P. A.

COLLEGE OF ENGINEERING AND TECHNOLOGY

POLLACHI - 642 002
EVEN SEMESTER 2015 16

QUESTION BANK
IC 6601 ADVANCED CONTROL SYSTEM

PREPARED BY
S.ARUN

Unit I
STATE VARIABLE DESIGN
PART - A

1. What are the drawbacks in transfer function model analysis?

Transfer function is defined under zero initial conditions.

Transfer function is applicable to linear time invariant systems.

Transfer function analysis is restricted to SISO systems.

It does not provides information regarding the internal state of the system.

2. What is State and state variable?

The state is the condition of a system at any time instant, t. A set of variable
which describes the state of the system at any time instant are called state
variables.
3. What is a state vector ?
The state vector is a (nx1)column matrix (or vector)whose elements are state
variables of the system,(where n is the order of the system).It is denoted by X(t).
4. What are the advantages of state space analysis?
(i) The state space analysis is applicable to any type of systems. They can
be used for Modeling and analysis of linear and nonlinear systems, time
invariant &time variant systems and Multiple input &Multiple output
systems.
(ii) The state space analysis can be performed with initial conditions.
(iii) The variables used to represent the system can be any variables in the
system.
(iv) Using this analysis the internal states of the system at any time instant can
be predicted.
th
5. Write the state model of n order system?
The state model of a system consists of state equation and output equation. The
th

state model of a n order system with m-inputs and

p-outputs are
X(t) = AX(t) + BU(t) ---------------

State equation

Y(t) =CX(t) + DU(t) ----------------

Output equation

Where

X(t) = state vector of order (nx1)

U(t) = Input vector of order (mx1)
A = system matrix of order (nxn)
B = Input matrix of order (nxm)
Y(t) = Output vector of order (px1)
C = Output matrix of order (pxn)
a=transmission matrix of order (pxm)
2

6. The state model of a linear time invariant system is given by X(t) = AX(t) +
BU(t), Y(t) =CX(t) + DU(t) . Write the expression for transfer function of the
system.
Y(s)/ U(s)=C (sI A)

-1

BU(s) +D

7. What is State diagram?

The Pictorial representation of the state model of the system is called state
diagram. The state diagram of the system can be either in block diagram or
signal flow graph form.
8. Write the properties of state transition matrix.
Ax0

i. (0) =e
= I (Unit matrix )
At
ii. (t) = e
=(e -A t) -1 =[ (-t)] -1
A(t +t )
A t1 A t2
iii. (t 1+ t 2 ) =e
e
= (t1) (t2) = (t2) (t1)
1 2 =e
9. Write the solution of homogeneous state equations.?
The solution of homogeneous state equation is, X(t) = e
At

Where , X(t) = state vector at time , t e

At

x0

=State transition matrix.

And X0 =Initial condition vector at t=0

10. Write the solution of non- homogeneous state equations.?
The solution of non-homogeneous state equation is
(t-t0)
(t - )

X(t) = e A

X(t0 ) + e A

B.U( ) d

11. Write any two properties of eigenvalues.

(i)A matrix and its transpose have the same eigen values.
(ii)The product of the eigen values (counting multiplicities)of the matrix equals the
determinant of the matrix.
12. What is similarity transformation?
The Process of transforming a square matrix A to another similar matrix B by a
-1

transformation P AP = B is called similarity transformation. The matrix P is

called transformation matrix.
13. Define controllability and observability.
A system is said to be completely state controllable if it is possible to transfer the
system state from any initial state X( t 0 )at any other desired state X(t),in
specified finite time by a control vector U( t ).
A system is said to be completely state observable if every state X(t) can be
completely identified by measurements of the output Y(t)over a finite time
interval.
14. What is pole placement by state feed back?
3

The pole placement by state feedback is a control system design technique ,in
which the state variables are used for feedback to achieve the desired closed
loop poles.
15. What is state observer?
A device (or a computer program) that estimates or observes the state variables
is called state observer
16. 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.
17. What is canonical form of state model?
If the system matrix, A is in the form of diagonal matrix then the state model is
called canonical form.
18. What is meant by diagonalization?
The process of converting the system matrix A in to a diagonal matrix by a
similarity transformation using the modal matrix M is called diagonalization.

