VALLIAMMAI ENGINEERING COLLEGE

Dept. of EIE

VALLIAMMAI ENGINEERING COLLEGE

SRM NAGAR, KATTANKULATHUR-603 203

DEPARTMENT OF ELECTRONICS AND INSTRUMENTATION ENGINEERING

CL7101 Control System Design

QUESTION BANK
UNIT I BASICS AND ROOT-LOCUS DESIGN
Part A- Two marks Questions
1. List the characteristics of lag-lead compensator. (BTL-1)
2. Define stability of a system. (BTL-1)
3. Relate the damping coefficient of a system to the closed loop pole locations. (BTL-3)
4. Show that gain margin of the system with G(s) = k/[s(s+1)] is infinite under unity
negative feedback using Root locus. (BTL-2)
5. Is there a correlation between the performance specifications namely damping
coefficient and phase margin? Explain. (BTL-5)
6. Locate the poles of a typical second order system in s domain as the damping
coefficient varies from negative infinity to positive infinity. (BTL-1)
7. Define sensitivity of control system. (BTL-1)
8. List the benefits of PID controller. (BTL-1)
9. How do you choose lead and lag compensator? (BTL-2)
10. Point out the advantages of using root locus for design. (BTL-4)
11. Write about the relative stability. (BTL-6)
12. Point out the need for controllability test. (BTL-4)
13. Point out the need for observability test. (BTL-4)
14. Compensation is necessary in feedback control system. Justify. (BTL-5)
15. Describe PID controller and what is its effect on system performance. (BTL-2)
16. Write the applications of root locus method. (BTL-6)
17. Draw the frequency response of lead compensator. (BTL-3)
18. List some tuning methods of PID controller. (BTL-1)
19. Describe about the derivative controller. What is its effect? (BTL-2)
20. Write the transfer function of PID controller.(BTL-3)

Prepared by : Dr.K.Ayyar, Assistant Professor (Sel.G)

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VALLIAMMAI ENGINEERING COLLEGE

Dept. of EIE
PART B

1. Discuss in detail the design of PID controllers using root locus techniques.
(BTL-2)
A
feedback
control
system
has
the
following
open-loop
transfer
function
2.

G (s) H ( s)

K
s ( s 1)( s 5)

Sketch the root locus by obtaining asymptotes, breakaway point and imaginary

(i)

axis cross-over point.

(6)

(BTL-3)

A compensating element having a transfer function G(s) = (s+2) is now

(ii)

(13)

(7)

included in the open loop transfer function. If the breakaway point is -0.56,
sketch the new root locus. Comment on stability of the system with and
without the compensator.

3.

(BTL-3)

Consider a unity feedback system with open loop transfer function (13)

G( s)

75
. Design a PID controller to satisfy the following
( s 1)(s 3)( s 8)

specifications. (i) The steady state error for unit ramp input should be less than
0.08 and (ii) the natural frequency of oscillation as 2.5 rad/sec.
4.

(BTL-4)

Design a lag- lead compensator of the system whose open loop transfer (13)
function G (s )

K
using root locus that meets the following
s ( s 1)( s 2)

specifications

5.

(i)

Damping ratio = 0.45,

(ii)

Un damped natural frequency n = 3.5 rad/sec.

(iii)

Velocity error constant, KV = 30 sec-1.

Draw the root locus plot of the uncompensated system, G ( s )

(BTL-4)

K
(13)
. To
s ( s 10)
2

meet the following specifications (i) percent peak overshoot 10%. (ii)
Settling time 4 sec. Design a suitable compensator.
6.

(BTL-3 )

Sketch the root locus plot of unity feedback system with an OLTF (13)

G (s)

K
.Find the range of values of K for which the system has
s (s 2)(s 4)

damped oscillatory response. What is the greatest value of K which can be

used before continuous oscillations occur? Also determine the frequency of
continuous oscillations. Determine he value of K, so that the dominant pair of
complex poles of the system has a damping ratio of 0.5.
Prepared by : Dr.K.Ayyar, Assistant Professor (Sel.G)

(BTL-3)

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VALLIAMMAI ENGINEERING COLLEGE

7.

Dept. of EIE

Consider a system whose open loop transfer function is given by (13)

1
.The system is to be controlled under unity negative
(s 3)(s 5)

G (s)

feedback with P(k), PD(k(s+7)) and PI(k(s+7)/s)) controllers as three different

cases. Draw the root loci of the system for all the three cases namely with P,
PD and PI controllers. Compare the performance of the closed loop system in
terms of the damping, natural frequency of oscillation, position and velocity
error constants for various values of the gain k.
8.

(BTL-2)

Consider a system whose open loop transfer function is given by (13)

1
. The system is to be controlled under unity negative
(s 3)(s 5)

G (s)

feedback. Design a suitable controller, so that the closed loop system meets the
following specifications

9.

(i)

Velocity error constant is greater than 10/s.

(ii)

Time constant is greater than 1s.

