Roll No.

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GLOBAL INSTITUTE OF TECHNOLOGY
B. Tech. V Semester RTU Exam (Gauss Paper) 2024
5EE4-03/ Control System
Electrical Engineering
Time: 3 Hours Maximum Marks: 120
Attempt all questions
Part A(Answer should be given up to 25 words only)
All questions are compulsory
Q.1. What is control system? List the example of open loop control and closed loop control system.
Q.2. Write down the formula for the state transition matrix of state model.
Q.3. What is transfer function? Write down the formula of CLTF for positive and negative feedback.
Q.4. Write down the formula for damping frequency and damping ratio.
Q.5. What should be the relation between gain cross over and phase cross over frequency for stable system?
Q.6 . What do you know about the robustness of the system?
Q.7. What do you about the delay time, rise time and settling time? Explain in brief.
Q.8 . Write down the state equation for generalizes MIMO system.
Q.9 . Draw a block diagram for the following state equation:
𝑋̇ = 𝐴𝑥 + 𝐵𝑢;
𝑌 = 𝐶𝑥 + 𝐷𝑢

Q.10. What will be the value of damping ration for undamped, under-damped and over-damped system?
10x 2 = 20
Part B Analytical/Problem solving questions
Attempt all questions (word Limit 75)
Q.1. Explain the analog and digital implementation of controllers.
Q.2 . Define the force voltage and force current analogy.
Q.3. Write down the rules for block diagram reduction technique.
Q.4. Derive the value of X(s)/F(s) for following diagram:

Q.5. Give brief introduction about following:

(i) Step Unit function
(ii) Ramp Function
(iii) Parabola Function
(iv) Impulse Function

Q.6. Define performance indices in brief of control system.

Q.7. Explain the design specifications in frequency domain of control system.

Q.8. Determine C(s)/R(s) for the following figure:

5 x 8 =20

Part C(Descriptive/Analytical/Problem Solving/Design Question)

Attempt all questions (word Limit 125)

Q.1. Explain the following in detail:

(a) The phenomenon of pole placement by help of state feedback.
(b) Routh- Hurwitz stability criterion.

Q.2. Diagonalize the following matrix:

𝟐 𝟔
[ ]
𝟎 −𝟏
Q.3. Sketch the root locus plot for a closed loop system whose loop transfer function is given by:

𝑲
𝒔(𝒔+𝟓)(𝒔+𝟏𝟎)
Q.4. Sketch the bode plot for the following closed loop transfer function:
𝟏𝟎𝟎
𝒔(𝒔 + 𝟐)(𝒔 + 𝟐𝟓)

4x 15 =30
 PART-A
Ans.1: A control system is a set of mechanical or electronic devices that regulates other devices
or systems by way of control loops.

Example of open loop control system: automatic traffic light system, automatic washing
machine, immersion heater, etc.

Examples of closed loop control systems: ACs, fridge, toaster, rocket launching system, radar
tracking system, etc.

Ans.2: State Transition Matrix (STM)=L-1 [sI-A]-1

Ans.3: Transfer Function: it is the Laplace transform of ratio of the output and input with zero
initial conditions.
𝐺(𝑠)
TF= 1+𝐺(𝑠)𝐻(𝑠) for negative feedback

𝐺(𝑠)
TF=1−𝐺(𝑠)𝐻(𝑠) for Positive feedback

Ans.4:

Damping frequency:

𝒘𝒅 = 𝒘𝒏√𝟏 − 𝜹𝟐 ; wn= Natural frequency

Damping ratio:
𝒂𝒄𝒕𝒖𝒂𝒍 𝒅𝒂𝒎𝒑𝒊𝒏𝒈
δ= 𝒄𝒓𝒊𝒕𝒊𝒄𝒂𝒍 𝒅𝒂𝒎𝒑𝒊𝒏𝒈

Ans.5: If phase cross over frequency is greater than gain cross over frequency then system is
stable (Ѡpc > Ѡgc).

Ans.6: Robustness is usually defined as the minimum requirement a control system has to satisfy
in order to be useful in a practical environment.

