END TERM EXAMINATION (DEC. 2016] SEVENTH SEMESTER [B.TECH.] ADVANCED CONTROL SYSTEM (ETEE-403) Mi. time to gives war dynamical 1 cyst in tho following from. where x are the states of the syst he input condition at ty ‘The first Lorm is known as zor taro state response Properties of STM are:- known as ‘The necessary and sufficient condition fora system to be completely controllable is an 3 pletely controllable is wo, = fet bore" ae 22016 Seventh Semester, Advanced Control System Proof: ‘Necessity: Assume that the system is controllable, though 1 any, areMb «0 nett « fore buipat=0 holds for any initial state By chosing? a = (ia =O Thisis ru fora=0, whic contrat the no ero property ofa Therefore the non singularity of M04) 8 proved {QL (e) What is inverse ztransform? ® tho major ehective of transform shat algebric manipulation can_* ‘-doman, then the nal timerespose darned by tranform ithe proedare of eating fom » doroin tome domain a called inverse Ptranafra Th general inverse transform can be obtained by one of the following methods Transform able fr simple function A) inverse -ranform can be leaked a rom te transform table fraction expansion: we observe tht most of the commons: tranafor have at leagt a zero at? =O cq transform of Stop.fanction -» Fte)= E> Ramp function -» F(a) = 7 Tee+)) (d) Comment on the behaviour of no1 is described in mathematics by a non-linear system of equation, wt simultaneous equations in which the unknowns appear as variables of « palynomial of degree higher than one. ‘The non: linear equations are di nonclinear systems are commonly approximated by linear equations. This works well upto some accuracy and some ange forthe input values. wez-1 202016-3 LLP, University-(B-Tech)-Akash Books ccan be used to find For a single polynomial equation, rot fining sgsithms ‘solutions tothe equations. Q.. (e) What are self tuning regulators? ps ee | center Sot, = = cum pa eats lock diagram feel iuningvoglator -Ascadaptve contol ystem having fects fr tuning town parameters i clled ‘STR. The regulator can be thought of as being composed of the following two loops. ) Inner loop ifthe conventional feedback control loop consisting of the plant and) the relator ] Gi) The parameters of te rgultor are adjusted online by the outer lop, composed of recursive paraneter estar and design calesltion @2.(a)Alinesr system is described hy the following state equations _()) meaty Find state transition matrix. | Ei -t by Hig el wows [OF AT Leto] - Glo et ey a- ‘Taking inverse Laplace transform 42016 Seventh Semostor, Advanced Control Systom ewes [Ef {Q.2. (by What are the properties of Jordan canonical form (JCF)? Explain oO ‘Ans. A Jordon eanonical form (JOF) is a block diagonal n x m matrix ae 0 0 0 sb 0 0 0 uy Je * oo 0 with m Jordan block Jif, 33.0 such that, +hy +. y= and O denotes a Properties of JOF are det ap gD Proof: determinant of an upper triangular matrix (b) The JCF has m eigen vectors xi,x4,..2}, . Hach eigen vector corresponils to one Jordan Blocks. Hint : show that all eigen vectors of J caa be chosen tobe orthogonal ‘Thoorem : Every nxn matrix Ais similar to a JCF Ue 00 me 0 sho 0 sus = so 0 0 o 0 we Proof : Suppose sf, are all nearly dependent eigen vectors with eigen Ag = dsf Jel It we construct exactly n linearly independent vectors xf, xf...23, 29 aousct thensore — ‘LB. University-B:Tech)-Akash Books Q.3.