Control Engineering – 18ME71 2020-21

SYLLABUS & SCHEME

CONTROL ENGINEERING
B.E, VII Semester, Mechanical Engineering
[As per Choice Based Credit System (CBCS) scheme]

Course Code 18ME71 CIE Marks 40

Number of Lecture Hours/Week 03+02 SEE Marks 60
Total Number of Lecture Hours 50 (10 Hours per Module) Exam Hours 03
Credits – 03

Course Learning Objectives:

 To develop comprehensive knowledge and understanding of modern control theory,
industrial automation, and systems analysis.
 To model mechanical, hydraulic, pneumatic and electrical systems.
 To represent system elements by blocks and its reduction techniques.
 To understand transient and steady state response analysis of a system.
 To carry out frequency response analysis using polar plot, Bode plot.
 To analyse a system using root locus plots.
 To study different system compensators and characteristics of linear systems.
Module – 1
Introduction: Components of a control system, Open loop and closed loop systems.
Types of controllers: Proportional, Integral, Differential, Proportional-Integral, and Proportional-
Integral-Differential controllers.
Modelling of Physical Systems: Mathematical Models of Mechanical, Electrical, Thermal,
Hydraulic Systems.
Module - 2
Time domain performance of control systems: Typical test signal, Unit step response and time
domain specifications of first order, second order system. Steady state error, error constants.
Module – 3
Block diagram algebra, Reduction of block diagram, Signal flow graphs, Gain formula for signal
flow graphs, State diagram from differential equations.

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Control Engineering – 18ME71 2020-21
Module – 4

Stability of linear control systems: Routh’s criterion, Root locus, Determination of phase
margin and gain margin using root locus.

Module - 5
Stability analysis using Polar plot, Nyquist plot, Bode plot, Determination of phase margin and
gain margin using Bode plot.
Course Outcomes: At the end of the course, the student will be able to:
CO1: Identify the type of control and control actions.
CO2: Develop the mathematical model of the physical systems.
CO3: Estimate the response and error in response of first and second order systems subjected
standard input signals.
CO4: Represent the complex physical system using block diagram and signal flow graph and
obtain transfer function.
CO5: Analyse a linear feedback control system for stability using Hurwitz criterion, Routh’s
criterion and root Locus technique in complex domain.
CO6: Analyse the stability of linear feedback control systems in frequency domain using polar
plots, Nyquist and Bode plots
Question paper pattern:
 The question paper will have ten full questions carrying equal marks.
 Each full question will be for 20 marks.
 There will be two full questions (with a maximum of four sub- questions) from each
module.
 Each full question will have sub- question covering all the topics under a module.
 The students will have to answer five full questions, selecting one full question from each
module.
Textbook/s
1 Automatic Control Systems, Farid G., Kuo B. C, McGraw Hill Education, 10th Edition,2018
2 Control systems, Manik D. N, Cengage, 2017

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Control Engineering – 18ME71 2020-21
Reference Books
1 Modern control Engineering, K. Ogeta, Pearson, 5th Edition, 2010
2 Control Systems Engineering, Norman S Nice, Fourth Edition, 2007
3 Modern control Systems, Richard C Dorf, Pearson, 2017
4 Control Systems Engineering, IjNagrath, M Gopal, New Age International (P) Ltd, 2018
5 Control Systems Engineering, S Palani, Tata McGraw Hill Publishing Co Ltd, ISBN-13
9780070671935

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MODULE WISE QUESTIONS

MODULE -1
1. Explain open loop and closed loop control system with block diagrams. What are the
advantages and disadvantages of a closed loop system over an open loop system?
2. What are the requirements of a control system? Briefly explain.
3. Explain and state the characteristic of the following controllers:
(i) Proportional
(ii) Integral
(iii) Proportional plus integral
4. With neat block diagram, explain proportional and integral controllers.
5. A thermometer is dipped in a vessel containing liquid at a constant temperature of T₁.
thermometer has a thermal capacitance for storing heat as C and thermal resistance to limit
heat flow as R. If the temperature indicated by thermometer is ‘T’, obtain the transfer
function of the system.
6. Derive an expression for the transfer function of armature controlled D.C motor, which
relates output angular displacement (Q) with input voltage (e).
7. Derive an expression for hydraulic capacitance due to gravity.
8. Prove that an integral controller the steady state error is zero.
9. Relate liquid outflow of the second tank with the liquid in flow of the first tank for the
hydraulic system shown in figure.1

