PART-A (TWO MARKS)

1.Draw a closed loop control system. [APR/MAY08]

2. What is meant by characteristics equation? [NOV/DEC10]

Equating the denominator polynomial of the second order closed loop transfer
function to zero is called characteristics equation.
3. What is time response?
The time response is the output of the closed loop system as a function of time. It
is denoted by c (t).
C s G s
Closed loop transfer function,
R s 1 G s H s
R s G s
Response in s domain, C s
1 G s H s
R s G s
Response in time domain, c t L 1
1 G s H s
4. What is transient response? [NOV/DEC12]
The transient response is the response of the system when the system changes
from one state to another.

5. What is steady state response? [NOV/DEC12]

The steady state response is the response of the system when it approaches
infinity.

6. How the transient responses of a system with feedback differ to that without
feedback? [NOV/DEC07]

The response decays more quickly for the system with feedback

7. Name the test signals used in control system and what is the use of test
signal? [DEC07] [MAY/JUNE07] [DEC09] [NOV/DEC10] [APR/MAY11]
[NOV/DEC11]
The test signals used in control system are Impulse, Step, Ramp, Acceleration and
Sinusoidal signals. The test signals are used to predetermine the performance of the
system.
8. Define step signal?

1
 The step signal is a signal whose value changes from zero to A at t= 0 and
remains constant at A for t>0. The step signal resembles an actual steady input to
the system.

9. Define ramp signal?

The ramp signal is a signal whose value increases linearly with time from an
initial value of zero at t=0. The ramp signal resembles a constant velocity.

10. Define parabolic signal?

The parabolic signal is a signal whose value varies as a square of time from an
initial value of zero at t=0. This parabolic signal represents constant acceleration
input to the signal.

11. What is an impulse signal?

A signal which is available for very short duration is called impulse signal.

12. What is weighting function?

2
 The impulse response of the system is called weighting function.
13. What is an order of a system?
The order of a system is the order of the differential equation governing the
system. The order of the system can be obtained from the transfer function of the
given system.

14. Define Damping ratio. [MAY/JUNE10]

Damping ratio is defined as the ratio of actual damping to critical damping.

15. What will be the nature of response of a second order system with different
types of damping?
For undamped system, the response is oscillatory
For under damped system, the response is damped oscillatory
For critically damped system, the response is exponentially rising
For over damped system, the response is exponentially rising but the rise
time will be very large
16. What is damped frequency of oscillation?
In under damped system, the response is damped oscillatory. The frequency of
damped oscillation is given by d n 1 2
17. How the system is classified depending on the value of damping? [DEC07]
[DEC09] [APR/MAY11]

Depending on the value of damping, the system can be classified into the following
cases,
Case 1: undamped system, 0

Case 2: under damped system,

0 1
Case 3: Critically damped system, 1
Case 4: Over damped system, 1
18. List the time domain specifications. [NOV/DEC06] [NOV/DEC08]
[MAY/JUNE09] [DEC09] [NOV/DEC10]
The time domain specifications are

i.Delay time ii.Rise time iii. Peak time iv. Peak overshoot

iv.Settling time

3
19. Define Delay time. [NOV/DEC07] [MAY/JUN07] [MAY/JUN10]

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

20. Define Rise time. [MAY/JUN07] [NOV/DEC07] [NOV/DEC08] [MAY/JUN10]

[NOV/DEC11]

It is the time taken for response to rise from 0% to 100% at the very first time

21.Define peak time. [MAY/JUN07] [NOV/DEC07] [NOV/DEC08] [NOV/DEC10]

[NOV/DEC12]
It is the time taken for the response to reach the peak value at the first time.

22.Define peak overshoot. [MAY/JUN07] [NOV/DEC07] [APR/MAY08]

[NOV/DEC08] [NOV/DEC10]
Peak overshoot is defined as the ratio of maximum peak value measured from the
Maximum value to final value

23. Define Settling time. [MAY/JUN07][APR/MAY08]

Settling time is defined as the time taken by the response to reach and stay within
specified error and the error is usually specified as % of final value.

24. What is the type number of a system? What its significance?

The type number is given by number of poles of loop transfer function at the origin.
The type of number of the system decides the steady state error.

25. Distinguish between type and order of a system? [NOV/DEC06]

[MAY/JUN07] [APR/MAY08] [NOV/DEC08] [DEC09] [MAY/JUN10]
[NOV/DEC10]
Type number is specified for loop transfer function but order can be specified for
any transfer function (open loop or closed loop transfer function).
Or
The type number is given by number of poles of loop transfer function lying at
origin of s-plane but the order is given by the number of poles of transfer function.
26. Define Steady state error. [MAY/JUNE07] [NOV/DEC10]
The steady state error is defined as the value of error e (t) when time tends to
infinity. The steady state error is a measure of system accuracy.