(a) Ifthe open loop transfer function of a control system | | GS) = flow diagram and determine the state space. from (i) parallel form Phase Variable form = XS) | _-200__ RS) ~ Trios-HS+5) 0 = Soy iast 105-160 200 RS) ($2465 +8) (st 0849S) @ «LP. University-(B.Tech)-Akash Books 2016-7 ‘Taking inverse Iaplace, WO = 846% +85) = X65 +85, i | xo = (8 6 Allx s Q4. The state equation ofa linear time invariant system are given by o 10 1 at) =| 3 0 2 fxs/o/ae 2 7-6] [a ul) = 100)x® tranform the state equation in CCR. o 10 1 a-[3 © 2] glo 12 7 -6| 2 c=fog soo] fo 1 0 sta =|9 8 0]-|a 0 2 oo s} [a2 -7 ~6 S40 -|3s 2 27 846. as) Ans, ISI-Al = 8 (+68 + 14)- (38-18 +24) | = S8+6S%4 148-35 + 18-24 = S*+6St+ 118-6 | 82016 Soventh Semester, Advanced Control Syatem Styeseu 8-9 2 et, erat = |-~85+26) F465 (2 1-128 18412) @-3) asiayt = Sty6S414 9462 a 2 al 0 of ss-6 staves 28 at engae eh Ge Fs =8 w2s-21 15-12 sta) egret se see a] 1 CSA B = Sy GsF 115-8 [Ist +os+1] s+6 -f) 2 Presses _ st465+18 “Syos?s 113-6 5+ 65"+115-6 oe StS 418 Hence the required transfer tn,is Sete eg ‘As we know the CCF form 7 aio} #2|* LO = AndA ee, | 1B, i 16-9 | ‘University-(B.Tech}-Akash Books 2068 | so2016 Seventh Semester, Advanced Control System mi | x(t) 9a X(2) wher = [08-0 6 : = [08-9 6-0 [2] (8) Real translation ¥. (a) Time delay (shifting ri a xo = U8 6 a3] 5. (a) Discuss Z transform, Ans. The Z transform: Gifference equations. The z-transform fo laplace transform for continuous time tothe corresponding fourier transfo ‘Then z-transform of (shifted by nP to right is Aa(t ATU nTI)—L9 2X2) discrete time Fourier Transform does not | 4 ited by it Generalized difference equation: nD) +h, PT) + hy (a —2 ely stnT) +L, 20T T+ i Eo atixte)-'S xm i xi) 25x0) then set x10] = AIS201,.g,9K1Ze")adeingoonstant. (© Initia value theorem : where He) = & hime ___The function H(z) in above equation is referred to time signal n(n), For a general discrete time signal the Z-transform ofa diserete insform X(2) is define ie 5X) Region of eonvergence: Asin tho case cf lapace ane th rang of vale the complex variable» for wth the etransfong Re) Mesa ta) | een Bag) = i 0) xy = ¥ sine | ; =) of a di | : oft disrete time signals) | converges is the region of convergence (ROC). came Tt a(@—E 5 X(e)and iffunetion (I~2") Xe) does not have poles on or outside unit Q5. (b) Explain properties of z-transform ‘Linz plane then, “Ans, Properties of z-transform : (2) Linearity or addition ~ subtraction theorem: (98.0 Salvo sh dltforone quation sng taneform © xlle +2) =e (e+ 1) +28 (h) = 4 0) = .xtD=1 ao) * | Ans, x(k +2)—ax(h+1)+2e() = 4 + Enanet . 04x @ = Later a (029g 2, (0x = Xexye (2) Multiplication by a constant 9X)ATz-1 QS. (b) Find the inverse z-transform of x(2) = Ans. Let LP. Uaiversity-{R-Teeh)-Akaah Books So ANAT es se Hed TT Sosre1t A Grie-2e-D * Fd #84417 2-24“ 36=2417 1 An ox 8 B-8x2417 = B2-4)(2-1) Be Besxiea7 = 4h 2e Po 6e+82d sf ate XO) = Be yee-4 xe 4e-2 G@-12-2 * ad 12-2016 Soventh Semester, Advanced Control Syatern Ateet MZe0 ca6- Az=2 ‘Example is Consider the system termined by applying the condition Singular points ‘This equation has two real solution x= Oandxe1 Ite try to got the solution of above equation fr iital condition 2) = x with Oexgchweagetthat fu) = Ri) 980) 2 rg dea as | Q.8.