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COURSE MATERIAL

SUBJECT CONTROL SYSTEMS (EE20APC301)

UNIT 3

COURSE B.TECH

DEPARTMENT ELECTRICAL AND ELECTRONICS

SEMESTER 2-1

PREPARED BY Mr. V V SUPURA

(Faculty Name/s) Assistant Professor

Version V-1

PREPARED / REVISED DATE 23-09-2022

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TABLE OF CONTENTS – UNIT 2

S. NO CONTENTS PAGE NO.
1 COURSE OBJECTIVES 1
2 PREREQUISITES 1
3 SYLLABUS 1
4 COURSE OUTCOMES 1
5 CO - PO/PSO MAPPING 1
6 LESSON PLAN 2
7 ACTIVITY BASED LEARNING 2
8 LECTURE NOTES 2
3.1 INTRODUCTION 2
3.2 THE CONCEPT OF STABILITY 4
3.3 ROUTH’S STABILITY CRITERION 10
3.4 STABILITY AND CONDITIONAL STABILITY 11
3.5 LIMITATIONS OF ROUTH’S STABILITY 15
3.6 THE ROOT LOCUS CONCEPT 15
3.7 CONSTRUCTION OF ROOT LOCI-EFFECTS OF ADDING POLES
16
AND ZEROS TO G(S)H(S) ON THE ROOT LOCI
9 PRACTICE QUIZ 17
10 ASSIGNMENTS 20
11 PART A QUESTIONS & ANSWERS (2 MARKS QUESTIONS) 20
12 PART B QUESTIONS 21
13 SUPPORTIVE ONLINE CERTIFICATION COURSES 21
14 REAL TIME APPLICATIONS 21
15 CONTENTS BEYOND THE SYLLABUS 22
16 PRESCRIBED TEXT BOOKS & REFERENCE BOOKS 22
17 MINI PROJECT SUGGESTION 22

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1. Course Objectives
 To introduce concepts of open loop and closed loop systems, mathematical
models of mechanical and electrical systems and concept of feedback.
 To describe characteristics of the given system in terms of the transfer function.
 To provide knowledge in analyzing the system response in time-domain and
frequency domain
 To impart skills for designing different control systems for different applications as
per given specifications.
 To introduce concepts of state variable analysis and design.
2. Prerequisites
Students should have knowledge on
1. Mathematics
2. Basic Electrical circuits
3. Syllabus
UNIT–III
CONCEPTS OF STABILITY
Concepts of Stability and Algebraic Criteria: The concept of Stability, Necessary
Conditions for Stability, Routh-Hurwitz Stability Criterion, Relative stability analysis,
The Root Locus Technique: Introduction, The Root Locus concepts, Construction of
Root Loci

4. Course outcomes

 Identify open and closed loop control system

 Formulate mathematical model for physical systems
 Use standard test signals to identify performance characteristics of first and
second-order systems
 Analyze stability of the closed and open loop systems
 Design closed-loop control system to satisfy dynamic performance specifications
using frequency response, root-locus, and state-space techniques

5. Co-PO / PSO Mapping

Machine
PO1 PO2 PO3 PO4 PO5 PO6 PO7 PO8 PO9 P10 PO11 PO12 PSO1 PSO2
Tools
CO1 1 1 1 1 1 1 1 0 1 0 2 1 1 1

CO2 3 1 1 2 3 1 1 0 2 1 2 1 1 1

CO3 1 3 2 2 2 2 2 0 2 1 1 2 2 2

CO4 1 2 3 3 3 2 2 0 3 1 2 3 3 3

CO5 1 3 2 2 2 2 2 0 2 1 1 2 2 2

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6. Lesson Plan
Lecture No. Weeks Topics to be covered References

1 The concept of Stability T1, R1

2 Necessary Conditions for Stability T1, R1

1
3 Routh-Hurwitz Stability Criterion T1, R1

4 Relative stability analysis T1, R1

5 Root Locus Technique T1, R1

6 Construction of Root Loci T1, R1

7 2 Problems T1, R1

8 Problems T1, R1

9 Problems T1, R1

7. Activity Based Learning

1.

