as,
Ns Nr
= × 360°
N s Nr
where, Ns = Number of stator teeth or stator poles.
By choosing different combinations of number of rotor teeth or stator
exciting coils, any desired step angle can be obtained.
D. Applications :
1. Paper feed motors in typewriters and printer
2. Positioning of print heads
3. Pen in XY-plotters
4. Recording heads in computer disk drives.
Que 1.10. Write a short note on tachometer.
Answer
Tachometer :
1. Tachometer is electromechanical device that convert mechanical energy
into electrical energy.
2. The device works as a generator with the output voltage proportional to
the magnitude of the angular velocity.
Types of tachometer :
A. DC tachometer :
1. The most common type of DC tachometer contains an iron-core rotor.
Control System Concepts
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2. The magnetic field is provided by a permanent magnet, and no external
supply voltage is necessary.
3. The windings on the rotor (armature) are connected to the commutator
segments and the output voltage is taken across a pair of brushes that
ride on the commutator segments.
4. The DC tachometers provide visual speed readout of a rotating shaft.
Such tachometers are directly connected to a voltmeter which is
calibrated in rpm.
er = K r
Fig. 1.10.1.
B. AC tachometer :
Reference
winding Vr cos ct
1
2 2
1 Quadrature
winding
Rotor
Vout
Fig. 1.10.2. AC tachometer.
1. It consists of two stator field coils or windings placed 90° electrical apart
or mounted at right angles to each other. These windings are reference
winding and quadrature winding.
2. A rotating element, i.e., a rotor, is placed in the air gap between the
magnetic structure. Generally the rotor is a thin aluminium cup to
minimize the losses and low inertia.
3. A sinusoidal voltage of rated value is applied to the primary winding. A
secondary winding is placed at a 90 degree angle mechanically with
respect to the primary winding.
4. When the rotor shaft is rotated, the magnitude of the sinusoidal output
voltage is proportional to the rotor speed.
Mathematical modeling of tachometers :
1. The dynamics of the tachometer can be represented by the equation
Control System
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d(t)
et(t) = K t = kt(t) ...(1.10.1)
dt
where, et(t) = Output voltage
(t) = Rotor displacement
(t) = Rotor velocity
Kt = Tachometer constant
2. The transfer function of the tachometer is obtained by taking the Laplace
transform of eq. (1.10.1),
Et (s)
= Kts
(s )
er e Power
+ Controller M Load
– amplifier
et T Tachometer
Fig. 1.10.3. Velocity-control system with tachometer feedback.
PART-3
Transfer Function Models, Block Diagram Algebra,
Signal Flow Graph, Mason’s Gain Formula.
CONCEPT OUTLINE : PART-3
• Transfer function : It is the ratio of output to input terms
expressed in Laplace transform.
T(s) = C(s) / R(s)
• Signal flow graph : A signal flo w graph is picto rial
representation of the simultaneous equations describing a system.
• Mason’s gain formula :
n
1
T=
k1
Pk k .
Questions-Answers
Long Answer Type and Medium Answer Type Questions
Control System Concepts
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Que 1.11. What is transfer function ? Write advantages and
disadvantages of transfer function.
Answer
A. Transfer function : Transfer function is defined as the Laplace
transform of output to the Laplace transform of input when all initial
conditions are set to zero.
L c(t) C (s)
T(s) =
L r t R(s) All initial condition are zero
B. Advantages :
1. Stability analysis of the system can easily be carried out.
2. The use of Laplace transform approach allows converting integral-
differential time domain equations to simple algebraic equations.
C. Disadvantages :
1. It is applied only to linear and time invariant systems.
2. Initial conditions do affect the system performance but these are
neglected while determining transfer function and hence lose their
importance.
Que 1.12. Find the transfer function of the electrical network
shown in Fig. 1.12.1.
R1
C
vi(t) R2 vo (t)
i(t)
Fig. 1.12.1.
AKTU 2013-14, Marks 05
Answer
1. Taking Laplace transform of circuit components,
R1
+
1/Cs R2
Vi(s) Vo(s)
I(s)
–
Fig. 1.12.2.
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2. Apply KVL in the loop
– Vi(s) + [ R1 1 / Cs] I(s) + R2 I(s) = 0
1
R
1 Cs
Vi(s) =
1 R2 I (s)
R1
Cs
3. And, V0(s) = R2 I(s)
R2 Vi ( s) R2 Vi ( s)
V0(s) =
1 R1
R1 Cs R Cs 1 R2
R
1 2 1
R1
Cs
V0 (s) R2 ( R1 Cs 1)
4. Transfer function, =
Vi (s) R2 ( R1 Cs 1) R1
Que 1.13. Explain basic rules of block diagram reduction. Define
blocks, summing point and branch point. Explain the block diagram
reduction rules.
Answer
A. Branch point : A branch point or a take off point is a point from which
the signal from a block goes concurrently to other blocks or running
points.
B. Summing point : The output of control system is feedback to the
summing point where it is compared with the reference input.
C. Blocks :
1. A block diagram of a system is a pictorial representation of the functions
performed by each component and of the flow of signals.
2. A system is represented by using block diagrams. These are easy to
construct even for the complicated system. It is easy to visualize the
function of individual element in the block diagram of a system.
Take-off point
R(s)
+ G(s) C(s)
–
Summing point H(s)
Fig. 1.13.1. Schematic diagram of closed loop system.
D. Block diagram reduction rules :
1. Series connection :
R(s) Y(s) C(s) R(s) C(s)
G1(s) G2(s) G1(s)G2(s)
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2. Parallel connection :
+ C(s)
R(s) G1(s)
± R(s) C(s)
G1(s) ± G 2(s)
G2(s)
3. Positive feedback connection :
R(s) + C(s)
G1(s)
+ R(s) G1(s) C(s)
1 – G1(s)H1(s)
H 1(s)
4. Negative feedback connection :
R(s) + C(s)
G1(s)
– R(s) G1(s) C(s)
1+ G1(s)H 1(s)
H 1(s)
5. Moving the summing point ahead of the block :
a + (a + b)G a + (a + b)G
G G
+ +
b b
G
6. Moving the summing point before the block :
a + aG + b a +
G aG + b
G
+
b +
b 1/G
7. Interchanging input :
+ +
a + + d a d
+ + + +
c
b c b
8. Multiplication by (–1) to the input :
+ a +
a c c
– +
–1 b
b
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9. Moving a take-off point ahead a block :
R G C R G C
R
R 1/G
10. Moving a take-off point before a block :
R G C R G C
R G
R
Que 1.14. Find the single block equivalent of Fig. 1.14.1.
G3
R – +
+ + G1 G2 G4 G6
– –
+
H1 G5
H2
Fig. 1.14.1.
AKTU 2013-14, Marks 05
Answer
G1 G2
1. R + G3 – G4 + G5 G6
– 1+ G1 G2 H 1
H2
G1 G2 (G 3 – G 4 + G 5)
2. R + G6
– 1+ G1 G2 H 1
H2
G1 G2 (G3 – G 4 + G5)
R G6
3. [ 1+ G1 G2 H 1 + G1 G2 H 2(G3 – G4 + G 5)]
4. Single block equivalent
G1 G2 (G3 – G4 + G 5) G 6
R
1+ G1 G2 H1 + G1 G2 H2(G 3 – G 4 + G 5)
Control System Concepts
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Que 1.15. Reduce the block diagram shown in Fig. 1.15.1 to a single
block representation.
G2
+ + + + +
R G1 G3 G4 C
– – – –
H1 H2
H3
Fig. 1.15.1.
AKTU 2014-15, Marks 10
Answer
Step 1 :
G 2/G 1
+
G1 + + a C
G3 G4
R 1 + G 1H 1 – – +
H2
H3
Step 2 : Shift summing point a before G3.
G 2/G 1
+
G1 + + a C
R G3 G4
1 + G 1H 1 – –
H 3/G 3
H2
Step 3 : Interchange summing points.
G2/G 1
+
G1 + G 3 G4
R C
1 + G1H1 – 1 + G 3H 2 +
H3/G4
Step 4 : Shift summing point before block.
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G2(1 + G3H2)
G 1G 3G 4
+ +
G1 + G 3G 4
C
1 + G 1H 1 – 1 + G 3H 2
H 3/G 4
Step 5 : Interchange summing points.
G1 G2(1 + G3H2)+ 1 G 3G 4
R C
1 + G 1H 1 G 1G 3G 4 1 + G 3H 2
G1 G3 G4 + G2 + G2 G3 H2
R C
1 + G 1H 1 + G 3 H2 + G 4 H 3 + G1 G3 H1 H2 + G1 G4 H 1 H 3
Que 1.16. Determine the transfer function C(s)/R(s) for the block
diagram shown in Fig. 1.16.1.
H3
S1 + – T1 + S
3
R(s) G1 G2 G3 G4 C(s)
– – T2
S2
H1 H2
Fig. 1.16.1.
AKTU 2015-16, Marks 10
Answer
Step 1 : Shift S2 before G1, we get
H3 / G1
S1 – + S3
R(s)
G1 G2 G3 G4
– + – T2 C(s)
S2
H1 H2
Step 2 : G1 and G2 are in cascade.
H3 / G1
S1 – S3
R(s) + C(s)
G1 G2 G3 G4
– + – T2
S2
H1 H2
Step 3 : Interchanging summing points
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H3 / G1
R(s) – + + S3 C(s)
+ G1 G2 G3 G4
– S1 – T2
S2
H1 H2
Step 4 : Solve the inner loop.
H3 / G1
R(s) – G1 G2 + S3 C(s)
+ G3 G4
1+G 1G 2H1 – T2
S2
H2
Step 5 : Shift T2 after G4.
H 3/G1 G4
– S3
+ G1 G2 + C
G3 G4
R(s) 1+G1 G2 H1 – T2
S2 H2
Step 6 : Solve the inner loop.
H3/G1 G4
–
G1 G2 G3 G4
C(s)
R(s) + 1+G1 G2 H 1 1+G3 G4 H2
Step 7 : Forward blocks are in cascade and final result will be
G1G2G3G4
C (s ) (1 G1G2 H1 ) (1 G3G4 H2 )
=
R( s) G2G3 H3
1
(1 G1G2 H1 ) (1 G3G4 H2 )
C (s ) G1G2G3G4
=
R( s) (1 G1G2 H1 ) (1 G3G4 H2 ) G2G3 H3
Que 1.17. Using block diagram reduction techniques, find the
closed loop transfer function of the system whose block diagram is
given in Fig. 1.17.1.
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G4
R(s) C(s)
+ + G1 + G2 G3 ++
– – –
H2
H1
Fig. 1.17.1.
AKTU 2016-17, Marks 10
Answer
Step 1:
G4/G2
R(s) + C(s)
+ + G1 +
–
G2 G3 +
– –
H2
H1
Step 2:
R(s) + G4 C(s)
+ G1 + G2 G3 +
– – – G2
H2
H1
Step 3 :
L1
R(s) G4
+ + G1 –
G2 G3 + C(s)
– – G2
H2
G
H1 G3 + 4
G2
Step 4 : Solving feedback loop L1, reduced block diagram is
L2
R(s) G2G3 + G4
+ +– G1 C(s)
– 1 + (G2G3 + G4)H2
H 1G2
G3G2 + G4
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Step 5 : Solving feedback loop L2, the reduced block diagram is
R(s) G1(G2G3 + G4)
+ C(s)
– 1 + (G2G3 + G4)H2 + H 1G2G1
Step 6 : Solving feedback loop,
G1 (G2G3 G4 )
C (s ) 1 (G2G3 G4 ) H2 H1G2G1
=
R( s) G1 (G2G3 G4 )
1 1
1 (G2G3 G4 ) H2 H1G2G1
C (s ) G1G2G3 G1G4
=
R( s) 1 (G2G3 G4 ) H2 H1G2G1 (G2G3 G4 )G1
C (s ) G1G2G3 G1G4
=
R( s) 1 G1G2 H2 G4 H2 H1G2G1 G1G2G3 G1G4
Que 1.18. Briefly explain Mason’s gain formula.
Answer
1. The overall gain can be determined by Mason’s gain formula given
below
k
Pk k
T=
k1
where, Pk = Forward path gain of kth path from a specified
input node to an output node.
= Determinant which involves closed-loop gain
and mutual interactions between non-touching
loops.
= 1 – [Sum of all individual loop gain]
+ [Sum of loop gain products of all possible pair
of non-touching loops]
– [Sum of loop gain products of all possible
triplets of non-touching loops]
+ [..........] – [...........]
k = Path factor associated with the concerned path
and involves all closed loops in the graph which
are isolated from the forward path under
consideration.
2. The path factor k for the kth path is equal to the value of the graph
determinant of a signal flow graph which exists after erasing the kth
path from the graph.
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Que 1.19. Define various terminologies used in signal flow graph.
Answer
1. Source node : The node having only outgoing branches is known as
source or input node. e.g., x0 is source node.
2. Sink node : The node having only incoming branches is known as sink
or output node. e.g., x5 is sink node.
3. Chain node : A node having incoming and outgoing branches is known
as chain node. e.g. x1, x2, x3 and x4.
G42
G33
x0 1 x1 G12 x2 G23 x3 G34 x4 G45 x5
G13 G35
Fig. 1.19.1.
4. Forward path : A path from the input to output node is defined as
forward path. e.g.
x0 – x1 – x2 – x3 – x4 –x5 First forward path.
x0 – x1 – x3 – x4 – x5 Second forward path.
x0 – x1 – x3 – x5 Third forward path.
x0 – x1 – x2 – x3 – x5 Fourth forward path.
5. Feedback loop : A path which originates from a particular node and
terminating at the same node, travelling through at least one other
node, without tracing any node twice is called feedback loop. For example,
x 2 – x 3 – x 4 – x 2.
6. Self loop : A feedback loop consisting of only one node is called self loop.
i.e., G33 at x3 is self loop.
7. Path gain : The product of branch gains while going through a forward
path known as path gain. i.e. path gain for path x0 – x1 – x2 – x3 – x4 – x5
is, 1 × G12 × G23 × G34 × G45. This can be also called forward path gain.
8. Dummy node : If there exists incoming and outgoing branches both at
first and last node representing input and output variables, then as per
definition these cannot be called source and sink nodes. In such a case a
separate input and output nodes can be created by adding branches with
gain 1. Such nodes are called dummy nodes.
e.g.
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x1 x2 1 x1 x2 1
Source Sink
(a) ( b)
Fig. 1.19.2.
9. Non-touching loops : If there is no node common in between the two
or more loops, such loops are said to be non-touching loops.
x1 x2 x3 x4 x5 1 x6
L1 L2 L3
Fig. 1.19.3. Three non-touching loops.
10. Loop gain : The product of all the gains of the branches forming a loop
is called loop gain. For a self loop, gain indicated along it is its gain.
Generally such loop gain are denoted by ‘L’ e.g. L1, L2 etc.
G1 G2 G3 x4
x1 x2 L1 x3
– H1
Fig. 1.19.4.
Loop gain, L1 = – G2H1.
Que 1.20. Find the transfer function of the signal flow graph
shown in Fig. 1.20.1, using Mason’s gain formula.
G10
G9 G7
X2 G8
X3 X4 X5 X6
X1 X7
G1 G2 G3 G4 G5 G6
–H 1 – H2 –H3
H4
Fig. 1.20.1.
AKTU 2016-17, Marks 10
Answer
1. Forward path and gains are :
P1 = G1 G2 G3 G4 G5 G6, 1 = 1
P2 = G1 G9 G4 G5 G6, 2 = 1 – G7
P3 = G1 G9 G10 G6, 3 = 1 – G7 – G8 + G7 G8
P4 = G1 G2 G3 G10 G6, 4 = 1 – G8
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2. Loops and gains are :
L1 = – G2 H1
L2 = – G4 H2
L3 = – G5 H3
L4 = – G3 G4 G5 H4
L5 = G7
L6 = G8
L7 = H1 G9 G10 H4
L8 = H1 G9 G4 G5 H4
L9 = – H4 G3 G10
L10 = H2 G10 H3
= 1 – (L1 + L2 + L3 + L4 --------- + L10) + (L1 L2
+ L1 L3 + L1 L6 + L1 L10 + L7 L6 + L5 L6 + L5 L2
+ L5 L3 + L5 L10 + L9 L5 + L9 L3)
4
X7
Pk k
k 1
3. Using Mason’s gain formula, T(s) = =
X1
G1G2G3G4G5G6 G1G9G4 G5G6 (1 G7 ) G1G9G10G6 (1 G7 G8 G7G8 )
=
1 (G2 H1 G4 H2 G5 H3 G3G4 G5 H4 G7 G8 H1G9G10 H4
H1G9 G5 H4G4 H4 G3G10 H2G10 H3 ) (G2 H1G4 H2 G2 H1G5 H3
G2 H1G8 G2 H1 H2G10 H3 H1G9G4 G5 H4 G8 G7G8 G7G4 H2
G7G5 H3 G7 H2G10 H3 H4G3G10G7 H4 G3G10G5 H3 )
Que 1.21. Draw the signal flow graph and determine the overall
transfer function of the block diagram shown in Fig. 1.21.1.
G4
R + + + + – C
G1 G2 G3
– – –
H1
Fig. 1.21.1.
AKTU 2014-15, Marks 10
Answer
1. Signal flow graph of given block diagram :
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– G4
1 1 2 G1 1 3 G2 4 G 5
3
R C
–H 1
–1
–H 1
Fig. 1.21.2.
2. Forward paths : P1 = G 1G 2G 3 1 = 1 – 0 = 1
P2 = G1 (– G4) = – G1G4 2 = 1 – 0 = 1
3. Loops : L1 = G1G2(– H1) = – G1G2H1
L2 = G1G2(–H1) = – G1G2H1
L3 = G2G3(– 1) = – G2G3
L4 = G1(– G4)(–1)G2(–H1) = G1G2G4H1
L5 = G1(– G4)(–1)G2(–H1) = – G1G2G4H1
= 1 – (L1 + L2 + L3 + L4 + L5)
= 1– (– G1G2H1 – G1G2H1 – G2G3 – G1G2G4H1
– G1G2G4H1)
4. Then transfer function,
C( s) P1 1 P2 2 G1G2G3 G1G4
TF = =
R( s) 1 2G1G2 H1 2G1G2G4 H1 G2G3
PART-4
Open Loop and Closed Loop System and their Sensitivity Analysis.
CONCEPT OUTLINE : PART-4
• Sensitivity is change in variable due to variation in parameters
of control system.
Mathematically,
A / A
SKA =
K / K
The notation SKA denotes sensitivity of variable A with respect
to parameter K.
Questions-Answers
Long Answer Type and Medium Answer Type Questions
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Que 1.22. Discuss the effect of feedback on :
i. Overall gain
ii. Stability
iii. Noise and Disturbance. AKTU 2013-14, Marks 05
Answer
i. Overall Gain :
For open loop :
C ( s)
T(s) = = G(s)
R( s)
R(s) G(s) C(s)
Fig. 1.22.1.
For closed loop :
C(s) G(s)
T(s) =
R(s) 1 G(s)H (s)
+
R(s) G(s) C(s)
–
H(s)
Fig. 1.22.2.
So, for a closed loop control system the gain G(s) reduces by a factor
1/[1 + G(s)H(s)] as compared to open loop control system.
ii. Stability :
1. Consider an open loop system with overall transfer function as
K
R(s) C(s)
s+1
Fig. 1.22.3.
K
G(s) =
sT
The open loop pole is located at s = – T.
2. If unity negative feedback is introduced in the system, the overall
transfer function of a closed loop system becomes
K
C ( s) sT K
=
R( s) K s (K T)
1
sT
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3. Thus the closed loop pole is now located at s = – (K + T)
Im Im
× ×
–T Re – (K + T) Re
(a) (b )
Fig. 1.22.4.
4. Thus, the feedback controls the time response i.e., dynamics of the
system by adjusting location of its poles. The stability of the system
depends on the location of poles in s-plane. Thus it can be concluded
that the feedback affects the stability of the system.
iii. Noise and Disturbances :
1. Every control system has some non-linearities present in it. The
dominant non-linearities like friction, dead zone, saturation etc., affect
the output of the system adversely.
2. Some external disturbance signals also make the system output
inaccurate.
3. The examples of such external disturbances are high frequency noise
in electronic applications, thermal noise in amplifier tubes, wind gusts
on antenna of radar system etc.
4. The disturbance may be in the forward path, feedback path or output
of a system.
a. Disturbance in the forward path :
Td(s)
+
R(s) + G1 (s) + G2 (s) C(s)
–
H(s)
Fig. 1.22.5.
1. G(s) = G2(s)
H(s) = – G1(s) H(s)
C (s) G2 (s)
=
Td (s) 1 [G2 (s) ( G1 (s) H(s))]
C (s) G2 (s)
=
Td (s) 1 G1 (s) G2 (s) H (s)
Td (s) G2 (s)
C(s) =
1 G1 (s) G2 (s) H (s)
2. In the denominator assume that 1 << G1(s) G2(s) H(s), hence we get
Td (s)
C(s) =
G1 (s) H (s)
Thus to make the effect of disturbance on the output as small as
possible the G1(s) must be selected as large as possible.
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b. Disturbance in the feedback path :
1. These are produced due to the nonlinear behaviour of the feedback
path element.
R(s)
+ G1(s) G2(s) C(s)
–
+
H2(s) H 1(s)
+
T d(s)
Fig. 1.22.6.
C (s) G1 (s) G2 (s) H (s)
2. =
Td (s) 1 { G1 (s) G2 (s) H2 (s) H1 (s)}
C (s) G1 (s) G2 (s) H2 (s)
=
Td (s) 1 G1 (s) G2 (s) H2 (s) H1 (s)
3. For large value of G1, G2, H1, 2 in the denominator 1 can neglected
[ 1 << G1(s)G2(s)H1(s)H2(s)]
C (s) 1
=–
Td (s) H1 (s)
4. Thus by designing proper feedback element H1(s), the effect of
disturbance in feedback path on output can be reduced.
c. Disturbance at the output :
1. Consider that there is disturbance Td(s) affecting the output directly
with R(s) = 0, we get
Td(s)
+
R(s)
+ G1(s) + C(s)
–
H(s)
Fig. 1.22.7.
C (s) 1 1
=
Td (s) 1 [ G(s) H (s)] 1 G(s) H (s)
2. For large value of G(s) H(s), 1 in denominator can be neglected
[ 1 << G(s) H(s)]
Td (s)
C(s) =
G(s) H (s)
3. Thus if disturbance is affecting the output directly then by changing
the values of G(s), H(s) or both, the effect of disturbance can be
minimized.
The feedback minimizes the effect of disturbance signals occurring in
the control system.
Control System Concepts
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Que 1.23. What do you understand by the term sensitivity ?
Consider the feedback control system shown in Fig. 1.23.1. The
normal value of the process parameter ‘K’ is 1. Determine the
C ( s)
sensitivity of transfer function, T(s) = to variations in
R( s)
parameter ‘K’, at = 5.
R(s) s+1 K
+ C(s)
– s+5 s(s + 1)
Fig. 1.23.1.
AKTU 2016-17, Marks 10
Answer
Sensitivity : Sensitivity is the change in variable due to variation in
parameters of control system.
e.g.
T
% Change in T 100
SGT T
% Change in G = G
100
G
Numerical :
K
Given : G(s) = , H(s) = 1
s(s 5)
To Find : Sensitivity, SGT .
K
1. Forward gain, G(s) =
s( s 5)
G (s ) K
2. T(s) = = 2
1 G (s) H ( s) (s 5s K )
T
100 K T
3. Sensitivity, SKT = T
K
100 T K
K
K ( s2 5s K ) 1 K
=
K ( s 2 5s K ) (s 2 5 s K ) 2
2
s 5 s K K s ( s 5)
= ( s 2 5s K ) 2 2
= 2 2
( s 5 s K ) ( s 5s K )
Control System
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4. Putting s = j, K = 1
j( j 5)
= 2
( j)2 5 j 1
5. Again, putting = 5
j5 ( j5 5) j 25 ( j 1)
=
[ 25 j 25 1]2 [ j25 24]2
( 25 j 25)
=
( j 25 24)2
252 252
| SKT | = = 1.02
252 24 2
Que 1.24. Discuss the effect of feedback on the following :
i. Sensitivity
ii. Error
iii. Gain
R(s) E(s)
+ G(s) C(s)
–
H(s)
Fig. 1.24.1.
Answer
i. Sensitivity :
T
100
% Change in T
SGT = T
% Change in G G
100
G
G dT
SGT =
T dG
C G
We know T=
R 1 GH
G (1 GH ) GH
SGT = 2
G (1 GH )
1 GH
1 1
SGT = (1 GH )
(1 GH )2 1 GH
So sensitivity of feedback system (with respect to G) is reduced by factor
of 1 + GH.
ii. Error : E(s) = R(s) – H(s) C(s) ...(1.24.1)
Control System Concepts
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G(s)
But, C(s) = R(s)
1 G (s ) H ( s )
H (s) G(s)
E(s) = R(s) R(s)
1 G(s) H (s)
1 G (s) H ( s) H ( s)G (s)
= R( s)
1 G ( s ) H (s )
1
E(s) = R(s) ...(1.24.2)
1 G ( s) H ( s )
1
Hence, error E(s) is reduced by
1 G( s) H ( s)
G
iii. Gain : Gain = 1 GH
Hence, Gain reduces by factor of 1 + GH.
Que 1.25. Calculate the sensitivity of the closed loop system
shown in Fig. 1.25.1 with respect to the forward path transfer
function at = 1.5 rad/sec.
R(s) + 20
– C(s)
s (s + 2)
0.50
Fig. 1.25.1.
AKTU 2013-14, Marks 05
Answer
Given : = 1.5 rad/sec, G = 20/s(s + 2), H = 0.5
To Find : Sensitivity, SGT .
1. Sensitivity with respect to forward path :
1
SGT =
1 GH
1 s(s 2) s2 2s
SGT = = 2 = 2
20 0.5 s 2s 10 s 2s 10
1
s( s 2)
Put s = j,
( j)2 2 j – 2.25 j 3 – 2.25 j3
SGT =
( j)2 2( j) 10 – 2.25 10 j 3 7.75 j3
Control System
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(– 2.25 j 3) (– 7.75 j3)
=
( j3 7.75)( j 3 – 7.75)
17.43 – j 30 – 9 8.43 – j 30
= =
– 9 – 60.06 – 69
(8.43)2 (30)2 31.16
| SGT | = = 0.577
53.953 53.953
2. Feedback path :
– 20 0.5
– GH s( s 2) – 10
SGT =
1 GH 1 20 0.5 s2 2s 10
s( s 2)
Put s = j
– 10 – 10 – 10
SGT =
( j)2 2 j 10 ( j1.5)2 j 2 1.5 10 – 2.25 j3 10
– 10 ( j 3 – 7.75) – j 30 77.5
=
7.75 j3 ( j 3 – 7.75) ( j3)2 – (7.75)2
(– 30)2 (77.5)2 83.10
= 1.204
69 69
VERY IMPORTANT QUESTIONS
Following questions are very important. These questions
may be asked in your SESSIONALS as well as
UNIVERSITY EXAMINATION.
Q. 1. Compare the open loop control system and closed loop
control system, also give few examples for each system.
Ans. Refer Q. 1.2, Unit-1.
Q. 2. Describe the AC servomotor for control application.
Ans. Refer Q. 1.5, Unit-1.
Q. 3. Write a short note on armature-controlled DC servo motor.
Ans. Refer Q. 1.6, Unit-1.
Q. 4. Write a short note on tachometer.
Ans. Refer Q. 1.10, Unit-1.
Q. 5. Find the transfer function of the electrical network shown
in Fig. 1.
Control System Concepts
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R1
C
vi(t) R2 vo (t)
i(t)
Fig. 1.
Ans. Refer Q. 1.12, Unit-1.
Q. 6. Using block diagram reduction techniques, find the closed
loop transfer function of the system whose block diagram
is given in Fig. 2.
G4
R(s) C(s)
+ + G1 + G2 G3 ++
– – –
H2
H1
Fig. 2.
Ans. Refer Q. 1.17, Unit-1.
Q. 7. Find the transfer function of the signal flow graph shown
in Fig. 3, using Mason’s gain formula.
G10
G9 G7
X2 G8
X3 X4 X5 X6
X1 X7
G1 G2 G3 G4 G5 G6
–H 1 – H2 –H3
H4
Fig. 3.
Ans. Refer Q. 1.20, Unit-1.
Q. 8. Draw the signal flow graph and determine the overall
transfer function of the block diagram shown in Fig. 4.
G4
R + + + + – C
G1 G2 G3
– – –
H1
Fig. 4.
Control System
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Ans. Refer Q. 1.21, Unit-1.
Q. 9. Discuss the effect of feedback on the following :
i. Sensitivity ii. Error iii. Gain
R(s) E(s)
+ G(s) C(s)
–
H(s)
Fig. 5.
Ans. Refer Q. 1.24, Unit-1.
Q. 10. Calculate the sensitivity of the closed loop system shown
in Fig. 6 with respect to the forward path transfer function
at = 1.5 rad/sec.
R(s) + 20
– C(s)
s (s + 2)
0.50
Fig. 6.
Ans. Refer Q. 1.25, Unit-1.
Control System
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2 Time Response Analysis
Part-1 ............................................................................ (2–2C to 2–11C)
• Standard Test Signals
• Time Response of First and Second Order Systems
• Time Response Specifications
A. Concept Outline : Part-1 ............................................................. 2–2C
B. Long and Medium Answer Type Questions ............................... 2–2C
Part-2 .......................................................................... (2–11C to 2–21C)
• Steady State Errors and Error Constants
A. Concept Outline : Part-2 ........................................................... 2–11C
B. Long and Medium Answer Type Questions ............................. 2–11C
Part-3 .......................................................................... (2–21C to 2–30C)
• Time Response Specifications
• Design Specifications of Second Order Systems
A. Concept Outline : Part-3 ........................................................... 2–21C
B. Long and Medium Answer Type Questions ............................. 2–21C
Part-4 .......................................................................... (2–30C to 2–36C)
• Proportional, Derivative Integral and PID Compensations
• Design Considerations for Higher Order System and Performance
Indices
A. Concept Outline : Part-4 ........................................................... 2–30C
B. Long and Medium Answer Type Questions ............................. 2–31C
Time Response Analysis
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PART-1
Standard Test Signals, Time Response of First and
Second Order Systems, Time Response Specifications.
CONCEPT OUTLINE : PART-1
• Standard test signals :
There are four basic standard test signals. These are :
i. Step signal
ii. Ramp signal
iii. Parabolic signal
iv. Impulse signal.
• Time response system for second order :
C ( s) 2n
Transfer function, = 2
R( s) s 2 n s n
e nt
For unit step input, c(t) = 1 – sin (dt + )
1 2
Questions-Answers
Long Answer Type and Medium Answer Type Questions
Que 2.1. Explain various standard test signals, and also find
relation between them. AKTU 2014-15, Marks 05
Answer
1. Unit step : Signals which start at time t = 0 and have magnitude of
unity are called unit step signals.
They are represented by a unit step function u(t).
u(t)
t
0
Fig. 2.1.1. Unit step.
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They are defined mathematically as :
1 ; t 0
u(t) =
0 ; t 0
2. Unit ramp : Signals which start from zero and are linear in nature with
a constant slope m are called unit ramp signals.
They are represented by a unit ramp function r(t).
They are defined mathematically as :
mt ; t 0
r(t) =
0 ; t0
r(t)
r(t) = mt
m = tan
t
0
Fig. 2.1.2.
3. Unit impulse : Signals which act for very small time but have large
amplitude are called unit impulse functions.
They are represented by (t).
They are defined mathematically as,
0; t0
(t) =
1 ; t0
(t) dt =1
x(t)
(t)
–t t
Fig. 2.1.3.
4. Unit Parabolic Signal :The continuous-time unit parabolic function
p(t), also called acceleration signal starts at t = 0, and is defined as :
t2
; for t 0
p(t) = 2
0 ; for t 0
t2
or p(t) = u(t)
2
Time Response Analysis
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p(t)
0 t
Fig. 2.1.4. Unit parabolic signal.
Relation :
1. Relation between impulse and step signal :
d
(t) = u(t)
dt
2. Relation between step and ramp signal :
d
u(t) = r (t )
dt
3. Relation between ramp and parabolic signal :
d t2
r(t) = .
dt 2
Que 2.2. Discuss the time response of first order system with
unit step, unit impulse and unit ramp inputs.
Answer
1. Consider a first order system with unity feedback.
R(s)
+ 1/sT C(s)
–
Fig. 2.2.1.
1
C ( s) sT 1
2. =
R( s) 1 (1 sT )
1
sT
1
C(s) = R( s) ...(2.2.1)
(1 sT )
3. Response to unit step input :
r(t) = u(t)
1
R(s) =
s
Putting in eq. (2.2.1), we get
1 1
C(s) =
s (1 sT )
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= 1 1
s 1
s
T
Taking inverse Laplace transform, we have
1 1
L–1 [C(s)] = c(t) = L1 L1
s 1
s
T
c(t) = 1 – e–t/T
4. Response to unit impulse input :
r(t) = (t)
R(s) = 1
Putting in eq. (2.2.1),
1 1 1
C(s) = 1
(sT 1) T 1
s
T
Taking inverse Laplace transform, we have
1 1 1
L–1[C(s)] = L
T 1
s
T
1 t/T
e
c(t) =
T
5. Response to unit ramp input :
r(t) = t
1
R(s) =
s2
Putting in eq. (2.2.1), we get
1 1
C(s) = R(s)
(sT 1) s 2 ( sT 1)
1 T T
= 2
s s 1
s T
Taking inverse Laplace transform, we have
1 1 1
L–1[C(s)] = L1 2 TL1 TL1
s s 1
s
T
c(t) = t – T + Te–t/T
Que 2.3. Give comparison between open loop and closed loop
system. The impulse response of unity feedback closed loop system
is, c(t) = – te– t + 2e– t, find the open loop transfer function.
AKTU 2014-15, Marks 10
Time Response Analysis
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Answer
Comparison between open loop and closed loop System : Refer
Q. 1.2, Page 1 –3C, Unit-1.
Numerical :
Given : r(t) = δ(t) , c(t) = – te– t + 2e– t
To Find : Transfer function.
1. Laplace transform gives
R(s) = 1
c(t) = – t e– t + 2 e– t
2. Laplace transform of c(t) gives
1 2
C(s) =
(s 1)2 (s 1)
1 2 (s 1) (2s 1)
C(s) = ...(2.3.1)
(s 1)2 (s 1)2
3. For unity feedback control system
C ( s) G (s )
=
R( s) 1 G (s )
G (s )
C(s) = R(s) ...(2.3.2)
1 G (s )
4. Putting value of C(s) and R(s) in eq. (2.3.2)
(2 s 1)
(1 + G(s)) = G(s)
(s 1)2
(2 s 1) (2 s 1)
= G( s) 1
(s 1)2 ( s 1)2
s 2 1 2s 2s 1
= G( s)
( s 1)2
5. Open loop transfer function is
(2 s 1)
G(s) =
s2
Que 2.4. Derive the expression for the time response of a second
order control system subjected to a unit step input.
OR
Derive the expression for step response of second order control
system for underdamped response. AKTU 2015-16, Marks 10
Control System
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Answer
1. Consider the second order system with unity feedback.
R(s) + 2n
s(s + 2 n) C(s)
–
Fig. 2.4.1.
The closed loop transfer function is
C ( s) 2n / s( s 2 n )
=
R( s) 1 2n / s( s 2 n )
where, = Damping factor or Damping ratio
C ( s) 2n
= 2
R( s) ( s 2 n s 2n )
2n
Then output, C (s) = R s ...(2.4.1)
s 2 n s 2n
2
2. For unit step input
r (t) = 1
1
R (s) =
s
1 2n
Then C (s) = ...(2.4.2)
s s 2n s 2n
2
3. In eq. (2.4.2) putting [s2 + 2ns + 2n ] = [( s n )2 n2 (1 2 )] and
breaking it into partial fraction
1 s 2 n
C (s) = ...(2.4.3)
s [( s n )2 2n (1 2 )]
Put d = n 1 2
1 s 2 n
C (s) = ...(2.4.4.)
s (s n )2 d2
4. Rewrite eq. (2.4.4)
1 s n n d
C(s) = ...(2.4.5)
s (s n )2 d2 d (s n )2 2d
5. Taking inverse Laplace transform of eq. (2.4.5),
t n nt
c(t) = 1 e n cos d t e sin d t
d
Put d = n 1 2
Time Response Analysis
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ent
c(t) = 1 [( 1 2 )cos d t sin d t ] ...(2.4.6)
1 2
6. Put sin = 1 2 ,
cos =
e n t
c(t) = 1 (sin cos d t cos sin d t)
1 2
e n t
c(t) = 1 sin( d t ) ...(2.4.7)
1 2
where d = n 1 2
1 2
and = tan 1
7. Eq. (2.4.7) is rewritten as
1 2
e n t
c(t) = 1 sin ( n 1 2 )t tan 1 ...(2.4.8)
1 2
8. The term n is called natural frequency of oscillations. Term
d = n 1 2 is called damped frequency of oscillations and the term
is called damping ratio or damping factor .
a. Underdamped case (0 < < 1) : From eq. (2.4.8), time constant is
1/n and the response having damped oscillations with overshoot and
undershoot is known as underdamped response.
c(t)
<1
t
Fig. 2.4.2. Underdamped oscillations.
b. Undamped case (= 0) :
Put = 0
Eq. (2.4.8) becomes,
c(t) = 1 – sin (nt + /2)
c(t) = 1 – cos nt
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The system will oscillate at undamped frequency n.
c(t)
=0
t
Fig. 2.4.3. Undamped oscillations.
c. Critically damped case (= 1) :
At = 1
c(t) = 1 ent (1 n t)
c(t)
2%
1
98% =1
0 t
4T
Fig. 2.4.4. Critically damped.
d. Overdamped case ( > 1) :
2n
C (s) =
s n
n 1 s n – n 2 1 s
2
Taking inverse Laplace both side,
2 1 n t 2 1 n t
e e
At > 1 c(t) = 1
2 2 1( 2 1) 2 2 1.( 2 1)
neglect
2 1 n t
e
c(t) = 1
2 2 1( 2 1)
c(t)
>1
t
O
Fig. 2.4.5. Overdamped.
Time Response Analysis
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Que 2.5. Prove that the servomechanism system is a second
order system i.e.,
2n
T(s) =
(s 2 n s 2n )
2
2
AKTU 2013-14, Marks 6
3
Answer
1.
[r(t) – (t)] T
r(t) Transducer Controller Motor (t)
Transducer
Fig. 2.5.1.
2. The rotation of motor can be described by the differential equation
.. .
J (t) + B (t) = Tm + Tw ...(2.5.1)
where, Tm = Torque developed by motor
Tw = Wind torque (disturbance)
B= Coefficient of viscous friction
J = Moment of inertia of motor and load
3. The torque developed by the motor is assumed to be proportional to
u(t), the input voltage to the motor, so that
Tm(t) = Ku(t) = K[r(t)– (t)]
4. Putting Tm(t) in eq. (2.5.1)
J
(t) B (t) = K[r(t) – (t)] [Tw = 0]
J
(t) B (t) + K(t) =Kr(t) ...(2.5.2)
5. Taking Laplace transform on both sides
Js 2(s) + Bs (s) + K(s) = Kr(s)
[Js 2 + Bs + K] (s) = Kr(s)
(s) K K/J
=
r (s) [ Js 2 Bs K ] 2 B K
s s
J J
6. Putting K/J = n2
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B
= 2n
J
( s) C( s) n2
= 2
r (s) R( s) s 2 n s n 2
Thus, the servomechanism system is a second order system.
PART-2
Steady State Errors and Errors Constants.
CONCEPT OUTLINE : PART-2
• The difference between the steady-state response and desired
reference give steady state error,
sR( s)
ess = lim
s0 1 G( s) H (s)
Questions-Answers
Long Answer Type and Medium Answer Type Questions
Que 2.6. Discuss steady state error.
Answer
1. The difference between the steady-state response and desired reference
give steady state error.
2. If the actual output of control system during steady state error deviates
from the reference input, then system possess steady state error.
3. Steady error helps in determining the accuracy, so the steady state
error should be minimum.
4. The steady state performance of a control system is assessed by the
magnitude of the steady state error possessed by the system and the
system input can be step or ramp or parabolic.
5. The magnitude of steady state error in a closed loop control system
depends on its open loop control function. i.e., G(s)H(s) of the system.
Time Response Analysis
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R(s) + E(s)
G(s) C(s)
B(s) –
H(s)
Fig. 2.6.1. Canonical diagram.
6. E(s) = R(s) – B(s)
But B(s) = C(s)H(s)
E(s) = R(s) – C(s)H(s)
Also C(s) = G(s)E(s)
7. E(s) = R(s) – G(s)E(s)H(s)
E(s)[1 + G(s) H(s)] = R(s)
R( s )
E(s) = ...(2.6.1)
1 G (s) H ( s)
If positive feedback is used, the expression will be
R( s)
E(s) = ...(2.6.2)
1 G( s) H (s)
8. Combining eq. (2.6.1), and (2.6.2)
R( s )
E(s) = ...(2.6.3)
1 G (s) H ( s)
For a unity feedback system H(s) = 1
R( s)
9. E(s) = ...(2.6.4)
1 G ( s)
10. In time domain e(t) = L–1 [E(s)]. It is the expression of error valid for all
time. Steady state error is defined as :
ess = lim e( t)
t
11. Using final value theorem
sR( s)
ess = lim e(t) lim sE (s) = lim
t s0 s0 1 G( s) H (s)
Que 2.7. Derive an expression for Kp, Kv, and Ka for type-1 system.
AKTU 2014-15, Marks 05
OR
Derive an expression for Kp, Kv and Ka for type-1, type-2 and type-3
system.
Answer
i. Unit step input :
1; t 0
Here r(t) =
0; t 0
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1
R(s) =
s
R(s)
E(s) = ...(2.7.1)
1 G( s) H ( s)
1
E(s) =
s sG (s) H (s)
1
ess = lim sE(s) = lim s
s0 s0 s sG (s) H ( s)
1 1
=
1 lim G (s) H ( s) 1 K p
s 0
where, Kp = lim
s0
G( s) H ( s)
Kp = Position error constant.
1
For step input, ess =
1 Kp
Case 1 : For type ‘0’
Kp = Constant
ess = Constant
Case 2 : For type ‘1’
Kp =
1
ess = = 0
1
Case 3 : For type ‘2’
Kp =
1
ess = =0
1
ii. Ramp input :
t ; t 0
Here r(t) =
0 ; t 0
1
R(s) =
s2
1
E(s) =
s 2 s 2G (s) H ( s)
1
ess = lim sE( s) = lim s
s0 s0 s2 s2G( s) H (s)
1
=
lim sG(s) H (s)
s0
1
ess =
Kv
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Kv = lim sG( s) H ( s)
s0
Kv = Velocity error constant.
Case 1 : For type ‘0’
Kv = lim sG( s) H ( s) = 0
s0
1
ess = =
Kv
Case 2 : For type ‘1’
Kv = constant
1
ess = = constant
Kv
Case 3 : For type ‘2’
Kv =
ess = 0
iii. Parabolic input :
(1 / 2) t 2 ; t 0
Here r(t) =
0 ; t0
1
R(s) =
s3
1
E(s) =
s3 s3G( s) H ( s)
1
ess = lim sE(s) lim
s0 s 0 s 2 s 2 G ( s ) H (s )
1 1
ess =
lim s2G( s) H ( s) K a
s 0
Ka = lim s2G(s)H (s)
s 0
Ka = Acceleration error constant.
Case 1 : For type ‘0’
Ka = 0
1
ess = =
0
Case 2 : For type ‘1’
Ka = 0
1
ess = =
0
Case 3 : For type ‘2’
Ka = Constant
ess = Constant
Control System
www.aktutor.in 2–15 C (EN-Sem-5)
Que 2.8. Find Kp, Kv, Ka for the system having :
10
i. G(s) = and H (s) = 0.7
s2
5 2
ii. G(s) = , H(s) = 0.6 AKTU 2013-14, Marks 6
2
s + 3s + 5 3
Answer
i. Given : G(s) = 10/s2 and H (s) = 0.7
To Find : Kp, Kv and Ka.
10
1. Kp = lim G(s) H(s) = lim 0.7
s0 s0 s2
Kp =
10
2. Kv = lim s G(s) H(s) = lim s 0.7
s0 s0 s2
7
Kv = lim
s0 s
Kv =
10
3. Ka = lim s2 G(s) H(s) = lim s2 0.7
s0 s0 s2
Ka = 7
5
ii. Given : G(s) = , H(s) = 0.6
(s 2 + 3s + 5)
To Find : Kp, Kv and Ka.
5 0.6
1. Kp = lim
s0 ( s 2 3 s 5)
3
Kp =
5
s5 3s
2. Kv = lim 0.6 = lim
s 0 ( s 2 3 s 5)
s0 ( s2 3s 5)
Kv = 0
s2 5
3. Ka = lim 2
0.6
s0 ( s 3s 5)
Ka = 0
Que 2.9. A unity feedback s ys tem has transfer function
K
G(s) = , determine steady state error if input is
s(s 2) (s2 2 s 5)
t2
r(t) = 2 + 4t + . AKTU 2014-15, Marks 05
2
Time Response Analysis
www.aktutor.in 2–16 C (EN-Sem-5)
Answer
K
Given : G(s) = , H(s) = 1
s(s 2) (s2 2s 5)
t2
r(t) = 2 4 t
2
To Find : Steady state error, ess.
K
1. G(s) H(s) =
s(s 2)( s2 2s 5)
KP = lim
s0
G( s) H ( s)
=
Kv = lim s G( s) H ( s)
s0
sK K
= lim =
s( s 2)( s2 2s 5) 10
s0
Ka = lim s 2 G( s) H ( s) = 0
s0
t2
2. Now, r(t) = 2 + 4t +
2
A1 = 2 (Constant)
A2 = 4 (Coeff. of t)
A3 = 1 (Coeff. of t2/2)
A1 A A 2 4 1
ess = 2 3 =
1 K p Kv Ka K 0
10
= 0 + 40/K + =
Que 2.10. Discuss different type of test signal used for analysis of
control system in time domain.
The reference input to a unity feedback system is shown in
Fig. 2.10.1. The open loop transfer function of the system is
400(s 1)
G(s) =
( s 2)( s 8)
Calculate the steady state error.
r(t)
2
t
10 20 30 40
Fig. 2.10.1.
AKTU 2016-17, Marks 10
Control System
www.aktutor.in 2–17 C (EN-Sem-5)
Answer
Types of test signal : Refer Q. 2.1, Page 2–2C, Unit-2.
Numerical :
400( s 1)
Given : G(s) = , H(s) = 1
( s 2)( s 8)
To Find : Steady state error.
1. Laplace of periodic waveform using formula :
R1 (s)
R(s) =
1 e TS
2. First we have to find Laplace of r(t),
r(t)
t
10
Fig. 2.10.2.
