Unit I

1.Give the comparison between (Differentiate) open loop system and closed loop system
Sl. Open loop Closed loop
No
1. Any Change in output has no Changes in output, affects the
effect on the input. input which of possible by use of
feedback.
2. Feedback element is absent. Feedback element is present.
3. Simple and economical Complex and costly
4. They are generally stable Great efforts are needed to design
a stable system
5. These are not reliable These are reliable
6. If calibration is good, they They are accurate because of
perform accurately feedback

2.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. Negative feedback leads to a tight control situation thereby the corrective action taken by
the controller forces the controlled variable towards the set point.

3. State Mason’s Gain formula.

According to Mason's Gain formula,

 Pk  k
k 1, 2...
Overall gain, T (s) 

Where, T = Transfer function of the system, P k= forward path gain of k th forward path
 = 1 - (sum of individual loop gain) + (sum of gain products of all possible combinations of two
non-touching loops) - (sum of gain products of all possible combination of three non-touching
loops) +...................
K =  of the Kth forward path.

4.Define the Transfer function.

The transfer function of a system is defined as the ratio between Laplace transform of the output
and Laplace transform of the input when initial conditions are zero.
5. Write any two limitations of transfer function approach.
Transfer function does not take into account the initial conditions. 2. Transfer function can be
defined for linear functions only. 3. No inferences can be drawn about the physical structure of
the system

6. What is called feedback control system? Give an example.

Also known as closed loop control system or Automatic control system. The output is fedback to
the input for correction. The feedback path element sample the output and converts it to signal of
same type of reference signal. Example: Automatic Traffic control system.

7. What are the basic elements used for modeling mechanical translational system?
The basic elements used for modeling mechanical translational system are Mass(M), Damper (B)
and Spring(K)
Unit II
1. List the standard test signals used in time domain analysis.
The standard test signals used in time domain analysis are
 Unit step input
 Unit Impulse input
 Unit ramp input
 Unit parabolic input

2. For the system with the following transfer function, determine type and order of the
system

3. What is the type and order of the system?

Type – The number of poles of loop transfer function that lies at origin.
Order- The maximum power of “s” in denominator polynomial
4. How a control system is classified depending on the value of damping?
 Under damped system (0<𝜻<1)
 Un damped system (𝜻=0)
 Critically damped system (𝜻=1)
 Over damped system (𝜻>1)
5.Write the transfer function of the PID controller.
1
U(s)/E(s) = Kp ( 1 + Tds + )
Ti s

Where Kp – Positional Error Constant

Ti – Integral Time Constant
Td – Derivative Time Constant

6. What is the effect of Proportional Derivative (PD) controller on the system performance?
The PD controller introduces a zero in the system and increases damping ratio. The addition of
the zero may increase the peak overshoot and reduce the rise time. But the effect of increased
damping ratio ultimately reduces the peak overshoot.

7.State the effect of Proportional integral (PI) controller on the system performance.
1. Order of the system is increased by one.
2. It introduces zero in the system( Roots in the numerator).
3. The increase in order makes the system less stable than the original one.
4. Reduces the steady state error.

8. Define steady state error

Steady-state error is defined as the difference between the input (command) and the output of a
system in the limit as time goes to infinity. (i.e value of error when time goes to infinity).

9. Discuss the effect of adding a zero to the open loop transfer function of the system?
The addition of a zero to open loop transfer function of a system will improve the transient
response, reduces the rise time. If the zero is introduced close to origin, then the peak overshoot
will be larger. If the zero is introduced far away, then its effect is negligible.

10. Define delay time and peak time.

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

Peak time: It is the 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 the peak overshoot, Mp .

11.Define: Settling time.

It is the time required for the step response curve of under damped second order system to reach
and stay within a specified tolerance band. It is usually expressed as % of final value. The usual
tolerable error is 2 % or 5 % of the final value.
12. Define maximum peak overshoot.
Maximum peak overshoot is defined as the ratio of maximum peak value measured from the
maximum value to final value.
 Unit III
1.What are the frequency domain specifications? (Or) Name the parameters which
constitute frequency domain specifications.
The frequency domain specifications indicate the performance of the system in frequency
domain, and they are Resonant peak, Resonant frequency, Band width, Cut-off rate, Phase
margin & Gain margin.

2.Define phase margin.

The phase margin is defined as the amount of additional phase lag at the gain crossover frequency
(gc) required to bring the system to the verge of instability.
Phase margin  = gc + 180 Where gc =  G (j) H (j) at  = gc

3.Define the term Gain Margin.