(6) Asimple mass, spring and viseons briction system is shown in igure. Show that the system is stable. = Vie +D)-Viedols0 a negative definite scalar function (if) AV @)LP. University-(B,Tech)-Akash Books plication of adaptive control “Applications of adaptive control: if tuning of subsequently fixed linear controllers during the implementatiog se for oe operstig pot =— Pha Sef aig of subsequent fixe bust controller during the implementa seturwhole range ofoperating paints AAG a tuning of xd contralerson request the proces behaviour changes ds toageing diy wear aptive cont daptive control or self tuning control of non-linear controllers for non-linear instability of the system, | +327 aid to be positive definite in the region exeePtat origi) Va) = 0ys=0 | Negative deiniteness of Vix) Vigo y #0 Ve) = Oy x=0 Positive semidefiniteness of Vix) Vie) > 0 vxe0 FIRST TERM EXAMINATION [SEPT. 2017] SEVENTH SEMESTER [B.TECH] ADVANCED CONTROL SYSTEM [ETEE-403] ‘MM.:30 Define State, State Space and its advantages. es) Ans. State: The state of system at any time tsi the minimum set of numbers x, %p yu, which along with the input to the system for time ¢ > f, is sufficient to ‘determine the behaviour of the ystem for >, State Space: The n-dimensional space whose coordinate axes consists ofthe 2,- ‘axis, ryan, x, axis is called state space, Any state can be represented by a point in the state space. Advantages: (i) This approsch canbe applied to linear and non-linear time-variant or time-invariant systems, casier to apply where Laplace transform can not be applied. atime domain approach, i) This is suitable for digital computer computation, Q.1. (0) Compute the STM for [2 3} asf] aol HL a] cr sn2 1 aa ma fI-ay = +1 ° Fees, et ete oO om fae. as) +“22007 ‘Seventh Semester, Advanced Control System satrollability ‘@1.(c) Define Controllability and Observability. Evaluate cot Liege ae & -1 0 es 5), i «oft tect] ; Ans. Controllability:A system is sald tobe controllable any initial sot) +, can bo transferred to any final state x(t) in a finite time interval (ty f+ Sintra Observability: A aystem ia said to be ol every statoz, can be exactly Sporb * a xO = [0 xe iG w= kate 6. (a) Discuss and explain the basic concept of phase: a ‘Ans. Phase Plane Method - The phase planc method isa graphical mathod for so] fa 2 solving the seoond order non-linear diferential equations. This method alo gives the ta-art = ([) o]-[7 | nformation about the types of transient response fer various initial conditions, Consider the equation sea 27 | ede a {3 ell | afta =o rife 2] |g a Me gett paces ee) | a 7 agree at fs 2 — Baarem 00 Fret 4 +8 ae x0) = G Fass Bs) = fat AP ten) divide by dxlat { di _ (A+B) | ot fees eye & . i @reral 4 sssllolls, Ss fae 1 FE] ae Fe “GF 48s+L 4 SLs. ‘The coordinate plane corresponding to x and # is called phase plane. four ofnonlinear systems. o Q.6. () Write short note on beh: wear systems, is much more complex, Due to the lack of malinear systems respond to external inputs and initial iatly from linear systems. Some common nonlinear system ecclia frequently have more than one equilibrium point, For a ‘by noting that for any initial condition, the motion of a sium point, However, anonlinear system conditions, and = kala [ ar | Fae), art tp many depen on ata conditions. In the presence of ‘Steady state error = limsY) :put, unlike linear systems, stability ‘of nonlinear systems may also = bedependent on theinput value Paar eytem ean display oxilationsoffxed amplitude and Sed period = ‘without external excitation. These oscillations are called limit cycles. Consider the wbaGF+8e+ 7) Aifferential equation ao | as— FF | Pp 16-9017 Seventh