By integration method
10
R1(s) = 2 e st dt
0
2 10
= e st
( s) 0
2
R1(s) = (1 e 10 s )
s
R1 (s)
4. Here, T = 20, So R(s) =
1 eTS
2
(1 e10 s )
R(s) = s
(1 e20 s )
2
(1 e 10 s )
R(s) = s
(1 e10 s )(1 e10 s )
2
R(s) =
s(1 e10 s )
5. Using formula
sR( s)
ess = lim
s0 1 G( s) H (s)
2
s
s (1 e10 s )
= lim
s0 400( s 1)
1
( s 2)( s 8)
Time Response Analysis
www.aktutor.in 2–18 C (EN-Sem-5)
2
= lim (1 e10 s )
s 0 ( s 2)( s 8) 400( s 1)
( s 2)( s 8)
2(s 2)( s 8)
= lim
s 0 [( s 2)( s 8) 400(s 1)](1 e10 s )
2(0 2)(0 8)
=
[(0 2)(0 8) 400(0 1)](1 e0 )
2 28 32
=
2 8 400 416
ess = 0.0769
Que 2.11. For the system shown in figure, determine the type of
system, error coefficient and the error for the following inputs :
i. r(t) = 6
ii. r(t) = 8t
iii. r(t) = 10 + 4t + 15t2
+ + 20
R(s) 20 2 C(s)
– – (s + 2)(s + 5)
2(s + 1)
AKTU 2017-18, Marks 10
Answer
Step 1 :
+ 20
R(s) 20 2 C(s)
– s 2 +47s + 50
Step 2 :
+ 800
R(s) C(s)
– s 2 +47s + 50
800
So, G(s) = and H(s) = 1
s 2 47 s 50
800
G(s) H(s) =
s0 (s 2 47 s 50)
Control System 2–19 C (EN-Sem-5)
www.aktutor.in
Type of system is zero.
i. r(t) = 6
6 1
So, R(s) = A = 6, which is coefficient of
s s
800
Now, Kp = lim G( s) H ( s) =
s0 50
A 6 6 50
Now, ess = = 0.353
1 K p 1 800 850
50
ii. r(t) = 8 t
8 1
So, R(s) = A = 8, which is coefficient of 2
s2 s
Now, Kv = lim sG( s) H ( s)
s0
s 800
= lim =0
s0 s 2 47 s 50
A 8
Now, ess = =
Kv 0
iii. r(t) = 10 + 4t + 15t2
t2
= 10 + 4t + 30
2
Now, So, A1 = 10, A2 = 4, A3 = 30
K = lim G (s) H (s)
p s0
800
= = 0.941
850
Kv = lim
s0
sG( s) H (s)
=0
Ka = lim s2 G(s) H (s)
s 0
=0
A1 A A
Now, ess = 2 3
1 K p Kv Ka
10 4 30
= =
1 0.941 0 0
Que 2.12. For a unity feedback system having
35( s 4)
G(s) =
s(s + 2)( s + 5)
find (i) the type of the system, (ii) all error coefficients and (iii)
errors for ramp input with magnitude 5. AKTU 2017-18, Marks 10
Time Response Analysis
www.aktutor.in 2–20 C (EN-Sem-5)
Answer
35( s 4)
Given : G(s) = , H(s) = 1
s(s 2)(s 5)
To Find : Type of the system, All error coefficients and Errors for
ramp input with magnitude 5.
i. Type : System is type 1 system. As we have s 1 in common in
denominator.
ii. Error coefficients :
Kp = lim G (s) H (s)
s0
35(s 4)
= lim 1=
s0 s( s 2)(s 5)
Kv = lim
s0
s G(s) H ( s)
s 35 ( s 4)
= lim 1
s0 s (s 2) (s 5)
35 4
= = 14
10
Ka = lim s 2 G( s) H ( s)
s0
35( s 4)
= lim s2 1 = 0
s0 s( s 2)(s 5)
iii. Error : Magnitude, A = 5 and Kv = 14
A 5
ess =
K v 14
ess = 0.357.
Que 2.13. A unity feedback system has an OLTF
K ( s + 2)
G(s)= . Find the static error constant and ess due to
s( s 3 + 7 s 2 + 42s)
an input r(t) = t2u(t). AKTU 2017-18, Marks 10
Answer
K ( s 2)
Given : G(s) = , r(t) = t2u(t)
s(s3 7 s 2 42 s)
To Find : Ka and ess.
t2
1. r(t) = t2u(t) = 2 u( t)
2
A = 2. [Coeff. of t2/2]
Control System
www.aktutor.in 2–21 C (EN-Sem-5)
K ( s 2)
2. Now, G(s)H(s) =
s(s3 7 s 2 42 s)
K ( s 2)
= 2 2
s ( s 7 s 42)
3. Now, Ka = lim s 2 G( s) H(s)
s0
s2 K (s 2)
= lim
s 0 s ( s2 7 s 42)
2
2K K
=
42 21
A 2 42
4. ess =
Ka K K
21
PART-3
Time Response Specifications, Design Specifications
of Second Order Systems.
CONCEPT OUTLINE : PART-3
• Delay time (td) : It is the time required for response to reach
50 % of final value in first time.
• Rise time (tr) : It is the time required for the response to rise
from 10 % to 90 % of its final value for overdamped and 0 to
100 % for underdamped system.
Questions-Answers
Long Answer Type and Medium Answer Type Questions
Que 2.14. Define the following terms of second order system :
i. Delay time ii. Rise time
iii. Peak time iv. Steady state error
2
v. Settling time AKTU 2013-14, Marks 6
3
OR
Draw time domain response curve of a second order system and
indicate important specifications. AKTU 2014-15, Marks 05
Time Response Analysis
www.aktutor.in 2–22 C (EN-Sem-5)
Answer
1. Delay time (td) : It is the time required for the response to reach 50 %
of the final value in first time.
2. Rise time (tr) : It is the time required for the response to rise from
10 % to 90 % of its final value for overdamped system and 0 to 100 % for
underdamped systems.
1 2
tan 1
tr =
n 1 2
3. Peak time (tp) : The peak time is the time required for the response to
reach the first peak of the time response or first peak overshoot.
tp =
n 1 2
4. Maximum overshoot (Mp) : It is the normalized difference between
the peak of the time response and steady output. The maximum percent
overshoot is defined as
c(t p ) c()
Maximum percent overshoot = 100
c()
% Mp = e 12
100
c(t)
c(t)max
Mp Steady state
1.0
1.5
2 3
t
td 2 2 2
tr n 1 – n 1 – n 1 –
tp
ts
Fig. 2.14.1.
Control System
www.aktutor.in 2–23 C (EN-Sem-5)
5. Settling time (ts) : The setting time is the time required for the response
to reach and stay within the specified range (2 % to 5 %) of its final value.
4
ts =
n
6. Steady state error (ess) : It is the difference between actual output and
desired output as time ‘t’ tends to infinity.
ess = lim r (t) c(t)
t
Que 2.15. Derive the expression for :
i. Rise time
ii. Peak overshoot time for the second order.
2
AKTU 2013-14, Marks 6
3
Answer
A. The rise time, tr :
1. The time response of a second order control system is given by
ent
c(t) = 1 sin[(n 1 2 ) t ]
1 2
2. Time tr is the time at which response reaches 100 % i.e., c(t) = 1.
entr
1 = 1 sin [(n 1 2 )tr ]
1 2
entr
sin [(n 1 2 )tr ] = 0
1 2
sin [(n 1 2 )tr ] = 0 [sin n = 0, n = 1]
[(n 1 2 )tr ] =
3. tr =
n 1 2
1
1 2
where, = tan
B. Maximum overshoot, Mp :
1. Mp = c(t)max – 1
c(t)max 1
% Mp = 100
1
ent
2. c(t) = 1 sin [(n 1 2 )t ]
2
1
Time Response Analysis
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dc(t) ent
= n 1 2 cos [n 1 2 )t ]
dt 1 2
( n ) ent
sin [(n 1 2 )t ]
1 2
dc(t)
3. For maximum, Put =0
dt
ewnt
{n 1 2 cos [(n 1 2 )t ]
1 2
n sin [(n 1 2 )t ]} = 0
2
n 1 2 cos [(n 1 2 )t ] = n sin [(n 1 )t ]
1 2
tan [(n 1 2 )t ] =
2
4. Putting, = tan – 1 1
1 2 1 2
tan (n 1 2 )t tan 1 = ...(2.15.1)
5. The general solution of eq. (2.15.1) is
(n 1 2 )t = n ...(2.15.2)
where n = 0, 1, 2...
At n = 1 , tp =
n 1 2
6. Putting t = tp in c(t),
n t p
e
c(t)max = 1 sin [( n 1 2 )t p ]
1 2
n
n 1 2
e
= 1 sin ( n 1 2 )
2 2
1 n 1
1 2 1 2
e e
= 1 sin ( ) 1 ( sin )
1 2 1 2
1 2
As, = tan 1 , sin = 1 2
1 2
e
Hence, c(t)max = 1 1 2
1 2
Control System
www.aktutor.in 2–25 C (EN-Sem-5)
2
c(t)max = 1 e 1
7. Mp = c(t)max – 1
Mp = 1 e 1
1 2
1 2
Mp = e
12
% Mp = e 100
Que 2.16. Derive expression for resonant frequency and resonant
peak for second order control system. AKTU 2015-16, Marks 10
Answer
1. For second order system
C ( s) 2n
= 2
R( s) s 2 n s 2n
2. Putting s = j
C( j) n2
=
R( j) – 2 n j 2n
2
1
M= 2
1 – j 2
n n
Let =x
n
1 1
M=
1 x 2 j 2x (1 x ) 4 2 x 2
2 2
dM
3. To maximize magnitude, put = 0,
dx
dM d
= [(1 – x 2 )2 4 2 x 2 ]–1/ 2
dx dx
1 d
= – [(1 – x 2 )2 4 2 x 2 ]–3/ 2 [(1 – x 2 )2 4 2 x2 ]
2 dx
1 1
= – [2(1– x 2 ) (– 2 x) 8 2 x ]
2 [(1 – x 2 )2 4 2 x 2 ]3/ 2
=0
4x[x2 + 22 – 1] = 0
As, x 0
x2 = 1 – 22
Time Response Analysis
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x= 1 – 2 2
r = n 1 – 2 2
1
4. |Mr| =
(1 x ) 4 2 x 2
2 2
1
|Mr| =
(1 ( 1 2 )) 4 2 ( 1 2 2 )2
2 2
1
|Mr| =
4 4 4 2 (1 2 2 )
1
Mr =
2 1 2
Que 2.17. The open loop transfer function of a unity feedback
system is :
G(s) =
s(1 + s)
For this system overshoot reduces from 0.6 to 0.2 due to change in
only. Show that :
( 1)
43.
( 1)
where 1 and 2 are values of for 0.6 and 0.2 overshoot respectively.
2
AKTU 2013-14, Marks 6
3
Answer
Given : G(s) = , H(s) = 1, Mp = from 0.6 to 0.2
s(1 s)
1 1
To Prove : 43.
1 2
1. Mp reduces from 0.6 to 0.2 due to change in only.
Transfer function
C (s ) G ( s) / s (1 s) /
= = = = 2 1
R( s) 1 G (s) H ( s) s 2
s
1 s s
s(1 s)
2. Compare denominator by s2 + 2 ns + n2 = 0
1 1
2 n = =
2 n
Control System
www.aktutor.in 2–27 C (EN-Sem-5)
n =
1
=
2 2
3. Maximum overshoot,
1 2
Mp = e
1
2
loge 0.6 = loge e 1 1
1
loge 0.6 = –
1 12
1
– 0.5 = –
1 12
(1 – 12) 0.25 = 12 2
(1 12 ) 9.87
= 39.48
12 0.25
39.48 12 + 12 – 1 = 0
40.48 12 = 1
1
1 = 0.157 =
2 1
1 = 10.142
1 – 1 = 9.142 ...(2.17.1)
4. Similarly for 2 at 2 = 0.2, we get
1
2 = 0.4538 = ...(2.17.2)
2 2
2 = 1.214
2 – 1= 0.214
5. Dividing eq. (2.17.1) and (2.17.2), we get
1 1
= 42.72
2 1
43
Que 2.18. A unity feedback system has a forward path transfer
( s 2)
function G(s) = . Determine rise time, peak time and settling
s ( s 1)
time (2 % tolerance). AKTU 2014-15, Marks 05
Time Response Analysis
www.aktutor.in 2–28 C (EN-Sem-5)
Answer
(s 2)
Given : G(s) = , H (s) = 1
s(s 1)
To Find : tr, tp and ts.
1. The characteristic equation for unity feedback control system is given
by
1 + G(s) H(s) = 0
(s 2)
1+ =0
s(s 1)
2
s +s+s+2= 0
s2 + 2s + 2 = 0
2. Comparing by standard second order characteristic equation
s2 + 2ns + 2n = 0
n = 2 rad/sec
2n = 2
1
= 0.707
2
3. Rise time, tr =
d
1 2
= tan 1 = 45° = 0.7853 (in radian)
d = n 1 2 = 2 1 (0.707)2 = 1
tr = 2.3562 sec
4. Peak time, tp = 3.1415 sec
d
4 4
5. Setting time, ts (for 2%) = =
n (0.707) ( 2)
ts = 4 sec.
Que 2.19. Derive the expression for second order system response
when subjected to unit impulse input for damping ratio () < 1.
An unity feedback system is characterized by an open loop transfer
function.
K
G(s) =
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 the settling time, peak
overshoot and time to peak overshoot for a unit step input.
AKTU 2016-17, Marks 10
Control System
www.aktutor.in 2–29 C (EN-Sem-5)
Answer
Derivation for second order system response :
1. For unit impulse function, R(s) = 1 and the output of a second order
system is given by
n 2
C(s) = ...(2.19.1)
s 2n s n 2
2
2. In eq. (2.19.1) rewriting the term
(s2 + 2 ns + n2) as [(s + n)2 + n2(1 – 2)]
n2
C(s) =
[( s n ) n2 (1 2 )]
2
n2 n 1 2
C(s) = ...(2.19.2)
n 1 2 [(s n )2 ( n 1 2 )2 ]
3. Taking inverse Laplace transform on both sides of eq. (2.19.2),
n
c(t) = e nt sin [( n 1 2 )t ] ...(2.19.3)
1 2
4. For < 1,
n
c(t) = e nt sin [( n 1 2 )t ] ...(2.19.4)
1 2
c(t) <1
0
t
Fig. 2.19.1.
5. The time response for < 1 is decaying exponential oscillations and the
output at times goes negative also.
Numerical :
K
Given : G(s) = , = 0.5, H(s) =1
s( s 10)
To Find : K, ts, tp and Mp.
C ( s) G (s )
1. =
R( s) 1 G (s) H ( s)
K
= ...(2.19.5)
s 2 10 s K
Time Response Analysis
www.aktutor.in 2–30 C (EN-Sem-5)
2. For second order system,
C ( s) 2n
= 2 ...(2.19.6)
R( s) s 2 n s 2n
3. Comparing eq. (2.19.5) and (2.19.6), we get
n = K rad/sec
2 n = 10
2 × 0.5 × K = 10
K = 10
K = 100
0.5
2 2
1 1 0.5
4. Peak overshoot, Mp = e = e = 0.1630
4 4
5. Settling time, ts = = = 0.8 sec
n 0.5 10
6. Peak time, tp = = 0.36 sec.
2
n 1 10 1 (0.5)2
PART-4
Proportional, Derivative, Integral and PID Compensations, Design
Considerations for Higher Order System and Performance Indices.
CONCEPT OUTLINE : PART-4
• P controller (Proportional controller) : It is a control system
technology based on a response in proportion to the difference
between what is set as a desired process variable (or set point)
and the current value of the variable.
• PI controller (Proportional integral controller) : A
controller in the forward path which changes the controller
output corresponding to the proportional plus integral of error
signal is called PI controller.
• PID controller (Proportional, integral and derivative
controller) : It is a close loop system which has feedback control
system and it compares the process variable (feedback variable)
with set point and generates an error signal and according to
that it adjusts the output of system.
Questions-Answers
Long Answer Type and Medium Answer Type Questions
Control System
www.aktutor.in 2–31 C (EN-Sem-5)
Que 2.20. Write a short note on proportional control.
Answer
Proportional control :
1. In proportional control the actuating signal for the control action in a
control system is proportional to the error signal.
2. The error signal being the difference between the reference input signal
and the feedback signal obtained from the output.
3. For the system considered as shown in Fig. 2.20.1, the actuating signal
is proportional to the error signal, therefore, the system is called
proportional control system.
4. Consider a second order system where controller input is error itself
and proportional constant is K = 1 as shown in Fig. 2.20.1.
Error signal Actuating
R(s) E(s) signal 2n C(s)
1 Output
Input s(s + 2 n)
–
H(s)
Fig. 2.20.1.
2n
G(s)H(s) =
s( s 2 n )
C ( s) 2n
= 2
R( s) s 2 n s 2n
For this system damping ratio is and natural frequency n.
5. And for steady state error
Kp = lim G( s) H ( s)
s0
n
and Kv = lim s G( s) H ( s)
s 0 2
Effects :
1. Steady state error is reduced.
2. Disturbance signal rejection occurs.
3. Relative stability is improved.
Que 2.21. Write a s hort note on proportional derivative
compensator stating its merits and demerits.
AKTU 2014-15, Marks 05
Time Response Analysis
www.aktutor.in 2–32 C (EN-Sem-5)
OR
What is the effect of PD (Proportional Derivative) Controller on
steady state error due to a unit ramp input in second order system ?
Prove mathematically. AKTU 2013-14, Marks 05
OR
Write a short note on PD controller and synchros.
AKTU 2015-16, Marks 10
Answer
1. A controller in the forward path, which changes the controller output
corresponding to proportional plus derivative of error signal is called PD
controller.
de(t)
2. Output of controller = K e( t) Td
dt
Taking Laplace transform
= K E(s) + sTd E(s) = E(s) [K + sTd]
+ n2
R(s) K C(s)
+ s (s + 2 n)
–
sTd
Fig. 2.21.1.
3. Assume, K = 1, we can write,
(1 sTd ) 2n
G(s) =
s( s 2 n )
C ( s) (1 sTd ) 2n
= 2
R( s) s s [2 n 2n Td ] 2n
4. Comparing denominator with standard form,
2n = 2 n 2n Td
n Td
=
2
n Td
5. Because of this controller, damping ratio increased by factor .
2
Kp = lim G( s) H ( s)
s0
n
Kv = lim s G(s) H (s)
s 0 2
without PD controller,
Control System
www.aktutor.in 2–33 C (EN-Sem-5)
2n
G(s) H(s) = [K =1]
s(s 2 n )
n
Kv = lim sG(s) H ( s)
s0 2
As there is no change in coefficients, error also will remain same.
6. Effects :
i. It increases damping ratio.
ii. ‘TYPE’ of the system remains unchanged.
iii. It reduces peak overshoot.
iv. It reduces settling time.
v. Steady state error remains unchanged.
7. Demerits :
1. It amplifies the noise signal.
2. It may cause saturation effect in the actuator.
3. It does not improve ess because of generation of a zero in the transfer
function.
Synchros : Refer Q. 1.8, Page 1–11C, Unit-1.
Que 2.22. Discuss the effect on the performance of a second order
control system of
i. Derivative control
ii. Integral control. AKTU 2016-17, Marks 10
OR
Discuss the PI and PD controller with their applications. Also find
the different error constant for P, I and D.
AKTU 2013-14, Marks 10
Answer
i. Derivative controller : Refer Q. 2.21, Page 2–31C, Unit-2.
Application of PD controller :
1. In an industrial plant, a PD controller is applied in applications where
overshoot cannot be tolerated. Such as batch pH neutralization.
2. In some positioning applications.
ii. Proportional integral controller (PI) :
1. A controller in the forward path, which changes the controller output
corresponding to the proportional plus integral of the error signal is
called PI controller.
2. Output of controller = K e(t) + Ki e(t) dt
Time Response Analysis
www.aktutor.in 2–34 C (EN-Sem-5)
Ki K
Taking Laplace = K E( s) E( s) E( s) K i
s s
+ n2
R(s) K C(s)
+ s (s + 2 n)
–
Ki/s
Fig. 2.22.1.
3. Assume, K = 1, we can write,
Ki 2
1 s n
( K s) n2
G(s) = 2 i
s (s 2 n ) s (s 2 n )
i.e., system becomes TYPE 2 in nature.
C ( s) ( K i s) n2
= 3
R( s) s 2 n s2 s 2n K i n2
i.e, it becomes third order.
4. Now as order increases by one, system relatively becomes less stable as
Ki must be designed in such a way that system will remain in stable
condition. Second order system is always stable.
while Kp = lim G( s) H ( s) , ess = 0
s0
Kv = lim s G( s) H (s) , ess 0
s0
5. Hence as type is increased by one, error becomes zero for ramp type of
input i.e., steady state of system gets improved and system becomes
more accurate in nature.
6. Applications of PI controller :
i. Pressure control
ii. Temperature control
7. Effects :
i. It increases order of the system.
ii. It increases TYPE of the system.
iii. Design of Ki must be proper to maintain stability of system.
vi. Steady state error reduces tremendously for same type of inputs.
Que 2.23. Explain PID controller.
Answer
PID controller (Proportional, integral and derivative
controller) :
1. It is a close loop system which has feedback control system and it
compares the process variable (feedback variable) with set point and
generates an error signal and according to that it adjusts the output of
system.
Control System
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2. It is the combination of proportional, integral and derivative controller.
3. A PD (Proportional derivative) type of controller improves transient
part without affecting the steady state part.
4. While PI (Proportional integral) type of controller improves steady state
part without affecting the transient part.
5. In PID, both PI and PD effects are incorporated. Hence both transient
as well as steady state part of the response can be improved.
6. This can be realized as shown in the Fig. 2.23.1.
sT d
+
+ Plant and
R(s) K C(s)
controller
– +
Ki/s
Fig. 2.23.1.
7. The output of PID controller is time domain is,
de(t)
Controller output = Ke(t) K i e(t) dt Td
dt
8. Taking the Laplace transform, controller output in s-domain is,
K
Controller output = E(s) K i s Td
s
Que 2.24. Determine Kt so that = 0.6. Find the corresponding
time domain specification for system in Fig. 2.24.1.
+ + 20
R(s) C(s)
– – (s + 2)
Kts
Fig. 2.24.1.
Answer
20
s( s 2) 20
1. Inner loop =
20sK t s ( s 2 20 K t )
1
s(s 2)
20
C ( s) s( s 2 20 K t ) 20
2. = 2
R( s) 1 20 s s (2 20 K t ) 20
s(s 2 20 K t )
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3. 2n = 20, n = 20
2m = 2 + 20 Kt
2 20 K t
= = 0.6 (given)
2 20
Kt = 0.1683
Que 2.25. Define about performance index in brief.
Answer
Performance Index : The goodness of the system performance can be
based on the performance index and helps in designing a control system.
a. Integral Square Error (ISE) :
I= e2 (t)dt
0
It provides a good compromise between the rise time to limit the effect
of a large initial error, reduction of peak overshoot and settling time.
When = 0.5, I is minimum. It is difficult to calculate for higher order
system.
b. Integral of Absolute Value of Error :
I= e(t) dt
0
There are fewer penalties for large error and large penalty for small
error. It requires use of computer and has poor sensitivity. A system
based on this criteria has enough damping and transient performance.
c. Integral of Time Multiplied Square Criteria :
I= te2 (t) dt
0
Large initial error is weighted lightly, while errors occurring late are
weighted heavily.
d. Integral of Square Time Multiplied Square Criteria :
I= t 2 e2 (t) dt
0
Here, more weight is given to large initial errors.
VERY IMPORTANT QUESTIONS
Following questions are very important. These questions
may be asked in your SESSIONALS as well as
UNIVERSITY EXAMINATION.
Control System
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Q. 1. Discuss the time response of first order system with unit
step, unit impulse and unit ramp inputs.
Ans. Refer Q. 2.2, Unit-2.
Q. 2. Derive an expression for Kp, Kv, and Ka for type-1 system.
Ans. Refer Q. 2.7, Unit-2.
Q. 3. A unity feedback s ys tem has transfer function
K
G(s) = , determine steady state error if
s(s 2) (s2 2 s 5)
t2
input is r(t) = 2 + 4t + .
2
Ans. Refer Q. 2.9, Unit-2.
Q. 4. For the system shown in figure, determine the type of
system, error coefficient and the error for the following
inputs :
i. r(t) = 6,
ii. r(t) = 8t
iii. r(t) = 10 + 4t + 15t2
+ + 20
R(s) 20 2 C(s)
– – (s + 2)(s + 5)
2(s + 1)
Ans. Refer Q. 2.11, Unit-2.
Q. 5. Define the following terms of second order system :
i. Delay time
ii. Rise time
iii. Peak time
iv. Steady state error
v. Settling time
Ans. Refer Q. 2.14, Unit-2.
Q. 6. Derive expression for resonant frequency and resonant
peak for second order control system.
Ans. Refer Q. 2.16, Unit-2.
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Q. 7. A unity feedback system has a forward path transfer
( s 2)
function G(s) = . Determine rise time, peak time and
s ( s 1)
settling time (2% tolerance).
Ans. Refer Q. 2.18, Unit-2.
Q. 8. Write a short note on proportional derivative compensator
stating its merits and demerits.
Ans. Refer Q. 2.21, Unit-2.
Q. 9. Discuss the effect on the performance of a second order
control system of
i. Derivative control
ii. Integral control.
Ans. Refer Q. 2.22, Unit-2.
Control System 3–1 C (EN-Sem-5)
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3 Stability and
Algebraic Criteria
Part-1 ............................................................................... (3–2C to 3–8C)
• Concept of Stability and its Necessary Conditions
• Routh-Hurwitz Criteria and its Limitations
A. Concept Outline : Part-1 ............................................................. 3–2C
B. Long and Medium Answer Type Questions ............................... 3–2C
Part-2 ............................................................................ (3–8C to 3–23C)
• Root Contour
• Construction of Root Loci
• Effect of Transportation Lag and Root Locus of Non Minimal
Phase System and Effect of Pole-Zero Cancellation
A. Concept Outline : Part-2 ............................................................. 3–8C
B. Long and Medium Answer Type Questions ............................... 3–9C
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PART-1
Concept of Stability and its Necessary Conditions,
Routh-Hurwitz Criteria and its Limitations.
CONCEPT OUTLINE : PART-1
• Concept of stability : A stable system is one that will remain
at rest unless excited by external sources and will return to rest
if all the excitations are removed.
• Routh stability criterion :
1. Routh stability criterion checks the system stability.
2. If the elements of the first column of the Routh array have :
i. No sign change, it means system is stable.
ii. Sign change, it means system is unstable.
iii. If one row becomes zero, it means system is marginally stable.
Questions-Answers
Long Answer Type and Medium Answer Type Questions
Que 3.1. Define stability. State the necessary conditions for
system to be absolutely stable. AKTU 2017-18, Marks 10
Answer
Stability :
1. A system is stable if its response (i.e., the transfer function) approaches
zero as time approaches infinity.
2. In other words, a system is stable if every bounded input produces a
bounded output.
Types of stability :
1. Absolutely stable : If a system output is stable for all variations of its
parameters, then the system is called absolutely stable system. It gives
the information about whether system is stable or unstable.
2. Relative stability : The system is said to be relatively more stable or
unstable on the basis of settling time. System is said to be relatively
more stable if settling time for the system is less than that of the other
system. Relative stability gives degree of stability or how close it to instability.
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Necessary conditions for absolutely stable :
i. All the coefficients of characteristics equation must have same sign.
ii. There should be no missing term.
iii. All poles of transfer function should be in left half of s-plane.
iv. The degree of denominator polynomial of transfer function is greater or
equal to that of numerator polynomial.
Que 3.2. What is Routh-Hurwitz stability criterion ? Explain
briefly.
OR
What are the limitations of Routh-Hurwitz criterion ?
AKTU 2017-18, Marks 10
OR
Explain the method of forming Routh array.
Answer
The Routh-Hurwitz stability criterion is a mathematical test that is a
necessary and sufficient condition for the stability of system.
Routh’s criterion :
1. The necessary and sufficient condition for the system to be stable is
that all the terms in the first column of Routh’s array (i.e. a0, a1, b1, c1,
d1 ……..an) must have same sign.
2. There should not be any sign change in the first column of Routh’s
array.
3. If there is any sign change then
i. System is unstable.
ii. Number of sign changes is equal to the number of poles lying in the
right half of the s-plane.
Method of forming a Routh array :
sn a0 a2 a4 a6 ......
sn–1 a1 a3 a5 a7
sn–2 b1 b2 b3
sn–3 c1 c2 c3
s0 an
i. Coefficients for first two rows are written directly from characteristics
equation,
a1 a2 a0 a3
b1 =
a1
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a1 a4 a0 a5
b2 =
a1
a1 a6 a0 a7
b3 =
a1
ii. From 2nd and 3rd row, 4th row can be obtained as
b1 a3 a1 b2
c1 =
b1
b1 a5 a1 b3
c2 =
b1
iii. This process is to be continued till the coefficient for s0 is obtained which
will be an. From this array stability of a system can be predicated.
Special cases :
1. When the 1st term in a row is zero, but all other terms is non-zero then
substitute a small positive number for zero & proceed to evaluate the
rest of the elements. When the 1st column term is zero, it means that
there is an imaginary root.
2. All zero row : In this case, write auxiliary equation from preceding
row, differentiate this equation & substitute all zero row by the coefficient
obtained by differentiating the auxiliary equation. This case occurs when
the roots are in pairs. The system is said to be limitedly stable.
Application : Routh’s criterion can be applied to determine range of
certain parameters of a system to ensure stability. It is usually to find
the range of the open loop gain K for closed loop stability.
Limitations :
1. It is valid only if the characteristics equation is algebraic.
2. If any coefficient of the characteristics equation is complex or contain
power of e then this criterion cannot be applied.
3. It gives information about how many roots are lying in the RHS of the
s-plane but values of the roots are not available. Also it cannot distinguish
between real and complex roots.
Que 3.3. The characteristics equation of a system is given
(s4 + 20s3 +15s2 + 2s + K) = 0, determine the range of the K, for system
to be stable. AKTU 2017-18, Marks 10
Answer
Given : G(s) = s4 + 20s3 + 15s2 + 2s + K = 0
To Find : Range of K.
1. Routh array,
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s4 1 15 K
s3 20 2 0
s2 149 K 0
298 – 20 K
s1 0
149
0
s K
2. For system to be stable
298 20 K
> 0 and K > 0
149
3. Range of K is 0 < K < 14.9
Que 3.4. Using Routh’s stability criterion, determine the range
of K for open loop transfer function
K
G(s) H(s) =
s(s 1 ) (1 2 s)
AKTU 2015-16, Marks 10
Answer
K
Given : G(s) H(s) =
s(s 1 ) (1 2s)
To Find : Range of K.
1. Using characteristics equation
1 + G(s) H(s) = 0
K
1+ =0
s(s 1)(1 2s)
s(s + 1) (1 + 2s) + K = 0
s(2s2 + 3s + 1) + K = 0
2s3 + 3s2 + s + K = 0
2. Using Routh array :
s3 2 1
s2 3 K
3 – 2K
s1 0
3
0
s K
3. For system to be stable :
3 – 2K
> 0 and K > 0
3
3
0<K<
2
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Que 3.5. Explain the working principle of stepper motor with
neat diagram.
The characteris tics equation for feedback control is ,
s3 + 5s2 + 12s + K = 0. Find the range of K for all the roots to lie to the
left of s = 1. AKTU 2016-17, Marks 10
Answer
Stepper motor : Refer Q. 1.9, Page 1–13C, Unit-1.
Numerical :
Given : Characteristics equation is s3 + 5s2 + 12s + K = 0
To Find : Range of K.
1. Putting s = s – 1
(s – 1)3 + 5 (s – 1)2 + 12 (s – 1) + K = 0
s3 – 1 + 3s – 3s2 + 5s2 + 5 – 10s + 12s – 12 + K = 0
s3 + 2s2 + 5s + (K – 8) = 0
2. Routh array :
s3 1 5
s2 2 ( K 8)
10 ( K 8)
s1 0
2
0
s ( K 8)
3. To lie all roots to the left side of s = –1, there should not be any sign
change in first column of Routh array.
10 ( K 8)
>0
2
10 – (K – 8) > 0
18 – K > 0
K < 18 ...(3.5.1)
Also, K–8> 0
K>8 ...(3.5.2)
From eq. (3.5.1) and (3.5.2), range of K is
8 < K < 18
Que 3.6. For a system having characteristic equation 2s4 + 4s2 +
1 = 0, find the following :
i. The number of roots in the left half of s-plane.
ii. The number of roots in the right half of s-plane.
iii. The number of roots on the imaginary axis. Use the Routh
Hurwitz Criterion. AKTU 2013-14, Marks 10
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Answer
Given : Characteristic equation is 2s4 + 4s2 + 1 = 0
To Find : Number of roots in left, right and on imaginary axis.
1. Routh array :
s4 2 4 1
s3 0 0
s2
s1
s0
2. Auxiliary equation
2s4 + 4s2 + 1 = 0
3. Differentiating w.r.t s,
8s3 + 8s = 0
s3 + s = 0
4. Again forming Routh array,
s4 2 4 1
s3 1 1
s2 2 1
s1 1
s0 1
5. No sign change but one row (s 3 row) is zero then the system is
marginally stable.
i. The number of roots in left half of s-plane is two.
ii. The number of roots in right half of s-plane is zero.
iii. The number of roots on the imaginary axis is two.
Que 3.7. Determine the stability of a closed loop control system
whose characteristic equation is s5 + s4 + 2s3 + 2s2 + 11s + 10 = 0
AKTU 2014-15, Marks 10
Answer
Given : Characteristic equation is s5 + s4 + 2s3 + 2s2 + 11s + 10 = 0
To Find : Stability.
1. Routh array is :
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Stability & Algebraic Criteria 3–8 C (EN-Sem-5)
s5 1 2 11
s 4 1 2 10
s3 0 1
s2
s1
s0
2. Putting ( very small positive value) in place of 0 in the first column
Routh array
s5 1 2 11
s4 1 2 10
s3 ( ve) 1 0
2 1
s2 ( ve) 10
2 1
10
s1 ( ve) 0
2 1
s0 10
3. Since there is two sign change in the first column of Routh array,
therefore system is unstable.
PART-2
Root Locus Techniques : Root Contour, Construction of Root Loci,
Effect of Transportation Lag and Root Locus of Non Minimal
Phase System and Effect of Pole-Zero Cancellation.
CONCEPT OUTLINE : PART-2
• Root-locus :
1. Root-locus is used for checking the stability of the system.
180º (2q 1)
2. Angle of asymptotes, q =
( P Z)
where q = 0, 1, 2,... (P – Z – 1)
Real parts of poles – Real parts of zeros
3. Centroid, =
P Z
where, P = Number of poles
Z = Number of zeros
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Questions-Answers
Long Answer Type and Medium Answer Type Questions
Que 3.8. Explain step by step procedure for plotting root locus.
OR
Write short note on :
i. Centroid
ii. Breakaway points
iii. Steady state error. AKTU 2017-18, Marks 10
Answer
Root locus :
1. Root locus is the plot of loci of the root of the complementary equation
when one or more parameter of open-loop transfer function is varied,
mostly the only one variable available is the gain K. The negative K has
no significance. Hence vary K from 0 to , the plot obtained is called root
locus.
2. It gives the complete dynamic response of system. It provides the
measure of sensitivity of roots of variation in the system.
Rules for construction of root loci :
1. The root locus is symmetrical about the real axis.
2. Each branch of the root locus originates form an open-loop pole where
K = 0 and terminates on an open loop zeros or on infinity where K = .
3. The number of branches of the root locus terminating on infinity is
equal to P – Z.
4. A point on the real axis lies on the locus, if number of open loop poles
and zeros on the real axis to the right of this point is odd.
5. Angles of asymptotes : The (P – Z) root locus branches that approaches
to infinity are along straight line is called asymptote. Asymptotes making
angles with the real axis are given by
(2q 1)180
q = ; where q 0,1,2,....., P Z 1
PZ
6. Centroid : The point of intersection of the asymptotes with the real
axis called centroid is at s = , where
Real part of poles Real part of zeros
=
Number of poles Number of zeros
7. Break points : The break points (breakaway and breakin points) of the
dK
root locus are determined from the roots of the equation = 0.
ds
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The r branches of the root locus which meet at a point break away at an
180
angle of ± .
r
8. Angle of departure : The angle of departure from an open loop pole is
given by
d = 180° + ;
where is the net angle contribution at the zero of all other open-loop
poles and zeros.
9. Angle of arrival : The angle of arrival at open loop zero is given by
a = 180° – ,
where is the net angle contribution of all other open loop poles and
zeros.
10. The point of intersection of the root locus branches with the imaginary
axis and the critical value of K can be determined by use of the Routh’s
criterion.
11. Gain : The open-loop gain K in pole-zero from at any point s0 on the root
locus is given by
Product of phasor lengths from s0 to open-loop poles
K=
Product of phasor lengths from s0 to open-loop zeros
Root contour :
1. The root locus technique for the study of stability of closed loop system
from open loop transfer function can be extended by varying parameter
other than K in system from 0 to .
2. Consider a system shown in the Fig. 3.8.1.
R(s) + K C(s)
s (s + )
–
Fig. 3.8.1.
K
3. The open loop transfer function is G(s)H(s) =
s (s )
4. The locus of roots of characteristic equation obtained by varying
parameter of the system other than K from 0 to is called root contour
of the system.
5. The parameters like , K are to be varied simultaneously, while sketching
the root contours.
Steady state error : Refer Q. 2.6, Page 2–11C, Unit-2.
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Que 3.9. Sketch the root locus for the open loop transfer function
of a unity feedback control system given below and determine value
K
of K at = 0.5, G(s) H(s) = AKTU 2014-15, Marks 10
s(s 1) (s 3)
OR
Construct root loci for open loop transfer function :
K
G(s) H(s) =
s(s 1 ) (s 3)
AKTU 2015-16, Marks 10
Answer
K
Given : G(s) H(s) = , H(s) = 1, = 0.5
s(s 1) (s 3)
To Sketch : Root locus and value of K at = 0.5.
A.
1. The open-loop poles are at s = 0, s = – 1, s = – 3.
2. There is no open loop zeros.
3. Number of poles, P = 3
Number of zeros, Z = 0
P – Z = 3 – 0 = 3 i.e., three branches of root locus end at infinity.
4. Angle of asymptotes :
(2 q 1)180
q = where q = 0, 1, 2, ...(P – Z –1)
PZ
(2 0 1) 180
0 = = 60°
(3 0)
(2 1 1) 180
1 = = 180°
(3 0)
(2 2 1) 180
2 = = 300°
(3 0)
5. Centroid of asymptotes :
Real parts of poles Real parts of zeros
=
PZ
(0 1 3) (0)
= = – 1.33.
30
6. Breakaway points : Between open-loop poles s = 0 and s = – 1, there
exists a breakaway point.
The characteristic equation is
s (s + 1)(s + 3) + K = 0
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K = – (s3 + 4s2 + 3s)
dK
= – (3s2 + 8s + 3) = 0
ds
3s2 + 8s + 3 = 0
s = – 1.33 ± 0.88 = – 0.42 and – 2.21
As the breakaway point has to lie between s = 0 and s = – 1, the valid
breakaway point is s = – 0.42.
7. Intersection with j axis :
Characteristic equation, 1 + G(s) H(s) = 0
s (s + 1) (s + 3) + K = 0
s3 + 4s2 + 3s + K = 0
Routh array :
s3 1 3
s2 4 K
s1 (12 K ) / 4
s0 K
The value of K at imaginary axis :
(12 K )
= 0 K = 12
4
Auxiliary equation,
4s2 + 12 = 0
s = ± j 1.73
Im
K=
(j1.732, K = 12)
– 0.35 + j0.6
180° 60°
K= K=0 K=0
–3 –1 0 Re
–1.33
300°
–0.45
(– j1.732, K = 12)
K=
Fig. 3.9.1. Root locus for G(s) = K/s(s + 1)(s + 3).
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B.
1. Since = 0.5
and cos =
cos = 0.5
= 60°
2. From the origin a line at angle = 60° is drawn as shown in Fig. 3.9.1,
which intersects the root locus plot at s = (– 0.35 + j0.6). As the point
s = (– 0.35 + j0.6) lies on the root locus the following equation is satisfied
K
|G(s) H(s)| = 1 or =1
s( s 1)( s 3)
3. Put s = (– 0.35 + j0.6), we get
K
=1
( 0.35 j 0.6)[( 0.35 j0.6) 1][( 0.35 j 0.6) 3]
K
= 1 or K = 1.66
1.66
Que 3.10. Sketch the root locus for a system having :
K (s + 1)
G(s) = and H(s) = 2
(s + 1) (s + 4s + 5)
and comment on the result. AKTU 2013-14, Marks 10
Answer
1. The characteristics equation of the system is
1 + G(s)H(s) = 0
K s 1
1 =0
s 1 s2 4 s 5
K
1 2 = 0
s 4 s 5
s2 + 4s+ K + 5 = 0
2. Two roots of the above equation are
s 1, s 2 = 2 j K 1
For various value of K the roots are
K 0 3 8
s1 – 2 + j1 – 2 + j2 – 2 + j3 – 2 + j
s2 – 2 – j1 – 2 – j2 – 2 – j3 – 2 – j
The roots determined above are plotted in s-plane as shown in
Fig. 3.10.1.
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Im
K= j4
K=8 j3
K=3 j2
K=0 j1
Re
–2
K=0 – j1
K=3 – j2
K=8 – j3
– j4
K=
Fig. 3.10.1.
Conclusion :
1. For all values of K from 0 to the roots are complex with negative real
plot indicating that the time response is underdamped.
2. Whatever may be positive values of K there is no chance for the real
part of the roots to become positive, hence the system is inherently
stable.
Que 3.11. Sketch the root locus for the closed loop control system
K
with G(s) = . AKTU 2016-17, Marks 10
s(s 1)( s 2 4 s 5)
Answer
K
Given : G(s) =
s( s 1)(s 2 4 s 5)
To Draw : Root locus.
1. Poles i.e., s = 0, s = – 1, s = – 2 + j and s = – 2 – j
2. There is no open loop zero.
3. Number of poles, P = 4
Number of zeros, Z = 0
P – Z = 4 – 0 = 4 i.e., four branches of root locus terminates at infinity.
4. Angle of asymptotes :
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(2 q 1)
q = 180
PZ
where, q = 0, 1, 2, ...... upto (P – Z – 1)
201
0 = 180 = 45°
4 0
2 11
1 = 180 = 135°
40
221
2 = 180 = 225°
4 0
231
3 = 180 = 315°
40
5. Centroid of asymptotes :
Real parts of poles – Real parts of zeros
=
PZ
(0 1 2 j 2 j ) (0) 5
= = = – 1.25
40 4
6. Breakaway points : The characteristic equation is 1 + G(s) H(s) = 0
s(s + 1) (s2 + 4s + 5) + K = 0
s4 + 5s3 + 9s2 + 5s + K = 0
dK / ds = 4s3 + (5 × 3s2) + (9 × 2s) + 5 × 1 = 0
4s3 + 15s2 + 18s + 5 = 0
(s + 0.4) (4s2 + 13.4s + 12.5) = 0
(s + 0.4) {(s + 1.675 – j 0.565) (s + 1.675 + j 0.565)} = 0
Therefore three breakaway points are obtained
s = – 0.4 on real axis and
s = – 1.7 + j 0.6 and s = – 1.7 – j 0.6
7. Intersection points with imaginary axis :
The characteristic equation is s4 + 5s3 + 9s2 + 5s + K = 0
The Routh array :
s4 1 9 K
s3 5 5 0
2
s 8 K
5K
1
s 5 0
8
s0 K
Value of K at imaginary axis :
5K
5 = 0; K= 8
8
Solving auxiliary equation formed from the s2 terms in Routh array,
therefore
8s2 + K = 0
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8s2 + 8 = 0
s2 + 1 = 0
s=± j
8. Angle of departure from complex pole :
d = 180° – (P – Z)
P1 = 180° – tan–1(1/2) = 153.43°
P2 = 180° – tan–1(1/1) = 135°
P3 = 90°
(–2 + j) = 180° – (P1 + P2 + P3)
(–2 + j) = 180°– (153.43° + 135° + 90°) = – 198.43°
and – j) = + 198.43°
(– 2
Im
–2 + j
j1
13
5° 153.43°
–2 –1 Re
90°
– j1
p = 90 °
3
Fig. 3.11.1.
9. Root locus :
K= K=
Im
–2+j
j1
– 198.43°
–1
Re
+ 198.43° –2
– j1
–2–j
K= Fig. 3.11.2. Root locus. K=
Que 3.12. Construct the RL (root locus) for a unity feedback
K ( s + 1)
system with OLTF G(s) = . AKTU 2017-18, Marks 10
s 2 (s + 9)
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Answer
K ( s 1)
Given : G(s) = , H(s) = 1
s 2 ( s 9)
To Draw : The root locus.
1. The open loop poles i.e., s = 0, s = 0, s = – 9
2. Open loop zero are at s = – 1
3. Number of poles, P = 3
Number of zeros, Z = 1
P – Z = 3 – 1 = 2 i.e., two branches of root locus terminates at infinity.
4. Angle of asymptotes :
(2 q 1)
q = 180
PZ
where, q = 0, 1, 2, ...... upto (P – Z – 1)
(2 0 1)
0 = 180 = 90°
3–1
2 1 1
1 = 180 = 270°
3–1
5. Centroid of asymptotes :
Real parts of poles – Real parts of zeros
=
PZ
0 9 1 8
= =–4
2 2
6. Breakaway points :
1 + G(s)H(s) = 0
K ( s 1)
1 2 1 = 0
s ( s 9)
s2(s + 9) + K(s + 1) = 0
s2 (s 9)
K=
(s 1)
dK (s 1)(3 s 2 18 s) s2 (s 9)(1) 2s( s 3)2
= = =0
ds (s 1)2 ( s 1)2
– 2s(s + 3)2 = 0
s = 0, s = – 3
7. Intersection with imaginary axis :
s3 + 9s2 + Ks + K = 0
Routh array :
s3 1 K
s2 9 K
s1 8 K / 9
s0 K
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Value of K at imaginary axis,
8K
=0
9
K=0
Now, 9s2 + K = 0
9s2 = 0
s=0
K=
Im
K=0
–9 –4 –1 Re
K=
Fig. 3.12.1. Root locus.
Que 3.13. Sketch the RL for a unity feedback system with OLTF
K (s2 + 2s + 10)
G(s) = . AKTU 2017-18, Marks 10
s2 + 4 s + 5
Answer
K ( s2 2s 10)
Given : G(s) = , H(s) = 1
s2 4 s 5
To Draw : Root locus.
1. The open loops poles are at s = – 2 – j, s = – 2 + j
2. The open loop zeros are at s = – 1 – j3, s = – 1 + j3
3. Number of poles = 2
Number of zeros = 2
P – Z = 2 – 2 = 0 i.e., none of branches of root locus terminates at
infinity.
4. Angle of departure and arrival can’t be calculated because the centroid,
= .
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Im
j3
j1
Re
–2
– j1
– j3
Fig. 3.13.1.
Que 3.14. Consider a unity feedback system with a forward path
K ( s 4)
transfer function G(s) =
( s + 2)(s 1)
Draw the root locus. AKTU 2017-18, Marks 10
Answer
K (s 4)
Given : G(s) =
(s 2)( s 1)
To Draw : Root locus.
1. The open loop poles are at s = – 2, s = 1
2. The open loop zeros at s = 4
3. Number of poles = 2
Number of zeros = 1
P – Z = 1 i.e., one branch of root locus terminates at infinity.
4. Centroid of asymptotes :
Real parts of poles – Real parts of zeros 1 2 4
= = =–5
PZ 1
5. Breakaway point :
1 + G(s)H(s) = 0
1 K ( s 4)
=0
( s 2)( s 1)
2
s + s – 2 + K(s – 4) = 0
2 s s2
K=
(s 4)
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dK (s 4)(1 2s) (2 s s 2 )(1)
=
ds (s 4)2
s2 8 s 2
= =0
(s 4)2
s = 8.24 (Breakin point)
and s = – 0.24 (Breakaway point)
6. Angle of asymptotes :
(2q 1) 1
q = 180 × 180° = 180°
PZ 21
Im
8.24
–2 1 4 Re
– 0.24
Fig. 3.14.1. Root locus.
Que 3.15. Discuss the effects of pole-zero cancellation.
Answer
Pole-zero cancellation :
1. Let us assume that some of the poles of G are at undesirable locations
and that we want to place them more appropriately.
2. We can insert a controller in series before the system in order to cancel
out the undesirable poles and keep only those which are suitable.
3. The undesirable poles of G are not removed by this technique, but that
their effect is cancelled out by the coincident zeros of the controller.
4. This is known as pole-zero cancellation. A difficulty with pole zero
cancellation is that it may not be exact.
Effects of pole-zero cancellation are :
1. If the specification on allowable steady state errors cannot be met, a low
frequency pole can be cancelled and replaced with a lower frequency
pole, yielding a large forward loop.
