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SubjectCode/Subject: EC2255 / CONTROL SYSTEMS
Name :K.MANIKANDAN
Dept : ECE
Semester
: IV
UNIT I
CONTROL SYSTEM MODELING
Basic Elements of Control System Open loop and Closed loop systems Differential equation
- Transfer function, Modeling of Electric systems, Translational and rotational mechanical
systems - Block diagram reduction Techniques - Signal flow graph.
PART-A
1. The equivalent transfer function of three parallel blocks G1(s) =
, G2(s) =
(1 MARKS)
and G3(s) =
+
+
is
2. A feedback control system is shown in fig. The transfer function for this system is
G1G2
(A) 1 + H 1G1G2 G3
G 2 G3
(C) 1 + H 1G1G2 G3
G 2 G3
(B) G1 (1 + H 1G2 G3 )
G 2 G3
(D) G1 (1 + H 1G2 G3 )
(B)
(C)
(D)
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Control Systems
(A) 2
(B) 6
(C) 6
(D) 2
5. The block diagrams shown in fig are equivalent if G is equal to
(A) s + 1
(B) 2
(C) s + 2
(D) 1
6. The transfer function C/R of the system shown in the fig.
G1 H 2
(A) H 1 (1 + G1G2 H 2 )
G2 G1
(C) 1 + H 1 H 2 G1G2
G1G2 H 2
(B) H 1 (1 + G1G2 H 2 )
G1G2
(D) H 1 (1 + G1G2 H 2 )
7. In the signal flow graph shown in fig. The sum of loop gain of non-touching loops is
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(B) af + be + cd
(D) af + be + cd + cbef + bcde + abcdef
Control Systems
(A)
(B)
(C)
(D)
11. The block diagram of a system is shown in fig. The closed loop transfer function of this system is
12. For the system shown in fig. Transfer function C(s) / R(s) is
(A) 44/23
(B) 29/19
(C) 44/19
(D) 29/11
14. The gain C(s) / R(s) of the signal flow graph shown in fig.
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Control Systems
(A) 30
(B) 30
(C) 10
18. The open-loop transfer function of aufbsystem is
(D) 10
20. The feedback system is shown in fig. The poles location for this system is shown in fig. The value of K is
(A) 4
(C) 2
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(B) 4
(D) 2
Control Systems
Answers:
1
A
11
C
2
B
12
B
3
D
13
A
4
C
14
B
5
D
15
C
6
A
16
C
PART B
7
A
17
A
8
D
18
D
9
A
19
B
10
A
20
C
(2 Mark)
Control Systems
k = [ for that part of the graph which is not touching Kth forward path]
28. What is feedback?
The feedback is a control action in which the output is sampled and a proportional signal is given to input
for automatic correction of any changes in desired output.
29. Why is negative feedback invariably preferred in a closed loop systems?
The negative feedback results in better stability in steady state and rejects any disturbance signals. Its also
has low sensitivity to parameter variations. Hence negative feedback is preferred in closed loop systems.
30. What are the components of feedback control system?
The components of feedback control system are plant, feedback path elements, error detector and
controller.
31. Define transfer function.(Nov-08)
The Transfer function of a system is defined as the ratio of the Laplace transform of output to Laplace
transform of input with zero initial conditions. Its also defined as the Laplace Transform of the impulse response
of system with zero initial conditions.
32. What are the characteristics of negative feedback?
Accuracy in tracking steady state value.
Rejection of disturbance signals.
Low sensitivity to parameter variations.
Reduction in gain at the expense of better stability.
33. Distinguish between open loop and closed loop systems.
Open loop
Closed loop
1.Innaccurate & unreliable
Accurate & reliable
2.Simple and economical
3.The changes in output due to external disturbance The changes in output due to external disturbances
are not corrected automatically
are corrected automatically
4.They are generally stable
Great efforts are needed to design a stable system
34. Define non-touching loop.
The loops are said to be non-touching if they do not have common nodes.
35. Define linear system.
A system is said to be linear if it obeys the principle of superposition and homogeneity. The principle of
superposition states that the response of a system to a weighed sum of signal is equal to the corresponding
weighed sum of the responses of the system to each of the individual input signals.
36. What is 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.
37. What is transmittance?
The transmittance is the gain acquired by the signal when it travels from one node to another node in
signal flow graph
38. What is source and sink?
Source is the input node in the signal flow graph and it has only outgoing branches.
Sink is an output node in the signal flow graph and it has only incoming branches.