(iii)

Overshoot is less than 10%.

(BTL-6)

Consider a system whose open loop transfer function is given by (13)

k
. The system is to be controlled under unity negative feedback
s ( s 1)

G ( s)

with a lead compensator. Design a lead compensator so that the closed loop
system meets the following specifications

10.

(i)

Velocity error constant is greater than 10/s.

(ii)

Time constant is greater than 1s.

(iii)

Overshoot is less than 10%.

(BTL-6)

Consider a system whose open loop transfer function is given by (13)

G (s)

1
. It is desired to control the system under unity negative
( s 1)

feedback with a PI controller. Discuss the effect of changing the proportional

and integral gains, on the closed loop performance with the help of root-locus
technique.
11.

(BTL-2)

Consider a system whose open loop transfer function is given by (13)

G (s)

1
. Design a suitable multiple degree of freedom controller so that,
( s 1)

the closed loop system satisfies the following specifications:

(i) Track step input and sinusoidal input (10Hz) with zero steady state
error.
(ii)

Attenuate noise frequencies beyond 100 Hz.

Prepared by : Dr.K.Ayyar, Assistant Professor (Sel.G)

(BTL-4)
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VALLIAMMAI ENGINEERING COLLEGE

12.

Dept. of EIE

Consider a unity feedback system with open loop transfer function (13)

G ( s)

10
.
s ( s 4)

The dominant poles are 2 j 6 . Design a suitable PD controller.

13.

Consider a unity feedback control system whose forward transfer function is

G (s)

(13)

K
.Design a lag-lead compensator so that KV = 80 s-1 and
s ( s 2)( s 8)

dominant closed loop poles are located at 2 j 2 3 .

14.

(BTL-6)

(BTL-4)

Design a lead compensator for a unity feedback system with open loop transfer (13)
function G (s )

K
to meet the following specifications.
s (s 4)(s 7)

(i)

% peak overshoot =12.63%

(ii)

Natural frequency of oscillation =8 rad/sec.

(iii)

KV 2.5

(BTL-4)

PART C
1.

Consider the linear model of a physical system of your choice which is atleast (15)
of second order. Write the dynamic equations. Analyse the closed loop
performance of the system with Root-locus technique and bring out the
relative merits and demerits of this technique.

2.

Design
G (s)

PID

controller

for

unity

feedback

with (15)

(iii) n = 2 rad/sec.

(BTL-6)

Design a PI controller for a unity feedback system with open loop transfer (15)
function G (s )

10
, so that the closed loop has a damping ratio of
( s 1)(s 2)

0.707 and natural frequency of oscillation as 1.2 rad/sec.

4.

system

50
to satisfy the following specifications.
( s 2)( s 10)

(i) KV 2 (ii) damping ratio =0.6

3.

(BTL-4)

(BTL-6)

Design a lag- lead compensator for a unity feedback system with open loop (15)
transfer function G (s )
(i) KV 5

K
to meet the following specifications
s ( s 1)(s 4)

(ii) damping ratio =0.4

Prepared by : Dr.K.Ayyar, Assistant Professor (Sel.G)

(BTL-6)

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VALLIAMMAI ENGINEERING COLLEGE

Dept. of EIE

UNIT II FREQUENCY RESPONSE BASED DESIGN

Part A- Two marks Questions
1. Describe all pass system. (BTL-2)
2. Estimate the frequency at which the Nyquist plot for the function K/(1+jT1)(1+jT2)
cuts the axis j. (BTL-5)
3. Is the compensation provided by the lag compensator is equivalent to that of a PD
controller or a PI controller? Explain. (BTL-2)
4. Realise the lead compensator using R and C network components. (BTL-2)
5. Explain the correlation between a Proportional plus Derivative controller and a Lead
compensator. (BTL-4)
6. Consider a system whose transfer function is given by G(s) = 1/[(s+3) (s+5)].
Determine the DC gain of the system. (BTL-3)
7. Write some frequency domain specifications. (BTL-3)
8. Discuss the effect of adding a pole to the open loop transfer function of the system?
(BTL-2)
9. Define Routh- Hurwitz stability criterion. (BTL-1)
10. Point out some properties of Nyquist plot. (BTL-4)
11. Define Gain Margin and Phase Margin. (BTL-1)
12. Define Nyquist stability criterion. (BTL-1)
13. Mention the advantages of Nyquist plot. (BTL-4)
14. By Routh-Hurwitz stability criterion, test the condition for stability of the given
system, a 0 s 4 a1 s 3 a 2 s 2 a3 s a 4 0 .(BTL-5)
15. The damping ratio and natural frequency of oscillation of a second order system is 0.5
and 8 rad/sec respectively. Calculate the resonant peak and resonant frequency.
(BTL-3)
16. Define resonant frequency. (BTL-1)
17. Define cut-off rate. (BTL-1)
18. Write the main advantages of Bode plot. (BTL-6)
19. When is lag lead compensator is required? (BTL-1)
20. Write the main significances of root locus. (BTL-6)

Prepared by : Dr.K.Ayyar, Assistant Professor (Sel.G)

Page 5

VALLIAMMAI ENGINEERING COLLEGE

Dept. of EIE
PART-B

1. The open loop transfer function of the uncompensated system is

G j ( s)

(13)

K
.This system is now required to be compensated to meet
s ( s 1)( s 4)

the following specifications: Damping ratio = 0.5; undamped natural

frequency = 2; Error constant kv 5. Design a suitable compensator. (BTL-4)
2.

