EE3503 - CONTROL SYSTEMS

MATERIALS FOR SLOW LEARNERS

REGULATION 2021
UNIT-I MODELING OF LINEAR TIME INVARIANT SYSTEM (LTIV)
PART-A
1. Mention the basic elements of a control system. (Nov 2014) (May/June 2016)
Error detector or comparator, controller, actuator or final control element, system to be
controlled and sensor or transmitter are the basic elements of a control system.
2. Define open loop and closed loop system. (Nov 2017)
The control system in which the output quantity has no effect upon the input quantity are
called open loop control system. This means that the output is not feedback to the input for
correction.
The control system in which the output has an effect upon the input quantity so as to maintain
the desired output values are called closed loop control system.
3.What are the advantages and disadvantages of open loop control systems? (June2014)
Advantages
1. Open loop systems are simple and economical.
2. The open loop systems are easier to construct.
3. Generally open loop systems are stable.
Disadvantages
1. The open loop systems are accurate.
2. The changes in the output due to external disturbances are not corrected automatically.
4. State any two advantages of feedback control system (or) State the advantages of
closed loop system over open loop system (May/June 2015)
i) The controlled variable accurately follows the desired value. Feedback in the control loop
allows accurate control of the output. ii) It greatly improves the speed of its response.
5. Why closed loop systems have a tendency to oscillate?
In closed loop system, the output is always compared with the input and the controller is
going to take corrective action based on the difference between two, it has the tendency to
oscillate.
6.Why negative feedback is preferred in control systems? (Nov 2016) (May 2017)
Negative feedback leads to a tight control situation whereby the corrective action taken by the
controller forces the controlled variable toward the set point, thus leading the system to
oscillate around equilibrium.
7. List the characteristics of negative feedback in control system. (April/May2018)
 Accuracy in tracking steady state value.
 Rejection of disturbance signals.
 Low sensitivity to parameter variations.
 Reduction is gain at the expense of better stability.

8. What is the mathematical model of a system?

Mathematical model is the mathematical representation of the physical model of a system
through use of appropriate physical laws. For most physical systems they are characterized by
differential equations. A mathematical model may either be time variant or time invariant.
9. Define the Transfer function of a system. (Nov2010, Nov 2013) (Nov2014)
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.
LaplaceTransform of the output
|Zero initial conditions
Transfer function = Laplace Transform of the input
10.Write the force balance equation of ideal dashpot and ideal spring. (May 2015)

11. State the laws governing mechanical rotational elements.

Newton’s law, which states that the applied torque will be equal to the sum of torque
produced by all mechanical rotational elements (moment of inertia, viscous friction
coefficient, torsional spring stiffness)
12.What are the basic elements used for modeling mechanical translational system. (Nov
2017)
Mass(M), spring(K) and dashpot (B) are three basic elements used for modeling mechanical
translational system.
13. Write the differential equations of the mechanical system shown in Fig

2
d d x2
B (x 1 −x 2 )+ K 1 x 2=0 M + B( x 2−x 1 )+ K 2 x 2 =F( t )
dt ; dt 2

14. What do you mean by analogous system?

If the differential equations of systems are identical then the systems are called as analogous
systems. E.g. Force Voltage system and Torque Voltage system are analogous.
15.What is the force voltage analogy of a mechanical spring?
The force – voltage analogy of mechanical spring is reciprocal of capacitance (1/C). In force
voltage analogy, the mathematical equations of translational mechanical system are compared
with mesh equations of the electrical system

16. Mention the equivalent electrical elements for the mass, damper, spring elements in
mechanical system.

Mech.System Equivalent Electrical Elements

Components
Force – Voltage analogous Force – Current analogous
Mass Inductance (L) Capacitance (C)
Damper Resistance (R) Reciprocal of resistance (1/R)
Spring Reciprocal of capacitance (1/C) Reciprocal of inductance (1/L)

17. Tabulate the parameters of the translational and rotational systems. (May 2019)
S.No Mechanical Translational Mechanical Rotational System
system
1. Force (f) Torque (T)
 2. Velocity (v) Angular velocity (𝜔)
3. Displacement (x) Angular displacement(θ)
4. Frictional Coefficient of Rotational coefficient of dashpot
Dashpot (B) (B)
5. Mass (M) Moment of Inertia (J)
6. Stiffness of spring (K) Stiffness of spring (K)
18. For the mechanical system shown in figure 1. Draw the corresponding Force-Voltage
analogy circuit. (May 2019)

19. What is electrical analogous of a gear?

Transformer is electrical analogous of a gear.

20. Draw the electrical analog of thermometer. (Nov 2015)

The thermometer is assumed to have a thermal capacitance C which stores heat and thermal
resistance R which limits that flow. The cross section of mercury in a simple glass
thermometer is shown below.

The thermometer responds to temperature changes because of the heat absorbed or lost by the
mercury by the mercury. Heat input from the surrounding is hA( i - o)
d Ɵo
Heat stored=C
dt
d Ɵo d Ɵo
Balancing heat absorbed with heat stored, hA( i - o)= C Or τ =Ɵi−Ɵ o
dt dt
Where τ = C / hA
τ is the Time constant of the thermometer, A is the surface area and h is the film co-efficient
of solid liquid interface.
1 1
ei= Ri +
C
∫ idt and eo= ∫ idt
C

21.Derive the transfer function of the network shown in Fig

22. What is block diagram. State its components. (May 2017)

A Block Diagram of a system is a pictorial representation of the functions performed by each
component of the system and shows the flow of signals. The basic elements of block diagram
are blocks, branch point and summing point.
23.What are the disadvantages of block diagram representation? (Nov 2018)
i) Reduction of block diagram is becoming tedious for complex systems.
ii) It is time consuming.
iii) Not suitable for MIMO system
iv) Not suitable for nonlinear system
24. Write the expressions for Mason’s gain formula. (May2018)
According to Mason's Gain formula,
Overall gain, T =Pkk/ 
Where, T = transfer function of the system, Pk= forward path gain of kth 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.
25.What is the advantage of Signal flow graph method?
(i) It follows a generalized procedure (ii) It is easier to simplify even if the system has
complex structures (iii) Signal flow graph has a systematic approach, whereas block diagram
reduction depends on the complexity of the system.
26. Define servo mechanism. (Nov 2018)
The servomechanism is a feedback control system in which the output is mechanical
position (or) time derivatives of position (e.g. velocity & acceleration).
27. State the assumptions made while obtaining the transfer function of an armature
controlled DC servomotor.
The armature circuit inductance is negligible. It is approximated by a linear lumped constant
parameter model.
28.What are the different types of rotor that are used in AC servo motor?
Squirrel – cage rotor and Drag – cup rotor are the two types rotor used in AC servomotor.
The Squirrel cage rotor have large length and small diameter so its resistance is very high. Its
air gap is kept small. The resistance of drag type rotor is very high and hence have high
starting torque. Generally a cup of non magnetic conducting material is used and stationary
core is placed between the conducting cup to complete the magnetic circuit.
29. Giver the different types of DC servomotors. (Nov 2018)
The various types of dc servomotors are i) Series motors ii) Split series motors iii) Shunt
control motor iv) Permanent magnet shunt motor.