Fig.1

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Control Engineering – 18ME71 2020-21
10. For the mechanical system shown in figure.2 write down the mathematical mode and
differential equation.

Fig.2
11. Determine the transfer function of the mechanical system as shown in figure.3

Fig.3
12. Determine the transfer function of the mechanical system as shown in figure.4

Fig.4

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MODULE -2
1. Derive the response of a first order system, subjected to unit step function input.
2. Derive the response of a second order system, subjected to unit step function input for
underdamped case.
3. Write a note on effect of standard test inputs on steady state errors.
4. Derive an expression for error constant and steady state error.
5. Discuss Transient response and steady state response.
6. Figure shows a mechanical vibratory system. When 1 kN force is applied to the system, the
mass oscillates as shown. Determine the mass M, damping coefficient B and the spring
stiffness k of the system from this response curve.

7. Unity feedback control system is characterized by an open-loop transfer function G(s)H(s) =

k/s(s+10). Determine the system gain k, so that the system will have a damping ratio of 0.5.
For this value of k, find the rise time, peak time, settling time and peak over shoot for a unit
step input.
8. A system has the following transfer function, G(s)H(s) = 20/(s+10). Determine its unit
impulse, step and ramp response with zero initial conditions. Sketch the responses.
9. The response of a system subjected to a unit step input is C(t) = 1+0.2 e-60t – 1.2 e-10t
Obtain the expression for the closed loop transfer function. Also determine the undamped
natural frequency and damping ratio of the system.
10. Unity feedback control system is characterized by an open-loop transfer function G(s) =
10/(s2+2s+6). Determine the following, when the system is subjected to a unit step input
1. Underdamped natural frequently
2. Damping ratio
3. Peak overshoot
4. Peak time 5. Settling time.

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Control Engineering – 18ME71 2020-21
MODULE -3

1. Define the following terms:

(i) Block (ii) Transfer function (iii) Summing point (iv) Take off point (v) Arrows
2. With block diagram, obtain transfer function of closed loop control system.
3. Reduce the block diagram shown in fig.1 to its simplest possible form and find its closed
transfer function.

Fig.1
4. Obtain the overall transfer function of the block diagram shown in figure.2 by reduction
technique.

Fig.2
5. Reduce given block diagram as shown in figure.3 into canonical form and determine closed
loop transfer function. Also represent in open loop form.

Fig.3

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Control Engineering – 18ME71 2020-21
6. Using Mason’s rule to find the transfer function of the following system as shown in figure.4.

Fig.4
7. Obtain the signal flow graph of the system whose block diagram is shown in figure.5. Also
determine the transfer function using Mason’s gain formula.

Fig.5
8. Discuss Mason’s gain formula and define the following terms used in signal flow graphs.
(i) Node (ii) Branch gain (iii) Forward path (iv) Path gain (v) Feedback loop (vi) Self loop
9. Obtain the overall transfer function from the signal flow graph shown in figure.6

Fig.6
10. Find the control ratio for the signal flow graph shown in figure.7 by using Mason’s gain
formula.

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Fig.7
11. Using signal flow graph and Mason’s gain formula, obtain the overall transfer function of the
system depicted in figure.8

Fig.8
12. For the signal flow graph shown in figure.9. Determine the transfer function using Mason’s
gain formula.

Fig.9
13. The system is represented by a differential equation yˊˊˊ+6yˊˊ+12yˊ+10y = 4u, where y is the
output and u is the input of the system. Draw state diagram from the differential equation as
shown above.