2. If poles with small damping ratios are present in the plant transfer
function, they may be cancelled and replaced with poles which have
larger damping rates.
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Que 3.16. Discuss the effects of adding poles to root locus.
Answer
Effects of addition of open loop poles :
1. Root locus shifts towards imaginary axis.
2. System stability relatively decreases.
3. System becomes more oscillatory in nature.
4. Range of operating value of K for stability of the system decreases.
Example :
1. Consider, G(s)H(s) = K / s(s + 2)
Corresponding root locus is shown in the Fig. 3.16.1.
K=
Im
Breakaway point
K=0 K=0
Re
–2 –1 0
K=
Fig. 3.16.1.
2. Now if pole at s = – 4 added to G(s)H(s) root locus becomes as shown in
the Fig. 3.16.2.
Im
K=
K= K=0 K=0 K=0
Re
–4 –2 –1 0
Fig. 3.16.2. K=
Que 3.17. Discuss the effects of adding zeros to root locus.
Answer
Effects of addition of zeros :
1. Root locus shifts to left, away from imaginary axis.
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2. Relative stability of the system increases.
3. System becomes less oscillatory.
4. Range of operating values of K for system stability increases.
Example :
K
1. Root loci for G(s) H(s) = is shown in the Fig. 3.17.1.
s(s 2)
K=
Im
Breakaway point
K=0 K=0
Re
–2 –1 0
K=
Fig. 3.17.1.
2. Now if zero at s = – 4 added to G(s)H(s) root locus becomes as shown in
Fig. 3.17.2.
K (s 4)
G(s)H(s) =
s( s 2)
Im
Re
–4 –2 0
Fig. 3.17.2.
3. It can be seen that root locus shift towards left. So as roots move towards
left half of s-plane, hence relative stability increases.
Que 3.18. Define transportation lag. Explain its effect with suitable
example.
Answer
1. The transportation lag is the delay between the time an input signal is
applied to a system and the time the system reacts to that input signal.
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2. Transportation lags are common in industrial applications. They are
often called dead time.
3. Consider a system having open-loop transfer function
Ke– sT
G(s)H(s) =
s(s 2)
where T is the transportation delay in seconds and is given as 1 s.
4. Let us draw the root loci for K varying in the range 0 < K < .
5. If the transportation delay is small, then we can assume
e–sT = 1 – sT
6. Rewriting G(s)H(s) as
K (1 – s)
G(s)H(s) = ; T=1
s( s 2)
– K ( s – 1)
G(s)H(s) =
s( s 2)
7. The characteristic equation becomes
1 – G(s)H(s) = 0
The root loci are drawn as shown in Fig. 3.18.1.
Im
j 2(K = 2)
K=0 K=0 K= K
Re
–2 0 1
– 0.732
– j 2(K = 2)
Fig. 3.18.1. Root-loci plot of 1 + [Ke–s /s(s + 2)] = 0
with e–s is approximated as (1 – s).
Effect : It reduces the stability of a system and limits the achievable
response time of the system.
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VERY IMPORTANT QUESTIONS
Following questions are very important. These questions
may be asked in your SESSIONALS as well as
UNIVERSITY EXAMINATION.
Q. 1. Define stability. State the necessary conditions for system
to be absolutely stable.
Ans. Refer Q. 3.1, Unit-3.
Q. 2. The characteristics equation of a system is given
(s4 + 20s3 +15s2 + 2s + K) = 0, determine the range of the K, for
system to stable.
Ans. Refer Q. 3.3, Unit-3.
Q. 3. For a system having characteristic equation 2s4 + 4s2 + 1 = 0,
find the following :
i. The number of roots in the left half of s-plane.
ii. The number of roots in the right half of s-plane.
iii. The number of roots on the imaginary axis. Use the Routh
Hurwitz Criterion.
Ans. Refer Q. 3.6, Unit-3.
Q. 4.Write short note on :
i.Centroid
ii.Breakaway points
iii.Steady state error.
Ans. Refer Q. 3.8, Unit-3.
Q. 5. Sketch the root locus for a system having :
K ( s + 1)
G(s) = and H(s) = 2
( s + 1) ( s + 4s + 5)
and comment on the result.
Ans. Refer Q. 3.10, Unit-3.
Q. 6. Construct the RL (root locus) for a unity feedback system
K ( s + 1)
with OLTF G(s) = .
s 2 (s + 9)
Ans. Refer Q. 3.12, Unit-3.
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Q. 7. Sketch the RL for a unity feedback system with OLTF G(s) =
K (s2 + 2s + 10)
.
s2 + 4 s + 5
Ans. Refer Q. 3.13, Unit-3.
Q. 8. Discuss the effects of pole-zero cancellation.
Ans. Refer Q. 3.15, Unit-3.
Q. 9. Discuss the effects of adding poles to root locus.
Ans. Refer Q. 3.16, Unit-3.
Q. 10. Discuss the effects of adding zeros to root locus.
Ans. Refer Q. 3.17, Unit-3.
Control System
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4 Frequency
Response Analysis
Part-1 ............................................................................... (4–2C to 4–9C)
• Frequency Response Analysis from Transfer Function Model
• Correlation between Time and Frequency Response
A. Concept Outline : Part-1 ............................................................. 4–2C
B. Long and Medium Answer Type Questions ............................... 4–2C
Part-2 ............................................................................ (4–9C to 4–23C)
• Construction of Polar and Inverse Polar Plots
• Nyquist Stability Criterion
A. Concept Outline : Part-2 ............................................................. 4–9C
B. Long and Medium Answer Type Questions ............................. 4–10C
Part-3 .......................................................................... (4–24C to 4–37C)
• Determination of Gain and Phase Margin from Bode and Nyquist
Plots
• Nichol Charts
A. Concept Outline : Part-3 ........................................................... 4–24C
B. Long and Medium Answer Type Questions ............................. 4–24C
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PART-1
Frequency Response Analysis from Transfer Function Model,
Correlation between Time and Frequency Response.
CONCEPT OUTLINE : PART-1
• Frequency response :
i. The magnitude and phase relationship between the sinusoidal
input and steady-state output of a system is called frequency
response.
i.e., Sinusoidal input, r(t) = A sin t
Steady state output, c(t) = B sin (t + )
ii. The frequency response is easily evaluated from sinusoidal
transfer function by replacing s by j.
Questions-Answers
Long Answer Type and Medium Answer Type Questions
Que 4.1. What do you understand by frequency response ? What
are its various methods ? Discuss their relative advantages,
disadvantages and limitations.
Answer
A. Frequency response :
1. The magnitude and phase relationship between the sinusoidal input
and the steady state output of a system is termed as the frequency
response.
2. Linear system with sinusoidal input
r(t) = A sin t
3. Steady state output of
c(t) = B sin (t + )
B. Various methods of frequency response :
1. Polar plots 2. Inverse polar plots
3. Nyquist stability criterion 4. Bode plot
C. Advantages of frequency domain approach :
1. Without the knowledge of the transfer function, the frequency response
of stable open loop system can be obtained experimentally.
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2. These methods are easy to use for design of control and for finding
absolute as well as relative stability of the system.
3. Even if the system has moderate non-linearity it can be depicted by an
approximate transfer function.
4. There is a close relation between frequency response of a system and its
step response.
D. Disadvantages of frequency response :
1. For systems with very large time constants, the frequency test is
cumbersome to perform as the time required for the output to reach the
steady-state for each frequency of the test signal is excessively long.
2. The frequency response test obviously cannot be performed on
non-interruptible systems.
E. Limitations of frequency response methods :
1. These methods can be applied only to linear systems.
2. For an existing system, obtaining frequency response is possible only if
the time constants are up to few minutes.
3. Obtaining frequency response practically is fairly time consuming.
Que 4.2. Explain various frequency domain specifications.
Answer
1. Resonant peak (Mr) : Resonance peak is the peak value of magnitude
of closed loop frequency response.
1
For second order, Mr =
2 1 2
2. Resonance frequency : The frequency at which resonant peak occurs
is called resonant frequency.
For second order, r = n 1 22
3. Bandwidth : It is the range of frequency up to c, which is cut off
frequency. At c the magnitude of closed loop transfer function is 3 dB
down from its zero frequency level.
|M|
Mr
1
3 dB
0.707
r c
0
B.W
Fig. 4.2.1.
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4. Cut-off rate : The cut-off rate is the frequency rate at which the
magnitude ratio decreased beyond the cut-off frequency c.
Que 4.3. What is closed loop frequency response ? Give an
account of the correlation between time response and frequency
response for a second order system with relevant expressions.
AKTU 2016-17, Marks 10
Answer
Closed loop frequency response :
1. Consider the transfer function for closed loop system,
C ( s) G ( s)
=
R( s) 1 G( s) H (s)
2. For unity feedback, H(s) = 1
C ( s) G (s )
= ...(4.3.1)
R( s) 1 G ( s)
Put s = j
C( j) G ( j)
= ...(4.3.2)
R( j) 1 G( j)
3. The polar plot of eq. (4.3.2) is shown in Fig. 4.3.1.
Im
– 1 + j0 0
Re
A r
(r – )
B
Fig. 4.3.1.
4. From Fig. 4.3.1, OB = G(j)
OA = – 1
AB = OB – OA = G(j) – (– 1)
AB = 1 + G(j)
5. From eq. (4.3.2)
C ( j) OB
= M() =
R( j)
AB
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C( j) OB r
=
= (r – )
R( j) AB
C( j)
= M() e j ()
R( j)
where M(j) is the magnitude and () = r – .
6. Frequency response consists of two parts :
i. Magnitude,
ii. Phase angle.
iii. Both can be plotted against different values of .
7. Hence frequency response of closed loop system is plot of magnitude
and phase angle.
Correlation :
1. For 2nd order system, the transfer function is,
C ( s) 2n
= 2
R( s) s 2 n s 2n
where, = Damping factor
n = Natural frequency of oscillations
+ n2
R(s) C(s)
2
– s + 2 ns
Fig. 4.3.2.
2. Closed loop frequency response is,
C( j) 2n
= T(j) =
R( j) ( j) 2 n ( j) n2
2
2n 1
= = 2
2 n ( j) n2
2
1 2 j
n n
1
= ...(4.3.3)
(1 u2 ) j 2u
where u = /n, normalized driving frequency.
1
|T(j)| = M = ...(4.3.4)
(1 u ) (2u)2
2 2
2u
and T(j) = = tan 1 ...(4.3.5)
1 u2
3. The steady state output is
1 2u
c(t) = sin t tan 1
2 2
(1 u ) (2u)
2 1 u2
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From eq. (4.3.4) and (4.3.5) when
u = 0, M = 1 and = 0
1
u = 1, M = and = –
2 2
u = , M = 0 and =–
4. The frequency where M has a peak value is called the resonant
frequency. At this frequency the slope of magnitude curve is zero.
If r = Resonant frequency.
ur = r/n is normalized resonant frequency.
2 2
dM 1 4(1 ur )ur 8 ur
= 0
du u ur 2 (1 u2 ) 2 (2u )2 3/ 2
r r
– 4(1 – ur2) ur + 82ur = 0
– 4ur(1 – ur2 – 22) = 0
ur = 1 2 2
r = n 1 2 2 ...(4.3.6)
1
Mr = ...(4.3.7)
2 1 2
5. The phase angle of T(j) at resonant frequency is
1 2 2
r = tan 1
M( = 1 < 0.707)
1.0
Magnitude
M
Mr
M( = 0.707)
0
u r = r / n
Normalized frequency, u
Fig. 4.3.3. Frequency response magnitude characteristics.
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0°
( = 1)
– 90°
Phase
angle
– 180°
0 1.0
Normalized frequency u
Fig. 4.3.4. Frequency response phase characteristic.
Bandwidth :
1
1. The frequency at which M has value of and is called cut-off frequency
2
c. The signal frequencies above cut-off are attenuated.
1
2. The range of frequencies for which M is known as bandwidth b.
2
The low pass filters has bandwidth equal to cut-off. b indicates the
noise filtering characteristics of the system.
M
Mr
1
0.707
Bandwidth
r c
Fig. 4.3.5.
3. Normalized bandwidth, ub = b/n
1 1
M=
2 2 2
(1 u ) (2ub )
b
2
1
ub = [1 2 2 2 4 2 4 4 ]2
1
b = [1 2 2 2 4 2 4 4 ]2
4. The damped frequency of oscillations d and peak overshoot Mp of the
step response for 0 1 are
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d = n 1 2
Mp = exp
1 2
1
5. For > , Mr does not exists so the correlation breaks down
2
r 1 2 2
=
d 1 2
Que 4.4. The steady state output of the system for a sinusoidal
input of unit magnitude and variable frequency is given as
1 27u
c(t) = sin t tan 1
2 2 2 2
(1 u ) 4 z u 1 u2
Determine :
i. Resonant frequency ii. Resonant peak
iii. Bandwidth iv. Phase angle.
AKTU 2016-17, Marks 10
Answer
1 27u
Given : c(t) = sin t tan 1
2 2 2 2
(1 u ) 4 z u 1 u2
To Find : i. Resonant frequency
ii. Resonant peak
iii. Bandwidth.
1
1. M=
(1 u ) 4 z2u2
2 2
27u
2. = tan 1
1 u2
3. The frequency where M has a peak value is known as resonant
frequency. At this frequency, the slope of the magnitude curve is
r
zero. Let r be the resonant frequency and ur =
n
dM 1 [ 4(1 ur2 )ur 8 z2ur ]
=– =0
du u ur 2 [(1 4 2r )2 4 z2ur2 ]3/ 2
– 4(1 – ur2) = 8z2
1 – ur2 = 2z2
ur = 1 2z2
r = n 1 2 z2
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4. Maximum value of magnitude is known as resonant peak is given by
1 1
Mr = =
2 2
(1 u ) 4 z u
r
2 2
r
(1 1 2 z ) 4 z2 (1 2 z2 )
2 2
1 1 1
= = =
4 z4 4 z2 (1 2 z2 ) 2 z z2 1 2 z2 2 z 1 z2
1
5. The range of frequencies over which M is equal to or greater than :
2
b
Putting ub =
n
1 1
M=
(1 ub2 )2 4 z2ub2 2
(1 – ub2)2 + 4z2ub2 = 2
1 + ub4 – 2ub2 + 4z2ub2 – 2 = 0
ub = [1 2 z2 2 4 z2 4 z4 ]1/ 2
b = n [1 2 z2 1 4 z2 4 z4 ]1/ 2
PART-2
Construction of Polar and Inverse Polar Plots,
Nyquist Stability Criterion.
CONCEPT OUTLINE : PART-2
• Polar plot : Polar plot of a transfer function G(j) is a plot of
magnitude of G(j) versus the phase angle of G(j) on polar
coordinates as is varied from zero to infinity.
M = |G(j) H(j)| = Magnitude
= G(j) H(j) = Phase
• Nyquist stability criterion :
i. There is no encirclement of – 1 + j0 point. This implies that
system is stable if there are no poles of G(s) H(s) in right half of
s-plane, otherwise unstable.
ii. There is a counter clockwise encirclement of – 1 + j0 point. This
implies that the system is stable if the number of counter
clockwise encirclements is same as the number of poles of G(s)
H(s) in the right-half of s-plane, otherwise system is unstable.
iii. There is a clockwise encirclement of – 1 + j0 point. In this case
the system is unstable.
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Questions-Answers
Long Answer Type and Medium Answer Type Questions
Que 4.5. Explain Polar plot. Discuss phase margin and gain
margin on polar plot.
OR
Define the following :
i. Resonance frequency ii. Bandwidth
iii. Cut-off rate iv. Phase margin
v. Gain margin
Also discuss the advantages of frequency domain analysis.
AKTU 2013-14, Marks 10
Answer
Resonance frequency : Refer Q. 4.2, Page 4–3C, Unit-4.
Bandwidth : Refer Q. 4.2, Page 4–3C, Unit-4.
Cut-off rate : Refer Q. 4.2, Page 4–3C, Unit-4.
A. Polar plot :
1. Polar plot of a transfer function G(j) is a plot of the magnitude of G(j)
versus the phase angle of G(j) on polar coordinates as is varied from
zero to infinity. Therefore it is the locus of vectors |G(j)|G(j) as
is varied from zero to infinity.
2. In frequency response we have
M = |G(j) H(j)| = Magnitude
= G(j) H(j) = Phase
Values of M and are obtained by varying the input frequency from 0
to .
Table 4.5.1.
M = |G(j) H(j)| = G(j) H(j)
0 M0 0
1 M1 1
2 M2 2
.. .. ..
.. .. ..
... ... ...
M
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Above table is used for polar plot.
Advantage :
It shows the frequency response characteristics of a system over the
entire frequency range in a single plot.
Disadvantage : It does not indicate the contribution of each individual
factor of the open loop transfer function.
B. Procedure to sketch the polar plot :
1. Determine G(s).
2. Put s = jω in G(s).
3. Evaluate |G(j)| at = 0 and = .
4. Evaluate phase angle at = 0 and = .
5. Separate real and imaginary parts.
6. Put imaginary part = 0 and find . Using find G(j).
7. Put real part = 0 and find . Using find G(j).
C. Phase margin :
1. The phase margin is that amount of the additional phase lag at the gain
cross over frequency required to bring the system to the verge of
instability.
2. Gain cross over frequency is the frequency at which the magnitude of
open loop transfer function (|G(j)|) is unity.
3. Phase margin is equal to 180° plus the angle of G(j) at the gain cross
over point.
m = 180° +
D. Gain margin :
1. It is the reciprocal of magnitude |G(j)| at the frequency at which the
phase angle is –180°.
Gain Margin (GM),
1
Kg =
G( j c )
2. When the plot passes through the point (–1 + j0), the gain margin is
zero it means that the loop gain can no longer be increased because the
system is at verge of instability.
3. If gain margin is positive, it means that the system is stable and negative
gain margin means the system is unstable.
E. Stability :
1. To determine the stability of the system first draw the polar plot for
given transfer function.
2. If the critical point (–1 + j0) is within the plot, it means the system is
unstable.
Frequency Response Analysis
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3. If the polar plot passes through the point (–1 + j0) the system is
marginally stable and if the critical point is outside the polar plot, the
system is stable.
Im Im
Positive
gain Negative
margin phase
1/Kg margin
m
–1 m Re –1 Re
Positive
phase
margin
G(j) G(j) 1/Kg
Negative gain margin
Stable system Unstable system
Fig. 4.5.1.
F. Advantages of frequency domain analysis :
1. In frequency domain the design and parameter adjustment of the open-
loop transfer function of a system for closed loop performance is easy
than time domain.
2. The effects of noise disturbance and parameter variation are easy to
visualize and access.
3. The transient response of a system can be obtained from its frequency
response through Fourier integral.
4. Nyquist criteria is a powerful frequency domain method of finding stability
as well as relative stability of a system.
5. The frequency response is easily evaluated from sinusoidal transfer
function by replacing s by j.
6. The transfer function T(j) is a complex function of frequency and has
both magnitude and a phase angle.
Que 4.6. Sketch the polar plots for
3
i. Type 0 system, G(s) =
( s + 1)( s + 2)
12
ii. Type 1 system, G(s) =
s( s + 1)( s + 2)
Answer
3 12
Given : i. G(s) = ii. G(s) =
( s 1)( s 2) s(s 1)(s 2)
To Sketch : Polar plot.
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i.
3
1. G(s) =
( s 1)( s 2)
3
2. Putting s = j, G(s) =
(1 j)(2 j)
3
3. M= and = – tan– 1 – tan– 1
1 4 2 2 2
For various value of , the value of M and are :
Table 4.6.1.
M
0 1.5 0°
5 0.109 – 146.89
10 0.029 – 178.28
0 – 180°
= =0
– 180° 0°
1.5
Fig. 4.6.1.
ii.
12
1. G(s) =
s(s 1)(s 2)
12
2. Putting s = j, G(j) =
j(1 j)(2 j)
12
3. M= and = – 90° – tan– 1 – tan–1
1 2 4 2 2
Table 4.6.2.
M
0 – 90°
5 0.087 – 236.8°
10 0.012 – 268.2°
0 – 270°
Frequency Response Analysis
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– 270°
Q =
– 180°
=0 – 90°
Fig. 4.6.2.
The co-ordinates of Q can be obtained by rationalizing G(j).
Que 4.7. Sketch the inverse polar plot of
10
G(s) =
( s + 10)
Answer
10
Given : G(s) =
(s 10)
To Sketch : Inverse polar plot.
10
1. G(s) =
(s 10)
10 1
2. Putting s = j, G(j) =
( j 10) 1 j(0.1)
1
3. = 1 + j(0.1) = M
G( j)
where, M = –1
1 (0.1)2 and = tan (0.1)
Table 4.7.1.
M
0 1 0°
1 1.005 5.71°
10 1.414 45°
100 10.05 84.28°
. . .
. . .
. . .
. . .
+ 90°
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The inverse polar plot is shown in the Fig. 4.7.1.
+ 90°
0° 1
=0
Fig. 4.7.1. Inverse polar plot.
Que 4.8. Sketch the polar plot for
10 e s
i. G(s) =
s +1
32
ii. G(s) =
( s + 4)( s2 + 4 s + 8)
and find its points of intersection with the real and imaginary
axes. AKTU 2017-18, Marks 10
Answer
10 e s
i. Given : G(s) =
s1
To Sketch : Polar plot.
1. Putting s = j
10 e j
G(j) =
j 1
2. Magnitude :
|10 e j | 10
|G(j)| =
2 1 2 1
3. Phase angle :
G(j) = – – tan – 1
4. Here the magnitude decreases from unity monotonically and the phase
angle also decreases monotonically and indefinitely, the polar plot of the
given transfer function is spiral as shown in Fig. 4.8.1.
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Im
O 1
Re
180°
– 90°
Fig. 4.8.1.
32
ii. Given : G(s) =
(s 4)(s 2 4 s 8)
To Sketch : Polar plot.
1. Putting s = j
32
G(j) =
( j 4)[ j 2 4 j 8]
32
=
( j 4)[(8 2 ) 4 j ]
32(4 j)[(8 2 ) 4 j]
=
(16 2 )[(8 2 )2 162 ]
32[4(8 2 ) 42 j{(8 w2 ) 16}]
=
(16 2 )[(8 2 ) 2 162 ]
2. Saparating into real and imaginary parts
32[4(8 2 ) 4 2 ] j32[ (8 2 ) 16]
G(j) =
(16 )[(8 ) 16 ] (16 2 )[(8 2 )2 162 ]
2 2 2 2
3. Intersection point with real axis,
(8 – 2) + 16 = 0
8 – 3 + 16 = 0
3 – 24 = 0
(2 – 24) = 0
1 = 0, – 4.899 and + 4.899
4. Intersection points on imaginary axis,
42 – 4(8 – 2) = 0
42 = 4(8 – 2)
42 = 32 – 42
2 = 4
=±2
32
5. |G(j)| =
16 (8 2 ) 16 2
2
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4
G(j) = tan 1 tan 1
4 8 2
6. The value of G(j) at = 0, and =
32
|G(j0)| = =1
48
|G(j)| = 0
G(j0) = 0°
G(j) = – 270,
Im
=+2
=+ = 4.899
Re
=–
– 4.899
=0
=–2
Fig. 4.8.2.
Que 4.9. What is Nyquist stability criterion ? Explain phase
margin and Gain Margin in polar plot. AKTU 2014-15, Marks 10
Answer
1. Nyquist stability criterion calculates closed loop stability with the help of
open loop transfer function without any complex calculations.
2. Complex calculations are done in polar plot.
3. If open loop transfer function is G(s)H(s) then closed loop poles
[1 + G(s)H(s) = 0].
Im j
Re
– 1 + j0
Fig. 4.9.1.
Encirclement :
1. If – 1 + j0 point is encircled and in anti-clockwise direction.
N= P–Z
N = –ve (for clockwise)
Frequency Response Analysis
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P = number of poles of G(s)H(s) right half of s-plane.
Im j
Contour of
radius
– 1 + j0 Infinity
Re
Fig. 4.9.2.
We check Z,
If Z > 0 the given system is unstable.
If Z = 0 the given system is stable.
Phase margin and gain margin in polar plot : Refer Q. 4.5,
Page 4–10C, Unit-4.
Que 4.10. For the G(s) = 1/s(s – 2), H(s) = 1. Sketch the Nyquist plot
and determine the stability of the system. AKTU 2013-14, Marks 10
Answer
1
Given : G(s) = , H(s) = 1
s(s 2)
To Sketch : Nyquist plot.
1
1. G(s) =
s(s 2)
1
G(s) =
s(2 s)
2. Put s = j
1
G(j) =
j(2 j)
1
|G(j)| =
4 2
3. G(j) = 180° – 90° + tan–1
2
= 90° + tan–1
2
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Table 4.10.1.
M
0 90°
1 0.4472 116.56°
10 9.8 × 10–3 168.69°
100 9.99 × 10 – 5 178.85°
0 180°
Amplitude decreases Angle increases
4. This system is unstable because contour has infinite radius, so it encircle
(– 1, 0) point.
N = P – Z; N = – 1
P = 1 (number of open loop pole in right half of s-plane)
Z= 2
0
= Im
=
(– 1, 0) = – Re
=–0
Fig. 4.10.1.
Que 4.11. Draw the Nyquist plot for the open loop transfer function
given below and comment on closed loop stability
1.5 ( s + 4)
G(s)H(s) = . AKTU 2014-15, Marks 10
s( s – 2)
Answer
1.5( s 4)
Given : G(s)H(s) =
s( s 2)
To Draw : Nyquist plot.
1.5 ( j 4) – 1.5 ( j 4)
1. Put s = j, G(j)H(j) = =
j ( j – 2) j (2 – j)
1.5 16 2
2. M = |G(j) H(j)| =
4 2
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Frequency Response Analysis 4–20 C (EN-Sem-5)
3. = G(j) H(j) = 90 tan –1 tan –1
4 2
Table 4.11.1.
M
0 90°
0.1 29.97 94.29°
0.5 5.866 111.16°
10 0.1584 236.89°
100 0.015 266.57
0 270°
+0
s-Plane
–
–1 0.74 + Re
–0
Fig. 4.11.1.
4. Because in type 1 system – 0 meets + 0 by angle clockwise.
Because –1 + j0 (–1, 0) is encircled and one time in clockwise direction
N = –1, P = 1
5. Number of poles of G(s)H(s) on right half of s-plane
N= P–Z
Z= 2
So the given system is unstable.
Que 4.12. Sketch the Nyquist plot for the system with open loop
transfer function
60
G(s) H(s) =
(s 1 ) (s 2) (s 5)
and comment on stability. AKTU 2015-16, Marks 10
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Answer
60
Given : G(s) H(s) =
(s 1 ) (s 2) (s 5)
To Sketch : Nyquist plot.
60
1. Put s = j, G(j) H (j) =
( j 1 ) ( j 2) ( j 5)
60
2. Magnitude, M = |G (j) H (j)| =
( 1)( 4)( 2 25)
2 2
3. Phase = G(j)H(j)
1 1 1
= tan () tan tan
2 5
Table 4.12.1.
M
0 6 0°
1.12 3.402 – 90.11°
4.12 0.4769 – 180°
10 0.0523 133.58
0 90° (– 270°)
4. N=P–Z
P=0 (No pole on RH plane)
N=0 (No encirclement of – 1 + j0 point)
Z=0 (Number of roots of closed loop characteristic
equation having positive real parts).
So the given system is stable system.
Im
–0
Re
– 1 + j0 –
=+0
0.4769
Fig. 4.12.1.
Frequency Response Analysis
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Que 4.13. Using Nyquist stability criterion, investigate the
stability of a unity feedback system with open loop transfer
function.
( s z1 )
G(s) = , z1, p1 > 0
s( s p1 )
Answer
(s – z1 )
Given : G(s) =
s(s p1 )
To Check : Stability of system.
j z1 2 z12
1. G(j) H(j) =
j( j p1 ) 2 p12
1 ( p1 z1 )
= 90 tan 2
( p1 z1 )
2. Now,
lim G ( j) H ( j ) = + 90°
0
1
G( j p1 z1 ) H ( j p1 z1 ) = 0
p1 p1 z1
lim G ( j) H ( j) = 0 – 90°
3. Thus the locus comes down in the first quadrant, crosses the positive
real axis into the fourth quadrant, and approaches the origin from an
angle of – 90°.
4. Path def maps into the origin, and ija maps into on semicircle at
infinity. The resulting plot is shown in Fig. 4.13.1.
Im GH
a
GH(j )
= ± p1z1
j d , e, f Re GH
i
Fig. 4.13.1.
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Que 4.14. For a closed loop system whose transfer function is
Ke sT
G(s) H(s) = , determine the maximum value of the gain ‘K’ for
s( s 1)
stability. AKTU 2016-17, Marks 10
Answer
Ke sT
Given : G(s) H(s) =
s(s 1)
To Find : Maximum value of K.
1. Putting s = j
Ke jT
G(j) H(j) =
j( j 1)
K
2. |G(j) H(j)|=
1 2
180
G(j) H(j) = – tan–1 – 90° – T ×
= – 57.3T – 90° – tan–1
3. Intersection of Nyquist plot with negative axis of G(s) H(s) plane is
determined by using following relation,
G(j) H(j) = –180° (2k + 1)
where, k = 0, 1, 2 ....
4. It the first instant, the Nyquist plot intersects the negative real axis of
G(s) H(s) plane for k = 0, and the frequency at intersection point is 2.
5. Therefore, G(j2) H(j2) = – 180°
– 57.32T – 90° – tan–12 = – 180°
– 57.32T – tan–12 = – 90°
6. T = 0.5
– 28.652 – tan–1 2 = 90°
7. Using trial and error, 2 = 1.3075 rad/sec
K K
G(j2) H(j2) = = = 0.4646 K
2 1 22 1.3075 1 (1.3075)2
8. For stability the point (–1 + j0) be placed outside the Nyquist plot
0.4646 K < 1
K < 2.152
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Frequency Response Analysis 4–24 C (EN-Sem-5)
PART-3
Determination of Gain and Phase Margin from
Bode and Nyquist Plots, Nichol Charts.
CONCEPT OUTLINE : PART-3
• Bode plot : In a bode plot we have two plots.
Magnitude plot : Which is drawn in between magnitude of
transfer function in dB and log10 .
Phase plot : Which is drawn in between phase angle of transfer
function in degree and log10 .
Questions-Answers
Long Answer Type and Medium Answer Type Questions
Que 4.15. Write procedure to draw Bode plot from given open loop
transfer function.
Answer
A. Bode plot : In this plot we have two plots namely Magnitude plot;
which is drawn in between magnitude of transfer function in dB and
log10 ( is frequency) and phase plot; which is drawn in between
phase angle of transfer function in degree and log10 generally.
B. Procedure to draw Bode plot :
Step 1 :
Replace s = j from open loop transfer function G(s) to have G(j).
Step 2 :
Change all the factor of G(j) in standard form and make a table with
remarks for both magnitude plot and phase plot.
Some standard results and remarks is summarized here :
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Table 4.15.1.
S. Factors of Corner Remarks for Remarks for
No. G(j ) Frequencies Magnitude Plot Phase Plot
1. K None Straight line of constant slope Constant – 90°
j – 20 dB/ decade passing
through 20 log K at = 1
2. K.j None Slope = + 20 dB/ decade straight line Constant +90°
of constant slope 20 dB/ decade
through 20 log K at = 1
1 1 Straight line of slope Phase angle
3. c1
1 jT1 T1 – 20 dB/ decade for c1 tan 1 (T )
1 Straight line of slope Phase angle
4. (1 + jT1) c2
T2 20 dB/ decade for c2 tan 1 (T )
1
5. 2
c3 = n Straight line of slope Phase angle
1 2 j 40 dB/ decade for ( / n )
n n tan 1 2
c3 1 ( / n )
2
Straight line of slope Phase angle =
6. 1 2 j c4 = n
n n 40 dB/ decade for ( / n )
tan 1 2
c4 1 ( / n )
Step 3 :
From the table, draw the magnitude plot for each of the factor by
calculating resultant slope and starting with lowest corner frequency
and ending with the highest one.
Step 4 :
Add all the expression of phase angle to have different values of
(resultant phase).
Step 5 :
Draw with log10 to have phase plot.
Que 4.16. Explain gain margin and phase margin and how to
determine them using Bode plot.
Answer
A. Gain Margin (GM) :
1. It is the margin in gain which is allowed till the system reaches on
the verge of instability.
2. Mathematically, gain margin is reciprocal of magnitude of G(j)H(j)
at phase crossover frequency.
GM = 1 /|G ( j) H ( j)
pc
B. Phase Margin (PM) : It is the amount of additional phase lag which
can be introduced in the system till it reaches on the verge of
instability.
Mathematically, PM = 180° + G( j) H ( j) pc
Frequency Response Analysis
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C. Calculation of GM and PM from Bode plot :
1. GM = – 20 log|G(j) H(j)| = pc dB
= 0 dB – log|G(j) H(j)| = pc dB
20 log|G(j)H(j)|=pc can be directly known from magnitude plot.
2. Now, PM = 180° + G( j) H ( j)
gc
G( j) H ( j) can be directly known on phase angle plot.
gc
3. Gain crossover frequency ( gc) :
Frequency at which magnitude of G(j)H(j) is unity.
4. Phase crossover frequency ( pc) :
Frequency at which phase angle of G(j)H(j) is –180°.
5. Stable system = PM and GM positive.
Unstable system = PM and GM negative
Marginally stable = PM = 0, GM = 0
Que 4.17. Draw Bode plot (log magnitude plot) for the transfer
function.
20 s
G(s) =
s2 20 s (100)2
AKTU 2016-17, Marks 10
Answer
Given : G(s) = 20s / [s2 + 20s + (100)2]
To Draw : Bode plot.
20 s
1. G(s) = 2
20 s s
(100)2 1 2
(100) 100
S. No. Factor Corner Asymptotic log-
frequency magnitude
characteristic
1. s None Straight line of constant
slope (20 dB / dec)
passing through = 1
1 Straight line of
2. 2
1 = 100 rad/sec
20 s s constant slope (– 40 dB/
1 dec) originating from
(100)2 100
= 100 rad/sec.
K = 20 / (100)2 = 0.002
1 2 3 4 5 6 7 8 9 101 2 3 4 5 6 7 8 9 102 2 3 4 5 6 7 8 9 103
Gain
Control System
in – 80°
40 dB
dB
– 20 dB/dec – 100°
Bode plot :
20 dB/dec
– 120°
– 140°
10 dB
– 160°
0 dB – 180°
– 200°
g = 1 rad/sec g = 100 rad/sec
– 10 dB
– 220°
– 240°
– 20 dB – 260°
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– 280°
1 2 3 4 5 6 7 8 9 101 2 3 4 5 6 7 8 9 102 2 3 4 5 6 7 8 9 103
0 1 10 100
4–27 C (EN-Sem-5)
Frequency Response Analysis
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Que 4.18. Draw the bode plot for the transfer function given as,
apply correction to the magnitude plot for the quadratic term and
comment on stability.
5
G(s) H(s) =
s (1 0.1s) ( s2 0.4 s 1)
2
AKTU 2014-15, Marks 10
Answer
5
Given : G(s) H(s) =
s 2 (1 0.1s)(s 2 0.4 s 1)
To Sketch : Bode plot.
1. G(s)H(s) is in time constant form.
2. Factors :
i. K = 5, 20 log K = 13.98 dB, straight line parallel to Log axis.
1
ii. , 2 poles at origin, straight line of slope – 40 dB / dec passing through
s2
intersection point of = 1 and 0 dB.
1
iii. Quadratic pole, , 2n = 1 i.e., c1 = n = 1
1 0.4s s2
Straight line of slope – 40 dB / dec for 1.
iv. Comparing middle term with 2 n = 0.4, = 0.2
Correction = – 20 Log 2 = + 7.95 dB at = n = 1.
Thus magnitude plot will shift upwards by + 7.95 dB at = n = 1.
1 1
iv. Simple pole, , T2 = 0.1, C2 = = 10, straight line of slope
1 0.1s T2
– 20 dB/dec for 10.
Table 4.18.1.
Range of 0<<1 1 < 10 10 <
Resultant slope – 40 – 40 – 40 = – 80 – 80 – 20 = – 100
in dB/dec
3. Phase angle :
5
G(j)H(j) =
( j)2 (1 0.1 j) [(1 – 2 ) 0.4 j]
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Bode plot :
1 2 3 4 5 6 7 8 9 10 2 3 4 5 6 7 8 9 102
100
80
dB
0
–4
60
Due to correction
for quadratic factor
40
K = 5, 14 dB
20
–20
– 80 dB/dec
in deg
–90°
– 100 dB/dec
–180°
P.M = – 135°
–270°
–360°
–450°
gc = 1.9
0.1 2 3 4 5 6 7 8 9 10 2 3 4 5 6 7 8 9 102
Frequency Response Analysis
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Table 4.18.2.
1 0.4
– tan –1 2
– tan–1 0.1
( j)2 1
0.1 – 180° – 2.31° – 0.57° – 182.88°
1 – 180° – 90° – 5.71° – 275.71°
5 – 180° + 4.76° – 180° = –175.23° – 26.56° – 381.79°
– 180° – 180° – 90° – 450°
4. Comment : From the Bode plot pc 0 and phase angle plot does not
cross – 180°. Thus system is unstable with G.M. = – dB and P.M. = –
135° at gc = 1.9 rad/s.
Que 4.19. A unity feedback control systems has :
40
G(s) =
s(s + 2) (s + 5)
Draw the Bode Plot. Find Gain Margin. AKTU 2013-14, Marks 10
Answer
40
Given : G(s) =
s(s 2) (s 5)
To Draw : Bode plot.
1. Magnitude plot :
40 40 4
G(s) = = =
s(s 2) (s 5) s s s s
s 2 1 5 1 s 1 1
2 5 2 5
First corner frequency (pole) (1) = 2 rad/s
Second corner frequency (pole) (2) = 5 rad/s
2. Phase plot :
4
G(s) =
s s
s 1 1
2 5
Put s = j
4
G(j) =
j(1 0.5 j) (1 0.2 j)
= – 90° – tan – 1 0.5 – tan – 1 0.2
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Magnitude plot :
Table 4.19.1.
S. No. Factor Corner Asymptotic log
frequency magnitude
characteristics
Straight line of constant
1. 1/s None slope (– 20 dB/dec) passing
through at = 1
Straight line of constant
2. 1/(1 + 0.5s) 1 = 2 slope (– 20 dB/dec)
originating from 1 = 2
Straight line of constant
3. 1/(1 + 0.2s) 2 = 5 slope (– 20 dB/dec)
originating from 2 = 5
Straight line of constant
4. 4 None slope of 0 dB/dec starting
from 20 log 4 = 12 dB point
Phase plot :
Table 4.19.2
S. No. (rad/sec) (degrees)
1. 0 – 90°
2. 0.2 – 98°
3. 1 – 127.874°
4. 2 – 156.8°
5. 5 – 203.198°
6. 10 – 232.125°
7. 15 – 243.97°
Frequency Response Analysis
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Bode plot :
1 2 3 4 5 6 7 8 9 10 2 3 4 5 6 7 8 9 102
100
80
– 60 dB/dec
60
– 40 dB/dec
40
– 20 dB/dec
20 c1 = 2 rad/sec
12 dB
0
– 40 dB/dec
– 20 dB/dec – 60 dB/dec
c2 = 5 rad/sec
in deg
–80°
–100°
–120°
–140°
–160°
–180°
–200°
–220°
–240°
0.1 2 3 4 5 6 7 8 9 10 2 3 4 5 6 7 8 9 102
Result :
i. Gain crossover frequency = 2.8 rad/s
ii. Phase cross over frequency = 3.3 rad/s
iii. Gain margin = 3 dB
iv. Phase margin = 8°.
Control System
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Que 4.20. For a unity feedback system, the open loop transfer
function is
2(s 0.25)
G(s) H(s) =
s2 (s 1) (s 0.5)
Draw bode plot and determine gain margin, phase margin.
AKTU 2015-16, Marks 10
Answer
2(s 0.25)
Given : G(s) H(s) =
s 2 ( s 1) ( s 0.5)
To Draw : Bode plot.
2 0.25 s
1
0.5 0.25 (4 s 1)
1. G(s) H(s) = = 2
2 s s (s 1) (2s 1)
s ( s 1) 1
0.5
2. K = 1, 20 Log K = 0 dB, No effect on Bode Plot.
1
3. , 2 Poles at origin, straight line of slope – 40 dB/dec
s2
1
4. (1 + 4s), simples zero, T1 = 4, C1 = = 0.25,
T1
straight line of slope + 20 dB/dec for 0.25
1 1
5. , simple zero, T2 = 2, C2 = = 0.5,
1 2s T2
straight line of slope – 20 dB/sec for 0.5
1 1
6. , simple zero, T3 = 1, C3 = = 1,
1 s T3
straight line of slope – 20 dB/sec for 1
Table 4.20.1.
Range of 0 < < 0.25 0.25 < 0.5 0.5 < 1 1 <
Resultant slope – 40 – 40 + 20 – 20 – 20 – 40 – 20
in dB/dec = – 20 = – 40 = – 60
(1 4 j)
7. Phase angle table : G(j)H(j) =
( j)2 (1 2 j) (1 j)
Frequency Response Analysis
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Bode plot :
1 2 3 4 5 6 7 8 9 10 2 3 4 5 6 7 8 9 102
100
80
– 60 dB/dec
60
– 40 dB/dec
40
– 20 dB/dec
20
G.M. = – 21 dB
– 20 dB/dec – 60 dB/dec
in deg
–150°
–180°
P.M. = – 36°
–210°
–240°
–270°
0.1 2 3 4 5 6 7 8 9 10 2 3 4 5 6 7 8 9 102
Control System
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Table 4.20.2.
1
+ tan–14 + tan–12 –tan –1
( j)2
0.1 – 180° + 21.8° – 11.3° – 5.71° – 175.2°
0.5 – 180° + 63.43° – 45° – 26.56° – 188.13°
1 – 180° + 75.96° – 63.43° – 45° – 212.47°
– 180° + 90° – 90° – 90° – 270°
Result : PM = – 36°, GM = – 21 dB.
Que 4.21. Discuss constant magnitude loci.
OR
Using Nyquist stability criterion, investigate the stability of a unity
feedback system with open loop transfer function.
( s z1 )
G(s) = , z1, p1 > 0
s( s p1 )
Also discuss the significance of M-circle.
AKTU 2016-17, Marks 10
Answer
A. Numerical : Refer Q. 4.13, Page 4–22C, Unit-4.
B. M-circle :
1. To obtain the constant magnitude loci (M-circle), let us first note that
G(j) is a complex quantity and can be written as follows :
G(j) = X + jY
where X and Y are real quantities
2. Then M is given by
X jY
M=
1 X jY
and M2 is
X2 Y2
M2 =
(1 X )2 Y 2
3. Hence, X2 (1 – M2) – 2M2X – M2 + (1 – M2) Y2 = 0 ...(4.21.1)
If M = 1, then from above eq. (4.21.1) we obtain X = –1/2. This is the
equation of a straight line parallel to the Y axis and passing through
point (–1/2, 0).
4. If M 1, equation can be written as
Frequency Response Analysis
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2M 2 M2
X2 2
X 2 Y2 = 0
M 1 M 1
5. If the term M2 /(M2 – 1)2 is added to both sides of this last equation we
obtain
2
2 M2 2 M2
X 2 Y = ...(4.21.2)
M 1 ( M 2 1)2
M 2
6. Eq. (4.21.2) is the equation of circle with centre X = , Y = 0 and
( M 2 1)
with radius |M/(M2 – 1)|.
7. The constant M loci on the G(s) plane are a family of circle. The centre
and radius of the circle for a given value of M can be easily calculated.
C. Significance : M-circle can be used to obtain closed loop frequency
response from open loop frequency response.
M = 1.6 Y
M=1
M = 0.5
M=3
– 1.64 – 1.13 – 0.5 0 0.33 X
Fig. 4.21.1. M-circles.
Que 4.22. Discuss constant phase angle loci for frequency response
system.
OR
Discuss N-circle construction.
Answer
1. N-circles having constant phase.
G(j)= x + jy where x and y are real number.
C ( s) G( s) x jy
2. Also = ...(4.22.1)
R( s) 1 G( s) H ( s) 1 x jy
3. If is the phase shift of the output with respect to input,
y y
we have = tan 1 tan 1
x 1 x
Control System
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y y
1 y 1 y x 1 x
tan = tan tan tan
x 1 x y y
1
x 1 x
y
tan =
x2 x y2
4. If tan = N, we have
1
x2 + x + y2 – y=0 ...(4.22.2)
N
This can be modified to
2 2 2
1 1 1 1
x y = ...(4.22.3)
2 2 N 4 2N
1 1
5. This is again an equation of circle having centre , and radius
2 2N
1 1
.
4 4N 2
As x = 0, y = 0 and
x = –1, y = 0 satisfy this eq. (4.22.3) irrespective value of N. Each circle
passes through the origin and (–1, 0) point.
2
30°
60° 1
90°
120° X
–2 –120° 1 2
–90°
–60° –1
–30°
–2
Fig. 4.22.1. N-circles.
Frequency Response Analysis
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VERY IMPORTANT QUESTIONS
Following questions are very important. These questions
may be asked in your SESSIONALS as well as
UNIVERSITY EXAMINATION.
Q. 1. Explain various frequency domain specifications.
Ans. Refer Q. 4.2, Unit-4.
Q. 2. What is closed loop frequency response ? Give an account
of the correlation between time response and frequency
res ponse for a second order s ys tem with relevant
expressions.
Ans. Refer Q. 4.3, Unit-4.
Q. 3. Sketch the polar plot for
10 e s
i. G(s) =
s +1
32
ii. G(s) =
( s + 4)( s2 + 4 s + 8)
and find its points of intersection with the real and
imaginary axes.
Ans. Refer Q. 4.8, Unit-4.
Q. 4. What is Nyquist stability criterion ? Explain phase margin
and Gain Margin in polar plot.
Ans. Refer Q. 4.9, Unit-4.
Q. 5. Sketch the Nyquist plot for the system with open loop
transfer function
60
G(s) H(s) =
(s 1 ) (s 2) (s 5)
and comment on stability.
Ans. Refer Q. 4.12, Unit-4.
Q. 6. Using Nyquist stability criterion, investigate the stability
of a unity feedback system with open loop transfer function.
( s z1 )
G(s) = , z1, p1 > 0
s( s p1 )
Ans. Refer Q. 4.13, Unit-4.
Q. 7. Explain gain margin and phase margin and how to
determine them using Bode plot.
Control System
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Ans. Refer Q. 4.16, Unit-4.
Q. 8. Draw Bode plot (log magnitude plot) for the transfer
function.
20 s
G(s) = .
s2 20 s (100)2
Ans. Refer Q. 4.17, Unit-4.
Q. 9. Draw the bode plot for the transfer function given as, apply
correction to the magnitude plot for the quadratic term
and comment on stability.
5
G(s) H(s) =
s (1 0.1s) ( s2 0.4 s 1)
2
Ans. Refer Q. 4.18, Unit-4.
Q. 10. Discuss constant magnitude loci.
Ans. Refer Q. 4.21, Unit-4.
Control System
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5 Introduction to Design
Part-1 ............................................................................ (5–2C to 5–17C)
• The Design Problem and Preliminary Consideration of Lead,
Lag and Lead-Lag Compensation Networks
• Design of Closed Loop System using Compensation Techniques in
Time and Frequency Domain
A. Concept Outline : Part-1 ............................................................. 5–2C
B. Long and Medium Answer Type Questions ............................... 5–3C
Part-2 .......................................................................... (5–17C to 5–32C)
• The Concept of State and Space
• State-Space Model of Physical System
• Conversion of State-Space to Transfer Function Model and Vice-Versa
A. Concept Outline : Part-2 ........................................................... 5–17C
B. Long and Medium Answer Type Questions ............................. 5–17C
Part-3 .......................................................................... (5–32C to 5–40C)
• Similarity Transformation to Control System
• Concept of Controllability and Observability and their Testing
A. Concept Outline : Part-3 ........................................................... 5–32C
B. Long and Medium Answer Type Questions ............................. 5–32C
Introduction to Design
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PART-1
The Design Problems and Preliminary Consideration of Lead,
Lag and Lead-Lag Compensation Networks, Design of Closed
Loop System using Compensation Techniques in Time
and Frequency Domain.
