Code.

No: 36073
R05 SET-1
JAWAHARLAL NEHRU TECHNOLOGICAL UNIVERSITY HYDERABAD
III .B.TECH II SEM SUPPLEMENTARY EXAMINATIONS FEBRUARY - 2010
DIGITAL AND OPTIMAL CONTROL SYSTEMS
(INSTRUMENTATION & CONTROL ENGINEERING)
Time: 3hours Max.Marks:80
Answer any FIVE questions
All questions carry equal marks
---

k k
⎛1⎞ ⎛1⎞
1. Determine the convolution of f ( K ) = ⎜ ⎟ and g ( K ) = ⎜ ⎟ for all K ≥ 0 . Check
⎝4⎠ ⎝3⎠
the results using Z-transformation. [16]

y(S ) 10
2. A regulator system has a plant, described by = obtain
u ( S ) ( S + 1) + ( S + 2)( S + 3)
the discrete time state variable model. [16]

3. Consider the following continuous control system

⎡ x(t ) ⎤ ⎛ −1 1 ⎞ ⎡ x1(t ) ⎤ ⎡ 0 ⎤
⎢ x(t ) ⎥ = ⎜ 0 −1⎟ ⎢ x 2(t ) ⎥ + ⎢1 ⎥ u (t ), y (t ) = x1 (t ) The control signal u(K) is how
⎣ ⎦ ⎝ ⎠⎣ ⎦ ⎣ ⎦
generated by processing the signal u(t) through a sampler and zero order hold.
Study the controllability and observability properties of the system under this
conditions. Determine the values of the sampling period for which the discretised
system may exhibit hidden oscillation. [16]

4. Explain the Liapunov stability criterion for the linear time variant systems. [16]

5.a) Enumerate the design steps for ole placement.

b) Prove Ackermann’s formula for the determination of the state feedback gain
matrix `K’. [16]

6.a) Explain the digital implementation of analog controllers in detail.

b) Describe the three digital integration rules used for the digital implementation of
controllers and explain the bilinear transformation in detail. [16]

7. State and derive the condition for full order observer. [16]

8.a) State and explain the Pontryagin’s minimum principle.

t1
⎡ 1 + x2 ⎤
b) Find the external for the functional j ( x) ∫ ⎢ ⎥ dt x(0) + 0 x(t1 ) = t1 − 5 .[8+8]
0 ⎣⎢ x ⎥⎦

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Code.No: 36073
R05 SET-2
JAWAHARLAL NEHRU TECHNOLOGICAL UNIVERSITY HYDERABAD
III .B.TECH II SEM SUPPLEMENTARY EXAMINATIONS FEBRUARY - 2010
DIGITAL AND OPTIMAL CONTROL SYSTEMS
(INSTRUMENTATION & CONTROL ENGINEERING)
Time: 3hours Max.Marks:80
Answer any FIVE questions
All questions carry equal marks
---

⎡ k ⎤ 1
1. Show that a) x ⎢ ∑ f (h) ⎥ = −1
F ( z)
⎣ h=0 ⎦ 1− x
⎡ k −1 ⎤ y −1
b) y ⎢ ∑ f (h) ⎥ = −1
F ( z)
⎣ h=0 ⎦ 1− y
k
c) ∑ f ( K ) = lim F ( z )
k =0
x →1
[6+6+4]

2.a) Obtain the state space representation of the following system

y( z) z −1 + 2 z −2
= choose state variation state matrix as a diagonal matrix.
u ( z ) 1 + 0.7 z −1 + 0.12 z −2
b) State and prove the properties of the state transition matrix of discrete time system.
[9+7]

⎛ −1 0 0 ⎞ ⎛0 1⎞
⎜ ⎟ ⎜ ⎟ ⎛ 0 1 2⎞
3.a) Given the system X = ⎜ 0 −2 0 ⎟ x + ⎜ 2 0 ⎟ u ; Y= ⎜ ⎟ Determine the
⎜ 0 0 −3 ⎟ ⎜0 1⎟ ⎝0 1 0⎠
⎝ ⎠ ⎝ ⎠
controllability and observability.
b) Determine the state controllability for the systems, whose system matrix and input
matrixes.
Given as
⎛2 1 ⎞ ⎛1 ⎞
(i) A = ⎜ ⎟; B = ⎜ ⎟
⎝ 0 −1⎠ ⎝0⎠
⎛ 0 1⎞ ⎛0⎞
(ii) A = ⎜ ⎟; B = ⎜ ⎟ [8+8]
⎝ −1 0 ⎠ ⎝1 ⎠

4.a) Using direct method of Liapunov, determine the stability of the equilibrium state of
⎛ 0 1⎞
the system X = AX , with A = ⎜ ⎟
⎝ 1 1⎠
b) Explain how to find the stability analysis of discrete time system using prilinear
transformation. [8+8]
5.a) Draw the block for digital control system with cascade digital controller and explain
the same.
b) Draw the block diagram to represent a single input single output digital controller
and explain the same. Write down the transfer function of the controller. [8+8]

6. Draw a typical block diagram of a digital control system with state observer and
explain the same. Write the equation for the control signal in terms of reference
signal and observed state vector. [16]

7. With suitable diagram, explain the fixed end point problem and derive necessary
conditions of variational calculus. [16]