8. Lecture Notes
3.1 INTRODUCTION:

Stability is an important concept. In this chapter, let us discuss the stability of

system and types of systems based on stability. What is Stability? A system is said to
be stable, if its output is under control. Otherwise, it is said to be unstable. A stable
system produces a bounded output for a given bounded input. The following
figure shows the response of a stable system.

:
Figure 3.1: Response of Stability

This is the response of first order control system for unit step input. This response has
the values between 0 and 1. So, it is bounded output. We know that the unit step
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signal has the value of one for all positive values of t including zero. So, it is
bounded input. Therefore, the first order control system is stable since both the
input and the output are bounded. Types of Systems based on Stability We can
classify the systems based on stability as follows.

 Absolutely stable system

 Conditionally stable system
 Marginally stable system

Absolutely Stable System If the system is stable for all the range of system
component values, then it is known as the absolutely stable system. The open loop
control system is absolutely stable if all the poles of the open loop transfer function
present in left half of „s‟ plane. Similarly, the closed loop control system is absolutely
stable if all the poles of the closed loop transfer function present in the left half of
the „s‟ plane.

Conditionally Stable System If the system is stable for a certain range of system
component values, then it is known as conditionally stable system. Marginally
Stable System If the system is stable by producing an output signal with constant
amplitude and constant frequency of oscillations for bounded input, then it is
known as marginally stable system. The open loop control system is marginally
stable if any two poles of the open loop transfer function is present on the
imaginary axis. Similarly, the closed loop control system is marginally stable if any
two poles of the closed loop transfer function is present on the imaginary axis. In
this chapter, let us discuss the stability analysis in the „s‟ domain using the Routh-
Hurwitz stability criterion. In this criterion, we require the characteristic equation to
find the stability of the closed loop control systems. Routh-Hurwitz Stability Criterion.

Routh-Hurwitz stability criterion is having one necessary condition and one

sufficient condition for stability. If any control system doesn‟t satisfy the necessary
condition, then we can say that the control system is unstable. But, if the control
system satisfies the necessary condition, then it may or may not be stable. So, the
sufficient condition is helpful for knowing whether the control system is stable or
not. Necessary Condition for Routh-Hurwitz Stability The necessary condition is that
the coefficients of the characteristic polynomial should be positive. This implies that
all the roots of the characteristic equation should have negative real parts.
Consider the characteristic equation of the order „n‟ is –

Note that, there should not be any term missing in the n th order characteristic
equation. This means that the n th order characteristic equation should not have
any coefficient that is of zero value. Sufficient Condition for Routh-Hurwitz Stability
The sufficient condition is that all the elements of the first column of the Routh array
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should have the same sign. This means that all the elements of the first column of
the Routh array should be either positive or negative.

3.2 Routh Array Method

If all the roots of the characteristic equation exist to the left half of the „s‟ plane,
then the control system is stable. If at least one root of the characteristic equation
exists to the right half of the „s‟ plane, then the control system is unstable. So, we
have to find the roots of the characteristic equation to know whether the control
system is stable or unstable. But, it is difficult to find the roots of the characteristic
equation as order increases. So, to overcome this problem there we have the
Routh array method. In this method, there is no need to calculate the roots of the
characteristic equation. First formulate the Routh table and find the number of the
sign changes in the first column of the Routh table. The number of sign changes in
the first column of the Routh table gives the number of roots of characteristic
equation that exist in the right half of the „s‟ plane and the control system is
unstable. Follow this procedure for forming the Routh table. Fill the first two rows of
the Routh array with the coefficients of the characteristic polynomial as
mentioned in the table below. Start with the coefficient of s n and continue up to
the coefficient of s0. Fill the remaining rows of the Routh array with the elements as
mentioned in the table below. Continue this process till you get the first column
element of row s0s0 is an. Here, an is the coefficient of s0 in the characteristic
polynomial. Note − If any row elements of the Routh table have some common
factor, then you can divide the row elements with that factor for the simplification
will be easy. The following table shows the Routh array of the nth order
characteristic polynomial.