Semester, Advanced Control Stes {ER Univesity {8och Akash Books 2or7-19 ‘may intersect at such points, This indeterminacy of the slope tive singular Srequency is either a subharmonic or a harmonic ofthe ing {input of frequency of 10H2 may result in an output ofS He for the subharmonic cased 30 He forthe harmonic ease. 7. (a) Discuss and explain the concept of singular point in non linest @ of the phase plane has associated with it, the slope of tt ‘which passes through that point. The slope m atthe point is given dey | flayexy) ye corresponding canonical state model is a= @ ‘The corresponding = Moga Oh Is uualyw defini ‘ ely deity itera equation lat thigh dig. «Ripe re ay * deg 0 flayed = 407 i i ‘seen that atx, =%,=0, the slope diaz, | ay 7 0" __ By ingpection of thn equation itis ail sen that at 8 in indeterminate: L |20-2017 Seventh Semester, Advanced Control System & "0 iy Sia aia ci ae 4 0 he following properties forall xin the region Ix sc! | rivacives with respect o all components of. is © negative definite negative semidefinite) and no tralectory can stay) ther than origin, at which V(z) =0; 1 forever atthe points or on the: saymptotically stable addition Vod > 0as Ixl—> and the-largeif conditions (i Fe 6tiafed and in LLP, University-{B-Tech.}-Akash Books 2017-21 (Gi © stable in the sense of Lyapunovif V (x) is identically ero along a trajectory. Q8.(0) Explain Krasovkit method. o ‘Ans. Inthe following, we desribe the Krasovai Method of constructing Ly=punoy function for onlnesraytems, ‘Consider the nonlinear autonomous ystom =o fyofiieatey Heal ‘We assume that fs has continuous fire partial derivatives We defines Lyapunor faction as Woo = FDP -@) where P= a aymmetric positive definite matrix Now, Vey = fParre)+/TPFE) 8) oa wee jo = 128 eatever A A ci By Gey Bey of ty, Te am fy Oy woeli it : ta Sn. fy ty On {is the Jacobian matrix off. rating Mx) in Eqn (9), we he Vee) = fea UTOOPsPICOND 6 Let Q = -laToP + PICO) £6) ‘Sinco V(x) is positive definite, forthe system to be asymtotically table atthe origin Hhould be negative definite, or equivalently, Q should be positive definite, Ifin 1 system is asymptotically stable in-the-large. @) 1m V(x) 2 asked > = the Q9. Write short notes on: Q.9.(a) Adaptive Control and applications ‘Ans. Adaptive control and applications ‘Adaptive control system can be divided into two parts: a _ 2. Self tuning regulator22-2017 Soventh Semester, Advanced Control System 1, Model reference adaptive control system Generally, ae rer la atthe eurrenty estimated vam of fig. one may jump to the false conelusion tt ished on and used blindly without any a priori considerations time, overshot or frequencty ‘The controller is usually parameterized by « number of adjustable pas (iraplying that one may obtain a faily of eontrullers by aasigining variou anteed stability and tracking 2.Self Tuning Regulator system obtained Ht tuning its own parameters, The regulator ean be following two loops: The inner loop is the conventional feedback coe and the regulator 0 The parameters of the regulator are aidjusted composed of the recursive:parameter estiraator and des Joop consisting ofthe stant by outer 100, whic jy ula Consider the state equation 2 = MO xt + BE) UH ga : a af24-2017 ‘Sovonth Semester, Advanced Control System yc ‘Assume that the matrices A and C in the above stato equatio? °F continously dferentiabl The at equationehereble tft £,>Osuchthat Nott) ‘| Mt) I a Nast ot tims Sasto