EE1471 Control Systems Department of EEE&EIE 2023-2024

UNIT I – SYSTEMS AND REPRESENTATION BL

PART A
1) Mention the basic elements of a control system. (Nov 2014) (May/June BL1
2016)
Error detector or comparator, controller, actuator or final control element,
plant (system to be controlled) and feedback element (sensor or
transmitters) are the basic elements of a control system.

2) Define open loop and closed loop system. (Nov 2017) BL1
The control system in which the output quantity has no effect upon the
input quantity is called open loop control system. The input has no
feedback from the output.
The control system in which the output has an effect upon the input
quantity so as to maintain the desired output values are called closed loop
control system
3) Distinguish between open loop and closed loop system (Nov 2019) BL1
Sl. Open loop Closed loop
No
1. Any Change in output has no Changes in output, affects the
effect on the input. input which of possible by use
of feedback.
2. Feedback element is absent. Feedback element is present.
3. Simple and economical Complex and costly
4. They are generally stable Great efforts are needed to
design a stable system
5. These are not reliable These are reliable
6. If calibration is good, they They are accurate because of
perform accurately feedback

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7. Highly affected by Reduced effect of

nonlinearities nonlinearities
4) What are the advantages and disadvantages of open loop control BL1
systems? (June2014)
Advantages
1.Open loop systems are simple in design and hence economical.
2.Very much convenient when output is difficult to measure.
3.The open loop systems are easier to construct.
4.Generally open loop systems are stable.
Disadvantages
1.The open loop systems are not reliable.
2. The changes in the output due to external disturbances are not corrected
automatically.
3. It cannot sense internal disturbances.
5) State any two advantages of feedback control system (or) State the BL1
advantages of closed loop system over open loop system (May/June
2015)
i) The controlled variable accurately follows the desired value. The
feedback in the control loop allows accurate control of the output. ii) It
greatly improves the speed of its response.
6) Why closed loop systems have a tendency to oscillate? BL2
Controller takes corrective action based on the difference between input
and feedback from the output. The output depends upon the controller
action and so it has the tendency to oscillate.
7) Why negative feedback is preferred in control systems? (Nov 2016) BL2
(May 2017)
The negative feedback results in better stability in steady state and rejects
any disturbance signals. Negative feedback leads to a tight control
situation thereby the corrective action taken by the controller forces the
controlled variable towards the set point.

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8) List the characteristics of negative feedback in control system. BL2

(April/May2018)
 Accuracy in tracking steady state value.
 Rejection of disturbance signals.
 Low sensitivity to parameter variations.
 Reduction in gain at the expense of better stability.
9) What is the mathematical model of a system? BL1
Mathematical model is the mathematical representation of the physical
model of a system through use of appropriate physical laws. For most
physical systems they are characterized by differential equations. A
mathematical model may either be time variant or time invariant.
10) Define the Transfer function of a system. (Nov2010, Nov 2013) BL1
(Nov2014) (May 2021) (May 2023)
The transfer function of a system is defined as the ratio between Laplace
transform of the output and Laplace transform of the input when initial
conditions are zero.
11) Write the force balance equation of ideal dashpot and ideal spring. BL2
(May 2015) (May 2023)

12) State the laws governing mechanical rotational elements. BL1

Newton’s law, which states that the applied torque will be equal to the
sum of torque produced by all mechanical rotational elements (moment of
inertia, viscous friction coefficient, torsional spring stiffness)
13) What are the basic elements used for modeling mechanical BL1
translational system.(Nov 2017)
Mass(M), spring(K) and dashpot (B) are three basic elements used for
modeling mechanical translational system.

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14) Write the differential equations of the mechanical system shown in BL2
figure

d
B ( x 1  x 2 )  K 1x 2  0
dt

d 2 x2
M  B( x 2  x 1 )  K 2 x 2  F ( t )
dt 2

15) Define servo mechanism. (Nov 2018) BL1

The servomechanism is a feedback control system in which the output is
mechanical position (or) time derivatives of position (e.g. velocity &
acceleration).
16) What do you mean by analogous system? BL1
If two systems are said to be analogous to each other if the following two
conditions are satisfied.
 The two systems are physically different
 Differential equation modelling of these two systems are same
Electrical systems and mechanical systems are two physically different
systems. There are two types of electrical analogies of translational
mechanical systems. Those are force voltage analogy and force current
analogy.
17) For the mechanical system shown in figure below Draw the BL2
corresponding Force-Voltage analogy circuit. (May 2019)

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18) Mention the equivalent electrical elements for the mass, damper, BL1
spring elements in mechanical system. (May 2022)
Mech.System Equivalent Electrical Elements
Components Force – Voltage Force – Current
analogous analogous
Mass Inductance (L) Capacitance (C)
Damper Resistance (R) Reciprocal of resistance
(1/R)
Spring Reciprocal of Reciprocal of inductance
capacitance (1/C) (1/L)
19) Tabulate the parameters of the translational and rotational systems. BL1
(May 2019)
S.No Mechanical Mechanical Rotational
Translational system System
1. Force (f) Torque (T)
2. Velocity (v) Angular velocity (𝜔)
3. Displacement (x) Angular displacement(θ)
4. Frictional Coefficient of Rotational coefficient of
Dashpot (B) dashpot (B)
5. Mass (M) Moment of Inertia (J)
6. Stiffness of spring (K) Stiffness of spring (K)
20) What is block diagram? State its components. (May 2017) BL1
A Block Diagram of a system is a pictorial representation of the functions
performed by each component of the system and shows the flow of
signals. The basic elements of block diagram are blocks, branch point and
summing point.
21) What are the disadvantages of block diagram representation? (Nov BL1
2018)
i) Not suitable for MIMO system
ii) Not suitable for nonlinear system