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Example:

Let us find the stability of the control system having characteristic equation,

S4 + 3S3 + 3 S2 +2S + 1 = 0

Step 1 − Verify the necessary condition for the Routh-Hurwitz stability. All the
coefficients of the characteristic polynomial, S4 + 3S3 + 3 S2 +2S + 1 = 0 are positive.
So, the control system satisfies the necessary condition.

Step 2 − Form the Routh array for the given characteristic polynomial.

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Step 3 − Verify the sufficient condition for the Routh-Hurwitz stability. All the
elements of the first column of the Routh array are positive. There is no sign change
in the first column of the Routh array. So, the control system is stable.

3.2.1 Special Cases of Routh Array

We may come across two types of situations, while forming the Routh table. It is
difficult to complete the Routh table from these two situations.

The two special cases are −

 The first element of any row of the Routh‟s array is zero.

 All the elements of any row of the Routh‟s array are zero

Let us now discuss how to overcome the difficulty in these two cases, one by one.

First Element of any row of the Routh‟s array is zero

If any row of the Routh‟s array contains only the first element as zero and at least
one of the remaining elements have non-zero value, then replace the first element
with a small positive integer, ϵ. And then continue the process of completing the
Routh‟s table. Now, find the number of sign changes in the first column of the
Routh‟s table by substituting ϵϵ tends to zero.

Example
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Let us find the stability of the control system having characteristic equation,

S4 +2S3 + S2 +2S + 1 = 0

Step 1 − Verify the necessary condition for the Routh-Hurwitz stability. All the
coefficients of the characteristic polynomial,

S4 +2S3 + S2 +2S + 1 = 0 are positive. So, the control system satisfied the necessary
condition.

Step 2 − Form the Routh array for the given characteristic polynomial.

The row s 3 elements have 2 as the common factor. So, all these elements are
divided by 2.

Special case (i) − Only the first element of row s 2 is zero. So, replace it by ϵ and
continue the process of completing the Routh table.

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Step 3 − Verify the sufficient condition for the Routh-Hurwitz stability.

As ϵ tends to zero, the Routh table becomes like this.

There are two sign changes in the first column of Routh table. Hence, the control
system is unstable.

All the Elements of any row of the Routh’s array are zero

In this case, follow these two steps –

 Write the auxiliary equation, A(s) of the row, which is just above the row of zeros.
 Differentiate the auxiliary equation, A(s) with respect to s. Fill the row of zeros
with these coefficients.

Example:

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Let us find the stability of the control system having characteristic equation,
S5+3 S4 +S3 + 3 S2 +S + 3 = 0
Step 1 − Verify the necessary condition for the Routh-Hurwitz stability. All the
coefficients of the given characteristic polynomial are positive. So, the control
system satisfied the necessary condition.

Step 2 − Form the Routh array for the given characteristic polynomial.

The row S4 element have the common factor of 3. So, all these elements are
divided by 3.

Special Case(ii) –All the elements of row S3 are zero. So, write the auxillary
equation, A(s) of the row S4.

A(s) = S4 + S2 + 1

Place these co-efficients in row S3.

Step 3 − Verify the sufficient condition for the Routh-Hurwitz stability. There are two
sign changes in the first column of Routh table. Hence, the control system is
unstable.

In the Routh-Hurwitz stability criterion, we can know whether the closed loop poles
are in on left half of the „s‟ plane or on the right half of the „s‟ plane or on an
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imaginary axis. So, we can‟t find the nature of the control system. To overcome this
limitation, there is a technique known as the root locus.