39. What are the basic elements used for modeling mechanical translational system?
The model of mechanical translational system can be obtained by using three basic elements Mass, spring
and dashpot.
40. What are the basic elements used for modeling mechanical rotational system?
The model of mechanical translational system can be obtained by using three basic elements Moment of
inertia J, dash-pot with rotational frictional coefficient B and torsional spring with stiffness K
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PART C
(16 Mark)
49. Write the differential equations governing the Mechanical system shown in fig and determine the
transfer function. (May-10)
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Control Systems
50. Determine the transfer function Y2(S)/F(S) of the system shown in fig. (Nov-08)
51. Write the differential equations governing the Mechanical rotational system shown in fig. Draw the
Torque-voltage and Torque-current electrical analogous circuits.
52. Determine the overall transfer function C(S)/R(S) for the system shown in fig.
53. Obtain the closed loop transfer function C(S)/R(S) of the system whose block diagram is shown in fig.
54. For the system represented by the block diagram shown in fig. Determine C1/R1 and C2/R1.
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55. Find the overall gain C(s) / R(s) for the signal flow graph shown below. (May-10)
56. Find the overall gain of the system whose signal flow graph is shown in fig.
57. Draw a signal flow graph and evaluate the closed loop transfer function of a system whose block is
shown in fig. (Nov-06)
58. Write the differential equations governing the mechanical systems shown below. Draw the forcevoltage and force-current electrical analogous circuits and verify by writing mesh and node equations.
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UNIT II
TIME RESPONSE ANALYSIS
Time response analysis - First Order Systems - Impulse and Step Response analysis of second
order systems - Steady state errors P, PI, PD and PID Compensation, Analysis using MATLAB
PART-A
(1 MARKS)
59. A system with gain margin close to unity or a phase margin close to zero is
(A) Highly stable.
(B) Oscillatory.
(C) Relatively stable.
(D) Unstable.
60. The overshoot in the response of the system having the transfer function
16 K/S (S2 + 2S + 16) for a unit-step input is
(A) 60%.
(B) 40%.
(C) 20%.
(D) 10%.
61. The damping ratio of a system having the characteristic equation S2+2S+8=0 is
(A) 0.353.
(B) 0.330.
(C) 0.300.
(D) 0.250.
62. The forward path transfer of ufb system is
The system is
(A) Stable.
(B) Unstable.
(C) Marginally stable.
(D) More information is required.
63. The open loop transfer function of a system is as
Control Systems
(A) 2, 3, 0
(B) 3, 2, 0
(C) 2, 1, 2
(D) 1, 2, 2
71. A system is shown in fig. The rise time and settling time for this system is
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Control Systems
Answers:
59
C
69
C
60
B
70
D
61
A
71
A
62
C
72
D
63
B
73
A
64
C
74
B
PART B
65
C
75
A
66
B
76
B
67
D
77
B
68
A
78
D
(2Mark)
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Control Systems
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Control Systems
PART C
(16Mark)
106. A positional control system with velocity feedback is shown in fig. What is the response of the system
for unit step input?
107. (i) Measurements conducted on a Servomechanism show the system response to be c(t)=1+0.2 -60t 1.2 10 t. when subjected to a unit step. Obtain an expression for closed loop transfer function.
(ii). A positional control system with velocity feedback is shown in fig. What is the response c (t) to the unit
step input? Given that =0.5.and also calculate rise time, peak time, Maximum overshoot and settling time.
108. (i) A unity feedback control system has an open loop transfer function G(S) = 10/S(S+2). Find the rise
time, percentage over shoot, peak time and settling time.
(ii) A closed loop servo is represented by the differential equation (d2c/dt2) +8 (dc/dt) = 64 e Where c is the
displacement of the output shaft r is the displacement of the input shaft and e= r-c. Determine undamped
natural frequency, damping ratio and percentage maximum overshoot for unit step input.
109. For a unity feedback control system the open loop transfer function G(S) = 10(S+2)/ S2 (S+1). Find (a)
position, velocity and acceleration error constants. (b) The steady state error when the input is R(S) where
R(S) =3/S 2/S2 +1/3S3
110. The open loop transfer function of a servo system with unity feedback system is G(S) = 10/ S (0.1S+1).
Evaluate the static error constants of the system. Obtain the steady state error of the system when
subjected to an input given Polynomial r (t) = a0 +a1t +a2 /2 t2
111. The unity feedback system is characterized by an open loop transfer function is G(S) = K / 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
settling time, Peak overshoot and time to Peak overshoot for a unit-step input.