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iii) Reduction of block diagram is becoming tedious for complex systems.

iv) It is time consuming.
22) Write the expressions for Mason’s gain formula. (May2018) BL1
According to Mason's Gain formula,
 Pk  k
k 1, 2...
Overall gain, T (s) 


Where, T = Transfer function of the system, Pk= forward path gain of kth
forward path
 = 1 - (sum of individual loop gain) + (sum of gain products of all
possible combinations of two non-touching loops) - (sum of gain products
of all possible combination of three non-touching loops) +...................
K =  of the Kth forward path.
23) What is the advantage of Signal flow graph method? BL1
(i) It follows a generalized procedure (ii) It is easier to simplify even if the
system has complex structures (iii) Signal flow graph has a systematic
approach, whereas block diagram reduction depends on the complexity of
the system.
24)
Represent the rule for moving a summing point ahead of a block. BL1
(May 2022)

25) Find the transfer function for the signal flow graph showing in figure
BL2
below. (Nov 2019)

Forward Paths Gain:

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2
𝑃 =−
𝑠
1
𝑃 =−
𝑠
Individual loop Gain:
5
𝑃 =−
𝑠
Calculation of ∆ and ∆K :
( s  5)
∆ = 1-P11 = 1+(-5/s) 
s
∆1 = 1, ∆2 = 1
Transfer Function:
T =Pk∆k/  = (P1∆1+ P2∆2)/ ∆

 2  1  3
 s [1]   s [1]  s  3
T (s)   
( s  5) ( s  5) s  5
s s
26) What are the memory elements in mechanical translational and BL1
electrical system? (May 2021)

Mechanical Equivalent Electrical Elements

Translational
System Force – Voltage Force – Current
Components analogous analogous

Mass Inductance (L) Capacitance (C)

Spring Reciprocal of capacitance Reciprocal of
(1/C) inductance (1/L)
PART B
1) (i) Compare open loop and closed loop systems with examples. (May BL2
2016) (May 2017) (Nov 2018)
(ii)Derive the transfer function for an armature-controlled dc motor. (Nov
2015) (Nov 2018) (May 2021)

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2) Define transfer function and derive the transfer function of field control BL3
DC servomotor. (May 2019) (May 2022)
3) Write the differential equations governing the behaviour of the mechanical BL3
system shown in figure below. Draw the force voltage and force current
electrical analogous circuits and verify by writing mesh and node
equations. (April 2011)

4) Write the differential equations governing the system and draw the force BL3
voltage and force current analogous circuit. (May 2015)

5) For the given system BL3

(a)Draw the mechanical network diagram and hence write the differential
equations describing the behavior of the system
(b)Draw the force voltage and force current electrical analogous

6) Write the differential equation governing the mechanical translational BL3

system shown in figure. Draw the electrical equivalent analogy circuit.
(May 2017) (May 2018)

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7) Y2 (s) BL3
Find the transfer function . (Nov 2017)
f ( s)

8) Find the transfer function X2(s)/F(s) for the figure shown below. (Nov BL3
2019)

9) Write the differential equations governing the mechanical rotational BL3

system shown in the figure. Draw the both electrical analogous circuits.
(May 2016)

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10) The block diagram of a closed loop system is shown in fig. using block BL3
diagram reduction technique; determine the closed loop transfer function.
(May 2018)

11) Draw the signal flow graph and evaluate the closed loop transfer function BL3
of a system whose block diagram is given in the following figure. (May
2023)

12) Using block diagram reduction rules, convert the block diagram to a BL3
simple loop. (Nov 2014)

13) Reduce the block diagram shown in figure below. (Nov 2019) BL3

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14) Obtain the transfer function using mason’s gain formula for the given BL3
system. (May 2015).

15) C (s) BL3

Find the overall gain for the signal flow graph shown in Fig. (Nov
R ( s)

2017)

16) Write the differential equations governing the mechanical system shown BL3
in Figure below. Draw the force-voltage and force-current electrical
analogous circuits and verify by writing mesh and node equations. (May
2022)

17) Write the rules of block diagram reduction technique. (May2022) BL2
18) Write the differential equation describing the for the mechanical system BL3
( )
shown in figure below and find the transfer function ( )
. (May2023)

PART C
1) Write the differential equations governing the mechanical system shown BL3

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in the figure. Draw the force –voltage and force current analogous circuits.
(Nov 2016)

2) Using block diagram reduction techniques find the closed loop transfer BL4
functions of the following system and verify it by using signal flow graph
method. (April 2011) (May 2019)

UNIT II – TIME RESPONSE

PART A
1) Distinguish between steady state response and transient response. BL1
Steady state response Transient response
The time response of the The time response of the system
system when time tends to when the input changes from one
infinity state to another.
The response has settled value. The response may be exponential
It is represented by Css or oscillatory. It is represented by
c(t).
2) List the standard test signals used in analysis of control systems? BL1
(April 2011) (June2014) (Nov 2018)
The standard test input signal are step input, ramp input, parabolic input
and impulse input signals. By using above standard test signals of control
systems, analysis and design of control systems are carried out, defining
certain performance measures for the system.

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3) Plot the time response of the first order system to a unit step and unit BL2
ramp input.