afin, tere 2g) Ng = Ne@ao+ ZMK 4 2 042,001 “i No = 0 | FIRST TERM EXAMINATION [SEPT. 2018] SEVENTH SEMESTER [B.TECH] ADVANCED CONTROL SYSTEM [ETEE-403] ‘Time:1% hes. LM.:80 Note:@. No, 1is compulsory. Attempt any two more Questions from the rest. Qa. (a) Define the followings o tate: The state can also be defined as the state ofa system at time ty is the ansount of information a ty, that together wit inputs yo) doteranes the unigue ‘behaviour of the system for al : 2,State variables ‘Ans. State Variable: The stat ofa dynamic eystom is the smallest set of variables such that the knowledge ofthese variables att =f, with the knowledge ofthe input for ¢ determines the behaviour ofthe system for any time tt, This set of jad state variable. imensional space whose coordinate axes consists ofthe state space. Any state can be repfesented by 4. Stato of system ‘Ans. The state ofa system at any time to'fs the minimum set of numbers 2, zy, which along with the input tothe system for time the bebaviour ofthe system for sufficient to determine pececceeereaeee ee @. ea pac vheecoriaa escrito set i eeaiedtyapanie This approach can be applied to linear and non-linear time-variant sace transform ean not be applied. smputer computation” ‘tion matrix and give the properties of state w ty = Ax + Bult) u(t) = 0 for unforeed response 20) = Ant Let us consider the anslogous scalar equation, AW) = al, 0 ‘Take laplace transform : 2X(9)H0) = aXts)22018 Soventh Semester, Advanced Control syste (aX) = ‘Take inverse laplaco ‘Then solution of equation (1) Properties of STM. Compu Where ion matrix (i) Series Summation Method - U0 = Males ‘The roots ofthe charactoratic e noted by h jon are know -Al «0 Where 2, isthe eigen value of A igen valu. a — LP, Univoreity-(BTech]-Akash Books 2018-3 fo) fo fo »)"[-1 0 et “fl 1 {5 4 Fala 5] 1 (stay! 0 = oe Q.2.(b) Define controllability and obser and observability for iFovory stato x can bo exactly” over a finite intorval of the a-[° 1 }ae[ilona cme a Q= 0 AB, fo yop ap |e sll oa aah | cont @ = (CT:ATC a faer-[bois ‘Seventh Semester, Advanced Control ev a 2 eho Rank of@'is two, Hence, system is observable @.3. The transfer function of certain system is 201 Gs) = east vast Find space space model of the above sys 21 ‘Ans.Given Ge) = Sea gerTo Best Feaieade105 ow Select tA R= Bey Bt Fyedey 82-105, 40 Rewriting, «4 any iy = ~4ey- 8x 10r, 0 i ALE = 23+ DX@) an |. .~ —_— ‘LP, Universty-{B,Tech}-Akash Books 2018-5 HO = Bien, a = tne, .p input of a system given by 2. SE) CS Sfejawo-[e] ao Ys ro [:|-[¢ “elt Aq te, a-(3 he] 9p st-A = |g sf L2 3) Lelneen eel Cofnetors of ‘Adj of6-208 Pat Ostput response Seri Baten Cail pr ste eens teteelt meh ent 2B | cot, xe deo [reg eno St Mop, dtp u= Le ately =} 3 aya naar] [i-et-Lebew co. [tea nas Palit lve +1-e% Ayet See _ ieee lye Seu aio = Fret de x40 = -et ee —_— SEVENTH geaTtON INOV. DEC. 2018) ADVANCED Contr ESTER [B.TECH] ‘OL SYSTEM [ETEE-403) From te plat ine z-transform x(n? D4 =LyxnT) +L, time signal n(n). For a general dis above equatl o wed forthe solution of the counterpart of lar elation ship ‘and Inverse z-transform. tn Zetansform a derete 2 atone edie frets time sia Xt)5.2018 Seventh Semester, Advanced Control system. geist Region of convergence: Asin the case of laplace transform the Fane” gg #1 rariable2 for which the z-transform Xiz) ofa discrete ‘im Hed the region of convergence (ROC), transform possi co sebraie manip ere 2 major objective