27. What are static error constants? [MAY/JUN07] [APR/MAY11]

The Kp(Positional error constant), Kv (Velocity error constant)and Ka (Acceleration
error constant)are called static error constants. These constants are associated with
steady state error in a particular type of system and for a standard input.
28. What is the drawback of static coefficients? [NOV/DEC10]
4
 The main drawback of static coefficient is that it does not show the variation of
error with time and input should be standard input.

29. Give the relation between generalized and static error coefficients?
1 1 1
C0 C1 C2
1 KP KV Ka

30. What are the main advantages of generalized error constants over static
error constants? [MAY/JUN07] [NOV/DEC07] [NOV/DEC10] [APR/MAY 11]

i) Error signal as a function of time.

ii) Steady state can be determined from any type of input

31.Determine the error coefficients for the system having

G s H s
s 2
[APR/MAY10]
s 1 0 .5 s 1 0 .2 s

s 2 2
Kp = sLt G(s) H(s) = sLt =
0 0 s 1 0.5s 1 0.2 s 0

s 2 2
Kv = sLt sG(s) H(s) = sLt s = 2
0 0 s 1 0.5s 1 0.2 s 1

s 2 0
Ka = sLt s2G(s) H(s) = sLt s2 = 0
0 0 s 1 0.5s 1 0.2 s 1

32. What do you understand by poles of a transfer function?

The values of the Laplace transform variables that cause the transfer function to
become infinite are called poles.

33. What do you understand by zeros of a transfer function?

The values of the Laplace transform variables that cause the transfer function to
become zero are called zeros.

34. What is the effect of adding pole to a second order system?

The addition of pole to the original second order system increases the rise time but
decreases the overshoot.

35. What is the effect of adding a zero to a second order system?

The addition of zero decreases the rise time and increases the overshoot and the
number of oscillations.

36. What are the different types of controller? [DEC07] [DEC09] [MAY/JUN10]
[NOV/DEC10]
5
 (i)P Controller (ii) PI Controller (iii)PD controller (iv) PID Controller

37. Why are differentiators generally not used in systems? [NOV/DEC07]

Differentiators are not used in the system due to large noise and saturation in
the amplifier

38. What is the effect of P controller on the system performance and what its
disadvantage? [NOV/DEC10]

The P controller improves the steady state tracking accuracy, disturbance and
signal rejection and relative stability of the system. It increases the loop gain.

The disadvantage in P controller is that produces a constant steady state error.

39. What is the effect of PI controller on the system performance?

[APR/MAY 08] [NOV/DEC10]

The PI controller increases the order of the system by one, which results in
reducing the steady state error. But the system becomes less stable than the original
system.

40. What is the effect of PD controller on the system performance?

The effect of PD controller is to increase the damping ratio of the system and so
the peak overshoot is reduced.

41. Why derivative controller is not used in control system? [APR/MAY11]

The derivative controller produces a control action based on rate of change of error
signal and it does not produce corrective measures for any constant error. Hence
derivative controller is not used in control systems.

42. What is the characteristics equation of a linear system? Why it is so

called?

The characteristics equation of linear system is defined as the equation obtained

by setting the characteristic denominator polynomial of the closed loop transfer
function to zero. It is so called because; it determines the stability of the system and
also transient and steady state responses of the system
t
43. The unit step response for a first order system is given by c t 1 e T
.Find the unit impulse response for the same first order system. [NOV/DEC08]

C (s) 1
The closed loop transfer function of first order system,
R ( s ) 1 Ts

6
 If the input is unit impulse then R(s) = 1
1 1
The response in s-domain, C ( s ) R( s )
(1 Ts ) (1 Ts )

1
1
T
C(s) = T 1 s
1
T s
T

The response in time domain is given

t
1
by,C(t) = e T
T

44. Draw the functional block diagram of PID controller. [NOV/DEC08]

45. Sketch the effect of damping ratio of a second order system subjected to
unit step input. [APR/MAY08]

10
46. For the system with G s H s s s 1 .Find the steady state error for ramp
input of 5 units [NOV/DEC07]

For Ramp input Kv value is constant

7
 10 10
Kv = sLt
0
s G(s) H(s) = sLt
0
s s s 1 = sLt
0 s 1
=10

5 5
Steady state error ess= 0.5
Kv 10

47. Find the unit impulse response of the second order transfer function
C s 9
whose T.F 2 .
R s s 4s 9

For unit impulse R(s)=1

9 9 9 5
C s
s 2 4s 9 s 2 5
2
5 s 2
2
5 2

9 2t
c t L1 C s e sin 5t
5

PART-B (12 MARKS)

