Faculty of Engineering

Dayalbagh Educational Institute

EEM 501 Linear Control Engineering
Syllabus
UNIT I
Introduction to control systems : Introduction, Definitions, closed loop control and open loop
control, examples.
Mathematical Models of Physical Systems: Modeling of electrical, mechanical transfer
functions, electrical analogies of mechanical systems, block diagrams, signal flow graphs.

UNIT II
Control components and systems : dc servomotors, ac servomotors, tacho-generators,
potentiometers, synchros.
Basic Control Actions: Proportional, Integral and Derivative control, effect of derivative and
integral control on system performance.

UNIT III
Time Domain Response: Transient response of first, second and higher order systems to
standard inputs. Steady state error and dynamic error coefficients.
Stability: Concept of stability, Routh’s stability criterion, Nyquist criterion and stability analysis.

UNIT IV
Root Locus Techniques: Concept of Root Locus, rules for construction of root loci, root locus
analysis of control systems.
Frequency Response: Introduction, Polar, Bode and Nyquist plots, Gain and Phase margin, M
amd N circles, Nichol’s charts. Approximation of transient response from closed loop frequency
response.

UNIT V
Design of Control Systems: Specifications, Lead, Lag & Lead-Lag compensation in s-plane
using Bode plots and root locus
State Space Modeling: Concept of state space representation of systems, solution of state
equation, state transition matrix, its properties and evaluation.

Suggested Reading:
Modern Control Engineering, K.Ogata, Pearson Education
Control Systems Engineering, Norman S. Nise, John Wiley
Linear Control System Analysis and Design Conventional and Modern, John J.D’azzo, Mcgraw Hill

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Faculty of Engineering
Dayalbagh Educational Institute
EEM 501 Linear Control Engineering
Question Bank

Unit 1

1. Define the terms: (a) Open Loop Control (b) Closed Loop Control.
Compare the two types of control.
2. Explain, using examples, how closed loop control actually works in practice.
3. Discuss the effects of feedback on the following properties of system:
a. Overall gain
b. Sensitivity
c. Stability
4. (a) Explain why only negative feedback is used in control systems.
(b) Determine the effect of feedback on external noise.
5. Define the following terms :
a. Continuous control systems
b. Linear control systems
c. Time invariant systems
d. Discrete control systems
6. Explain the initial and final value theorem in Laplace Transforms and their relevance to the
analysis of control systems.
7. The following differential equations represent linear time-invariant systems, where r(t)
denotes the input and c(t) denotes the output. Find the transfer function C(s)/R(s) for each
of the systems.
a. d3c(t)/dt3 + d2c(t)/dt2 + 5 dc(t)/dt + 2c(t) = 3dr(t)/dt + 2r(t)
b. d4c(t)/dt4 + 5d2c(t)/dt2 + 3dc(t)/dt + 2c(t) = 6r(t)
c. d2c(t)/dt2 + 10dc(t)/dt + c(t) = dr(t)/dt + 2r(t)
d. d2c(t)/dt2 + 2dc(t)/dt + c(t) = r(t) + 2r(t-1)
8. Obtain the transfer function X2(s)/F(s) for the system shown in the figure below.

Figure P8 Figure P9

9. Obtain the transfer functions Y1(s)/F(s) and Y2(s)/F(s) of the mechanical systems shown in
figure P9.
10. Obtain the transfer function 1(s)/T(s) and 2(s)/T(s) for the mechanical systems shown in
figure P10(a) and P10(b).

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11. Find the transfer function X3(s)/F(s) for the system shown below

12. For the rotational mechanical system shown, find the transfer function G(s)= 2(s)/T(s).

13. For the rotational system shown, find the transfer function
G(s)= L(s)/T(s).

14. Determine the transfer function of the network given in figure P14.

Figure P14 Figure P15

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15. Find the transfer function of the operational amplifier circuit given in figure P15.
16. Prove the transfer functions of the operational amplifier circuits given below.

17. Give the series and parallel electrical analogs of the mechanical systems given below.

18. Determine the transfer function of the block diagram shown in the figure.

19. For the block diagram shown in the figure, evaluate

a. The Transfer Function C/R when N=0;
b. The relation among G1,G2,G3,H1 & H2 so that output C is not affected by
disturbance signal N.

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 G
R(S) 4 C(S)
G + + +
+ + G G
- - 1 - 2 3 N(S)
H
H 2
1

20. Write the transfer function of the multivariable system shown below with 2 inputs and 2
outputs in matrix form.

21. Find the transfer function of the signal flow graph using Mason’s gain formula.

22. Find the transfer function of the signal flow graph using Mason’s gain formula.

23. Find the transfer function of the signal flow graph using Mason’s gain formula.

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 UNIT II

24. Derive the transfer functions of (i) the field controlled d.c. motor and (ii) the armature
controlled d.c. motor and draw their respective block diagrams.
25. Explain the construction and working of an ac servomotor and derive its transfer function.
26. Explain the construction and working of a synchro. Discuss its applications in control
engineering.