PART B
1. Derive the solution of homogeneous state equations.
2. (a) Construct a state model for a system characterized by the differential
equation.
d3
d2
d
y
y
y
6
11
6y40
d
dt 3
dt 2
t
Give the block diagram representation of the state model
(8)
And Define(i) Eigen values (ii) Eigen vectors (iii) state of a system
(8)
3. Explain the pole placement design of continuous time system with a suitable
example.
4. Explain in detail about the design of state observer for continuous time systems
5. Develop the state model of a linear system and draw the block diagram of state
model.
10
s + 3s 2 . Design a feedback controller so that the
6. Given the transfer function
+ 2s
eigen values of the closed loop system are at -2, -1j1
7. Construct a state model for a system characterized by the differential equation
3

y+7y+5y+9y+u=0

(8)
4

Unit II
PHASE PLANE ANALYSIS
PART - A

1. What are linear and nonlinear systems? Give examples.

The linear systems are systems which obeys the principle of super position. The
systems which does not satisfy superposition principle are called nonlinear
systems.
Example of linear system : y= ax +b dx / dt
bx
2
Example of nonlinear system : y= ax + e
2. How nonlinearities are introduced in the systems?
The nonlinearities are introduced in the system due to friction, inertia, stiffness,
backlash, hysteresis, saturation and dead zone of the components used in the
systems.
3. What are the methods available for the analysis of nonlinear system?
The two popular methods of analyzing nonlinear systems are Phase plane
method and describing function method.
4. Write any two Properties of nonlinear systems. ?
(i)The nonlinear systems may have jump resonance in the frequency response.
(ii)The output of a nonlinear system will have harmonics and sub harmonics
when excited by sinusoidal signals.
5. What is asynchronous quenching?
In a nonlinear system that exhibits a limit cycle of frequency l, it is possible to
quench the limit cycle oscillation by forcing the system at a frequency wq, where

wq and l are not related each other. This phenomenon is called asynchronous
quenching or signal stabilization.
6. What is autonomous system?
A system which is both free (or unforced or zero input or constant input)and time
invariant is called an autonomous system.
7. What is phase plane?
The coordinate plane with the state variables x1 and x2 as two axes is called the
Phase plane (In phase plane X1 is represented in x-is represented in x1axis,and x2 in y-axis.)
8. Write any two properties of non-linear systems.
The non-linear systems may have jump resonance in the frequency response.
The output of a non-linear system will have harmonics and sub-harmonics when
excited by sinusoidal signals.
9. What is Singular point?
A point in phase-plane at which the derivatives of all state variables are zero is
called singular point. It is also called equilibrium point.
5

10. How the singular points are classified?

The singular points are classified as Nodal point, Saddle point, Focus point and
Centre or Vortex point depending on the eigen values of the system matrix.
11. Define the stability of a non-linear system at origin.
The autonomous system defined by equation X = F(X) is stable at the origin, if for
every initial state X(t0) which is sufficiently close to origin, X(t) remains near the
origin for all t.
12. What is the difference in stability analysis of linear and non-linear
systems?
In linear system the stability of the system in the entire phase-plane can
be judged from the behaviour of the system at equilibrium state (i.e., at singular
point), because the linear systems has only one equilibrium state.
In non-linear systems there may be multiple equilibrium states (singular
points). The behaviour of non-linear system about the equilibrium point may be
different for small deviations and large deviations about the equilibrium point.
Hence in non-linear systems, stability is discussed relative to equilibrium state
and the general stability of a system cannot be defined.
13. What is phase trajectory?
The locus of the state point (x1,x2) in phase plane with time as running parameter
is called phase trajectory.
14. What is phase portrait?
A family of phase trajectories corresponding to various sets of initial conditions is
called a phase portrait.
15. What are the methods available for constructing phase
trajectories?
i)Analytical method, ii) Isocline method and iii) Delta method.