3.3 Root locus Technique:

In the root locus diagram, we can observe the path of the closed loop poles.
Hence, we can identify the nature of the control system. In this technique, we will
use an open loop transfer function to know the stability of the closed loop control
system. Basics of Root Locus The Root locus is the locus of the roots of the
characteristic equation by varying system gain K from zero to infinity

We know that, the characteristic equation of the closed loop control system is
1 + G(s) H(s) = 0

We can represent G(s) H(s) as K (N(s) / D(s))

Where,
- K represents the multiplication factor
- N(s) represents numerator‟s nth order polynomial of „S‟
- D(s) represents denominator‟s nth order polynomial of „S‟

Substitute the value of G(s)H(s) in the characteristic equation

1 + K N(s)/D(s) = 0

D(s) + K N(s) = 0

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From above two cases, we can conclude that the root locus branches start at
open loop poles and end at open loop zeros. Angle Condition and Magnitude
Condition The points on the root locus branches satisfy the angle condition. So, the
angle condition is used to know whether the point exist on root locus branch or
not. We can find the value of K for the points on the root locus branches by using
magnitude condition. So, we can use the magnitude condition for the points, and
this satisfies the angle condition. Characteristic equation of closed loop control
system is

The angle condition is the point at which the angle of the open loop transfer
function is an odd multiple of 1800 .

Magnitude of G(s)H(s) is –

The magnitude condition is that the point (which satisfied the angle condition) at
which the magnitude of the open loop transfers function is one. The root locus is a
graphical representation in s-domain and it is symmetrical about the real axis.
Because the open loop poles and zeros exist in the s-domain having the values
either as real or as complex conjugate pairs. In this chapter, let us discuss how to
construct (draw) the root locus.

3.4 Rules for Construction of Root Locus

Follow these rules for constructing a root locus.

Rule 1 − Locate the open loop poles and zeros in the„s‟ plane.

Rule 2 − Find the number of root locus branches. We know that the root locus
branches start at the open loop poles and end at open loop zeros. So, the number
of root locus branches N is equal to the number of finite open loop poles P or the
number of finite open loop zeros Z, whichever is greater.

Mathematically, we can write the number of root locus branches N as N=P if P≥Z
N=Z if P <Z,

Rule 3 − Identify and draw the real axis root locus branches. If the angle of the
open loop transfer function at a point is an odd multiple of 1800 , then that point is
on the root locus. If odd number of the open loop poles and zeros exist to the left
side of a point on the real axis, then that point is on the root locus branch.
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Therefore, the branch of points which satisfies this condition is the real axis of the
root locus branch.

Rule 4 − Find the centroid and the angle of asymptotes.

If P=Z, then all the root locus branches start at finite open loop poles and end at
finite open loop zeros.

If P>Z, then Z number of root locus branches start at finite open loop poles and
end at finite open loop zeros and P−Z number of root locus branches start at finite
open loop poles and end at infinite open loop zeros.

If P <z then P number of root locus branches start at finite open loop poles and
end at finite open loop zeros and Z - P number of root locus branches start at finite
open loop poles and end at infinite open loop zeros.

So, some of the root locus branches approach infinity, when P≠Z. Asymptotes give
the direction of these root locus branches. The intersection point of asymptotes on
the real axis is known as centroid.

We can calculate the centroid α by using this formula

Rule 5 − Find the intersection points of root locus branches with an imaginary axis.

We can calculate the point at which the root locus branch intersects the
imaginary axis and the value of K at that point by using the Routh array method
and special case (ii). If all elements of any row of the Routh array are zero, then
the root locus branch intersects the imaginary axis and vice-versa. Identify the row
in such a way that if we make the first element as zero, then the elements of the
entire row are zero. Find the value of K for this combination. Substitute this K value
in the auxiliary equation. You will get the intersection point of the root locus branch
with an imaginary axis.

Rule 6 − Find Break-away and Break-in points. If there exists a real axis root locus
branch between two open loop poles, then there will be a break-away point in
between these two open loop poles. If there exists a real axis root locus branch
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between two open loop zeros, then there will be a break-in point in between these
two open loop zeros.

Note − Break-away and break-in points exist only on the real axis root locus
branches.

Follow these steps to find break-away and break-in points.

Write K in terms of s from the characteristic equation 1+G(s)H(s)=0. Differentiate K

with respect to s and make it equal to zero. Substitute these values of ss in the
above equation. The values of ss for which the K value is positive are the break
points.