CONCEPT OUTLINE : PART-1
• Compensation : If a system is to be redesigned so as to meet
the required specifications, it is necessary to alter the system
by adding an external device to it. Such a redesign or alteration
of system using an additional suitable device is called
compensation of a control system.
• Phase-lead compensation :
Eo (s) (1 sT )
=
Ei (s) (1 sT )
• Phase-lag compensation :
Eo (s) 1 sT
=
Ei ( s) 1 sT
• Phase lead-lag compensation :
i. Lead-lag compensator is combination of lead network and lag
network.
ii. Transfer function,
1 1
s T1
s
T2
Gc(s) = Kc
1
s T1
s
T2
Questions-Answers
Long Answer Type and Medium Answer Type Questions
Control System
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Que 5.1. Define Phase-lead compensation technique. How would
you draw its pole zero configuration ?
Answer
1. Fig. 5.1.1 shows a phase-lead network where in the phase of output
voltage leads the phase of input voltage for sinusoidal input.
C
R1
e1 R2 eo
Fig. 5.1.1. Phase lead network.
2. The transfer function of a phase lead network,
Eo (s) (1 sT )
= ...(5.1.1)
Ei (s) (1 sT )
1
Eo s
= T
Ei 1
s
T
where, < 1
R2
=
R1 R2
and T = R1 C
3. The transfer function given by eq. (5.1.1) can be expressed in sinusoidal
form as
Eo ( j) (1 jT )
= ...(5.1.2)
Ei ( j) (1 jT )
4. The pole zero configuration of eq. (5.1.2) shown in Fig. 5.1.2.
Im
Re
1 1
– –
T T
Fig. 5.1.2. Pole zero configuration.
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Bode plot :
1. The two corner frequencies are
1
= , lower corner frequency
T
1
= , upper corner frequency
T
2. The maximum phase lead m occurs at mid-frequency m between upper
and lower corner frequencies
1 1 1
log10 m = log log10
2 10 T T
1
m =
T
+20 dB/decade
0 dB
m
45°
0° Log
1 1 1
m =
T T T
Fig. 5.1.3. Bode plot of lead compensator.
3. The phase angle Eo(j)/Ei(j) can be calculated as
E ( j)
o = tan–1 (T) – tan–1 (T)
Ei ( j)
1
4. At = m = ,
T
The phase angle is
1 1 1
m = tan T tan 1 T
T T
1
= tan 1 1
tan
1
tan m =
1
1
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1
tan m =
2
1
and sin m =
1
Que 5.2. Explain the Bode Plot Method of designing Lead
compensator.
OR
What are the effects and limitations of lead compensation ?
Answer
Step 1 : Consider equation
1
s
Gc(s) = K c T
1
s
T
Let Kc = K = DC gain
Ts 1
Gc(s) = K
Ts 1
This control system is shown in Fig. 5.2.1.
+
Gc(s) G(s)
+
Fig. 5.2.1.
The open loop transfer function is :
K (Ts 1)
Gc(s) G(s) = G(s)
Ts 1
Ts 1 Ts 1
= KG (s) G1 ( s)
Ts 1 Ts 1
where G1(s) = KG(s)
Now, determine gain K to satisfy the requirement on the given static
error coefficient.
Step 2 : Using above value of K, find phase margin from Bode plot of
G1(j) which is the gain adjusted but uncompensated system. Generally
phase margin is specified in design problems.
Step 3 : Determine the necessary phase lead (m) required to be added
by the following equation
m = 1 – 2 + '
where, 1 = Specified phase margin
Introduction to Design
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2 = Phase margin obtained in step 2
' = Safety margin.
Step 4 : Determine the value of the attenuation factor () using equation
1
sin m =
1
Step 5 : Determine the fre quency whe re the magnitude o f
uncompensated system G1(j) is equal to – 20 log (1 / ) dB. This is the
new gain crossover frequency which corresponds to
1
m =
T
The maximum phase shift (m) occurs at this frequency.
Step 6 : Determine the corner frequencies of the lead compensator as :
Zero of lead compensator c1 = 1/T
Pole of lead compensator c2 = 1/T
Step 7 : Calculate constant Kc from value of K determined in step 1 and
that of determined in step 4, by using equation Kc = K.
Step 8 : Determine gain margin (G.M.). If it is not satisfactory and not
according to design requirements repeat the design process by modifying
the pole-zero location of the lead compensator until the satisfactory
result is obtained.
Effects of lead compensation :
1. The lead compensator adds a dominant zero and a pole. This increases
the damping of the closed loop system.
2. It improves the phase margin of the closed loop system.
3. The slope of the magnitude plot in Bode diagram of the forward path
transfer function is reduced at the gain cross frequency. This improves
gain and phase margins improving the relative stability.
4. It increases bandwidth of the closed loop system. More the bandwidth,
faster is the response.
Limitations of lead compensation :
1. Lead compensation requires an additional increase in gain to offset the
attenuation inherent in the lead network.
2. The compensated system may have a larger undershoot than overshoot.
So tendency to over compensate system may lead to a conditionally
stable system.
3. The maximum lead angle available from a single lead network is about
60°. Thus if lead of more than 70° to 90° is required a multistage lead
compensators are required.
Control System
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10
Que 5.3. For the open loop transfer function, G(s) H(s) =
s(1 0.2s)
design a suitable compensator such that the system will have a
phase margin of at least 45º. AKTU 2014-15, Marks 10
Answer
10
Given : G(s)H(s) =
s(1 0.2 s)
To Design : Compensator.
1. Given transfer function is of type-1 system,
10
G(s)H(s) =
s
s 1
5
2. Starting point = K1/n [Here n = 1]
= 10 (cut 0 dB axis)
3. Starting slope = – 20 dB/decade
4. P.M = 180° + , at = g = 35.54°
Here, p = 0 rad/s
and G.M = dB
m = 45° – 35.54° + tolerance
m = 45°– 35.54° + 5° = 14.46°
1 sin m 1 sin14.46
= =
1 sin m 1 sin14.46
= 0.6
1
m =
T
Table 5.3.1.
1 –101.30°
3 –120.96°
10 –153.43°
100 –177.13°
–180°
1
5. 20 log10 |Gc(j)| = – 20 log10
= – 20 log10 () – 1/2 = 10 log10= – 2.218 dB
1
6. Lower corner frequency = m
T
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m = 8.2 rad/s (at – 2.218 dB)
= 0.6 8.2 = 6.35 rad/s
7. Upper corner frequency
1 m 8.2
= = m = 10.58 rad/s
T 0.6
Phase lead compensation network
1 jT
Gc(j) =
1 jT
1
1 j 1 j0.1574
Gc(j) = 6.35 =
1 1 j 0.09448
1 j 0.6
6.35
8. So, compensated network
G(s) = Gc(s) G(s)
1 0.1574 s 1
G(s) =
1 0.09448 s s(1 0.2 s)
Que 5.4. Design a phase lead compensator for a negative unity
feedback system with plant transfer function
K
Gp (s) = to satisfy the conditions :
s(s 10)( s 1000)
phase margin in atleast 45°, static error constant = 1000 s–1.
AKTU 2016-17, Marks 10
Answer
K
Given : GP(s) = , Phase margin = 45°
s(s 10) (s 1000)
Kv = 1000 sec – 1
To Design : Phase lead compensator.
K
1. Kv = lim sG p (s) = lim s
s0 s 0 s( s 10) (s 1000)
K
Kv =
10 1000
K = 10 × 1000 Kv = 107
107 103
2. Gp(s) = =
s s s s
10000 s 1 1 s 1 1
10 1000 10 1000
3. Starting point at 0 dB axis at = K1/n
Here, n = 1 (Type of the system)
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= 1000 rad/sec
4. First corner frequency, c1 = 10 rad/sec
Second corner frequency, c2 = 1000 rad/sec
Initial slope = – 20 dB/sec
1
Gp(j) = – 90 – tan – 1 tan
10 1000
5. We have got p = g = 100 rad/sec.
So, gain margin = 0 dB and phase margin = 180° – 180° = 0°
m = 45° – 0° + tolerance = 45° – 0° + 5° = 50°
6. The value of parameter of the phase lead network is given by
1 sin m
= = 0.1324
1 sin m
In decibel,
1
At = m, magnitude in dB = – 20 log10 = 10 log10 = – 8.78 dB
Table 5.4.1.
∠ Gp(j)
1 – 95.76°
– 135.57°
40 – 168.25°
90 – 178.80°
7. At a gain of – 8.78 dB, the frequency is 165 rad/sec
The lower corner frequency
1
= m = ( 0.1324) × 165 = 60 rad/sec
T
8. The upper corner frequency
1 1
= × 60 = 453.1722 rad/sec
T 0.1324
1 jT
9. Lead compensation network, Gc(s) = Gc(j) =
1 jT
1
1 j
60 (1 j 0.0166)
= =
1 (1 j 0.022066)
1 j
453.1722
10. So, the open loop transfer function of the compensated system is
1000 (1 j 0.0166)
G(s) = Gp(s) Gc(s) =
s(s 10) (s 1000) (1 j 0.022066)
1000 (1 0.0166 s)
=
s (s 10)( s 1000)(1 0.22066 s)
1 2 3 4 5 6 7 8 9 101 2 3 4 5 6 7 8 9 102 2 3 4 5 6 7 8 9 103
Gain curve
Bode plot :
– 80°
– 100°
Introduction to Design
– 120°
– 40 dB/dec Angle
– 20 dB/dec – 140°
in
degree – 160°
p = g = 100 rad/sec
– 180°
– 200°
Gain in dB
– 220°
Phase curve
Fig. 5.4.1.
– 240°
– 260°
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– 280°
– 60 dB/dec
1 2 3 4 5 6 7 8 9 101 2 3 4 5 6 7 8 9 102 2 3 4 5 6 7 8 9 103
0 1 10 100
5–10 C (EN-Sem-5)
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Que 5.5. Define phase-lag compensation techniques with the help
of R-C network. Also draw its pole zero configuration.
OR
Write short notes of the following :
a. Lead compensator.
b. Lag compensator.
c. Gain margin and phase margin. AKTU 2015-16, Marks 15
Answer
A. Lead compensator : Refer Q. 5.1, Page 5–3C, Unit-5.
B. Lag compensator :
1.
R1
R2
ei eo
C
Fig. 5.5.1. Phase-lag network.
The transfer function of phase-lag network is shown in Fig. 5.5.1,
Eo (s) 1 sT
= ...(5.5.1)
Ei (s) 1 sT
R1 R2
where > 1, =
R2
and T = R2 C
2. The transfer function given by eq. (5.5.1) can be expressed in sinusoidal
form as
Eo ( j) 1 jT
= ...(5.5.2)
Ei ( j) 1 jT
3. Bode plot for transfer function of eq. (5.5.2) is shown in Fig. 5.5.2.
– 20 dB/decade
0 dB
0º
– 45º m
– 90º
log
1 m 1
T T
Fig. 5.5.2. Bode plot of lag compensator.
Introduction to Design
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1
4. The two corner frequencies are = , upper corner frequency for
T
1 1 1
zero at s = – ,= , lower corner frequency for a pole at s = –
T T T
5. The maximum phase-lag, m occurs at mid frequency m between upper
and lower corner frequencies.
1 1 1
log10 m = log log 10
2 T T
1
m =
T
6. The phase angle Eo(j)/Ei(j) calculated as
Eo ( j)
= tan–1 (T) – tan–1 (T)
Ei ( j)
1
At = m = , the phase angle is m :
T
1
tan m =
2
1
sin m =
1
Pole-zero configuration is shown in Fig. 5.5.3.
Im
Re
1 1
– –
T T
s-plane
Fig. 5.5.3. Pole zero configuration.
C. Phase margin and gain margin : Refer Q. 4.16, Page 4–25C, Unit-4.
Que 5.6. What are the effects and limitations of lag
compensation ?
OR
Explain Bode plot method to design a lag compensator. Also give its
significances.
Answer
Basically, lag compensator is a low pass filter and its main function is to
provide attenuation in the high frequency range to give sufficient phase
margin.
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Step 1 : Let the system transfer function of controller be
1
s
Gc(s) = K c ( 1)
1
s
s 1
Gc(s) = K c
s 1
Let Kc = K,
The OLTF of the compensated system is
s 1 s 1
Gc(s)G(s) = K G(s) KG(s)
s 1 s 1
s 1
= G1 (s) where G1(s) = KG(s)
s 1
Now, determine gain K to satisfy the requirement on the given static
velocity error constant.
Step 2 : Using the value of K determined in step 1, draw Bode plot of
G1(j). Find the phase margin ().
Step 3 : Using specified phase margin (2), find the required phase
margin 1
1 = 2 + ', where ' = 5° to 12°
Step 4 : Find the frequency at which the phase angle of the open loop
transfer function is equal to – 180° plus the required margin (1). This is
the new gain crossover frequency.
Step 5 : Determine attenuation necessary to bring the magnitude curve
down to 0 dB at the new gain crossover frequency. This change is due to
the factor () and the attenuation is – 20 log . For this shift find the
value of .
Step 6 : Determine the other corner frequency (corresponding to pole
of lag compensator) from c1 = 1/().
Step 7 : Using the value of K determined in step 1 and determined in
step 5, calculate constant Kc as
K
Kc =
Step 8 : Using the transfer function of lag compensator, draw bode plot
and verify specifications.
Effects (significance) of lag compensation :
1. Lag compensator allows high gain at low frequencies thus it is basically
a low pass filter. Hence it improves the steady state performance.
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Limitations of lag compensation :
1. In lag compensation, the attenuation characteristics is used for the
compensation. The phase lag characteristic is of no use in the
compensation.
2. The attenuation due to lag compensator shifts the gain crossover
frequency to a low frequency point. Thus the bandwidth of the system
gets reduced.
3. Reduced bandwidth means slower response. Thus, rise time and settling
time are usually longer. The transient response lasts for longer time.
Que 5.7. Explain lead-lag compensator. What are the effects of
lead-lag compensation ?
Answer
1.
C1
R1
R2
vi(t) vo(t)
i(t) C2
Fig. 5.7.1. Lead-lag compensator in time-domain.
Z1
1/sC1
Z2
R1
R2
Vi(s) Vo(s)
1
I(s)
sC2
Fig. 5.7.2. In s-domain.
Lead-lag compensator is combination of lead network and lag network.
From Fig. 5.7.1, we have
1
R1
1 sC1 R1
Z1 = R1 || ...(5.7.1)
sC1 R 1 sR1C1 1
1
sC1
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1 (sR2C2 1)
and Z2 = R2 ...(5.7.2)
sC2 sC2
2. Applying Kirchhoff’s voltage law to the shown Fig. 5.7.1 network
Vi(s) = (Z1 + Z2) I(s) ...(5.7.3)
V0(s) = Z2I(s) ...(5.7.4)
Hence the transfer function of the system
Vo ( s)
Gc(s) = ...(5.7.5)
Vi ( s)
3. Putting value of V0(s) and Vi(s) in eq. (5.7.5), we have
Z2 I (s)
Gc(s) =
(Z1 Z2 ) I (s)
Z2
Gc(s) = ...(5.7.6)
Z1 Z2
4. Putting value of Z1 and Z2 in eq. (5.7.6), we have
(sR2C2 1)
sC2
Gc(s) =
R1 1
R2
sR1C1 1 sC2
(sR2C2 1)( sR1C1 1)
Gc(s) = s 2 R R C C sR C sR C sR C 1
1 2 1 2 2 2 1 1 1 2
1 1
s R C s R C
2 2 1 1
=
1 1 1 1
s2 s
R C
1 1 R C
2 2 R C
2 1 R1 1 R2C2
C
1 1
s T s T
1 2
Gc(s) =
1
s s
T1 T2
where, T1 = R1C1, T2 = R2C2
1 1 1 1
=
T1 T2 R1C1 R2C2 R2C1
and T1T2 = R1R2C1C2
and = 1
1
5. Poles are at s= ,
T1 T2
1 1
Zeros are at s = ,
T1 T2
Introduction to Design
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j
1 1 1
– – – –
T1 T2 T1 T2
Fig. 5.7.3. Pole-zero configurations.
6. The various corner frequencies of the lag-lead compensator are,
C1 = , for a simple pole
T1
1
C2 = , for a simple zero
T1
1
C3 = – , for a simple zero
T1
1
C4 = – , for a simple pole
T2
+20 dB/dec
–20 dB/dec
0dB
+45°
0°
– 45°
Log
– 1 1 1
– – –
T1 T1 T2 T2
Fig. 5.7.4. Bode plot of lag-lead compensator.
Effects :
1. Lag-lead compensator increases the low frequency gain which improves
the steady state.
Control System
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2. It increases bandwidth of the system which makes the system response
very fast.
3. In general, the phase lead position of this compensator is used to achieve
large bandwidth and hence shorter rise time and settling time. While
the phase lag portion provides the major damping of the system.
PART-2
The Concept of State and Space, State-Space
Model of Physical System, Conversion of State-Space to
Transfer Function Model and Vice-Versa.
CONCEPT OUTLINE : PART-2
• An nth order differential equation is not generally suitable for
computer solution; it is the best to obtain a set of n first-order
differential equation, using a set of auxiliary variables called
state variables and this approach is called State Variable Analysis.
• Transfer Matrix :
Y (s)
Transfer matrix = = C[sI – A]–1 B
U ( s)
C adj[(sI – A)]
Transfer function = C[sI – A]–1 B =
| sI A|
• Diagonalization : Transformation of a matrix into a diagonal
matrix so that the diagonal elements are represented by eigen
values is called diagonalization.
Questions-Answers
Long Answer Type and Medium Answer Type Questions
Que 5.8. Define state and state variable ? What are the
advantages of state space techniques ? AKTU 2017-18, Marks 10
OR
Define the following terms :
i. State
ii. State variables
iii. State vector
iv. State space
v. State equation
Introduction to Design
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Answer
i. State : The state of a dynamic system is the smallest set of variables
such that the knowledge of these variables at t = t0 with the knowledge
of the input for t t0 completely determines the behaviour of the system
for any time t t0.
ii. State variables : The variables involved in determining the state of
dynamics system are called state variables.
iii. State vector : If we need n variable to completely describe the behaviour
of a given system, then these n state variables may be considered as n
component of a vector x. Such a vector is called state vector.
iv. State space : The n-dimensional space whose coordinate axes consists
of the x1 axis, x2 axis ..., xn axis is called state space. Any state can be
represented by a point in the state space.
v. State equation : A state space representation is a mathematical model
of the physical system as a set of output, input and state variables
related by a differential equation is known as state equation.
Advantages :
1. The method takes into account the effect of all initial conditions.
2. It can be applied to non-linear as well as time varying conditions.
3. It can be conveniently applied to multiple input multiple output systems.
4. The system can be designed for the optimal conditions precisely by using
this modern method.
5. Any type of the input can be considered for designing the system.
6. As the method involves matrix algebra, can be conveniently adopted for
the digital computers.
Que 5.9. Discuss state space representation.
Answer
1. In a state variable system, state variables are represented by x1(t),
x2(t) ...
2. Input variables by u1(t), u2(t), .....
3. Output variables by y1(t), y2(t) ...
where,
x1 (t) u1 ( t) y1 (t)
x2 (t) u2 (t) y2 (t)
x(t) = x3 (t) ; u(t) = u3 (t) ; y(t) = y3 (t)
x (t ) u (t ) y (t)
n n n
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4. So, dynamics of a system can be represented by nth order differential
equation
d n y(t) d n1 y(t) d n 2 y(t) dy(t)
n
a1 n1
a2 n 2
... an1 an y(t) = u(t) ...(5.9.1)
dt dt dt dt
dy(0) dn 1 y(0)
5. The knowledge of initial conditions y(0), ,... , , along with
dt dt n 1
the input u(t) for t 0, completely determines the future behavior of the
system.
dy(t) d n1 y(t)
6. We take y(t), ,..., as a set of n-state variables.
dt dt n1
7. Let us define x1 = y
x 1 = x 2
x 2 = x 3
. . . .
x n–1 = xn
8. Now from eq. (5.9.1)
x n = – anx1 – an–1 x2 .... – a1xn + u
9. We can write this set of equations in matrix form as,
x = Ax + Bu
Output : y = Cx
x1
x
2
where, x= ;
xn1
x
n
0 1 0 0 0
0
0 0 1 0
A= ;B=
0 0 0 1 0
a a 1
n n 1 an 2 a1
th
10. For n order single-input-single-output system :
x = Ax + Bu
y= Cx
A= System matrix of order (n × n)
B= Input coupling matrix of order (n × 1)
C= Output coupling matrix of order (1 × n)
x= State vector of order (n × 1)
u= Scalar input of order (1 × 1)
y= Scalar output of order (1 × 1)
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11. For multivariable system
x = Ax + Bu
y = Cx
y1 x1 u1
x u
y 2 ; u = 2
y = 2 ; x =
y p xn um
a11 a12 a1 n
a a22 a2 n
A=
21
an1 an2 ann
b11 b12 b1 m
b b22 b2 m
B=
21
bn1 bn2 bnm
c11 c12 c1n
c c22 c2 n
C=
21
c p1 c p2 c pn
Que 5.10. Describe different representation of state model in
details.
Answer
Basic ways to represent state models are :
a. State space representation using differential equation :
1. The state model is represented using these state variables called as
phase variables.
2. The phase variable is defined as those particular state variables which
are obtained from one of the system variables and its derivatives.
3. Transfer function can be obtained by differential equation
d n y(t) d n1 y( t) dy(t)
n
a1 .... an 1 an y(t) = b u(t)
dt dt n1 dt
y ( n ) a1 y ( n1) ..... an1 y (1) an = b u(t)
Put x1 = y
x2 = y x1
x3 =
y x2
xn = y ( n 1) x n 1
x1 = y
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x1 = x2 = y
x 2 = x3 = y
: : :
x n = y ( n) bu an ....a2 y ( n 2) a1 y ( n 1)
x n = bu an x3 an1 x2 .... a2 xn 1 a1 xn
0 1 0 0 x1 0
x 1 0 x
x 0 1 0 2 0
2 = 0 u
0 0 0 1 xn1
x
n a an 1 an 2 a1 xn b
n
x = Ax + Bu
x1
x
y = 1 0 0 0 2 [0]u
xn
u(t) x· n xn xn–1 x3 x2 x1 = y
b +
–
a1
+
+
+ + an–1
an
Fig. 5.10.1. The block diagram.
b. Direct decomposition : In direct decomposition we represent the
denominator polynomial as
1
=
(s[ s a] b) s c
We can do it for higher order also.
U(s) + Y(s)
1/s 1/s 1/s
–
b
c
Fig. 5.10.2.
Introduction to Design
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c. Cascaded decomposition : Here transfer function is written in terms
of product of two or more small transfer functions.
Y (s) (s b1 ) (s b2 )
= K
U ( s) (s a1 ) (s a2 )
Each group is then decomposed by direct decomposition and the state
diagram of the transfer functions is cascaded.
U(s) + + + + C(s)
1/s b1 1/s b2
+ + +
+
a1 a2
(I) (II)
Fig. 5.10.3.
d. Parallel decomposition : This method is also called canonical form.
The given transfer function
Y ( s) b0 s n b1 s n 1 .... bn
T(s) =
U ( s) a0 s n a1 s n1 .... an
c1 c cn
Then factorized T(s) = 2 ....
s a1 s a2 s an
Simulate all terms using direct decomposition and add in parallel to have
complete representation.
u x· 1 x1 + y
+ 1/s c1
+ +
+
1 +
x· 2 x2
+ 1/s c2
+
2
x· n xn
+ 1/s cn
+
n
Fig. 5.10.4.
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Que 5.11. A system is described by the following differential
equation. Represent the system in the state space.
d3 x d2 x dx
3
+3 2 +4 + 4 x = u1(t) + 3u2(t) + 4u3(t) and
dt dt dt
dx d2 x
output are y1 = 4 + 3u1, y2 = + 4u2 + u3.
dt dt 2
AKTU 2017-18, Marks 10
Answer
1. Select the state variables as
x1 = x
x1 = x = x2
x2 = x
3
x3 = – 3x3 – 4x2 – 4x1 + u1(t) + 3u2(t) + 4u3(t)
x1 0 1 0 x1 0 0 0 u1
x2 = 0 0 1 x2 0 0 0 u2
4 4 3 x3 1 3 4 u3
x3
2. Output : y1 = 4x2 + 3u1
y2 = x3 + 4u2 + u3
x1 u1
y1 0 4 0 3 0 0
y = x2 u2
2 0 0 1 0 4 1
x3 u3
Que 5.12. What is Transfer Function ? Also derive the expression
for transfer function of a state model.
Answer
A. Transfer Function : Transfer function is defined as the ratio of Laplace
transform of output of the system to the Laplace transform of input,
under the assumptions that all initial conditions are zero.
Laplace transform of output C( s)
T(s) =
Laplace transform of input R( s)
B. Derivation :
1. Let us consider a vector matrix differential equation
Introduction to Design
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x = Ax + Bu
and output, y = Cx
2. Now, taking Laplace transform with zero initial conditions
sX(s) = AX(s) + BU(s)
X(s) = [sI – A]–1 BU(s)
and Y(s) = CX(s)
Y(s) = C [sI – A]–1 BU(s)
3. For a single-input-single-output system, Y and U are scalars.
4. Now transfer matrix can be given as
Y (s )
Transfer matrix = C[ sI A ]1 B
U ( s)
C adj([ sI A]) B
5. Transfer function = C[sI – A]–1 B =
det [sI A]
6. Denominator part i.e. |sI – A| is called the characteristic equation.
|sI – A|= 0
th
7. n degree characteristic equation |sI – A| = 0 has n roots or eigen
values.
Que 5.13. Write the state variable formulation of the parallel RLC
network.
i A
iR iC iL
R C
L
i(t) = I 0 sin t VC
Fig. 5.13.1.
Answer
1. KCL at node A,
iR + iC + iL = I0 sin t
VC (t) 1 CdVC (t)
VC (t) dt = I0 sin t
R L dt
2. Differentiating w.r.t. t and dividing by C,
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1 dVC (t) 1 d 2VC (t) I
VC (t) 2
= 0 cos t
RC dt LC dt C
d 2VC (t) 1 dVC (t) 1 I
VC (t) = 0 cos t ...(5.13.1)
dt 2 RC dt LC C
3. Let, VC(t) = x1 (t)
x 1(t) = x2 (t)
Eq. (5.13.1) becomes,
1 1 I
x 2 (t ) =
x2 (t) x1 (t) 0 cos t
RC LC C
4. State space representation
0 1 0
x1 x1
=
1 1 I0
x2 cos t
x 2 LC
RC C
5. Output
x
VC = 1 0 1
x2
Que 5.14. Define the following terms :
i. State ii. State variables
iii. State vector iv. State space
v. State equation
Also write the properties of state transition matrix.
AKTU 2013-14, Marks 10
OR
What is the State Transition Matrix ? Derive its expression. Enlist
its properties with proofs.
Answer
i. State variables : Refer Q. 5.8, Page 5–17C, Unit-5.
ii. State : Refer Q. 5.8, Page 5–17C, Unit-5.
iii. State vector : Refer Q. 5.8, Page 5–17C, Unit-5.
iv. State space : Refer Q. 5.8, Page 5–17C, Unit-5.
v. State equation : Refer Q. 5.8, Page 5–17C, Unit-5.
State transition matrix : The matrix (t) = exp (At) is an n × n
matrix and it helps in transition from initial state X(0) to any other
state x(t) for t > 0, hence (t) is called state transition matrix.
Derivation :
1. Consider homogeneous equation, with u(t) = 0
x = Ax
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Laplace transform,
sX(s) – x(0) = A X(s)
(sI – A) X(s) = x(0)
I = Identity matrix
s = Scalar Laplace operator.
2. Multiplying both sides by [sI – A]–1
X(s) = [sI – A]–1 x(0)
X(s) = (s) x(0)
where,
(s) = [sI – A]–1
1
1 A I A A2
I 2 3 ...
(s) =
s s s s s
3. Taking inverse Laplace transform of X(s),
x(t) = L–1 [X(s)] = L–1 [sI – A]–1 x(0)
1 I A A2
= L 2 3 ... x(0)
s s s
A2 t2
= I At ... x(0)
2
x(t) = eAt x(0) = (t) x(0)
4. State transition matrix
(t) = L–1 [sI – A]–1 = L–1 [(s)]
5. So, state transition matrix (STM) can be given as,
At 1 2 2 1 3 3
(t) = e I At A t A t ...
2 3
Properties of STM :
1. (0) = eA0 = I
Proof : (0) = eA × 0 = I
2. –1(t) = (– t)
1 1
Proof : –1(t) = = e–At = (–t)
(t) e At
3. (t2 – t1) (t1 – t0) = (t2 – t0)
Proof :
(t2 – t1 )(t1 – t0 ) = e A(t2 – t1 ) e A(t1 – t0 ) = e A(t2 – t1 + t1 – t0 ) = e A(t2 – t0)
= (t2 – t0)
4. [(t)] k = (kt)
Proof : (t)k = (t).(t) ... k times = eAt eAt ... k times = eAkt = (kt)
5. (t1 + t2) = (t1) (t2) = (t2) (t1)
Proof :
(t1 + t2) = eA(t1 + t2 ) = eAt1 eAt2 = eAt2 eAt1 = (t1) (t2) = (t2) (t1)
Control System
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Que 5.15.
i. Derive the transfer function from state model.
ii. Obtain the complete solution of non-homogeneous state
equation using time domain method.
iii. Discus s the significance of lag network. Als o draw its
s-plane representation and Bode plot.
AKTU 2016-17, Marks 10
OR
What are homogeneous and non-homogeneous systems ? Derive
the solution of the two systems in terms of the state variables.
Answer
i. Derivation of the transfer function from state model : Refer
Q. 5.12, Page 5–23C, Unit-5.
ii.
A. Homogeneous system : If in a state model of a system, the matrix A is
a constant matrix and input control forces zero, then the equation takes
the form, x (t) = A X(f), such an equation is called homogeneous equation
and the system is called homogeneous system.
Solution of homogeneous state equation :
1. x = Ax {u(t) = 0 for homogeneous equation}
2. Taking Laplace transform
sX(s) – x (0) = A X(s)
Hence, [sI – A] X(s) = x (0)
where I is identity matrix and s is the scalar Laplace operator.
3. Premultiplying both side by [sI – A]–1
X(s) = [sI – A]–1 x(0) = (s) x(0)
4. Taking the inverse Laplace transform of X(s)
1 A A2
x(t) = L–1 2 3 ... x(0)
s s s
x(t) = (t) x(0)
(t) = eAt is (n × n) matrix and is called State Transition Matrix.
(t) is unique solution of
d(t)
= A (t) , (0) = I
dt
B. Non-homogeneous system : If in a state model of a system, if A is a
constant matrix and input control forces are applied to the system, then
the system is called non-homogeneous system.
Solution of non-homogeneous equation :
1. Consider state equation
x (t) = Ax(t) + Bu(t)
Introduction to Design
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U(s) = L[u(t)]
X(s) = L[x(t)]
2. Taking Laplace transform,
sX(s) – x(0) = AX(s) + BU(s)
[sI – A] X(s) = x(0) + BU(s)
3. Premultiplying by [sI – A]–1
X(s) = [sI – A]–1 x(0) + [sI – A]–1 BU(s)
4. Taking inverse Laplace transform
x(t) = L–1{X(s)}
= L–1[sI – A]–1 x(0) + L–1[sI – A]–1 BU(s)
t
x(t) = (t) x(0) ( t ) Bu() d
0
t
At A( t )
= e x(0) e Bu() d
0
5. If the initial time is other than zero, say t0 then
t
A ( t t0 )
x(t) = e x(t0 ) e A( t ) Bu () d
t0
= (t t0 ) x(t0 ) (t ) Bu() d
t0
6. x(t) = xc(t) + xp(t)
where xc(t)= (t) x(0)
is the complementary solution of the state vector
t
and xp(t) = (t ) Bu() d
t0
is a particular solution of vector.
iii. Significance of lag network : Refer Q. 5.6, Page 5–12C, Unit-5.
s-plane representation and Bode plot of lag network :
Refer Q. 5.5, Page 5–11C, Unit-5.
Que 5.16. Obtain state equation of a given transfer function
Y ( s) 1
a. = 3
U ( s) s 2s 2 3 s 1
Y ( s) 1
b. = AKTU 2015-16, Marks 10
U ( s) (s 1) (s 4)
Answer
Y (s) 1
Given : = 3 2
U ( s) s 2 s 3s 1
To Find : State representation.
Control System
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1. Y(s) [s3 + 2s2 + 3s + 1] = U(s)
Taking inverse Laplace transform
d 3 y 2 d 2 y 3dy
y( t) = u(t)
dt3 dt 2 dt
2. Choosing state variable
y(t) = y1 (t)
dy( t)
= y1 ( t) = y2(t)
dt
d 2 y(t)
= y2 (t) = y3(t)
dt
d 3 y(t)
= y3 (t) = y4(t)
dt
3. y4 + 2y3 + 3y2 + y1(t) = u(t)
y3 = – 2y3 – 3y2 – y1(t) + u(t)
0 1 0 y1 0
y1 ( t)
y (t) = 0 0
1 y2 0 u(t)
2 –1 –3 –2 y3 1
y (t)
3
Y (s) 1
Given : =
U ( s) (s 1) (s 4)
To Find : State representation.
1. Y(s) [(s2 + 5s + 4)] = U(s)
Taking inverse Laplace
d 2 y 5 dy
+ 4y(t) = u(t)
dt 2 dt
d2 y
2. = y2 (t) = y3(t)
dt 2
dy
(t ) = y2(t) = y1 ( t)
dt
y(t) = y1 (t)
3. y2 (t) + 5y (t) + 4y (t) = u(t)
2 1
y2 (t) = – 5y (t) – 4y (t) + u(t)
2 1
y1 (t) = 0 1 y1 ( t) 0
– 4 – 5 y ( t) 1 u(t)
y2 (t) 2
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Que 5.17. A feedback system has a closed loop transfer function
C ( s) 10(s + 4)
=
R( s) s(s + 1) (s + 3)
Construct the phase variable state model.
AKTU 2013-14, Marks 10
Answer
C (s ) 10 (s 4)
Given : =
R( s) s(s 1) (s 3)
To Find : Phase variable state model.
C ( s) 10 (s 4)
1. =
R( s ) s(s2 4s 3)
C ( s) 10 (s 4)
=
R( s ) s 3 4 s 2 3s
C ( s) C( s) X (s)
2. =
R(s) X ( s) R(s)
X ( s) 1
= 3
R( s) s 4 s 2 3s
d 3 x (t ) d 2 x(t) dx(t)
3. 3
4 3 = r(t)
dt dt 2 dt
Let x(t) = x1 (t)
dx(t)
= x2(t) = x1 (t)
dt
d 2 x (t )
2
= x3 (t) = x2 (t)
dt
3
x3 (t) = d x(t) = r(t) – 3x2(t) – 4x3(t)
dt3
x 1 (t ) 0 1 0 x1 (t) 0
4. = 0 0 1 x ( t ) 0 r( t )
x 2 (t ) 2
0 3 4 x3 (t) 1
x3 (t)
C( s)
5. = 10 s + 40
X ( s)
C(s) = 10 s X(s) + 40 X(s)
dx(t)
c(t) = 10 + 40x (t)
dt
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c(t) = 10 x2 (t) + 40 x1 (t)
10
x3(t) = x· 2(t) x2(t) = x1(t)
x· 3(t) x· (t) +
r(t) 1 c(t)
+ 40 +
–
+4
+3
Fig. 5.17.1. Phase variable state model.
Que 5.18. Determine the state model from transfer function of a
system given as
Y ( s) s 2 3s 2
= 3
U ( s) s 9 s 2 26 s 24
AKTU 2014-15, Marks 10
Answer
Y ( s)
1. = (s2 + 3s + 2)
X ( s)
Taking inverse Laplace both sides
d 2 x(t) dx(t)
3 2 x(t) = y(t)
dt 2 dt
X ( s) 1
2. = 3
U (s ) s 9s 2 26 s 24
Taking inverse Laplace both sides
d 3 x (t ) d 2 x( t) dx(t)
3
9 26 24 x(t) = u(t)
dt dt 2 dt
3. Choose state variables
x(t) = x1 (t)
dx(t)
= x 1(t) = x2(t)
dt
d 2 x (t )
= x 2(t) = x3(t)
dt2
So, x 3(t) = 4(t) – 9x3(t) – 26x2(t) – 24x1(t)
y(t) = 2x1(t) + 3x2(t) + x3(t)
4. In state space representation form
x 1 (t ) 0 1 0 x1 (t) 0
x
2 ( t ) = 0 0 1 x2 (t) 0 u(t)
24 26 9 x3 (t) 1
x3 (t)
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x1 (t)
y(t) = [2 3 1] x2 (t)
x3 (t)
3
. . .
u(t) x 3(t) x 3(t) = x 2(t) x2 = x1 x1
2
y(t)
9
26
24
Fig. 5.18.1. Block diagram.
PART-3
Similarity Transformation of the control System,
Concept of Controllability and Observability and their Testing.
CONCEPT OUTLINE : PART-3
• Controllability : A system is said to be controllable if the
state of the system can be transferred to another desired state
over a given time period by using input.
• Observability : A system is said to be observable if all the state
of the system can be determined on the basis of knowledge of
the output of the system at given time.
Questions-Answers
Long Answer Type and Medium Answer Type Questions
Que 5.19. Discuss similarity transformation in control system.
Answer
1. The choice of state is not unique for a given system. Suppose that there
exists a set of state variables
x = [x1 x2 x3 .... xn] T
so that a linear or similarity transformation
x = Mz; |M| 0, M–1 exists
i.e., z = M –1 x ...(5.19.1)
transforms to another set of state variables
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z = [z1 z2 z3 ... zn]T
2. Differentiating eq. (5.19.1), we get
z = M 1 x = M–1 [Ax + Bu] = M–1 Ax + M–1 Bu
= M–1 A[Mz] + M–1 Bu
= [M–1 AP]z + [M–1 B]u
Bu
= Az
i.e.,
Bu
z = Az
and output y = C M z C z
i.e., y = C z
where A = M–1 A M
B = M–1 B
C = C M
where M is a non-singular transformation matrix.
3. Hence by similarity transformation, the transformed system can be
represented by the vector-matrix differential equation as
Bu
z = Az
and output y = C z
where A = M–1 A M
B = M–1 B
C = C M
Que 5.20. State and explain controllability and observability in
view of Kalman and Gilbert test.
3 1 1
The state equation for a system is, x = x u.
2 0 1
AKTU 2016-17, Marks 10
Answer
1. Controllability : A system is said to be controllable if the state of the
system can be transferred to another desired state over a given time
period by using input.
2. Observability : A system is said to be observable if all the state of the
system can be determined on the basis of knowledge of the output of the
system at given time.
Kalman’s test for controllability :
1. Consider nth order multiple input linear time invariant system
represented by its state equation as,
Introduction to Design
www.aktutor.in 5–34 C (EN-Sem-5)
x = Ax + Bu
2. The necessary and sufficient condition for the system to be completely
state controllable is that the rank of the composite matrix Qc is n.
3. The composite matrix Qc is given by,
Qc = [B : AB : A 2B : ... A n–1B]
Gilbert’s test for controllability :
1. For the Gilbert’s test it is necessary that the matrix A must be in
canonical form. Hence the given state model is required to be
transformed to the canonical form first, to apply the Gilbert’s test.
2. Consider single input linear time invariant system represented by,
z = Ax+Bu
where A is not in the canonical form. Then it can be transformed to the
canonical form by the transformation,
x = Mz
where M = Model matrix
3. The transformed state model,
z = A z B u
where
A = M – 1 AM
B = M – 1 B
4. In such a case the necessary and sufficient condition for the complete
state controllability is that the vector matrix B should not have any
zero elements. If it has zero elements then the corresponding state
variables are not controllable.
5. If the eigen values are repeated then matrix A cannot be transformed
to Jordan canonical form. If A has eigen values 1, 1, 2, 2, 3, 4, ... n
then the transformation results Jordan canonical form shown in matrix
below
1 1 0 0 0 0 ..........0
0 1 0 0 0 0...........0
J=
0 0 2 1 0 0...........0
Jordan 0 0 0 2 1 0...........0
block
0 0 0 0 2 0...........0
0 0 0 0 0 3..........0
........
........
0 0........................................................... n
Control System
www.aktutor.in 5–35 C (EN-Sem-5)
6. In such a case, the condition for the complete state controllability is
that the elements of any row of B that corresponds to the last row of
each Jordan block are not all zero.
Kalman’s test for observability :
1. State equation
x=Ax+Bu
and y=Cx
2. The system is completely observable if and only if the rank of the
composite matrix Qo is n.
Composite matrix Qo is given by,
Qo = [CT : AT CT :.......... (AT)n–TCT]
where CT = Transpose of matrix C
AT = Transpose of matrix A
Gilbert’s test for observability :
1. For Gilbert’s test, the state model must be expressed in the canonical
form. Consider the state model of linear time invariant system as,
x=Ax+Bu
and y=Cx
2. Use the transformation x = Mz where M is the model matrix.
y = CM z = C z
where C = CM
For a single input single output system,
z1
z
C
y = Cz C 12 .... C 1 n 2
11
zn
= C 11 z1 C 12 z1 .... C 1n zn
3. For the system to be observable, each term corresponding to each
state must be observed in the output. Hence none of the coefficient of
C must be zero.
Numerical :
3 1 1
Given : x =
2 0 x 1 u
To Find : Controllability.
3 1 1
1. A= ,B= 1 , n = 2
2 0
Introduction to Design
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2. Qc = B AB
3 1 1 2
3. AB = 1 = 2
2 0
1 2
4. Qc =
1 2
1 2
5. |Qc| = =2–2=0
1 2
Rank of Qc is r n
Hence, system is not completely controllable.
Que 5.21. A system characterised by the transfer function
Y ( s) 2
= . Find the state and output equation in
U ( s) s3 6 s 2 11s 6
matrix form and also test the controllability and observability of
the given system. AKTU 2015-16, Marks 15
Answer
Y (s) 2
Given : = 3
U ( s) s 6s 2 11s 6
To Find : State matrix; Controllability, Qc; Observability, Qo.
1. Y(s) [(s3 + 6s2 + 11s + 6)] = 2U(s)
2. x1 = x2, x2 = x3, x3 = – 6x1 – 11x2 – 6x3 + u
3. y = 2x 1
x1 0 1 0 x1 0
= x = 0 0 1 x2 0 u
2
6 11 6 x3 1
x3
2 x1
y = 0 x2
0 x3
4. Controllability :
0 0 1 0
B = 0 , A =
0 0 1
1 6 11 6
Control System
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0 1 0 0 0
AB = 0 0 1
=
0
1
6 11 6 1 6
Qc = [B : AB : A2B]
0 1 0 0 1 0
A2 = 0 0 1
0 0 1
6 11 6 6 11 6
0 1 0
= 6 11 6
36 60 25
0 0 1 0 1
A2B = 6 11 6 0 = 6
36 60 25 1 25
0 0 1
1 6 0 6 0 1
Qc = 0 1 6
=
0 –0 1
6 25 1 25 1 6
1 6 25
Qc = 0 – 0 + (– 1)
Qc = –1
|Qc| 0
It is of rank 3 and controllable.
5. Observability :
0 1 0 0 0 6
A= 0 0 1
T
, A
1 0 11
6 11 6 0 1 6
2 2
C = 0 , CT = 0
0 0
Q0 = [CT : ATCT : (AT)2 CT]
0 0 6 2 0
ATCT = 1 0 22 0 2
0 1 6 0 0
0 0 6 0 0 6
(AT)2 = 1 0 11 1 0 11
0 1 6 0 1 6
0 6 36
= 0 11 60
1 6 25
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0 6 36 2 0
(AT)2CT = 0 11 60 0 0
1 6 25 0 2
2 0 0
Q o = 0 2 0
0 0 2
2 0 0 0 2 2
= 2 –0 0 = 2[4 – 0] – 0 + 0
0 2 0 2 0 0
|Qo |= 8
Therefore, its rank is 3 and the system is observable.
Que 5.22. A linear time invariant system is characterized by the
state variable model. Examine the controllability and observability
of the system
0 0 0 40
A = 1 0 3 ; B = 10 ; C = [0 0 1]
0 1 4 0
AKTU 2017-18, Marks 10
Answer
0 0 0 40
Given : A = 1 0 3 , B = 10 , C = [0 0 1]
0 0 4 0
To Test : Controllability and observability.
1. Controllability test :
0 0
i. AB = 40 , A 2B =
30
0 0
ii. Controllability test matrix is given by,
40 0 0
Qc = [B : AB : A2B] = 10 40 0
0 0 0
|Qc| = 0
iii. Thus the rank of Qc is 2. Hence the system is not controllable.
2. Obervability test :
0 1 0 0
i. AT = 0 0
0 , C T = 0
0 3 4 1
Control System
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0 0
ii. ATCT = 0 , (AT)2 CT = 0
4 16
iii. The observability test matrix is given by
Qo = [CT : ATCT : (AT)2 CT]
0 0 0
Qo = 0
0 0
1 4 16
iv. Its rank is 1. Hence the system is not observable.
Que 5.23. Check the controllability and observability of a system
having following coefficient matrices.
0 1 0 0 1
A = 0 0 1 , B = 0 0 and C = [1 0 0]
0 2 3 1 1
AKTU 2014-15, Marks 10
Answer
0 1 0 0 1
Given : A = 0 0 1 , B = 0 0 and C = [1 0 0]
0 2 3 1 1
To Test : Controllability and Observability.
A. Controllability test :
0 1 0 0 1 0 0
1. AB = 0 0 1 0 0 1 1
0 2 3 1 1 3 3
0 1 0 0 0 1 1
A2B = 0 0 1 1 1 3 3
0 2 3 3 3 11 11
2. Controllability test matrix is given by
Qc = [B : AB : A2B]
0 1 0 0 1 1
Qc = 0 0 1 1 3 3
1 1 3 3 11 11
Introduction to Design
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0 1 0
3. Consider 0 0 1 = 1 0 ; |Qc| 0
1 1 3
Hence rank of Qc is equal to its order i.e., 3. Therefore the system is
controllable.
B. Observability test :
1
1. C = [1 0 0] ; C = 0
T
0
0 1 0 0 0 0
A = 0 0 1 ; AT = 1 0 2
0 2 3 0 1 3
0 0 0 1 0
1 0 2 0 1
AT CT =
0 1 3 0 0
0 0 0 0 0
(AT)2 CT = (AT) (ATCT) = 1 0 2 1 0
0 1 3 0 1
2. Observability test matrix is given by
1 0 0
T T T T 2 T 0 1 0
Qo = [C : A C : (A ) C ] =
0 0 1
|Qo| = 1 0
Hence its rank is 3 equal to its order i.e., 3, therefore system is completely
observable.
VERY IMPORTANT QUESTIONS
Following questions are very important. These questions
may be asked in your SESSIONALS as well as
UNIVERSITY EXAMINATION.
Q. 1. Explain the Bode Plot Method of des igning Lead
compensator.
Ans. Refer Q. 5.2, Unit-5.
10
Q. 2. For the open loop transfer function, G(s) H(s) =
s(1 0.2s)
design a suitable compensator such that the system will
have a phase margin of at least 45º.
Control System
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Ans. Refer Q. 5.3, Unit-5.
Q. 3. Design a phase lead compensator for a negative unity
feedback system with plant transfer function.
K
Gp (s) = to satisfy the conditions :
s(s 10)( s 1000)
phase margin in atleast 45°, static error constant = 1000 s–1.
Ans. Refer Q. 5.4, Unit-5.
Q. 4.Define the following terms :
i.State ii. State variables
iii.State vector iv. State space
v.State equation
Also write the properties of state transition matrix.
Ans. Refer Q. 5.8, Unit-5.