Ans.7:

Delay time (td): It is the time required to reach at 50% of its final value by a time response
signal during its first cycle of oscillation.
Rise time (tr): The rise time is the time required for the system response to go from 10% to
90% of its final or steady-state value.

Settling time (ts): The settling time is defined as the time required for the transient response to
enter and stay within ±2% of the steady-state or final value.

Ans.8: State equation for generalize MIMO system

𝑋̇ = 𝐴𝑥 + 𝐵𝑢;

𝑌 = 𝐶𝑥 + 𝐷𝑢

Ans.9: Block diagram for state equation:

Ans.10: for undamped system δ=0, under damped system δ<1 and for over-damped δ>1.
 PART-B
Ans.2.

Force Voltage Analogy:

In force voltage analogy, the mathematical equations of translational mechanical system are
compared with mesh equations of the electrical system.

Consider the following translational mechanical system as shown in the following figure.

The force balanced equation for this system is:

(Equation 1)

Consider the following electrical system as shown in the following figure. This circuit consists of
a resistor, an inductor and a capacitor. All these electrical elements are connected in a series. The
input voltage applied to this circuit is V volts and the current flowing through the circuit
is i Amps.
By comparing Equation 1 and Equation 3, we will get the analogous quantities of the
translational mechanical system and electrical system. The following table shows these
analogous quantities.

Force Current Analogy:

In force current analogy, the mathematical equations of the translational mechanical

system are compared with the nodal equations of the electrical system.

Consider the following electrical system as shown in the following figure. This circuit consists of
current source, resistor, inductor and capacitor. All these electrical elements are connected in
parallel.
By comparing Equation 1 and Equation 6, we will get the analogous quantities of the
translational mechanical system and electrical system. The following table shows these
analogous quantities.
Ans.3: Rules for block diagram reduction technique:
Ans.4: Value of X(s)/F(s) for following diagram:
Ans.5:
Ans.6:

Modern complex control systems usually require more sophisticated performance criteria than
those presented so far. As seen in the previous section, error and the time at which it occurs are
very important factors that usually must be considered simultaneously. A performance index is a
single measure of a system’s performance that emphasizes those characteristics of the response
that are deemed to be important. The notion of a performance index is very important in
estimator design using linear-state-variable feedback, where the system is designed to optimize
this performance index given certain constraints.
Ans.7:
Ans.7: Frequency domain specifications

 The resonant peak Mr is the maximum value of jM(jw)j.

 The resonant frequency fr is the frequency at which the peak resonance Mr occurs.
 The bandwidth BW is the frequency at which (jw) drops to 70:7% (3 dB) of its zero
frequency value.

 Mr indicates the relative stability of a stable closed loop system.

  A large Mr corresponds to larger maximum overshoot of the step response. Desirable
value: 1.1 to 1.5
 BW gives an indication of the transient response properties of a control system.
 A large bandwidth corresponds to a faster rise time. BW and rise time tr are inversely
proportional.
 BW also indicates the noise-filtering characteristics and robustness of the system.
Increasing wn increases BW.
 BW and Mr are proportional to each other.

Ans.8: Transfer function for the following problem:

 PART-C
Ans.1: (a)Pole placement by state feedback:
Consider a linear dynamic system in the state space form

In some cases one is able to achieve the goal (e.g. stabilizing the system or improving its
transient response) by using the full state feedback, which represents a linear combination of the
state variables, that is

So that the closed-loop system, given by

has the desired specifications. The main role of state feedback control is to stabilize a given
system so that all closed-loop eigenvalues are placed in the left half of the complex plane. The
following theorem gives a condition under which is possible to place system poles in the desired
locations.
Theorem.1:Assuming that the pair (A, B) is controllable, there exists a feedback matrix F such
that the closed-loop system eigenvalues can be placed in arbitrary locations.
This important theorem will be proved (justified) for single input single-output systems. For the general
treatment of the pole placement problem for multi-input multi-output systems, which is much more
complicated, the reader is referred to Chen (1984). If the pair (A, B) is controllable, the original system
can be transformed into the phase variable canonical form, i.e. it exists a nonsingular transformation
(b)Routh- Hurwitz stability criterion:

Routh Hurwitz Stability Criterion is based on ordering the coefficients of the characteristic
equation into an array, also known as Routh Array. Suppose the characteristic equation of a
control system is given as:

a0, a1, …., an coefficients are taken from the equation and arranged as shown. Other elements
are calculated from these element. Coefficients b1, b2, b3, ……, bn are calculated as:

This process is continued till we get zero in the row with b coefficients. Similarly, c coefficients
and d coefficients are calculated as following:
Ans.2: Diagonalize the following matrix:
𝟐 𝟔
[ ]
𝟎 −𝟏
Ans.3:

Step 1: Finding the poles, zeroes, and branches.

The denominator of the given transfer function signifies the poles and the numerator signifies the
zeroes. Hence, there are 3 poles and no zeroes.

Poles = 0, -5, and -10

Zeroes = No zero

P-Z=3-0=3

There are three branches (P - Z) approaching to infinity and there are no open loop zeroes. Hence
infinity will be the terminating point of the root locus.

Step 2: Section of the real axis where the root locus lies.

There are three poles, which are shown below:

The section between 0 and -5 (for example, -3.5) has only one pole on the right-hand side. It
means that the sum of poles and zeroes on the side of the given point is 1.

Rule number 3 depicts that the section between 0 and -5 lies on the root locus. Similarly, section
after -10 also lies on the root locus. The section between -5 and -10 has an even number of
zeroes and poles on the right-hand side. Hence, the root locus on the real axis between -5 and -10
does not exist.

The breakaway point of the given system will lie between the section on the real axis where the
root locus exists, i.e., 0 and -5.
Step 3: Angle of asymptotes.

Angle of such asymptotes is given by:

= (2q + 1)180 / P - Z

q = 0, 1, and 2

For q = 0,

Angle = 180/3 = 60 degrees

For q = 1,

Angle = 3x180/3 = 180 degrees

For q = 2,

Angle = 5x180/3 = 300 degrees

Step 4: Centroid

The centroid is given by:

= 0 - 5 - 10 - 0/3

= -15/3

= -5

Thus, the centroid of the root locus is at -5 on the real axis.

The plot showing the centroid and the angle of asymptotes is given below:
Step 5: Breakaway point

We know that the breakaway point will lie between 0 and -5. Let's find the valid breakaway
point.

1 + G(s)H(s) = 0

Putting the value of the given transfer function in the above equation, we get:

1 + K/s(s + 5)(s + 10) = 0

s(s + 5)(s + 10) + K = 0

s(s2 + 15s + 50) + K = 0

s3 + 15s2 + 50s + K = 0

K = - s3 - 15s2 - 50s

Differentiating both sides,

Dk/ds = - (3s2 + 30s + 50) = 0

3s2 + 30s + 50 = 0
Dividing the equation by 3, we get:

s2 + 10s + 16.667 = 0

Now, we will find the roots of the given equation by using the formula:

Using the value, a = 1, b = 10, and c = 16.667

The roots of the equation will be -2.113 and -7.88.

Among the two roots, only -2.113 lie between 0 and -5. Hence, it will be the breakaway point.

Let's verify by putting the value of the root in the equation K = - s3 - 15s2 - 50s.

K = - -2.113 3 - 15(-2.113)2 - 50(-2.113)

K = 48.112

The value of K is found to be positive. Thus, it is a valid breakaway point.

Step 6: Intersection with the negative real axis.

Here, we will found the intersection points of the root locus on the imaginary axis using the
Routh Hurwitz criteria using the equation s3 + 15s2 + 50s + K = 0

The Roth table is shown below:

s3 1 50

s2 15 K

s 15x50 - 1xK/K = 750 - K/K 0

s0 K

From the third row s, 750 - K/K = 0

750 - K = 0

K = 750

From the second row s2,

15 s2 + K = 0

Putting the value of Kin the above equation, we get:

15 s2 = -750

s2 = -750/15

s2 = -50

s = j7.071 and -j7.071

Both the point lies on the positive and negative imaginary axis.