27. For the motor, load and torque-speed curve shown, find TF G(s)= L(s)/Ea(s).

28. Consider the system shown in the figure below. An armature controlled dc motor drives a
load with moment of inertia JL. The torque developed by the motor is T. The moment of
inertia of the motor rotor is Jm. Gear ratio n=/m. Obtain the transfer function (s)/Ei(s).

29. Shown in the figure is an electric speed

control system. The input potentiometer
provides a reference input voltage Er
proportional to the desired speed Nin. A
voltage signal Ec which is proportional to the
controlled output speed No is provided by
the tachometer. The torque exerted on the
shaft by the motor is proportional to the field
current (T=KmIf). Determine the block
diagram the system. Determine the transfer
function when the disturbance torque TL=0.

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30. The block diagram given below shows a dc motor system with voltage and current
feedbacks for speed control.
a. Let K1 be a very high gain amplifier. Show that when
Hi(s)/He(s)= - (Ra+sLa), The motor velocity m(t) is totally independent of the load
disturbance torque TL.
b. Find the transfer function between m(s) and r(s) (TL=0) when Hi(s) and He(s) are
selected as in part (a).

31. The linearised model of a robot arm driven by a dc motor

is given below. Motor torque constant is Ki. Jm and Bm are
the inertia and viscous friction coefficient of the motor. K
and B are torsional spring constant and viscous friction
coefficient of the shaft. JL and BL are the inertia and
viscous friction coefficient of the arm. Draw the block
diagram of the system. Get the transfer function
L(s)/Ia(s).

32. Explain the three basic control actions viz. Proportional,

integral and derivative control. Discuss their relative
merits and demerits.
33. Discuss the effect of derivative control on the time
response of a unity feedback control system.
34. Discuss the effect of integral control on the time response of a unity feedback control
system.
35. Discuss the drawbacks of a standard derivative controller. Describe the transfer function of
the derivative controller used to eliminate these drawbacks.

UNIT III

36. Determine the step, ramp and parabolic error constants and the steady state error for unit
step, unit ramp and acceleration inputs for the following control systems with unity
feedback. The open loop transfer functions are given as
a. G(s) = 500/(1+0.1s)(1-5s)
b. G(s) = K/s(1+0.1s)(1+0.5s)
c. G(s)=10K/s(s2+4s+200)
d. G(s) = K(1+2s)(1+4s)/s2(s2+2s+10)
37. The open loop transfer function of a unity feedback control system is given as
G(S)=1000/s(1+0.1s). Evaluate the error series of the system. Determine the steady state
error of the system for the following inputs:
a. r(t)=t2u(t)/2
b. r(t)=(1+2t+t2)u(t)

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38. A machine tool contouring control system is to cut the piecewise linear contour shown in the
figure below with a 2 axis control system. Sketch the reference inputs to each axis of the
two axis control system as a function of time. Also determine the reference inputs if the
control system is to cut a perfect circular arc.

39. Obtain the unit step response of a unity feedback system with open loop transfer function
G(s) = 4/s(s+5).
40. Consider the unity feedback control system with the open loop transfer function
G(s)=1/s(s+1). Obtain the rise time, maximum overshoot and settling time for a unit step
input.
41. Consider the closed loop system transfer function given as
C(s)/R(s) = wn2/(s2+2wns+wn2)
Determine the value of the natural frequency and damping ratio such that the system
response to a step input has approximately 5% overshoot and a settling time of 2
seconds. Derive any expression used.
42. Given the system shown in the figure below, find J and D to yiels 20% overshoot and a
settling time of 2 seconds for a step input of torque T(t).

43. Find the displacement, x(t), in the figure below, if the applied force is a unit step. Assume
zero initial conditions. Also find the time constant, rise time and settling time for the
displacement.

44. Solve for x(t) in the system shown if f(t) is a unit step.

45. The block diagram of a feedback control system is given below.

a. Find the steady state error of the system in terms of K and Kt when the input is a
unit ramp function. Give the constraints on the values of K and K t so that the
answer is valid. Let n(t)=0 for this part.
b. Find the steady state value of y(t) when n(t) is a unit step function. Let r(t)=0.
Assume that the system is stable.

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46. Consider a unity feedback system whose open loop transfer function is
G(s)=(0.4s+1)/s(s+0.6). Obtain the response to a unit step input. What is the rise time and
maximum overshoot for this system?
47. Use Routh-Hurwitz criterion to determine the stability of the systems represented by the
following characteristic equations. For the systems found unstable, find the number of roots
lying in the right half of the s-plane.
a. s4+2s3+3s2+4s+3=0
b. s4+2s3+s2+4s+2=0
c. s5+s4+3s3+9s2+16s+10=0
d. s6+3s5+5s4+9s3+8s2+6s+4=0
48. The characteristic equations for certain feedback systems are given below. In each case,
determine the range of K for the system to be stable.
a. s3+3ks2+(k+2)(s+4)=0
b. s4+4s3+13s2+36s+k=0
c. s4+20ks3+5s2+10s+15=0
49. A unity feedback system is characterized by each of the following open loop transfer
functions:
a. G(s)=k/s(s+1)(s+2)
b. G(s)=k(s+13)/s(s+3)(s+7)
c. G(s)=k(s+5)(s+40)/s2(s+200)(s+1000)
Using Routh-Hurwitz criterion calculate the range of values of k for each of the
systems to be stable.
50. The open loop transfer function of a unity feedback control system is given as
G(s)=k/(s+2)(s+4)(s2+6s+25). By applying Routh-Hurwitz criterion, discuss the stability of
the closed loop system as a function of k. Determine the values of k which will cause
sustained oscillations in the system. What are the corresponding oscillations frequencies?