PART-B
1. (i) Compare open loop and closed loop systems with examples. (May 2016) (May 2017)
(Nov 2018)
(ii)Derive the transfer function for an armature-controlled dc motor. (Nov2015) (Nov 2018)
2. Define transfer function and derive the transfer function of field control DC servomotor.
(May 2019)
3. Obtain the transfer function of the mechanical systems shown in the following figures.(Nov
2018)
4. Write the differential equations governing the behaviour of the mechanical system shown in
figure below. Obtain an analogous electric circuit based on force current analogy. (April
2014)

5. Write the differential equations governing the behaviour of the mechanical system shown in
figure below. Draw the force voltage and force current electrical analogous circuits and verify
by writing mesh and node equations. (April 2011)

6.Write the differential equations governing the system and draw the force voltage and force
current analogous circuit. (May 2015)

7.For the given system

(a)Draw the mechanical network diagram and hence write the differential equations
describing the behavior of the system
(b)Draw the force voltage and force current electrical analogous circuits. (Nov 2015)
8.Write the differential equations governing the mechanical system shown in the figure. Draw
the force –voltage and force current analogous circuits. (Nov 2016)

9.Write the differential equation governing the mechanical translational system shown in
figure. Draw the electrical equivalent analogy circuit. (May 2017) (May 2018)

Y 2 ( s)
10. Find the transfer function f (s) . (Nov 2017)

11.Obtain the transfer function X(s)/E(s) of the electro-mechanical systems shown in the
following figure.
12. Write the differential equations governing the mechanical rotational system shown in the
figure. Draw the both electrical analogous circuits. (May 2016)

13.Using block diagram reduction techniques find the closed loop transfer functions of the
following system and verify it by using signal flow graph method. (April 2011) (May 2019)

14. The block diagram of a closed loop system is shown in fig. using block diagram
reduction technique; determine the closed loop transfer function. (May 2018)

15. Draw the signal flow graph and evaluate the closed loop transfer function of a system
whose block diagram is given in the following figure.
16. Using block diagram reduction rules, convert the block diagram to a simple loop. (Nov
2014)

17. Consider the signal flow graph shown in figure. Obtain the closed loop transfer function
C(s)/R(s) by the use of Mason’s gain formula. (April 2014)

18. Obtain the transfer function using mason’s gain formula for the given system. (May 2015)

19. For a non-unity negative feedback control system whose open loop transfer function is
G(s) and feedback path transfer function is H(s), obtain the control ratio using mason’s gain
formula. (Nov 2015)
20. Convert the given block diagram shown in the figure to signal flow graph and determine
the closed loop transfer function C(S)/R(S .(May 2016)
21. (i) Derive the transfer function of AC servomotor. / With operating principle, derive the
transfer function of AC servomotor. (Nov 2016) (May 2017)
(ii)Construct the block diagram for the simple electrical network shown in the figure and
henceobtain the signal flow graph and transfer function EO(S)/Ei (S). (Nov 2016)

C( s)
22. Find the overall gain R( s) for the signal flow graph shown in Fig. (Nov 2017)

23. With neat diagram explain the working of AC and DC Servo motor and differentiate DC
and AC servomotor. (Nov 2014) (May 2016)

UNIT-II TIME DOMAIN ANALYSIS

PART-A
1. Distinguish between steady state response and transient response.
Steady state response Transient response
The time response of the system when The time response of the system when
time tends to infinity the input changes from one state to
another.
The response has settled value. It is The response may be exponential or
 represented by Css oscillatory. It is represented by c(t).
2. What are the standard test signals employed for time domain studies? (or)List the
standard test signals used in analysis of control systems? (April 2011) (June2014) (Nov
2018)
The standard test input signal are step input, ramp input, parabolic input and impulse input
signals. By using above standard test signals of control systems, analysis and design of control
systems are carried out, defining certain performance measures for the system.
3.What is the initial slope of a step response of a first order system?
The step response of first order is given by c(t) =1- e-t/T,where T is time constant.
The initial slope is given by,
(dc/dt)t = 0 = (1/T) e-t/T t = 0 = 1 / T
4.Plot the time response of the first order system to a unit step and unit ramp input.

C( S) 16
5.For the system described by = 2 Find the nature of time response.
R( S) S + 8 S +16

(Nov 2015)
Solution:
2
In the given transfer function C(s)/R(s); the value of ω n =16 and2 ξωn =8 .
8
ξ= =1
Hence the value of damping ratio 2.4 .
Hence the given system is a critically damped system and the step response of the system will
be like:
6.What is the type and order of the system? (Nov2014) (May 2015) (Nov 2017)
Type – The number of poles of loop transfer function that lies at origin. The type of the
system decides the steady state error.
Order- The maximum power of s in denominator polynomial
7. Define type and order of the following system (May 2017)
10
G( s )H ( s )=
s 3 ( s2 +2 s+1)
Type = 3 and Order = 5
8. How a control system is classified depending on the value of damping? (May2018)

 Under damped system (0<𝜻<1)

 Un damped system (𝜻=0)
 Critically damped system (𝜻=1)
 Over damped system (𝜻>1)
where𝜻 is damping ratio
9. List the time domain specifications. (May 2016)
The performance of control system in time domain is evaluated by the following
specifications, Delay time(td), Rise time (tr), Peak time (tp), Peak Overshoot(Mp), Settling
Time(ts).
10. Define delay time and peak time.
(a)Delay time: It is the time taken for response to reach 50% of the final value, for the very
first time.(b)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. (Nov 2018)
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. (May 2017)
Maximum peak overshoot is defined as the ratio of maximum peak value measured from the
maximum value to final value.

13.What is meant by reset time?

In the integral mode of controller, the time during which the error signal is integrated is called
the integral or reset time (Ti). In other words, in PI control, the time taken by the controller to
'reset' the set point to bring the output to the desired value.
U(s) = Kc (1+ (1/TiS)) E(s), where Ti is the integral (or) reset time.
14. What is steady state error? (April 2011) (May 2018)
The steady state error is the value of error signal e(t) when t tends to infinity. It is a measure
of system accuracy.
15.Distinguish between generalized error constants over static error constant.
Static error constants Generalized error constants
1. Do not give the information 1. Gives error signal as a function of
regarding the variation of error with time.
time.
2. Static error constants can be used 2. Using generalized error const. the
only for standard inputs. steady state error can be determined for
any type of input.