Q. 5. Obtain state equation of a given transfer function
Y ( s) 1
a. = 3
U ( s) s 2s 2 3 s 1
Y ( s) 1
b. =
U ( s) (s 1) (s 4)
Ans. Refer Q. 5.16, Unit-5.
Q. 6. A linear time invariant system is characterized by the state
variable model. Examine the controllablity and
observability of the system
0 0 0 40
A = 1 0 3 ; B = 10 ; C = [0 0 1]
0 1 4 0
Ans. Refer Q. 5.22, Unit-5.
Q. 7. Check the controllability and observability of a system
having following coefficient matrices.
0 1 0 0 1
A = 0 0 1
, =
B 0 0 and C = [1 0 0]
0 2 3 1 1
Ans. Refer Q. 5.23, Unit-5.
Control System SQ–1 C (EN-Sem-5)
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1 Control System
Concepts
(2 Marks Questions)
1.1. Explain open loop and closed loop system with physical
examples. AKTU 2015-16, Marks 02
OR
Discuss open loop and closed loop system giving suitable
example. AKTU 2016-17, Marks 02
OR
Draw the block diagram and explain the open loop control
system and closed loop control system.
AKTU 2017-18, Marks 02
OR
What are the major types of control systems ? Explain
them in detail with examples. AKTU 2017-18, Marks 02
Ans. There are two types of control system :
1. Open loop control system :
Input Controller Controlled process Output
Fig. 1.1.1
In open loop control systems the control action is independent of
the desired output. In this system the output is not compared with
the reference input.
Example : Washing machine, Immersion rod, Time operated
traffic control, DC shunt motor.
2. Closed loop control system :
Error signal
Reference Controlled
Amplifier Controlled process
input + – output
+
Feedback
Fig. 1.1.2.
2 Marks Questions SQ–2 C (EN-Sem-5)
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In a closed loop control system the output has an effect on control
action through a feedback as shown in Fig. 1.1.2.
Example : Automatic steering control system, Driving system of
an automobile, Home heating system, Ship stabilization system.
1.2. Discuss the effect of feedback on the time constant of a
control system. AKTU 2016-17, Marks 02
Ans.
1. Consider an open loop system with overall transfer function as,
C( s) K
G(s) =
R( s) 1 sT
2. System is subjected to unit step input,
R(s) = 1 / s,
c(t) = L–1[C(s)] = K[1 – e–t/T] ...(1.2.1)
Here time constant = T
3. Response of system for unit step when feedback having gain h is
added. Then new response,
1
K ( T /1 Kh )
c(t) = 1 – e
1 Kh
New time constant due to the feedback = (T/1 + Kh).
4. For positive value of h and K > 1, the time constant (T/1 + Kh) is
less than T. Hence feedback reduces the time constant of a system.
1.3. Why is negative feedback invariably preferred in a closed
loop system ? AKTU 2017-18, Marks 02
Ans. The negative feedback results in better stability in steady state
and rejects any disturbance signals. It has also low sensitivity to
parameter variations. Hence negative feedback is preferred in
closed loop systems.
1.4. Explain the working of AC servomotor with neat diagram.
AKTU 2016-17, Marks 02
Ans. Working principle :
1. Reference phase is supplied from a constant voltage source
Vr 0°. The other winding i.e., control phase is supplied with a
variable voltage of the same frequency as the reference phase but
its phase is displaced by 90° (electrically).
2. The control phase is usually supplied from a servo amplifier.
3. The speed and torque of the rotor are controlled by the phase
difference between the control voltage and the reference phase
voltages.
Control System SQ–3 C (EN-Sem-5)
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4. The direction of rotation of the rotor can be reversed by reversing
the phase difference from leading to lagging between the control
phase voltage and the reference phase voltage.
Control From
Vc Amplifier
winding controller
Reference winding
Vr
Squirrel-cage rotor Fixed ac
voltage
Fig. 1.4.1. Schematic diagram of 2 servomotor.
1.5. What is the basis for framing the rules of block diagram
reduction technique ? AKTU 2017-18, Marks 02
Ans.
1. Series connection :
R(s) Y(s) C(s) R(s) C(s)
G1(s) G2(s) G1(s)G2(s)
2. Parallel connection :
+ C(s)
R(s) G1(s)
R(s)
±
G1(s) ± G 2(s) C(s)
G2(s)
3. Positive feedback connection :
R(s) + C(s)
G1(s)
+ R(s) G1(s) C(s)
1–G1(s)H1(s)
H 1(s)
4. Negative feedback connection :
R(s) + C(s)
G1(s)
– R(s) G1(s) C(s)
1+ G1(s)H 1(s)
H 1(s)
1.6. What is a signal flow graph ? AKTU 2017-18, Marks 02
2 Marks Questions SQ–4 C (EN-Sem-5)
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Ans. A signal flow graph is a pictorial representation of the simultaneous
equations describing the system. This is an alternate approach
which does not require any reduction process because of availability
of a flow graph gain formula which relates the input and output
system variables.
1.7. Explain Mason’s gain formula. AKTU 2015-16, Marks 02
Ans. The overall gain can be determined by Mason’s gain formula given
below :
k
Pk k
T=
k 1
where, Pk = The forward path gain
= The graph determinant which involves closed-
loop gain and mutual interactions between non-
touching loops.
k = The path factor associated with the concerned
path and involves all closed loops in the graph
which are isolated from the forward path under
consideration.
1.8. What are the advantages of negative feedback control
system ?
Ans.
1. Better frequency response. 2. Less distortion.
3. Less gain or voltage drift. 4. Less temperature drift.
1.9. What are the disadvantages of positive feedback control
system ?
Ans.
1. Poor frequency response.
2. More distortion.
3. More drift.
1.10. What is transfer function ?
Ans. It is defined as the Laplace transform of output to the Laplace
transform of input when all initial conditions are set to zero.
L[ c(t)] C (s)
T(s) =
L[ r(t)] R(s)
1.11. What is source and sink ?
Ans.
1. Source : Source is the input node in the signal flow graph and it
has only outgoing branches.
2. Sink : Sink is an output node in the signal flow graph and it has
only incoming branches.
Control System SQ–5 C (EN-Sem-5)
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1.12. What are the basic elements used for modeling mechanical
translational system ?
Ans. The model of mechanical translational system can be obtained by
using three basic elements mass, spring and damper.
1.13. Derive the transfer function E0(s)/E1(s) of network shown
R1
e1(t) C1 R2 e2(t)
Fig. 1.13.1.
AKTU 2017-18, Marks 02
Ans.
1. Apply KVL in the loop,
1
– Vi(s) + R1 || I(s) + R2 I(s) = 0
C1s
1
R1 C s
1
Vi(s) = R2 I (s)
R1 1
C1 s
R1
+
1/C1s R2
Vi(s) Vo(s)
I(s)
–
Fig. 1.13.2.
2. And, V0(s) = R2 I(s)
R2 Vi ( s) R2 Vi ( s)
V0(s) =
1 R1
R1 C s R C s 1 R2
1
R2 1 1
R 1
1 C1 s
V ( s) R2 ( R1 C1 s 1)
Transfer function, 0 = .
Vi (s) R2 ( R1 C1 s 1) R1
2 Marks Questions SQ–6 C (EN-Sem-5)
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2 Time Response Analysis
(2 Marks Questions)
2.1. Mention the nature of transient response of second order
control system for different types of damping.
Ans. For < 0 : Positive roots and the response diverges out.
For = 0 : Sustained oscillations.
For 0 < < 1 : Underdamped.
For = 1 : Critically damped.
For > 1 : Overdamped.
2.2. Define rise time and delay time for second order control
system. AKTU 2015-16, Marks 02
Ans.
1. Rise Time (tr) : Rise time is defined as the time required for the
response to rise from 10 % to 90 % (for overdamped) or from 0 %
to 100 % (for underdamped) of its final value.
1 2
tan 1
Rise time (tr) =
d
2. Delay Time (td) : Delay time is the time required for the response
to reach the half of the final value in the first attempt.
The delay time in terms of and n is given by :
1 0.7
td =
n
2.3. What is peak time ?
Ans. Peak time is the time required for the response to reach the first
peak of the overshoot.
tp =
d n 1 2
2.4. What is settling time ?
Ans. Settling time is the time required for the response curve to reach
and stay within a specified percentage (2 % to 5 %) of its final value.
Control System SQ–7 C (EN-Sem-5)
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4
For 2 % band, ts =
n
3
and for 5 % band, ts =
n
2.5. Define steady-state error.
Ans. It indicates the error between the actual output and desired output
as t tends to infinity i.e.
ess = lim [ r(t) c(t)]
t
It is denoted by ess.
2.6. Define the P, PI and PID controllers.
AKTU 2017-18, Marks 02
Ans. P controller (Proportional controller) : It is a control system
technology based on a response in proportion to the difference
between what is set as a desired process variable (or set point) and
the current value of the variable.
PI controller (Proportional integral controller) : A controller
in the forward path which changes the controller output
corresponding to the proportional plus integral of error signal is
called PI controller.
PID controller ( Proportional, integral and derivative
controller): It is a Close loop system which has feedback control
system and it compares the Process variable (feedback variable)
with set Point and generates an error signal and according to that
it adjusts the output of system.
2.7. Give the comparison between PI and PID controller.
AKTU 2016-17, Marks 02
Ans.
S. No. PI PID
1. It is a co mbination o f It is a co mbination o f
proportional and integral pro po rtio nal, inte gral and
control action. derivative controller.
2. It helps in reducing steady It helps in reducing steady state
state error. error and also getting steady
state conditions quickly.
2.8. What is transient and steady state response ?
Ans. The transient response is the response of the system when the
input changes from one state to another. The response of the system
as t is called steady state response.
2 Marks Questions SQ–8 C (EN-Sem-5)
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2.9. List the time domain specifications.
Ans. The time domain specifications are :
1. Delay time
2. Rise time
3. Peak time
4. Maximum overshoot
5. Settling time.
2.10. Why derivative control is not employed in isolation ?
Ans. A derivative control mode in isolation produces no corrective efforts
for any constant errors, because, it acts only on rate of change of
error.
2.11. What is the effect on system performance when a
proportional controller is introduced in a system ?
Ans. The proportional controller improves the steady-state tracking
accuracy, disturbance signal rejection and relative stability of the
system. It also increases the loop gain of the system which results
in reducing the sensitivity of the system to parameter variations.
2.12. Why derivative controller is not used in control systems ?
Ans. 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 systems.
2.13. Discus s the significance of various time domain
specifications. AKTU 2016-17, Marks 02
Ans.
1. Delay time (Td) : It is the time required for the response to reach
half the final value the very first time.
2. Rise time (Tr) : The rise time is the time required for the response
to rise from
a. 10 % to 90 % of its final value, (overdamped systems).
b. 5 % to 95 % of its final value, (critical damped systems).
c. 0 % to 100 % of its final value (underdamped systems).
3. Peak time (Tp) : The peak time is the time required for the response
to reach the first (maximum) peak of the overshoot.
4. Maximum overshoot (Mp) : It is the maximum peak value of the
response curve measured from unity.
5. The settling time (Ts) : It is the time required for the response
curve to reach and stay within a range about the final value of size
specified by absolute percentage of the final value
(usually 2 % or 5 %).
Control System SQ–9 C (EN-Sem-5)
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2.14. The OLTF of a unity feedback system is G(s) = 4(s + a)/s(s + 1)
(s + 4) find the expression for error E(s) and hence find the
value of a so that the ess due to a unit ramp is 0.125.
AKTU 2017-18, Marks 02
Ans.
4( s a)
Given : G(s) = ; r(t) = 0.125 t
s(s 1)(s 4)
To Find : ess.
1. r(t) = 0.125 t
0.125
R(s) =
s2
s 0.125
2. ess = lim
sR( s)
= lim s2
s 0 1 G ( s) H (s) s0 4 (s a)
1 1
s( s 1) ( s 4)
0.125
s(s 1) (s 4) 0.125 ( s 1) ( s 4)
= lim s = lim
s 0 s( s 1) ( s 4) 4( s a) s 0 s( s 1) ( s 4) 4( s a)
0.125 1 4
=
4a
1
e ss =
4a
2.15. Consider the system as shown in Fig. 2.15.1. Determine the
value of a such that the damping ratio is 0.5.
R(s) + C(s)
16/s(s + 0.8)
–
1 + as
Fig. 2.15.1.
AKTU 2015-16, Marks 02
Ans.
C ( s) G (s ) 16
1. = =
R( s) 1 G( s) H (s) s( s 0.8)
16
1 (1 as)
s(s 0.8)
C ( s) 16
= 2 ...(2.15.1)
R( s) s 0.8s 16 16 as
2 Marks Questions SQ–10 C (EN-Sem-5)
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2n
2. Comparing this eq. (2.15.1) with
s 2 n n2
2
we get, n2 = 16
n = 4
3. Damping factor is given as = 0.5
2 n = (0.8 + 16a)
2 × 0.5 × 4 = 0.8 + 16a
4 = 0.8 + 16a
a = 0.2
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3 Stability and
Algebraic Criteria
(2 Marks Questions)
3.1. State the necessary and sufficient condition of Routh-
Hurwitz criterion. AKTU 2015-16, Marks 02
Ans.
1. All roots of characteristic equation should lie in the left half of
s-plane, i.e., all coefficients must be positive.
2. There should be no missing term.
3.2. Establish the relation between Routh and Hurwitz
stability criterion. AKTU 2016-17, Marks 02
Ans.
1. In the case of the Routh criterion, a0 > 0, a1 > 0, b1 > 0, c1 > 0,
d > 0, ...
a1 a0
b1 = a1 a2 a0 a3 a3 a2
a3 a3
2. Again, in the case of the Hurwitz criterion
a1 a0
a3 > 0, >0
a3 a2
3. From the Routh criterion, we also observe that b1 > 0 and a3 > 0.
Therefore,
a1 a0
a3 a2
b1 = >0
a3
a1 a0
since a3 > 0, >0
a3 a2
This is also true for c1, d1 for the Routh criterion.
4. Hence, the Hurwitz criterion and the Routh criterion are basically
the same and draw the same conclusion.
2 Marks Questions SQ–12 C (EN-Sem-5)
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3.3. What do you understand by relative stability ? Explain.
AKTU 2016-17, Marks 02
Ans. The system is said to be relatively more stable or unstable on the
basis of settling time. System is said to be relatively more stable if
settling time for that system is less than of the other system.
3.4. Define the term centroid and breakaway point.
AKTU 2015-16, Marks 02
Ans. Centroid : All asymptotes intersect the real axis at a common
point known as centroid.
Real part of open loop poles Real part of open loopzeros
=
PZ
where, P = Number of open loop poles
Z = Number of open loop zeros.
Breakaway point : Breakaway point is defined as the point at
which root locus comes out of the real axis.
3.5. Differentiate between two-phase servomotor and normal
induction motor.
Ans.
S. No. Two-Phase Servomotor Induction Motor
1. The rotor of the servomotor The rotor construction is usually
is built with high resistance squirrel cage or drag-cup type.
so that its X/R is small. The diameter of the rotor is kept
small in order to reduce inertia.
2. The voltage applied to the two In this, the voltage applied to the
stator windings is seldom two stator is not balanced.
balanced.
3.6. What is the effect of addition of pole on root locus ?
Ans. The addition of a pole to the system open loop transfer function
pushes the root locus to the right of original root locus, thereby
reducing the system stability and making the system more
oscillatory.
3.7. Define asymptote.
Ans. The line which touches the curve at infinity is known as asymptote.
For (P – Z) branches, angle of such asymptote is given by :
(2 q 1) 180
q =
PZ
where q = 0, 1, 2, .... (P – Z – 1).
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3.8. What is the effect of addition of zero on root locus ?
Ans. The addition of a zero to the system pushes the root locus to the left
by original root locus, thereby making the system more stable and
less oscillatory.
3.9. What is root contour ?
Ans. The locus of root of characteristics equation obtained by varying
parameter of the system other than K from 0 to is called root
contour of the system.
3.10. Define BIBO stability.
Ans. A linear system is said to have BIBO stability if every bounded
(finite) input results in a bounded (finite) output.
3.11. What will be the nature of impulse response when the roots
of characteristic equation are lying on imaginary axis ?
Ans. If the roots of characteristic equation lie on imaginary axis the
nature of impulse response is oscillatory.
3.12. What is dominant pole ?
Ans. The dominant pole is a pair of complex conjugate pole which decides
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.
3.13. How will you find the gain K at a point on root locus ?
Ans. The gain K at a point s = sa on root locus is given by,
Product of length of vector from open loop poles to the point sa
K=
Product of length of vector from open loop zeros to the point sa
3.14. Determine the stability of the system whose characteristics
equation is given by 2s4 + 2s3 + s2 + 3s + 2 = 0.
AKTU 2017-18, Marks 02
Ans.
1. System equation 2s4 + 2s3 + s2 + 3s + 2 = 0.
2. By the Routh array
s4 2 1 2
s3 2 3 0
s2 2 3
s0 6
3. Since there is sign change in the first column of Routh table,
therefore system is unstable.
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4 Frequency
Response Analysis
(2 Marks Questions)
4.1. Explain in brief :
i. Gain margin
ii. Phase margin. AKTU 2016-17, Marks 02
Ans.
i. Gain margin : It is the reciprocal of magnitude |G(j)| at the
frequency at which the phase angle is – 180°.
Gain Margin (GM),
1
Kg =
|G( j c )|
where, c = Phase cross-over frequency.
ii. Phase margin : The phase margin is that amount of the additional
phase lag at the gain crossover frequency required to bring the
system to the verge of instability.
Phase margin is equal to 180° plus the angle of G(j) at the gain
crossover point.
m = 180° +
4.2. Define gain crossover frequency.
Ans. Gain crossover frequency is the frequency at which magnitude of
open loop transfer function is unity.
4.3. What is phase crossover frequency ?
Ans. Phase crossover frequency is the frequency at which phase of open
loop transfer function is – 180°.
4.4. Write the condition to test the stability of Nyquist plot.
Ans. Condition to test stability, N = Z – P.
where, N = Number of encirclement of (– 1 + j0) point in clockwise
direction.
Z = Number of closed loop poles on the right half of
s-plane.
For system to be stable, Z should be zero i.e., N = – P.
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4.5. Explain the significances of constant M and N circles.
AKTU 2015-16, Marks 02
Ans. They are useful for determining the closed loop frequency response
from the given open loop. This is accomplished by superimposing
the log-magnitude versus phase angle plot of G(j).
4.6. Write the condition to test stability of Bode plot.
Ans.
1. Stable system gc < pc GM = positive
PM = positive
2. Unstable system gc > pc GM = negative
PM = negative
3. Marginally stable gc = pc GM = 0
system PM = 0
4.7. What is Nichols plot ?
Ans. 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 phase of G(j) in degree, plotted on a ordinary
graph sheet.
4.8. What is All-Pass system ?
Ans. All Pass systems are systems with all pass transfer functions. In all
pass transfer functions, the magnitude is unity at all frequencies
and the transfer function will have anti-symmetric pole zero pattern
(i.e., for every pole in the left half s-plane, there is a zero in the
mirror image position with respect to imaginary axis).
4.9. What is non-minimum phase transfer function ?
Ans. A transfer function which has one or more zeros in the right half
s-plane is known as non-minimum phase transfer function.
4.10. Define corner frequency ?
Ans. 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 frequency.
4.11. Write the expression for resonant peak and resonant
frequency.
Ans.
1
1. Resonant peak, Mr =
2 1 – 2
2. Resonant frequency,
r = n 1 – 22
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4.12. What are the advantages of Bode Plot ?
Ans.
1. The magnitudes are expressed in dB, and so, a simple procedure is
available to add magnitude to each one by one.
2. The approximate bode plot can be quickly sketched, and the
corrections can be made at corner frequency to get the exact plot.
3. The frequency domain specifications can be easily determined.
1
4.13. Draw the polar plot of open loop transfer function .
s2
AKTU 2015-16, Marks 02
Ans.
Given : G(s) H(s) = 1 / s2
To Find : Polar plot.
1. Putting s = j
1 –1
G(j) H(j) = = 2
( j)2
1
2. Magnitude, M = |G(j) H(j)|=
2
and phase angle, = – 180°
M
0
2 1/4
4 1/16
0
Im
=0
Re
=
Fig. 4.13.1.
4.14. Show that the polar plot of G(s) = K/(s + a) is a semicircle.
Also find its centre and radius. AKTU 2017-18, Marks 02
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Ans.
K
Given : G(s) =
sa
To Find : Centre and Radius.
Solution :
1. Let s = j
K K
G(j) = tan 1
j a 2
a 2 a
K
2. At = 0, |G(j 0)|=
a
G(j 0) = – 0°
3. At = – , |G(j)|= 0
G(j)|= – 90°
Im
0 = =0
Re
= – tan –1 T
a
K
2 + a2
G(j ) – plane
Fig. 4.14.1.
4. Diameter = |G(j)|=0 – |G(j)|=
K K
= –0
a a
So, Radius = K / 2a
G ( j) 0 – G( j)
5. Center = = K/2a.
2
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5 Introduction to Design
(2 Marks Questions)
5.1. What is the need of compensation in control system ?
AKTU 2015-16, Marks 02
Ans. If a system is to be redesigned so as to meet the required
specifications, it is necessary to alter the system by adding and
external device to it. Such a redesign or alteration of system using
an additional suitable device is called compensation of a control
system.
5.2. Differentiate between lag and lead network in view of their
Bode plot. AKTU 2016-17, Marks 02
Ans.
S. No. Lead Lag
1. The lead network is basically a The lag network is essentially a
high-pass filter. low-pass filter.
2. The primary function of the The primary function of a lag
lead compensator is to reshape co mpe nsato r is to provide
the frequency-response curve atte nuatio n in the high-
to provide sufficient phase-lead freque ncy range to give a
angle. system sufficient phase margin.
5.3. What are state and state variables ?
AKTU 2015-16, Marks 02
Ans. State : State of a system is the minimum amount of information
needed along with initial conditions at t = t0 and input excitation so
that future response of system can be completely described at any
time t > t0.
State Variables : A set of at least n variables x1(t), x2(t) ... xn(t),
are needed to completely describe how a system will behave in
future, along with initial state and input excitation. These minimal
set of variables which can determine the state of a system are
known as state variables.
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5.4. Discuss the advantages of state variable technique over
transfer function approach. AKTU 2016-17, Marks 02
Ans.
1. This method can be applied to linear or non linear, time variant or
time invariant system.
2. This method can be designed for optimal conditions.
5.5. Write the characteristics of lead networks.
Ans.
1. A lead network has zero at s = –1/T and a pole at s = –1/T.
2. Since 0 < < 1, we see that the zero is always located to the right of
the pole in the complex s-plane.
3. For a small value of the pole is located far to the left.
5.6. Write the characteristics of lag networks.
Ans.
1. In the complex plane, a lag network has a pole at s = – 1/T and a
zero at s = – 1/T.
2. The pole is located to the right of the zero.
3. The lag network is essentially a low-pass filter.
5.7. Write the properties of state transition matrix.
Ans.
1. (0) = 1,
2. –1(t) = (– t)
3. [(t)]k = (kt)
5.8. Define diagonalization.
Ans. Transformation of a matrix into a diagonal matrix such as the
diagonal elements are represented by eigen values is called
diagonalization.
5.9. Define Kalman’s Test.
Ans. A LTI continuous system is completely controllable if and only if
the rank of the controllability matrix, is defined as
Qc = [B : AB : A2B; ...., An–1B],
is equal to rank n.
5.10. What are the factors to be considered for choosing series or
shunt/feedback compensation ?
Ans.
1. Nature of signals in the system.
2. Power levels at various points.
3. Components available.
4. Economic considerations.
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5.11. What is compensation ?
Ans. The compensation is the design procedure in which the system
behaviour is altered to meet the desired specifications, by
introducing additional device called compensator.
5.12. What are the advantages in frequency domain design ?
Ans.
1. The effect of disturbances, sensor noise and plant uncertainties are
easy to visualize and assess in frequency domain.
2. The experimental information can be used for design purposes.
5.13. Define state transition matrix.
Ans. State transition matrix (t) = eAt
A 2 t 2 A 3t 3 n
A i ti
where eAt = I At ...
2! 3! i 0 t !
5.14. Check whether given matrix is controllable or not :
0 0 1
0 1 5
Qc =
1 5 11
1 5 0 5 0 1
Ans. |Qc| = 0 0 1
5 11 1 11 1 5
|Qc| = [0 – 0] + [0 – 1] = – 1
Thus the rank of Qc is 3 and order is also 3. Hence, the system is
completely controllable.
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B.Tech.
(SEM. V) ODD SEMESTER THEORY
EXAMINATION, 2015-16
CONTROL SYSTEM
Time : 3 Hours Max. Marks : 100
SECTION–A
Note : Attempt all sections. All sections carry equal marks. Write answer
of each part in short. (2 × 10 = 20)
1. a. Explain open loop and closed loop system with physical
examples.
b. State the necessary and sufficient condition of Routh-
Hurwitz criterion.
c. Explain the significances of constant M and N circles.
d. What is the need of compensation in control system ?
1
e. Draw the polar plot of open loop transfer function .
s2
f. What are state and state variables ?
g. Consider the system as shown in Fig. 1. Determine the
value of a such that the damping ratio is 0.5.
R(s) + C(s)
16/s(s + 0.8)
–
1 + as
Fig. 1.
h. Define rise time and delay time for second order control
system.
i. Explain Mason’s gain formula.
j. Define the term centroid and breakaway point.
SECTION–B
Note : Attempt any five questions of the following. (10 × 5 = 50)
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2. Determine the transfer function C(s)/R(s) for the block
diagram shown in Fig. 2.
H3
S1 + – T1 + S
3
R(s) G1 G2 G3 G4 C(s)
S2 T2
H1 H2
Fig. 2.
3. Derive the expression for step response of second order
control system for underdamped response.
4. Using Routh’s stability criterion, determine the range of
K for open loop transfer function
K
G(s) H(s) =
s(s 1 ) (1 2 s)
5. Construct root loci for open loop transfer function :
K
G(s) H(s) =
s(s 1 ) (s 3)
6. Derive expression for resonant frequency and resonant
peak for second order control system.
7. Sketch the Nyquist plot for the system with open loop
transfer function
60
G(s) H(s) =
(s 1 ) (s 2) (s 5)
and comment on stability.
8. Write short notes on PD controller and synchro.
9. Obtain state equation of a given transfer function
Y ( s) 1
a. = 3
U ( s) s 2s 2 3 s 1
Y ( s) 1
b. =
U ( s) ( s 1) ( s 4)
SECTION–C
Note : Attempt any two questions of the following. (15 × 2 = 30)
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10. For a unity feedback system, the open loop transfer
function is
2(s 0.25)
G(s) H(s) =
s2 (s 1) (s 0.5)
Draw bode plot and determine gain margin, phase margin.
11. A system characterised by the transfer function
Y ( s) 2
= . Find the state and output equation
U ( s) s3 6 s 2 11s 6
in matrix form and also test the controllability and
observability of the given system.
12. Write short notes of the following :
a. Lead compensator.
b. Lag compensator.
c. Gain margin and phase margin.
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SOLUTION OF PAPER (2015-16)
SECTION–A
Note : Attempt all sections. All sections carry equal marks. Write answer
of each part in short. (2 × 10 = 20)
1. a. Explain open loop and closed loop system with physical
examples.
Ans. There are two types of control system :
1. Open loop control system :
Input Output
Controller Controlled process
Fig. 1.
In open loop control systems the control action is independent of
the desired output. In this system the output is not compared with
the reference input.
Example : Washing machine, Immersion rod, Time operated
traffic control, DC shunt motor.
2. Closed loop control system :
Error signal
Reference Controlled
Amplifier Controlled process
input + – output
+
Feedback
Fig. 2.
In a closed loop control system the output has an effect on control
action through a feedback as shown in Fig. 2.
Example : Automatic steering control system, Driving system of
an automobile, Home heating system, Ship stabilization system.
b. State the necessary and sufficient condition of Routh-
Hurwitz criterion.
Ans.
1. All roots of characteristic equation should lie in the left half of
s-plane, i.e., all coefficients must be positive.
2. There should be no missing term.
c. Explain the significances of constant M and N circles.
Ans. They are useful for determining the closed loop frequency response
from the given open loop. This is accomplished by superimposing
the log-magnitude versus phase angle plot of G(j).
d. What is the need of compensation in control system ?
Ans. If a system is to be redesigned so as to meet the required
specifications, it is necessary to alter the system by adding and
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external device to it. Such a redesign or alteration of system using
an additional suitable device is called compensation of a control
system.
1
e. Draw the polar plot of open loop transfer function .
s2
Ans.
Given : G(s) H(s) = 1 / s2
To Find : Polar plot.
1. Putting s = j
1 –1
G(j) H(j) = = 2
( j)2
1
2. Magnitude, M = |G(j) H(j)|=
2
and phase angle, = – 180°
M
0
2 1/4
4 1/16
0
Im
=0
Re
=
Fig. 3.
f. What are state and state variables ?
Ans. State : State of a system is the minimum amount of information
needed along with initial conditions at t = t0 and input excitation so
that future response of system can be completely described at any
time t > t0.
State Variables : A set of at least n variables x1(t), x2(t) ... xn(t),
are needed to completely describe how a system will behave in
future, along with initial state and input excitation. These minimal
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set of variables which can determine the state of a system are
known as state variables.
g. Consider the system as shown in Fig. 4. Determine the
value of a such that the damping ratio is 0.5.
R(s) + C(s)
16/s(s + 0.8)
–
1 + as
Fig. 4.
Ans.
C ( s) G (s ) 16
1. = =
R( s) 1 G( s) H (s) s( s 0.8)
16
1 (1 as)
s(s 0.8)
C ( s) 16
= 2 ...(1)
R( s) s 0.8s 16 16 as
2n
2. Comparing this eq. (1) with
s 2 n n2
2
we get, n2 = 16
n = 4
3. Damping factor is given as = 0.5
2 n = (0.8 + 16a)
2 × 0.5 × 4 = 0.8 + 16a
4 = 0.8 + 16a
a = 0.2
h. Define rise time and delay time for second order control
system.
Ans.
1. Rise Time (tr) : Rise time is defined as the time required for the
response to rise from 10 % to 90 % (for overdamped) or from 0 %
to 100 % (for underdamped) of its final value.
1 2
tan 1
Rise time (tr) =
d
2. Delay Time (td) : Delay time is the time required for the response
to reach the half of the final value in the first attempt.
The delay time in terms of and n is given by :
1 0.7
td =
n
i. Explain Mason’s gain formula.
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Ans. The overall gain can be determined by Mason’s gain formula given
below :
k
Pk k
T=
k 1
where, Pk = The forward path gain
= The graph determinant which involves closed-
loop gain and mutual interactions between
non-touching loops.
k = The path factor associated with the concerned
path and involves all closed loops in the graph
which are isolated from the forward path
under consideration.
j. Define the term centroid and breakaway point.
Ans. Centroid : All asymptotes intersect the real axis at a common
point known as centroid.
Real part of open loop poles Real part of open loopzeros
=
PZ
where, P = Number of open loop poles
Z = Number of open loop zeros.
Breakaway point : Breakaway point is defined as the point at
which root locus comes out of the real axis.
SECTION–B
Note : Attempt any five questions of the following. (10 × 5 = 50)
2. Determine the transfer function C(s)/R(s) for the block
diagram shown in Fig. 5.
H3
S1 + – T1 + S
3
R(s) G1 G2 G3 G4 C(s)
S2 T2
H1 H2
Fig. 5.
Ans. Step 1 : Shift S2 before G1, we get
H3 / G1
S1 – + S3
R(s)
G1 G2 G3 G4
– + – T2 C(s)
S2
H1 H2
Fig. 6.
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Step 2 : G1 and G2 are in cascade.
H3 / G1
S1 – S3
R(s) + C(s)
G1 G2 G3 G4
– + – T2
S2
H1 H2
Fig. 7.
Step 3 : Interchanging summing points
H3 / G1
R(s) – + + S3 C(s)
+ G1 G2 G3 G4
– S1 – T2
S2
H1 H2
Fig. 8.
Step 4 : Solve the inner loop.
H3 / G1
R(s) – G1 G2 + S3 C(s)
+ G3 G4
1+G 1G 2H1 – T2
S2
H2
Fig. 9.
Step 5 : Shift T2 after G4.
H3/G1 G4
– S3
+ G1 G2 + C
G3 G4
R(s) 1+G1 G2 H1 – T2
S2 H2
Fig. 10.
Step 6 : Solve the inner loop.
H3/G1 G4
–
G1 G2 G3 G4
C(s)
R(s) + 1+G1 G2 H 1 1+G3 G4 H2
Fig. 11.
Step 7 : Forward blocks are in cascade and final result will be
G1G2G3G4
C ( s) (1 G1G2 H1 ) (1 G3G4 H2 )
=
R( s) G2G3 H3
1
(1 G1G2 H1 ) (1 G3G4 H2 )
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C ( s) G1G2G3G4
=
R( s) (1 G1G2 H1 ) (1 G3G4 H2 ) G2G3 H3
3. Derive the expression for step response of second order
control system for underdamped response.
Ans.
1. Consider the second order system with unity feedback.
R(s) + 2n
s(s + 2 n) C(s)
–
Fig. 12.
The closed loop transfer function is
C ( s) 2n / s( s 2 n )
=
R( s) 1 2n / s( s 2 n )
where, = Damping factor or Damping ratio
C ( s) 2n
= 2
R( s) ( s 2 n s 2n )
Then output,
2n
C (s) = R s 2 ...(1)
s 2 n s 2n
2. For unit step input
r (t) = 1
1
R (s) =
s
1 2n
Then C (s) = ...(2)
s s2 2n s 2n
3. In eq. (2) putting [s2 + 2ns + 2n ] = [( s n )2 n2 (1 2 )] and
breaking it into partial fraction
1 s 2 n
C (s) = ...(3)
s [( s n )2 2n (1 2 )]
Put d = n 1 2
1 s 2 n
C (s) = ...(4)
s (s n )2 d2
4. Rewrite eq. (4)
1 s n n d
C(s) = ...(5)
s (s n )2 d2 d (s n )2 2d
5. Taking inverse Laplace transform of eq. (5),
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t n nt
c(t) = 1 e n cos d t e sin d t
d
Put d = n 1 2
ent
c(t) = 1 [( 1 2 )cos d t sin d t ] ...(6)
1 2
6. Put sin = 1 2 ,
cos =
e n t
c(t) = 1 (sin cos d t cos sin d t)
1 2
e n t
c(t) = 1 sin( d t ) ...(7)
1 2
where d = n 1 2
1 2
and = tan 1
7. Eq. (7) is rewritten as
1 2
e n t
c(t) = 1 sin ( n 1 2 )t tan 1 ...(8)
1 2
8. The term n is called natural frequency of oscillations. Term
d = n 1 2 is called damped frequency of oscillations and the
term is called damping ratio or damping factor .
a. Underdamped case (0 < < 1) : From eq. (8), time constant is
1/n and the response having damped oscillations with overshoot
and undershoot is known as underdamped response.
c(t)
<1
t
Fig. 13. Underdamped oscillations.
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4. Using Routh’s stability criterion, determine the range of
K for open loop transfer function
K
G(s) H(s) =
s(s 1 ) (1 2 s)
Ans.
K
Given : G(s) H(s) =
s(s 1 ) (1 2s)
To Find : Range of K.
1. Using characteristics equation
1 + G(s) H(s) = 0
K
1+ = 0
s(s 1)(1 2s)
s(s + 1) (1 + 2s) + K = 0
s(2s2 + 3s + 1) + K = 0
2s3 + 3s2 + s + K = 0
2. Using Routh array :
s3 2 1
2
s 3 K
1 3 – 2K
s 0
3
s0 K
3. For system to be stable :
3 – 2K
> 0 and K > 0
3
3
0<K<
2
5. Construct root loci for open loop transfer function :
K
G(s) H(s) =
s(s 1 ) (s 3)
Ans.
K
Given : G(s) H(s) = , H(s) = 1, = 0.5
s(s 1) (s 3)
To Sketch : Root locus and value of K at = 0.5.
1. The open-loop poles are at s = 0, s = – 1, s = – 3.
2. There is no open loop zeros.
3. Number of poles, P = 3
Number of zeros, Z = 0
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P – Z = 3 – 0 = 3 i.e., three branches of root locus end at infinity.
4. Angle of asymptotes :
(2 q 1)180
q = where q = 0, 1, 2, ...(P – Z –1)
PZ
(2 0 1) 180
0 = = 60°
(3 0)
(2 1 1) 180
1 = = 180°
(3 0)
(2 2 1) 180
2 = = 300°
(3 0)
5. Centroid of asymptotes :
Real parts of poles Real parts of zeros
=
PZ
(0 1 3) (0)
= = – 1.33.
30
6. Breakaway points : Between open-loop poles s = 0 and s = – 1,
there exists a breakaway point.
The characteristic equation is
s (s + 1)(s + 3) + K = 0
K = – (s3 + 4s2 + 3s)
dK
= – (3s2 + 8s + 3) = 0
ds
3s2 + 8s + 3 = 0
s = – 1.33 ± 0.88 = – 0.42 and – 2.21
As the breakaway point has to lie between s = 0 and s = – 1, the valid
breakaway point is s = – 0.42.
7. Intersection with j axis :
Characteristic equation, 1 + G(s) H(s) = 0
s (s + 1) (s + 3) + K = 0
s3 + 4s2 + 3s + K = 0
Routh array :
s3 1 3
s2 4 K
1
s (12 K ) / 4
s0 K
The value of K at imaginary axis :
(12 K )
= 0 K = 12
4
Auxiliary equation,
4s2 + 12 = 0
s = ± j 1.73
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Im
K=
(j1.732, K = 12)
– 0.35 + j0.6
180° 60°
K= K=0 K=0
–3 –1 0 Re
–1.33
300°
–0.45
(– j1.732, K = 12)
K=
Fig. 14. Root locus for G(s) = K/s(s + 1)(s + 3).
6. Derive expression for resonant frequency and resonant
peak for second order control system.
Ans.
1. For second order system
C ( s) 2n
= 2
R( s) s 2 n s 2n
2. Putting s = j
C( j) 2n
=
R( j) – 2 n j 2n
2
1
M= 2
1 – j 2
n n
Let =x
n
1 1
M=
1 x 2 j 2x (1 x 2 )2 4 2 x 2
dM
3. To maximize magnitude, put = 0,
dx
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dM d
= [(1 – x 2 )2 4 2 x 2 ]–1/ 2
dx dx
1 d
= – [(1 – x 2 )2 4 2 x 2 ]–3/ 2 [(1 – x 2 )2 4 2 x2 ]
2 dx
1 1
= – [2(1– x 2 ) (– 2 x) 8 2 x ]
2 [(1 – x 2 )2 4 2 x 2 ]3/ 2
=0
4x[x2 + 22 – 1] = 0
As, x 0
x2 = 1 – 22
2
x = 1 – 2
Resonant frequency,
r = n 1 – 2 2
1
4. |Mr| =
(1 x ) 4 2 x 2
2 2
1
|Mr| =
(1 ( 1 2 )) 4 2 ( 1 2 2 )2
2 2
1
|Mr| =
4 4 4 2 (1 2 2 )
Resonant peak,
1
Mr =
2 1 2
7. Sketch the Nyquist plot for the system with open loop
transfer function
60
G(s) H(s) =
(s 1 ) (s 2) (s 5)
and comment on stability.
Ans.
60
Given : G(s) H(s) =
(s 1 ) (s 2) (s 5)
To Sketch : Nyquist plot.
60
1. Put s = j, G(j) H (j) =
( j 1 ) ( j 2) ( j 5)
60
2. Magnitude, M = |G (j) H (j)| =
( 1)( 4)( 2 25)
2 2
3. Phase = G(j)H(j)
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1 1 1
= tan () tan tan
2 5
Table 1.
M
0 6 0°
1.12 3.402 – 90.11°
4.12 0.4769 – 180°
10 0.0523 133.58
0 90° (– 270°)
4. N= P–Z
P= 0 (No pole on RH plane)
N= 0 (No encirclement of – 1 + j0 point)
Z= 0 (Number of roots of closed loop characteristic
equation having positive real parts).
So the given system is stable system.
Im
–0
Re
– 1 + j0 –
=+0
0.4769
Fig. 15.
8. Write short notes on PD controller and synchro.
Ans.
A. PD controller :
1. A controller in the forward path, which changes the controller
output corresponding to proportional plus derivative of error signal
is called PD controller.
de(t)
2. Output of controller = K e( t) Td
dt
Taking Laplace transform
= K E(s) + sTd E(s) = E(s) [K + sTd]
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+ n2
R(s) K C(s)
+ s (s + 2 n)
–
sTd
Fig. 16.
3. Assume, K = 1, we can write,
(1 sTd ) 2n
G(s) =
s( s 2 n )
C ( s) (1 sTd ) 2n
= 2
R( s) s s [2 n 2n Td ] 2n
4. Comparing denominator with standard form,
2n = 2 n 2n Td
n Td
=
2
n Td
5. Because of this controller, damping ratio increased by factor .
2
Kp = lim G( s) H ( s)
s0
n
Kv = lim s G(s) H (s)
s 0 2
without PD controller,
2n
G(s) H(s) = [K = 1]
s(s 2 n )
n
Kv = lim sG(s) H ( s)
s0 2
As there is no change in coefficients, error also will remain same.
B. Synchros :
1. It is a rotary transducer that converts angular displacement into
an AC voltage or an AC voltage into an angular displacement.
2. A synchros system consists of
i. A control transmitter (CX) and
ii. A control transformer (CT).
3. The control transmitter consists of a stator and a rotor. The rotor
is a dumb-bell shaped magnetic structure. The supply is given to
the rotor by means of slip rings, which are actually mounted on
the stator housing.
4. The secondaries are in the skewed slot all along the periphery of
the stator and are 120° apart because of their mechanical
displacement.
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5. The induced secondary voltage will depend upon the angle of the
rotor shaft. For reference the zero degree position of the shaft is
defined when the rotor is in alignment with the coil S2.
6. In this position, the voltage in coil S2 is maximum, and similarly
the maximum voltage in coils S1 and S3 will result at 120° and 240°
positions respectively. The voltage in S2 is a function of and so is
the voltage in S1 and S3. Thus,
E0s2 = A cos
E0s1 = A cos ( – 120°)
E0s3 = A cos ( – 240°)
S2
Stator
Slip rings
R1
AC supply
R2 S1
S3
Fig. 17. Schematic diagram of synchro transmitter.
7. The connections of the synchro are made between the terminals
and hence
Es1s2 = E0s1 – E0s2
= A cos ( – 120°) – A cos
1 3
= A cos sin cos
2 2
3 1
= 3 A cos sin
2 2
3 1
8. Therefore, Es2s1 = 3 A cos sin
2 2
= 3 A cos ( 30) ...(1)
Similarly, Es3s2 = 3 A cos ( 150) ...(2)
Es1s3 = 3 A cos ( 270) ...(3)
9. Obtain state equation of a given transfer function
Y ( s) 1
a. = 3
U ( s) s 2s 2 3 s 1
Y ( s) 1
b. =
U ( s) (s 1) (s 4)
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Ans.
Y (s) 1
Given : = 3
U ( s) s 2s2 3s 1
To Find : State representation.
1. Y(s) [s3 + 2s2 + 3s + 1] = U(s)
Taking inverse Laplace transform
d 3 y 2 d 2 y 3dy
y( t) = u(t)
dt3 dt 2 dt
2. Choosing state variable
y(t) = y1 (t)
dy( t)
= y1 ( t) = y2(t)
dt
d 2 y(t)
= y2 (t) = y3(t)
dt
d 3 y(t)
= y3 (t) = y4(t)
dt
3. y4 + 2y3 + 3y2 + y1(t) = u(t)
y3 = – 2y3 – 3y2 – y1(t) + u(t)
0 1 0 y1 0
y1 ( t)
y (t) = 0 0
1 y2 0 u(t)
2 –1 –3 –2 y3 1
y (t)
3
Y (s) 1
Given : =
U ( s) (s 1) (s 4)
To Find : State representation.
1. Y(s) [(s2 + 5s + 4)] = U(s)
Taking inverse Laplace
d 2 y 5 dy
+ 4y(t) = u(t)
dt 2 dt
d2 y
2. = y2 (t) = y3(t)
dt 2
dy
(t) = y2(t) = y1 ( t)
dt
y(t) = y1 (t)
3. y2 (t) + 5y (t) + 4y (t) = u(t)
2 1
y2 (t) = – 5y (t) – 4y (t) + u(t)
2 1
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y1 (t) = 0 1 y1 ( t) 0
– 4 – 5 y ( t) 1 u(t)
2
y2 (t)
SECTION–C
Note : Attempt any two questions of the following. (15 × 2 = 30)
10. For a unity feedback system, the open loop transfer
function is
2(s 0.25)
G(s) H(s) =
s2 (s 1) (s 0.5)
Draw bode plot and determine gain margin, phase margin.
Ans.
2(s 0.25)
Given : G(s) H(s) =
s 2 ( s 1) ( s 0.5)
To Draw : Bode plot.
2 0.25 s
1
0.5 0.25 (4 s 1)
1. G(s) H(s) = = 2
2 s s (s 1) (2s 1)
s ( s 1) 1
0.5
2. K = 1, 20 Log K = 0 dB, No effect on Bode Plot.
1
3. , 2 Poles at origin, straight line of slope – 40 dB/dec
s2
1
4. (1 + 4s), simples zero, T1 = 4, C1 = = 0.25,
T1
straight line of slope + 20 dB/dec for 0.25
1 1
5. , simple zero, T2 = 2, C2 = = 0.5,
1 2s T2
straight line of slope – 20 dB/sec for 0.5
1 1
6. , simple zero, T3 = 1, C3 = = 1,
1 s T3
straight line of slope – 20 dB/sec for 1
Table 2.
Range of 0 < < 0.25 0.25 < 0.5 0.5 < 1 1 <
Resultant slope – 40 – 40 + 20 – 20 – 20 – 40 – 20
in dB/dec = – 20 = – 40 = – 60
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(1 4 j)
7. Phase angle table : G(jω)H(jω) =
( j)2 (1 2 j) (1 j)
Bode plot :
1 2 3 4 5 6 7 8 9 10 2 3 4 5 6 7 8 9 102
100
80
– 60 dB/dec
60
– 40 dB/dec
40
– 20 dB/dec
20
G.M. = – 21 dB
– 20 dB/dec – 60 dB/dec
in deg
–150°
–180°
P.M. = – 36°
–210°
–240°
–270°
0.1 2 3 4 5 6 7 8 9 10 2 3 4 5 6 7 8 9 102
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Table 3.
1
+ tan– 14 + tan– 12 – tan– 1
( j)2
0.1 – 180° + 21.8° – 11.3° – 5.71° – 175.2°
0.5 – 180° + 63.43° – 45° – 26.56° – 188.13°
1 – 180° + 75.96° – 63.43° – 45° – 212.47°
– 180° + 90° – 90° – 90° – 270°
Result : PM = – 36°, GM = – 21 dB.
11. A system characterised by the transfer function
Y ( s) 2
= . Find the state and output equation
U ( s) s3 6 s 2 11s 6
in matrix form and also test the controllability and
observability of the given system.
Ans.
Y (s) 2
Given : = 3
U ( s) s 6s 2 11s 6
To Find : State matrix; Controllability, Qc; Observability, Qo.
1. Y(s) [(s3 + 6s2 + 11s + 6)] = 2U(s)
2. x1 = x2, x2 = x3, x3 = – 6x1 – 11x2 – 6x3 + u
3. y = 2x 1
x1 0 1 0 x1 0
= x = 0 0 1 x2 0 u
2
6 11 6 x3 1
x3
2 x1
y = 0 x2
0 x3
4. Controllability :
0 0 1 0
B = 0 , A =
0 0 1
1 6 11 6
0 1 0 0 0
AB = 0 0 1
=
0
1
6 11 6 1 6
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Qc = [B : AB : A2B]
0 1 0 0 1 0
A2 = 0 0 1
0 0 1
6 11 6 6 11 6
0 1 0
= 6 11 6
36 60 25
0 0 1 0 1
2
AB= 6 11 6 0
= 6
36 60 25 1 25
0 0 1
1 6 0 6 0 1
Qc = 0 1 6
=
0 –0 1
6 25 1 25 1 6
1 6 25
Qc = 0 – 0 + (– 1)
Qc = –1
|Qc| 0
It is of rank 3 and controllable.
