IC8451 CONTROL SYSTEMS L T P C

3 2 0 4
COURSE OBJECTIVES
 To understand the use of transfer function models for analysis physical systems and
introduce the control system components.
 To provide adequate knowledge in the time response of systems and steady state
error analysis.
 To accord basic knowledge in obtaining the open loop and closed–loop frequency
responses of systems.
 To introduce stability analysis and design of compensators
 To introduce state variable representation of physical systems

UNIT I SYSTEMS AND REPRESENTATION 9

Basic elements in control systems: – Open and closed loop systems – Electrical analogy of
mechanical and thermal systems – Transfer function – AC and DC servomotors – Block
diagram reduction techniques – Signal flow graphs.

UNIT II TIME RESPONSE 9

Time response: – Time domain specifications – Types of test input – I and II order system
response – Error coefficients – Generalized error series – Steady state error – Root locus
construction- Effects of P, PI, PID modes of feedback control –Time response analysis.

UNIT III FREQUENCY RESPONSE 9

Frequency response: – Bode plot – Polar plot – Determination of closed loop response from
open loop response - Correlation between frequency domain and time domain specifications

UNIT IV STABILITY AND COMPENSATOR DESIGN 9

Characteristics equation – Routh Hurwitz criterion – Nyquist stability criterion- Performance
criteria – Effect of Lag, lead and lag-lead compensation on frequency response-Design of
Lag, lead and lag lead compensator using bode plots.

UNIT V STATE VARIABLE ANALYSIS 9

Concept of state variables – State models for linear and time invariant Systems – Solution of
state and output equation in controllable canonical form – Concepts of controllability and
observability.

TOTAL (L:45 + T:30) 75 Periods

COURSE OUTCOMES

At the end of the course, the student should have the:

  Ability to develop various representations of system based on the knowledge of
Mathematics, Science and Engineering fundamentals.
 Ability to do time domain and frequency domain analysis of various models of linear
System.
 Ability to interpret characteristics of the system to develop mathematical model.
 Ability to design appropriate compensator for the given specifications.
 Ability to come out with solution for complex control problem.
 Ability to understand use of PID controller in closed loop system.

TEXT BOOKS
1. Nagarath, I.J. and Gopal, M., “Control Systems Engineering”, New Age International
Publishers, 2017.
2. Benjamin C. Kuo, “Automatic Control Systems”, Wiley, 2014.

REFERENCES
1. Katsuhiko Ogata, “Modern Control Engineering”, Pearson, 2015.
2. Richard C.Dorf and Bishop, R.H., “Modern Control Systems”, Pearson Education,2009.
3. John J.D., Azzo Constantine, H. and Houpis Sttuart, N Sheldon, “Linear Control System
Analysis and Design with MATLAB”, CRC Taylor& Francis Reprint 2009.
4. Rames C.Panda and T. Thyagarajan, “An Introduction to Process Modelling Identification
and Control of Engineers”, Narosa Publishing House, 2017.
5. M.Gopal, “Control System: Principle and design”, McGraw Hill Education, 2012.
6. NPTEL Video Lecture Notes on “Control Engineering “by Prof. S. D. Agashe, IIT Bombay.
 UNIT I
SYSTEMS AND THEIR REPRESENTATION

1. Define system. (AU April/may 2008)

A system is define as a set of interconnected objects with a definite relationship between the
object and attributes.

2. What is Control System? (AU Nov/Dec2009)

A System consists of a number of components are connected together to perform a specific
function. In a system when the output quantity is controlled by varying the input.

3. What are the types of control system?

There are two types of Control System-
 Open loop control system.
 Closed loop control system.

4. What is open loop and control loop systems?

Open loop control System: An open-loop control system is a system in which the control
action is independent of the desired output signal.
Examples: Automatic washing machine, Immersion rod.

Closed loop control System: A closed-loop control system is a system in which control action
is dependent on the desired output.
Examples: Automatic electric iron, Servo voltage stabilizer, an air conditioner.