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Control Engineering – 18ME71 2020-21
MODULE -4
1. Explain Routh’s Hurwitz’s stability criterion.
2. Write a note on special cases in RH criterion.
3. State the rules to draw root locus plots.
4. Ascertain the stability of the system given by the characteristic equation,
S6 + 3S5 +5S4+9S3+8S2+6S+4 =0
5. Using R-H criterion investigate the stability of the system S4+2S3+11S2+18S+18 =0.
Common on the stability of the system. Also find the frequency of sustained oscillation.
6. A system has a following characteristic equation. Determine the value of K so that system
is stable by Routh’s –Hurwitz criterion 2S4+3S3+4S2+S+k =0.
7. Comment on the stability of the system for the characteristic equation
S5 +4S4+12S3+20S2+30S+100 =0.
8. Sketch the root locus for a negative feedback system whose open loop transfer function is
given by G(s)H(s) = K/ s(s+3)(s2+3s+4.5). Also comment on the condition for stability.
9. Sketch the root locus plot for the system whose open loop transfer function is given by
G(s)H(s) = K (s+6)/(s+1)(s+3).
10. Sketch the root locus diagram of the control system with a open loop transfer function
G(s)H(s) = K(s+1)/ s2(s+10) and find the maximum value of K for the stability.
11. Sketch the root locus plot of a unity feedback with an open loop transfer function
G(s) = K/ s(s+2)(s+4). Find the value of K for stable.
12. Construct the root locus plot system having an open loop transfer function.
G(s)H(s) = K(s2-4s+20)/ (s+2)(s+4).

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Control Engineering – 18ME71 2020-21
MODULE - 5
1. Define the following terms
(a) Gain margin (b) phase margin (c) gain crossover frequency (d) phase crossover frequency
(e) enclosed path (f) encirclement
2. Explain the concept of Nyquist stability criterion.
3. State and explain Cauchy’s principle of argument.
4. Write short notes on Phase margin and gain margin with respect Bode plots.
5. Explain absolute and relative stability of the system
6. Explain gain margin and phase margin with respect to polar plots
7. Sketch the polar plot for a system whose transfer function is G(s)H(s) = K/(1-Ts).
8. Draw the polar plot for the given open loop transfer function GH(s) = 10/s (s+1) (s+2) and
ascertain its stability.
9. Obtain the Nyquist diagram for the system shown in fig. and ascertain its stability.

10. Draw the Nyquist plot for the given open loop transfer function G(s)H(s) = 10/s2 (s+1) (s+2)
and ascertain its stability.
11. Draw the Nyquist plot for the given open loop transfer function G(s)H(s) = 12/s (s+1) (s+2)
and ascertain its stability.
12. Draw the Nyquist plot for the given open loop transfer function G(s)H(s) = 1/s2(s+2) and
ascertain its stability.
13. Sketch the bode plot for G(s)H(s) = 2/s(s+1)(1+0.2s). Also obtain gain margin and phase
margin and cross over frequencies.
14. Construct the Bode plot on a semi-log graph paper for a unity feedback system, whose open
loop transfer function is given by G(s)H(s) = 10/s(1+s)(1+0.02s).
From the Bode plot, determine
(i) Gain and phase cross over frequencies
(ii) Gain and phase margin

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Control Engineering – 18ME71 2020-21
(iii) Stability of closed loop system
15. Construct the Bode plot for a system whose open loop transfer function is
G(s)H(s) = 300(s2+2s+4) / s(s+10)(s+20) . Is the close loop system stable? If so, find the gain
margin, phase margin, phase cross over frequency and gain crossover frequency.