of z-transform that algebrale mann inves rreaponae is eta a gam = domain tov mm. methods werge Z-transform can be bined hy one ft Ted ag nation Me) tavern rato most of the common # transform Ans. carjtmiy be necessary to improve the existing system to: srecifntione. Th eystom porformance is given by time response and frequency respons introduction of poles and zeros at suital jn requirement of the control system ‘Now consider a transfer function Gis) i K Gi) = ered) o red that velocity constant K, corresponding to steady state error shou ‘Wo know that @ | ~S@ "Akash Books, 2018-9 K, = ligsow TP Ulver my Ke ge Kgs wt ies) 2 10 = Ke ‘Therefore for accuracy K should ng 7 Now equation (1) becomes * Ol t020 cr = mew ray ‘The characteristic equation of be 1+6@)H) 2 9 ie ekeee a+ TR = 0 4854 204K = Apply Routh-Hurwite eae 1 2 s ° ; : : eK 7 v ° For stable system b-Ky 3 oe Kes mes accuracy and stability can not be metat same time, then @ ty in the sense of Lyapunow sar system following a clos Compare the equation (1) with linear differential equation dso dz Pe See 20 ae ae10-2018 Seventh Semester, Advanced Contrl m= ma-x) = BG: = £a-x) perofore the shown by system behaves outer trajectory Ie 1z >> 1, then damping factor has postive value like overdamped system with decrease ofamplitude of ning afsubeoqunt xe ating point. erp ye abut contol during the implementation ange of operating Punts ale ang per on request thy proces behaviour changes due ar controllers for nom toning control af nom linesr cont Xi ~a,)(6 cs) Tena Ne AgVe—N) Where AAs Obtain a state space eat es) of the system. Hs —(ay + c4p)s + crye1g) Boag + Ryle + Oy + AyDigs + kgs Pads 2018-11 Oe, capesae,) k CTS Sr and = a sadeea ross multi ines By v0 4-1) we got Wp altrttl equation career AES KU) a HL (ay +g + Ag) dg é - VG Oa a oh ia third-order system, 9 thro state va riables ae equiva Aga qual tow,, The other state vari = ty ‘ref, the ite equations canbe wna q Wy = 0am +L. + Oy ey = Wy= 00, 40.034 Ly Wig = Madge yO toy gh) Wy +O Dy) ya “) Te lst equation is obtained by equating the Ba ner torne equating the highest order derivative em ne a hehe = Chg gl gt Mg 2) haWy~Cyhy + Rahs + Baby) ge (Oa tha a) ero = Dag Wy ~Chyy + ght e) +yty# at12-2018 Seventh Semester, Advanced & corm ase ‘Tho above set of state equations (4) can be written in velo" Ml rg bs ° ih 45) %]-| 0 ° 1 pep? wig] Laks Ody tady +2gh)) Ar tae tall, ‘The fctnd expression ie Fe, ta)er aia, = GH 0; ~(@, #64) Wa + Ly In vector matrix form, thee ‘uation is written as 42] ‘The state model ofthe aystem is given by eq (6) and (6). @.2. ) Explain the term controllability and observability. 6 ‘Ans. Controllability: quation aren — 1 times ‘eontrollable at fg ifthere exists n i -acomygos Myo a K = 0,1,2.n-1 Mo = BOD Observability: Consider the state equatic , in the abows sata aquation are ni ‘sume thatthe mates A and inthe above nate equation are 2-1 tines cont mans that Oh uble Th atecqution i omervable a there exist afte eo nuchthat "Sec Akash Books 2018-13 es Ney P| Mey an io) where Ne a : Nears ge) 0) at ro) No = ce transfer function using the partial fractine no the system given by the A ftsetion expansion method, 6.5) ao Bie Factorizing the transfer funetion AB 1 eel 542° 543 * Grile+ Kosa) Als +2Xe49)+ Bes Ihe+3)+Cler1K42) eee ers) ake) ACG +55 +6) + B+ 45 +3)+ 0+ 85+2)=1 (A+ B+ O)s?