5. What are the advantages and disadvantages of open loop control System?
Advantages of the open-loop control system
 Open loop systems are simple.
 These are economical.
 Less maintenance is required and is not difficult.
Disadvantages of the open-loop control system
 Open loop systems are inaccurate.
 These systems are not reliable.
 These are slow.
 Optimization is not possible.
6. What are the advantages and disadvantages of closed-loop control System?
Advantages of closed-loop systems
 The closed loop systems are more reliable.
 Closed loop systems are faster.
 Many variables can be handled simultaneously.
 Optimization is possible.
Disadvantages of closed-loop systems
 Closed loop systems are expensive.
 Maintenance is difficult.
 Installation is difficult for these systems.

7. Distinguish between open loop and closed loop system. (AU May/June2010)
Open loop system Closed loop system
Inaccurate Accurate
Simple and economical Complex and costlier
The changes in output due to external The changes in output due to external
disturbance are not corrected disturbances are corrected automatically
They are generally stable Great efforts are needed to design a stable
system

8. What is the feedback in the control system?

When the input is fed to the system and the output received is sampled, and the
proportional signal is then fed back to the input for automatic correction of the error for
further processing to get the desired output is called as feedback in control system.

9. What are the basic components of an automatic control system? (AU Nov / Dec
2010)
The basic components of an automatic control system are the following:
 Error detector.
 Amplifier and controller.
 Actuator (Power actuator)
 Plant
 Sensor or feedback system
10.Why is negative feedback invariably preferred in a closed loop system?
The negative feedback results in better stability in steady state and rejects any disturbance
signals. It also has low sensitivity to parameter variations. Hence negative feedback is
preferred in closed loop systems.

11.What are the characteristics of negative feedback? (AU April/may 2008)

The characteristics of negative feedback are as follows:
 Accuracy in tracking steady state value.
 Rejection of disturbance signals.
 Low sensitivity to parameters variations.
 Reduction in gain at the expense of better stability.

12.Define linear system. (AU April/may 2008)

A system is said to be linear if it obeys the principal of superposition and homogeneity. The
principle of superposition states that the response of a system to a weighed sum of signals
is equal to the corresponding weighed sum of the response of the system to each of the
individual input signals.

13.What is the time invariant system?

A system is said to be time invariant if its input output characteristics do not change with
time. A linear time invariant system can be represented by constant coefficient differential
equations. (In linear time varying systems the coefficients of the differential equation
governing the system are function of time).

14.Define transfer function. (AU may/June2009)

Transfer function of a system is defined as the ratio of Laplace transform of output to the
Laplace transform of input with all the initial conditions as zero.

Where,
T(S) = Transfer function of system.
C(S) = output.
R(S) = Reference output.
G(S) = Gain.
15.What is meant by analogous System?
When the two differential equations are of same order or form such type of systems is
called analogous systems.

16.Name the two types of electrical analogous for mechanical system.

The two types of analogies for the mechanical system are force-voltage and force-
current analogy.

17.What are the basic elements used for modeling mechanical rotational system?
The model of mechanical rotational system can be obtained using three basic elements
mass with moment of inertia, J, dash-pot with rotational frictional coefficient, B and
torsional spring with stiffness, K.

18.Write the analogous electrical elements in torque-voltage analogy for the

elements of mechanical rotational system. (AU Nov/Dec2007) ( AP/MAY2011)
Torque, T voltage, e
Angular velocity, ω current, i
Angular displacement, θ charge, q
Frictional coefficient, B resistance, R
Moment of inertia, J inductance L
Stiffness of spring, K inverse of capacitance, 1/C
Newton’s second law kickoffs voltage law,∑v=0

19.What are the basic elements of thermal system? (AU May/June2010)

The basic elements of the thermal system are thermal resistance and thermal
capacitance

20.What is block diagram? What are the basic components of block diagram?
(AU April/may 2008)
A block diagram of a system is a pictorial representation of the functions performed by
each component of the system and shows the flow of signals. The basic elements of
block diagram are block, branch point and summing point.