IMPORTANT QUESTIONS
1. Explain open loop and closed loop control system with block diagrams. What are the
advantages and disadvantages of a closed loop system over an open loop system?
2. What are the requirements of a control system? Briefly explain.
3. Explain and state the characteristic of the following controllers:
(i) Proportional
(ii) Integral
(iii) Proportional plus integral
4. A thermometer is dipped in a vessel containing liquid at a constant temperature of T₁.
thermometer has a thermal capacitance for storing heat as C and thermal resistance to limit
heat flow as R. If the temperature indicated by thermometer is ‘T’, obtain the transfer function
of the system.
5. Derive an expression for the transfer function of armature controlled D.C motor, which relates
output angular displacement (Q) with input voltage (e).
6. Relate liquid outflow of the second tank with the liquid in flow of the first tank for the
hydraulic system shown in figure.1

Fig.1

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Control Engineering – 18ME71 2020-21
7. Determine the transfer function of the mechanical system as shown in figure.3

Fig.3
8. Determine the transfer function of the mechanical system as shown in figure.4

Fig.4
9. Derive the response of a first order system, subjected to unit step function input.
10. Derive the response of a second order system, subjected to unit step function input for
underdamped case.
11. Derive an expression for error constant and steady state error.
12. Discuss Transient response and steady state response.
13. Figure shows a mechanical vibratory system. When 1 kN force is applied to the system, the
mass oscillates as shown. Determine the mass M, damping coefficient B and the spring
stiffness k of the system from this response curve.

14. Unity feedback control system is characterized by an open-loop transfer function G(s)H(s) =
k/s(s+10). Determine the system gain k, so that the system will have a damping ratio of 0.5.

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Control Engineering – 18ME71 2020-21
For this value of k, find the rise time, peak time, settling time and peak over shoot for a unit
step input.
15. A system has the following transfer function, G(s)H(s) = 20/(s+10). Determine its unit
impulse, step and ramp response with zero initial conditions. Sketch the responses.
16. Unity feedback control system is characterized by an open-loop transfer function G(s) =
10/(s2+2s+6). Determine the following, when the system is subjected to a unit step input
1. Underdamped natural frequently
2. Damping ratio
3. Peak overshoot
4. Peak time
5. Settling time.
17. Define the following terms:
(i) Block (ii) Transfer function (iii) Summing point (iv) Take off point (v) Arrows
18. Discuss Mason’s gain formula and define the following terms used in signal flow graphs.
(i) Node (ii) Branch gain (iii) Forward path (iv) Path gain (v) Feedback loop (vi) Self loop
19. Reduce the block diagram shown in fig.1 to its simplest possible form and find its closed
transfer function.

Fig.1
20. Obtain the overall transfer function of the block diagram shown in figure.2 by reduction
technique.

Fig.2

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Control Engineering – 18ME71 2020-21
21. Reduce given block diagram as shown in figure.3 into canonical form and determine closed
loop transfer function. Also represent in open loop form.

Fig.3
22. Obtain the overall transfer function from the signal flow graph shown in figure.6

Fig.6
23. Find the control ratio for the signal flow graph shown in figure.7 by using Mason’s gain
formula.

Fig.7
24. Using signal flow graph and Mason’s gain formula, obtain the overall transfer function of the
system depicted in figure.8

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Control Engineering – 18ME71 2020-21
Fig.8
25. Explain Routh’s Hurwitz’s stability criterion.
26. Write a note on special cases in RH criterion.
27. A system has a following characteristic equation. Determine the value of K so that system is
stable by Routh’s –Hurwitz criterion 2S4+3S3+4S2+S+k =0.
28. Comment on the stability of the system for the characteristic equation
S5 +4S4+12S3+20S2+30S+100 =0.
29. Sketch the root locus diagram of the control system with a open loop transfer function
G(s)H(s) = K(s+1)/ s2(s+10) and find the maximum value of K for the stability.
30. Sketch the root locus plot of a unity feedback with an open loop transfer function
G(s) = K/ s(s+2)(s+4). Find the value of K for stable.
31. Sketch the root locus plot for the system whose open loop transfer function is given by
G(s)H(s) = K (s+6)/(s+1)(s+3).
32. Sketch the root locus for a negative feedback system whose open loop transfer function is
given by G(s)H(s) = K/ s(s+3)(s2+3s+4.5). Also comment on the condition for stability.
33. Define the following terms
(a) Gain margin
(b) Phase margin
(c) Gain crossover frequency
(d) Phase crossover frequency
(e) Enclosed path
(f) Encirclement
34. Explain the concept of Nyquist stability criterion.
35. Obtain the Nyquist diagram for the system shown in fig. and ascertain its stability.