4) For the system described by

𝑪(𝑺)
=
𝟏𝟔
Find the nature of time BL2
𝑹(𝑺) 𝑺𝟐 𝟖𝑺 𝟏𝟔

response.
(Nov 2015)
In the given transfer function C(s)/R(s); the value of  n2  16 and 2n 8

8
Hence the value of damping ratio   1
2. 4

Hence the given system is a critically damped system and the step
response of the system will be like:

5) What is the type and order of the system? (Nov2014) (May 2015) (Nov BL1
2017)
Type – The number of poles of loop transfer function that lies at origin.
The type of the system decides the steady state error.
Order- The maximum power of “s” in denominator polynomial
6) Define type and order of the following system (May 2017) BL2
10
G( s) H ( s) 
s ( s  2 s  1)
3 2

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Type = 3 and Order = 5

7) How a control system is classified depending on the value of damping? BL1
(May2018) (May 2023)
 Under damped system (0<𝜻<1)
 Un damped system (𝜻=0)
 Critically damped system (𝜻=1)
 Over damped system (𝜻>1)
where 𝜻 is damping ratio
8) List the time domain specifications. (May 2016) BL1
The performance of control system in time domain is evaluated by the
following specifications, Delay time(td), Rise time (tr), Peak time (tp), Peak
Overshoot(Mp), Settling Time(ts).
9) Define delay time and peak time. BL1
Delay time: It is the time taken for response to reach 50% of the final
value, for the very first time.
Peak time: It is the time taken for the response to reach the peak value for
the very first time.(or) It is the time taken for the response to reach the
peak overshoot, Mp.
10) Define: Settling time. (Nov 2018) BL1
It is the time required for the step response curve of under damped second
order system to reach and stay within a specified tolerance band. It is
usually expressed as % of final value. The usual tolerable error is 2 % or 5
% of the final value.
11) Define maximum peak overshoot. (May 2017) BL1
Maximum peak overshoot is defined as the ratio of maximum peak value
measured from the maximum value to final value.
×
%𝑀 = 𝑒
12) What is steady state error? (April 2011) (May 2018) BL1
The steady state error is the value of error signal e(t) when time (t) tends
to infinity. It is a measure of system accuracy.

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13) Distinguish between generalized error constants over static error BL1
constant.
Static error constants Generalized error constants
1. Do not give the information 1. Gives error signal as a function
regarding the variation of error of time.
with time.
2. Static error constants can be 2. Using generalized error
used only for standard inputs. constant the steady state error can
be determined for any type of
input.

3. Give the definite values for 3. Give the exact error values.
errors, either 0 or or a finite
value.
14) For servomechanism with open loop transfer function given by BL2
𝟏
𝑮(𝒔) = . Determine the position error constant and steady
(𝒔𝟐 𝟐𝒔 𝟑)

sate error for a unit step input. (May 2019)

1 1
𝑃𝑜𝑠𝑖𝑡𝑖𝑜𝑛𝑎𝑙 𝑒𝑟𝑟𝑜𝑟 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡 𝐾 = lim 𝐺(𝑠)𝐻(𝑠) = lim =
→ → ( s  2 s  3)
2
3
1 3
𝑆𝑡𝑒𝑎𝑑𝑦 𝑠𝑡𝑎𝑡𝑒 𝑒𝑟𝑟𝑜𝑟 𝑓𝑜𝑟 𝑢𝑛𝑖𝑡 𝑠𝑡𝑒𝑝 𝑒 = =
1+𝐾 4
15) Find the steady state error of the system 𝑮(𝒔) = 𝟏𝟓
for unit ramp BL2
𝒔(𝒔 𝟖)

input. (Nov 2019) (May 2023)

15
𝐾 = lim 𝑠𝐺(𝑠)𝐻(𝑠) = lim 𝑠 = 1.875
→ → 𝑠(𝑠 + 8)
1 1
𝑒 = = = 0.533
𝐾 1.875
16) What are the applications of root locus method? BL1
i) Root locus is used to study the dynamic response of a system ii) It
visualizes the effects of varying various system parameters on root
locations iii) It provides a measure of sensitivity of roots to the variation in

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the parameter being considered iv) It is applicable for single as well as

multiple loop systems, and it helps to find the closed loop response from
the given open loop transfer function.
17) What are asymptotes? How will you find the angle of asymptotes? BL1
Asymptotes are straight lines which are parallel to root locus going to
infinity and meet the root locus at infinity.
180o (2q  1)
Angles of asymptotes  ; q  0,1, 2,3,....(n  m)
nm

18) State the basic properties of root locus. (Nov 2016) BL1
1. The root locus is always symmetrical about the real axis.
2. If P>Z, Number of root locus branches equal to number of open loop
poles.
3. If Z>P, Number of root locus branches equal to number of open loop
zeroes.
19) Explain the function of a PID controller. BL2
It combines all the three continuous controlling modes, gives the output
which is proportional to the error signal, proportional to the rate of change
of error signal and proportional to the integral of error signal. So, it has all
the advantages of three individual modes. i.e. less rise time, less
oscillations, zero offset and less settling time.e ss = 0 can be achieved.
20) Write the transfer function of the PID controller. (Nov2014) BL1
1
U(s)/E(s) = Kp ( 1 + Tds + )
Ti s

Where Kp – Positional Error Constant

Ti – Integral Time Constant
Td – Derivative Time Constant
21) What is the effect of PD controller on the system performance? (June BL2
2014)
The PD controller introduces a zero in the system and increases damping
ratio. The addition of the zero may increase the peak overshoot and reduce
the rise time. But the effect of increased damping ratio ultimately reduces

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the peak overshoot.