21.What are the advantages of block diagram representation? (AU May/June2009)

 Easy to form the overall block diagram for the whole system by simply connecting
the blocks of each component.
 The functional operation of the system is readily visualized by examining the block
diagram rather than the physical system itself.
22.What is a signal flow graph? (AU may/June2009)
A signal flow graph is a diagram that represents a set of simultaneous linear algebraic
equation. By taking Laplace transform, the time domain different equations governing a
control system can be transferred to a set of algebraic equations in s-domain. The signal
flow graph of the system can be constructed using these equations.

23.Mention the basic rules of a signal flow graph? (AU Nov/Dec2008)

 A signal always flows along the branch in the direction of the arrow.
 When the signal flows through branch, its strength gets multiplied by the branch gain.
 The value of the signal at a node is the sum of all the signals entering the node.
 The value of the signal at a node is present on every branch leaving the node.

24.Write the mason’s gain formula. (AU April/May2008) (AP/MAY 2011)

Mason’s gain formula states that the overall gain of the system as follows,
Overall gain, T=1/Δ ∑ Pk Δk
K
T= T(S) = transfer function of the system
K= Number of forward paths in the signal flow graph
Pk = Forward path gain of Kth forward path
Δ= 1- sum of individual loop gains+ sum of gain products of all possible combinations of
two non- touching loops- sum of gain products of all possible combinations of three non-
touching loops+………
Δk= Δ for the part of the graph which is not touching K th forward path.

25. What is synchro? (AU Nov/Dec2007)

A synchro is a device used to convert an angular motion to an electrical signal or vice
versa.

26. What is servomotor? (AU Nov/Dec2008)

The motors used in automatic control systems or in servomechanism are called
servomotors. They are used to convert electrical signal into angular motion.

27.Define the term servomechanism. Give one example of a servo. (AU April/may
2010)
Servomechanism is the branch of study of automatic control in which position or its time
derivatives such as velocity or acceleration is the output. Position control of automatic
gun, radar antenna, rudders in a ship is examples of servomechanism.

PART - B
1. Derive the transfer function of armature controlled Dc motor
2. Derive the transfer function of field controlled Dc motor
3. Explain the steps to be followed in the block diagram reduction techniques
4. Discuss in details, various fundamental ideal elements of mechanical translational
and rotational systems with their representations and dynamic equations
5. Draw the block diagram of a closed loop control system and briefly explain the
various components
6. Briefly explain the steps for constructing the signal flow graph
7. State and explain the Mason’s gain formula
 UNIT II
TIME RESPONSE

1. What is time response? (AU Nov/Dec2008)

The time response is the output of the closed loop system as a function of time. It is
denoted by c (t)

2. List the time domain specifications. (AU Nov/Dec2010)

The time domain specifications are
i. Delay time
ii. rise time
iii. Peak time
iv. Maximum overshoot
v. Settling time

3. What is transient and steady state response? (AU Nov/Dec2010)

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.

4. Define delay time. (AU May/June2007)

It is the time taken for response to reach 50% of the final value, for the very first
time.

5. Define rise time. (AU Nov/Dec2008)

It is a time taken for response to rise from 0- 100% for the very first time. For under
damped system, the rise time is calculated from 0-100%. But for over damped
system it is the time taken by the response to rise from 10-90%. For critically
damped system, it is time taken for response to rise from 5-95%.

6. Define Peak time (AU May/June2008)

It is a time taken for the response to reach the peak value for the very first time or it
is the time taken for the response to reach peak overshoot, M p.

7. Define Peak overshoot (AU May/June2010)

It is defined as the ratio of the maximum peak value measured from final value to
final value. Let final value = C (∞) Maximum value =C (tp),
Peak overshoot, Mp = C (tp) - C (∞)/C (∞)
8. What are the types of test signals? (AU AP/MAY 2011)
 Step Signal
 Ramp signal
 Parabolic signal
 Impulse signal
 Sinusoidal signal

9. What is the type number of a system? (AU Nov/Dec2010)

The type number is given by number of poles of loop transfer function at the origin.

