Professional Documents
Culture Documents
.
1. The open loop transfer function for the system shown below is , .
.
Select the type of the controller from the options given below such that closed loop
transfer function is .
r + y
C(s) G(s)
-
a) Proportional
b) PI
c) PID
Answer: (B)
0.5
G
s 0.25
2
Closed Loop Transfer Function (CLTF)
s2
GCL s GCL s G s C s G s C s
GCL s
C s
G s 1 GCL s
2
s2
0.5 2
1
s 0.25 s 2
2
0.5
s 2 2
s 0.25
4 s 0.25
s
0.25
4 1
s
1
4
s
Ans: PI
.
2. The open loop transfer function for the system shown below is , .
.
Determine the values of KP, KI and KD such that closed loop transfer function is
.
r + y
C(s) G(s)
-
b) KP =1, KI =4, KD =0
c) KP =4, KI =1, KD =0
d) KP =5, KI =1, KD =4
Answer: (C)
0.5
G
s 0.25
2
Closed Loop Transfer Function (CLTF)
s2
GCL s GCL s G s C s G s C s
GCL s
C s
G s 1 GCL s
2
s2
0.5 2
1
s 0.25 s 2
2
0.5
s 2 2
s 0.25
4 s 0.25
s
0.25
4 1
s
1
4
s
K P 4, K I 1, K D 0
3. A controller can be designed by optimising an error performance specification.
The choice of the error performance specification criterion used in designing the
optimal controller affects the nature of the error performance for the closed loop
system. Match the types of error specification given in the left column with their
corresponding error performances given in the right column.
a) A: II, B: I, C: III
Answer: (A)
If rejection of large errors is critical, ISE is better than IAE because the errors are
squared and thus contribute more to the value of the integral.
If rejection of small errors is critical, IAE is better than ISE because when we
square small numbers (smaller than one) they become even smaller. IAE gives
equal weight to both positive and negative errors.
If rejection of errors that persist for long times is critical, the ITAE criterion will
tune the controllers better because the presence of a large ‘t’ amplifies the effect
of even small errors on the value of the integral.
Different criteria lead to different controller designs.
4. A liquid level proportional control system is shown in the figure below. Outflow
is connected to a pump which has a constant flow at U m3/sec. There is a step
increase in outflow by ΔU m3/sec. Calculate new steady state error (E0) and settling
time (Ts) after which the response remains within 1% of the final value for the level
control system. (S. Bhanot)
m LC
c
U
Answer: (B)
N
U(s) -1
As
+ C(s)
V(s) e 1 +
KP
As
G1 G2
1 N s
es V s U s
1 G1G2 1 G1G2
1
1
As U s
KP K
1 1 P
As As
A 1 A
sV s s
KP As K P
U s
A A
s 1 s 1
KP KP
A
sV s
KP 1 U s
A
s 1 A
s 1 K P
KP KP
U 1
E s
s A
1 s KP
KP
lim
Steady State Error Eo s 0 SE s
U 0.1
0.05
KP 2
A
Time constant, T
KP
Settling time, Ts 5 T
A
5
KP
10
5
2
25sec.
Eo 0.05; Ts 25sec.
5. Open loop transfer function of a system is, . Compute the values of
Proportional Band (PB) and Integral Gain (KI) of a PI controller by Ziegler Nichols
method of tuning.
a) PB=94.07, KI =1.405
b) PB=34, KI =0.405
c) PB=50.55, KI =0.12
d) PB=74.07, KI =0.405
Answer: (D)
2e s
G s
1 3s
K 2; T 3; td 1 .
K=2
K
M= T
td = 1
0.9
KP
Mtd
Ti 3.33 td .
0.9
KP 1.35
2
1
3
PB 74.07 .
Ti 3.33 1 3.33
KP
KI 0.405 .
Ti
6. Which of the following statement is correct with respect of Feed-forward control?
I. Control action starts immediately for set point change but not for changes in load
disturbance.
III. The sensitivity of the performance is high with respect to the accuracy of the
open loop process model.
a) Only I
b) Only II
c) I, II
d) II, III
Answer: (D)
7. Why a command pre-filter is needed in dynamic reference feed forward
controller?
Answer: (A)
8. How to overcome the effect of model inaccuracy in a feed-forward controller?
Answer: (B)
9. Two ratio control configuration is shown in the figures below. Which of these
configurations has a feedback loop incorporated within the ratio control system?
Configuration I Configuration II
Wild Stream Wild Stream
FT FT
FT FT
b) Configuration II
c) Configuration I and II
Answer: (B)
10. Two PID controller configurations are shown in the figure below. Which one of
the following configurations would be better immune to actuator saturation in the
event of a step change in the reference input. [r: Reference input, e: Error, c:
Measured output, u: Controller output]
r + e + + u
P
‐ ‐ +
(A)
D I
c c
I
+ +
P + u
r ‐
(B) +
c
D
a) Configuration A
b) Configuration B
d) Neither Configuration A or B
Answer: (A)
11. The figure shown below refers to an electronic controller, where y refers to the
voltage corresponding to the output and r refers to the voltage corresponding to the
set point. Relate the output voltage V2(s) with y(s) and r(s)?
20KΩ
1uF
10KΩ 20KΩ
‐
+ e2
+
v2
‐
10KΩ 10KΩ
y
10KΩ
+
‐ e1 20KΩ
r 10KΩ
10KΩ
Answer: (C)
e1 s y s r s
y s e s
2
1 20k
1 s
e2 s
1 s y s
20k
e2 s 20 K 1 y s s
20k
V2 s r s y s 1 0.02s
10k
V2 s 2 r s y s 1 0.02 s