3. Give the definite values for errors, 3. Give the exact error values.
either 0 or or a finite value.
16.Define velocity error constant.
The velocity error constant Kv = Lt s0 sG(s)H(s). The steady state error in type – 1 system
1
for unit ramp input is given by. K V
17.What is the positional error coefficient?
The positional error constant Kp = Lt s0 G(s)H(s). The steady state error in type – 0 system
1
for unit step input is given by 1+ K P
18.Give the relation between the static and dynamic error co-efficient. (Nov 2016)
C0 =1/KP for type-0
C1=1/1+KV for type-1
C2=1/1+Ka for type-2
Where C0, C1, C2 are dynamic error coefficient and Kp, Kv, Ka are static error coefficients.
1
19. For servomechanism with open loop transfer function given by G(s)= 2 .
(s +2 s+3)
Determine the position error constant and steady sate error for a unit step input. (May
2019)
1
Positionalerrorconstant K p =lim G ( s ) H ( s )=¿ lim ❑= ¿
s →0 s→0 3
1 3
Steadystateerrorforunitstep e ss = =
1+ K p 4
20. State the rule for finding out the root loci on the real axis.
A point on the real axis lies on the locus if the number of open loop poles plus zeros on the
real axis to the right of this point is odd.
21. What are the applications of root locus method?
i) Root locus is used to study the dynamic response of a system ii) It visualizes the effects of
varying various system parameters on root locations iii) It provides a measure of sensitivity of
roots to the variation in the parameter being considered iv) It is applicable for single as well as
multiple loop systems, directly we can find the of closed loop response from the given open
loop transfer function, we can find the range of open loop gain in which the system is stable in
closed loop.
22. State the rule for finding the value of K at any point on the root locus diagram.
The value of gain K at any s=sa on the root locus is given by
K=Productofalloft h evectorlengt h sdrawnfromt h epolesofG ( s ) H ( s ) ¿ s a ¿
Productofalloft h evectorlengt h sdrawnfrom
23. State: Magnitude criteria in root locus approach.
The root locus magnitude criteria at any points can be defined as, |G(s)H(s)| = 1. Using this
formula we can calculate the value of K at any desired point.
24. What is root locus? (May 2012)
It is the locus of the closed loop poles obtained when the system gain ‘K’ is varied from - to
+. The stability of the system is determined using this technique. The range of value of K is
found such that complete performance of the system will be satisfactory and the operation is
stable.
25. What are asymptotes? How will you find the angle of asymptotes?
Asymptotes are straight lines which are parallel to root locus going to infinity and meet the

root locus at infinity. Angles of asymptotes

26. State the rule for obtaining breakaway point in root locus. (May 2011)
The break away and break in points are found from an equation for K of the characteristic’s
equation, and differentiate the equation of K with respect to s. Then find the roots of equation

the roots of are breakaway or breaking points, provided for this value of root,
the gain K should be positive real.
27. What is the advantage of using root locus for design?
The root locus has been used for two main design purposes,
i) It is used to find out the potential closed loop pole location.
ii) It also helps to design good compensator.
28. What is the condition for the system G(S) = K (S + a) / S(S + b) to have a circle in its
root locus? (April 2005)
If root loci is circle for the transfer function is a circle, then two poles should be located
adjacently i.e b < a, where b and a are the poles and zeroes of the open loop transfer function.
29. State the basic properties of root locus. (Nov 2016)
1. The root locus is always symmetrical about the real axis.
2. If P>Z, Number of root locus branches equal to number of open loop poles.
3. If Z>P, Number of root locus branches equal to number of open loop zeroes.
30. Explain the function of a PID controller.
It combines all the three continuous controlling modes, gives the output which is proportional
to the error signal, proportional to the rate of change of error signal and proportional to the
integral of error signal. So, it has all the advantages of three individual modes. i.e. less rise
time, less oscillations, zero offset and less settling time.ess = 0 can be achieved.
31. What is a derivative controller? What is its effect? (or) Why derivative controller is
not used in control systems? (Nov 2015)
Derivative controller is a device that produces a control signal, which is proportional to the
rate of change of input error signal. It is effective only during transient response and does not
produce any corrective measures for constant errors u(t) = kde(t)

32. Write the transfer function of the PID controller. (Nov2014)

 1
)
U(s)/E(s) = Kp ( 1 + T i s+T d s
Where Kp – Positional Error Constant
Ti – Integral Time Constant
Td – Derivative Time Constant
33. What is the effect of PD controller on the system performance? (June 2014)
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.
34. What is the effect on system performance when proportional controller is introduced
in the system? (Nov 2015) (Nov 2017)
A proportional controller (P controller) is a control loop feedback mechanism commonly used
in industrial control systems. A P controller continuously calculates an error value as the
difference between a desired set point and a measured process variable. The controller
attempts to minimize the error over time by adjustment of a control variable. The major effect
on the system performance by the Proportional controller is the offset, a constant error
(permanent deviation between the set point and a measured process variable)
35. State the effect of PI controller on the system performance. (May 2016)(May 2019)
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.
36. Discuss the effect of adding a pole to the open loop transfer function of the system?
This will reduce the steady -state error and improves steady state performance. Closer the pole
towards the origin the lesser will be the steady state error. But addition of pole increases the
order of the system, making the system less stable.

37. Discuss the effect of adding a zero to the open loop transfer function of the system?
(April 2011)
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.
38. What is dominant pole pair? What is its significance? (April 2015) (May 2018)
The dominant pole is a pair of complex conjugate pole, which decides transient response of
the system. In higher order systems 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.
39. What are the effects of adding open loop poles and zero on the nature of the root
locus and on system. (Nov 2017)
By addition of poles, the root locus shifts towards imaginary axis and system stability
decreases, while by addition of zeroes towards left half, the root locus moves away from
imaginary axis and the system stability increases.
PART-B
1. (i) (a) Derive the step response of a second order under damped system
(b) Derive the step response of a second order undamped system(April 2011) (Nov 2014)
(Nov/Dec 2015) (Nov 2018)
(ii)Explain PID Controller action with block diagram and obtain its transfer function model.
(Nov 2015) (April 2018)
10
=
2. The open loop T. F of a servo system with unity feedback system is G(s) s(. 1 s+1 )
.Evaluate the static error constants of the system. Obtain the steady state error of the system,
a2
t2
when subjected to an input given by the polynomial r(t) = a 0 + a1t + 2 .Also find the
generalized error constants and hence ess . (April 2014) (April 2015)
5
=
3.A unity feedback control system has an open loop transfer function G(s) s( s+1 ) Find the
rise time, peak overshoot, peak time, settling time, for a step input of 10 units. Also determine
the peak overshoot. (April 2011)

4.Sketch the root locus of the system having (May 2013) (Nov 2018)
k (s+ 2)( s+3 )
=
5.Sketch the root locus for. G(s)H(s) ( s+1 )(s−1 ) (Nov 2013)
6.Draw the root locus plot for the system whose open loop transfer function
k
G( s )=
(s +2)( s+ 4 )(s 2 +6 s+ 25) . Find the marginal value of k which causes sustained
oscillations and the frequency of these oscillations. (April 2014)
7. A unity feedback system is characterized by an open loop transfer function G(s)
k
=
s( s+2 )(s +4 ) . Determine the gain k so that the system will have a damping ratio of 0.5. For
this value of k, determine peak overshoot and peak time for a unit step input. (April 2011)
(April 2014)
8. Obtain the expression for dynamic error co-efficient of the following system isG(s)
10
=
s( s+1 ) (Nov2014)
9. Consider the closed loop system shown in Fig 2. Determine the range of k for which the
system is stable. (Nov 2014)

10.Draw the root locus of the following system. (Nov 2014)

k
=
G(s)H(s) s( s+1 )(s+2)
11.The unity feedback system characterized by open loop transfer function
G(s)=K/[s(s+10)].Determine the gain K such that the damping ratio will be 0.5 and find the
time domain specifications for a unit step input. (May 2015)
1
12.(i)The open loop transfer function of a unity feedback system is given by G(s)= .
S (1+S )
The input to the system is described by r(t)=4+6t.Find the generalized error coefficients and
steady state error
(ii) Explain the rules to construct root locus of a system. (Nov/Dec 2015)
13. Sketch the root locus of the system G(S)=K/s(s+2) (s+4) and determine the value of K
such that the damping ratio of the closed loop system is 0.5(April 2015)
14. Draw the root locus of following the system (Nov 2016)
K (s +1)
G ( S )=
s (s2 +5 s +20)
15.(i)The overall transfer function of the control system given by C(s)/R(s)=16/(s 2+1.6s+16).
It is desired that the damping ratio is 0.8. Determine the derivative rate feedback constant
Ktand compare the rise time, peak time, maximum overshoot and steady state error for unit
ramp input function without and with derivative feedback control. (Nov 2016)
(ii) Compare P, I and D controllers. (Nov 2016)
16. Derive the time domain specifications of a second order system.(April 2016)
17. (i) For a unity feedback control system, the open loop transfer function is given by
10(s+2)
G ( s )=
s2 (s+1)
(a)Find the position, velocity and acceleration error co-efficient.
3 2 1
(b) Also find the steady state error when the input is R ( S )= − 2 + 3 (May 2016)
S S 3S