10.What is the order of a system? (AU Nov/Dec2010)

The order of the system is given by the order of the differential equation governing
the system. It is also given by the maximum power of s in the denominator
polynomial of transfer function. The maximum power of s also gives the number of
poles of the system and so the order of gear system is also given by number of poles
of the transfer function.

11.Distinguish between type and order of a system. (AU May/June2008)

 Type number is specified for loop transfer function but order can be specified for
any transfer function.(open loop or closed loop transfer function)
 The type number is given by number of poles of loop transfer function lying at
origin of s-plane but the order is given by the number of poles of transfer
function.

12.Define pole. (AU Nov/Dec2009)

The pole of a function, F(s) is the value at which the function, F(s) becomes infinite,
where F(s) is a function of complex variable s.

13.Define Zero. (AU Nov/Dec2009)

The zero of a function, F(s) is the value at which the function, F(s) becomes zero,
where F(s) is a function of complex variable s.

14.Define damping ratio. (AU May/June2007)

The damping ratio is defined as the ratio of the actual damping to critical damping.

15.How the system is classified depending on the value of damping? (AU Nov /
Dec 2008)
Depending on the value of damping, the system can be classified into the following
four cases.
 Case 1 undamped system.
Case 2 under damped system.
Case 3 Critically damped system
Case 4 Over damped system

16.What is damped frequency of oscillation?

In under damped system the response is damped oscillatory. The frequency of the
damped oscillation is given by ωd = ωn √ (1-ξ2) .

17.What is steady state error? (AU Nov/Dec2008)

The steady state error is the value of error signal e (t), when t tends to infinity. The
steady state error is a measure of system accuracy. These errors arise from the
nature of inputs, type of system and from non-linearity of system components.

18.What are static error constants? (AU Nov/Dec2010)

The Kp Kv and Ka are called static error constants. These constants are associated
with steady state error in a particular type of system and for a standard input.

19.Mention two advantages of generalized error constants over static error

constants.
 Generalized error series gives error signal as a function of time.
 Using generalized error constants the steady state error can be determined for
any type of input but static error constants are used to determine steady state
error when the input is anyone of the standard input.

20.Give the relation between generalized and static error co-efficient.

The following expression shows the between generalized and static error co-efficient.
C0=1/1+Kp, C1=1/Kv, C2=1/Ka

21.What is PI controller? (AU Nov/Dec2008)

It is device that produces a control signal consisting of two terms –one proportional to
error signal and the other proportional to the integral of error signal

22.What is PD controller? (AU Nov/Dec2007)

The PD controller is a device which produces a control signal consisting of two terms
– one proportional to error signal and the other proportional to the derivative of error
signal.

23.What is PID controller? (AU Nov/Dec2007)

 The PID controller is device which produces a control signal consisting of three terms
– one proportional to error signal, another one proportional to integral of error signal
and the third one proportional to derivative of error signal.

24.What is the significance of integral controller and derivative Controller in a

PID controller?
The proportional controller stabilizes the gain but produces a steady state error. The
integral control reduces or eliminates the steady state error.

25.Why derivative controller is not used in control systems.

The derivative controller produces a control action based on the rate of change of
error signal and it does not produce corrective measures for any constant error.

PART – B
1. Derive an expression for the time response of an under damped second order system
when subject to unit step input

2. For a unity feedback system determine the value of K so that the

damping ratio is 0.5. Determine the value of settling time, maximum overshoot and
steady state error with or without K.
3. Consider a unity feedback system with a closed loop transfer function

determine the open loop transfer function G(S). Show that the

steady state error with unit ramp input is given by (a-K) / b.

4. Explain the electronic version of PID controller
5. The over all transfer function of unity feedback control system is given by

Find the KP, Kv, Ka as well as steady state error if the input is r(t) =

1+t+t2.
6. Define the steady state error and error constants with respect to unit step, unit
velocity and unit acceleration inputs. How can the steady state error be reduced?
7. Using the circuit diagram of P and I controller find the transfer function for it.
8. Determine the step input response of a second order system.

UNIT III
FREQUENCY RESPONSE
1. What is frequency response? (AU April/may2008)
The magnitude and phase function of sinusoidal transfer function of a system are real
function of frequency ω, and so they are called frequency response.