22) What is the effect on system performance when proportional BL2
controller is introduced in the system? (Nov 2015) (Nov 2017)
A proportional controller (P controller) is a control loop feedback
mechanism commonly used in industrial control systems. A P controller
continuously calculates an error value as the difference between a desired
set point and a measured process variable. The controller attempts to
minimize the error over time by adjustment of a control variable. The
major effect on the system performance by the Proportional controller is
the offset, a constant error (permanent deviation between the set point and
a measured process variable)
23) State the effect of PI controller on the system performance. (May BL2
2016)(May 2019) (Nov 2019)
1. Order of the system is increased by one.
2. It introduces zero in the system( Roots in the numerator).
3. The increase in order makes the system less stable than the original one.
4. Reduces the steady state error.
24) Discuss the effect of adding a pole to the open loop transfer function BL2
of the system?
This will reduce the steady-state error and improves steady state
performance. Closer the pole towards the origin the lesser will be the
steady state error. But addition of pole increases the order of the system,
making the system less stable.

25) Discuss the effect of adding a zero to the open loop transfer function BL2
of the system? (April 2011)
The addition of a zero to open loop transfer function of a system will
improve the transient response, reduces the rise time. If the zero is
introduced close to origin, then the peak overshoot will be larger. If the
zero is introduced far away, then its effect is negligible.

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26) What is dominant pole pair? What is its significance? (April 2015) BL1
(May 2018)
The dominant pole is a pair of complex conjugate pole, which decides
transient response of the system. In higher order systems the dominant
poles are very close to origin and all other poles of the system are widely
separated and so they have less effect on transient response of the system.
27) What are the effects of adding open loop poles and zero on the nature BL2
of the root locus and on system? (Nov 2017)

By addition of poles, the root locus shifts towards imaginary axis and
system stability decreases, while by addition of zeroes towards left half,
the root locus moves away from imaginary axis and the system stability
increases.
28) Derive the impulse response of first order system. (May 2021) BL2
Consider the unit sample signal as an input to the first order system
𝑟(𝑡) = 𝛿(𝑡)
Apply Laplace transform on both the sides
R(s)=1
Consider the first order transfer function
( )
= R(s)=1
( )

1
𝐶(𝑠) =
1 + 𝑠𝑇
Rearrange the above equation in one of the standard forms of Laplace
transforms
1
𝐶(𝑠) =
𝑇 𝑠+

Apply inverse Laplace transform on both sides

1
𝑐(𝑡) = 𝑒 𝑢(𝑡)
𝑇

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29) An open loop transfer function of unity feedback system is given as BL2
𝟏𝟎
𝑮(𝒔) = . What is the steady state error? (May 2021)
𝒔 𝟏

Type 0 system
10
𝐾 = lim 𝐺(𝑠) 𝐻(𝑠) = lim = 10
→ → 𝑠+1
Steady state error
1 1
𝑒 = = = 0.09
1+𝐾 1 + 10
30) The damping ratio of a system is 0.75 and the natural frequency of BL2
oscillation is 12rad/sec. Determine the peak overshoot and the peak
time. (May 2022)
ζ = 0.75
. ×
Peak Overshoot 𝑀 = 𝑒 =𝑒 . = 0.028
%Mp= 2.8%
Damped frequency of oscillation

𝜔 =𝜔 1 − 𝜁 = 12 1 − 0.75 = 7.94 𝑟𝑎𝑑/𝑠𝑒𝑐

Peak Time 𝑡 = = = 0.396𝑠𝑒
.

PART-B
1) (i) Derive the step response of a second order under damped system (Nov BL3
2017)
(ii)Explain PID Controller action with block diagram and obtain its
transfer function model. (Nov 2015) (April 2018)
2) Derive the time response of undamped and critically damped second order BL3
sytem for unit step input. (May 2017) (May 2018)(Nov 2018) (Nov 2019)
3) The open loop T. F of a servo system with unity feedback system is G(s) BL3
10
 Evaluate the static error constants of the system. Obtain the
s (0.1s  1)

steady state error of the system, when subjected to an input given by the
a2 2
polynomial r(t) = a0 + a1t + t Also find the generalized error constants
2

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and hence ess .(April 2014) (April 2015)

4) A unity feedback control system has an open loop transfer function G(s) BL3
5
 Find the rise time, peak overshoot, peak time, settling time, for a
s( s  1)

step input of 10 units. Also determine the peak overshoot. (April 2011)
5) The unity feedback system characterized by open loop transfer function BL3
G(s)=K/[s(s+10)].Determine the gain K such that the damping ratio will
be 0.5 and find the time domain specifications for a unit step input. (May
2015)
6) The open loop transfer function of a unity feedback system is given by BL3
G(s)= . The input to the system is described by r(t)=4+6t.Find the
( )

generalized error coefficients and steady state error (Nov/Dec 2015)

7) (i) For a unity feedback control system, the open loop transfer function is BL3
given by
10(𝑠 + 2)
𝐺(𝑠) =
𝑠 (𝑠 + 1)
(a)Find the position, velocity and acceleration error co-efficient.
(b) Also find the steady state error when the input is 𝑅(𝑆) = − +

(May 2016) (May 2022)