The open loop transfer function of the system is G (s )

K
. Design
s (1 0.2 s )

(13)

a suitable compensator to meet the following specifications : acceleration error

constant KA = 10; phase margin = 35.
3.

(BTL-4)

(i)

Explain the design procedure of Lag-Lead compensators.

(ii)

Design PD controller for the following system whose open loop transfer
function is given by G (s )

(BTL-2)

(6)
(7)

1
, so that the closed loop system
s ( s 1)

meets the following specifications. (1) time constant is greater than 1s

and (2) overshoot is less than 10%. Use Routh-Hurwitzs criterion for
design.
4.

Consider a system whose transfer function is given by G (s )

(BTL-6)

10
. It
( s 1)(s 3)

is to be controlled under unity negative feedback.

(i)

Draw the Bodes plot and determine the phase margin and gain margin.

(5)

(BTL-3)
(ii)

Design a suitable compensator so that the phase margin is improved by

30 degrees and velocity error constant is greater than 5/s.

5.

Consider a system whose transfer function is given by G (s )

(8)

(BTL-4)

10
. It
( s 1)(s 3)

is to be controlled under unity negative feedback with a Proportional plus

integral controller of the form G(s) = k (s+a)/s.
(i)

Determine the stability of the open loop system using Routh-Hurwitz

criterion or Nyquists plots without controller.

(ii)

(5)

(BTL-3)

Determine the stability of the closed loop system with the controller

(8)

parameters k and a kept variable Routh-Hurwitz criterion or

Nyquists plots. .
Prepared by : Dr.K.Ayyar, Assistant Professor (Sel.G)

(BTL-3)
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VALLIAMMAI ENGINEERING COLLEGE

6.

(i)

Dept. of EIE

The open loop transfer function of an unity feedback control system is

given as G( s )

a
. Evaluate the value of a to give a
s ( s 4)( s 10)

phase margin of 45.

(ii)

(6)

(BTL-5)

Draw the Bode plot for the transfer function G( s )

ks 2
(1 0.2s)(1 0.02s )

(7)

and determine system k for the gain cross-over frequency c to be 5

rad/sec.
7.

(BTL-3)

Design a phase lag network for a system having G (s )

K
to have a
s (1 0.2 s) 2

phase margin of 30 .

(BTL-6)

8. Consider a unity feedback control system with an open loop transfer function
is G (s )

(13)

K
. Design a suitable lead compensator so that phase margin
s ( s 2) 2
0

is atleast 50 and velocity error constant is 20 s-1.

(BTL-4)

9. Consider a unity feedback control system with an open loop transfer function
is G (s )

(13)

(13)

K
. Design a suitable lag-lead compensator to meet
s (2s 1)(0.5s 1)

the following specifications. (i) KV = 30 (ii) phase margin 50

(BTL-4)

10. Use Routh stability criterion to determine the no. of roots in the left half
plane, the right half plane and on imaginary axis for the given characteristic
equation:
5

(BTL-3)
4

(i)

s 4 s 8s 8 s 7 s 4 0

(6)

(ii)

s 7 5s 6 9 s 5 9 s 4 4 s 3 20 s 2 36s 36 0

(7)

11. The open loop transfer function of a certain unity feedback control system is
given by G (s )

(13)

K
. It is desired to have the velocity error constant
s (s 1)
0

KV = 10, and the phase margin to be atleast 60 . Design a phase lag series
compensator.

(BTL-6)

12. Sketch the Nyquist plot for a feed back system with open loop transfer
function G (s ) H ( s )

(13)

K ( s 10) 2
. Estimate the range of values of K for which
s3

the system is stable.

Prepared by : Dr.K.Ayyar, Assistant Professor (Sel.G)

(BTL-2)

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VALLIAMMAI ENGINEERING COLLEGE

13.

Dept. of EIE

The controlled plant of a unity feedback system G ( s )

K
. It is
s( s 10) 2

(13)

specified that velocity error constant of the system be equal to 20, while the
damping ratio of the dominant roots be 0.707. Design a suitable cascade
compensation scheme to meet the specifications.

(BTL-6)

14. The laser guided missile has an open loop transfer function (combining the fin
dynamics and missile dynamics) of G ( s ) H ( s)

(13)

20
. Design a cascade
s ( s 5)
2

lead compensator that will ensure stability and provide a phase margin of at
least 30, a bandwidth greater than 5 rad/s and a peak closed loop modulus M p
of less than 6 dB.