2. What are frequency domain specifications? (AU Nov/Dec2010)

The frequency domain specifications are
1. Resonant peak 4.cut off rate
2. Resonant frequency 5.Gain margin
3. Bandwidth 6.phase margin

3. List out the frequency response plot. (AU April/may2009)

1. Bode plot 2. Polar plot 3. Nichols plot
4. M and N circle 5. Nichols plot

4. What is minimum phase system? (AU April/may2009)

The minimum phase systems are systems with minimum phase transfer functions. In
minimum phase transfer functions, all poles and zeros will lie on the left half of s-
plane.

5. What is non minimum phase transfer function? (AU Nov/Dec2010)

A transfer function which has one or more zeros in the right half s-plane is known as
non minimum phase transfer function.

6. What is bode plot? (AU Nov/Dec2009)

The bode plot is a frequency plot of the transfer function of a system. It consists of
two plots-magnitude plot and phase plot.

7. What are the main advantages of Bode plot? (AU Nov/Dec2008)

The main advantages are:
 Multiplication of magnitude can be in to addition.
 A simple method for sketching an approximate log curve is available.
 It is based on asymptotic approximation. Such approximation is sufficient if rough
information on the frequency response characteristic is needed.
The phase angle curves can be easily drawn if a template for the phase angle curve
of 1+ j is available.

8. Define corner frequency. (AU April/may2010) (AU April/may2011)

 The magnitude plot can be approximated by asymptotic straight lines. The
frequencies corresponding to the meeting point of asymptotes are called corner
frequency.

9. Define Bandwidth (AU Nov/Dec2009)

The Bandwidth is the range of frequencies for which the system gain is more than –
3db.

10.What is resonant frequency? (AU Nov/Dec2009)

The frequency at which the resonant peak occurs is called resonant frequency. The
resonant peak is the maximum value of the magnitude of closed loop transfer
function.

11.Define the frequency domain specification cut off rate. (AU April/may2008)
The cut-off rate is the slope of the log-magnitude curve near the cut-off frequency. It
is the frequency rate at which the magnitude ratio decreases beyond the cut-off
frequency.

12. Define gain cross-over frequency. (AU April/may2010)

Gain cross-over frequency is the frequency at which the magnitude of the open loop
sinusoidal transfer function is unity.

13. Define phase cross-over frequency. (AU April/may2010)

The phase cross over frequency is the frequency at which the phase of the open loop
transfer function is 180º.

14.Define gain margin. (AU Nov/Dec2009) (AU April/may2011)

The gain margin, Kg is defined as the value by which gain of the system has to be
increased to drive system to be verge instability. It is given by the reciprocal of the
magnitude of open loop transfer function, at phase cross-over frequency, ω pc. When
expressed in decibels, it is given by, the negative of db magnitude of G (jω) at phase
cross- over frequency.

15.Define phase margin. (AU Nov/Dec2008) (AU April/may2011)

The phase margin, γ is that amount of additional phase lag at the gain cross-over
frequency, ωgc required to bring the system to the verge of instability. It is given by,
180º + φgc, where φgc is the phase of G (jω) at the gain cross over frequency.
 Phase margin is 180 degree plus the angle of the GH (jw) plot at unity gain. It is the
angle through which GH(jw) plot is rotated in order that unity magnitude point on the
locus passes through the critical point (-1,0).

16.What is polar plot? (AU Nov/Dec2009)

The polar plot of a sinusoidal transfer function G(jω) is a plot of the magnitude of
G(jω) versus the phase angle /argument of G(jω) on polar plot of rectangular
coordinates as ω is varied from zero to infinity.

17.Write the short notes on the correlations between the time and frequency
response.(AU April/may2008)
Correlation exists between time and frequency response of first or second order
systems. The frequency domain specifications can be expressed in terms of the time
Domain parameters ξ and ωn. For a peak overshoot in time domain there is
corresponding resonant peak in frequency domain.
For higher order systems, there is no explicit correlation between time and frequency
response. But if there is a pair of dominant complex conjugate poles, then the system
can be approximated to second order system and the correlation between time and
frequency response can be estimated.