36. Draw the polar plot for the given open loop transfer function GH(s) = 10/s (s+1) (s+2) and
ascertain its stability.

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Control Engineering – 18ME71 2020-21
37. Sketch the bode plot for G(s)H(s) = 2/s(s+1)(1+0.2s). Also obtain gain margin and phase
margin and cross over frequencies.
38. Construct the Bode plot on a semi-log graph paper for a unity feedback system, whose open
loop transfer function is given by G(s)H(s) = 10/s(1+s)(1+0.02s).
39. Draw the Nyquist plot for the given open loop transfer function G(s)H(s) = 1/s2(s+2) and
ascertain its stability.
40. Construct the Bode plot for a system whose open loop transfer function is G(s) =
300(s2+2s+4) / s(s+10)(s+20). Is the close loop system stable? If so, find the gain margin,
phase margin, phase cross over frequency and gain crossover frequency.

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Control Engineering – 18ME71 2020-21

MODEL QUESTION PAPER – 1

Time : 3 Hrs Max Marks : 100

Note: Answer any Five full questions, choosing ONE full question from each Module.

Module -1

1 a) Explain open loop and closed loop control system with block diagrams. What are the
advantages and disadvantages of a closed loop system over an open loop system?(10 Marks)
1 b) A thermometer is dipped in a vessel containing liquid at a constant temperature of T₁.
thermometer has a thermal capacitance for storing heat as C and thermal resistance to limit
heat flow as R. If the temperature indicated by thermometer is ‘T’, obtain the transfer
function of the system. (10 Marks)
OR

2 a) Determine the transfer function of the mechanical system as shown in figure.2 (10 Marks)

Fig.2

2 b) Explain and state the characteristic of the following controllers:

(i) Proportional
(ii) Integral
(iii) Proportional plus integral (10 Marks)
Module -2

3 a) Derive the response of a first order system, subjected to unit step function input. (05 Marks)
3 b) Discuss Transient response and steady state response. (05 Marks)

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Control Engineering – 18ME71 2020-21
3 c) A system has the following transfer function, G(s)H(s) = 20/(s+10). Determine its unit
impulse, step and ramp response with zero initial conditions. Sketch the responses.
(10 Marks)
OR

4 a) Unity feedback control system is characterized by an open-loop transfer function G(s) =

10/(s2+2s+6). Determine the following, when the system is subjected to a unit step input
1. Underdamped natural frequently
2. Damping ratio
3. Peak overshoot
4. Peak time
5. Settling time. (10 Marks)

4 b) Derive the response of a second order system, subjected to unit step function input for
underdamped case. (10 Marks)
Module -3

5 a) Obtain the overall transfer function of the block diagram shown in figure.5 by reduction
technique.

(10 Marks)
Fig.5

5 b) Discuss Mason’s gain formula and define the following terms used in signal flow graphs.
(i) Node (ii) Branch gain (iii) Forward path (iv) Path gain (v) Feedback loop
(vi) Self loop (10 Marks)
OR

6 a) The system is represented by a differential equation yˊˊˊ+6yˊˊ+12yˊ+10y = 4u, where y is the

output and u is the input of the system. Draw state diagram from the differential equation as
shown above. (10 Marks)

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Control Engineering – 18ME71 2020-21
6 b) Using signal flow graph and Mason’s gain formula, obtain the overall transfer function of the
system depicted in figure.6 (10 Marks)

Fig.6
Module -4

7 a) Sketch the root locus diagram of the control system with a open loop transfer function
G(s)H(s) = K(s+1)/ s2(s+10) and find the maximum value of K for the stability. (20 Marks)
OR
8 a) A system has a following characteristic equation. Determine the value of K so that system is
stable by Routh’s –Hurwitz criterion 2S4+3S3+4S2+S+k =0. (05 Marks)
8 b) Sketch the root locus plot of a unity feedback with an open loop transfer function
G(s) = K/ s(s+2)(s+4). Find the value of K for stable. (15 Marks)
Module -5