PART B
1. Explain in detail about the behavior of nonlinear system and
classifications of Non linearites.
2. Consider a system with an ideal relay as shown in fig.
Determine the singular point. Construct phase trajectories
corresponding to initial conditions. (i) c(0)=2 ; c(0) 1 And,

(ii) c(0)=2 ; c(0) 1 .5 Take r=2 volts & =1.2 volts.

6

1
s2

-M

c
(16)

3. A linear second order serve is described by the equation e

2wn e wn2 e 0 where

=0.15, wn=1 rad/sec. e(0)=1.5 and e(0) 0 . Determine the singular point. Construct
the phase trajectory, using the method of isoclines. Choose slope as-2.0,- 0.5,0,0.5 &
2.0.(16)

4. What is phase plane, phase trajectory and phase portrait?. Draw and explain how
to determine the stable and unstable limit cycles using phase portrait?
5. Explain the construction of phase trajectory using any two
method

Unit III
DESCRIBING FUNCTION ANALYSIS
PART - A
1. What is jump resonance?
In the frequency response of nonlinear systems, the amplitude of the response
(output)may jump from one point to another for increasing or decreasing values of .
This phenomenon is called is jump resonance
2. What are the linear and Nonlinear Systems? Give Examples.
The linear systems are systems which obeys the Principles of superposition. The
system which does not satisfy the super positions are called nonlinear systems.
dx
y=ax+b
eg of Linear system :
dt
eg of Nonlinear system :

y=a x +e

bx

3. How nonlinearities are introduced in the system?

The nonlinearities are introduced in the system due to friction, inertia, stiffness,
backlash, hysteresis, saturation and dead-zone of the components in the system.
4. How the nonlinearities are classified? Give examples.
The nonlinearities are classified as incidental and intentional.
The incidental nonlinearities are those which are inherently present in the
system, Common examples of incidental nonlinearities are saturation, dead-zone,
coulomb friction, stiction, backlash, etc..

The intentional Nonlinearities are those which are deliberately inserted in the
system to modify the system characteristics. The most common example of this
type of nonlinearity is a relay.
5. What are the methods available for the analysis of nonlinear system?
The two popular methods of analyzing nonlinear systems are phase plane
method and describing function method.
6. What is the difference between phase plane and describing function methods
of analysis?
S.N
o.
1
2
3

Phase Plane Method

Use
complimentary
approximations
Frequency
domain
approach
Retains the nonlinearity as
such and uses the second
order approximations of a
higher order linear part.

Describing Function
Method
Use
complimentary
approximations
Time domain approach
Retains the linear part and
harmonically linearizes the
nonlinearity.

7. State the limitations of analyzing nonlinear systems by describing function

and phase plane methods.
1. These methods are useful only for stability analysis and to study the behaviour
of the system but cannot to used for system design
2. The phase plane method of analysis is useful only for second order systems
with constant parameters and constant or Zero input.
3. In describing function analysis the accuracy of the information obtained is
heavily dependent on the filtering property of the linear part of the system.
4. This analysis does not give any useful information about transient response of
the system.
8. Write ant two Properties of Nonlinear systems.
1. The nonlinear systems may have jump resonance in the frequency response.
2. The output of a nonlinear system will have harmonics and sub harmonics when
excited by sinusoidal.
9. Write the vander pols equation for nonlinear damping.
M x +B ( 1x 2 ) x +Kx=0
10. What are limit cycles?
The limit cycles are oscillations of the response of nonlinear systems with
fixed amplitude and frequency, If these oscillations or limit cycles exists when
there is no input then they are called zero input limit cycles.
11. What is saturation? Give an example.
8

In Saturation nonlinearity the output is proportional to input for a limited

range of input signals, when the input exceeds this range, the output tends to
become nearly constant.
Eg. Saturation in the o/p of electronic, rotating and flow amplifiers, speed
and torque saturation in electric and hydraulic motors.
o/p Saturation
Approximated
Characteristics
i/p
Actual
Characteristics
Saturation
12. What is Dead-zone?
The dead-zone is the region in which the output is zero for a given input, When
the input is increased beyond this dead-zone value, the output will be linear.
o/p
Dead-zone
i/p