(BTL-6)

PART C
1. Consider the linear model of a physical system of your choice which is atleast

(15)

of second order. Write the dynamic equations. Analyse the closed loop
performance of the system with (i) Bodes plot (ii) Nyquist plot and (iii)
Routh-Hurwitz criterion and bring out the relative merits and demerits of these
techniques.

(BTL-4)

2. Design a PID controller for a unity feedback system with an open loop
transfer function is G (s )

(15)

20
. so that the phase margin of
( s 2)(s 4)(s 0.5)

the system is 30 at frequency of 2 rad/sec and the steady state error for unit
ramp input is 0.1

(BTL-4)

3. The open loop transfer function of certain unity feedback system are given

(15)

below.
(i)

K
( s 2)( s 4)( s 2 6 s 25)

(ii)

K (s 1)
s (s 1)( s 2 4 s 16)

In each case, Analyze the stability of the closed loop system as a function of
K > 0. Evaluate the values of K which will cause sustained oscillations in the
closed loop system .what are the corresponding oscillating frequencies?
(BTL-5)

Prepared by : Dr.K.Ayyar, Assistant Professor (Sel.G)

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VALLIAMMAI ENGINEERING COLLEGE

Dept. of EIE

4. Design a suitable phase lead series compensator for the open loop transfer

(15)

function of a certain unity feedback control system is given by

G (s)

K
0
. It is desired to have the phase margin atleast 30 .
s(0.1s 1)(0.2s 1)
(BTL-6)

UNIT III DESIGN IN DISCRETE DOMAIN

Part A- Two marks Questions
1. Define the state regulator problem in discrete domain. (BTL-1)
2. Write a short note on dynamic programming developed by Bellman. (BTL-6)
3. Will the discrete pole locations get altered for various sampling rates? Explain.
(BTL-5)
4. State the necessary conditions for stability using Jurys test. (BTL-1)
5. Estimate the critical gain of the system whose pulse transfer function is given by G(z)
= 1/(z-0.1) using discrete root locus. (BTL-2)
6. Consider the characteristic equation z2 + 3z + 2 = 0. Check whether this equation
satisfies the necessary condition for stability as per Jury. (BTL-5)
7. What is a sample and hold circuit? (BTL-1)
8. Discuss the practical aspects of the choice of sampling rate. (BTL-2)
9. Write the expression for ZOH. (BTL-6)
10. Explain about aliasing effect. (BTL-2)
11. List the methods of discretisation. (BTL-1)
12. Define jurys stability criterion. (BTL-1)
13. Mention the advantages of digital control over conventional control. (BTL-4)
14. Give the performance measure of output regulator problem. (BTL-2)
15. Write the magnitude and angle criterion of root locus plot in Z-Domain. (BTL-3)
16. Give the relationship between S-domain and Z-Domain in Bilinear Transformation.
(BTL-3)
17. Explain the steps involved in converting continuous time signal into discrete time
signal using impulse invariance transformation. (BTL-4)
18. How do you improve the effect of sampling? (BTL-1)
19. Write any two advantages of discrete data system. (BTL-3)
20. Mention the need of Digitization. (BTL-4)
Prepared by : Dr.K.Ayyar, Assistant Professor (Sel.G)

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VALLIAMMAI ENGINEERING COLLEGE

Dept. of EIE
PART B

1.

(i)

Compare various digitization schemes in terms of stability preservation,

frequency matching and realizability.

(ii)

Let G (s )

(6)

(BTL-2)

2
. Discuss the effect of discretizing G(s) for control
( s 2)

(7)

purpose using ZOH and sampling the output at every 0.02 sec and 0.05
sec.
2.

(i)

Discretize

(BTL-2)

G (s)

10( s 1)
using
s( s 5)

step

invariant

transformation.
(ii)

Briefly explain the properties of Root Loci in Z-plane.

and

bilinear

(7)

(BTL-4)
(BTL-3)

(6)

3. Consider the system whose open loop transfer function is given by

G (s)

(i)

5
.
( s 1)( s 10)

Evaluate the discrete equivalent of the system, when the output is

sampled and the input is driven through ZOH.

(ii)

(6)

(BTL-5)

Show that the gain margin of the system is reduced upon discretisation,

(7)

under unity negative feedback, using root-locus. Choose the sampling

interval to be 0.1 s.

(BTL-2)

4. Determine the value of k so that the roots of the characteristic polynomial lie
k ( z 1)
inside the circle of radius 0.5 for the system G ( z ) 3
under
( z 11z 2 10 z )
unity negative feedback using Jurys test.
(BTL-3)
5. (i) Consider a system described by the difference equation

(13)

(6)

C(K+1)+2C(K)=r(K); C(0)=0. Obtain the systems impulse response.