112. (i) For a servomechanisms with open loop transfer function (S) =10/(S+2) (S+3). What type of input
signal gives constant steady state error and calculate its value.
(ii) Find the static error coefficients for a system whose G(s) H(s) = 10/S (1+S) (1+2S) and also find steady
state error for r(t)=1+ t + t2/2.
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UNIT III
FREQUENCY RESPONSE ANALYSIS
Frequency Response - Bode Plot, Polar Plot, Nyquist Plot - Frequency Domain specifications
from the plots - Constant M and N Circles - Nichols Chart - Use of Nichols Chart in Control
System Analysis. Series, Parallel, series-parallel Compensators - Lead, Lag, and Lead Lag
Compensators, Analysis using MATLAB.
PART-A
(1 MARKS)
The system has 10% overshoot and velocity error constant Kv = 100. The value of K is
(A) 237 x 103
(B) 144
3
(D) 237
(C) 14.4 x 10
115. The forward-path transfer function of a unity feedback system is
The system has 10% overshoot and velocity error constant Kv = 100. The value of is
(B) 237
(C) 14.4 x 103
(D) 144
(A) 23.7 x 103
116. For the system shown in fig. the steady state error component due to unit step disturbance is 0.000012
and steady state error component due to unit ramp input is 0.003.The values of K1 and K2 are respectively
Control Systems
The system has r(t) = t3 applied to its input. The steady state error is
(A) 4 x 10-4
(B) 0
(C)
(D) 2 x 10-5
120. A system has position error constant Kp = 3. The steady state error for input of 8tu(t) is
(A) 2.67
(B) 2
(C)
(D) 0
121. For ufb system shown in fig. the transfer function is
(A) 0.1
(B) 0.9
(C) 1
(D) 9
123. An under damped second order system having a transfer function of the form
(A) 1
(B) 2
(C) 2
(D) 1/2
124. An under damped second order system having a transfer function of the form
has a frequency response plot shown in fig. The damping factor is approximately
(A) 0.6
(C) 1.8
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(B) 0.2
(D) 2.4
Control Systems
(A) 68.30
(B) 900
(C) 0
(D)
127. The gain-phase plots of open-loop transfer function of four different systems are shown in fig. The
correct sequence of the increasing order of stability of these four systems will be
(A) D, C, B, A
(C) B, C, A, D
128. The gain margin of the ufb system is
(B) A, B, C, D
(D) A, D, B, C
(A) 1.76 dB
(B) 3.5 dB
(C) 3.5 dB
(D) 1.76 dB
129. The open-loop transfer function of aufb system is
(A)
(B)
(C)
(D)
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Control Systems
114
C
124
B
115
D
125
B
116
C
126
D
117
C
127
B
118
A
128
B
PART B
119
A
129
D
120
C
130
A
121
A
131
D
122
D
132
A
(2Mark)
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PART C
(16 Mark)
150. Plot the Bode diagram for the following transfer function and obtain the gain and phase cross over
frequencies. G(S) = 10/ S (1+0.4S) (1+0.1S)
151. The open loop transfer function of a unity feedback system is G(S) = 1/ S (1+S) (1+2S). Sketch the
Polar plot and determine the Gain margin and Phase margin.
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152. Sketch the Bode plot and hence find Gain cross over frequency, Phase cross over frequency, Gain
margin and Phase margin. G(S) = 0.75(1+0.2S) / S (1+0.5S) (1+0.1S)
153. Sketch the Bode plot and hence find Gain cross over frequency, Phase cross over frequency, Gain
margin and Phase margin. G(S) = 10(S+3) / S(S+2) (S2+4S+100)
154. Sketch the polar plot for the following transfer function and find Gain cross over frequency, Phase
cross over frequency, Gain margin and Phase margin. G(S) = 10(S+2) (S+4) / S (S2-3S+10)
155. Construct the polar plot for the function GH(S) =2(S+1)/ S2. Find Gain cross over frequency, Phase
cross over frequency, Gain margin and Phase margin.
156. Plot the Bode diagram for the following transfer function and obtain the gain and phase cross over
frequencies G(S) =KS2 / (1+0.2S) (1+0.02S).Determine the value of K for a gain cross over frequency of 20
rad/sec.
157. Sketch the polar plot for the following transfer function .and find Gain cross over frequency, Phase
cross over frequency, Gain margin and Phase margin.