13. What are the types of friction?

The different type of friction are viscous friction, coulomb friction and stiction, the
viscous friction is linear in nature, the coulomb friction and stiction are nonlinear
frictions.
14. What is hysteresis and backlash?
The hysteresis is a phenomenon in which the output follows a different path for
increasing and decreasing values of input. In fig(1), when the input x is increased
from a minimum value, the output follows path ABCD and when the input is
decreased from a maximum value, the output follows path DCEA.
Y=output
Y=output
E
X=input

D
X=input

The backlash nonlinearity is a type of hysteresis in mechanical gear trains and

linkages, this is due to between the teeth of the drive gear and that of the driven
gear.
PART - B

1. Explain in detail about the behavior of nonlinear system and classifications of Nonlinearities
2. Consider a system with an ideal relay as shown in fig. Determine the singular
point. Construct phase trajectories, corresponding to initial conditions. (i) c(0)=2 ;
c(0) 1 And (ii) c(0)=2 ; c(0) 1 .5 Take r=2 volts & =1.2 volts

-M

1
s2

c
(16)

3. A linear second order serve is described by the equation e 2wn e wn2 e 0

where =0.15, wn=1 rad/sec. e(0)=1.5 and e(0) 0 . Determine the singular point.

Construct the phase trajectory, using the method of isoclines. Choose slope as-2.0,0.5,0,0.5 & 2.0.

4. Derive the describing function for a Backlash non-linearity(16)

5. What is phase plane, phase trajectory and phase portrait?. Draw and explain how
to determine the stable and unstable limit cycles using phase portrait?
6. The input-output relationship of dead zone nonlinearity is shown in the figure. The
o/p is zero, when the input is less than D/2. The input-output relationship is linear
when the input is greater than D/2. The response of the nonlinearity when input is
sinusoid of signal (x=Xsint)
X
- D/2

D/2

Slope k
7. The input-output relationship of saturation nonlinearity is shown in figure below.
The i/p-o/p relation is linear for x=0 to s. when the input x>s, output reaches a
saturated value of ks. The response of the nonlinearity when the input is
sinusoidal signal(x=X sint)
kS
-S

slope=k
S
(16)

-kS

8. A linear second order servo is described by the equation

10

y 2w

yw n

yw2

Where

wn=1. y(0)=2.0 y(0) 0. Determine the singular points when (i) =0 (ii) =0.6Construct

(16)

phase trajectory in each case.

9. Explain the construction of phase trajectory using any two method.
10. Derive the describing function for relay with deadzone and hysteresis nonlinearity
11. Derive the describing function following function of the element whose input
output characteristics are shown in the fig.

(16)
(16)

output
slope=k
-D
input
D

x=x sint

(16)
Unit IV
OPTIMAL ESTIMATION
PART - A

1. What are the steps involved in solution of optimal control problem using
transfer function approach?
(i)
Given a plant with transfer function G(S), find the transfer function of the
overall system which is optimal with respect to given performance criterion.
(ii)
Compute the compensators for the system obtained from step (i)
2. What are the steps involved in solution of optimal control problem using state
variable approach?
(i)
Given a plant in the form of state equations.
x ( t )= Ax ( t )+ Bu ( t ) ; Continuous time system
x ( k + 1 )= Ax ( t ) + Bu ( k ) ; Discrete time systems
(ii)
Realize the control function obtained from step(i)
3. What is meant by Pontryagin Principle?
This is based on the concept of calculus of variations also it is called as Minimum
principle of pontryagin
4. Define Bellman Principle?
This is based on the principle of invariant imbedding and leads to the principle of
optimality that follows the basic laws of nature and does not need complex
mathematical development to explain its validity.
5. What are the approaches for minimize the performance index?
Once the performance index for a system has been Chosen, the next task is to
11

determine a control function that minimize the index. Two approaches are available.
(i)
Minimum principle of pontryagin
(ii)
Dynamic programming Developed by Bellman.
6. Write down the Matrix
Riccati Equation.
P (t ) +QP ( t ) B R1 BT P ( t ) + P ( t ) A+ A T P ( t )=0
7. Write
down the Reduced Matrix Riccati Equation
A T P0 + P0 AP0 B R1 BT P0 +Q=

12