18.What is the value of error in the approximate plot of a first order factor at
the corner frequency? (AU April/may2008)
The error is 6db, for the quadratic factor with ξ=1. Positive error for numerator factor
and negative error for denominator factor.

PART – B

1. Draw the bode plot for the function determine the value of K

for a gain cross over frequency of 20 rad / sec.

2. Draw the polar plot of an unity feedback control system whose forward path transfer

function is given by and check the stability of the system.

3. Draw the bode plot for the unity feedback control system whose transfer function is

given by determine the gain margin and phase margin. Comment

on the stability of the system.

4. Sketch the bode plot for a unity feedback system, characterized by the open loop

transfer function show that the system is conditionally

stable. Find the range of values of K for which the system is stable.
5. Derive the expression for constant M circles of a closed loop system.

6. Sketch the bode plot for the transfer function find K for

a gain cross over frequency of 5 rad / sec.

7. For a system with draw the polar plot.

8. Obtain the correlation between time and frequency responses of a second order
system.

UNIT IV
STABILITY AND COMPENSATOR DESIGN
1. Define BIBO stability. (AU Nov/Dec2009)
A linear relaxed system is said to have BIBO stability if every bounded (finite) input results in
a bounded (finite) output.

2. What is characteristic equation? (AU April/may2010)

The denominator polynomial of C(S)/R(S) is the characteristic equation of the system.

3. What is the necessary condition for stability? (AU April/may2010)

The necessary condition for stability is that all the coefficients of the characteristic
polynomial be positive.

4. What is Nyquist stability criterion? (AU April/may2009)

If G(S)H(S) contour in the G(S)H(S) plane corresponding to Nyquist contour in s-plane
encircles the point –1+j0 in the anti clockwise direction as many times as the number of
right half s-plane poles of G(S)H(S). Then the closed loop system is stable.

5. What is the necessary and sufficient condition for stability? AU Nov/Dec2009)

The necessary and sufficient condition for stability is that all of the elements in the first
column of the routh array should be positive.

6. What is limitedly stable system? AU Nov/Dec2009) (AU April/may2011)

For a bounded input signal, if the output has constant amplitude oscillations then the system
may be stable or unstable under some limited constraints. Such a system is called limitedly
stable system.

7. In routh array what conclusion you can make when there is a row of all zeros?
All zero rows in routh array indicate the existence of an even polynomial as a factor of the
given characteristic equation. The even polynomial may have roots on imaginary axis.

8. What is routh stability criterion? (AU April/may2009) (AU April/may2011)

Routh criterion states that the necessary and sufficient condition for stability is that all of the
elements in the first column of the routh array be positive. If this condition is not met, the
system is unstable and the number of sign changes in the elements of the first column of
the routh array corresponds to the number of roots of characteristic equation in the right
half of s-plane.

10. What is the relation between stability and coefficient of characteristic

polynomial?
 If the coefficients of characteristic polynomial are negative or zero, then some of
roots lies on right half of s-plane. Hence the system is unstable. If the coefficients of
characteristic polynomial are positive and if no coefficient is zero then there is a possibility
of the system to be stable provided all the roots are lying on left half of s-plane.

11. What is nyquist contour? (AU Nov/Dec2009) (AU April/may2011)

The contour that encloses entire right half of S plane is called nyquist contour.

12. What is a dominant pole? (AU April/may2009)

The dominant pole is a air of complex conjugate pair which decides the transient response of
the system.

13. What is meant by Zero input stability.

Consider a system which is driven by its initial conditions only, and there is no input applied.
Under such conditions, if the output response c(t) of the system reaches zero as time t
approaches infinity the system is said to be zero input stable.

14. What are the advantages of root locus technique?

 It gives a clear idea of the effect of gain adjustment with relatively small effort compared
with other methods.
 It gives clear idea about the stability.
 It gives some idea about the transient response of the system, indicating whether the
system is over damped, under damped or critically damped.