(ii) With the neat diagram explain the working of PD controller in detail. (May 2016)
18. Derive the time response of undamped and critically damped second order sytem for unit
step input. (May 2017) (May 2018)
19.(i) A unity feedback system has open loop transfer function G(s)=K/[s(s+2)].Find the rise
time, peak time, percentage overshoot and settling time for step input of 12 units. (May 2017)
(ii) For servomechanism with open loop transfer function shown below explain what type of
input signal give rise to a steady state error and calculate their values. (May 2017)
(1) G(s)=[20(s+2)]/[s(s+1)(s+3)]
(2) G(s)=10/[s(s+2)(s+3)]
20. Derive the expressions for second order system for under damped case and when the input
is unit step. (Nov 2017)
21. Find the static error coefficients for a system whose transfer function is
10
G( s)H ( s)= .
s(1+s)(1+2 s) And also find the steady state error. (Nov 2017)
22.i) Outline the time response of first order system when it is subjected to a unit step input.
(May 2018)
ii) Determine the response of the unity feedback system whose open loop transfer function is
4
G( s)= .
s(s+5) (May 2018)
23. i) Aunityfeedbacksystemhastheforwardtransferfunction
K (2 s+1 )
G( s )= .
s (5 s+1)(1+s )2 when the input r(t)=1+6t, determine the minimum value of K so that

the steady error is less than 0.1.

ii) Derive the transfer function of PID controller. (May 2018)
24. A unity feedback control system has an open loop transfer function. Sketch the root locus.
(May2018)
K
G ( S )= 2
s (s + 4 s +13)
25. A unity feedback system is characterised by the open loop transfer function
1
G( s)= .
s(0 .5 s+1 )( 0. 2 s+1) (May 2019)
C( s)
i) Write the closed loop transfer function .
R( s)
ii) Find damping factor, natural frequency of the system
iii) Determine rise time, peak time and peak overshoot of the system
iv) Calculate steady state error due to unit step input.
26. Derive the expression for rise time and peak time of a second order underdamped system
due to unit step input. (May 2019)
K
G( s)=
27. A unity feedback system has an open loop transfer function s (s +1)( s+2 ) . Make a
rough sketch of the root locus of the system, explicitly identifying the centroid, the
asymptodes, the departure angles from the complex poles of G(s) and the j𝜔 axis crossover
point. By trial and error application of the angle criterion, locate a point on the locus that gives
dominant closed loop poles with 𝜻=0.5. Evaluate the value of K at this point. (May 2019)
UNIT-III FREQUENCY DOMAIN ANALYSIS

PART-A
1.What is meant by frequency response. (May 2017)
The magnitude and phase function of sinusoidal transfer function of a system are real function
of frequency 𝜔 and so they are called frequency response. The frequency response can be
evaluated for open loop and closed loop system.
2.List any two advantages of frequency response analysis. (April 2005) (April 2011)
(May 2018). Why frequency domain analysis is needed. (Nov 2018)
(a) The absolute and relative stability of the closed loop system can be estimated from the
knowledge of the open loop frequency response.(b) The practical testing of system can be
easily carried with available sinusoidal signal generators and precise measurement
equipments.(c ) The transfer function of the complicated functions can be determined
experimentally by frequency response tests.(d) The design and parameter adjustments can be
carried more easily.(e)The corrective measure for noise disturbance and parameter variation
can be easily carried.(f)It can be extended to certain non - linear systems
3.What are frequency domain specifications? List it out. (Nov 2017)
The frequency domain specifications indicate the performance of the system in frequency
domain; they are resonant peak, resonant frequency, Band width, Phase margin, Gain margin
4. Define resonant peak and resonant frequency (June 2014) (Nov 2014)
Resonant peak: The maximum value of the magnitude of closed loop transfer function is
called resonant peak. A large resonant peak corresponds to a large overshoot in transient
response.
Resonant frequency: The frequency at which the resonant peak occurs is called resonant
frequency. This is related to the frequency of oscillation in the step response and thus it is
indicative of the speed of transient response.

The resonant frequency,

5. The damping ratio and natural frequency of oscillations of a second order system is
0.3 and 3 rad/sec respectively. Calculate resonant frequency and resonant peak. (May
2019)
Resonant frequency ω r=ωn √1−2 ζ 2=3 √ 1−2 ×0.32 = 2.71 rad /sec
1 1
Resonant Peak M r= =¿ =0.57
2 ζ √ 1−ζ 2
2 × 0.3 √ 1−0.32
6. Define the term Gain Margin. (Nov 2014)
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.

Gain margin
The gain margin in db can be expressed as

7. Define phase margin. (April 2004) (Nov 2014) (May 2015) (May 2018)
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
8. Define Gain Crossover Frequency. (April 2011) (May 2016)
The gain crossover frequency is the frequency at which the magnitude of open loop transfer
function is unity. It is represented by 𝜔gc.
9. Define phase cross over frequency. (May 2016)
The phase cross over frequency is the frequency at which the phase of open loop transfer
function is 180. It is represented by 𝜔pc.
10. Distinguish between resonance frequency r, and natural frequency n.
Resonance frequency (r) Natural frequency (n)
The resonant frequency id defined as the The n is called the undamped
frequency at which G (j) H (j)has a natural frequency of oscillation and
peak value. This is related to the frequency related to the time response
response specification of the control system. specification.
11. Obtain the corner frequencies of the system G(s)H(s) = (s+0.5)/(s+0.25) (s+4)
Corner frequency for the polynomial (1+sT) is 1/T
Corner frequency for the polynomial (s+0.5) is 0.5
Corner frequency for the polynomial (s+0.25) is 0.25
Corner frequency for the polynomial (s+4) is 4
12. What is meant by the term ‘corner frequency’? (May 2018)
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.
13. What is bode plot? State the advantage of Bode plot.
The bode plot is a frequency response plot of the transfer function of a system. It consists of
two plots, magnitude plot and phase plot.
Magnitude plot: Plot between magnitude in db and log for various values of .
Phase plot: Plot between phase in degrees and log for various values of .
Usually both the plots are plotted on a common X-axis in which the frequencies are expressed
in logarithmic scale.
Advantages: (a) The approximate plot can be sketched quickly, (b) The frequency domain
specifications can be easily determined; (c) The Bode plot can be used to analyze both open
loop and closed loop system.
14.What is approximate bode plot.
In approximate bode plot, the magnitude plot of first and second order factors are
approximated by two straight lines, which are asymptodes to exact plot. One straight line is at
0dB, for the frequency range of 0 to 𝜔c and other straight line is drawn with a slope of ±20n
db/sec for the frequency range 𝜔c to ∞ .
15.If the bode plot crosses 180° line, either at very low frequencies or very high
frequencies in the selected frequency range. What is the inference regarding the
relationship between open loop gain and stability? (May 2019)
It is an indication that the closed loop response will be either absolutely stable or unstable,
irrespective of the value of the open loop gain. So even if the phase line just grazes the 180°
line without crossing it, it can be taken as phase crossover frequency 𝜔pc using which gain
margin can determined.
16.What does a gain margin close to unity and phase margin close to zero indicate? (Nov
2016)
The gain margin close to unity and phase margin close to zero indicate that the system is
relatively stable
17.Why frequency domain compensation is normally carried using the bode plots?
(Nov 2016)
The frequency domain compensation may be carried out by using Nyquist plots, bode plots
and Nicholas charts. Out of them normally bode plots are preferred, because they are easier to
draw and modify. Also, the gain adjustments can be carried out and also the error constants
are always clearly in evidence in the bode plots.
18. Show the shape of the polar plot for the transfer function K/s (1 +sT 1)(1 +sT2) (Nov
2018)