Step 7: There are no complex poles present in the given transfer function. Hence, the angle of
departure is not required.

Step 8: Combining all the above steps.

The root locus thus formed after combining all the above steps is shown below:

Step 9: Stability of the system

The system can be stable, marginally stable, or unstable. Here, we will determine the system's
stability for different values of K based on the Roth Hurwitz criteria discussed above.

The system is stable if the value of K lies between 0 and 750. The root locus at such a value of K
is in the left half of the s-plane. For a value greater than 750, the system becomes unstable, and it
is because the roots start moving towards the right half of the s-plane. But, at K = 750, the
system is marginally stable.

We can conclude that stability is based on the location of roots in the left half or right half of the
s-plane.

Impact of the addition of pole and zero on the root locus

Let's discuss the impact of the addition of poles and zeroes on the root locus.

Impact of the addition of pole

The impact of the adding pole to the left half of the s-plane will push the root locus towards the
right side of the s-plane. We know that the system tends to be stable when the roots lie on the left
half of the s-plane. When the root locus moves towards right half, the stability reduces. It means
that the addition of pole on the root locus will decrease the stability of the system. The range of
'K' and the gain margin f the system also decreases.

For example,

Consider the plot of the system G(s)H(s) = K/s(s + 2)(s + 4).

Now, let's add s = -6 pole to the above system. The root locus plot will now appear as:
G(s)H(s) = K/s(s + 2)(s + 4)(s + 6).

We can notice that the addition of pole resulted in the root locus too shift towards the right-half
of the s-plane.

Impact of the addition of zero

The impact of the adding zero will push the root locus towards the left side of the s-plane. We
know that the system tends to be stable when the roots lie on the left half of the s-plane. When
the root locus moves towards left half, the stability improves. It means that the addition of zero
on the root locus will increase the stability of the system. The range of 'K' and the gain margin f
the system also increases.

Here, the root locus will shift towards the added zero.

For example,

Consider the system G(s)H(s) = K(s + 4)/s(s + 2).

Now, let's add zero s = -6 to the above system. The root locus plot will now appear as:
G(s)H(s) = K(s + 4)(s + 6)/s(s + 2).

We can notice that the addition of pole resulted in the root locus too shift towards the right-half
of the s-plane.

Ans.4: Sketch the bode plot for the following closed loop transfer function:

𝟏𝟎𝟎
𝒔(𝒔 + 𝟐)(𝒔 + 𝟐𝟓)

step 1 of bode plot construction includes an arrangement of G(s)H(s) in time constant form.

Further, let us identify the factors,

 K = 2,
 1 pole is at the origin,
 Simple pole 1/(1+s/2) where T1 is 1/2 so, ωc1 = 1/T1 = 2,
 Simple pole 1/(1+s/25) where T1 is 1/25 so, ωc2 = 1/T2 = 25
Now, let’s proceed for the analysis to sketch the magnitude plot
Since, K = 2

Thus,

As it is clear that, 1 pole is at the origin so, a straight line of slope -20 dB/decade will pass
through ω = 1 at 0 dB.

Now, the intersection point is to be moved in ’20 log K’ line and a line parallel to -20 dB/decade
is drawn. This line is continued till the point of occurrence of first corner frequency i.e., ω c1 = 2.

As it is a slope for simple pole thus will contribute -20 dB/decade at ωc1 = 2. Hence, the resultant
slope will be -20 – 20 = -40 dB/decade.

In this way, K, 1/s and 1/(1+s/2) is added and will be continued till the point of intersection with
the next corner frequency i.e., ωc2 = 25.

Now, once the line is intersected at ωc2 = 25, again due to simple pole the contribution will be -
20 dB/decade. Thus, the resultant slope after ωc2 = 25 will be – 40 – 20 = – 60 dB/decade. And
as no other factor exists, hence the final slope will be – 60 dB/decade and will be the resultant of
overall G(s)H(s).

Further, let us go for the analysis to sketch the phase angle plot

First, convert the s-domain representation into the frequency domain

Now, using the magnitude and phase angle analysis, we need to construct the bode plot.