+ (A +4B +30)s+ (6A 43B +20) =1 A+B+C = 0 5A+4B+80 = 0 GA+9B+20 = 1 Z Solving above three equations we get , 7 Fey An p Beck Cn5 ‘After partial fraction of transfer function, we get "Now, draw state variable digram (SVD) or eech term and then connect in parle % sition Fig. Complete SVD parallel decom< -2018 Soventh Semester, Advanced Contfol system ‘The set of equation nese otc agen Output equation 1 1 WO = paratze “Baal Q.3. (b)Adiserete time system has state equation given by 04 sce De{ fy 7 ]#00 Pind estate transition matrix : on Ans. a= lio 4 (9) = (6l-art wa [SSH 3) =f cal tl-ar = Gy ie mr Fa e+10 3 te ie w= 1 Wg watroroysien a ne signal gO exactly TTT 1 Fig. 4(a) Sampled slgnal + fin wacm 2¥ cirtie-may 08 (204004 ah + Tent u hay Uvrty- 1B Mech} Akash Books 2018-17 VRE Marefre, Gio) ie given by ls Gfo = 7X Ge-n0,) fur Seal Gi “etion,H, (o) of width 20. Gwe) = TG/w)H, Fig.6 Recove or sAllasing "7 °%lmalby nitering with a filter of width 20,, 28 Phot sna asin pc sera thigh requenty com witheachelerbesuse of nsdeguate sampling, | Interesting components are oversampled, wher fi significantly higher than Nyquiat Te ig. 7 Ovenanpedeeal-volds allsing sin the z.teanaform ofthe diseretoramp funetion- © Q.4, (b) Find the e-trar ape 0 keO 2k k20 20 koSeventh Semester, Advanced Control g [pane Ze0"] 18-2018, Iq) = z Meet -2 ote thet = Osz 42 F45r84 Ie) = 24 420-249794,., a) ‘Multiplying eg (1), by 2", we got easy. ‘Subtracting og. (2) by : Dertirsy... e+ Sy properties of z-transform, ind Term 201 inverse z-transform of aon Pret eard 428-22 Fe) = Sets decd o Fa) = ne Here, Fiz)isa proper rational function having one pole atz= 1 and two poles atz «2. Now, In order to determine must specify the ROC as Thus, so2-transform of each of these individual terms, we ‘with each, Ao + fla = 00 Pad wher, By inspection, we can identify 09 = 2a wo a rc = 1-200" ska ue — Input 1e mato shaft rotation will occ iylange. Tis coresponds toa so-called deadzone for small veltage signal, wut motor suloy nil i si ‘Seventh Somester, Advanced Control system LP Universty-(B-Tech}-Akash Books 2018-21 @.6.(@) Backlash ‘of the phase plane has associated through that point. The slope m atthe dep. fewee) a. gee usualy 2 definite plies that the phase ar points at which the ly charac ‘Tingelar points there may be more complex Q.7.Explain the following. dam. (a) The phase plane method points, in fact correspond to the ‘We know a nonlinear system often hi \ By = eythane) divide by aviat fons into a eelar second-order equation, we get 4c oxthy at Ba. ‘Transforming ‘The coordinate plane corresponding tox and 2 is called phase plane.Se ‘Seventh Semester, Advanced Control system ‘Therefore, we will simply consider the agcond ardor linet system described by F +My pohy = 0 ‘The characteristic roots ofthis equation are assumed tobe}, and hy F+ 2m + why — (8 ~: 2g) = 0 ‘The corresponding canonical state model it 22-2018 2, By 5 y= Bogen On ‘and the differential equation ofthe trajectories is ey -2ogty obs ye By inspection ofthis equation, itis easily een that atx, =, =0, the slope dx /dx, is indeterminate: dy 0 a 70 Q-8.Stateand explain the Liapunov’s stability criterion indetail, (12.5) Ans. Lyapunov Stability Theorem. ‘Thorem 1. Suppose a system is described by =m) function V(x) which is real, continuous and has continuous ith “If there exists a scalar function Vx) which first partial derivatives with , continuous and has continuous Ve) 2 Oforxe0 vo) = 0 Vo) = Oforalle 40 then the system is unstable, ‘Example 1. The system is