5. Observability :
0 1 0 0 0 6
A= 0 0 1
T
, A
1 0 11
6 11 6 0 1 6
2 2
C = 0 , CT = 0
0 0
Q0 = [CT : ATCT : (AT)2 CT]
0 0 6 2 0
A C = 1 0 22 0 2
T T
0 1 6 0 0
0 0 6 0 0 6
(AT)2 = 1 0 11 1 0 11
0 1 6 0 1 6
0 6 36
= 0 11 60
1 6 25
0 6 36 2 0
(AT)2CT = 0 11 60 0 0
1 6 25 0 2
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2 0 0
Q o = 0 2 0
0 0 2
2 0 0 0 2 2
= 2 –0 0 = 2[4 – 0] – 0 + 0
0 2 0 2 0 0
|Qo |= 8
Therefore, its rank is 3 and the system is observable.
12. Write short notes of the following :
a. Lead compensator.
b. Lag compensator.
c. Gain margin and phase margin.
Ans.
A. Lead compensator :
1. Fig. 18 shows a phase-lead network where in the phase of output
voltage leads the phase of input voltage for sinusoidal input.
C
R1
e1 R2 eo
Fig. 18. Phase lead network.
2. The transfer function of a phase lead network,
Eo (s) (1 sT )
= ...(1)
Ei ( s) (1 sT )
1
Eo s
= T
Ei 1
s
T
where, < 1
R2
=
R1 R2
and T = R1 C
3. The transfer function given by eq. (1) can be expressed in sinusoidal
form as
Eo ( j) (1 jT )
= ...(2)
Ei ( j) (1 jT )
4. The pole zero configuration of eq. (2) shown in Fig. 19.
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Im
Re
1 1
– –
T T
Fig. 19. Pole zero configuration.
Bode plot :
1. The two corner frequencies are
1
= , lower corner frequency
T
1
= , upper corner frequency
T
2. The maximum phase lead m occurs at mid-frequency m between
upper and lower corner frequencies
1 1 1
log10 m = log log10
2 10 T T
1
m =
T
+20 dB/decade
0 dB
m
45°
0° Log
1 1 1
m =
T T T
Fig. 20. Bode plot of lead compensator.
3. The phase angle Eo(j)/Ei(j) can be calculated as
E ( j)
o = tan–1 (T) – tan–1 (T)
Ei ( j)
1
4. At = m = ,
T
The phase angle is
1 1 1
m = tan T tan 1 T
T T
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1
= tan 1 1
tan
1
tan m =
1
1
1
tan m =
2
1
and sin m =
1
B. Lag compensator :
1.
R1
R2
ei eo
C
Fig. 21. Phase-lag network.
The transfer function of phase-lag network is shown in Fig. 21,
Eo (s) 1 sT
= ...(1)
Ei ( s) 1 sT
R1 R2
where > 1, =
R2
and T = R2 C
2. The transfer function given by eq. (1) can be expressed in sinusoidal
form as
Eo ( j) 1 jT
= ...(2)
Ei ( j) 1 jT
3. Bode plot for transfer function of eq. (2) is shown in Fig. 22.
1
4. The two corner frequencies are = , upper corner frequency
T
1 1
for zero at s = – ,= , lower corner frequency for a pole at
T T
1
s=–
T
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– 20 dB/decade
0 dB
0º
– 45º m
– 90º
log
1 m 1
T T
Fig. 22. Bode plot of lag compensator.
5. The maximum phase-lag, m occurs at mid frequency m between
upper and lower corner frequencies.
1 1 1
log10 m = log log 10
T
2 T
1
m =
T
6. The phase angle Eo(j)/Ei(j) calculated as
Eo ( j)
= tan–1 (T) – tan–1 (T)
Ei ( j)
1
At = m = , the phase angle is m :
T
1
tan m =
2
1
sin m =
1
Pole-zero configuration is shown in Fig. 23.
Im
Re
1 1
– –
T T
s-plane
Fig. 23. Pole zero configuration.
C. Phase margin and gain margin :
a. Gain Margin (GM) :
1. It is the margin in gain which is allowed till the system reaches
on the verge of instability.
2. Mathematically, gain margin is reciprocal of magnitude of
G(j)H(j) at phase crossover frequency.
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GM = 1 /|G ( j) H ( j)
pc
b. Phase Margin (PM) : It is the amount of additional phase lag
which can be introduced in the system till it reaches on the verge
of instability.
Mathematically,
PM = 180° + G( j) H ( j) pc
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B.Tech.
(SEM. V) ODD SEMESTER THEORY
EXAMINATION, 2016-17
CONTROL SYSTEM
Time : 3 Hours Max Marks : 100
SECTION-A
1. Attempt all parts. (2 × 10 = 20)
a. Discuss open loop and closed loop system giving suitable
example.
b. Discuss the effect of feedback on the time constant of a
control system.
c. Explain the working of AC servomotor with neat diagram.
d. Give the comparison between PI and PID controller.
e. Discus s the significance of various time domain
specifications.
f. Establish the relation between Routh and Hurwitz
stability criterion.
g. Explain in brief :
i. Gain margin
ii. Phase margin.
h. What do you understand by relative stability ? Explain.
i. Differentiate between lag and lead network in view of their
Bode plot.
j. Discuss the advantages of state variable technique over
transfer function approach.
SECTION-B
Attempt any three questions from this section. (10 × 3 = 30)
1. Using block diagram reduction techniques, find the closed
loop transfer function of the system whose block diagram
is given in Fig. 1.
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G4
R(s) C(s)
+ + G1 + G2 G3 ++
– – –
H2
H1
Fig. 1.
2. Derive the expression for second order system response
when subjected to unit impulse input for damping ratio
() < 1.
An unity feedback system is characterized by an open loop
transfer function.
K
G(s) =
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 the
settling time, peak overshoot and time to peak overshoot
for a unit step input.
3. For a closed loop system whose transfer function is
Ke sT
G(s) H(s) = , determine the maximum value of the
s( s 1)
gain ‘K’ for stability.
4. What is closed loop frequency response ? Give an account
of the correlation between time response and frequency
res ponse for a second order s ys tem with relevant
expressions.
5. i. Derive the transfer function from state model.
ii. Obtain the complete solution of non-homogeneous state
equation using time domain method.
iii. Discuss the significance of lag network. Also draw its
s-plane representation and Bode plot.
SECTION-C
Attempt all questions.
1. Attempt any one part of the following. (10 × 1 = 10)
a. Find the transfer function of the signal flow graph shown
in Fig. 2, using Mason’s gain formula.
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G10
G9 G7
X2 G8
X3 X4 X5 X6
X1 X7
G1 G2 G3 G4 G5 G6
–H 1 – H2 –H3
H4
Fig. 2.
b. What do you understand by the term sensitivity ? Consider
the feedback control system shown in Fig. 3. The normal
value of the process parameter ‘K’ is 1. Determine the
C ( s)
sensitivity of transfer function T(s) = to variations
R( s)
in parameter ‘K’, at = 5.
R(s) s+1 K C(s)
s+5 s(s + 1)
Fig. 3.
2. Attempt any one part of the following. (10 × 1 = 10)
a. Discuss different type of test signal used for analysis of
control system in time domain.
The reference input to a unity feedback system is shown
in Fig. 4. The open loop transfer function of the system is
400(s 1)
G(s) =
( s 2)( s 8)
Calculate the steady state error.
r(t)
2
10 20 30 40
Fig. 4.
b. Discuss the effect on the performance of a second order
control system of
i. Derivative control ii. Integral control.
3. Attempt any one part of the following. (10 × 1 = 10)
a. Explain the working principle of stepper motor with neat
diagram.
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The characteristics equation for feedback control is, s3 +
5s2 + 12s + K = 0
Find the range of K for all the roots to lie to the left of s = 1
b. Sketch the root locus for the closed loop control system
K
with G(s) =
s(s 1)( s2 4 s 5)
4. Attempt any one part of the following. (10 × 1 = 10)
a. The steady state output of the system for a sinusoidal input
of unit magnitude and variable frequency is given as
1 27u
c(t) = sin t tan 1
(1 u2 )2 4 z2 u2 1 u2
Determine :
i. Resonant frequency ii. Resonant peak
iii. Bandwidth iv. Phase angle.
b. Draw Bode plot (log magnitude plot) for the transfer
function.
20 s
G(s) =
s2 20 s (100)2
OR
Using Nyquist stability criterion, investigate the stability
of a unity feedback system with open loop transfer function.
( s z1 )
G(s) = , z1, p1 > 0
s( s p1 )
Also discuss the significance of M-circle.
5. Attempt any one part of the following. (10 × 1 = 10)
a. State and explain controllability and observability in view
of Kalman and Gilbert test.
3 1 1
The state equation for a system is, x = x u
2 0 1
b. Design a phase lead compensator for a negative unity
feedback system with plant transfer function.
K
Gp (s) = to satisfy the conditions :
s(s 10)( s 1000)
phase margin in atleast 45°, static error constant = 1000 s–1
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SOLUTION OF PAPER (2016-17)
SECTION-A
1. Attempt all parts. (2 × 10 = 20)
a. Discuss open loop and closed loop system giving suitable
example.
Ans. There are two types of control system :
1. Open loop control system :
Input Controller Controlled process Output
Fig. 1.
In open loop control systems the control action is independent of
the desired output. In this system the output is not compared with
the reference input.
Example : Washing machine, Immersion rod, Time operated
traffic control, DC shunt motor.
2. Closed loop control system :
Error signal
Reference Controlled
Amplifier Controlled process
input + – output
+
Feedback
Fig. 2.
In a closed loop control system the output has an effect on control
action through a feedback as shown in Fig. 2.
Example : Automatic steering control system, Driving system of
an automobile, Home heating system, Ship stabilization system.
b. Discuss the effect of feedback on the time constant of a
control system.
Ans.
1. Consider an open loop system with overall transfer function as,
C( s) K
G(s) =
R( s) 1 sT
2. System is subjected to unit step input,
R(s) = 1 / s,
c(t) = L–1[C(s)] = K[1 – e–t/T] ...(1)
Here time constant = T
3. Response of system for unit step when feedback having gain h is
added. Then new response,
1
K ( T /1 Kh )
c(t) = 1 – e
1 Kh
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New time constant due to the feedback = (T/1 + Kh).
4. For positive value of h and K > 1, the time constant (T/1 + Kh) is
less than T. Hence feedback reduces the time constant of a system.
c. Explain the working of AC servomotor with neat diagram.
Ans. Working principle :
1. Reference phase is supplied from a constant voltage source
Vr 0°. The other winding i.e., control phase is supplied with a
variable voltage of the same frequency as the reference phase but
its phase is displaced by 90° (electrically).
2. The control phase is usually supplied from a servo amplifier.
3. The speed and torque of the rotor are controlled by the phase
difference between the control voltage and the reference phase
voltages.
4. The direction of rotation of the rotor can be reversed by reversing
the phase difference from leading to lagging between the control
phase voltage and the reference phase voltage.
Control From
Vc Amplifier
winding controller
Reference winding
Vr
Squirrel-cage rotor Fixed ac
voltage
Fig. 3. Schematic diagram of 2 servomotor.
d. Give the comparison between PI and PID controller.
Ans.
S. No. PI PID
1. It is a co mbination o f It is a co mbination o f
proportional and integral pro po rtio nal, inte gral and
control action. derivative controller.
2. It helps in reducing steady It helps in reducing steady state
state error. error and also getting steady
state conditions quickly.
e. Discus s the significance of various time domain
specifications.
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Ans.
1. Delay time (Td) : It is the time required for the response to reach
half the final value the very first time.
2. Rise time (Tr) : The rise time is the time required for the response
to rise from
a. 10 % to 90 % of its final value, (overdamped systems).
b. 5 % to 95 % of its final value, (critical damped systems).
c. 0 % to 100 % of its final value (underdamped systems).
3. Peak time (Tp) : The peak time is the time required for the response
to reach the first (maximum) peak of the overshoot.
4. Maximum overshoot (Mp) : It is the maximum peak value of the
response curve measured from unity.
5. The settling time (Ts) : It is the time required for the response
curve to reach and stay within a range about the final value of size
specified by absolute percentage of the final value
(usually 2 % or 5 %).
f. Establish the relation between Routh and Hurwitz
stability criterion.
Ans.
1. In the case of the Routh criterion, a0 > 0, a1 > 0, b1 > 0, c1 > 0,
d > 0, ...
a1 a0
b1 = a1 a2 a0 a3 a3 a2
a3 a3
2. Again, in the case of the Hurwitz criterion
a1 a0
a3 > 0, >0
a3 a2
3. From the Routh criterion, we also observe that b1 > 0 and a3 > 0.
Therefore,
a1 a0
a3 a2
b1 = >0
a3
a1 a0
since a3 > 0, >0
a3 a2
This is also true for c1, d1 for the Routh criterion.
4. Hence, the Hurwitz criterion and the Routh criterion are basically
the same and draw the same conclusion.
g. Explain in brief :
i. Gain margin
ii. Phase margin.
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Ans.
i. Gain margin : It is the reciprocal of magnitude |G(j)| at the
frequency at which the phase angle is – 180°.
Gain Margin (GM),
1
Kg =
|G( j c )|
where, c = Phase cross-over frequency.
ii. Phase margin : The phase margin is that amount of the additional
phase lag at the gain crossover frequency required to bring the
system to the verge of instability.
Phase margin is equal to 180° plus the angle of G(j) at the gain
crossover point.
m = 180° +
h. What do you understand by relative stability ? Explain.
Ans. The system is said to be relatively more stable or unstable on the
basis of settling time. System is said to be relatively more stable if
settling time for that system is less than of the other system.
i. Differentiate between lag and lead network in view of their
Bode plot.
Ans.
S. No. Lead Lag
1. The lead network is basically a The lag network is essentially a
high-pass filter. low-pass filter.
2. The primary function of the The primary function of a lag
lead compensator is to reshape co mpe nsato r is to provide
the frequency-response curve atte nuatio n in the high-
to provide sufficient phase-lead freque ncy range to give a
angle. system sufficient phase margin.
j. Discuss the advantages of state variable technique over
transfer function approach.
Ans.
1. This method can be applied to linear or non linear, time variant or
time invariant system.
2. This method can be designed for optimal conditions.
SECTION-B
Attempt any three questions from this section. (10 × 3 = 30)
1. Using block diagram reduction techniques, find the closed
loop transfer function of the system whose block diagram
is given in Fig. 4.
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G4
R(s) C(s)
+ + G1 + G2 G3 ++
– – –
H2
H1
Fig. 4.
Ans.
Step 1 :
G4/G2
R(s) + C(s)
+ G1 + G2 G3 ++
– – –
H2
H1
Step 2 :
R(s) + G4 C(s)
+ G1 + G2 G3 +
– – – G2
H2
H1
Step 3 :
L1
R(s) G4
+ + G1 –
G2 G3 + C(s)
– – G2
H2
G
H1 G3 + 4
G2
Step 4 : Solving feedback loop L1, reduced block diagram is
L2
R(s) G2G3 + G4
+ +– G1 C(s)
– 1 + (G2G3 + G4)H2
H 1G2
G3G2 + G4
Step 5 : Solving feedback loop L2, the reduced block diagram is
R(s) G1(G2G3 + G4)
+ C(s)
– 1 + (G2G3 + G4)H2 + H 1G2G1
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Step 6 : Solving feedback loop,
G1 (G2G3 G4 )
C (s ) 1 (G2G3 G4 ) H2 H1G2G1
=
R( s) G1 (G2G3 G4 )
1 1
1 (G2G3 G4 ) H2 H1G2G1
C (s ) G1G2G3 G1G4
=
R( s) 1 (G2G3 G4 ) H2 H1G2G1 (G2G3 G4 )G1
C (s ) G1G2G3 G1G4
=
R( s) 1 G1G2 H2 G4 H2 H1G2G1 G1G2G3 G1G4
2. Derive the expression for second order system response
when subjected to unit impulse input for damping ratio
() < 1.
An unity feedback system is characterized by an open loop
transfer function.
K
G(s) =
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 the
settling time, peak overshoot and time to peak overshoot
for a unit step input.
Ans. Derivation for second order system response :
1. For unit impulse function, R(s) = 1 and the output of a second
order system is given by
n 2
C(s) = ...(1)
s 2n s n 2
2
2. In eq. (1) rewriting the term
(s2 + 2 ns + n2) as [(s + n)2 + n2(1 – 2)]
n2
C(s) =
[( s n ) n2 (1 2 )]
2
n2 n 1 2
C(s) = ...(2)
n 1 2 [(s n )2 ( n 1 2 )2 ]
3. Taking inverse Laplace transform on both sides of eq. (2),
n
c(t) = e nt sin [( n 1 2 )t ] ...(3)
1 2
4. For < 1,
n
c(t) = e nt sin [( n 1 2 )t ] ...(4)
1 2
5. The time response for < 1 is decaying exponential oscillations
and the output at times goes negative also.
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c(t) <1
0
t
Fig. 5.
Numerical :
K
Given : G(s) = , = 0.5, H(s) =1
s( s 10)
To Find : K, ts, tp and Mp.
C ( s) G (s )
1. =
R( s) 1 G (s) H ( s)
K
= 2 ...(5)
s 10 s K
2. For second order system,
C ( s) 2n
= 2 ...(6)
R( s) s 2 n s 2n
3. Comparing eq. (5) and (6), we get
n = K rad/sec
2 n = 10
2 × 0.5 × K = 10
K = 10
K = 100
0.5
2 2
1 1 0.5
4. Peak overshoot, Mp = e = e = 0.1630
4 4
5. Settling time, ts = = = 0.8 sec
n 0.5 10
6. Peak time, tp = = 0.36 sec.
n 1 2 10 1 (0.5)2
3. For a closed loop system whose transfer function is
Ke sT
G(s) H(s) = , determine the maximum value of the
s( s 1)
gain ‘K’ for stability.
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Ans.
Ke sT
Given : G(s) H(s) =
s(s 1)
To Find : Maximum value of K.
1. Putting s = j
Ke jT
G(j) H(j) =
j( j 1)
K
2. |G(j) H(j)|=
1 2
180
G(j) H(j) = – tan–1 – 90° – T ×
= – 57.3T – 90° – tan–1
3. Intersection of Nyquist plot with negative axis of G(s) H(s) plane is
determined by using following relation,
G(j) H(j) = –180° (2k + 1)
where, k = 0, 1, 2 ....
4. It the first instant, the Nyquist plot intersects the negative real
axis of G(s) H(s) plane for k = 0, and the frequency at intersection
point is 2.
5. Therefore, G(j2) H(j2) = – 180°
– 57.32T – 90° – tan–12 = – 180°
– 57.32T – tan–12 = – 90°
6. T = 0.5
– 28.652 – tan–12 = 90°
7. Using trial and error, 2 = 1.3075 rad/sec
K K
G(j2) H(j2) = = = 0.4646 K
2 1 22 1.3075 1 (1.3075)2
8. For stability the point (–1 + j0) be placed outside the Nyquist plot
0.4646 K < 1
K < 2.152
4. What is closed loop frequency response ? Give an account
of the correlation between time response and frequency
res ponse for a second order s ys tem with relevant
expressions.
Ans. Closed loop frequency response :
1. Consider the transfer function for closed loop system,
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C ( s) G ( s)
=
R( s) 1 G( s) H (s)
2. For unity feedback, H(s) = 1
C ( s) G (s )
= ...(1)
R( s) 1 G ( s)
Put s = j
C( j) G ( j)
= ...(2)
R( j) 1 G( j)
3. The polar plot of eq. (2) is shown in Fig. 6.
Im
– 1 + j0 0
Re
A r
(r – )
Fig. 6.
4. From Fig. 6, OB = G(j)
OA = – 1
AB = OB – OA = G(j) – (– 1)
AB = 1 + G(j)
5. From eq. (2)
C ( j) OB
= M() =
R( j)
AB
C( j) OB r
=
= (r – )
R( j) AB
C( j)
= M() e j ()
R( j)
where M(j) is the magnitude and () = r – .
6. Frequency response consists of two parts :
i. Magnitude,
ii. Phase angle.
iii. Both can be plotted against different values of .
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7. Hence frequency response of closed loop system is plot of
magnitude and phase angle.
Correlation :
1. For 2nd order system, the transfer function is,
C ( s) 2n
= 2
R( s) s 2 n s 2n
where, = Damping factor
n = Natural frequency of oscillations
+ n2
R(s) C(s)
2
– s + 2 ns
Fig. 7.
2. Closed loop frequency response is,
C( j) 2n
= T(j) =
R( j) ( j) 2 n ( j) n2
2
2n 1
= = 2
2 2 n ( j ) 2n
1 2 j
n n
1
= ...(3)
(1 u2 ) j 2u
where u = /n, normalized driving frequency.
1
|T(j)| = M = ...(4)
(1 u ) (2u)2
2 2
2u
and T(j) = = tan 1 ...(5)
1 u2
3. The steady state output is
1 2u
c(t) = sin t tan 1
(1 u ) (2u) 2 2 12 u2
From eq. (4) and (5) when
u = 0, M = 1 and = 0
1
u = 1, M = and = –
2 2
u = , M = 0 and =–
4. The frequency where M has a peak value is called the resonant
frequency. At this frequency the slope of magnitude curve is zero.
If r = Resonant frequency.
ur = r/n is normalized resonant frequency.
dM 1 [ 4(1 ur2 )ur 8 2ur ]
= 0
du u ur 2 [(1 ur2 )2 (2ur )2 ]3/ 2
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– 4(1 – ur2) ur + 82ur = 0
– 4ur(1 – ur2 – 22) = 0
ur = 1 2 2
r = n 1 2 2 ...(6)
1
Mr = ...(7)
2 1 2
5. The phase angle of T(j) at resonant frequency is
1 2 2
r = tan 1
M( = 1 < 0.707)
1.0
Magnitude
M
Mr
M( = 0.707)
0
ur = r / n
Normalized frequency, u
Fig. 8. Frequency response magnitude characteristics.
0°
( = 1)
– 90°
Phase
angle
– 180°
0 1.0
Normalized frequency u
Fig. 9. Frequency response phase characteristic.
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Bandwidth :
1
1. The frequency at which M has value of and is called cut-off
2
frequency c. The signal frequencies above cut-off are attenuated.
1
2. The range of frequencies for which M is known as bandwidth
2
b. The low pass filters has bandwidth equal to cut-off. b indicates
the noise filtering characteristics of the system.
M
Mr
1
0.707
Bandwidth
r c
Fig. 10.
3. Normalized bandwidth, ub = b/n
1 1
M=
(1 ub2 )2 (2ub )2 2
1
ub = [1 2 2 2 4 2 4 4 ]2
1
b = [1 2 2 2 4 2 4 4 ]2
4. The damped frequency of oscillations d and peak overshoot Mp of
the step response for 0 1 are
d = n 1 2
Mp = exp
2
1
1
5. For > , Mr does not exists so the correlation breaks down
2
r 1 2 2
=
d 1 2
5. i. Derive the transfer function from state model.
ii. Obtain the complete solution of non-homogeneous state
equation using time domain method.
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iii. Discuss the significance of lag network. Also draw its
s-plane representation and Bode plot.
Ans.
i. Derivation of the transfer function from state model :
1. Let us consider a vector matrix differential equation
x = Ax + Bu
and output, y = Cx
2. Now, taking Laplace transform with zero initial conditions
sX(s) = AX(s) + BU(s)
X(s) = [sI – A]–1 BU(s)
and Y(s) = CX(s)
Y(s) = C [sI – A]–1 BU(s)
3. For a single-input-single-output system, Y and U are scalars.
4. Now transfer matrix can be given as
Y (s )
Transfer matrix = C[ sI A ]1 B
U ( s)
C adj([ sI A]) B
5. Transfer function = C[sI – A]–1 B =
det [sI A]
6. Denominator part i.e. |sI – A| is called the characteristic equation.
|sI – A|= 0
7. nth degree characteristic equation |sI – A| = 0 has n roots or eigen
values.
ii. Solution of non-homogeneous equation :
1. Consider state equation
x (t) = Ax(t) + Bu(t)
U(s) = L[u(t)]
X(s) = L[x(t)]
2. Taking Laplace transform,
sX(s) – x(0) = AX(s) + BU(s)
[sI – A] X(s) = x(0) + BU(s)
3. Premultiplying by [sI – A]–1
X(s) = [sI – A]–1 x(0) + [sI – A]–1 BU(s)
4. Taking inverse Laplace transform
x(t) = L–1{X(s)}
= L–1[sI – A]–1 x(0) + L–1[sI – A]–1 BU(s)
t
x(t) = (t) x(0) ( t ) Bu() d
0
t
At A( t )
= e x(0) e Bu() d
0
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5. If the initial time is other than zero, say t0 then
t
A ( t t0 )
x(t) = e x(t0 ) e A( t ) Bu () d
t0
= (t t0 ) x(t0 ) (t ) Bu() d
t0
6. x(t) = xc(t) + xp(t)
where xc(t)= (t) x(0)
is the complementary solution of the state vector
t
and xp(t) = (t ) Bu() d
t0
is a particular solution of vector.
iii. Significance of lag network :
Basically, lag compensator is a low pass filter and its main function
is to provide attenuation in the high frequency range to give
sufficient phase margin.
Effects (significance) of lag compensation :
Lag compensator allows high gain at low frequencies thus it is
basically a low pass filter. Hence it improves the steady state
performance.
s-plane representation and Bode plot of lag network :
1.
R1
R2
ei eo
C
Fig. 11. Phase-lag network.
The transfer function of phase-lag network is shown in Fig. 11,
Eo (s) 1 sT
= ...(1)
Ei (s) 1 sT
R1 R2
where > 1, =
R2
and T = R2 C
2. The transfer function given by eq. (1) can be expressed in sinusoidal
form as
Eo ( j) 1 jT
= ...(2)
Ei ( j) 1 jT
3. Bode plot for transfer function of eq. (2) is shown in Fig. 12.
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– 20 dB/decade
0 dB
0º
– 45º m
– 90º
log
1 m 1
T T
Fig. 12. Bode plot of lag compensator.
SECTION-C
Attempt all questions.
1. Attempt any one part of the following. (10 × 1 = 10)
a. Find the transfer function of the signal flow graph shown
in Fig. 13, using Mason’s gain formula.
G10
G9 G7
X2 G8
X3 X4 X5 X6
X1 X7
G1 G2 G3 G4 G5 G6
–H 1 – H2 –H3
H4
Fig. 13.
Ans.
1. Forward path and gains are :
P1 = G1 G2 G3 G4 G5 G6, 1 = 1
P2 = G1 G9 G4 G5 G6, 2 = 1 – G7
P3 = G1 G9 G10 G6, 3 = 1 – G7 – G8 + G7 G8
P4 = G1 G2 G3 G10 G6, 4 = 1 – G8
2. Loops and gains are :
L1 = – G2 H1
L2 = – G4 H2
L3 = – G5 H3
L4 = – G3 G4 G5 H4
L5 = G 7
L6 = G 8
L7 = H1 G9 G10 H4
L8 = H1 G9 G4 G5 H4
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L9 = – H4 G3 G10
L10 = H2 G10 H3
= 1 – (L1 + L2 + L3 + L4 --------- + L10) + (L1 L2
+ L1 L3 + L1 L6 + L1 L10 + L7 L6 + L5 L6 + L5 L2
+ L5 L3 + L5 L10 + L9 L5 + L9 L3)
4
X7
Pk k
k 1
3. Using Mason’s gain formula, T(s) = =
X1
G1G2G3G4G5G6 G1G9G4 G5G6 (1 G7 ) G1G9G10G6 (1 G7 G8 G7G8 )
=
1 (G2 H1 G4 H2 G5 H3 G3G4 G5 H4 G7 G8 H1G9G10 H4
H1G9 G5 H4G4 H4 G3G10 H2G10 H3 ) (G2 H1G4 H2 G2 H1G5 H3
G2 H1G8 G2 H1 H2G10 H3 H1G9G4 G5 H4 G8 G7G8 G7G4 H2
G7G5 H3 G7 H2G10 H3 H4G3G10G7 H4 G3G10G5 H3 )
b. What do you understand by the term sensitivity ? Consider
the feedback control system shown in Fig. 14. The normal
value of the process parameter ‘K’ is 1. Determine the
C ( s)
sensitivity of transfer function T(s) = to variations
R( s)
in parameter ‘K’, at = 5.
R(s) s+1 K C(s)
s+5 s(s + 1)
Fig. 14.
Ans. Sensitivity : Sensitivity is the change in variable due to variation
in parameters of control system.
e.g.
T
100
% Change in T
T
S = T
G
% Change in G G
100
G
Numerical :
K
Given : G(s) = , H(s) = 1
s(s 5)
To Find : Sensitivity, SGT .
K
1. Forward gain, G(s) =
s( s 5)
G (s ) K
2. T(s) = = 2
1 G (s) H ( s) (s 5 s K )
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T
100 K T
3. Sensitivity, SKT = T
K
100 T K
K
K ( s2 5s K ) 1 K
=
K ( s 2 5s K ) (s 2 5 s K ) 2
s 2 5s K K s(s 5)
= ( s 2 5s K ) 2 2
= 2 2
( s 5 s K ) ( s 5s K )
4. Putting s = j, K = 1
j( j 5)
=
2
( j)2 5 j 1
5. Again, putting = 5
j5 ( j5 5) j 25 ( j 1)
=
[ 25 j 25 1]2 [ j25 24]2
( 25 j 25)
=
( j 25 24)2
252 252
| SKT | = = 1.02
252 24 2
2. Attempt any one part of the following. (10 × 1 = 10)
a. Discuss different type of test signal used for analysis of
control system in time domain.
The reference input to a unity feedback system is shown
in Fig. 15. The open loop transfer function of the system is
400(s 1)
G(s) =
( s 2)( s 8)
Calculate the steady state error.
r(t)
2
10 20 30 40
Fig. 15.
Ans. Types of test signal :
1. Unit step : Signals which start at time t = 0 and have magnitude of
unity are called unit step signals.
They are represented by a unit step function u(t).
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u(t)
t
0
Fig. 16. Unit step.
They are defined mathematically as :
1 ; t 0
u(t) =
0 ; t 0
2. Unit ramp : Signals which start from zero and are linear in nature
with a constant slope m are called unit ramp signals.
They are represented by a unit ramp function r(t).
They are defined mathematically as :
mt ; t 0
r(t) =
0 ; t0
r(t)
r(t) = mt
m = tan
t
0
Fig. 17.
3. Unit impulse : Signals which act for very small time but have
large amplitude are called unit impulse functions.
They are represented by (t).
They are defined mathematically as,
0; t0
(t) =
1 ; t0
(t) dt =1
x(t)
(t)
–t t
Fig. 18.
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4. Unit Parabolic Signal : The continuous-time unit parabolic
function p(t), also called acceleration signal starts at t = 0, and is
defined as :
t2
; for t 0
p(t) = 2
0 ; for t 0
t2
or p(t) = u(t)
2
p(t)
0 t
Fig. 19.
Relation :
1. Relation between impulse and step signal :
d
(t) = u(t)
dt
2. Relation between step and ramp signal :
d
u(t) = r (t )
dt
3. Relation between ramp and parabolic signal :
d t2
r(t) = .
dt 2
Numerical :
400( s 1)
Given : G(s) = , H(s) = 1
( s 2)( s 8)
To Find : Steady state error.
1. Laplace of periodic waveform using formula :
R1 (s)
R(s) =
1 e TS
2. First we have to find Laplace of r(t),
r(t)
t
10
Fig. 20.
By integration method
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10
R1(s) = 2 e st dt
0
2 10
= e st
( s) 0
2
R1(s) = (1 e 10 s )
s
R1 (s)
4. Here, T = 20, So R(s) =
1 e TS
2
(1 e10 s )
R(s) = s
(1 e20 s )
2
(1 e 10 s )
R(s) = s
(1 e10 s )(1 e10 s )
2
R(s) =
s(1 e10 s )
5. Using formula
sR( s)
ess = lim
s0 1 G( s) H (s)
2
s
s (1 e10 s )
= lim
s0 400( s 1)
1
( s 2)( s 8)
2
= lim (1 e10 s )
s 0 ( s 2)( s 8) 400( s 1)
( s 2)( s 8)
2(s 2)( s 8)
= lim
s 0 [( s 2)( s 8) 400(s 1)](1 e10 s )
2(0 2)(0 8)
=
[(0 2)(0 8) 400(0 1)](1 e0 )
2 28 32
=
2 8 400 416
ess = 0.0769
b. Discuss the effect on the performance of a second order
control system of
i. Derivative control ii. Integral control.
Ans.
i. Derivative controller :
Effects :
i. It increases damping ratio.
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ii. ‘TYPE’ of the system remains unchanged.
iii. It reduces peak overshoot.
iv. It reduces settling time.
v. Steady state error remains unchanged.
ii. Proportional integral controller (PI) :
Effects :
i. It increases order of the system.
ii. It increases TYPE of the system.
iii. Design of Ki must be proper to maintain stability of system.
vi. Steady state error reduces tremendously for same type of inputs.
3. Attempt any one part of the following. (10 × 1 = 10)
a. Explain the working principle of stepper motor with neat
diagram.
The characteristics equation for feedback control is, s3 +
5s2 + 12s + K = 0
Find the range of K for all the roots to lie to the left of s = 1
Ans.
A. Stepper motor :
1. A stepper motor is a form of AC motor. The input given to this
motor is in the form of electric pulses.
2. For every input pulse, the motor shaft turns through a specified
number of degrees, called a step.
3. Shaft of stepper motors moves through one angular step for each
input pulse. The range of step size may vary from 0.72° to 90°.
B. Principle of operation :
Rotor
SA A
SB
SD D B
C
Stator
Vd SC
Fig. 21. 4, 4/2 pole variable reluctance stepper motor.
1. It is a 4, 4/2-pole (4 poles in stator and 2 in rotor), single-stack,
variable reluctance stepper motor. Four phases A, B, C, and D are
connected to DC source and are energized in the sequence A, B, C,
D, A.
2. When winding A is excited, the rotor aligns with axis of phase A.
The rotor is stable in this position and cannot move until phase A is
de-energized.
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3. Next phase B is excited, A is disconnected. The rotor moves through
90° in clockwise direction to align with the resultant air-gap field
which now lies along the axis of phase B.
4. Further, phase C is excited and B is disconnected, the rotor moves
further a step of 90° in the clockwise direction. Thus, as the phases
are excited in the sequence A, B, C, D, A the rotor moves through
a step of 90° at each transition in clockwise direction.
5. The rotor completes one revolution in four steps. The direction of
rotation can be reversed by reversing the sequence of switching
the windings, i.e., A, D, C, B, A.
6. The magnitude of step angle for any variables reluctance or
permanent magnet stepper motor is given by :
360
=
MNr
where, = Step angle
M = Number of stator phases or stacks
Nr = Number of rotor teeth or rotor poles.
7. The step angle is also expressed as,
Ns Nr
= × 360°
N s Nr
where, Ns = Number of stator teeth or stator poles.
By choosing different combinations of number of rotor teeth or
stator exciting coils, any desired step angle can be obtained.
Numerical :
Given : Characteristics equation is s3 + 5s2 + 12s + K = 0
To Find : Range of K.
1. Putting s = s – 1
(s – 1)3 + 5 (s – 1)2 + 12 (s – 1) + K = 0
s3 – 1 + 3s – 3s2 + 5s2 + 5 – 10s + 12s – 12 + K = 0
s3 + 2s2 + 5s + (K – 8) = 0
2. Routh array :
s3 1 5
s2 2 ( K 8)
10 ( K 8)
s1 0
2
0
s ( K 8)
3. To lie all roots to the left side of s = –1, there should not be any sign
change in first column of Routh array.
10 ( K 8)
>0
2
10 – (K – 8) > 0
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18 – K > 0
K < 18 ...(1)
Also, K–8> 0
K>8 ...(2)
From eq. (1) and (2), range of K is
8 < K < 18
b. Sketch the root locus for the closed loop control system
K
with G(s) =
s(s 1)( s2 4 s 5)
Ans.
K
Given : G(s) =
s( s 1)(s 2 4 s 5)
To Draw : Root locus.
1. Poles i.e., s = 0, s = – 1, s = – 2 + j and s = – 2 – j
2. There is no open loop zero.
3. Number of poles, P= 4
Number of zeros, Z= 0
P – Z = 4 – 0 = 4 i.e., four branches of root locus terminates at
infinity.
4. Angle of asymptotes :
(2 q 1)
q = 180
PZ
where, q = 0, 1, 2, ...... upto (P – Z – 1)
201
0 = 180 = 45°
4 0
2 11
1 = 180 = 135°
40
221
2 = 180 = 225°
4 0
231
3 = 180 = 315°
40
5. Centroid of asymptotes :
Real parts of poles – Real parts of zeros
=
PZ
(0 1 2 j 2 j ) (0) 5
= = = – 1.25
40 4
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6. Breakaway points : The characteristic equation is 1 + G(s) H(s)
= 0
s(s + 1) (s2 + 4s + 5) + K = 0
s4 + 5s3 + 9s2 + 5s + K = 0
dK / ds = 4s3 + (5 × 3s2) + (9 × 2s) + 5 × 1 = 0
4s3 + 15s2 + 18s + 5 = 0
(s + 0.4) (4s2 + 13.4s + 12.5) = 0
(s + 0.4) {(s + 1.675 – j 0.565) (s + 1.675 + j 0.565)} = 0
Therefore three breakaway points are obtained
s = – 0.4 on real axis and
s = – 1.7 + j 0.6 and s = – 1.7 – j 0.6
7. Intersection points with imaginary axis :
The characteristic equation is s4 + 5s3 + 9s2 + 5s + K = 0
The Routh array :
s4 1 9 K
s3 5 5 0
s2 8 K
5K
s1 5 0
8
s0 K
Value of K at imaginary axis :
5K
5 = 0; K= 8
8
Solving auxiliary equation formed from the s2 terms in Routh array,
therefore
8s2 + K = 0
8s2 + 8 = 0
s2 + 1 = 0
s=± j
8. Angle of departure from complex pole :
d = 180° – (P – Z)
P1 = 180° – tan–1(1/2) = 153.43°
P2 = 180° – tan–1(1/1) = 135°
P3 = 90°
(–2 + j) = 180° – (P1 + P2 + P3)
(–2 + j) = 180°– (153.43° + 135° + 90°) = – 198.43°
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and – j) = + 198.43°
(– 2
Im
–2 + j
j1
13
5° 153.43°
–2 –1 Re
90°
– j1
p = 90 °
3
Fig. 22.
9. Root locus :
K= K=
Im
–2+j
j1
– 198.43°
–1
Re
+ 198.43° –2
– j1
–2–j
K= K=
Fig. 23. Root locus.
4. Attempt any one part of the following. (10 × 1 = 10)
a. The steady state output of the system for a sinusoidal input
of unit magnitude and variable frequency is given as
1 27u
c(t) = sin t tan 1
2 2 2 2
(1 u ) 4 z u 1 u2
Determine :
i. Resonant frequency
ii. Resonant peak
iii. Bandwidth
iv. Phase angle.
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Ans.
1 27u
Given : c(t) = sin t tan 1
2 2 2 2
(1 u ) 4 z u 1 u2
To Find : i. Resonant frequency
ii. Resonant peak
iii. Bandwidth.
iv. Phase angle
1
1. M=
(1 u ) 4 z2u2
2 2
27u
2. = tan 1
1 u2
3. The frequency where M has a peak value is known as resonant
frequency. At this frequency, the slope of the magnitude curve is
r
zero. Let r be the resonant frequency and ur =
n
dM 1 [ 4(1 ur2 )ur 8 z2ur ]
=– =0
du u ur 2 [(1 4 2r )2 4 z2ur2 ]3/ 2
– 4(1 – ur2) = 8z2
1 – ur2 = 2z2
ur = 1 2z2
r = n 1 2 z2
4. Maximum value of magnitude is known as resonant peak is given
by
1 1
Mr = 2 2 2 2
=
(1 u ) 4 z u
r r (1 1 2 z ) 4 z2 (1 2 z2 )
2 2
1 1 1
= = =
4 2 2 2 2
4 z 4 z (1 2 z ) 2z z 1 2z 2 z 1 z2
5. The range of frequencies over which M is equal to or greater than
1 b
: Putting ub =
2 n
1 1
M=
(1 ub2 )2 4 z2ub2 2
(1 – ub2)2 + 4z2ub2 = 2
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1 + ub4 – 2ub2 + 4z2ub2 – 2 = 0
ub = [1 2 z2 2 4 z2 4 z4 ]1/ 2
b = n [1 2 z2 1 4 z2 4 z4 ]1/ 2
b. Draw Bode plot (log magnitude plot) for the transfer
function.
20 s
G(s) =
s2 20 s (100)2
OR
Using Nyquist stability criterion, investigate the stability
of a unity feedback system with open loop transfer function.
( s z1 )
G(s) = , z1, p1 > 0
s( s p1 )
Also discuss the significance of M-circle.
Ans. Bode plot :
Given : G(s) = 20s / [s2 + 20s + (100)2]
To Draw : Bode plot.
20 s
1. G(s) = 2
20 s s
(100)2 1 2
(100) 100
S. No. Factor Corner Asymptotic log-
frequency magnitude
characteristic
1. s None Straight line of constant
slope (20 dB / dec)
passing through = 1
1 Straight line of
2. 2
1 = 100 rad/sec
20 s s constant slope (– 40 dB/
1 dec) originating from
(100)2 100
= 100 rad/sec.
K = 20 / (100)2 = 0.002
1 2 3 4 5 6 7 8 9 101 2 3 4 5 6 7 8 9 102 2 3 4 5 6 7 8 9 103
Gain
in – 80°
40 dB
dB
– 20 dB/dec – 100°
Bode plot :
20 dB/dec
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– 120°
– 140°
10 dB
– 160°
0 dB – 180°
– 200°
g = 1 rad/sec g = 100 rad/sec
– 10 dB
– 220°
Fig. 24.
– 240°
– 20 dB – 260°
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– 280°
1 2 3 4 5 6 7 8 9 101 2 3 4 5 6 7 8 9 102 2 3 4 5 6 7 8 9 103
0 1 10 100
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Nyquist stability :
(s – z1 )
Given : G(s) =
s(s p1 )
To Check : Stability of system.
j z1 2 z12
1. G(j) H(j) =
j( j p1 ) 2 p12
1 ( p1 z1 )
= 90 tan 2
( p1 z1 )
2. Now,
lim G ( j) H ( j) = + 90°
0
1
G( j p1 z1 ) H ( j p1 z1 ) = 0
p1 p1 z1
lim G ( j) H ( j) = 0 – 90°
3. Thus the locus comes down in the first quadrant, crosses the positive
real axis into the fourth quadrant, and approaches the origin from
an angle of – 90°.
4. Path def maps into the origin, and ija maps into on semicircle at
infinity. The resulting plot is shown in Fig. 25.
Im GH
a
GH(j )
= ± p1z1
j d , e, f Re GH
i
Fig. 25.
Significance of M-circle :
M-circle can be used to obtain closed loop frequency response from
open loop frequency response.
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M = 1.6 Y
M=1
M = 0.5
M=3
– 1.64 – 1.13 – 0.5 0 0.33 X
Fig. 26. M-circles.
5. Attempt any one part of the following. (10 × 1 = 10)
a. State and explain controllability and observability in view
of Kalman and Gilbert test.
3 1 1
The state equation for a system is, x = x u
2 0 1
Ans. Kalman’s test for controllability :
1. Consider nth order multiple input linear time invariant system
represented by its state equation as,
x = Ax + Bu
2. The necessary and sufficient condition for the system to be
completely state controllable is that the rank of the composite
matrix Qc is n.
3. The composite matrix Qc is given by,
Qc = [B : AB : A 2B : ... A n–1B]
Gilbert’s test for controllability :
1. For the Gilbert’s test it is necessary that the matrix A must be in
canonical form. Hence the given state model is required to be
transformed to the canonical form first, to apply the Gilbert’s test.
2. Consider single input linear time invariant system represented
by,
z = Ax+Bu
where A is not in the canonical form. Then it can be transformed
to the canonical form by the transformation,
x = Mz
where M = Model matrix
3. The transformed state model,
z = A z B u
where A = M – 1 AM
B = M – 1 B
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4. In such a case the necessary and sufficient condition for the
complete state controllability is that the vector matrix B should
not have any zero elements. If it has zero elements then the
corresponding state variables are not controllable.
5. If the eigen values are repeated then matrix A cannot be
transformed to Jordan canonical form. If A has eigen values 1, 1,
2, 2, 3, 4, ... n then the transformation results Jordan canonical
form shown in matrix below
1 1 0 0 0 0 ..........0
J= 0 1 0 0 0 0...........0
0 0 2 1 0 0...........0
Jordan
0 0 0 2 1 0...........0
block
0 0 0 0 2 0...........0
0 0 0 0 0 3..........0
........
........
6. In such a case, the condition for the complete state controllability
is that the elements of any row of B that corresponds to the last
row of each Jordan block are not all zero.
Kalman’s test for observability :
1. State equation
x=Ax+Bu
and y=Cx
2. The system is completely observable if and only if the rank of the
composite matrix Qo is n.
Composite matrix Qo is given by,
Qo = [CT : AT CT :.......... (AT)n–TCT]
where CT = Transpose of matrix C
AT = Transpose of matrix A
Gilbert’s test for observability :
1. For Gilbert’s test, the state model must be expressed in the
canonical form. Consider the state model of linear time invariant
system as,
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x=Ax+Bu
and y=Cx
2. Use the transformation x = Mz where M is the model matrix.
y = CM z = C z
where C = CM
For a single input single output system,
z1
z
C
y = Cz C 12 .... C 1 n 2
11
zn
= C 11 z1 C 12 z1 .... C 1n zn
3. For the system to be observable, each term corresponding to each
state must be observed in the output. Hence none of the coefficient
of C must be zero.
Numerical :
3 1 1
Given : x = x u
2 0 1
To Find : Controllability.
3 1 1
1. A= , B = 1 , n = 2
2 0
2. Qc = B AB
3 1 1 2
3. AB = 1 = 2
2 0
1 2
4. Qc =
1 2
1 2
5. |Qc| = =2–2=0
1 2
Rank of Qc is r n
Hence, system is not completely controllable.
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b. Design a phase lead compensator for a negative unity
feedback system with plant transfer function.
K
Gp (s) = to satisfy the conditions :
s(s 10)( s 1000)
phase margin in atleast 45°, static error constant = 1000 s–1
Ans.
K
Given : GP(s) = , Phase margin = 45°
s(s 10) (s 1000)
Kv = 1000 sec – 1
To Design : Phase lead compensator.
K
1. Kv = lim sG p (s) = lim s
s0 s 0 s( s 10) (s 1000)
K
Kv =
10 1000
K = 10 × 1000 Kv = 107
107 103
2. Gp(s) = =
s s s s
10000 s 1 1 s 1 1
10 1000 10 1000
3. Starting point at 0 dB axis at = K1/n
Here, n = 1 (Type of the system)
= 1000 rad/sec
4. First corner frequency, c1 = 10 rad/sec
Second corner frequency, c2 = 1000 rad/sec
Initial slope = – 20 dB/sec
1
Gp(j) = – 90 – tan – 1 tan
10 1000
5. We have got p = g = 100 rad/sec.
So, gain margin = 0 dB and phase margin = 180° – 180° = 0°
m = 45° – 0° + tolerance = 45° – 0° + 5° = 50°
6. The value of parameter of the phase lead network is given by
1 sin m
= = 0.1324
1 sin m
In decibel,
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1
At = m, magnitude in dB = – 20 log10 = 10 log10 = – 8.78 dB
Table 1.