(BTL-3)
(ii)

For the sampled data control system, discover the output C(K) for r(t) =
unit step.
(BTL-3)

Prepared by : Dr.K.Ayyar, Assistant Professor (Sel.G)

(7)

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VALLIAMMAI ENGINEERING COLLEGE

6.

Dept. of EIE

(i)

For the characteristic polynomial F1 ( z ) 2 z 4 7 z 3 10 z 2 4 z 1 ,

(6)

(ii)

(BTL-5)
check the stability by Jurys test.
A sampled data control system of order one with transportation lag is in

(7)

figure. Determine the condition for system stability if < T.

7.

(BTL-3)

10
. It
(s 1)(s 3)
is to be digitially controlled with the help of sampler and zero-order hold.
(i) Determine the discretised transfer function if, the sampling interval is
Consider a system whose transfer function is given by G (s )

chosen to be 0.1s.
(ii)

(5)

(BTL-3)

Analyse the closed loop performance of the system under unity negative

(8)

feedback for variations in the loop gain. Discrete Root locus technique
may be used.
8.

(i)

(BTL-4)

The characteristic Equation of a sampled data control system is given by

(7)

Z 4 1.2 Z 3 0.22Z 2 0.066Z 0.008 0

Check the stability of the system using Jurys stability test.

(ii)

Consider

the

pulse transfer

function

G( z)

(BTL-5)

10
.
( z 0.1)( z 0.3)

(6)

Determine the critical gain of the system using Jurys test under unity
negative feedback.
9.

(i)

(BTL-3)

For a system with the following Z-transfer function, find the normalized

(7)

steady state error between input and output, for a step input

20 z 2
D( z )
12 z 2 7 z 1

(BTL-3)

Write a short note on direct discrete design.

(BTL-3)

(6)

10. The digital process of a unity feedback system is described by the transfer

(13)

(ii)

function Gh0 G ( z )

K ( z 0.717)
; T = 1s. Sketch the root locus plot for
( z 1)( z 0.368)

0 K and from there obtain the value of K that results in marginal

stability. Also find the frequency of oscillations.
Prepared by : Dr.K.Ayyar, Assistant Professor (Sel.G)

(BTL-3)
Page 11

VALLIAMMAI ENGINEERING COLLEGE

Dept. of EIE

11. A digital control system is shown in Figure.

(13)

When the controller gain K is unity and the sampling time is 0.5 seconds,
determine
(i) The open-loop pulse transfer function
(ii) The closed loop pulse transfer function
(iii)The difference equation for the discrete time response

(BTL-3)

12. The laser guided missile has an open loop transfer function (combining the fin
dynamics and missile dynamics) of G ( s ) H ( s)
compensator has a transfer function of G (s )

20
s ( s 5)
2

. A lead

0.8(1 s )
.
(1 0.0625s)

Find the z-transform of the missile by selecting a sampling frequency of

(i)

at least 10 times higher than the system bandwidth.

(BTL-2)

Convert the given lead compensator into a digital compensator using

(ii)

the simple method and find the step response of the system.

(i)

G (s)

1
, T 0.1 seconds
(s 1)

(ii)

G( s )

2
, T 0.5 seconds
( s 1)( s 2)

(iii)

G( s )

1
, T 1.0 seconds
s ( s 0.5)

(6)

(BTL-2)

13. Assuming that a sample and hold devices in cascade with the transfer function
G(s), determine G(z) for the following

(7)

(13)

(BTL-3)

14. A unity feedback computer control system, has an open-loop pulse transfer
function G ( z )
(i)

0.426 K ( z 0.847)
.
( z 2 1.607 z 0.607

Determine the open-loop poles and zeros, the characteristic equation and
break-away points.

(ii)
(iii)

(BTL-3)

Using the Jury test, determine the value of K at the unit-circle crossover
points.

Prepared by : Dr.K.Ayyar, Assistant Professor (Sel.G)

(4)

(BTL-3)

Find the radius and centre of the circular complex loci, and hence sketch
the root locus in the z-plane.

(4)

(5)

(BTL-2)
Page 12

VALLIAMMAI ENGINEERING COLLEGE

Dept. of EIE

PART C
1. Consider the discrete model of a physical system of your choice which is

(15)

atleast of second order. Write the dynamic equations. Analyse the closed loop
performance of the system with (i) Discrete root locus and

(ii) Discrete

Nyquist plot and bring out the relative merits and demerits of these techniques.
(BTL-4)

2. Consider the linear model of a physical system of your choice which is atleast

(15)

of second order. Write the dynamic equations. Discuss the effect of applying
(i) analog and (ii) digital, PI controller under unity negative feedback. Bring
out the relative demerits and limitations of the analog and digital techniques.
(BTL-3)

3.

Given

Gh0 G ( z )

K ( z 0.9048)
; T = 1s. Sketch the root locus plot for
( z 1) 2

(15)

0 K . Using the information in the root locus plot, Evaluate the range of
values of K for which the closed loop system is stable.