G(S) = 400/ S (S+2) (S+10)
158. A unity feedback system has open loop transfer function G(S) = 20/ S (S+2) (S+5).Using Nichols chart.
Determine the closed loop frequency response and estimate all the frequency domain specifications.
159. Sketch the Bode plot and hence find Gain cross over frequency, Phase cross over frequency, Gain
margin and Phase margin. G(S) = 10(1+0.1S)/ S (1+0.01S) (1+S).
160. Draw the Nyquist plot for the system whose open loop transfer function is G(S) H(S) =K / S (S+2)
(S+10). Determine the range of K for which closed loop system is stable.
161. Construct Nyquist plot for a feedback control system whose open loop transfer function is given by
G(S) H(S) =5/ S(1-S).Comment on the stability of open loop and closed loop transfer function.
162. Sketch the Nyquist plot for a system with the open loop transfer function G(S) H(S) =K (1+0.5S) (1+S)
/ (1+10S) (S-1). Determine the range of values of K for which the system is stable.
UNIT IV
STABILITY ANALYSIS
Stability, Routh-Hurwitz Criterion, Root Locus Technique, Construction of Root Locus, Stability,
Dominant Poles, Application of Root Locus Diagram - Nyquist Stability Criterion - Relative
Stability, Analysis using MATLAB
PART-A
(1 MARKS)
163. The Nyquist plot of a open-loop transfer function G(j) H(j) of a system encloses the (-1, j0) point.
The gain margin of the system is
(A) Less than zero
(B) greater than zero
(C) Zero
(D) infinity
164. Consider the Bode plot of aufb system shown in fig.
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(B) 0.179
(D) 0.639
Control Systems
165. If the gain margin of a certain feedback system is given as 20 dB, the Nyquist plot will cross the
negative real axis at the point
(A) s = - 0.05
(B) s = - 0.2
(C) s = - 0.1
(D) s = -0.01
166. Consider an ufb system whose open-loop transfer function is
(A)
(B)
(C)
(D)
167. A unity feedback system has open-loop transfer function. The Nyquist plot for the system is
(A)
(B)
(C)
(D)
168. A unity feedback system has open-loop transfer function. The phase crossover and gain crossover
frequencies are
Control Systems
(A)
(B)
(C)
(D)
172. A system with zero initial conditions has the closed loop transfer function. The system output is zero at
the frequency
(A)
K
S3
(B)
K
S ( S + 1)
(C)
K
S ( S 2 + 1)
(D)
K
S ( S 2 1)
174. A unity feedback system has an open loop transfer function, G(s) =
(A)
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K
. The root locus plot is
S2
(B)
Control Systems
(C)
(D)
175. The open loop transfer function of a unity feedback system is given by
2( S + )
G(s) =
S ( S + 2)( S + 10)
Angles of asymptotes are
(A) 600, 1200, 3000
(B) 600, 1800, 3000
(C) 900, 2700, 3600
(D) 900, 1800, 2700
176. The open loop transfer function of a unity feedback system is given by
2( S + )
G(s) =
S ( S + 2)( S + 10)
Intercepts of asymptotes at the real axis is
10
(A) 6
(B)
3
(C) 4
(D) 8
177. A unity feedback system has an open-loop transfer function of
10000
G(s) =
S ( S + 10) 2
Determine the magnitude of G (j) in dB at an angular frequency of = 20 rad/sec.
(A) 1 dB
(B) 0 dB
(C) 2 dB
(D) 10 dB
178. A unity feedback system has an open-loop transfer function of
10000
G(s) =
S ( S + 10) 2
The phase margin in degrees is
(A) 900
(B) 36.860
(C) 36.860
(D) 900
179. The term reset control refers to
(A) Integral control
(B) Derivative control
(C) Proportional control
(D) none of the above
180. If stability error for step input and speed of response be the criteria for design, the suitable controller
will be
(A) P controller
(B) PI controller
(C) PD controller
(D) PID controller
1 + 0.5S
181. The transfer function
represent a
1+ S
(A) Lag network
(B) Lead network
(C) Laglead network
(D) Proportional controller
182. A lag compensation network
(a) Increases the gain of the original network without affecting stability.
(b) Reduces the steady state error.
(c) Reduces the speed of response
(d) Permits the increase of gain of phase margin is acceptable.
In the above statements, which are correct?