19. Sketch the polar plot of 10/s2 (or) draw the approximate polar plot for type 0 second
order system. (Dec 2015)
20. Sketch the polar plot for G(s)=1/1+sT (April 2015)
In the given transfer function, the type of the system is zero and the order is 1.
So, the model polar graph will be like:

21. What is a minimum phase transfer function?

A transfer function, which has all poles and zeros in the left half s–plane is known as
minimum phase transfer function. The minimum phase systems are systems with minimum
phase transfer functions.
22. What are all pass systems and non-minimum phase transfer function?
All pass systems: The magnitude is unity at all frequencies and the transfer function will have
anti symmetric pole zero pattern (i.e. for every pole in the left half of s – plane, there is a zero
in the mirror image position with respect to imaginary axis.
Non-minimum phase transfer function: A transfer function, which has one or more zeros in
the right half s – plane is known as non-minimum phase transfer function.
23. What are M and N circles.
The magnitude, M of closed loop transfer function with unity feedback will be in the form of
circle in complex plan for each constant value of M. The families of these circles are called
M circles.
Let N=tanα, where α is the phase of closed loop transfer function with unity feedback. For
each constant value of N, a circle can be drawn in the complex plan. The family of these
circles are called N-circles.
24. How the closed loop frequency response is determined from the open loop frequency
response using Nichols chart.
The G(j𝜔) locus or the Nichols plot is sketched on the standard Nichols chart. The meeting
point of M-contour with G(j𝜔) locus gives the magnitude of closed loop system and the
meeting point with N-circle gives the argument/phase of the closed loop system.

PART-B
1. Derive the expression for the frequency domain specifications. (Nov 2018)
2. Explain how open loop response can be obtained from closed loop response. (Nov 2018)
1
G( s)=
3. Sketch the polar plot of [ s(1+0. 5 s)(1+0. 02 s)] and determine the phase cross over
frequency.
Ke−0 . 2 s
G( s)=
4. Given [ s (s +2)( s+8 )] . Find K so that the system is stable with Gain margin equal to
6 db and (b) Phase margin equal to 450 using bode plots.

5. Sketch the Bode plot for the following transfer function and obtain gain and phase cross
20
G( s)=
over frequencies. [ s(1+0. 4 s)(0 . 1 s+1)] (April 2011)
6. The open loop transfer function of a unity feedback system is given by
1
G( s)= 2
[ s (1+s)(1+2 s)] Sketch the polar plot and determine the phase margin and gain
margin. (April 2011) (April 2015)
7. Sketch the Bode plot showing the magnitude in db and phase angle in degrees as a function
75(1+0 . 2 s )
G( s )=
of log frequencies for the following transfer function [ s (s 2 +10 s +100 )] and obtain gain

and phase cross over frequencies. (April 2014) (April 2018)

8. (i)Discuss the correlation between the time and frequency response of second order system.
(April 2014) (Nov2015) (Nov 2018)
(ii) Explain the use of nichol’s chart to obtain closed loop frequency response from open loop
frequency response of unity feedback system (Nov/Dec 2015)
10
G( s)=
9. Using Bode plot of the following system [ s(.1 s+1)(0 . 01 s+1)] and Hence obtain the
gain crossover frequency. (Nov 2014)
10. Using polar plot determine the gain cross over frequency, phase cross over frequency, gain
margin, phase margin feedback system with open loop transfer function
1
G( s)=
[ s(1+0. 2 s)(1+. 002 s)] . (Nov 2014)
11. Sketch the Bode plot for the following transfer function and obtain gain and phase cross
10
G( s)=
over frequencies. [ s(1+0. 4 s)(0 . 1 s+1)] (April 2015) (May 2016) (May 2017)
12. Sketch the Bode plot for the following transfer function and obtain gain and phase margin
4
G( s)=
and closed loop system stability. [ s(1+0. 5 s)( 0. 08 s+1)] (Nov 2015)
13.The open loop transfer function of the unity feedback system is given by
1
G ( S )= 2
S (S+1)
Sketch the polar plot and determine the gain and phase margin. (May 2016)
1
G( s)=
14.Sketch the polar plot of [ s(1+s)(1+2 s)] and determine the phase margin and gain
margin. (Nov 2016) (May 2017)
1
G( s)= 2
15. Sketch the Bode plot for the following transfer function [ s (s +3 s+5 )] and obtain
gain and phase margin. (Nov 2016)
16.Sketch the bode plot and hence find gain cross over frequency, phase cross over frequency,
gain margin and phase margin for the function. (Nov/Dec 2017)
10( s+3 )
G( s )= .
s (s +2)( s2 +4 s+100 )
17. Sketch the polar plot for the following transfer function and find gain cross over
frequency, phase cross over frequency, gain margin and phase margin for
400
G( s)=
s(s+2)( s+10 ) .(Nov 2017)
18.Construct the polar plot and determine the gain and phase margin of a unity feedback
(1+0 . 2 s )(1+0 . 025 s )
G( s )=
control system whose open loop transfer function is, s 3 (1+005 s )(1+0. 001 s )

(May 2018)
75(1+0 . 2 s )
G( s )= .
19. Draw the bode diagram for the transfer function s (s 2 +16 s+100 ) (May 2018)
20.Sketch the Bode plot for the following transfer function and obtain gain and phase margin
100
G( s)=
and closed loop system stability. s (s +1)( s+2 ) (May 2019).
21. Sketch the polar plot for the following open loop transfer function and determine the gain
1
G( s)=
margin and phase margin (1+s)(1+2 s ) .(May 2019)