Rule 7 − Find the angle of departure and the angle of arrival. The Angle of
departure and the angle of arrival can be calculated at complex conjugate open
loop poles and complex conjugate open loop zeros respectively. The formula for
the angle of departure ϕd is

Φd = 1800 – Φ

Example

Let us now draw the root locus of the control system having open loop transfer
function,

Step 1 − The given open loop transfer function has three poles at s = 0, s = -1, s = -5.
It doesn‟t have any zero. Therefore, the number of root locus branches is equal to
the number of poles of the open loop transfer function.

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The three poles are located are shown in the above figure. The line segment
between s=−1, and s=0 is one branch of root locus on real axis. And the other
branch of the root locus on the real axis is the line segment to the left of s=−5. Step
2 − We will get the values of the centroid and the angle of asymptotes by using the
given formulae. Centroid, θ=600, 1800, 3000.

The angle of asymptotes are The centroid and three asymptotes are shown in the
following figure.

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Step 3 − Since two asymptotes have the angles of 600 and 3000, two root locus
branches intersect the imaginary axis. By using the Routh array method and
special case(ii), the root locus branches intersects the imaginary axis at j√5 and -√5j

There will be one break-away point on the real axis root locus branch between the
poles s =−1 and s=0. By following the procedure given for the calculation of break-
away point, we will get it as s =−0.473. The root locus diagram for the given control
system is shown in the following figure.

In this way, you can draw the root locus diagram of any control system and
observe the movement of poles of the closed loop transfer function.

From the root locus diagrams, we can know the range of K values for different
types of damping. Effects of Adding Open Loop Poles and Zeros on Root Locus The
root locus can be shifted in „s‟ plane by adding the open loop poles and the open
loop zeros.

If we include a pole in the open loop transfer function, then some of root locus
branches will move towards right half of „s‟ plane. Because of this, the damping
ratio δ decreases. Which implies, damped frequency ωd increases and the time
domain specifications like delay time td, rise time tr and peak time tp decrease.
But, it effects the system stability.

If we include a zero in the open loop transfer function, then some of root locus
branches will move towards left half of „s‟ plane. So, it will increase the control
system stability. In this case, the damping ratio δ increases. Which implies, damped
frequency ωd decreases and the time domain specifications like delay time td,
rise time tr and peak time tp increase. So, based on the requirement, we can
include (add) the open loop poles or zeros to the transfer function.

3.5 Effects of adding a pole or a zero to the root locus of a second- order system

We discussed how we could change the value of gain K to change the position of
the closed-loop poles. This corresponds to placing a proportional gain, K, in
cascade with the system G(s) and finding the closed-loop poles for different values
of gain, K. However, proportional control is a simple form of control; it does not

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provide us with zero steady example, in some control design problems, to produce
the performance required in the design specifications we need to move the poles
to some positions on the s-plane, which may not lie on a root locus defined by the
simple proportional gain K. To be able to move the poles to any position on the s-
plane, we need to use a more complicated controller. For example, we may need
to add a zero or a pole to the controller and see how this will affect the root locus
and hence the position of the closed-loop poles. Examples of controllers with poles
or zeros are:

Thus, we need to know how the root locus will change if we add a pole or a zero.
To investigate this, we will use a simple example. Effects of adding a zero on the
root locus for a second-order system Consider the second-order system given by

The poles are given by s = –p1 and s = –p2 and the simple root locus plot for this
system is shown in Figure 13.13(a). When we add a zero at s = –z1 to the controller,
the open-loop transfer function will change to:

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Figure 3.2: Effect of adding poles and zeros.