(BTL-5)

4. Analyse the stability of the system applying Jurys stability test for the

(15)

characteristic Equation of a sampled data control system is given below.

(i) 5Z 3 4Z 2 3Z 2 0
(ii) Z 3 1.4 Z 2 0.53Z 0.04 0

(BTL-4)

UNIT IV DISCRETE STATE VARIABLE DESIGN

Part A- Two marks Questions

1. List the properties of state transition matrix for discrete time systems. (BTL-1)
2. Explain estimated state feedback in a sampled data systems? (BTL-4)
3. Will the controllability be affected by sampling? Explain. (BTL-2)
4. Test the controllability of the following system (BTL-5)
0 1
1 0.1
x (k 1)
x(k )

u ( k )
1 1
0 1
y(k ) 0 0.1x(k )
1 1
0 1
5. Consider the equation x(k 1)
x(k )

u (k ) Determine the
0 5
1 0
controllability of the states from origin.

(BTL-3)

Prepared by : Dr.K.Ayyar, Assistant Professor (Sel.G)

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VALLIAMMAI ENGINEERING COLLEGE

Dept. of EIE

6. A second order system has one mode which is observable but not controllable and
another mode which is controllable but not observable. Determine the number of
nodes that can be changed by state feedback. (BTL-3)
7. What is pole placement by state feedback? (BTL-1)
8. Write the necessary condition to be satisfied for designing state feedback. (BTL-6)
9. What is the control law used in state variable feedback? (BTL-2)
10. Write down the Ackermanns formula used to find the state feedback gain matrix k.
(BTL-6)
11. What do you mean by pole placement by output feedback? (BTL-1)
12. Give the control law used in output feedback. (BTL-2)
13. Point out the need for output feedback. (BTL-4)
14. What is the need for observer? (BTL-4)
15. Describe full order observer. (BTL-1)
16. Describe reduced order observer. (BTL-1)
17. Give the modified state and output equation of a system with Luenberger observer.
(BTL-3)
18. List the limitation of Luenberger observer. (BTL-1)
19. Give a short note on principle of optimality. (BTL-2)
20. How is pole placement done by state feedback in a sampled data system? (BTL-5)
PART B
1. Consider the system defined by the state equation

(13)

0 1
1 0.1
X k 1
Xk

U k
1 1
0 1
Yk 1 0.1X k .

Design at-least three different, state feedback controllers that assign the closed
loop poles at 0.1 and 0.2. How many choices of controllers are possible for this
system? Explain.
2. (i)

Derive the equations of Prediction and Current estimator in discrete

domain.

(ii)

(BTL-6)
(7)

(BTL-6)

Compare the relative merits and demerits of state and output feedback.

(6)

(BTL-4)

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VALLIAMMAI ENGINEERING COLLEGE

3. (i)

(ii)

Dept. of EIE

1
1
0
0
Determine (1) f(A) = A10 for A
(2) A

by
2 3
1 2
Cayley-Hamilton technique.
(BTL-3)

(6)

Consider the system with state equation

(7)

4. (i)

x1 0
1
0 x1 0


0
1 x 2 0 u.
x2 0
6 11 6 x 1
3
x3

(BTL-5)
Check the controllability of the system by Kalman;s test.
Consider a linear system described by the differential equation

(7)

y 2 y y u u with x1 y; x 2 y u. Test the controllability of this

system by Kalmans test.
(ii)

(BTL-5)

Examine the observability of the system, by Kalmans test.

x1 0 1
0 x1 0


1 x 2 0 u.
x2 0 0
0 2 3 x 1
3
x3

(6)

(BTL-1)

5. Consider the state model given by

1 1
0
x k 1
xk u k

0 5
1
y k 1 0xk
(i)

Show that all the eigen values of A matrix can be assigned by state
feedback.

(ii)
(iii)

(BTL-2)

Design a state feedback controller to place the closed loop poles at

0.1j0.1

(6)

(BTL-3)

Show that all the eigen values of A matrix cannot be assigned by output
feedback.

(4)

(3)

(BTL-2)

6. Consider the state model given by

1 1
0
x k 1
xk u k ; y k 1 0x k

0 5
1
(i)

Show that all the states are observable.

(ii)

Design a full order observer so that observation error dynamics dies

down in 5 sampling intervals.

(iii)

(BTL-2)

(4)

(BTL-4)

Show that a reduced order observer can also be designed so that

observation error dies down in 5 sampling intervals.

Prepared by : Dr.K.Ayyar, Assistant Professor (Sel.G)

(5)
(4)

(BTL-2)
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VALLIAMMAI ENGINEERING COLLEGE

Dept. of EIE

7. Consider the system

(13)

x Ax bu
y cx du
2 1
1 0
Where A
; b

; c 0 1; d 2 0
0
1
1 1
Design a full-order state observer so that the estimation error will decay in less
than 4 seconds.
8. (i)

(ii)
9.