(ii) With the neat diagram explain the working of PD controller in

detail.(May 2016)
8) (i) A unity feedback system has open loop transfer function BL3
G(s)=K/[s(s+2)].Find the rise time, peak time, percentage overshoot and
settling time for step input of 12 units. (May 2017)
(ii) For servomechanism with open loop transfer function shown below
explain what type of input signal give rise to a steady state error and
calculate their values. (May 2017)
(1) G(s)=[20(s+2)]/[s(s+1)(s+3)]
(2) G(s)=10/[s(s+2)(s+3)]
9) i) Outline the time response of first order system when it is subjected to a BL3

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unit step input. (May 2018)

ii) Determine the response of the unity feedback system whose open loop
4
transfer function is G(s)  . (May 2018)
s(s  5)

10) i) A unity feedback system has the forward transfer function BL3
K (2s  1)
G( s )  . when the input r(t)=1+6t, determine the minimum
s(5s  1)(1  s) 2
value of K so that the steady error is less than 0.1. (May 2023)
ii) Derive the transfer function of PID controller. (May 2018) (Nov 2019)
11) A unity feedback system is characterised by the open loop transfer BL3
function
1
G ( s)  . (May 2019)
s(0.5s  1)(0.2s  1)
( )
i) Write the closed loop transfer function .
( )

ii) Calculate steady state error due to unit step input.

12) i) A closed loop control system is represented by the differential equation BL3

+4 = 14ewhere e = r – c is the error signal. Determine the

undamped natural frequency, damping ratio and percentage maximum

overshoot for a unit step input.
ii) A unity feedback system is characterized by the open loop transfer
function

1
𝐺(𝑠) =
𝑠(0.5𝑠 + 1)(0.2𝑠 + 1)
Determine the steady state errors for unit-step, unit-ramp, and unit-
acceleration input. (May 2021)

13) Sketch the root locus of the system 

k
and determine the value BL3
s( s  2)(s  4)

of K such that the damping ratio of the closed loop system is 0.5(April
2015)
14) The open loop transfer function of a unity feedback system is given by BL3

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G(s) = K/s(sT+1), where K and T are positive constant. Identify the

amplifier gain K for reducing peak overshoot of unit step response of the
system from 0.75 to 0.25. (May2022)
15) A position control system with velocity feedback is shown in Fig. BL3
(i.e.G(s)=16/s(s+0.8) and H(s)=Ks+1).Find the response c(t) to the unit
step input. Given that ξ=0.5. Also calculate rise time, peak time,
maximum overshoot and settling time. (May2022)

16) Explain the step by step procedure for constructing the root locus with BL2
example. Also, show the typical sketches of root locus plots. (May 2022)
17) The open loop transfer function with unity feedback system is given BL3
5
G(s) =
𝑠(𝑠 + 4)
Determine the damping ratio (ζ), natural frequency (𝜔n), peak time, rise
time and maximum overshoot. Also find the unit step response.(May
2023)
PART C
1) The forward path transfer function of a unity feedback system is given by, BL5

K
G(s) =
s(s + 4)(s + 5)
Sketch the root locus as K varies from zero to infinity. (May 2023)
2) Draw the root locus of the following system. (Nov 2014) BL5
k
G(s)H(s)  . (Or)
s( s  1)(s  2)

A unity feedback system has an open loop transfer function

K
G ( s)  . Make a rough sketch of the root locus of the system,
s ( s  1)( s  2)
explicitly identifying the centroid, the asymptotes, the departure angles
from the complex poles of G(s) and the j𝜔 axis crossover point. By trial
and error application of the angle criterion, locate a point on the locus that
gives dominant closed loop poles with 𝜻=0.5. Evaluate the value of K at
this point. (May 2019)

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3) A unity feedback control system has an open loop transfer function. BL5
Sketch the root locus.G(S) = . (May2018)
( )
4) Construct the root locus of the open loop transfer function (May BL5
2021)𝐺(𝑠)𝐻(𝑠) = ( )( )
k ( s  3)
5) Sketch the root locus of the system having G ( s )  (May BL5
s ( s  1)( s  2)( s  4)
2013) (Nov 2018)
UNIT III FREQUENCY RESPONSE
PART A
1) What is meant by frequency response? (May 2017) BL1
The magnitude and phase function of sinusoidal transfer function of a
system are real function of frequency 𝜔 and so they are called frequency
response. The frequency response can be evaluated for open loop and
closed loop system.
2) List any two advantages of frequency response analysis. (April 2005) BL1
(April 2011) (May 2018). Why frequency domain analysis is needed.
(Nov 2018)
(a) The absolute and relative stability of the closed loop system can be
estimated from the knowledge of the open loop frequency response.(b)
The practical testing of system can be easily carried with available
sinusoidal signal generators and precise measurement equipment.(c) The
transfer function of the complicated functions can be determined
experimentally by frequency response tests.(d) The design and parameter
adjustments can be carried more easily.(e)The corrective measure for
noise disturbance and parameter variation can be easily carried.(f)It can be
extended to certain non - linear systems
3) What are frequency domain specifications? List it out. (Nov 2017) BL1
The frequency domain specifications indicate the performance of the
system in frequency domain; they are resonant peak, resonant frequency,
Band width, Phase margin, Gain margin

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4) Define resonant peak and resonant frequency (June 2014) (Nov 2014) BL1
Resonant peak: The maximum value of the magnitude of closed loop
transfer function is called resonant peak. A large resonant peak
corresponds to a large overshoot in transient response.
Resonant frequency: The frequency at which the resonant peak occurs is
called resonant frequency. This is related to the frequency of oscillation in
the step response and thus it is indicative of the speed of transient
response.
The resonant frequency, r  n 1  2 2