1. A unity feedback system is characterized by an open loop transfer function
K
G s .Determine the gain K so that the system would have a damping
s s 10
ratio of 0.5.For this value of K determine the settling time, peaks overshoot
and time for peak overshoot for unit step input. [MAY/JUNE07] [APR/MAY08]
[DEC09] [MAY/JUNE10] [NOV /DEC10] [APR/MAY11] [NOV /DEC11]
[NOV/DEC12]

8
 Refer Page No 2.24 Example 2.4 in given text book
2. Measurements are conducted on a servomechanism show the system
response to be c(t ) 1 0.2e 60 t 1.2e 10 t when subjected to a unit step input.

(i) Obtain the expression for the closed loop transfer function.

(ii).Determine the undamped natural frequency and damping ration of the

system. [NOV/DEC06] [MAY/JUNE07] [APR/MAY08]
Refer Page No 2.23 Example 2.3 in given text book

3. The open loop transfer function of a servo system with unity feedback is
10
G(s) .Evaluate the dynamic error using dynamic error coefficients.
s 0.1 s 1
Obtain the steady state error of the system when subjected to an input given
a2 2
by the polynomial r (t ) a 0 a1t t . [NOV/DEC06] [NOV /DEC10].
2
Refer Page No 2.45 Example 2.13 in given text book

.4. The open loop transfer function with unity feedback system is given by
K
G s .Where K and T are positive constants. By what factor K should
s 1 sT
be multiplied to reduce peak overshoot from 75% to 25%. [NOV/DEC10]

Refer Page No 2.24 Example 2.5 in given text book

5.A unity feedback system has an open loop transfer function

10 s 2 3 2 3
G s H s .Find the steady state error when R s 2 3
s s 1
2
s s 3s
[NOV /DEC08] [NOV /DEC10] [NOV /DEC11].
10
Refer Pagewith
6. For servo mechanisms No 2.41
openExample G s in
loop T.F 2.11 given text book
s 2 s 3 .What type of
input signal gives constant steady state error and calculates its values.
[MAY/JUNE 07]

Refer Page No 2.43 Example 2.12 in given text book

7. Consider the system shown in fig.

9
(i).Determine the value of K such that the damping ratio is 0.5.

(ii).Calculate the rise time and settling time if system is subjected to unit step
input function. [NOV/DEC07] [NOV /DEC10].

Refer Page No 2.26 Example 2.6 in given text book

8. A unity feedback control system has the forward path transfer function

K1 2 s 1
G(s) ., The input r(t)= 1+6t is applied t the system. Determine
s 5s 11 s
2

the value of K1 if the steady state is error is to be less than 0.1. [APR/MAY11]
[NOV/DEC12]
Refer Page No 2.48 Example 2.15 in given text book

10
9.A unity feedback system with G s s s 2 .Calculate rise time, settling time,

peak time, peak overshoot and steady state error for step input of 12 units.
[APR/MAY11]

Refer Page No 2.30 Example 2.9 in given text book

1
10.For a unity feedback system whose G ( s ) s s 1 ,the input signal is

r (t ) 4 6t 2t 3 .[DEC09]

10
11.For a system whose G ( s ) s s 1 s 2 ,find the steady state error when it is

subjected to the input r (t ) 1 2t 1.5t 2 [NOV /DEC11]

10
 10 s 2
12.The open loop transfer function of a UFB system is G ( s ) .Evaluate
s 2 s 1

the first three co efficient of the error series and hence determine the steady

t2
state error for input r (t ) 3 2t .[APR/MAY11]
6

13.A unity feedback control system has the forward path transfer function

K
G ( s)
s 9 .Choose the value of K such that the closed loop system has a
damping ratio of 0.5.For this value of K,find the steady state error of the closed
loop system when it is subjected by an input given by r (t ) 1.5 2t 0.5t 2

[NOV /DEC10]

14.For a unity feedback system, the open loop transfer function is

10
G ( s) .Find the static error constants and steady state error if
s 1 0 .2 s
2

r (t ) 1 2t 3t 2 .State the type of the system. [NOV /DEC11]

15.Evaluate the steady state error constants for a unity feedback system
50
having a forward path transfer function G ( s ) s s 10 .Estimate the steady

state errors for the input r (t) is given by r (t ) 1 2t t 2 [NOV/DEC07].