UNIT-IV STATE VARIABLE ANALYSIS

PART-A
1.The characteristic equation of a feed back control system is s 4 +22 s3 +10s2 + 32 s +
K=0. Determine the range of K for which the system is stable.
S4 1 10 K
S3 22 32 0
S2 8.545 K 0
(273 . 45−22 K )
S1 8 . 545 0
S0 K 0
For the system to be stable all the first column elements should be positive.
K> 0 and 273.45-22K > 0, 273.45> 22K, K< 12.43 When 0<K<12.43 the system is stable.
2.Define asymptotic stability. (April 2004) (Nov 2018)
In the absence of the input, the output tends towards zero (the equilibrium state of the system)
irrespective of initial conditions. This stability concept is known as asymptotic stability.
3.State Hurwitz criterion. (April 2004)
For the stability of the system, it is necessary and sufficient that the n determinants formed
from the coefficients a0, a1, a2, a3, an. of the characteristic equation is +ve, where these
determinants are taken as the principal minors of the Hurwitz determinant.
a1 a0 0 0 0 0
a3 a2 a1 a0 0 0
.
.
a2n-1 a2n-1 0 0 an+1 an
4.Write the Hurwitz determinant for the system given by the characteristic equation
4s3 + 2s2 + 5s + 7 = 0
2 4 0 0 0 0
7 5 2 4 0 0
.
. .
0 0 7 5 2 4
5.What are the characteristics of an unstable system? (Nov 2004)
The system will give unbounded output for a bounded input, the system has roots with
positive real part, the system has repeated roots on jω axis.
6.ByRouth–Hurwitz criterion, check the condition for stability of the given system.
a0 s4+ a1 s3+ a2 s2+ a3 s+ a4 = 0. (Nov 2004)
S4 a0 a2 a4
S3 a1 a3 0
S2 b1 = ( a1 a2 – a0 a3 ) / a1 b2 = a4 0
S1 (b1 a3 - b2 a1)/ b1 0 0
S0 b2 0 0
b2>0; b1a3>b2a1; a1a2> a0a3;
7.Distinguish between relative stability and absolute stability.
Relative stability Absolute stability
Relative stability is a quantitative measure of A system is absolutely stable
how fast the transients die out in the system. It if it is stable for all values of
may be measured by relative settling times of system parameters.
each root or pair of roots.
It is defined based on the location of roots with It is defined based on the
respect to imaginary axis passing through a point location of roots with respect
other than the origin. to imaginary axis passing
through the origin.

8.What is meant by characteristic equation? What is its significance? (May 2016) (May
2017)
The denominator polynomial of closed loop transfer function equated to zero is the
characteristic equation. It tells about the stability of the system.
9.State the necessary condition for the Routh’s criterion for stability. (April 2015)
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.
10. Draw the circuit of lead compensator and draw its pole zero diagram. (May 2011)
(Nov 2018)
1 1
s=− s=−
The lead compensator has a pole at αT and a zero at T.

Pole-zero Electrical circuit Bode plot

diagram

11. What are compensators? (Nov 2014)

In control systems design, under certain circumstances it is necessary to introduce some kind
of corrective subsystems to force the chosen plant to meet the given specifications. These
subsystems are known as compensators and their job is to compensate for the deficiency in the
performance of the plant.
12. Why compensation is necessary in feedback control systems? (April 2011)
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.
13. What is lag compensator? Give an example?
A compensator having the characteristics of a lag network is called lag compensator. If a
sinusoidal signal is applied then in steady state output there will be a phase lag with respect to
input. E.g. R-C network.
14. What is lead compensator? Give an example?
A compensator having the characteristics of a lead network is called a lead compensator. It
gives a phase lead with respect to input if applied with sinusoidal signal. A R- C network can
realize it.

15. What is the time domain specifications needed to design a compensator?

The performance of control system in time domain is evaluated by the following
specifications, Rise time, peak overshoot, settling time, damping ratio, and natural frequency
of oscillation.
16. What is the basis for selection of particular compensator for a system? (Nov 2015)
When mainly transient response is to improved, a lead compensator is chosen.When staedy
state response is to be improved, while nearly preserving the transient response, a lag
compensator is chosen.When both the transient and steady state response are to be improved,
a lag lead compensator is chosen,
17. What are the effects and limitations of phase lag control? (Nov 2016)
(i)For a given forward path gain, K the magnitude of forward path transfer function is
attenuated near the above the gain cross over frequency, thus improving the relative stability
of the system.
(ii)The gain cross over frequency is decreased and thus the bandwidth of the system is
reduced.
(iii)The rise time nad settling time of the system are usually longer, because the bandwidth is
usually decreased.
(iv)The system is more sensitive to the parameter variations because the sensitivity function is
greater than unity for all frequencies approximately greater than bandwidth of the system.
18. What is lag-lead compensator. (May 2016) (May 2017)
A compensator having the characteristics of lag-lead network is called lag-lead compensator.
In lag-lead network when sinusoidal signal is applied, both phase lag and phase lead occur in
the output, but in different frequency regions. Phase lag occurs in the low frequency region
and phase lead occurs in the high frequency region (i.e) the phase angle varies from lag to
lead as the frequency is increased from zero to infinity.
19. Give the need for lag/lag-lead compensation. (Nov 2017)
Phase lag network allows low frequencies and high frequencies are attenuated. It provides
high steady state accuracy. Lag-lead compensator provides high steady state accuracy and
speed of response.
20. State the property of a lead compensator. (Nov 2013)
The lead compensation increases the bandwidth and improves the speed of response. It also
reduces the peak overshoot. If the pole introduced by the compensator is not cancelled by a
zero in the system, then lead compensation increases the order of the system by one. When the
given system is stable/unstable and requires improvement in transient state response then lead
compensation is employed.
21. Write the transfer function of a typical lag lead compensator. (April 2005) (June
2014)

( )( )
1 1
s+ s+
τ1 τ2
G ( s )=
1 1
s+ s+
βτ 1 ατ 2

The lag section has pole at s = -1/β τ1 and a zero at s = -1/τ1. The lead section has pole at s = -
1/α τ1 and a zero at s = -1/τ2
22. Write the transfer function of a typical lead compensator and draw its pole-zero plot
(April 2011) jω

( )
1
s+
τ
G ( s )=
1
s+ σ
ατ Pole zero plot

23. What is the need for lead and lag compensation? (April 2004)
To improve the system performance lead and lag compensators are needed in control system.
Lead compensators are used to improve transient performance. Lag compensators are used to
improve the steady state performance.
24. How are the locations of roots of characteristic equation related? (or) How are the
roots of characteristic equation related to the stability of system (June 2014) (Nov 2015)
a) If all the roots of the characteristic equations have –ve real parts, the system is bounded
Input bounded output stable.
b) If any root of the characteristic equation has a +ve real part the system is unbounded and
the impulse response is infinite and the system is unstable.
c)If the characteristic equation has repeated roots on the j axis the system is unstable.
d)If the characteristic equation has non-repeated roots on the j axis the system is limitedly
Stable.
25.StateNyquist stability criterion. (May 2012) (May 2013) (June 2014) (May 2016) (May
2017)
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.
26. What is the necessity of compensation in feedback control system? (June 2014) (April
2015) (May 2019)
i) When the system is absolutely unstable, then compensation is required to stabilize the
system and also to meet the desired performance.
ii) When the system is stable, compensation is provided to obtain the desired performance.
27. Write the transfer function of lag compensator and draw its pole-zero diagram (or)
draw the electrical lag network and draw its pole-zero plot. (April 2015) (Nov 2015)
A system which has one zero and one dominating pole (the pole which is closer to origin that
all other poles is known as dominating pole) is known as lag network. The basic requirement
of the lag network is that all poles & zeros of the transfer function of the network must lie in
(-) ve real axis interlacing each other with a pole located or on the nearest to the origin.