15. What is root locus? (AU April/may2010)

The locus or movements of the closed loop roots of the characteristics equation of the
closed loop system as the gain K is varied from -infinite to + Infinite is called root locus.

16. How will you determine the absolute value of K at any point S on the Root
loci? (AU April/may2010)

Product of directed distances drawn from all poles of the concerned point
K=-------------------------------------------------------------------------------------------
Product of directed distances drawn from all zeros of the concerned point

17. How is the angle condition used in root locus?

For any point be a point on the root locus in the S plane phase angle condition should be
satisfied based on this criterion only the actual root locus is drawn.

18. How do you identify the root locus on the real axis for a positive feedback
system?
For a positive feedback system, any point on the real axis is a point on the root locus
provide even number of poles and zeros occur to the right of the point.

19. State the rule for obtaining the breakaway point in the root locus?
To obtained the breakaway point of the root locus, differentiate the characteristics
polynomial with respect to S and put dk/ds=0. Solve for S which gives the breakaway point.
There are more than one breakaway point and they are real and complex conjugate also.

20. Where do system poles have to be ensure that the system is not unstable?
To ensure that the system is not unstable all the poles should be in LHP.

21. How will you find root locus on real axis? AU Nov/Dec2007)
To find the root locus on real axis, choose a test point on real axis. If the total number of
poles and zeros on the real axis to the right of this test point is odd number. Then the test
point lies on the root locus. If it is even then the test point does not lie on the root locus.

22. What are asymptotes? How will you find the angle of asymptotes? (AU
Nov/Dec2010)
Asymptotes are straight lines which are parallel to root locus going to infinity and meet the
rot locus at infinity.
Angles of asymptotes = 180 (2q+1)/n-m; q=0, 1, 2………….

23. What is centroid? How the cendroid is calculated? AU Nov/Dec2009)

The meeting point of asymptotes with real axis is called centroid. The cendroid is give by,
Centroid= sum of poles- sum of zeros/ n-m

24. What is breakaway and breakin point? How to determine them?

(AU Nov/Dec2008)
At breakaway point the root locus breaks from the real axis to enter into the complex plane.
At breakin point the root locus enters the real axis from the complex plane.
The find the breakaway or breakin points, from an equation for k from the characteristics
equation, and differentiate the equation of k with respect to s. then find the roots of
equation dk/ds =0.the roots of dk/ds=0 are breakaway or breakin points, provide for this
value of root, the gain k should be positive and real.

25.What is compensation? (AU Nov/Dec2007)

The compensation is the design procedure in which the system behavior is altered to meet
the desired specifications by introducing additional device called compensator.

26.What are the different types of compensator? (AU Nov/Dec2009)

The different types of compensators are lag compensator, lead compensator and lag lead
compensator.

27.What are the two types of compensation schemes? (AU Nov/Dec2007)

The two types of compensation schemes employed in control system are series
compensation and feedback compensation.

28.What is series compensation? (AU May/June2008)

The series compensation is a design procedure in which a compensator is introduced in
series with plant to alter the system behavior and to provide satisfactory performance.

29.What are the factors to be considered for choosing series or Shunt/feedback

compensation? (AU May/June2007)
The choice between series, shunt feedback compensation depends on the following
 Nature of signals in the system
 Power levels at various points
 components available
 Designer’s experience
 Economic considerations

30.What is lag compensation? (AU Nov/Dec2009)

The lag compensation is a design procedure in which a lag Compensator is introduced in the
system so as to meet the desired specifications.

31.Why compensation is necessary in feedback control system? (AU April/ May

2010)
In feedback control systems compensation is required in the following situations
I. When the system is absolutely unstable, then compensation is required to stabilize the
system and also to meet the desired performance.
II. When the system is stable, compensation is provided to obtain the desired performance.
32.What are the uses of lead compensator? (AU April/ May2010)
 speeds up the transient response
 increases the margin of stability of a system
 Increases the system error constant to a limited extent.

33.What is the use of lag compensator? (AU May/June2007)

Improve the steady state behavior of a system, while nearly preserving its transient
response.