16.Determine thw static error coefficients for a system with open loop transfer

5 s 2
function G ( s ) H ( s) [NOV /DEC11]
s 1 0.06s 1 0.35s

17.Obtain the unit impulse response and unit step response for a UFB system

2s 1
whose open loop transfer function is G ( s ) .[APR/MAY11]
s2

18.A unity feedback system is characterized by the open loop transfer function

1
G ( s) .Determine the steady state errors for unit step,unit
s 1 0.5s 1 0.2 s

11
ramp and unit acceleration inputs. Also determine the damping ratio and
natural frequency of the dominant roots. [APR/MAY11]

19. Derive the expression for steady state error when the input is unit
parabolic in nature. [MAY/JUNE10]

20. Derive the expressions for rise time, peak time and peak overshoot.
[MAY/JUNE10]

21. Explain the P.I.PI,PD and PID controller with a suitable example. [DEC09]

[NOV/DEC10][APR/MAY11] [NOV /DEC11]

22. Derive the expression and draw the response of second order
underdamped system for unit step input. [APR/MAY11] [NOV /DEC11]

23. Derive the time response of second order system subjected to uint step
input. Also derive the equation for peak time. [NOV /DEC11]

24. Derive an expression to find steady state error of closed loop control
system.[NOV/DEC11]

25. The closed loop transfer function of a second order system is given by

100
T s .Determine the damping ratio, natural frequency of
s 10s 100
2

oscillation, rise time, settling time and peak overshoot. [NOV/DEC11]

C (s) 25
26. A second order system is given by 2 . Find its rise time,
R ( s ) s 6 s 25
peak time, peak overshoot and settling time if subjected to unit step input.
Also calculate expression for its output response. [MAY/JUNE 2009].

C s 20
27. A system has the following transfer function
R s s 10 .Determine its
unit step response with zero initial conditions. [APR/MAY11]

28. The open loop transfer function of a system with unity feedback gain is
20
given as G s .Determine the damping ratio, maximum overshoot,
s 5s 6
2

rise time, peak time. Derive the used formula. [NOV /DEC07].

12
29.A unity feedback system is characterized by the open loop transfer function

1
G s .Determine the steady state errors for unit step input,
s 1 0.5s 1 0.2 s

unit ramp and unit acceleration input. Also determine the damping ratio and
natural frequency of dominant roots. [MAY /JUNE09]
30. Determine the value of K and a such that the system has a damping ratio of
0.7 and an undamped natural frequency of 4 rad/sec for the system shown in
fig. [APR/MAY 2008]

Given:

Damping ratio = 0.7

Undamped natural frequency =4 rad/sec

Solution:

Transfer function of closed loop transfer function

K K
C s G s s s 2 s s 2 K

R s 1 G s H s 1 K
1 as s s 2 K 1 as s s 2 K 1 as
s s 2 s s 2
K K
2
s 2 s K Kas s Ka 2 s K
2

C s n 2
Comparing with Transfer function of closed loop function = 2
R s s 2ns n 2

2n s 2 Ka s
2n 2 Ka
n 2 K
Ka 2n 2
42 K
Ka 2 0.7 4 2 3.6
K 16
3.6
a 0.225
16
13
31. Determine the time response specifications and expression for output for
unit step input to a system having the system equation as follows.
d2y dy
5 16 y 9 x. Assume zero initial conditions. [NOV/DEC 2007].
dt 2 dt

Solution:

d2y dy
5 16 y 9 x.
dt 2 dt

Taking Laplace transform on both sides

s 2Y s 5sY s 16 Y s 9 X s
s 2

5s 16 Y s 9 X s
Y s 9 n 2
2 2
X s
s 5s 16
s 2 ns n 2

Comparing the above characteristics equation with s 2 2n s n 2

n 2 16

Natural frequency of oscillation n 4 rad / sec

2n 5
5 5
0.625
2n 2 4

Damping ratio 0.625

0.625

Maximum peak overshoot = Mp= 1 2
e e 1 0.625 2
0.08

1 2 1 0.6252
tan 1 tan 1
Rise time = tr =
0.625 0.719s
d n 1 2 4 1 0.6252

1 1
Time constant = T n 0.625 4 0.4s

For 2% error ts=4T=40.4=1.6s

For 5% error ts=3T=30.4=1.2s

Peak time = tp = 1.006 s
d n 1 2 4 1 0.6252

14
 d2y dy
32. A system is described by 2
8 25 y (t ) 50 x(t ). Evaluate the response
dt dt
and maximum output for a step of 2.5 units. [APR/MAY08]

d2y dy
33.A system is given by the differential equation 2
4 8 y 8 x. Where y
dt dt
represents output and x represents input. Determine all time domain
specifications for unit step input. [NOV/DEC08]