5) The damping ratio and natural frequency of oscillations of a second BL2

order system is 0.3 and 3 rad/sec respectively. Calculate resonant
frequency and resonant peak. (May 2019) (May 2022)
Resonant frequency 𝜔 = 𝜔 1 − 2𝜁 = 3√1 − 2 × 0.3 = 2.71 𝑟𝑎𝑑/
𝑠𝑒𝑐
1 1
Resonant Peak 𝑀 = == = 0.57
2𝜁 1 − 𝜁 2 × 0.3√1 − 0.3
6) Define the term Gain Margin. (Nov 2014) (May 2021) (May 2022) BL2
The gain margin is the factor by which the system gain can be increased to
drive it to the verge of instability. It may be defined as the reciprocal of
the gain at the phase cross over frequency (pc). The phase cross over
frequency is the frequency at which the phase is 180.
1
Gain margin Kg 
G ( j pc )

The gain margin in db can be expressed as

1
Kg in db  20log Kg  20log
G( j pc )

7) Define phase margin. (April 2004) (Nov 2014) (May 2015) (May 2018) BL2
(May 2021) (May 2023)
The phase margin is defined as the amount of additional phase lag at the
gain crossover frequency (gc) required to bring the system to the verge of

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instability.
Phase margin  = gc + 180Where gc =  G (j) H (j) at  = gc

8) Define Gain Crossover Frequency. (April 2011) (May 2016)(Nov 2019) BL2
The gain crossover frequency is the frequency at which the magnitude of
open loop transfer function is unity. It is represented by 𝜔gc.
9) Define phase cross over frequency. (May 2016) BL2
The phase cross over frequency is the frequency at which the phase of
open loop transfer function is 180. It is represented by 𝜔pc.
10) Obtain the corner frequencies of the system G(s)H(s) = BL1
(s+0.5)/(s+0.25) (s+4)
Corner frequency for the polynomial (1+sT) is 1/T
Corner frequency for the polynomial (s+0.5) is 0.5
Corner frequency for the polynomial (s+0.25) is 0.25
Corner frequency for the polynomial (s+4) is 4
11) What is meant by the term ‘corner frequency’? (May 2018) BL1
Asymptotic straight lines can approximate the magnitude plot. The
frequencies corresponding to the meeting point of asymptotes are called
corner frequencies. The slope of the magnitude plot changes at every
corner frequency.
12) What is bode plot? State the advantage of Bode plot. BL1
The bode plot is a frequency response plot of the transfer function of a
system. It consists of two plots, magnitude plot and phase plot.
Magnitude plot: Plot between magnitude in db and log for various
values of .
Phase plot: Plot between phase in degrees and log for various values of
.
Usually both the plots are plotted on a common X-axis in which the
frequencies are expressed in logarithmic scale.
Advantages: (a) The approximate plot can be sketched quickly, (b) The
frequency domain specifications can be easily determined; (c) The Bode

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plot can be used to analyze both open loop and closed loop system.
13) What is an approximate bode plot. BL1
In approximate bode plot, the magnitude plot of first and second order
factors are approximated by two straight lines, which are asymptodes to
exact plot. One straight line is at 0dB, for the frequency range of 0 to 𝜔c
and other straight line is drawn with a slope of ±20n db/sec for the
frequency range 𝜔c to ∞ .
14) If the bode plot crosses 180° line, either at very low frequencies or BL2
very high frequencies in the selected frequency range. What is the
inference regarding the relationship between open loop gain and
stability? (May 2019)
It is an indication that the closed loop response will be either absolutely
stable or unstable, irrespective of the value of the open loop gain. So even
if the phase line just grazes the 180° line without crossing it, it can be
taken as phase crossover frequency 𝜔pc using which gain margin can
determine.
15) What does a gain margin close to unity and phase margin close to zero BL1
indicate? (Nov 2016)
The gain margin close to unity and phase margin close to zero indicate
that the system is relatively stable
16) Why is frequency domain compensation normally carried using the BL2
bode plots? (Nov 2016)
The frequency domain compensation may be carried out by using Nyquist
plots, bode plots and Nicholas charts. Out of them normally bode plots are
preferred because they are easier to draw and modify. Also, the gain
adjustments can be carried out and the error constants are always clearly
in evidence in the bode plots.
17) Sketch the polar plot for G(s)=1/1+sT (April 2015) (May 2023) BL2
In the given transfer function, the type of the system is zero and the order
is 1.

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So, the model polar graph will be like:

18) Show the shape of the polar plot for the transfer function K/s (1 BL2
+sT1)(1 +sT2) (Nov 2018)

19) Sketch the polar plot of 10/s2 (or) draw the approximate polar plot BL2
for type 0 second order system. (Dec 2015)

20) What is a minimum phase transfer function? BL2

A transfer function, which has all poles and zeros in the left half s–plane is
known as minimum phase transfer function. The minimum phase systems
are systems with minimum phase transfer functions.
21) What are all pass systems and non-minimum phase transfer function? BL2
All pass systems: The magnitude is unity at all frequencies and the
transfer function will have anti symmetric pole zero pattern (i.e. for every
pole in the left half of s – plane, there is a zero in the mirror image
position with respect to imaginary axis.
Non-minimum phase transfer function: A transfer function, which has one
or more zeros in the right half s – plane is known as non-minimum phase
transfer function.