28. What are the two notions of system stability to be satisfied for a linear time invariant
system to be stable? (Nov 2016)
The two notions of system stability to be satisfied for a linear time invariant system to be
stable are (i)When the system is excited by a bounded input, the output is bounded.
(ii)In the absence of the input, the output tends to zero irrespective of initial conditions.
29. What is an auxiliary polynomial? What is its order?
The polynomials whose coefficients are the elements of the row just above the rows of zero in
the Routh array is called auxiliary polynomial. The order of the auxiliary polynomial is
always even.
30.What ate the necessary condition for stability.(Nov 2017)
The necessary condition for stability is that all the coefficients of the characteristic polynomial
be positive. The necessary and sufficient condition for stability is that all of the elements in
the first column of the Routh array should be positive.
31. For what range of K the following system shown below is asymptotically stable. (May
2019)

Characteristic equation is given by

1+G(s)H(s) = 0
K (s−5)
1+ =0
s+ 4

(K+1) s-5K+4=0
Using Routh Hurwitz criterion,
s1 K+1 0
s0 4-5K
For marginal stability,
K+1>0
4-5K>0
Hence range of K is -1<K<4/5

PART-B
1. Sketch the Nyquist plot for the system whose open loop transfer function.
K
G(s) H(s) = [ s(s+2)( s+10 )]
And find the range of K for stability of closed loop. (May 2016)
2. Construct the Routh array and determine the stability of the system represented by the
characteristic equation s5+s4+4s3+24s2+3s+63=0. Comment on the location of the roots of
characteristic equation (April 2011)
3. The characteristic equation of a feedback control system is given by s4+20s3+15s2+25+K=0
Determine the value of K which will cause sustained oscillations in the closed loop system.
What are the corresponding oscillating frequencies? (April 2011)
4.The open loop transfer function of a unity feedback control system is
Design a suitable lag-lead compensator so as to meet the following specifications: static
velocity error constant Kv = 10 sec-1, phase margin = 50 and gain margin  10db. (May
2011)(Nov 2018)
5. Explain in detail the design procedure of lag–lead compensator using Bode plot. (May
2013) (April 2015)
6. Explain in detail the design procedure of lag compensator using Bode plot. (April 2014)
(April 2015) (May 2016)
7. (i)The open loop transfer function of a unity feedback control system is given by
K
2
G(S)= [( s+2 )(s+4 )( s +6 s+25)]
By applying Routh criterion discuss the stability of the closed system as a function of K.
Determine the values of K which will cause sustained oscillations in the closed loop system.
What are the corresponding frequencies? (April 2014) (Nov 2015)
(ii) Derive the transfer function of lag-lead compensator. (Nov 2015)
8. Explain the electric network realization of lead compensator and also its frequency
response characteristics. (April 2014)
5
9. A unity feedback control system has an open loop transfer functionG(s)= [ s(s+1)(0 . 5 s+1)]
Design a suitable compensator such to maintain Phase margin of at least 40.(Nov 2014)
10. Consider the unity feedback whose open loop transfer function is G(s)=
K
[ s(0.1 s+1)(0 . 2s+1)] system to be compensated to meet the following specifications
Static velocity error constant = 30 sec, Phase margin  50,Bandwidth ɷ1=12 rad/ sec. (Nov
2014)
11. Determine the stability of the given characteristic equation using Routh-Hurwitz criterion
(a) s5+4s4+8s3+8s2+7s+4=0(May2016) (May 2019)
(b)s6+s5+3s4+3s3+3s2+2s+1=0 (April 2015)
12.(i)By use of Nyquist stability criterion determine whether the closed loop system having
the following open loop transfer function is stable or not .If not how many closed loop poles
( s+2)
lies in the right half s-plane G(s)H(s)= [( s+1)( s−1)] (Nov/Dec 2015)
(ii) Explain in detail the design procedure of lead compensator using Bode plot. (Nov 2015)
13. Determine the value of K for which the system describes by the following characteristics
equation is stable S3+KS2+(K+2) S+4=0 (Nov 2016)
(ii)State and explain Nyquist stability criterion. (Nov 2016)
14. Design a lead compensator fora unity feedback control system has an open loop transfer
k
functionG(s)= [ s(s+1)] for the specifications of K V=10sec-1 and phase margin is 35 . (Nov
2016)
15. Using Routh Hurwitz criterion, determine the stability of a system representing the
characteristic equation s4+8s3+18s2+16s+5=0. Comment on the location of roots of the
characteristic equation. (May 2017)
(ii) Write down the procedure for designing lag compensator using bode plot. (May 2017)
16.Explain in detail the realization of lag, lead and lag-lead electrical network. (May 2017)
K ( s+9)
G( s )= .
17. A Unity feedback control system has an open loop transfer function s (s 2 +4 s +11)

Sketch the root locus. (Nov 2017)

18. Determine the stability of closed loop system by Nyquist stability criterion, whose open
( s+2 )
G( s). H (s)= .
loop transfer function is given by, (s+1)( s−1) (Nov 2017)
K
G( s)= ,
19. For the given system, s(s+1)( s+2 ) design a suitable lag-lead compensator to give
velocity error constant =10sec-1, phase margin=50ᵒ, gain margin≥10dB. Realize the basic
compensators using electrical network and obtain the transfer function. (Nov 2017)
20. ConstructtheNyquistplotforasystemwhoseopenlooptransferfunctionisgivenby

K (1+ s )2
G( s )= ,
s3 find the range of K for stability.(May 2018)
21.i) Use the Routh stability criterion, determine the range of K for stability of unity feedback
system whose open loop transfer function (May 2018)
K
G ( s )=
S ( s +1 ) (s +2)
ii) State Routh stability criterion.(May 2018)
22. Design a lead compensator for unity feedback system whose open loop transfer function
 K
G ( s )=
S ( s +1 ) (s +5)
to satisfy the following condition
i) Velocity error constant Kv≥50
ii) Phase margin ≥20 degrees. (May 2018)
23. Consider the unity feedback whose open loop transfer function is
K
G ( s )=
S ( 0.1 s+1 ) (0.2 s+ 1)
System to be compensated to meet the following specifications: Static velocity error constant
= 30 /sec, Phase margin ≥50-degree, Bandwidth (𝜔b) = 12 rad/sec. (Nov 2018)
24.Sketch the Nyquist plot for the system whose open loop transfer function.
K ( s+2 )
G(s) H(s) = [ s (s +3)( s+6)]
And find the range of K for stability of closed loop. Check your answer with Routh’scriterion.
(Nov 2018)
25. Assume any four different pole location for a system sketch the response and comment on
stability of each case. (May 2019)
26. For the first principles explain how do you obtain the stability of a linear system using
Nyquist stability criterion. (May 2019)
27. Design a lag compensator for the system
K
G ( s )=
S ( s +2 )
to satisfy the following specifications: (i) Staic velocity error constant Kv =10 sec -1, (ii). Phase
margin ϕm ≥60o. (May 2019)
UNIT-V DESIGN OF FEED BACK CONTROL SYSTEM
PART-A
1. What are the advantages of state space analysis? (Nov 2011) (May 2013) (May 2018)
(May 2019)
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. (Nov 2012) (May 2013) (Nov 2015)
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 state space? (May 2016)
The set of all possible values which the state vector X(t) can have at time ‘t’ forms the state
space of the system.
4. What is input and output space?
The set of all possible values which the input vector U(t) can have at time ‘t’ forms the state
space of the system. The set of all possible values which the output vector Y(t) can have at
time ‘t’ forms the state space of the system.
5. Write the properties of state transition matrix. (May 2010) (May 2014)
The following are the properties of state transition matrix.