9. Practice Quiz

1. Routh Hurwitz criterion gives:

a) Number of roots in the right half of the s-plane
b) Value of the roots
c) Number of roots in the left half of the s-plane
d) Number of roots in the top half of the s-plane
2. Routh Hurwitz criterion cannot be applied when the characteristic equation of the
system containing coefficient’s which is/are
a) Exponential function of s
b) Sinusoidal function of s
c) Complex
d) Exponential and sinusoidal function of s and complex
3. Consider the following statement regarding Routh Hurwitz criterion:
a) It gives absolute stability
b) It gives gain and phase margin
c) It gives the number of roots lying in RHS of the s-plane
d) It gives gain, phase margin and number of roots lying in RHS of the s-plane
4. The order of the auxiliary polynomial is always:
a) Even
b) Odd
c) May be even or odd
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d) None of the mentioned
5. Which of the test signals are best utilized by the stability analysis.
a) Impulse
b) Step
c) Ramp
d) Parabolic
6. The characteristic equation of a system is given as3s4+10s3+5s2+2=0. This
system is :
a) Stable
b) Marginally stable
c) Unstable
d) Linear
7. The characteristic equation of a system is given ass3+25s2+10s+50=0. What is the
number of the roots in the right half s-plane and the imaginary axis respectively?
a) 1,1
b) 0,0
c) 2,1
d) 1,2
8. Consider the following statement:
a) A system is said to be stable if its output is bounded for any input
b) A system is said to be stable if all the roots of the characteristic equation lie on the left
half of the s plane.
c) A system is said to be stable if all the roots of the characteristic equation have negative
real parts.
d) A second order system is always stable for finite values of open loop gain
9. The necessary condition for the stability of the linear system is that all the
coefficients of characteristic equation 1+G(s)H(s) =0, be real and have the :
a) Positive sign
b) Negative sign
c) Same sign
d) Both positive and negative
10. For making an unstable system stable:
a) Gain of the system should be increased
b) Gain of the system should be decreased
c) The number of zeroes to the loop transfer function should be increased
d) The number of poles to the loop transfer function should be increased
11. Consider the loop transfer function K(s+6)/(s+3)(s+5) In the root locus diagram the
centroid will be located at:
a) -4
b) -1
c) -2
d) -3
12. Which one of the following applications software’s is used to obtain an
accurate root locus for?
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a) LISP
b) MATLAB
c) dBase
d) Oracle
13. Which one of the following is not the property of root loci?
a) The root locus is symmetrical about imaginary axis
b) They start from the open loop poles and terminate at the open loop zeroes
c) The breakaway points are determined from dK/ds = 0
d) Segments of the real axis are the part of the root locus if and only is the total number of
real poles and zeroes to their right is odd.
14. The breakaway point calculated mathematically must always lie on the root locus.
a) True
b) False
15. What is the number of the root locus segments which do not terminate on
zeroes?
a) The number of poles
b) The number of zeroes
c) The difference between the number of poles and zeroes
d) The sum of the number of poles and the number of the zeroes
16. Which one of the following are correct?
The root locus is the path of the roots of the characteristic equation traced out in the s-
plane?
a) As the input of the system is changed
b) As the output of the system is changed
c) As a system parameter is changed
d) As the sensitivity is changed
17. If the gain of the system is reduced to a zero value, the roots of the system in the s-
plane,
a) Coincide with zero
b) Move away from zero
c) Move away from poles
d) Coincide with the poles
18. The addition of open loop zero pulls the root loci towards:
a) The left and therefore system becomes more stable
b) The right and therefore system becomes unstable
c) Imaginary axis and therefore system becomes marginally stable
d) The left and therefore system becomes unstable
19. If root loci plots of a particular control system do not intersect the imaginary axis at
any point, then the gain margin of the system will be:
a) 0
b) 0.707
c) 1
d) Infinite
20. When the number of poles is equal to the number of zeroes, how many branches of
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root locus tends towards infinity?
a) 1
b) 2
c) 0
d) Equal to number of zeroes

10. Assignments
S.No Question BL CO

Consider a unity feedback system given by the following transfer

1 function G(s) = 𝑘/(𝑠+1)(𝑠+12). Determine the values of k for which 5 3
the closed loop poles are stable using R-H stability criterion.

Sketch the root locus of the system whose open loop transfer
2 function is G(𝑠)=𝐾/𝑠(𝑠+2)(𝑠+4). Find the value of K so that the 5 3
damping ratio of the closed loop system is 0.5.

Sketch the root locus of the system whose open loop transfer
3 function is G(𝑠)=𝐾/𝑠(𝑠+2)(𝑠+4). Find the value of K so that the 5 3
damping ratio of the closed loop system is 0.5.