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22) How is the closed loop frequency response determined from the open BL2
loop frequency response using Nichols chart?
The G(j𝜔) locus or the Nichols plot is sketched on the standard Nichols
chart. The meeting point of M-contour with G(j𝜔) locus gives the
magnitude of closed loop system and the meeting point with N-circle
gives the argument/phase of the closed loop system.
23) What is the phase shift contributed by single pole at origin in a BL1
transfer function?
The phase shift contributed by single pole at origin in a transfer function is
-90°.
24) Find the type and order of the system 𝑮(𝒔) = 𝟏𝟎
(May 2021) BL1
𝒔𝟐 (𝒔 𝟏)(𝒔 𝟐)

Type : 2, Order: 4
PART B
1) Derive the expression for the frequency domain specifications. (Nov BL3
2018)
2) 1 BL4
Sketch the polar plot of G(s)  and determine the
[ s (1  0.5s)(1  0.02 s)]

phase cross over frequency. (May 2022)

3) Sketch the Bode plot for the following transfer function and obtain gain BL4
20
and phase cross over frequencies. G(s)  (April 2011)
[ s(1  0.4s)(0.1s  1)]

4) The open loop transfer function of a unity feedback system is given by BL4
1
G ( s)  Sketch the polar plot and determine the phase
[ s (1  s)(1  2s )]
2

margin and gain margin. (April 2011) (April 2015)

5) Sketch the Bode plot showing the magnitude in db and phase angle in BL4
degrees as a function of log frequencies for the following transfer function
75(1  0.2s )
G (s)  and obtain gain and phase cross over frequencies.
[ s ( s 2  16 s  100)]

(April 2014) (April 2018) (May 2022)

6) (i)Discuss the correlation between the time and frequency response of BL2

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second order system. (April 2014) (Nov 2015) (Nov 2018)

(ii) Explain the use of nichol’s chart to obtain closed loop frequency
response from open loop frequency response of unity feedback system
(Nov/Dec 2015) (Nov 2018)
7) 10 BL4
Using Bode plot of the following system G ( s)  and
[ s (.1s  1)(0.01s  1)]

hence obtain the gain crossover frequency. (Nov 2014)

8) Using polar plot determine the gain cross over frequency, phase cross over BL4
frequency, gain margin, phase margin feedback system with open loop
1
transfer function G ( s)  . (Nov 2014)
[ s (1  0.2s)(1  .002s)]

9) Sketch the Bode plot for the following transfer function and obtain gain BL4
10
and phase cross over frequencies. G ( s )  (April 2015)
[ s (1  0.4 s )(0.1s  1)]

(May 2016) (May 2017)

10) Sketch the Bode plot for the following transfer function and obtain gain BL4
and phase margin and closed loop system stability.
4
G(s)  (Nov 2015)
[ s (1  0.5s )(0.08s  1)]

11) The open loop transfer function of the unity feedback system is given by BL4
𝐺(𝑆) = Sketch the polar plot and determine the gain and phase
( )

margin. (May 2016)(May 2021)

12) 1 BL4
Sketch the polar plot of G(s)  and determine the phase
[ s (1  s )(1  2s )]

margin and gain margin. (Nov 2016) (May 2017)(May 2023)

13) Sketch the Bode plot for the following transfer function BL4
1
G ( s)  and obtain gain and phase margin. (Nov 2016)
[ s( s  3s  5)]
2

14) Sketch the polar plot for the following transfer function and find gain BL4
cross over frequency, phase cross over frequency, gain margin and phase

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400
margin for G ( s)  .(Nov 2017)
s( s  2)(s  10)

15) Construct the polar plot and determine the gain and phase margin of a BL4
unity feedback control system whose open loop transfer function is,
(1  0.2s)(1  0.025s)
G ( s)  (May 2018)
s (1  005s)(1  0.001s)
3

16) Sketch the Bode plot for the following transfer function and obtain gain BL4
100
and phase margin and closed loop system stability. G ( s ) 
s( s  1)( s  2)

(May 2019).
17) Sketch the polar plot for the following open loop transfer function and BL4
1
determine the gain margin and phase margin G ( s )  .(May
(1  s )(1  2 s)

2019)
18) 100( s  1) BL4
Draw the bode plot for the transfer function H ( s)  (Nov
( s  10)(s  100)

2019)
19) Sketch the Bode plot for the given transfer function. Determine Gain BL4
cross-over frequency phase cross-over frequency, gain margin and phase
margin (May 2021)
2000
G(s) H (s) 
s( s  2)(s  100)

20) Sketch the Bode plot for the transfer function BL4
1000
G(s) =
[s(1 + 0.1s)(1 + 0.001s)]
Determine Gain crossover frequency, Phase crossover frequency, Gain
Margin and Phase margin. (May 2023)
PART C
1) Ke  0. 2 s
BL4
Given G ( s )  . Find K so that the system is stable with Gain
[ s ( s  2)( s  8)]
margin equal to 6 db and (b) Phase margin equal to 450 using bode plots.
2) Sketch the bode plot and hence find gain cross over frequency, phase cross BL4
over frequency, gain margin and phase margin for the function. (Nov/Dec
2017)