(A) a and b
(B) b and c
(C) b, c, and d
(D) all
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Answer:
163
A
173
C
164
B
174
A
165
C
175
C
166
C
176
B
167
A
177
B
168
C
178
C
PART B
169
D
179
A
170
D
180
D
171
A
181
A
172
A
182
D
(2Mark)
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Control Systems
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Control Systems
PART C
(16 Mark)
209. (i) Using Routh criterion determine the stability of the system whose characteristics equation is
S4+8S3+18S2+16S+5 =0.
(ii) F(S) = S6 +S5-2S4-3S3-7S2-4S-4 =0.Find the number of roots falling in the RHS plane and LHS plane.
210. A unity feedback control system has an open loop transfer function G(S) = K / S (S2+4S+13). Sketch
the root locus.
211. Sketch the root locus of the system whose open loop transfer function is G(S) = K / S (S+2) (S+4). Find
the value of K so that the damping ratio of the closed loop System is 0.5
212. A unity feedback control system has an open loop transfer function G(S) = K (S+9) / S (S2+4S+11).
Sketch the root locus.
213. Sketch the root locus of the system whose open loop transfer function is G(S) = K / S (S+4) (S2+4S+20).
214. A Unity feedback control system has an open loop transfer function G(S) = K (S+1.5) / S (S+1)
(S+5).Sketch the root locus.
215. Draw the Nyquist plot for the system whose open loop transfer function is G(S) = K / S (S+2) (S+10).
Determine the range of k for which closed loop system is stable.
216. Sketch the Nyquist Plot for a system with the open loop transfer function G(S) H(S) = K (1+0.5S) (1+S)
/ (1+10S) (S-1). Determine the range of k for which closed loop system is stable.
217. Construct Nyquist Plot for a system with the open loop transfer function G(S) H(S) = 5 / S (1S).Comment on the stability of open loop and closed loop system.
218. By Nyquist stability criterion determine the stability of closed loop system, whose open loop transfer
function is given by, G(S) H(S) = (s+2)/(s+1)(s-1).
219. (i) Construct Routh array and determine the stability of the system represented by the characteristics
equation S5+S4+2S3+2S2+3S+5=0. Comment on the location of the roots of characteristic equation.
(ii) Construct Routh array and determine the stability of the system represented by the characteristics
equation S7+9S6+24S4+24S3+24S2+23S+15=0.
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UNIT V
STATE VARIABLE ANALYSIS & DIGITAL CONTROL SYSTEMS
State space representation of Continuous Time systems State equations Transfer function from
State Variable Representation Solutions of the state equations - Concepts of Controllability and
Observability State space representation for Discrete time systems. Sampled Data control
systems Sampling Theorem Sample & Hold Open loop & Closed loop sampled data
systems.
PART-A
(1 MARKS)
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(A)
(B)
(C)
(D)
235. The polezero plot given in fig. is that of a
(A)
(B)
(C)
(D)
Answers:
220
B
230
C
221
B
231
B
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222
B
232
A
223
C
233
A
224
D
234
A
225
D
235
D
226
D
236
C
227
D
237
A
228
B
238
C
229
A
239
A
Control Systems
PART B
(2 Mark)
Control Systems
Control Systems
The necessary and sufficient condition for complete observability is that none of the columns of the matrix be
zero. If any of the column is of has all zeros then the corresponding state variable is not observable.
262. What is the need for state observer?
In certain systems the state variables may not be available for measurement and feedback. In such
situations we need to estimate the un-measurable state variables from the knowledge of input and output. Hence a
state observer is employed which estimates the state variables from the input and output of the system. The
estimated state variable can be used for feedback to design the system by pole placement.
PART C
(16 Mark)
263. a. Explain the importance of controllability and observability of the control system model in the design
of the control system.
b. Explain the solution for state equation for discrete time system.
264. Explain sampling theorem and Sample & Hold operation briefly.
265. Explain stability analysis of sampled control system and Jurys stability.
266. Explain state space representation for discrete time system.
267. Explain state space representation for continuous time system.
268. a. Explain the solution for state equation for discrete time system.
b. Explain Jurys stability test.
269. Given the transfer function of a system, determine a state variable representation for the system Y(S) /
U(S) = 1/ (S+2) * (S+3) * (S+4)
270. Determine the state variable representation of the system whose transfer function is given as Y(S) /
U(S) = 2S2+8S+7 / (S+2)2 *(S+1)
271. Discuss the advantage of state space techniques over the transfer function techniques of analyzing the
control system.
272. Explain the procedure of deriving the state space representation of a system whose
dynamics has
been expressed in the form of a differential equation.
273. Test the controllability & observability of the system whose state space representation is given as,
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