Gp(j)
1 – 95.76°
– 135.57°
40 – 168.25°
90 – 178.80°
7. At a gain of – 8.78 dB, the frequency is 165 rad/sec
The lower corner frequency
1
= m = ( 0.1324) × 165 = 60 rad/sec
T
8. The upper corner frequency
1 1
= × 60 = 453.1722 rad/sec
T 0.1324
1 jT
9. Lead compensation network, Gc(s) = Gc(j) =
1 jT
1
1 j
60 (1 j 0.0166)
= =
1 (1 j 0.022066)
1 j
453.1722
10. So, the open loop transfer function of the compensated system is
1000 (1 j 0.0166)
G(s) = Gp(s) Gc(s) =
s(s 10) (s 1000) (1 j 0.022066)
1000 (1 0.0166 s)
=
s (s 10)( s 1000)(1 0.22066 s)
1 2 3 4 5 6 7 8 9 101 2 3 4 5 6 7 8 9 102 2 3 4 5 6 7 8 9 103
Control System
Gain curve
– 80°
– 100°
Bode plot :
– 120°
– 40 dB/dec Angle
– 20 dB/dec – 140°
in
degree – 160°
p = g = 100 rad/sec
– 180°
– 200°
Gain in dB
– 220°
Fig. 27.
Phase curve
– 240°
– 260°
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– 280°
– 60 dB/dec
1 2 3 4 5 6 7 8 9 101 2 3 4 5 6 7 8 9 102 2 3 4 5 6 7 8 9 103
0 1 10 100
SP–39 C (EN-Sem-5)
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B.Tech.
(SEM. V) ODD SEMESTER THEORY
EXAMINATION, 2017-18
CONTROL SYSTEM
Time : 3 Hours Max Marks : 100
Note : Attempt all sections. If any missing data is required, then choose
suitably.
SECTION-A
1. Attempt all questions in brief. (2 × 10 = 20)
a. What are the major types of control systems ? Explain
them in detail with examples.
b. Define the P, PI and PID controllers.
c. Determine the stability of the system whose characteristics
equation is given by 2s4 + 2s3 + s2 + 3s + 2 = 0.
d. Derive the transfer function E0(S)/E1(S) of network shown
in Fig. 1.
R1
e1(t) C1 R2 e2(t)
Fig. 1.
e. Show that the polar plot of G(s) = K/(s + a) is a semicircle.
Also find its centre and radius.
f. Draw the block diagram and explain the open loop control
system and closed loop control system.
g. The OLTF of a unity feedback system is G(s) = 4(s + a)/s(s +
1)(s + 4) find the expression for error E(s) and hence find
the value of a so that the ess due to a unit ramp is 0.125.
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h. What is a signal flow graph ?
i. Why is negative feedback invariably preferred in a closed
loop system ?
j. What is the basis for framing the rules of block diagram
reduction technique ?
SECTION-B
2. Attempt any three of the following : (10 × 3 = 30)
a. For the system shown in figure, determine the type of
system, error coefficient and the error for the following
inputs :
i. r(t) = 6,
ii. r(t) = 8t
iii. r(t) = 10 + 4t + 15t2
+ + 20
R(s) 20 2 C(s)
– – (s + 2)(s + 5)
2(s + 1)
1
Fig. 2.
b. A linear time invariant system is characterized by the state
variable model. Examine the controlablity and
observability of the system
0 0 0
A = 1 0 3
0 1 4
40
B = 10 ; C = [0 0 1]
0
c. Consider a unity feedback system with a forward path
transfer function.
K ( s 4)
G(s) =
( s + 2)(s 1)
Draw the root locus.
d. Write short note on :
i. Centroid
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ii. Breakaway points
iii. Steady state error.
e. For a unity feedback system having
35( s 4)
G(s) =
s(s + 2)( s + 5)
find (i) the type of the system, (ii) all error coefficients and
(iii) errors for ramp input with magnitude 5.
SECTION-C
3. a. A system is described by the following differential equation.
Represent the system in the state space.
d3 x d2 x dx
3
+3 2 +4 + 4 x = u1(t) + 3u2(t) + 4u3(t) and output are
dt dt dt
dx d2 x
y1 = 4 + 3u1, y2 = + 4u2 + u3
dt dt 2
b. Define state and state variable ? What are the advantages
of state space techniques ?
4. Attempt any one part of the following : (10 × 1 = 10)
a. Define stability ? State the necessary conditions for system
to be absolutely stable ?
b. What are the limitations of Routh Hurwitz criterion ?
5. Attempt any one part of the following : (10 × 1 = 10)
a. The characteristics equation of a system is given (s4 + 20s3
+15s2 + 2s + K = 0), determine the range of the K, for system
to stable.
b. Construct the RL (root locus) for a unity feedback system
K ( s + 1)
with OLTF G(s) =
s 2 (s + 9)
6. Attempt any one part of the following : (10 × 1 = 10)
a. Sketch the RL (root loss) for a unity feedback system with
K (s 2 + 2s + 10)
OLTF G(s) =
s2 + 4 s + 5
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b. A unity feedback system shown in figure find the controller
gain Kc and Kd so that the closed loop poles are placed at
s = 15 ± j20.
7. Attempt any one part of the following : (10 × 1 = 10)
K ( s + 2)
a. A unity feedback system has an OLTF G(s) = .
s(s3 + 7 s2 + 42s)
Find the static error constant and ess due to an input
r(t) = t2u(t).
b Sketch the polar plot for
10 e s
i. G(s) =
s+1
32
ii. G(s) = and find its points of intersection
( s + 4)( s2 + 4 s + 8)
with the real and imaginary axes.
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SOLUTION OF PAPER (2017-18)
Note : Attempt all sections. If any missing data is required, then choose
suitably.
SECTION-A
1. Attempt all questions in brief. (2 × 10 = 20)
a. What are the major types of control systems ? Explain
them in detail with examples.
Ans. There are two types of control system :
1. Open loop control system :
Input Controller Controlled process Output
Fig. 1.
In open loop control systems the control action is independent of
the desired output. In this system the output is not compared with
the reference input.
Example : Washing machine, Immersion rod, Time operated
traffic control, DC shunt motor.
2. Closed loop control system :
Error signal
Reference Controlled
Amplifier Controlled process
input + – output
+
Feedback
Fig. 2.
In a closed loop control system the output has an effect on control
action through a feedback as shown in Fig. 2.
Example : Automatic steering control system, Driving system of
an automobile, Home heating system, Ship stabilization system.
b. Define the P, PI and PID controllers.
Ans. P controller (Proportional controller) : It is a control system
technology based on a response in proportion to the difference
between what is set as a desired process variable (or set point) and
the current value of the variable.
PI controller (Proportional integral controller) : A controller
in the forward path which changes the controller output
corresponding to the proportional plus integral of error signal is
called PI controller.
PID controller ( Proportional, integral and derivative
controller): It is a Close loop system which has feedback control
system and it compares the Process variable (feedback variable)
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with set Point and generates an error signal and according to that
it adjusts the output of system.
c. Determine the stability of the system whose characteristics
equation is given by 2s4 + 2s3 + s2 + 3s + 2 = 0.
Ans.
1. System equation 2s4 + 2s3 + s2 + 3s + 2 = 0.
2. By the Routh array
s4 2 1 2
s3 2 3 0
s2 2 3
s0 6
3. Since there is sign change in the first column of Routh table,
therefore system is unstable.
d. Derive the transfer function E0(S)/E1(S) of network shown
in Fig. 3.
R1
e1(t) C1 R2 e2(t)
Fig. 3.
Ans.
1. Apply KVL in the loop,
1
– Vi(s) + R1 || I(s) + R2 I(s) = 0
C1 s
1
R1 C s
1
Vi(s) = R2 I (s)
R1 1
C1 s
R1
+
1/C1s R2
Vi(s) Vo(s)
I(s)
–
Fig. 4.
2. And, V0(s) = R2 I(s)
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R2 Vi ( s) R2 Vi ( s)
V0(s) =
1 R1
R1 C s R C s 1 R2
1
R2 1 1
R 1
1
C1 s
V ( s) R2 ( R1 C1 s 1)
Transfer function, 0 = .
Vi (s) R2 ( R1 C1 s 1) R1
e. Show that the polar plot of G(s) = K/(s + a) is a semicircle.
Also find its centre and radius.
Ans.
K
Given : G(s) =
sa
To Find : Centre and Radius.
Solution :
1. Let s = j
K K
G(j) = tan 1
j a 2 a2 a
K
2. At = 0, |G(j 0)|=
a
G(j 0) = – 0°
3. At = – , |G(j)|= 0
G(j)|= – 90°
Im
0 = =0
Re
= – tan–1 T
a
K
2 + a2
G(j ) – plane
Fig. 5.
4. Diameter = |G(j)|=0 – |G(j)|=
K K
= –0
a a
So, Radius = K / 2a
G ( j) 0 – G( j)
5. Center = = K/2a.
2
f. Draw the block diagram and explain the open loop control
system and closed loop control system.
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Ans. There are two types of control system :
1. Open loop control system :
Input Controller Controlled process Output
Fig. 6.
In open loop control systems the control action is independent of
the desired output. In this system the output is not compared with
the reference input.
Example : Washing machine, Immersion rod, Time operated
traffic control, DC shunt motor.
2. Closed loop control system :
Error signal
Reference Controlled
Amplifier Controlled process
input + – output
+
Feedback
Fig. 7.
In a closed loop control system the output has an effect on control
action through a feedback as shown in Fig. 7.
Example : Automatic steering control system, Driving system of
an automobile, Home heating system, Ship stabilization system.
g. The OLTF of a unity feedback system is G(s) = 4(s + a)/s(s +
1)(s + 4) find the expression for error E(s) and hence find
the value of a so that the ess due to a unit ramp is 0.125.
Ans.
4( s a)
Given : G(s) = ; r(t) = 0.125 t
s(s 1)(s 4)
To Find : ess.
1. r(t) = 0.125 t
0.125
R(s) =
s2
s 0.125
2. ess = lim
sR( s)
= lim s2
s 0 1 G ( s) H (s) s0 4 (s a)
1 1
s( s 1) ( s 4)
0.125
s(s 1) (s 4) 0.125 (s 1) (s 4)
= lim s = lim
s 0 s(s 1) (s 4) 4(s a) s 0 s(s 1) (s 4) 4(s a)
0.125 1 4
=
4a
1
e ss =
4a
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h. What is a signal flow graph ?
Ans. A signal flow graph is a pictorial representation of the simultaneous
equations describing the system. This is an alternate approach
which does not require any reduction process because of availability
of a flow graph gain formula which relates the input and output
system variables.
i. Why is negative feedback invariably preferred in a closed
loop system ?
Ans. The negative feedback results in better stability in steady state
and rejects any disturbance signals. It has also low sensitivity to
parameter variations. Hence negative feedback is preferred in
closed loop systems.
j. What is the basis for framing the rules of block diagram
reduction technique ?
Ans.
1. Series connection :
R(s) Y(s) C(s) R(s) C(s)
G1(s) G2(s) G1(s)G2(s)
2. Parallel connection :
+ C(s)
R(s) G1(s)
± R(s) C(s)
G1(s) ± G2(s)
G2(s)
3. Positive feedback connection :
R(s) + C(s)
G1(s)
+ R(s) G1(s) C(s)
1–G1(s)H1(s)
H 1(s)
4. Negative feedback connection :
R(s) + C(s)
G1(s)
– R(s) G1(s) C(s)
1+ G1(s)H 1(s)
H 1(s)
SECTION-B
2. Attempt any three of the following : (10 × 3 = 30)
a. For the system shown in figure, determine the type of
system, error coefficient and the error for the following
inputs :
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i. r(t) = 6,
ii. r(t) = 8t
iii. r(t) = 10 + 4t + 15t2
+ + 20
R(s) 20 2 C(s)
– – (s + 2)(s + 5)
2(s + 1)
1
Fig. 8.
Ans. Step 1 :
+ 20
R(s) 20 2 C(s)
– s 2 +47s + 50
Step 2 :
+ 800
R(s) C(s)
– s 2 +47s + 50
800
So, G(s) = and H(s) = 1
s 2 47 s 50
800
G(s) H(s) =
s0 (s 2 47 s 50)
Type of system is zero.
i. r(t) = 6
6 1
So, R(s) = A = 6, which is coefficient of
s s
800
Now, Kp = lim G( s) H ( s) =
s0 50
A 6 6 50
Now, ess = = 0.353
1 K p 1 800 850
50
ii. r(t) = 8 t
8 1
So, R(s) = A = 8, which is coefficient of 2
s2 s
Now, Kv = lim sG( s) H ( s)
s0
s 800
= lim =0
s0 s 2 47 s 50
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A 8
Now, ess = =
Kv 0
iii. r(t) = 10 + 4t + 15t2
t2
= 10 + 4t + 30
2
Now, So, A1 = 10, A2 = 4, A3 = 30
K = lim G (s) H (s)
p s0
800
= = 0.941
850
Kv = lim
s0
sG( s) H (s)
=0
Ka = lim s2 G(s) H (s)
s 0
=0
A1 A A
Now, ess = 2 3
1 K p Kv Ka
10 4 30
= =
1 0.941 0 0
b. A linear time invariant system is characterized by the state
variable model. Examine the controlablity and
observability of the system
0 0 0
A = 1 0 3
0 1 4
40
B = 10 ; C = [0 0 1]
0
Ans.
0 0 0 40
Given : A = 1 0 3 , B = 10 , C = [0 0 1]
0 0 4 0
To Test : Controllability and observability.
1. Controllability test :
0 0
i. AB = 40 , A 2B = 30
0 0
ii. Controllability test matrix is given by,
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40 0 0
Qc = [B : AB : A B] = 10 40 0
2
0 0 0
|Qc| = 0
iii. Thus the rank of Qc is 2. Hence the system is not controllable.
2. Obervability test :
0 1 0 0
T
i. A = 0
0 0 , CT = 0
0 3 4 1
0 0
ii. ATCT = 0 , (AT)2 CT = 0
4 16
iii. The observability test matrix is given by
Qo = [CT : ATCT : (AT)2 CT]
0 0 0
Qo = 0 0 0
1 4 16
iv. Its rank is 1. Hence the system is not observable.
c. Consider a unity feedback system with a forward path
transfer function.
K ( s 4)
G(s) =
( s + 2)(s 1)
Draw the root locus.
Ans.
K (s 4)
Given : G(s) =
(s 2)( s 1)
To Draw : Root locus.
1. The open loop poles are at s = – 2, s = 1
2. The open loop zeros at s = 4
3. Number of poles = 2
Number of zeros = 1
P – Z = 1 i.e., one branch of root locus terminates at infinity.
4. Centroid of asymptotes :
Real parts of poles – Real parts of zeros 1 2 4
= = =–5
PZ 1
5. Breakaway point :
1 + G(s)H(s) = 0
1 K ( s 4)
=0
( s 2)( s 1)
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s2 + s – 2 + K(s – 4) = 0
2 s s2
K=
( s 4)
dK (s 4)(1 2s) (2 s s 2 )(1)
=
ds (s 4)2
s2 8 s 2
= =0
( s 4)2
s = 8.24 (Breakin point)
and s = – 0.24 (Breakaway point)
6. Angle of asymptotes :
(2q 1) 1
q = 180 × 180° = 180°
PZ 21
Im
8.24
–2 1 4 Re
– 0.24
Fig. 9. Root locus.
d. Write short note on :
i. Centroid
ii. Breakaway points
iii. Steady state error.
Ans.
i. Centroid : The point of intersection of the asymptotes with the
real axis called centroid is at s = , where
Real part of poles Real part of zeros
=
Number of poles Number of zeros
ii. Break points :
1. Breakaway point is a point on the root locus where multiple roots
of the characteristic equation occurs, for a particular value of K.
2. Since breakaway point indicates values of multiple root, it is always
on the root locus.
3. Steps to determine the co-ordinates of breakaway points are :
Step 1 : Construct the characteristic equation 1 + G(s) H(s) = 0 of
the system.
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Step 2 : From this equation, separate the terms involving ‘K’ and
terms involving ‘s’. Write the value of K in terms of s.
K = F(s)
Step 3 : Differentiate above equation w.r.t. ‘s’, equate it to zero.
dK
=0
ds
dK
Step 4 : Roots of the equation = 0 gives us the breakaway
ds
points.
iii. Steady state error :
1. The difference between the steady-state response and desired
reference give steady state error.
2. If the actual output of control system during steady state error
deviates from the reference input, then system possess steady state
error.
3. Steady error helps in determining the accuracy, so the steady
state error should be minimum.
4. The steady state performance of a control system is assessed by
the magnitude of the steady state error possessed by the system
and the system input can be step or ramp or parabolic.
5. The magnitude of steady state error in a closed loop control system
depends on its open loop control function. i.e., G(s)H(s) of the
system.
e. For a unity feedback system having
35( s 4)
G(s) =
s(s + 2)( s + 5)
find (i) the type of the system, (ii) all error coefficients and
(iii) errors for ramp input with magnitude 5.
Ans.
35( s 4)
Given : G(s) = , H(s) = 1
s(s 2)(s 5)
To Find : Type of the system, All error coefficients and Errors for
ramp input with magnitude 5.
i. Type : System is type 1 system. As we have s1 in common in
denominator.
ii. Error coefficients :
Kp = lim G (s) H (s)
s0
35(s 4)
= lim 1=
s0 s( s 2)(s 5)
Kv = lim
s0
s G(s) H ( s)
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s 35 ( s 4)
= lim 1
s0 s (s 2) (s 5)
35 4
= = 14
10
Ka = lim s 2 G( s) H ( s)
s0
35( s 4)
= lim s2 1 = 0
s( s 2)(s 5)
s0
iii. Error : Magnitude, A = 5 and Kv = 14
A 5
ess =
K v 14
ess = 0.357.
SECTION-C
3. a. A system is described by the following differential equation.
Represent the system in the state space.
d3 x d2 x dx
3
+3 2 +4 + 4 x = u1(t) + 3u2(t) + 4u3(t) and output are
dt dt dt
dx d2 x
y1 = 4 + 3u1, y2 = + 4u2 + u3
dt dt 2
Ans.
1. Select the state variables as
x1 = x
x1 = x = x2
x2 = x
3
x3 = – 3x3 – 4x2 – 4x1 + u1(t) + 3u2(t) + 4u3(t)
x1 0 1 0 x1 0 0 0 u1
=
x2 0 0 1 x2 0 0 0 u2
x3 4 4 3 x3 1 3 4 u3
2. Output : y1 = 4x2 + 3u1
y2 = x3 + 4u2 + u3
x1 u1
y1 0 4 0 3 0 0
y = 0 0 1 2 0 4 1 u2
x
2
x3 u3
b. Define state and state variable ? What are the advantages
of state space techniques ?
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Ans.
i. State : The state of a dynamic system is the smallest set of variables
such that the knowledge of these variables at t = t0 with the
knowledge of the input for t t0 completely determines the
behaviour of the system for any time t t0.
ii. State variables : The variables involved in determining the state
of dynamics system are called state variables.
Advantages :
1. The method takes into account the effect of all initial conditions.
2. It can be applied to non-linear as well as time varying conditions.
3. It can be conveniently applied to multiple input multiple output
systems.
4. The system can be designed for the optimal conditions precisely by
using this modern method.
5. Any type of the input can be considered for designing the system.
6. As the method involves matrix algebra, can be conveniently adopted
for the digital computers.
4. Attempt any one part of the following : (10 × 1 = 10)
a. Define stability ? State the necessary conditions for system
to be absolutely stable ?
Ans. Stability :
1. A system is stable if its response (i.e., the transfer function)
approaches zero as time approaches infinity.
2. In other words, a system is stable if every bounded input produces
a bounded output.
Necessary conditions for absolutely stable :
i. All the coefficients of characteristics equation must have same
sign.
ii. There should be no missing term.
iii. All poles of transfer function should be in left half of s-plane.
iv. The degree of denominator polynomial of transfer function is greater
or equal to that of numerator polynomial.
b. What are the limitations of Routh Hurwitz criterion ?
Ans. Limitations :
1. It is valid only if the characteristics equation is algebraic.
2. If any coefficient of the characteristics equation is complex or contain
power of e then this criterion cannot be applied.
3. It gives information about how many roots are lying in the RHS of
the s-plane but values of the roots are not available. Also it cannot
distinguish between real and complex roots.
5. Attempt any one part of the following : (10 × 1 = 10)
a. The characteristics equation of a system is given (s4 + 20s3
+15s2 + 2s + K = 0), determine the range of the K, for system
to stable.
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Ans.
Given : G(s) = s4 + 20s3 + 15s2 + 2s + K = 0
To Find : Range of K.
1. Routh array,
s4 1 15 K
s3 20 2 0
s2 149 K 0
298 – 20 K
s1 0
149
s0 K
2. For system to be stable
298 20 K
> 0 and K > 0
149
3. Range of K is0 < K < 14.9
b. Construct the RL (root locus) for a unity feedback system
K ( s + 1)
with OLTF G(s) =
s 2 (s + 9)
Ans.
K ( s 1)
Given : G(s) = , H(s) = 1
s 2 ( s 9)
To Draw : The root locus.
1. The open loop poles i.e., s = 0, s = 0, s = – 9
2. Open loop zero are at s = – 1
3. Number of poles, P = 3
Number of zeros, Z = 1
P – Z = 3 – 1 = 2 i.e., two branches of root locus terminates at
infinity.
4. Angle of asymptotes :
(2 q 1)
q = 180
PZ
where, q = 0, 1, 2, ...... upto (P – Z – 1)
(2 0 1)
0 = 180 = 90°
3–1
2 1 1
1 = 180 = 270°
3–1
5. Centroid of asymptotes :
Real parts of poles – Real parts of zeros
=
PZ
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0 9 1 8
= =–4
2 2
6. Breakaway points :
1 + G(s)H(s) = 0
K ( s 1)
1 2 1 = 0
s ( s 9)
s2(s + 9) + K(s + 1) = 0
s2 (s 9)
K=
(s 1)
2
dK (s 1)(3 s 2 18 s) s2 (s 9)(1) 2s( s 3)
= 2
= 2
=0
ds (s 1) ( s 1)
– 2s(s + 3)2 = 0
s = 0, s = – 3
7. Intersection with imaginary axis :
s3 + 9s2 + Ks + K = 0
Routh array :
s3 1 K
s2 9 K
s1 8 K / 9
s0 K
Value of K at imaginary axis,
8K
=0
9
K=0
Now, 9s2 + K = 0
9s2 = 0
s=0
K=
Im
K=0
–9 –4 –1 Re
K=
Fig. 10. Root locus.
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6. Attempt any one part of the following : (10 × 1 = 10)
a. Sketch the RL (root locus) for a unity feedback system
K (s 2 + 2s + 10)
with OLTF G(s) =
s2 + 4 s + 5
Ans.
K ( s2 2s 10)
Given : G(s) = , H(s) = 1
s2 4 s 5
To Draw : Root locus.
1. The open loops poles are at s = – 2 – j, s = – 2 + j
2. The open loop zeros are at s = – 1 – j3, s = – 1 + j3
3. Number of poles = 2
Number of zeros = 2
P – Z = 2 – 2 = 0 i.e., none of branches of root locus terminates at
infinity.
4. Angle of departure and arrival can’t be calculated because the
centroid, = .
Im
j3
j1
Re
–2
– j1
– j3
Fig. 11.
b. A unity feedback system shown in figure find the controller
gain Kc and Kd so that the closed loop poles are placed at
s = 15 ± j20.
Ans. This question is incomplete as the figure mentioned is not given.
7. Attempt any one part of the following : (10 × 1 = 10)
K ( s + 2)
a. A unity feedback system has an OLTF G(s) = .
s(s3 + 7 s2 + 42s)
Find the static error constant and ess due to an input
r(t) = t2u(t).
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Ans.
K ( s 2)
Given : G(s) = , r(t) = t2u(t)
s(s3 7 s 2 42 s)
To Find : Ka and ess.
t2
1. r(t) = t2u(t) = 2 u( t)
2
A = 2. [Coeff. of t2/2]
K ( s 2)
2. Now, G(s)H(s) =
s(s3 7 s 2 42 s)
K ( s 2)
=
s 2 ( s2 7 s 42)
3. Now, Ka = lim s 2 G( s) H(s)
s0
s2 K (s 2)
= lim
s 0 s ( s2 7 s 42)
2
2K K
=
42 21
A 2 42
4. ess =
Ka K K
21
b Sketch the polar plot for
10 e s
i. G(s) =
s+1
32
ii. G(s) = and find its points of intersection
( s + 4)( s 2 + 4 s + 8)
with the real and imaginary axes.
Ans.
10 e s
i. Given : G(s) =
s1
To Sketch : Polar plot.
1. Putting s = j
10 e j
G(j) =
j 1
2. Magnitude :
|10 e j | 10
|G(j)| =
2 1 2 1
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3. Phase angle :
G(j) = – – tan – 1
4. Here the magnitude decreases from unity monotonically and the
phase angle also decreases monotonically and indefinitely, the polar
plot of the given transfer function is spiral as shown in Fig. 12.
Im
O 1
Re
180°
– 90°
Fig. 12.
32
ii. Given : G(s) =
(s 4)(s 2 4 s 8)
To Sketch : Polar plot.
1. Putting s = j
32
G(j) =
( j 4)[ j 2 4 j 8]
32
=
( j 4)[(8 2 ) 4 j ]
32(4 j)[(8 2 ) 4 j]
=
(16 2 )[(8 2 )2 162 ]
32[4(8 2 ) 42 j{(8 w2 ) 16}]
=
(16 2 )[(8 2 ) 2 162 ]
2. Saparating into real and imaginary parts
32[4(8 2 ) 4 2 ] j32[ (8 2 ) 16]
G(j) =
(16 )[(8 ) 16 ] (16 2 )[(8 2 )2 162 ]
2 2 2 2
3. Intersection point with real axis,
(8 – 2) + 16 = 0
8 – 3 + 16 = 0
3 – 24 = 0
(2 – 24) = 0
1 = 0, – 4.899 and + 4.899
4. Intersection points on imaginary axis,
42 – 4(8 – 2) = 0
42 = 4(8 – 2)
42 = 32 – 42
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2 = 4
=±2
32
5. |G(j)| =
16 (8 2 ) 16 2
2
4
G(j) = tan 1 tan 1
4 8 2
6. The value of G(j) at = 0, and =
32
|G(j0)| = =1
48
|G(j)| = 0
G(j0) = 0°
G(j) = – 270,
Im
=+2
=+ = 4.899
Re
=–
– 4.899
=0
=–2
Fig. 13.
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B.Tech.
(SEM. V) ODD SEMESTER THEORY
EXAMINATION, 2018-19
CONTROL SYSTEM
Time : 3 Hours Max Marks : 70
Note : Attempt all sections. If any missing data is required, then choose
suitably.
SECTION-A
1. Attempt all parts of the following : (2 × 7 = 14)
a. What is Mason’s gain formula ?
b. What is an impulse response ?
c. What is steady state error ?
d. Define damping ratio.
e. Define gain crossover frequency and phase margin.
f. What is centroid in root locus ?
g. Define state variable and state space.
SECTION-B
2. Attempt any three parts of the following : (7 × 3 = 21)
a. For a unity feedback system the open loop transfer
function is given by
G(s) = K/s(s + 2)(s2 + 6s + 25)
i. Sketch the root locus.
ii. At what value of K the system become unstable.
iii. At this point of instability determine the frequency of
oscillation of the system.
b. Explain the working of servomotor with suitable diagram
and also derive the field controlled DC motor transfer
function.
c. Draw the Nyquist plot for the unity feedback system whose
open loop transfer function is
K
G(s) H(s) =
s2 (1 + sT )
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d. Determine the transfer function of the circuit given below :
G2
+ + + + +
R G1 G3 G4 C
– – –
H1 H2
H3
Fig. 1.
e. Establish the correlation between time response and
frequency response analysis and suitably explain with
diagrams.
SECTION-C
3. Attempt any one part of the following : (7 × 1 = 7)
a. Find the generalized error coefficients for a system whose
G(s) H(s) = 1/s(s + 2) and also find the expression for steady
state error for input r(t) = 2 + 3t + 2t3.
b. Sketch the polar plot for the following transfer function
G(s) = (1 + 4s)/s2 (s + 1)(2s + 1)
4. Attempt any one part of the following : (7 × 1 = 7)
a. Explain P, PI, PID controllers and also give their
advantages.
b. Derive the expressions for second order system for
underdamped case and when the input is unit step.
5. Attempt any one part of the following : (7 × 1 = 7)
a. Construct the state model of a system characterized by
the differential equation. Give the block diagram
representation of the state model.
d3 y d2 y dy
3
+ 6 2 + 11 + 6y = u
dt dt dt
b. A single input single output system is given as
0 1 0 0 1
A = 0 0 1 , B = 0 0 and C = [1 0 0]
0 2 3 1 1
Test for controllability and observability.
6. Attempt any one part of the following : (7 × 1 = 7)
a. For the given transfer function G(s) H(s) = 2/s(1 + 0.5s) (1 + 0.05s)
Determine phase crossover frequency and gain margin.
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b. The forward path transfer function of unity feedback
control system is G(s) = 100/s(s + 6.45). Find the resonance
peak Mr, resonant frequency r and bandwidth of the closed
loop system.
7. Attempt any one part of the following : (7 × 1 = 7)
a. What is the effect of adding pole to a system ? Discuss.
b. Explain the lag compensation.
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SOLUTION OF PAPER (2018-19)
Note : Attempt all sections. If any missing data is required, then choose
suitably.
SECTION-A
1. Attempt all parts of the following : (2 × 7 = 14)
a. What is Mason’s gain formula ?
Ans. The overall gain can be determined by Mason’s gain formula given
below :
k
Pk k
T=
k 1
where, Pk = The forward path gain
= The graph determinant which involves closed-
loop gain and mutual interactions between
non-touching loops.
k = The path factor associated with the concerned
path and involves all closed loops in the graph
which are isolated from the forward path
under consideration.
b. What is an impulse response ?
Ans. Impulse response is the response of system when we provide
impulse signal as input.
c. What is steady state error ?
Ans. It indicates the error between the actual output and desired output
as t tends to infinity i.e.
ess = lim [ r(t) c(t)]
t
It is denoted by ess.
d. Define damping ratio.
Ans. Damping ratio indicates the amount of damping present in system
and denoted by .
e. Define gain crossover frequency and phase margin.
Ans.
1. Gain crossover frequency : Gain crossover frequency is the
frequency at which magnitude of open loop transfer function is
unity.
2. Phase margin : It is the reciprocal of magnitude |G(j)| at the
frequency at which the phase angle is – 180°.
Gain Margin (GM),
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1
Kg =
|G( j c )|
where, c = Phase cross-over frequency.
f. What is centroid in root locus ?
Ans. Centroid : All asymptotes intersect the real axis at a common
point known as centroid.
Real part of open loop poles Real part of open loopzeros
=
PZ
where, P = Number of open loop poles
Z = Number of open loop zeros.
Breakaway point : Breakaway point is defined as the point at
which root locus comes out of the real axis.
g. Define state variable and state space.
Ans. State Variables : A set of at least n variables x1(t), x2(t) ... xn(t),
are needed to completely describe how a system will behave in
future, along with initial state and input excitation. These minimal
set of variables which can determine the state of a system are
known as state variables.
State space : The n-dimensional space whose coordinate axes
consists of the x1 axis, x2 axis ..., xn axis is called state space. Any
state can be represented by a point in the state space.
SECTION-B
2. Attempt any three parts of the following : (7 × 3 = 21)
a. For a unity feedback system the open loop transfer
function is given by
G(s) = K/s(s + 2)(s2 + 6s + 25)
i. Sketch the root locus.
ii. At what value of K the system become unstable.
iii. At this point of instability determine the frequency of
oscillation of the system.
Ans.
K
Given : G(s) =
s( s 2)( s 2 6 s 25)
To Draw : Root locus.
1. Poles i.e., s = 0, s = – 2, s = – 3 + 4i,
s = – 3 – 4i
2. There is no open loop zero.
3. Number of poles, P = 4
Number of zeros, Z = 0
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P – Z = 4 – 0 = 4 i.e., four branches of root locus terminates at
infinity.
4. Angle of asymptotes :
(2 q 1)
q = 180
PZ
where, q = 0, 1, 2, ...... upto (P – Z – 1)
201
0 = 180 = 45°
4 0
2 11
1 = 180 = 135°
40
221
2 = 180 = 225°
4 0
231
3 = 180 = 315°
40
5. Centroid of asymptotes :
Real parts of poles – Real parts of zeros
=
PZ
(0 2 3 4 i 3 4i) 0 8
= =–2
4 0 4
6. Breakaway points : The characteristic equation is
1 + G(s) H(s) = 0
s(s + 2) (s2 + 6s + 25) + K = 0
s4 + 8s3 + 37s2 + 50s + K = 0
dK
= 4s3 + 24s2 + 74s + 50
ds
Therefore 3 breakaway points are obtained
s = – 0.9 on real axis and
s = – 2.55 j 2.72
7. Intersection points with imaginary axis :
The characteristic equation is
s4 + 8s3 + 37s2 + 50s + K = 0
Routh array :
s4 1 37 K
s3 8 50 0
s2 30.75 K 0
8K
s1 50 0
30.75
s0 K
Value of K at imaginary axis :
8K
50 = 0 K = 192.2
30.75
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8. Solving auxiliary equation formed from the s2 terms in Routh array,
30.75 s2 + K = 0
30.75 s2 + 192.2 = 0
s = j 2.5
So, = 2.5 rad/sec
9. Angle of departure from complex pole :
d = 180° – (P – Z)
4
P1 = 180° – tan–1 = 126.87°
3
1
P2 = 180° – tan–1 = 135°
1
P3 = 90°
(–4 + j3) = 180° – (126.87° + 135° + 90°)
= – 171.87
Root locus :
K= d = –171.87° j
K=0
4
(– 3 + j4)
K=
2 = 105° ( = – 2.5, K = 192.2)
4
4 1 = 127°
–3 – 0.9 0 K=0
–2
(Centroid, ( = – 2.5, K = 192.2)
K = 0)
(Breakaway
point,)
3 = 90°
K=
K=0
4
d = 171.87°
K=
Fig. 1.
b. Explain the working of servomotor with suitable diagram
and also derive the field controlled DC motor transfer
function.
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Ans.
1. Servomotor :
1. Fig. 2 shows the schematic diagram of a 2 AC servomotor.
2. The stator has two distributed windings which are displaced from
each other by 90 electrical degrees.
3. One winding is called the reference or fixed phase and other winding
is called control phase.
Working principle :
1. Reference phase is supplied from a constant voltage source
Vr 0°. The other winding i.e., control phase is supplied with a
variable voltage of the same frequency as the reference phase but
its phase is displaced by 90° (electrically).
2. The control phase is usually supplied from a servo amplifier.
3. The speed and torque of the rotor are controlled by the phase
difference between the control voltage and the reference phase
voltages.
4. The direction of rotation of the rotor can be reversed by reversing
the phase difference from leading to lagging between the control
phase voltage and the reference phase voltage.
Control winding Vc Amplifier From controller
Reference winding
Vr
Squirrel-cage rotor Fixed AC voltage
Fig. 2.
2. Field controlled DC motor (DC Servomotor) transfer
function :
1. A schematic diagram of a field controlled DC motor (DC servo
motor) shown in Fig. 3.
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Rf Ra
ia = Constant
ef if Lf J ea
T
B
Fig. 3.
2. Here, Rf = Field winding resistance
Lf = Field winding inductance
If = Field winding current
Ra = Armature resistance
ia = Armature current
= Angular displacement.
3. The torque T developed by the motor is proportional to product of
the air-gap flux and armature current ia so we get
T = K1 i a ...(1)
where K1 is constant.
4. But the air gap flux and the field current if are proportional for the
usual operating range of the motor and ia is assumed to be constant,
we can rewrite the above equation as
T = K2 i f ...(2)
where K2 is a constant.
5. The equations for this system are
dif
Lf R f if = ef ...(3)
dt
Jd 2 Bd
and = T = K2 i f ...(4)
dt 2 dt
6. By taking the Laplace transform on both sides of eq. (3) and (4)
where all initial conditions are zero, we get
(Lfs + Rf) if(s) = Ef(s) ...(5)
2
(Js + Bs) (s) = K2if(s) ...(6)
7. From the above equations, the transfer function of this system is
obtained as
(s) K2
= ...(7)
E f (s ) s( Lf s Rf )( Js B)
8. Block diagram is shown in Fig. 4.
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1 If(s) K2
Ef(s) (s)
L fs + R f s(Js + B)
Fig. 4.
c. Draw the Nyquist plot for the unity feedback system whose
open loop transfer function is
K
G(s) H(s) =
s2 (1 + sT )
Ans.
1. Putting s = j
K
G(j) H(j) =
( j)2 (1 jT )
K
2. |G(j) H(j)| =
2 1 2T 2
3. G(j) H(j) = – 180° – tan–1 T
4. At = 0, G(0)H(0) = – 180°
At = , G()H() = 0 – 270° = 0 90°
Imj
=0 =
( –1,0) 0 Re
Fig. 5.
d. Determine the transfer function of the circuit given below :
G2
+ + + + +
R G1 G3 G4 C
– – –
H1 H2
H3
Fig. 6.
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Ans. Step 1 :
G 2/G 1
+
G1 + + a C
G3 G4
R 1 + G 1H 1 – – +
H2
H3
Step 2 : Shift summing point a before G3.
G2/G1
+
G1 + + a C
R G3 G4
1 + G 1H 1 – –
H 3/G 3
H2
Step 3 : Interchange summing points.
G2/G 1
+
G1 + G 3 G4
R C
1 + G1H1 – 1 + G 3H 2 +
H3/G4
Step 4 : Shift summing point before block.
G2(1 + G3H2)
G 1G 3G 4
+ +
G1 + G 3G 4
C
1 + G 1H 1 – 1 + G 3H 2
H 3/G 4
Step 5 : Interchange summing points.
G1 G 2(1 + G 3H2)+ 1 G 3G 4
R C
1 + G 1H 1 G 1G3 G4 1 + G 3H 2
G1 G3 G4 + G2 + G2 G3 H2
R C
1 + G 1H 1 + G 3 H2 + G 4 H 3 + G1 G3 H1 H2 + G1 G4 H 1 H 3
e. Establish the correlation between time response and
frequency response analysis and suitably explain with
diagrams.
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Ans. Correlation :
1. For 2nd order system, the transfer function is,
C ( s) 2n
= 2
R( s) s 2 n s 2n
where, = Damping factor
n = Natural frequency of oscillations
+ n2
R(s) C(s)
2
– s + 2 ns
Fig. 7.
2. Closed loop frequency response is,
C( j) 2n
= T(j) =
R( j) ( j) 2 n ( j) n2
2
2n 1
= = 2
2 2 n ( j ) 2n
1 2 j
n n
1
= ...(1)
(1 u2 ) j 2u
where u = /n, normalized driving frequency.
1
|T(j)| = M = ...(2)
(1 u2 )2 (2u)2
2u
and T(j) = = tan 1 ...(3)
1 u2
3. The steady state output is
1 2u
c(t) = sin t tan 1
(1 u ) (2u) 2 2 1 u2
2
From eq. (2) and (3) when
u = 0, M = 1 and = 0
1
u = 1, M = and = –
2 2
u = , M = 0 and =–
4. The frequency where M has a peak value is called the resonant
frequency. At this frequency the slope of magnitude curve is zero.
If r = Resonant frequency.
ur = r/n is normalized resonant frequency.
2 2
dM 1 4(1 ur )ur 8 ur
= 0
du u ur 2 (1 u2 ) 2 (2u )2 3/ 2
r r
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– 4(1 – ur2) ur + 82ur = 0
– 4ur(1 – ur2 – 22) = 0
ur = 1 2 2
r = n 1 2 2 ...(4)
1
Mr = ...(5)
2 1 2
5. The phase angle of T(j) at resonant frequency is
1 2 2
r = tan 1
M( = 1 < 0.707)
1.0
Magnitude
M
Mr
M( = 0.707)
0
ur = r / n
Normalized frequency, u
Fig. 8. Frequency response magnitude characteristics.
0°
( = 1)
– 90°
Phase
angle
– 180°
0 1.0
Normalized frequency u
Fig. 9. Frequency response phase characteristic.
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SECTION-C
3. Attempt any one part of the following : (7 × 1 = 7)
a. Find the generalized error coefficients for a system whose
G(s) H(s) = 1/s(s + 2) and also find the expression for steady
state error for input r(t) = 2 + 3t + 2t3.
Ans.
1. r(t) = 2 + 3t + 2t3; r(t) = 3 + 6t2 ;
r(t) = 12t ; r(t) = 12 ; r(t) = 0.
The coefficients C0, C1, C2 and C3 need to be determined.
E ( s) 1 1 s2 2 s s2 2s
2. = 2
R( s) 1 G( s) 1 s 2s 1 ( s 1)2
1
s( s 2)
s2 2s s2 2s
3. E(s) = 2
R( s) Fe ( s)
(s 1) ( s 1)2
s2 2 s
4. C0 = lim Fe ( s) lim =0
s0 s 0 ( s 1)2
dFe ( s) d s 2 2s
5. C1 = lim lim
s0 ds s 0 ds (s 1)2
( s 1)2 (2s 2) ( s2 2s) (2) (s 1)(1) 2
= lim = lim =2
s0 ( s 1) 4 s 0 (s 1)3
6. C2 = lim
s0
d 2 Fe (s)
ds 2
lim
s 0 ds
d dFe ( s)
ds
lim
d 2
s 0 ds ( s 1)3
3 2
( s 1) (0) 2(3) (s 1) (1) 6
= lim = lim =–6
s0 (s 1)6 s0 (s 1)4
d 3 Fe (s) d d 2 Fe ( s) d 6
7. C3 = lim lim = lim
s 0 ds
4
s0 ds 3 s 0 ds ds 2 ( s 1)
( s 1)4 (0) 6 4(s 1)3 (1) 24
= lim = lim 5 = 24
s0
( s 1)8 s 0 (s 1)
b. Sketch the polar plot for the following transfer function
G(s) = (1 + 4s)/s2 (s + 1)(2s + 1)
Ans.
1 j 4
1. Putting s = j, G(j) =
( j)2 ( j 1) ( j 2 1)
1 16 2
2. M=
2 1 2 1 4 2
3. = tan– 1 4 – 180° – tan– 1 – tan– 1 2
4. The angle for different values of is tabulated in Table 1 :
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Table 1.
tan– 1 4 – 180° – tan– 1 – tan– 1 2
0 0 – 180° 0 0 – 180°
90° – 180° – 90° – 90° – 270°
5. The value of M, when = , M = 0, when = 0, M =
6. Polar plotis shown in Fig. 10.
Imj
X =
O Re
=0
= 0.35
rad/sec
Fig. 10.
7. Polar plot makes an intercept on the negative real axis at point X.
The intercept OX is calculate as given below :
1 4 j
G(j) H(j) =
( j)2 (1 j)(1 2 j)
Separating into real and imaginary parts
1 10 2 j( 83 )
G(j) H(j) = 2 2 2 2
2 2 2 2
[(1 2 ) 9 ] [(1 2 ) 9 ]
Equating imaginary part to zero
( – 83) = 0
83 = 1
= 0.35 rad/sec
i.e., At = 0.35 rad/sec,
plot crosses negative real axis.
4. Attempt any one part of the following : (7 × 1 = 7)
a. Explain P, PI, PID controllers and also give their
advantages.
Ans.
1. P controller :
1. In proportional control the actuating signal for the control action in
a control system is proportional to the error signal.
2. The error signal being the difference between the reference input
signal and the feedback signal obtained from the output.
3. For the system considered as shown in Fig. 11, the actuating signal
is proportional to the error signal, therefore, the system is called
proportional control system.
4. Consider a second order system where controller input is error
itself and proportional constant is K = 1 as shown in Fig. 11.
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Error signal Actuating
R(s) E(s) signal 2n C(s)
1 Output
Input s(s + 2 n)
–
H(s)
Fig. 11.
2n
G(s)H(s) =
s( s 2 n )
C ( s) 2n
= 2
R( s) s 2 n s 2n
For this system damping ratio is and natural frequency n.
5. And for steady state error
Kp = lim G( s) H ( s)
s0
n
and Kv = lim s G(s) H (s)
s 0 2
Advantages :
1. Steady state error is reduced.
2. Disturbance signal rejection occurs.
3. Relative stability is improved.
2. Proportional integral controller (PI) :
1. A controller in the forward path, which changes the controller
output corresponding to the proportional plus integral of the error
signal is called PI controller.
2. Output of controller = K e(t) + Ki e(t) dt
Ki K
Taking Laplace = K E( s) E( s) E( s) K i
s s
+ n2
R(s) K C(s)
+ s (s + 2 n)
–
Ki/s
Fig. 12.
3. Assume, K = 1, we can write,
Ki 2
1 s n ( K s) n2
G(s) = 2 i
s (s 2 n ) s (s 2 n )
i.e., system becomes TYPE 2 in nature.
C ( s) ( K i s) n2
= 3
R( s) s 2 n s2 s 2n K i n2
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i.e., it becomes third order.
4. Now as order increases by one, system relatively becomes less
stable as Ki must be designed in such a way that system will remain
in stable condition. Second order system is always stable.
while Kp = lim G( s) H ( s) , ess = 0
s0
Kv = lim s G( s) H (s) , ess 0
s0
5. Hence as type is increased by one, error becomes zero for ramp
type of input i.e., steady state of system gets improved and system
becomes more accurate in nature.
Advantages :
i. It increases order of the system.
ii. It increases TYPE of the system.
iii. Design of Ki must be proper to maintain stability of system.
vi. Steady state error reduces tremendously for same type of inputs.
3. PID controller :
1. It is a close loop system which has feedback control system and it
compares the process variable (feedback variable) with set point
and generates an error signal and according to that it adjusts the
output of system.
2. It is the combination of proportional, integral and derivative
controller.
3. A PD (Proportional derivative) type of controller improves transient
part without affecting the steady state part.
4. While PI (Proportional integral) type of controller improves steady
state part without affecting the transient part.
5. In PID, both PI and PD effects are incorporated. Hence both
transient as well as steady state part of the response can be
improved.
6. This can be realized as shown in the Fig. 13.
sT d
+
+ Plant and
R(s) K C(s)
controller
– +
Ki/s
Fig. 13.
7. The output of PID controller is time domain is,
de(t)
Controller output = Ke(t) K i e(t) dt Td
dt
8. Taking the Laplace transform, controller output in s-domain is,
K
Controller output = E(s) K i s Td
s
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Advantages :
1. Flexible and reliable.
2. Improves stability.
b. Derive the expressions for second order system for
underdamped case and when the input is unit step.
Ans.
1. Consider the second order system with unity feedback.
R(s) + 2n
s(s + 2 n) C(s)
–
Fig. 14.
The closed loop transfer function is
C ( s) 2n / s( s 2 n )
=
R( s) 1 2n / s( s 2 n )
where, = Damping factor or Damping ratio
C ( s) 2n
= 2
R( s) ( s 2 n s 2n )
2n
Then output, C (s) = R s ...(1)
s 2 n s n2
2
2. For unit step input
r (t) = 1
1
R (s) =
s
1 2n
Then C (s) = ...(2)
s s 2n s 2n
2
3. In eq. (2) putting [s2 + 2ns + 2n ] = [( s n )2 n2 (1 2 )] and
breaking it into partial fraction
1 s 2 n
C (s) = ...(3)
s [( s n )2 2n (1 2 )]
Put d = n 1 2
1 s 2 n
C (s) = ...(4)
s (s n )2 d2
4. Rewrite eq. (4)
1 s n n d
C(s) = ...(5)
s (s n )2 d2 d (s n )2 2d
5. Taking inverse Laplace transform of eq. (5),
t n nt
c(t) = 1 e n cos d t e sin d t
d
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Put d = n 1 2
ent
c(t) = 1 [( 1 2 )cos d t sin d t ] ...(6)
1 2
6. Put sin = 1 2 ,
cos =
e n t
c(t) = 1 (sin cos d t cos sin d t)
1 2
e n t
c(t) = 1 sin( d t ) ...(7)
1 2
where d = n 1 2
1 2
and = tan 1
7. Eq. (7) is rewritten as
1 2
e n t
c(t) = 1 sin ( n 1 2 )t tan 1 ...(8)
1 2
8. The term n is called natural frequency of oscillations. Term
d = n 1 2 is called damped frequency of oscillations and the
term is called damping ratio or damping factor .
a. Underdamped case (0 < < 1) : From eq. (8), time constant is
1/n and the response having damped oscillations with overshoot
and undershoot is known as underdamped response.
c(t)
<1
t
Fig. 15. Underdamped oscillations.