0 1
Let A

1 2

(BTL-4)
0
B Find the state feed back gain matrix such
1

(7)

that the eigen values of A- BG are at 0 and 0.3.

(BTL-5)

Write notes on full order Observer.

(BTL-3)

(6)

0 0.1
A

0 1

(13)

Find the controller gain for the discrete system described by

0.005
and B
to place the closed loop system poles at Z= 0.8 j 0.25
0.1
using direct pole placement.

(BTL-5)

10. Investigate the controllability and observability of the following system:

(13)

1 2
1 1
1. x(k 1)
x(k )

u(k )
1 1
0 0
1 0
y(k )
x(k )
0 1
1 1
0
2. x(k 1)
x( k ) u ( k )

0 1
1

y(k ) 1 1x(k )
11.

Given the state equations of a linear system is

(BTL-5)
dx(t )
Ax(t ) Bu (t )
dt

with

(13)

u(t) = u(kT)= constant for kT t< ( k+1)T .The system is discretized, resulting
in the following discrete-data state equations : x( k+1)T = (T) x(kT) + (T)
u(kT). Determine the matrices (T) and (T).

1
0
0
A
B .

1 2
1
(BTL-3)

Prepared by : Dr.K.Ayyar, Assistant Professor (Sel.G)

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VALLIAMMAI ENGINEERING COLLEGE

Dept. of EIE

12. A discrete data control system is described by the state equation : x( k+1) = A

1
0
0

x(k) + B u(k). A 0
0
1
0.04 0.53 1.4

(13)

1 0
B 1 1 Determine the
0 1

controllability of the system .

(BTL-3)

13. A linear controlled process of a discrete data control system is described by the

(13)

0 1
following state equations: dx(t)/dt = A x(t) + B u(t) where A
,
1 0
0
B , u(t) = u(kT) for kT t< ( k+1)T. Determine the values of the
1
sampling period T that makes the system uncontrollable.

(BTL-3)

14. Consider a digital control system x( k+1)T = A x(kT) + B u(kT) where

(13)

1
0
0
A
B . The state feedback control is described by

1 1
1
u(kT) = -K x(kT) where K = [k1 k2].Find the values of k1 and k2 so that the
roots of the characteristic equation of the closed loop system are at 0.5 and 0.7.
(BTL-2)

PART C

1. The dynamic equations of a digital process are given as x( k+1) = A x(k) + B

u(k) ; c(k) = D x(k)

0 1
0
Where A
B

0 0
1

(15)

D 1 1 the state

feedback control is u(k) = -G x(k) where G = [g1 g2 ] . Design a full order

observer so that x(k) is observed from c(k).
2.

(BTL-6)

1 1 1
Consider the system x
x u , y 1 0x . We would like to
0 2 1

(15)

place closed loop poles at s = -1, -2. Design an observer to estimate the state,
and use observer feedback to achieve this goal.

Prepared by : Dr.K.Ayyar, Assistant Professor (Sel.G)

(BTL-6)

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VALLIAMMAI ENGINEERING COLLEGE

Dept. of EIE

3. In case study a control system has an open-loop transfer function

G (s) H (s)

(15)

1
. The controller was a PD controller of the form
s ( s 2)(s 5)

G(s) K1 ( s a) with K1 = 15 and a = 1, the system closed loop poles were

s = -3.132j3.253 and s = -0.736 with the resulting characteristic equation
s 3 7 s 2 25s 15 0 . Demonstrate that the same result can be achieved

using state feedback methods.

(BTL-3)

4. Design a reduced second-order observer for the system such that the poles are

(15)

a factor of 10 higher than the closed loop system poles. i.e. s = -31.32j32.53
which correspond to n = 45.16 rad/s and = 0.7.

(BTL-6)

UNIT V LQR AND LQG DESIGN

Part A- Two marks Questions
1. For an output regulator problem, develop an expression for quadratic performance
index. (BTL-6)
2. Discuss the effect of pole-zero cancellation in transfer function. (BTL-2)
3. State the LQR problem. (BTL-1)
4. State the duality between the controller and the observer design problems. (BTL-1)
5. Solution of the LQR problem of a linear time invariant system, is a time varying state
feedback. Is the statement true or false? Justify. (BTL-5)
6. Is the Ricattis equation linear and time-invariant? Explain. (BTL-4)
7. Write the general matrix Ricatti equation. (BTL-3)
8. Describe Kalman filter? (BTL-2)
9. What is the necessary and sufficient condition for optimal control u to minimize the
Hamiltonian function? (BTL-1)
10. State Pontryagins minimum principle. (BTL-1)
11. Give the control and state variable inequality constraints. (BTL-4)
12. Distinguish the terms Hamiltonian function and Hamiltonian matrix. (BTL-4)
13. State the Hamiltonian-Jacobi equation. (BTL-1)
14. Write down the expression for optimal control using Riccati equation. (BTL-6)
15. Measure the performance index of regulator problem and solution of Matrix Riccati
equation. (BTL-5)
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VALLIAMMAI ENGINEERING COLLEGE

Dept. of EIE

16. Write down the PDF function for jointly Gaussian Variable. (BTL-3)
17. Give the design procedure for LQR controller. (BTL-2)
18. Give the expression of Kalman gain. (BTL-2)
19. Draw the block diagram of Discrete Kalman Filter. (BTL-3)
20. State the condition for observability by Kalman-Bucy filter. (BTL-1)

PART B
1.