34. The forward path transfer function of a unity feedback control system is
2
given by G ( s ) s s 3 .Obtain an expression for unit step response of the
system. [APR/MAY 2010]

Solution:

Transfer function of closed loop transfer function

2 2
C s G s s s 3 s s 3 2

R s 1 G s H s 1 2 s s 3 2 s s 3 2
s s 3 s s 3
C s 2 2
2
R s s 3s 2 s 1 s 2
2
C s
s s 1 s 2

By taking partial fraction

2 A B C

s s 1 s 2 s s 1 s 2
2 A s 1 s 2 B s s 2 C s s 1

Putting s=0 Putting s=-1 Putting s=-2

2A=2 B=-2 2C=2

A=1 C=-1

1 2 1
C s
s s 1 s 2

Taking inverse laplace transform on both sides, c t 1 2e t e 2t

15
35. The open loop transfer function of a unity feedback control system has
K 1 0.5s 1 2 s
G s

s 2 s 2 4s 5
.Determine the position, velocity and acceleration

constants for and the steady state error for unit ramp, unit step and unit
parabolic inputs. [NOV/DEC 2008]

Solution:

K 1 0.5s 1 2 s K
Positional error constant Kp = sLt G(s) H(s) = sLt =
0 0
s 2 s 2 4s 5 0

K 1 0.5s 1 2 s K
Velocity error constant Kv = sLt sG(s) H(s) = sLt =
0 0
s

s 2 s 2 4s 5 0

K 1 0.5s 1 2 s K
Acceleration error constant Ka = sLt s2G(s) H(s) = sLt
0 0
s2

s 2 s 2 4s 5 =
5

Steady state error

Unit step input Unit ramp input Unit parabolic input

1 1 5
1 1 1 1 ess
ess 0 ess 0 Ka K K
1 Kp 1 Kv
5

36.A second order system has unity feedback and an open loop function is
500
G s .1.Draw the block diagram of closed loop system. 2. What is the
s s 15
characteristic equation of the closed loop system? 3. What are the numerical
values of natural frequency and damping ratio? 4. What is the settling time of
the system? 5. If the system is subjected to ramp input of 0.5 rad/sec, what is
the steady state error?

1. Block Diagram. 2. Characteristics equation.

16
1 G s H s 0
500
1 0
s s 15
s 2 15s 100 0

3. Comparing the above characteristics equation with s 2 2n s n 2

n 500
2

Natural frequency n 22.36 rad / sec

2 n 15
15 15

2 n 2 22.36

Damping ratio 0.34

4. Settling time t p 0.149 sec
d n 1 2
22.36 1 0.34 2

0.5
5. For ramp input R s
s2

Steady state error

s R s
0. 5 0.5
s 0.5
Lt Lt Lt = sLt
0 s s 2 15 s 500
ess= s 2
= s
s 0 1 G s H s s 0 s 0
s 2 15s 500 s 2 15s 500

4
37. For a second order system whose open loop transfer function G s
s s 2
,determine the maximum overshoot and the time to reach the maximum
overshoot when a step displacement of 18 is given to the system. Find the
rise time, delay time and the settling time error of 7%.What is the time constant
of the system.
17
 4 4
C s G s s s 2 s s 2 4
2 2
R s 1 G s 4 s 2s 4 s 2s 4
1
s s 2 s s 2

Comparing the above characteristics equation with s 2 2n s n 2

n 4
2

Natural frequency n 2 rad / sec

2 n 2
2 2
0.5
2 n 2 2

Damping ratio 0.5

0.5

Maximum peak overshoot = Mp= 1 2
e e 1 0.5 2
0.16

For 18 input, the maximum overshoot=0.1618=2.88

1 2 1 0.5 2
tan 1 tan 1
Rise time = tr =
0.5 1.21 s
d n 1 2 2 1 0.5 2

Peak time = tp = 1.81 s
d n 1 2
2 1 0.5 2

1 1
Time constant = T n 2 0.5 1 s

For 7% of error e m 0.07 or m ln 0.07 m 2.66

Settling time =ts = mT=2.661=2.66 s

38. A second order control system is represented by a transfer function given

Q0 s 1
below, 2 .Where Q0 is the proportional putput and T is the input
T s Js fs K
torque. A step input of 10N-m is applied to the system and the results are given
below.

(i)Peak overshoot Mp= 6% (ii) Peak time tp= 1 s

(iii) The steady state output of the system is 0.5 radian

18
Determine the values of J, K and f

39.
The

system illustrated is shown in the fig is a unity feedback control system with a
minor feedback loop (output derivative feedback)

19
20
21