5. Attempt any one part of the following : (7 × 1 = 7)
a. Construct the state model of a system characterized by
the differential equation. Give the block diagram
representation of the state model.
d3 y d2 y dy
3
+ 6 2 + 11 + 6y = u
dt dt dt
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Ans.
d3 y d2 y dy
1. 3
+ 6 2 + 11 + 6y = u
dt dt dt
2. Taking Laplace on both sides : Y(s)(s3 + 6s2 + 11s + 6) = U(s)
Y(s)/U(s) = 1/s3 + 6s2 + 11s + 6
. . .
x3 x2 = x3 x1 = x2
+ + + x1
u y
+ + + 1
–6
– 11
–6
Fig. 16.
3. Choosing state variable : x1 = x2, x 2 = x3
x 3 = – 6x1 – 11x2 – 6x3 + u and y = x1
x1 0 1 0 x1 0
4. State model, x 2 = 0 0 1 x2 0 u
x 3 6 11 6 x 1
3
x1
y = [1 0 0] x2
x3
b. A single input single output system is given as
0 1 0 0 1
A = 0 0 1 , B = 0 0 and C = [1 0 0]
0 2 3 1 1
Test for controllability and observability.
Ans.
0 1 0 0 1
Given : A = 0 0 1 , B = 0 0 and C = [1 0 0]
0 2 3 1 1
To Test : Controllability and Observability.
A. Controllability test :
0 1 0 0 1 0 0
1. AB = 0 0 1 0 0 1 1
0 2 3 1 1 3 3
0 1 0 0 0 1 1
A2B = 0 0 1 1 1 3 3
0 2 3 3 3 11 11
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2. Controllability test matrix is given by
Qc = [B : AB : A2B]
0 1 0 0 1 1
Qc = 0 0 1 1 3 3
1 1 3 3 11 11
0 1 0
3. Consider 0 0 1 = 1 0 ; |Qc| 0
1 1 3
Hence rank of Qc is equal to its order i.e., 3. Therefore the system
is controllable.
B. Observability test :
1
1. C = [1 0 0] ; C = 0
T
0
0 1 0 0 0 0
A = 0 0 1 ; AT = 1 0 2
0 2 3 0 1 3
0 0 0 1 0
1 0 2 0 1
AT CT =
0 1 3 0 0
0 0 0 0 0
T 2 T T T T
(A ) C = (A ) (A C ) = 1 0 2 1 0
0 1 3 0 1
2. Observability test matrix is given by
1 0 0
Qo = [CT : AT CT : (AT)2 CT] = 0 1 0
0 0 1
|Qo| = 1 0
Hence its rank is 3 equal to its order i.e., 3, therefore system is
completely observable.
6. Attempt any one part of the following : (7 × 1 = 7)
a. For the given transfer function G(s) H(s) = 2/s(1 + 0.5s) (1 + 0.05s)
Determine phase crossover frequency and gain margin.
Ans.
2
Given : G(s) =
s(1 0.5s) (1 0.05 s)
To Draw : Bode plot.
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1. Magnitude plot :
2 2
G(s) = =
s(1 0.5s) (1 0.05 s) s s
s 1 1
2 20
First corner frequency (pole) (1) = 2 rad/s
Second corner frequency (pole) (2) = 20 rad/s
2. Phase plot :
2
G(s) =
s s
s 1 1
2 20
Put s = j
2
G(j) =
j(1 0.5 j) (1 0.05 j)
= – 90° – tan – 1 0.5 – tan – 1 0.05
Magnitude plot :
Table 1.
S. No. Factor Corner Asymptotic log
frequency magnitude
characteristics
Straight line of constant
1. 1/s None slope (– 20 dB/dec) passing
through at = 1
Straight line of constant
2. 1/(1 + 0.5s) 1 = 2 slope (– 20 dB/dec)
originating from 1 = 2
Straight line of constant
3. 1/(1 + 0.05s) 2 = 20 slope (– 20 dB/dec)
originating from 2 = 20
Straight line of constant
4. 2 None slope of 0 dB/dec starting
from 20 log 2 = 16 dB point
Phase plot :
Table 2.
S. No. (rad/sec) (degrees)
1. 0 – 90°
2. 0.2 – 96.28°
3. 1 – 119.42°
4. 2 – 140.71°
5. 5 – 172.23°
6. 10 – 195.25°
7. 15 – 209.27°
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Bode plot :
1 2 3 4 5 6 7 8 9 10 2 3 4 5 6 7 8 9 102
100
80
– 60 dB/dec
60
– 40 dB/dec
40
20
GM =22 dB
– 20 dB/dec
in deg
–80°
–100°
–120°
–140°
–160°
–180°
pc = 6.35 rad/sec
–200°
–220°
–240°
0.1 2 3 4 5 6 7 8 9 10 2 3 4 5 6 7 8 9 102
Fig. 17.
Results from bode plot :
Phase crossover frequency (p) = 6.35 rad/sec
Gain margin = 22 dB
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b. The forward path transfer function of unity feedback
control system is G(s) = 100/s(s + 6.45). Find the resonance
peak Mr, resonant frequency r and bandwidth of the closed
loop system.
Ans.
100
1. G(s) = and H(s) = 1
s(s 6.45)
C ( s) G(s) 100 / (s(s 6.45))
2. =
R( s) 1 G(s) H (s) 1 100 / (s(s 6.45))
100
= ...(1)
s2 6.45s 100
n2
3. Compare eq. (1) with
s 2 n s n 2
2
so, n = 100 = 10 rad/sec
2 n = 6.45 = 0.32
4. Resonant frequency, r = n 1 2 = 9.4 rad/sec
1 1
5. Resonant peak, Mr = = 1.65
2
2 1 2 0.32 1 0.322
6. Bandwidth, b = n 1 2 2 (2 4 2 4 4 )1/ 2 = 14.39 rad/sec
7. Attempt any one part of the following : (7 × 1 = 7)
a. What is the effect of adding pole to a system ? Discuss.
Ans.
1. Adding a pole at s = – 1/T to the forward-path transfer function of
lead to
2n
G(s) =
s(s 2n ) (1 Ts)
2. We can obtain a qualitative indication on the bandwidth properties
by referring to Fig. 19, which shows the plots of |M(j)| versus
for n = 1, = 0.707, and various values of T. Since the system is
now of the third order, it can be unstable for a certain set of system
parameters.
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|M(j )|
1
T=5 G(s) =
s(s + 1.414)(1 + Ts)
T=1
T = 0.5
1.0
T=0
(rad/sec)
Fig. 18. Magnification curves for a third-order system with a
forward-path transfer function G(s).
3. The effect of adding a pole to the forward-path transfer function is
to make the closed-loop system less stable, while decreasing the
bandwidth.
4. The unit-step responses of Fig. 19 show that for larger values of T,
T = 1 and T = 5, the following relations are observed :
i. The rise time increases with the decrease of the bandwidth,
ii. The larger values of Mr also correspond to a larger maximum
overshoot in the unit-step responses.
y(t)
T=5
T=1
T = 0.5
1
G(s) =
s(s + 1.414)(1 + Ts)
Time (sec)
Fig. 19. Unit-step responses of a third-order system with a
forward-path transfer function G(s).
b. Explain the lag compensation.
Ans.
A. Lag compensator :
1.
R1
R2
ei eo
C
Fig. 20. Phase-lag network.
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The transfer function of phase-lag network is shown in Fig. 21,
Eo (s) 1 sT
= ...(1)
Ei (s) 1 sT
R1 R2
where > 1, =
R2
and T = R2 C
2. The transfer function given by eq. (1) can be expressed in sinusoidal
form as
Eo ( j) 1 jT
= ...(2)
Ei ( j) 1 jT
3. Bode plot for transfer function of eq. (2) is shown in Fig. 21.
– 20 dB/decade
0 dB
0º
– 45º m
– 90º
log
1 m 1
T T
Fig. 21. Bode plot of lag compensator.
1
4. The two corner frequencies are = , upper corner frequency
T
1 1
for zero at s = – ,= , lower corner frequency for a pole at
T T
1
s=–
T
5. The maximum phase-lag, m occurs at mid frequency m between
upper and lower corner frequencies.
1 1 1
log10 m = log log 10
2 T T
1
m =
T
6. The phase angle Eo(j)/Ei(j) calculated as
Eo ( j)
= tan–1 (T) – tan–1 (T)
Ei ( j)
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1
At = m = , the phase angle is m :
T
1
tan m =
2
1
sin m =
1
Pole-zero configuration is shown in Fig. 22.
Im
Re
1 1
– –
T T
s-plane
Fig. 22 Pole zero configuration.
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B.Tech.
(SEM. V) ODD SEMESTER THEORY
EXAMINATION, 2019-20
CONTROL SYSTEM
Time : 3 Hours Max Marks : 70
Note : Attempt all sections. If any missing data is required, then choose
suitably.
SECTION-A
1. Attempt all parts of the following : (2 × 7 = 14)
a. The impulse response of unity feedback control system is
C(t) = te – t + 2be – t, find transfer function.
b. Give example of type zero, type one and type two systems.
c. What is damping constant give its relation with time
constant ?
d. What is centroid of asymptotes and how the centroid is
calculated ?
e. Sketch polar plot of G(s) = 1/ (1 + S)
f. Explain gain crossover frequency margin, phase crossover
frequency.
g. Enlist the properties of state transition matrix.
SECTION-B
2. Attempt any three parts of the following : (7 × 3 = 21)
a. State and explain Masson’s gain formula. For the system
shown in the Fig. 1 find the overall transfer function of
system using block diagram reduction.
G3
R(s)+
G1 G2 G4
C(s)
H1
H2
Fig. 1.
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b. The close loop transfer function is given by
T(s) = k (s + z)/ s2 + 4s + 8, where k, z is adjustable.
i. If r(t) = t finds k and z so that steady error is zero.
ii. for the value of k, z obtain in part (i) find e() for input
r(t) = t2/2
c. Explain stability on basis of location of poles and zeros.
For a unity feedback system G(s) = k/ s(s + 1) (1 + 2s) (1 + 3s).
Determine range of k for stability, value of k for frequency
of sustain oscillation.
d. Sketch Nyquist plot for G(s) H(s) = 6 / s2 (s + 2) comment on
stability.
e. Explain the term : State, State Space, State Vector. A SISO
system has transfer function
Y (s) 1
G(s) =
U (s) s3 7 s2 14 s 8
write down the state equation and stage diagram.
SECTION-C
3. Attempt any one part of the following : (7 × 1 = 7)
a. Explain the effect of sensitivity on feedback system,
Determine sensitivity of negative close loop system where
G(s) = 20/ s(s + 4), H(s) = 0.5 wrt forward path transfer
function, feedback path transfer function.
b. Derive block diagram of armature controlled and field
controlled DC motor with proper labeling of circuit
diagram.
4. Attempt any one part of the following : (7 × 1 = 7)
a. Explain steady state error due to step input for type 0, 1
and 2 s ystems . Find steady s tage error for
– G(s) = 10 (1 + 4s)/s2 (1 + s), H(s) = 1, input r(t) = 1 + t + t2/2.
b. i. Draw the root locus of characteristics equation for second
order system as damping ratio varies from – to +
keeping Wn constant.
ii. Explain the effect of adding poles and zero to transfer
function.
5. Attempt any one part of the following : (7 × 1 = 7)
a. A unity feedback system has an open loop transfer
function.
Draw the root locus for the system.
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G(s) H(s) = k (s + 2)/(s + 3) (s2 + 2s + 2)
b. What is the necessary condition for stability ? Explain
limitation of Routh’s stability method, construct Routh
array and determine the stability of the system whose
characteristics equation, s5 + 2s4 + s3 + 2s2 + s + 4 = 0
6. Attempt any one part of the following : (7 × 1 = 7)
a. Draw Bode Plot of unity feedback control system having
10
OLTF G(s) = .
s(1 0.2s) (1 0.2s)
Determine GM, PM, gain cross over frequency, phase cross
over frequency and discuss stability of closed loop system.
b. Explain the strengths of frequency response approach,
establish correlation between frequency domain response
and time domain response.
7. Attempt any one part of the following : (7 × 1 = 7)
a. What is lag compensator ? What are the characteristics of
lag compensation ? Explain the frequency response of lag
compensator.
b. The state equations are given below, check controllability
and observability of a system.
x 1 = x2 – x3 + 3r
x 2 = x1 + x2 + x3 – 2r
x 3 = x1 + x2 + r
y = x1
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SOLUTION OF PAPER (2019-20)
Note : Attempt all sections. If any missing data is required, then choose
suitably.
SECTION-A
1. Attempt all parts of the following : (2 × 7 = 14)
a. The impulse response of unity feedback control system is
C(t) = te – t + 2be – t, find transfer function.
Ans. Numerical :
Given : r(t) = (t) , c(t) = te– t + 2be– t
To Find : Transfer function.
1. Laplace transform gives
R(s) = 1
c(t) = t e– t + 2b e– t
2. Laplace transform of c(t) gives
1 2b
C(s) =
(s 1)2 (s 1)
1 2b (s 1) (2bs 2b 1)
C(s) = ...(1)
(s 1)2 (s 1)2
3. For unity feedback control system
C ( s) G (s )
=
R( s) 1 G (s )
G (s )
C(s) = R(s) ...(2)
1 G (s )
4. Putting value of C(s) and R(s) in eq. (2)
(2 bs 2b 1)
(1 + G(s)) = G(s)
( s 1)2
(2 bs 2b 1) (2 bs 2b + 1)
= G( s) 1
( s 1)2 (s 1) 2
s2 1 2 s 2bs 2b 1
= G( s)
( s 1)2
2bs 2b 1
5. Transfer function =
s2 2s 2bs 2b
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b. Give example of type zero, type one and type two systems.
Ans. Type zero system :
k(s z1 ) (s z2 )
G(s) H(s) =
s0 (s p1 ) (s p2 )
Type one system :
k(s z1 ) (s z2 )
G(s) H(s) =
s1 (s p1 ) (s p2 )
Type two system :
k(s z1 ) (s z2 )
G(s) H(s) =
s2 (s p1 ) (s p2 )
c. What is damping constant give its relation with time
constant ?
Ans. The damping constant is a measure of a system’s settling time.
Relation with time constant : The damping constant is an inverse
of time constant.
d. What is centroid of asymptotes and how the centroid is
calculated ?
Ans. Centroid : All asymptotes intersect the real axis at a common
point known as centroid.
Real part of open loop poles Real part of open loopzeros
=
PZ
where, P = Number of open loop poles
Z = Number of open loop zeros.
e. Sketch polar plot of G(s) = 1/ (1 + S)
Ans.
1. The frequency domain transfer function is,
1 1 j0
G(j)H(j) =
1 j 1 j
1
|G(j)H(j)| = M
1 2 2
0
tan 1
1 0
G( j) H( j) = = – tan–1 ()
1 (tan 1 )
tan
1
2. For various values of , the value of M and are :
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Magnitude (M) Phase angle ()
0 1 0°
0 – 90°
4. The corresponding polar plot is shown in Fig. 1.
Imj
0
1
Real 0°
– 90°
Fig. 1.
f. Explain gain crossover frequency margin, phase crossover
frequency.
Ans.
a. Gain crossover frequency : It is the reciprocal of magnitude
|G(j)| at the frequency at which the phase angle is – 180°.
Gain Margin (GM),
1
Kg =
|G( j c )|
where, c = Phase cross-over frequency.
b. Phase crossover frequency : The phase margin is that amount
of the additional phase lag at the gain crossover frequency required
to bring the system to the verge of instability.
Phase margin is equal to 180° plus the angle of G(j) at the gain
crossover point.
m = 180° +
g. Enlist the properties of state transition matrix.
Ans.
1. (0) = 1
2. –1(t) = (– t)
3. [(t)]k = (kt)
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SECTION-B
2. Attempt any three parts of the following : (7 × 3 = 21)
a. State and explain Masson’s gain formula. For the system
shown in the Fig. 2 find the overall transfer function of
system using block diagram reduction.
G3
R(s)+
G1 G2 G4
C(s)
H1
H2
Fig. 2.
Ans.
i. Masson’s gain formula :
1. The overall gain can be determined by Mason’s gain formula given
below
k
Pk k
T=
k1
where, Pk = Forward path gain of kth path from a specified
input node to an output node.
= Determinant which involves closed-loop gain
and mutual interactions between non-touching
loops.
= 1 – [Sum of all individual loop gain]
+ [Sum of loop gain products of all possible pair
of non-touching loops]
– [Sum of loop gain products of all possible
triplets of non-touching loops]
+ [..........] – [...........]
k = Path factor associated with the concerned path
and involves all closed loops in the graph which
are isolated from the forward path under
consideration.
2. The path factor k for the kth path is equal to the value of the graph
determinant of a signal flow graph which exists after erasing the
kth path from the graph.
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ii. Numerical :
G3
+ G4
R(s) C(s)
G1 G2
– – 1 + G4H 1
H2
Fig. 3.
G3
G2
R(s) + G4 C(s)
G1 G2
1 + G4H 1
– –
H2
Fig. 4.
G3
G2
R(s) + G4 C(s)
G1G2 1
1 + G4H 1
– –
H2
Fig. 5.
After simplication
G1 + G 2
R(s) G1G2 G G4 C(s)
1+ 3 G2
1 + G1G2H2 G2 1 + G4H 1
–
Fig. 6.
R(s) G1G2 G2 + G3 G4 C(s)
1 + G1G2H2 G2 1 + G4H 1
–
Fig. 7.
R(s) G1G4(G2 + G 3) C(s)
(1 + G1G2H2) (1 + G 4 H 1)
–
Fig. 8.
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G1G4(G2 + G3)
R(s) (1 + G1G2H2)(1 + G 4H1) C(s)
G1G4(G2 + G3)
1+
(1 + G1G2H2)(1 + G4H1)
Fig. 9.
C (s ) G1G4 (G2 G3 )
=
R( s) 1 G1G2 H2 G4 H1 G1G2G4 H1 H2 G1 G4 (G2 G3 )
b. The close loop transfer function is given by
T(s) = k (s + z)/ s2 + 4s + 8, Where k, z is adjustable.
i. If r(t) = t finds k and z so that steady error is zero.
ii. for the value of k, z obtain in part (i) find e() for input
r(t) = t2/2
Ans.
i.
C ( s) k( s z)
1. Given, = 2
R( s) s 4s 8
and, ess = 0
2. We know ess = lim sE(s)
s0
0 = lim sE(s)
s0
but E(s) = R(s) – C(s)
then 0 = lim s [R(s) – C(s)]
s0
or R(s) = C(s)
k( s z)
R(s) =
s2 4s 8
s2 + 4s + 8 = k(s + z)
3. Compare the coefficients of s in the both sides.
s1 coefficient 4 = k
s0 coefficient 8 = kz
or, z=2
ii.
1. Given, r(t) = t2/2
1
2. Taking Laplace transform, R(s) = –
s3
3. We know ess = lim sE(s)
s0
k( s z)
E(s) = R(s) – C(s) = R(s) – R(s)
(s 2 4 s 8)
4. Putting the value of k and z then we get,
4( s 2)
E(s) = R(s) – R( s)
(s 2 4 s 8)
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(s 2 4 s 8 4 s 8)
E(s) = R(s)
s2 4 s 8
s2 1 1
ess = lim s 2
3 = = 0.125
s0 s 4s 8 s 8
c. Explain stability on basis of location of poles and zeros.
For a unity feedback system G(s) = k/ s(s + 1) (1 + 2s) (1 + 3s).
Determine range of k for stability, value of k for frequency
of sustain oscillation.
Ans.
A. Stability on basis of location :
1. The linear system is stable if the rightmost pole(s) is/are on the
left-hand half plane (LHHP) on the s-plane.
2. The linear system is marginally stable if the rightmost pole(s)
is/are simple order (first-order) on the j axis, including the origin
on the s-plane.
3. The linear system is unstable if the rightmost pole(s) is/are on the
right-hand half plane (RHHP) of the s-plane or if the rightmost
pole(s) is/are multiple-order on the j axis on the s-plane.
4. Zeros do not affect system Stability.
B. Numerical :
k
G(s) =
s(s 1) (1 2s) (1 3s)
H(s) = 1
1. Characteristics equation,
1 + G(s) H(s) = 0
k
1 =0
s(s 1) (1 2s) (1 3s)
s(s + 1) (1 + 2s) (1 + 3s) + k = 0
6s4 + 11s3 + 6s2 + s + k = 0
s
4 6 6 k
3 11 1 0
s
2 60 k 0
s
11
60
–11k 0
1 11
s 60
11
0
s k
2. For system to be stable there should not be sign change in the first
column.
k > 0 for s0
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and 60 – 121 k > 0
60 > 121 k
0.49 > k, k < 0.49
3. So the range of k is 0 < k < 0.49
kmar = 0.49
4. To find frequency, find out roots of auxiliary equation at marginal
value of k
60 2
A(s) = s k =0
11
60 s2 + 11 k = 0
60 s2 + 11 × 0.49 = 0
60 s2 + 5.39 = 0
60 s2 = – 5.39
5.39
s2 =
60
s2 = 0.089
s = 0.089 = ± j0.298
5. Comparing with s = ± j
so = Frequency of oscillations = 0.298 rad/sec.
d. Sketch Nyquist plot for G(s) H(s) = 6 / s2 (s + 2) comment on
stability.
Ans.
1. In frequency domain the given transfer function will become
6
G(j) H (j) =
( j)2 ( j 2)
2. Magnitude (M) :
6
|G(j)H (j)| =
2 2 4
3. Phase angle () :
1
G(j)H (j) = 180 tan
2
4. For various value of , the value of M and are :
M
0 – 180°
0 – 270°
5. The corresponding Nyquist plot is shown in Fig. 10.
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D IM
A =
= 0 –2 –1, 0 0 RE
C
E
Fig. 10.
6. For stability
N = P–Z
where N = Number of encirclement
P = Number of poles enclosed by the contour
Z = Number of zeros enclosed by the contour
N=2
P= 0
2= 0–Z
Z= 2
So the system is unstable because its value lies in the right half
s-plane.
e. Explain the term : State, State Space, State Vector. A SISO
system has transfer function
Y (s) 1
G(s) =
U (s) s3 7 s2 14 s 8
write down the state equation and stage diagram.
Ans.
A. i. State : The state of a dynamic system is the smallest set of variables
such that the knowledge of these variables at t = t0 with the
knowledge of the input for t t0 completely determines the
behaviour of the system for any time t t0.
ii. State space : The n-dimensional space whose coordinate axes
consists of the x1 axis, x2 axis ..., xn axis is called state space. Any
state can be represented by a point in the state space.
iii. State vector : If we need n variable to completely describe the
behaviour of a given system, then these n state variables may be
considered as n component of a vector x. Such a vector is called
state vector.
B. Numerical :
1. The given transfer function can be written as,
Y (s) X ( s) 1
. 1 = 1 3
X1 ( s) U ( s) s 7s2 14s 8
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X1 ( s) 1
= 3
U ( s) s 7s2 14s 8
2. The differential equation in time domain is written as,
x1 + 7x1 + 14x1 + 8x(t) = u(t)
Let x1 = x2 = 0.x1 + 1.x2 + 0.x3 + 0.u
x2 = x3 = 0.x1 + 0.x2 + 1.x3 + 0.u
x3 = – 8x1 – 14x2 – 7x3 + 1.u
3. In matrix form,
x1 0 1 0 x1 0
d
x2 0 0 1 x2 0
dt = + u
x3 8 14 7 x3 1
Y ( s)
As =1
X1 (s)
4. It can be written in time domain as
y(t) = x1(t)
= 1.x1 + 0.x2 + 0.x3
5. In matrix form
x1
y = 1 0 0 x2
x3
. . .
u 1 x3 s –1 x2 =x3 s –1 x1 =x2 s –1 x1 1 y
–7
–14
–8
Fig. 11.
SECTION-C
3. Attempt any one part of the following : (7 × 1 = 7)
a. Explain the effect of sensitivity on feedback system,
Determine sensitivity of negative close loop system where
G(s) = 20/ s(s + 4), H(s) = 0.5 wrt forward path transfer
function, feedback path transfer function.
Ans.
i. Effect of sensitivity :
T
100
% Change in T
SGT = T
% Change in G G
100
G
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G dT
SGT =
T dG
C G
We know T=
R 1 GH
G (1 GH ) GH
SGT = 2
G (1 GH )
1 GH
1 1
SGT = (1 GH ) 2
(1 GH ) 1 GH
So sensitivity of feedback system (with respect to G) is reduced by
factor of 1 + GH.
ii. Numerical :
Given : 20/s(s + 4), H = 0.5
To Find : Sensitivity, SGT
Assumption : = 1.5 rad/sec
1. Sensitivity with respect to forward path :
1
SGT =
1 GH
1 s(s 4) s2 4s
SGT = = 2 = 2
20 0.5 s 4 s 10 s 4 s 10
1
s(s 4)
( j)2 4 j ( j1.5)2 4( j1.5)
Put s = j, SGT =
( j) 4( j) 10 ( j1.5)2 4( j1.5) 10
2
– 2.25 j6 – 2.25 j 6
= =
– 2.25 j6 10 7.75 j 6
(– 2.25 j6) (– 7.75 j 6)
=
( j6 7.75)( j6 – 7.75)
17.43 – j 46.5 – j13.5 – 36
=
– 36 – 60.06
– 18.57 – j60
=
– 96.06
(– 18.57)2 (– 60)2 62.80
| SGT | = = 0.65
96.06 96.06
2. Feedback path :
– 20 0.5
– GH s( s 4) – 10
SGT =
1 GH 1 20 0.5 s2 4 s 10
s( s 4)
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Put s = j
– 10 – 10 – 10
SGT =
( j)2 4 j 10 ( j1.5)2 4( j 1.5) 10 – 2.25 j6 10
– 10 ( j 6 – 7.75) – j60 77.5 – j60 77.5
= =
7.75 j6 ( j 6 – 7.75) ( j6)2 – (7.75)2 – 36 – 60.06
– j 60 77.5
=
96.06
T (– 60)2 (77.5)2 98.01
| SG |= 1.02
96.06 96.06
b. Derive block diagram of armature controlled and field
controlled DC motor with proper labeling of circuit
diagram.
Ans.
i. Armature controlled DC motor :
1. Consider the armature controlled DC motor (DC servo motor) and
assume that the demagnetizing effect of armature reaction is
neglected, field voltage is constant and magnetic circuit is linear.
Armature controlled DC servo motor is shown in Fig. 12.
Ra La
B
V ia E T J
if
Lf
Constant
Fig. 12.
2. Let Ra = Armature resistance
La = Armature inductance
ia = Armature current
E = Induced emf in armature
V = Applied armature voltage
= Angular displacement of the motor shaft
T = Torque developed by motor
J = Equivalent moment of inertia of motor shaft
and load referred to the motor
B = Equivalent viscous friction coefficient.
3. Apply KVL in armature circuit
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La dia
V= Ra ia E ...(1)
dt
4. In the armature-controlled DC motor, the field current is held
constant. For a constant field current, the flux becomes constant,
and the torque becomes directly proportional to the armature
current so that
T ia
T = Ki a ...(2)
5. When armature is rotating, an emf is induced
K b d
E= ...(3)
dt
6. The armature current produces the torque which is applied to the
inertial mass and friction hence the force balance equation is
Jd 2 Bd
= T = KIa ...(4)
dt 2 dt
7. Taking the Laplace transform on both sides of eq. (4) and (1)
(sLa + Ra) Ia(s) + E(s) = V(s) [Initial condition is zero]
(Js2 + Bs) (s) = T(s) = KIa(s) ...(5)
8. The transfer function of this system is obtained as
( s) K
= ...(6)
V (s ) s[ La Js 2 ( BLa JRa ) s Ra B KK b ]
9. Block diagram is shown in Fig. 13.
+ 1 Ia(s) K (s)
V(s)
– sLa + Ra s(Js + B)
E(s)
sK b
Fig. 13.
ii. Field controlled DC motor :
1. A schematic diagram of a field controlled DC motor (DC servo
motor) shown in Fig. 14.
Rf Ra
ia = Constant
ef if Lf J ea
T
B
Fig. 14.
Control System SP–17 C (EN-Sem-5)
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2. Here, Rf = Field winding resistance
Lf = Field winding inductance
If = Field winding current
Ra = Armature resistance
ia = Armature current
= Angular displacement.
3. The torque T developed by the motor is proportional to product of
the air-gap flux and armature current ia so we get
T = K1 i a ...(1)
where K1 is constant.
4. But the air gap flux and the field current if are proportional for
the usual operating range of the motor and ia is assumed to be
constant, we can rewrite the above equation as
T = K2 i f ...(2)
where K2 is a constant.
5. The equations for this system are
dif
Lf R f if = e f ...(3)
dt
Jd 2 Bd
and = T = K2i f ...(4)
dt 2 dt
6. By taking the Laplace transform on both sides of eq. (3) and (4)
where all initial conditions are zero, we get
(Lfs + Rf) if(s) = Ef(s) ...(5)
(Js2 + Bs) (s) = K2if(s) ...(6)
7. From the above equations, the transfer function of this system is
obtained as
(s) K2
= ...(7)
E f (s ) s( Lf s Rf )( Js B)
8. Block diagram is shown in Fig. 15.
1 If(s) K2
Ef(s) (s)
L fs + R f s(Js + B)
Fig. 15.
4. Attempt any one part of the following : (7 × 1 = 7)
a. Explain steady state error due to step input for type 0, 1
and 2 s ystems . Find steady s tage error for
– G(s) = 10 (1 + 4s)/s2 (1 + s), H(s) = 1, input r(t) = 1 + t + t2/2.
Solved Paper (2019-20) SP–18 C (EN-Sem-5)
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Ans.
A. Steady state error :
i. Unit step input :
1; t 0
Here r(t) =
0; t 0
1
R(s) =
s
R(s)
E(s) = ...(1)
1 G( s) H ( s)
1
E(s) =
s sG (s) H (s)
1
ess = lim sE(s) = lim s
s0 s0 s sG (s) H ( s)
1 1
=
1 lim G (s) H ( s) 1 K p
s 0
where, Kp = lim
s0
G( s) H ( s)
Kp = Position error constant.
1
For step input, ess =
1 Kp
Case 1 : For type ‘0’
Kp = Constant
ess = Constant
Case 2 : For type ‘1’
Kp =
1
ess = = 0
1
Case 3 : For type ‘2’
Kp =
1
ess = =0
1
10 (1 4 s)
B. Numerical : G(s) =
s2 (1 s)
H(s) = 1
10 (1 4 s)
1. kp = lim G( s) H (s) lim =
s0 s2 (1 s)
s0
10 (1 4 s)
2. kv = lim G (s)· H ( s) lim s 2 =
s0 s0 s (1 s)
10 (1 4 s)
3. ka = lim s 2 G (s)· H ( s) lim = 10
s0 s0 (1 s)
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t2
r(t) = 1 t
2
4. Steady state error is given by,
R(s)
ess = lim s
s0 1 G(s) H (s)
R1 R R
ess = 2 3
1 k p kv ka
1 1 1/2
= = 0.05
1 10
b. i. Draw the root locus of characteristics equation for second
order system as damping ratio varies from – to +
keeping Wn constant.
ii. Explain the effect of adding poles and zero to transfer
function.
Ans.
i. Root locus of characteristics equation for second order system :
j
0 s-plane
0 < < 1 0 > > –1
>1 – 1
>1 =–
= 0 – 1 –
=1
0 > > – 1
=0
Fig. 16.
ii. A. Effect of adding poles to the forward path transfer
function :
1. Adding a pole at s = – 1/T to the forward-path transfer function of
lead to
2n
G(s) =
s(s 2n ) (1 Ts)
2. We can obtain a qualitative indication on the bandwidth properties
by referring to Fig. 17, which shows the plots of |M(j)| versus
for n = 1, = 0.707, and various values of T. Since the system is
now of the third order, it can be unstable for a certain set of system
parameters.
Solved Paper (2019-20) SP–20 C (EN-Sem-5)
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|M(j )|
1
T=5 G(s) =
s(s + 1.414)(1 + Ts)
T=1
T = 0.5
1.0
T=0
(rad/sec)
Fig. 17. Magnification curves for a third-order system with a
forward-path transfer function G(s).
3. The effect of adding a pole to the forward-path transfer function is
to make the closed-loop system less stable, while decreasing the
bandwidth.
4. The unit-step responses of Fig. 18 show that for larger values of T,
T = 1 and T = 5, the following relations are observed :
i. The rise time increases with the decrease of the bandwidth,
ii. The larger values of Mr also correspond to a larger maximum
overshoot in the unit-step responses.
y(t)
T=5
T=1
T = 0.5
1
G(s) =
s(s + 1.414)(1 + Ts)
Time (sec)
Fig. 18. Unit-step responses of a third-order system with a
forward-path transfer function G(s).
B. Effect of adding a zero to the forward path transfer
function :
1. Consider unity feedback system having forward path transfer
function as,
2n
G (s) = ...(1)
s(s 2 n )
2. Let us add a zero at s = – 1/T to the transfer function so that
eq. (1) becomes
2n (1 Ts)
G(s) =
s(s 2 n )
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3. The closed-loop transfer function for unity feedback system is
C ( s) 2n (1 Ts)
= 2
R( s) s (2 n T 2n ) s n2
1 2
B.W. = b b 4 4n
2
where b = 42 2n + 4 3n + T – 22n – 4n
for = 0.707 and n = 1
B.W
1
T
0
Fig. 19.
4. The general effect of adding a zero to the forward path transfer
function is to increase the bandwidth of the closed-loop system.
|M(j )|
T=0 For n = 1
T = 0.2
= 0.2
T = 0.5
T=1
1 T=2 T=5
0.707
T
b
1
b
2
Fig. 20.
5. So bandwidth increases as T-increases
c(t)
T=5 T = 0.2
1
T=1
t
tr tr tr
3 12
Fig. 21.
tr3 < tr2 < tr1
So as T increases rise time decreases.
Solved Paper (2019-20) SP–22 C (EN-Sem-5)
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5. Attempt any one part of the following : (7 × 1 = 7)
a. A unity feedback system has an open loop transfer
function.
Draw the root locus for the system.
G(s) H(s) = k (s + 2)/(s + 3) (s2 + 2s + 2)
k ( s 2)
Ans. G(s) H(s) =
(s 3) ( s 2 2s 2)
Step-1 :
Poles, P1 = – 3, P2 = – 1 + j, P3 = – 1 – j
Zeros, Z = – 2
No of poles = 3, No of zeros = 1
Step-2 : No of asymptotes = P – Z = 3 – 1 = 2
Angle of asymptotes
(2 k 1) 180 (2 0 1) 180
1 = = 90°
PZ 2
(2 1 1) 180
2 = = 270°
2
Step-3 : Centroid
R.P of poles R.P of zeros
=
PZ
( 3 1 1) ( 2) 5 2
= = – 1.5
2 2
Step-4 : Breakaway point :
Characteristics equation,
1 + G(s) H (s) = 0
k ( s 2)
1
(s 3) (s 2 2s 2)
(s + 3) (s2 + 2s + 2) + k ( s + 2) = 0
s3 + 5s2 + 8s + 6 + k (s + 2) = 0
s3 5s 2 8 s 6
k=
s2
dk
=0
ds
Control System SP–23 C (EN-Sem-5)
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d s3 5s 2 8s 6
=0
ds s2
(s + 2) [–3 s2 – 10s – 8] – [– s3 – 5s2 – 8s – 6] × 1 = 0
– 2s3 – 11s2 – 20s – 10 = 0
2s3 + 11s2 + 20s + 10 = 0
s = – 0.80, – 2.34 + 0.84j – 2.34 – 0.84]
That breakaway point is not valid
Step-5 : Intersection point : Characteristics equation,
1 + G(s) H (s) = 0
k (s 2)
1 =0
(s 3) (s 2 2s 2)
s3 + 5s2 + 8s + 6 + ks + 2k = 0
Apply Routh’s criteria,
s
3 1 k+8
s
2 5 6+2k
s
1 34 + 3k 0
5
s
0 6 + 2k 0
34 3k
=0
5
34 + 3k = 0
3k = – 34
k = – 34/3 = – 11.33
Auxiliary equation
5s2 + 6 + 2k = 0
5s2 + 6 + 2 × – 11.33 = 0
s2 = 3.33 = s = ± 1.82
That intersection point is not valid.
Step-6 : Angle of departure :
d = 180° – [P – Z]
P1 = 90°, P2 = 26.56°
Z = 45°
d = 180° – [90° + 26.56° – 45°] = 108.44°
Solved Paper (2019-20) SP–24 C (EN-Sem-5)
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Imj
k=
1
–1 + j
j
P2 – 108.44
Z 90°
–2 –1.5 –1 Re
–3 k=0
RL 270°
P1
–j
–1 – j
108.44
k=
2
Fig. 22.
b. What is the necessary condition for stability ? Explain
limitation of Routh’s stability method, construct Routh
array and determine the stability of the system whose
characteristics equation, s5 + 2s4 + s3 + 2s2 + s + 4 = 0
Ans.
i. Necessary condition :
i. All the coefficients of characteristics equation must have same
sign.
ii. There should be no missing term.
iii. All poles of transfer function should be in left half of s-plane.
iv. The degree of denominator polynomial of transfer function is greater
or equal to that of numerator polynomial.
ii. Limitation :
1. It is valid only if the characteristics equation is algebraic.
2. If any coefficient of the characteristics equation is complex or contain
power of e then this criterion cannot be applied.
3. It gives information about how many roots are lying in the RHS of
the s-plane but values of the roots are not available. Also it cannot
distinguish between real and complex roots.
Control System SP–25 C (EN-Sem-5)
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iii. Numerical :
1. Routh array is :
s5 1 1 1
s4 2 2 4
s3 0 1
s2
s1
s0
2. Putting ( very small positive value) in place of 0 in the first column
Routh array
s5 1 1 1
s4 2 2 4
s3 1 0
2 2
s2 ( ve) 4
2 2
4
s1 ( ve) 0
2 1
s0 4
3. Since there is sign change in the first column of Routh array,
therefore system is unstable.
6. Attempt any one part of the following : (7 × 1 = 7)
a. Draw Bode Plot of unity feedback control system having
10
OLTF G(s) = .
s(1 0.2s) (1 0.2s)
Determine GM, PM, gain cross over frequency, phase cross
over frequency and discuss stability of closed loop system.
Ans.
10
Given : G(s) =
s(1 0.2 s) (1 0.2s)
To Draw : Bode plot.
1. Magnitude plot :
10 10
G(s) =
s(1 0.2s) (1 0.2 s) s s
51 1
5 5
Corner frequency (1or 2) = 5 rad/s
Solved Paper (2019-20) SP–26 C (EN-Sem-5)
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2. Phase plot :
10
G(s) =
s s
s 1 1
5 5
Put, s = j
10
G(j) =
( j) (1 0.2 j) (1 0.2 j)
= – 90° – tan – 1 (0.2) – tan – 1 (0.2)
Magnitude plot :
Table 1.
S. No. Factor Corner Asymptotic log
frequency magnitude
1. 1/s None Straight line of constant
slope (– 20 dB/dec) passing
through at = 1
2. 1/(1 + 0.2s)2 1, 2 = 5 Straight line of constant
slope (– 40 dB/dec)
originating from 1, 2 = 5
3. 10 None Straight line of constant
slope 0 dB/dec starting from
20 log 10 = 20dB point.
Phase plot :
Table 2.
S. No. (rad/sec) (degrees)
1. 0 – 90°
2. 0.2 – 94.58°
3. 1 – 112.6°
4. 2 – 135.24°
5. 5 – 203.09°
6. 10 – 216.87°
7. 15 – 259.65°
Control System SP–27 C (EN-Sem-5)
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1 2 3 4 5 6 7 8 9 10 2 3 4 5 6 7 8 9 102
100
80
– 60 dB/dec
60
47.95 – 40 dB/dec
40
20
– 20 dB/dec
–20
GM =46 dB
–40
–60
–80°
–100°
in deg
–90° P.M.= 47°
–92.29°
–135°
–180°
–225°
=5 rad/sec
pc
–270°
–360°
0.1 2 3 4 5 6 7 8 9 10 2 3 4 5 6 7 8 9 102
Fig. 23.
Results from bode plot :
A. Phase crossover frequency (pc) = 5 rad/sec
B. Gain margin = 46 dB
C. Phase margin = 47°
Solved Paper (2019-20) SP–28 C (EN-Sem-5)
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D. Phase crossover frequency = 0.2 rad/sec
E. Stability : The gain margin as well as phase margin are both
positive therefore, the system is stable.
b. Explain the strengths of frequency response approach,
establish correlation between frequency domain response
and time domain response.
Ans. Closed loop frequency response :
1. Consider the transfer function for closed loop system,
C ( s) G ( s)
=
R( s) 1 G( s) H (s)
2. For unity feedback, H(s) = 1
C ( s) G (s )
= ...(1)
R( s) 1 G ( s)
Put s = j
C( j) G ( j)
= ...(2)
R( j) 1 G( j)
3. The polar plot of eq. (2) is shown in Fig. 25.
Im
– 1 + j0 0
Re
A r
(r – )
Fig. 25.
4. From Fig. 25, OB = G(j)
OA = – 1
AB = OB – OA = G(j) – (– 1)
AB = 1 + G(j)
5. From eq. (2)
C ( j) OB
= M() =
R( j)
AB
Control System SP–29 C (EN-Sem-5)
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C( j) OB r
=
= (r – )
R( j) AB
C( j)
= M() e j ()
R( j)
where M(j) is the magnitude and () = r – .
6. Frequency response consists of two parts :
i. Magnitude,
ii. Phase angle.
iii. Both can be plotted against different values of .
7. Hence frequency response of closed loop system is plot of
magnitude and phase angle.
Correlation :
1. For 2nd order system , the transfer function is,
2
C ( s) n
= 2
R( s) s 2 n s 2n
where, = Damping factor
n = Natural frequency of oscillations
+ n2
R(s) C(s)
2
– s + 2 ns
Fig. 26.
2. Closed loop frequency response is,
C( j) 2n
= T(j) =
R( j) ( j)2 2 n ( j) n2
2n 1
= = 2
2 n ( j ) 2n
2
1 2 j
n n
1
= ...(3)
(1 u2 ) j 2u
where u = /n, normalized driving frequency.
1
|T(j)| = M = ...(4)
(1 u2 )2 (2u)2
2u
and T(j) = = tan 1 ...(5)
1 u2
3. The steady state output is
1 2u
c(t) = sin t tan 1
(1 u2 )2 (2u)2 1 u2
Solved Paper (2019-20) SP–30 C (EN-Sem-5)
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From eq. (4) and (5) when
u = 0, M = 1 and = 0
1
u = 1, M = and = –
2 2
u = , M = 0 and =–
4. The frequency where M has a peak value is called the resonant
frequency. At this frequency the slope of magnitude curve is zero.
If r = Resonant frequency.
ur = r/n is normalized resonant frequency.
2 2
dM 1 4(1 ur )ur 8 ur
= 0
du u ur 2 (1 u2 ) 2 (2u )2 3/ 2
r r
– 4(1 – ur2) ur + 82ur = 0
– 4ur(1 – ur2 – 22) = 0
ur = 1 2 2
r = n 1 2 2 ...(6)
1
Mr = ...(7)
2 1 2
5. The phase angle of T(j) at resonant frequency is
1 2 2
r = tan 1
M( = 1 < 0.707)
1.0
Magnitude
M
Mr
M( = 0.707)
0
ur = r / n
Normalized frequency, u
Fig. 27. Frequency response magnitude characteristics.
Control System SP–31 C (EN-Sem-5)
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0°
( = 1)
– 90°
Phase
angle
– 180°
0 1.0
Normalized frequency u
Fig. 28. Frequency response phase characteristic.
7. Attempt any one part of the following : (7 × 1 = 7)
a. What is lag compensator ? What are the characteristics of
lag compensation ? Explain the frequency response of lag
compensator.
Ans.
A. Lag compensator : The lag compensator is an electrical network
which produces a sinusoidal output having the phase lag when a
sinusoidal input is applied.
B. Characteristics :
1. Lag compensator allows high gain at low frequencies thus it is
basically a low pass filter. Hence it improves the steady state
performance.
2. A lag compensator is to provide attenuation in the high frequency
range to give a system sufficient phase margin.
C. Frequency response of lag compensator :
1. The transfer function of a lag compensator with unity zero-
frequency gain is of the form,
s 1
D(s) = > 1, > 0
s 1
2. The sinusoidal transfer function is of the form,
1 j
D(j) =
1 j
3. The bode plot of D(j), shown in Fig. 29, has two corner frequencies
at = 1/ and = 1/.
4. The phase lag mainly occurs within and around the two corner
frequencies.
5. It must be recognized here that any phase lag at the gain crossover
frequency of the compensated system is undesirable.
6. To prevent detrimental effects of phase lag due to the lag
compensator, the corner frequencies of the lag compensator must
Solved Paper (2019-20) SP–32 C (EN-Sem-5)
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be located substantially lower than the gain crossover frequency
of the compensated system.
7. Fig. 29 also shows that in the high frequency range, the lag
compensator has an attenuation of 20 log dB, which is the property
that is utilized to give a system sufficient phase margin.
8. The addition of a lag compensator results in an improvement in
the ratio of control signal to noise signal in the loop.
9. The high frequency noise signals are attenuated by a factor > 1,
while the low frequency control signals undergo unit amplification
(0 dB gain).
10. The choice of is usually restricted because a very large will
appreciably reduce the gain crossover frequency and consequently
speed of response of the system. A typical choice of is 10.
10
0
|D(j )| dB
– 10 20 log
– 20
– 20 dB/decade
0°
– 30°
D(j )
– 60°
– 90°
0.01 0.1
1 1
(rad/sec)
Fig. 29.
b. The state equations are given below, check controllability
and observability of a system.
x 1 = x2 – x3 + 3r
x 2 = x1 + x2 + x3 – 2r
x 3 = x1 + x2 + r
y = x1
Ans. x1 = x2 – x3 + 3r
x2 = x1 + x2 + x3 – 2r
x3 = x1 + x2 + r
Control System SP–33 C (EN-Sem-5)
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y = x1
x1 0 1 1 x1 3
x 2 = 1 1 1 x2 2 r
x 3 1 1 0 x3 1
x1
y = 1 0 0 x2
x3
i. Controllability :
0 1 1 3
A = 1 1 1 , B 2 , C [1 0 0]
1 1 0 1
0 1 1 3 3
AB = 1 1 1 2 2
1 1 0 1 1
0 1 1 0 1 1 0 0 1
A2 = 1 1 1 1 1 1 2 3 0
1 1 0 1 1 0 1 2 0
0 0 1 3 1
A 2B = 2 3 0 2 0
1 2 0 1 1
QC = [B : AB : A2B]
3 3 1
= 2 2 0
1 1 1
QC = 0
Hence rank of QC is equal to its order i.e., 3 Therefore the system
is controllable.
ii. observability :
0 1 1
A T = 1 1 1
1 1 0
1
CT = 0
0
Solved Paper (2019-20) SP–34 C (EN-Sem-5)
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0 1 1 1 0
ATCT = 1 1 1 0 1
1 1 1 0 1
0 1 1 0 1 1 0 2 1
(AT)2 = 1 1 1 1 1 1 0 3 2
1 1 1 1 1 1 1 0 0
0 2 1 1 0
(AT)2CT = 0 3 2 0 0
1 0 0 0 1
Q0 = [CT : ATCT : (AT)2 CT]
1 0 0
= 0 1 0
0 1 1
=1
Hence rank of Q0 is equal to its order i.e., 3, so the system is
observable.
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