34.When is lag lead compensator is required

The lag lead compensator is required when both the transient and steady state response of
a system has to be improved.

PART –B

1. Elaborate the Nyquist Stability Criterion.

2. Using Nyquist Stability Criterion comment on the closed loop system stability whose

open loop transfer function is given by

3. Check the stability of the feedback control system whose characteristics equation is
given by S5+S4+4S3+4S2+2S+1 = 0.
4. The open loop transfer function of a unity feedback control system is given as

determine the value of K for which the system is stable by

applying:
a. Routh Criterion
b. Nyquist Criterion
5. The characteristics polynomial of a system is
S7+5S6+9S5+9S4+4S3+20S2+36S+36=0. Determine the location of roots on the s
plane and hence the stability of the system.
6. Sketch the Nyquist plot of a system with the open loop transfer function

determine the closed loop stability of the system using

Nyquist Stability Criterion.

7. Draw the root lo9cus of a system characterized by the open loop transfer function

find from the root locus plot the value of K for which a closed loop

system is critically damped.

8. For sketch the Nyquist plot and determine stability of the system.

9. Explain the frequency response of lead compensator and write steps to design a lead
compensator.
10. Design a lag compensator for the system G(s)=K/s(s+1) to have velocity error constants
10 and phase margin at least 45º.
11. Design lead compensator for a unity feedback system with open loop transfer function,
G(s)=K/s(s+1)(s+5) to satisfy the following specification.
12. Velocity error, Kv>50
13. Phase margin is > 20º.
14. Write design procedure for lag lead compensator using Bode plot. Derive the transfer
function of a lag-lead compensator based on electrical network.
15. A control system has a transfer function given by G(s)=s+3/(s+1)(s+2)2.
 UNIT V
STATE VARIABLE ANALYSIS

1. 1. List the advantages of state space analysis.

The state space analysis is applicable to any type of systems. They can be used for
modeling and analysis of linear and nonlinear systems, time invariant and time variant
system and multiple input and multiple output systems
The state space analysis can be performed with initial conditions. The variables used to
represent the system can be any variables in the system. Using this analysis the internal
states of the system at any time instant can be predicted.

2. What are the drawbacks in transfer function model analysis?

In transfer function is defined under zero initial conditions
Transfer function is applicable to linear time invariant systems
Transfer function analysis is restricted to single input and output systems
It does not provide information’s regarding the internal state of the system.

3. Define state and state variable.

The state is the condition of the system at any time instant t. A set of variable which
describes the state of the system at any time instant are called state variables

4. What is a state vector?

The state vector is a (n X 1) column matrix (or vector) whose elements are state variables of
the system. Where n is the order of the system. It is denoted by x(t).

5. Write the state model of nth order of the system.

The state model of the system consists of state equation and output equation. The state
model of the nth order system with m inputs and p outputs are
X(t) = AX(t) + BU(t)-------------- State equation
Y(t) = CX(t) +DU(t)---------------Output equation
where
X(t) = state vector
U(t) = Input vector
A = System matrix
B = Input matrix
C = Output matrix
D = Transmission matrix
Y(t) = output vector
6. Define state space.
The set of all possible values which the state vector x(t) can have at time t forms the state
space of the system.

7. What is an input and output space?

The set of all possible values which the input vector U(t) can have at time t forms the input
space of the system.
The set of all possible values which the output vector Y(t) can have at time t forms the
output space of the system.

8. What is state diagram?

The pictorial representation of the state model of the system is called state diagram. The
state diagram of the system can be either in block diagram or in signal flow graph form.

9. List the basic elements used to construct the state diagram.

The basic elements used to construct the state diagram are scalar, adder and integrator.

10.What are the advantages of state space modeling using physical variables?
The advantages of using the physical variables are
 The state variables can be utilized for the purpose of feedback.
 The implementation of the designing the state variable feedback becomes straight
forward
 The solution of the state equation gives time variations of variable which have direct
relevance to the physical systems

PART – B
1. Briefly explain the State Model of the Systems.
2. With neat diagram illustrate the effect of state Feedback.