6.Define: State equation. (Nov2013)

The state variable model can be represented in the form of n first order differential equations
as

These equations are called state equations.

7.What is state diagram? What are the basic elements used to construct the state
diagram.
The pictorial representation of the state model of a system is called state diagram. The state
diagram of the system can be either in block diagram or in a signal flow graph form. The basic
elements used to construct the state diagram are Scalar, Adder and Integrator.
8.What are phase variables?
The phase variables are defined as those particular state variables which are obtained from
one of the system variable and its derivatives. Usually the variable used is the system output
and the remaining state variable and then derivatives of the output.
9.What are the advantages of state space modelling using physical variables?
(a)The state variable can be utilized for the purpose of feedback
(b)The implementation of design with state variable feedback becomes straight forward
(c) The solution of state equation gives time variation of variables which have direct relevance
to the physical system.
10.What is the advantage and disadvantage in canonical form of state model.
The advantage of canonical form is that the state equation are independent of each other. The
disadvantage is that the canonical variables are not physical variables and so they are not
available for measurement and control.
11. What are the different methods available for computing eAt?
a) Using matrix exponential b) Using Laplace transforms
c) Using canonical transformation d) Using Cayley-Hamilton theorem
12.Write the solution for homogenous state equations.
The solution of homogenous state equation is X(t) = eAt X0
where X(t) = State vector at time time, t
eAt = State transition matrix
X0 = Initial condition vector at t=0
13.What is resolvant matrix.
The laplace transform of state transition matrix is called resolvant matrix.
Resolvant matrix ϕ(s) = £[ϕ(t)] = £[ eAt]
Also ϕ(s) = [SI-A]-1
14. How the model matrix is determined? (May 2012)
The model matrix M can be formed from eigenvectors. Let m 1, m2, m3,....mn be the eigen
vectors of a nth order system. Now the modal matrix M is obtained by arranging all the eigen
vectors column wise as shown below.
Modal matrix = M = [ m1 m2 m3 ,.... mn]
15. Give the concept of controllability. (Nov 2013) (Nov 2015) (May 2017)
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.
16. When a system is said to be completely observable? (May 2016)
A system is said to be completely observable if every state X(t) can be completely identified
by measurements of the output Y(t) over a finite time interval.
17. State the concept of observability? (May 2018) (Nov 2018)
The observability test is necessary to find weather 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.
18. When a sampled data control system is stable? Or what are the stability criteria for
sampled data control system?
The stability criteria for sampled data control system states that the system is stable if all the
poles of the z transfer function of the system lies inside the unit circle in z plane.
19. State the limitations of state variable feedback. (Nov 2016)
The limitations of state variable feedback are more states are to be known. These states can
either measured or estimated. This technique is insensitive to system parameter changes and
external disturbances.
20. For a first order differential equation described by Ẋ =Ax(t)+bu(t). Draw the block
diagram form of the state diagram. (Nov 2016).

21. Draw the block diagram representation of state model. (May 2017)

22. State the mechanism in control engineering which implies an ability to measure the
stable by taking measurement at output. (May 2019)
Observability and Controllability are the two methods to check the output response
characteristics and observability in control engineering implies an ability to measure the stable
by taking measurement at output.

PART- B
1. The state space representation of a system is given below. Obtain the transfer function.
(May 2011)

2. (i) Find the state variable equation for a mechanical system (spring-mass-damper system)
shown below. (Nov 2011)
(ii) A LTI system is characterized by the state equation where u is a
unit step function. Compute the solution of these equations assuming initial conditions x 0= 0 [ 1]
˙ = 0
3. Obtain the time response of the system described by x (t) [
1 x 1 (t)
][ ] [ ]
1
U
−1 −2 x 2 (t) + −1 (t)

With the initial conditions [ ][]

x1 (0) 0
x2 (0) [ ]
= 1 ; y(t)=[ 0 1 ]
x 1 (t)
x 2 (t)
.(Nov 2016)

4. Obtain the state space representation of armature-controlled D.C. motor with load shown
below

Choose the armature current ia, the angular displacement of shaft , and the speed as state
variables and  as output variable. (May 2012)
5. (i) The state model matrices of a system are given below. Evaluate the observability of the
system using Gilbert’s test. (May 2012)

(ii) Find the controllability of the system described by the following equation.

6. A system is represented by the state equation X=AX+BU; Y=CX where

Determine the transfer function of the system. (May

2013)

7. A system is characterized by the transfer function . Identify the first

state as the output. Determine whether or not the system is completely controllable and
observable. (May 2013)
8. For the given state variable representation of a second order system given below find the
state response for a unit step input and by using the discrete time approximation.

(Nov 2013)
9. Consider the system with the state equation. Check the controllability of the system. (Nov
2013)

10.(i) Obtain the state model of the system described by the following transfer function.

.
(ii) Obtain the state transition matrix for the state model whose system matrix A is given by

(May 2014)
11.(i) Check the controllability of the following state space system. (May 2014)
ẋ 1=x 2+ u2 ; ẋ 2=x 3 ; ẋ 3 =−2 x 2−3 x 3 +u1 +u2

(ii) Obtain the transfer function model for the following state space system.

12.Consider the system with the state equation. Check the controllability and observability of
the system. (Nov 2015) (May 2016)

[ ] [] [ ]
0 1 0 1 10
T
A= 0 0 1 , B= 0 C = 5
−6 −11 −6 1 1

13. (i) Obtain the state model of the system (Nov 2015)
(ii) State and prove the properties of state transition matrix (Nov 2015)
˙ =Ax(t)+bu(t), y(t)=CX(t) where
14. (i) The state model of the system is defined by x (t)

[ ] []
0 1 0 1
A= 0 0 1 , B= 0 , C=[1 0 0]. Obtain the diagonal canonical form of the state model
−6 −11 −6 1

by the suitable transformation matrix. (May 2016)

(ii) Explain about the effect of state feedback. (May 2016)
15. Determine whether the system described by the following state model is completely
controllable and observable (Nov 2016)

[ ][ ] [ ] []
0 0 1 x1 0 x1
ẋ (t) = −2 −3 0 x 2 + 2 u(t); Y(t)=[1 0 0] x 2
0 2 −3 x 3 0 x3

16. Check the controllability and observability of the system whose state space representation
is given as (May 2017)

17. (i) What are state variables. Explain the state formulation with its equation. (May 2017)
(ii) Given that (May/June 2017)

Compute state transition matrix.

18. Explain the concepts of controllability and observability. (Nov 2017)
19. Obtain the complete solution of non homogeneous state equation using time domain
method. (Nov 2017)
20. Determine the canonical state model of the system whose transfer function is
 2(s+5)
T ( s )= (May 2018)
( s+ 2 )( s+3 ) (s +4 )
21. Consider a linear system described by the following transfer
function,
Y ( s) 10
=
U ( s) s ( s+1 ) ( s +2 )
Designafeedbackcontrollerwithastatefeedbacksothatthe closed loop poles are placed at -2. -
1±j1. (May 2018)
22.Consider the following RLC series circuit shown in figure below and obtain its state
model. (May 2019)

23. Consider the following plant of the state space representation

A=
[−20 −31 ] B=[−22] C=[−2 0]

Examine the controllability and observability of a state-space formed by the system. (May
2019)