(i)

Derive the necessary and sufficient condition to be satisfied along the

(6)

optimal trajectory using Hamiltonian formulation starting from the

results of Calculus variation approach, for a state tracking problem of a
linear time invariant system.
(ii)

(BTL-6)

Derive the optimal control policy for the following optimal control

(7)

problem

x 2 x u
1
2
min J x sin t u 2 dt
0
2

(BTL-6)

2. Derive the matrix Riccati equation and state the necessary and sufficient
condition for optimal solution.

(13)

(BTL-6)

3. Derive the solution of a linear quadratic regulator problem either for

(13)

continuous or discrete case from the basic principle of calculaus of variations.

(BTL-6)

4. Obtain the solution of Ricatti equation for the following system

(13)

x ax bu
1
min J qx12 u12 dt
0 2
Show that the closed loop poles move from -a to -.

(BTL-2)

5. Obtain the optimal control law by Ricatti equation for a continuous time
system.
6.

(13)

(BTL-2)

(13)

The first order system is described by the differential equation x 2 x(t ) u (t )

Find the control law that minimizes the performance index
min J

1 t1 2 1 2
3 x u dt ; tf = 1 sec.
2 0
4

Prepared by : Dr.K.Ayyar, Assistant Professor (Sel.G)

(BTL-2)

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VALLIAMMAI ENGINEERING COLLEGE

Dept. of EIE

7. Determine the differential equations to be solved to obtain the solution of the

(13)

following optimal control problem

10 1
2 0
1
MinJ x 1
x u 2 dt

0
2
2 0 0.1

0 1
0
Subject to x
x u

2 3
1
8.

(BTL-3)

State the solution of optimal estimation problem with the help of

(i)

(8)

analogous terms of an estimation and state feedback control problems.

(BTL-1)

Illustrate the eigen vector decomposition method of solving discrete

(ii)

9.

10.

(5)

Ricattis equation.

(BTL-4)

(i)

Discuss minimization of function.

(BTL-2)

(6)

(ii)

Write notes on kalman filter.

(BTL-3)

(7)

0 1
1 1
Find the optimal control law for the system x
x

u with the
1 1
0 1

performance index J ( x12 u12 u 22 )dt .

(13)

(BTL-5)

11. The regulator system contains a plant that is described by

(13)

1 x1 0
x1 0

u
x 1 2 x2 1
2

y 1 0x

2 0
2
and has a performance index J ( x T
x u ) dt .
0
1

Determine

12.

(i)

(i)

The Riccati matrix P

(ii)

The state feedback matrix K.

What are the types of optimal control problems used in control system
design. Explain in detail.

(ii)

(BTL-3)

(BTL-4)

Write the general performance index equation of the control problem and
mention its requirements.

Prepared by : Dr.K.Ayyar, Assistant Professor (Sel.G)

(7)

(6)

(BTL-4)

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VALLIAMMAI ENGINEERING COLLEGE

Dept. of EIE

13. Consider the system shown in Figure.

(13)

Assuming the control signal to be u(t) = -Kx(t). Determine the optimal feedback gain
matrix

such

that

the

following

performance

index

is

minimized,

J ( x T x u 2 ) dt

(BTL-3)

14.

(13)

x1
0 1 x1 0
Consider the system

u . It is desired to find the

x 0 0 x 2 1
2

optimal signal u such that the performance index J ( x T Qx u 2 ) dt ,

0

1 0
Q
is minimized. Determine the optimal signal u(t).
0

(BTL-3)

PART C
1. Analyze the optimal control law for the system

(15)

(BTL-4)

0 1
0
x
x u

0 0
1

1 0
y
x such that the following performance index is minimized
0 2
J ( y12 y 22 u 2 ) dt

2. Analyze the optimal control law for the system described by

(BTL-4)

(15)

1
0
0
x
x u

2 3
1

1 0
y
x such that the following performance index is minimized
0 2

J ( x T x u 2 ) dt
0

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VALLIAMMAI ENGINEERING COLLEGE

Dept. of EIE

3. Design the multivariable optimal regulator system for the plant state equations

(15)

are

1 x1 0
x1 0

x 4 2 x 2 4
2

y 1 0x

If the performance index to be minimized is J ( x T Qx u 2 ) dt .

(BTL-6)

4. Design the Kalman filter for multivariable state estimation problem.

(BTL-6)

********************* ***********

Prepared by : Dr.K.Ayyar, Assistant Professor (Sel.G)

Page 22