Construct the root locus for a closed-loop control system with

G(𝑠)=𝐾(𝑆+9)/𝑆(𝑆2+4𝑆+11),𝐻(𝑆)=1. Locate the closed loop poles 4
4 2
so that the dominant closed-loop poles have a damping ratio
of 0.5. Determine the corresponding value of gain K.
The open loop transfer function of a system is given below: 3
5 2
G(𝑠)=𝐾(𝑠+7)/𝑠(𝑠+9)(𝑠+8). Draw the root locus diagram.

11. Part A- Question & Answers

S.No Question & Answers BL CO

1 Which one of the following improves the system stability and why?
(i)Addition of poles. (ii) Addition of zeros 4 1

2 State the limitations of Routh’s Stability 1 1

3 How the roots of characteristic equation are related to stability? 1 1

4 What is the relation between stability and coefficient of characteristic 1

1
polynomial?
5 Define BIBO Stability. 1 1

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6 What is characteristic equation? 1 1

7 What is the necessary condition for stability? 1 1

8 What is auxiliary polynomial? 1 1

9 What is quadrantal symmetry? 1 4

10 In Routh array what conclusions you can make when there is a

1 4
row of all zeros

12. Part B- Questions

S.No Question BL CO

1 Consider a unity feedback system given by the following

transfer function G(s) = 𝑘/(𝑠+1)(𝑠+12). Determine the values of k
5 3
for which the closed loop poles are stable using R-H stability
criterion.

2 Sketch the root locus of the system whose open loop transfer
function is G(𝑠)=𝐾/𝑠(𝑠+2)(𝑠+4). Find the value of K so that the 5 3
damping ratio of the closed loop system is 0.5.

3 Sketch the root locus of the system whose open loop transfer
function is G(𝑠)=𝐾/𝑠(𝑠+2)(𝑠+4). Find the value of K so that the 5 3
damping ratio of the closed loop system is 0.5.

4 Construct the root locus for a closed-loop control system with

G(𝑠)=𝐾(𝑆+9)/𝑆(𝑆2+4𝑆+11),𝐻(𝑆)=1. Locate the closed loop
poles so that the dominant closed-loop poles have a 2 4
damping ratio of 0.5. Determine the corresponding value of
gain K.
5 The open loop transfer function of a system is given below: 3
2
G(𝑠)=𝐾(𝑠+7)/𝑠(𝑠+9)(𝑠+8). Draw the root locus diagram.

13. Supportive Online Certification Courses

1. control system by Prof. C. S. Shankar Ram | IIT Madras in NPTEL swayam

14. Real Time Applications

S.No Application CO

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1 Control Systems are used in domestic applications, general 4
industry, military and virtually every modern vehicle in the world.
Control Systems are very common in SCADA and Industrial Automation
systems. Control Systems are used in Industrial Automation to regulate
how devices operate in real time

15. Contents Beyond the Syllabus

1.

16. Prescribed Text Books & Reference Books

Text Book
1. Katsuhiko Ogata, “Modern Control Engineering”, 5th edition, Prentice Hall of
India Pvt. Ltd., 2010.
2. 2. I. J. Nagrath and M. Gopal, “Control Systems Engineering”, 5th edition, New
Age International (P) Limited Publishers, 2007.

References:

1. Control Systems Principles & Design 4th Edition, M.Gopal, Mc Graw Hill
Education, 2012.
2. Automatic Control Systems– by B. C. Kuo and Farid Golnaraghi – John wiley and
son‟s, 8th edition, 2003.
3. Control Systems 3rd Edition, Joseph J Distefano III, Allen R Stubberud & Ivan J
Williams, Schaum's Mc Graw Hill Education.
4. John J D‟Azzo and C. H. Houpis , “Linear Control System Analysis and Design
Conventional and Modern”, McGraw - Hill Book Company, 1988.

17. Mini Project Suggestion

1. An affordable, open-source, microscale conductivity and temperature probe

for density measurements in stratified flows
2. A MIMO Testbed for Broadband Software Defined Radio
3. The Role of External Features in Face Recognition with Central Vision Loss
4. Mining Requirements from Closed-Loop Control Models

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