Control Systems

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Code No: 09A50204 R09 Set No. 2
III B.Tech I Semester Examinations,May/June 2012
CONTROL SYSTEMS
Common to Electronics And Telematics, Electronics And Communication
Engineering, Electrical And Electronics Engineering
Time: 3 hours Max Marks: 75
Answer any FIVE Questions
All Questions carry equal marks

1. State and explain Nyquist stability criterion. Draw the Nyquist plot for the open
loop transfer function G(s) =
1
s(1+0.1s)(1+s)
and discuss the stability of the closed
loop system. [15]
2. (a) For the system shown in Figure 1, determine K
1
, K
2
, and a such that the sys-
tem will have a steady state gain of 1.0, a damping ratio & = 0 .6,
n
= 5.0.
(b) A unity feedback control system has the forward transfer function, G(s) =
25
s(s+6)
. Find the rise time, peak time and the maximum over shoot for unit
step input. [8+7]
Figure 1
3. (a) Find the transfer function of the system shown in Figure 2.
(b) Find the transfer function of a AC servo motor. [7+8]
4. A unity feedback control system has the transfer function G(s) =
K
s(s+a)
(a) Find the value of K and a to satisfy the frequency domain specications of
M
r
=1.04 and
r
= 11.55 rad/sec.
(b) Evaluate the settling time and bandwidth of the system for the values of K
and a determined in part (a). [8+7]
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Figure 2
5. A unity feedback system has an open loop transfer function G(s) =
K
s(s+2)(s+60)
.
Design a Lead-Lag compensator to meet the following specications:
(a) Phase margin is at least 40
0
(b) Steady state error for ramp input is 0.04 rad. [15]
6. Sketch the root-locus diagram of a control system whose loop transfer function is
G(s)H(s) =
K
s(s+4)(s+10)
. Using the diagram or otherwise nd the values of gain at
breakaway points and at point of intersection of the loci with the imaginary axis.
[15]
7. Explain the properties of state transition matrix. A linear time invariant system is
described by the state equation:
X =
0 6
1 5
X +
0
1
[u] and y =
1 0
X, X(0) =
0
0
Obtain the state transition matrix. Hence obtain the output response y(t) , t 0
for a unit step input. [15]
8. For the geared system shown below in Figure 3, find the transfer function relating
the angular displacement
L
to the input torque T
1
, where J
1
, J
2
, J
3
refer to
the inertia of the gears and corresponding shafts. N
1
, N
2
, N
3
, and N
4
refer to the
number of teeth on each gear wheel. [15]
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Figure 3
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Figure 3:
CONTROL SYSTEMS

1. (a) Explain the Armature voltage controlled DC servomotor and obtain its trans-
fer function.
(b) Obtain the overall transfer function for the block diagram in Figure 4.
[8+7]
2. The characteristic equation of a feedback control system is s
3
+4Ks
2
+(K+3)s+10=0.
Apply the Nyquist criterion to determine the values of K for a stable closed loop
system. Check the answer by means of the Routh Hurwitz criterion. [15]
3. Sketch the Bode plot for the following transfer function and determine the system
gain K for the gain cross over frequency
c
to be 5 rad/sec.
G(s) =
Ks
2
(1+0.2s)(1+0.02s)
. [15]
4. A unity feedback control system has an open loop transfer function
G(s) =
K(1+0.2s)(1+0.025s)
s3(1+0.001s)(1+0.004s)
Sketch the complete root locus for < K < . Indicate the crossing points of
the loci on the j axis and the corresponding values of K at these points. Also
indicate the range of K for which system closed loop system is stable. [15]
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Figure 4
5. The open-loop transfer function of a control system with unity feedback is G(s) =
K
s(0.1s+1)(0.2s+1)
. Design a suitable compensator so that the system satises the follow-
ing performance specications:
(a) K
v
=100; or the steady-state error of the system due to a step ramp function
input is 0.01 in magnitude and
(b) Phase margin 40 degrees. [15]
6. Derive the dierential equation relating the position y(t) and the force f(t) as shown
in gure 5. (b) Determine the transfer function
y
f
. [15]
Figure 5
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7. Explain the terms state and state variable. Prove that the state space
representation is not unique.
X =
0 6
1 5
X +
0
1
[u]
Y =
1 0
X, X(0) =
0
0
[15]
8. Consider the system shown in Figure 6.
(a) The damping ratio of this system is 0.158 and the undamped natural frequency
is 3.16rad/sec. To improve the relative stability, we employ tachometer feed-
back Figure 7.
(b) shows such a tachometer-feedback system. Determine the value of K
h
so that
the damping ratio of the system is 0.5. Draw unit-step response curves of both
the original and tachometer-feedback systems. Also draw the error-versus-time
curves for the unit-ramp response of both systems. [15]
Figure 6:
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Figure 7
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Figure 7:
CONTROL SYSTEMS