8.a) What are the aspects, to be consider while introducing optimal control theory in
industry?
b) What are the characteristics of a plant to be considered while planning optimal
control? [8+8]

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Code.No: 36073
R05 SET-3
JAWAHARLAL NEHRU TECHNOLOGICAL UNIVERSITY HYDERABAD
III .B.TECH II SEM SUPPLEMENTARY EXAMINATIONS FEBRUARY - 2010
DIGITAL AND OPTIMAL CONTROL SYSTEMS
(INSTRUMENTATION & CONTROL ENGINEERING)
Time: 3hours Max.Marks:80
Answer any FIVE questions
All questions carry equal marks
---

1. Write short notes on

a) Folding
b) Aliasing
c) hidden oscillation
d) Anti aliasing filter. [16]

y(S ) w2
2. Consider the following oscillator system = 2 obtain the continuous time
u ( S ) S + w2
state space representation of the system. Then discretize the system and obtain the
discrete time state space representation. Also obtain pulse transfer function of the
discretized system. [16]

3.a) State and explain the complete observability of discrete time systems.
b) State the condition for complete observability and complete state controllability in
the Z-plane.
c) Determine the controllability for the following system
⎡ x1 ( K + 1) ⎤ ⎡ 0 0 ⎤ ⎡ x1 ( K ) ⎤ ⎡ 0⎤
⎢ x ( K + 1) ⎥ = ⎢ −1 1 ⎥ ⎢ x ( K ) ⎥ + ⎢1 ⎥ u ( K ) [5+5+6]
⎣ 2 ⎦ ⎣ ⎦⎣ 2 ⎦ ⎣ ⎦

4.a) Determine a Liapunov function V(X) for the following system

⎡ x1 ( K + 1) ⎤ ⎡ 0 −1.2 ⎤ ⎡ x1 ( K ) ⎤
⎢ x ( K + 1) ⎥ = ⎢0.5 0 ⎦⎥ ⎢⎣ x2 ( K ) ⎥⎦
⎣ 2 ⎦ ⎣
b) State and prove Lyapunou theorem on asymptotic stability. [8+8]

5.a) State the necessary and sufficient condition for the arbitrary pole placement and
explain the same with necessary block diagram for a system with state equation
X ( K + 1) = Gx ( K ) + Hu ( K )
b) Prove Ackermann’s formula for the determination of the state feedback gain matrix
K. [8+8]

6.a) Draw the block diagram for digital system with a reduced order observer and
explain.
b) How reduced order observation is different from minimum order observation. [8+8]
 π
2
Show that the external for the functional J ( x) = ∫ ( x + x 2 )dt , which satisfies the
2
7.
0

boundary conditions x (0) = 0; x π( 2 ) = 1 is x (t ) = sin t

*
[16]

8.a) Explain minimum time problem. Write the performance index and the constraints
associated with the problem.
b) Explain minimum energy problem. [10+6]

******
Code.No: 36073
R05 SET-4
JAWAHARLAL NEHRU TECHNOLOGICAL UNIVERSITY HYDERABAD
III .B.TECH II SEM SUPPLEMENTARY EXAMINATIONS FEBRUARY - 2010
DIGITAL AND OPTIMAL CONTROL SYSTEMS
(INSTRUMENTATION & CONTROL ENGINEERING)
Time: 3hours Max.Marks:80
Answer any FIVE questions
All questions carry equal marks
---

1.a) Define ZOH. Derive the frequency response characteristics of ZOH device and
draw the magnitude and phase response of ZOH device.
b) Determine the pulse transfer function for the following transfer function
( s + b)
H (S ) = [8+8]
( s + b) 2 + a 2

2. Obtain the state space representation for the system defined by the following
⎡ 1 1 + z −1 ⎤
⎡ y ( z) ⎤ ⎢ =1
1 − z −1 ⎥⎥ ⎡u1 ( z ) ⎤
transfer function matrix ⎢ 1 ⎥ = ⎢ 1 − z ⎢ ⎥ [16]
⎣ y2 ( z ) ⎦ ⎢ 1 1 + z − 1 ⎥ ⎣ u2 ( z ) ⎦
⎢⎣1 + 0.6 z −1 1 + 0.6 z −1 ⎥⎦

3.a) State the advantages and disadvantages in controllability and observability

b) What is the need for
i) Controllability test
ii) Observability test [8+8]

4.a) Explain in detail the different methods of determine the sufficiency conditions in
Jury’s stability criterion.
b) What is condition for asymptotically stable in the large. [8+8]

5. A discrete time regulator system has the plant equations.

⎡ 2 −1⎤ ⎡ 4⎤
X ( K + 1) = ⎢ ⎥ X ( K ) + ⎢ ⎥ u ( K ) and Y ( K ) = [1 1] X ( K ) + 7u ( K )
⎣ −1 1 ⎦ ⎣3 ⎦
Design a state feedback control system with u (K)=Kx(K) to place the closed
poles at ± j 0.5
[16]

6.a) Write is a state estimator? Briefly explain with same

b) What are the different types of state observation? Explain. [8+8]

7.a) Write Euler-Lagrange equation and explain each of the terms.

b) Briefly explain the application of Euler-Lagrange equation for optimal control.
[8+8]
8.a) What are the steps involved in finding a solution of an optimal control?
b) What are the factors relating to a plant for the design of an optimal controller?
c) What is admissible control? [16]

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