UNIT IV

51. Sketch the root locus diagram for each of the following feedback control systems. The
poles and zeros of G(s)H(s) of the systems are as under
a. Poles at 0,-3,-4; Zero at -5
b. Poles at 0,0,-4,-4; Zero at -5
c. Poles at -1+ji,-1-j1; Zero at -2
d. Poles at 0,-1+ji,-1-j1; Zero at -2
e. Poles at 0,-3,-1+ji,-1-j1; no finite Zeros
f. Poles at 0,0,-12,-12; Zeros at -6+j5,-6-j5
52. The open loop transfer function of a unity feedback system is given by
G(s)=k(s+2)/s(s2+2s+2)(s+5)(s+6).
a. Sketch the root locus diagram.
b. Determine the value of K that makes the relative damping ratio of the closed loop
complex roots equal to 0.4

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53. A unity feedback control system has open loop transfer function
2
G(s)=K(1+0.2s)(1+0.025s)/s (1+0.001s)(1+0.004s). Sketch the root locus diagram and
indicate the crossing points of the loci on jw axis. Get the value of K at these points.
54. A unity feedback control system has open loop transfer function
G(s)=K/s(1+0.02s)(1+0.05s).
a. Sketch the root locus diagram of the system.
b. Determine the marginal value of K for stability.
c. Determine the value of K when the system has two equal real characteristic
roots.
55. The open loop transfer function of a unity feedback control system is G(s)=K/(s+10) n.
Sketch the root locus diagram for n=3 and n=4. Show all the important information on the
loci.
56. What information is contained in a Bode plot? Explain in detail the procedure for drawing
Bode Plots.
57. Construct the Bode plots for the open loop frequency response functions given below.
a. GH(jw)=4(1+jw/2)/(jw)2(1+jw/8)(1+jw/10)
b. GH(jw)=4/(1+jw)(1+jw/3)2
c. GH(jw)=(1+jw/2-(w/2)2)/jw(1+jw/0.5)(1+jw/4)
58. Define gain margin, phase margin, gain crossover frequency and phase crossover
frequency. How do we analyze the stability of a system using these.
59. For the following systems, sketch the Nyquist plot and comment about the stability of each.
a. G(s)H(s)=20/s(1+0.1s)(1+0.5s)
b. G(s)H(s)=10/s2(1+0.2s)(1+0.5s)
c. G(s)H(s)=100(1+s)/s(1+0.1s)(1+0.2s)(1+0.5s)
d. G(s)H(s)=5(s-2)/s(s+1)(s-1)
e. G(s)H(s)=50/s(s-5)(s+1)
f. G(s)H(s)=3(s+2)/s2+3s+1)
60. Sketch the closed loop frequency response M(jw) as a function of frequency for a unity
feedback system with G(s)=10/s(s+2).
61. The open loop transfer function of a unity feedback system is G(s)=K/s(1+0.1s)(1+s).
a. Determine the value of K so that the resonance peak of the system is 1.4
b. Determine the value of K so that the gain margin is 20dB.
c. Determine the value of K so that the phase margin is 600.

UNIT V

62. The open loop transfer function of a unity feedback control system id
G(s)=K/s(1+0.1s)(1+0.2s). Design a system that satisfies the following specifications:
a. Kv=100
b. Phase Margin=400
63. Design a compensator for a unity feedback system with open loop transfer function
G(s)=4K/s(s+2) such that Kv=10; Phase Margin>=500 and gain margin>=10dB.
64. Design a compensator for the system with open loop transfer function
G(s)H(s)=20/s(1+s/10)(1+s/25)(1+s/40) to result in closed loop system with gain margin of
at least 10dB and phase margin of at least 450.
65. Design a compensator for the system with open loop transfer function
G(s)H(s)=2/(1+s){1+s/10+(s/2)2} to result in closed loop system with gain margin of at least
6dB and phase margin of at least 400.
66. Discuss a lag compensating network.
67. Discuss the need for a compensator and explain a lead compensator.
68. Write state space equations for the electrical networks shown in the figure below.

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69. Write state space equations for the mechanical systems given in figures P8 and P9 (Page
2).
70. The following equations represent linear time invariant systems. Write the state and output
equations in vector matrix form.
c. d2c(t)/dt2+4dc(t)/dt+3c(t)=r(t)
d. 3 d3c(t)/dt3+5d2c(t)/dt2+2dc(t)/dt+c(t)=2r(t)
71. Obtain the transfer function of the system described by the following state equations.

72. Obtain the transfer function of the system described by the following state equations.

73. Obtain the transfer matrix of the system described by the following state equations.

74. If u=u(t) and x(0)=[1 1]T then get the time domain solution for the system given in prob.72.

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