given by ary fy = naa Investigate the system by Lyapunov's me ae i 28 TP University-{B-tchi-Akash Books a0 Solution: wv, we Wey - La Be We) = 255,428 Pot the valuesots, ands, Batt By Ve) = aes 2ej m2) > tt non zeros values of, negative deine hence the system te the system deseribed by Ree Solution: ack tn lt Va) = xftaf = Hie Wo) = Bie Vea) = my Avtnie ~ ‘ow, oabottte the values of 3 an 4 Yay = 22 en) Vay = Pt tq) = negative definite tem io ayrptotly stale Qo. Write short mateo: a rasorasij method o swing, we describe the Krasovskii Method of constructing Lyapunov ‘ caine ie ‘the nonlinear autonomous system f= fai)=0 a) Wosssume that as continuous We define a yepuner Tune a.24-2018 ‘Seventh Semester, Advance Contr IO oy Ww) = Rone whore Pan aymmetee pontine Seite matin Nox, a Vay = PenryarssTote) where far = Hard saves HH . Bh a, Be He. my my Be sia) = o ae a ta” Oy 4 he Jacobian matrix of fx) ‘Sebetiteting iin Eqn), we have ba fj Theetrantrm indeed as Vea) = Mais PIs) 6) Ls Q = e+ Posi © ‘Since Vis) is positive definite for the eystam tobe asymtotcally stable atthe origi Viz) should be negative definite, or equivalently, Q should be positive definite, IFin| bition Vix) +a anlel +e the system is asymptotically table inthe large Q.8.() Self tuning regulatory 6s) Ans. Refer Q. 9. (a) End Term 2017, ) Q2. (b) Determine the controllability & observa system. fe ale} a oat eb —60UmltCOao 22001 ‘Seventh Sementer, Advanced Conti System QA. (a) Define pulse transfer function. a Ann. Palee Transfer Function ‘Tennafrfarction of 41-1 Ldnoar Tine tnvattant continua tise aystem is fined ag whore Rua)and Cu) ar Lap ‘hat initia condita are se alee transfer fanction rates transform ‘he Zeranufore ofthe aamped inpat When ata or digital ign 70, the corresponding hock diagrams Figl. Block diagra Me define Gs)», then sxpression we will directly ulse response x of the system of transfer also known as impulse sequence \ction for PID controller, o END TERM EXAMINATION [DEC. 2019} Time:3 hire, MM. 75 Note: Atempt any fice questions including Q. No. I Which is compulsory. Assume lasing det if any Q1. (a) Psplain state variable with example. O Ans Belerto QL/a)el od Term Extn 2017 (Pape No, 62017) Q41. 0b) Detine zero order hold. © 1. (6) Explain NooLinear control with example. a Q1. () Wht are the applications of Adaptive Control? o Aas. Reter 0 Qa) eh Fad Term Exar 2016 (Pago No. 15-2016) Q1.(e) Explain properties of Ztransform. © ; fo:fi 4-2021 Soventh Semontor, Advanced Control Bystem z . Gee) Q.6. (a) Explain some comme () Page No, 10-2037) Ans, Refer to Q.2.(a) of End ‘Term Q.6. (b) Derive exprennion for dencribing function of relay with dead zone, (7.5) Q.7. (a) Explain Saddle point and F Point. (6) Q.7. (b) Derive expression for deseribing function of maturation, (7.5) Q8. (a) Explain stability in sense of Lyapunov. (6) Ans, Refer to Q.8 of End Term Exam 2018 (Pi Q.8. (b) Consider the following second order system, (7.5) * [° 1] LJ" Lt -1 ‘The equilibrium state is the origin, Determ Ans. ne the stability of thin state. Let Vox) VO = be, Vx) = 2k, + Qryty Now, substitute the values of ¢, and Vix) = 2xyty + Bary (2, —x,) W(x) = - 2x3 V(x) = Negative definite Hence, the system is asymptotically stable. Q9. (a) Explain Self tuning Regula ith dij gulator with diagra: Ans. Refer to Q.9.(a) of End ‘Term Exam 2017 (Page No. 21-2017) ° Q.9. (b) Write note on Popov's stability criteria and Variable Gradi Method. nr) (7.5)