1. (a) State and explain the Nyquist stability criterion.
(b) Sketch the Nyquist plot for the transfer function G(s)H(s) =
32
(s+1.5)(s
2
+2s+5)
.
Discuss its stability. [7+8]
2. The block diagram representation of a second-order type 0 system is shown in
Figure 8. Derive the frequency domain characteristics. [15]
3. (a) Determine the range of value of k for the system to be stable which is charac-
terized by the equation s
3
+ 3Ks
2
+ (k+2)s+4 = 0.
(b) Explain how Routh Hurwitz criterion can be used to determine the absolute
stability of a system. [8+7]
4. A unity feedback system has an open loop transfer function G(s) =
K
s(s+2)(s+60)
.
Design a Lead-Lag compensator to meet the following specications:
(a) phase margin is at least 40
0
(b) Steady state error for ramp input is 0.04 rad. [15]
5. A linear time-invariant system is described by the following defferential equation:
d
2
y(t)
dt
2
+ 2
dy(t)
dt
+ y(t) = u(t)
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Figure 8
Find the state space representation and obtain the complete response to unit step
input and zero initial conditions. [15]
6. Using block diagram reduction techniques, nd the closed loop transfer function
of the system whose block diagram is given in Figure 9 and verify the result using
signal ow graph technique. [15]
Figure 9
7. A load having moment of inertia J and frictional coecient B is driven through
a gear as shown in Figure 10, write the dierential equations and nd transfer
function

2
(S)
T(S)
.
[15]
9

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Figure 10
8. (a) Consider the dierential equation system given by y + 3 y + 2y = 0, y(0) =
0.1, y(0) = 0.05. Obtain the response y(t), subjected to the given initial condition.
(b) Consider a unity-feedback control system whose open-loop transfer function
is G(s) =
K
s(Js+B)
. Discuss the eects of varying the values of K and B
on the steady-state error in unit-ramp response. [7+8]

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CONTROL SYSTEMS

1. Using block diagram reduction techniques, nd the closed loop transfer function of
the system whose block diagram is given in Figure 11 and verify the result using
signal ow graph technique. [15]
Figure 11:
2. (a) Distinguish between open loop and closed loop systems. Explain merits and
demerits of open loop and closed loop systems.
(b) With suitable example explain the classication of control systems. [8+7]
3. (a) Explain error contants K
p
, K
v
, K
a
for type I system.
(b) Given the open - loop transfer function of a unity feedback system as G(s) =
10
s(0.1s+1)
, find K
p
, K
v
, K
a
. [7+8]
4. (a) Explain the following terms:
i. Frequency response
ii. Phase and gain margins.
(b) Sketch the Bode plot for the following transfer function G(s) =
75(1+0.2s)
s(s
2
+16s+100)
.
[7+8]
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5. The open loop transfer function of a feedback control system with unity feedback
is G(s) =
K
(s+10)
n
. Sketch the root loci of the characteristic equation of the closed
loop system for < K < , with
(a) n=3
(b) n=4. Show all important information on the root loci. [15]
6. The open loop transfer function of the uncompensated system is G(s) =
2500K
s(s+25)
.
Design a suitable compensator so that the system satises the following performance
specications:
(a) The phase margin of the system should be greater than 45 degrees.
(b) The steady-state error due to a unit ramp function input should be less than
or equal to 0.01 rad/sec. [15]
7. (a) Explain the Nyquist criterion for assessing the stability of a closed loop system.
(b) Sketch the polar plot of the transfer function G(s) =
1
(1+T
1
s)(1+T
2
s)(1+T
3
s)
. De-
termine the frequency at which the polar plot intersects the real and imaginary
axis of G(j) plane. [7+8]
8. For a system represented by the state equation

X(t) = A X(t)
the response of state X(t) =
e
2t
2e
2t
when
x
1
(0)
x
2
(0)
1
2
and X(t) =
e
t
e
t
when
x
1
(0)
x
2
(0)
1
1
Determine the system matrix A and the state transition matrix. [15]

12
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