9 a) Define the following terms

(a) Gain margin
(b) Phase margin
(c) Gain crossover frequency
(d) Phase crossover frequency
(e) Enclosed path (05 Marks)
9 b) Construct the Bode plot on a semi-log graph paper for a unity feedback system, whose open
loop transfer function is given by G(s)H(s) = 2/s(s+1)(1+0.2s). (15 Marks)
OR
10 a) Draw the polar plot for the given open loop transfer function GH(s) = 10/s (s+1) (s+2) and
ascertain its stability. (08 Marks)
10 b) Draw the Nyquist plot for the given open loop transfer function G(s)H(s) = 1/s2(s+2) and
ascertain its stability. (12 Marks)

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MODEL QUESTION PAPER – 1 ANSWERS

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MODEL QUESTION PAPER – 2

Time : 3 Hrs Max Marks : 100
Note: Answer any Five full questions, choosing ONE full question from each Module.

Module -1
1 a) What are the requirements of a control system? Briefly explain. (05 Marks)

1 b) Derive an expression for the transfer function of armature controlled D.C motor, which
relates output angular displacement (Q) with input voltage (e). (05 Marks)
1 c) Determine the transfer function of the mechanical system as shown in figure.1

(10 Marks)
Fig.1

OR
2 a) Derive an expression for hydraulic capacitance due to gravity. (05 Marks)

2 b) Differentiate between open loop and closed loop control system. (05 Marks)

2 c) Relate liquid outflow of the second tank with the liquid in flow of the first tank for the
hydraulic system shown in figure.2

Fig.2 (10 Marks)

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Control Engineering – 18ME71 2020-21
Module -2
3 a) Derive an expression for error constant and steady state error. (10 Marks)

3 b) Figure shows a mechanical vibratory system. When 1 kN force is applied to the system, the
mass oscillates as shown. Determine the mass M, damping coefficient B and the spring
stiffness k of the system from this response curve.

(10 Marks)

OR
4 a) Unity feedback control system is characterized by an open-loop transfer function G(s)H(s) =
k/s(s+10). Determine the system gain k, so that the system will have a damping ratio of 0.5.
For this value of k, find the rise time, peak time, settling time and peak over shoot for a unit
step input. (10 Marks)
4 b) Write a note on effect of standard test inputs on steady state errors. (10 Marks)

Module -3
5 a) Reduce the block diagram shown in fig.5 to its simplest possible form and find its closed
transfer function.

(20 Marks)
Fig.5

OR

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Control Engineering – 18ME71 2020-21
6 a) The system is represented by a differential equation yˊˊˊ+6yˊˊ+12yˊ+10y = 4u, where y is the
output and u is the input of the system. Draw state diagram from the differential equation as
shown above. (10 Marks)
6 b) Obtain the overall transfer function from the signal flow graph shown in figure.6 (10 Marks)

Fig.6
Module -4

7 a) Explain Routh’s Hurwitz’s stability criterion. (04 Marks)

7 b) Sketch the root locus plot for the system whose open loop transfer function is given by
G(s)H(s) = K (s+6)/(s+1)(s+3). (16 Marks)
OR
8 a) Sketch the root locus for a negative feedback system whose open loop transfer function is
given by G(s)H(s) = K/ s(s+3)(s2+3s+4.5). Also comment on the condition for stability.
(20 Marks)
Module -5
9 a) Construct the Bode plot for a system whose open loop transfer function is G(s) =
300(s2+2s+4) / s(s+10)(s+20). Is the close loop system stable? If so, find the gain margin,
phase margin, phase cross over frequency and gain crossover frequency. (20 Marks)
OR
10 a) Obtain the Nyquist diagram for the system shown in fig. and ascertain its stability.

(20 Marks)

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