The gain margin is the factor by which the system gain can be increased to drive it to the verge
of instability. It may be defined as the reciprocal of the gain at the phase cross over frequency
(pc). The phase cross over frequency is the frequency at which the phase is 180.

1
Gain margin Kg 
G( j pc )

4. What is meant by corner frequency in frequency response analysis?

Asymptotic straight lines can approximate the magnitude plot. The frequencies corresponding to
the meeting point of asymptotes are called corner frequencies. The slope of the magnitude plot
changes at every corner frequency.

5.Why compensation is necessary in feedback control systems?

In feedback control systems compensation is required in the following situations.
1. When the system is absolutely unstable, then compensation is required to stabilize the system
and also to meet the desired performance.
2. When the system is stable, then compensation is required to meet the desired performance.
6. Differentiate phase lead and phase lag compensator.
7. Draw the circuit of lag compensator

8. Draw the circuit of lead compensator

Unit IV
1. Define stability of a system.
A linear time invariant system is said to be stable if the following conditions are satisfied.
(i)When the system is excited by a bounded input, output is also bounded and controllable.
(ii) In the absence of the input, output must tends to zero irrespective of initial conditions.

2. What is dominant pole?

The dominant pole is a pair of complex conjugate poles which decides transient response of the
system. In higher order system the dominant poles are very close to origin and all other poles of
the system are widely separated and so they have less effect on transient response of the system.
3. State Routh’s stability criterion. (Or) write the necessary and sufficient condition for
stability in Routh’s stability criteria.
A 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 the characteristic equation in the right half of the s – plane. .

4. State Nyquist stability criterion.

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 halves of s-
plane poles of G(s)H(s). Then the closed loop system is stable.

5. What will be stability of the system when the roots of characteristics equation are lying
on imaginary axis?
If the characteristics equation has repeated roots, one or more non-repeated in the jw axis, the
system is unstable. If the roots of the characteristics equations have negative real parts, except
for the presence of one or more non-repeated roots on the jw axis, the system is limitedly stable.

6. How will find root locus on real axis?

First split the real axis into regions based on location of poles and zeros on the real axis.
Consider a test point on the real axis. If the total number of poles and zeros on the real axis to the
right of the test point is odd number then the selected region is root locus. If it is even number
then the selected region is not a root locus.

Unit V
1. What are the advantages of state space analysis?
a) The state space analysis is applicable to any type of systems. They can be used for modelling
and analysis of linear and nonlinear systems, time variant and time invariant systems and multi
input multi output systems.
b) The state space analysis can be performed with initial conditions.
c) The variables used to represent the system can be any variables in the system.
d) Using this analysis, the internal states of the system at any time instant can be predicted.
2.Define state and state variable.
State: the state is the condition of a system at any time instant.
State variable: a set of variables which describe the state of the system at any time instant are
called state variables.
3.What is meant by sampled data control system?
When the signal or information at any or some points in a system is in the form of discrete
pulses, then the system is called discrete data system or sampled data system.
4. Write the advantages and disadvantages of sampled data control system?
Advantages:
a) Systems are highly accurate, fast and flexible.
b) Digital transducers used in the system have better resolution
c) The digital components are less affected by noise, non-linarites.
Disadvantages:
a) Conversation of analog signals to discrete time signals and reconstruction introduce noise and
errors in the signal.
b) Additional filters have to be introduced in the system if the component of the system does not
have adequate filtering characteristics.

5. Write the properties of state transition matrix.

The following are the properties of state transition matrix.

1.  (0)  e A0  I (unit matrix)

    (t )
1 1
2.  (t )  e At  e At
3.  (t1  t2 )  e A(t1 t2 )  e At1 e At2   (t1 ) (t2 )   (t2 ) (t1 )

6. Give the concept of controllability.

A system is said to be completely state controllable if it is possible to transfer the system state from
any initial state X(t0) at any other desired state X(t), in specified finite time by a control vector
U(t). Controllability test is necessary to find the usefulness of a state variable. If the state variables
are controllable then by controlling the state variables the desired outputs of the system are
achieved.

7. State the concept of observability?

The observability test is necessary to find whether the state variables are measurable are not. If the
state variables are measurable then the state of the system can be determined by practical
measurements of the state variables.

8. State Shannon’s sampling theorem.

It states that a band limited continuous time signal with highest frequency fm hertz, can be uniquely
recovered from its samples provided that the sampling rate Fs is greater than or equal to 2fm
samples per second.

9.What is meant by quantization?

The process of converting a discrete-time continuous valued signal into a discrete-time discrete
valued signal is called quantization. In quantization the value of each signal sample is represented
by a value selected from a finite set of possible values called quantization levels.