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10( s  3)
G ( s)  .
s( s  2)(s 2  4s  100)
UNIT IV – STABILITY AND COMPENSATION
PART A
1) Define asymptotic stability. (April 2004) (Nov 2018) BL1
In the absence of the input, the output tends towards zero (the equilibrium
state of the system) irrespective of initial conditions. This stability concept
is known as asymptotic stability.
2) State the necessary conditions for the Routh’s criterion for stability. BL2
(April 2015)/ What ate the necessary condition for stability. (Nov
2017) (May 2022)
A necessary and sufficient condition for stability is that all of the elements
in the first column of the Routh array be positive. If this condition is not
met, the system is unstable and the number of sign changes in the
elements of the first column of the Routh array corresponds to the number
of roots of the characteristic equation in the right half of the s – plane.
3) What are the characteristics of an unstable system? (Nov 2004) BL2
The system will give unbounded output for a bounded input, the system
has roots with positive real part, the system has repeated roots on jω axis.
4) Distinguish between relative stability and absolute stability. BL2
Relative stability Absolute stability
Relative stability is a quantitative A system is absolutely stable
measure of how fast the transients if it is stable for all values of
die out in the system. It may be system parameters.
measured by relative settling times
of each root or pair of roots.
It is defined based on the location It is defined based on the
of roots with respect to imaginary location of roots with respect
axis passing through a point other to imaginary axis passing
than the origin. through the origin.

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5) What is meant by characteristic equation? What is its significance? BL1

(May 2016) (May 2017)
The denominator polynomial of closed loop transfer function equated to
zero is the characteristic equation. It tells about the stability of the system.
6) For what range of K the following system shown below is BL2
asymptotically stable. (May 2019)

Characteristic equation is given by

1+G(s)H(s) = 0
𝐾(𝑠 − 5)
1+ =0
𝑠+4
(K+1) s-5K+4=0

Using Routh Hurwitz criterion,

s1 K+1 0

s0 4-5K
For marginal stability,
K+1>0
4-5K>0
Hence range of K is -1<K<4/5
7) How are the locations of roots of characteristic equation related? (or) BL2
How are the roots of characteristic equation related to the stability of
system (June 2014) (Nov 2015) (May 2023)
a) If all the roots of the characteristic equations have –ve real parts, the
system is bounded Input bounded output stable.
b) If any root of the characteristic equation has a +ve real part the system
is unbounded and the impulse response is infinite and the system is
unstable.
c)If the characteristic equation has repeated roots on the j axis the system

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is unstable.
d)If the characteristic equation has non-repeated roots on the j axis the
system is limitedly Stable.
8) What are compensators? (Nov 2014) BL1
In control systems design, under certain circumstances it is necessary to
introduce some kind of corrective subsystems to force the chosen plant to
meet the given specifications. These subsystems are known as
compensators and their job is to compensate for the deficiency in the
performance of the plant.
9) Why compensation is necessary in feedback control systems? (April BL2
2011) (June 2014) (April 2015) (May 2019)
In feedback control systems compensation is required in the following
situations.
1. When the system is absolutely unstable, then compensation is required
to stabilize the system and also to meet the desired performance.
2. When the system is stable, then compensation is required to meet the
desired performance.
10) What is lag compensator? Give an example? BL1
A compensator having the characteristics of a lag network is called lag
compensator. If a sinusoidal signal is applied then in steady state output
there will be a phase lag with respect to input. E.g. R-C network.
11) What is lead compensator? Give an example? BL1
A compensator having the characteristics of a lead network is called a lead
compensator. It gives a phase lead with respect to input if applied with
sinusoidal signal. A R- C network can realize it.

12) What is the basis for selection of particular compensator for a BL1
system? (Nov 2015)
When transient response needs is to improved, a lead compensator is
chosen.When staedy state response is to be improved, while nearly
preserving the transient response, a lag compensator is chosen.When both

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the transient and steady state response are to be improved, a lag lead
compensator is chosen,
13) What is lag-lead compensator. (May 2016) (May 2017) BL1
A compensator having the characteristics of lag-lead network is called lag-
lead compensator. In lag-lead network when sinusoidal signal is applied,
both phase lag and phase lead occur in the output, but in different
frequency regions. Phase lag occurs in the low frequency region and phase
lead occurs in the high frequency region (i.e) the phase angle varies from
lag to lead as the frequency is increased from zero to infinity.
14) Give the need for lag/lag-lead compensation. (Nov 2017) BL1
Phase lag network allows low frequencies and high frequencies are
attenuated. It provides high steady state accuracy. Lag-lead compensator
provides high steady state accuracy and speed of response.
15) State the property of a lead compensator. (Nov 2013) BL1
The lead compensation increases the bandwidth and improves the speed of
response. It also reduces the peak overshoot. If the pole introduced by the
compensator is not cancelled by a zero in the system, then lead
compensation increases the order of the system by one. When the given
system is stable/unstable and requires improvement in transient state
response then lead compensation is employed.
16) Write the transfer function of a typical lag lead compensator. (April BL1
2005) (June 2014)
 1  1 
 s  s  
1 2
G (s)    
 1  1 
s  s  
  1   2 

The lag section has pole at s = -1/β τ1 and a zero at s = -1/τ1. The lead
section has pole at s = -1/α τ1 and a zero at s = -1/τ2
17) Write the transfer function of a typical lead compensator and draw its BL1
pole-zero plot (April 2011)
 
 s  1 
G (s)    
 1 
 s  
  

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Pole zero plot:

18) Draw the circuit of lead compensator and draw its pole zero diagram. BL2
(May 2011) (Nov 2018) (May 2023)
1 1
The lead compensator has a pole at s   and a zero at s   .
T T

Pole-zero Electrical circuit Bode plot

diagram

19) What are the effects and limitations of phase lag control? (Nov 2016) BL1
(i)For a given forward path gain, K the magnitude of forward path transfer
function is attenuated near the above the gain cross over frequency, thus
improving the relative stability of the system.
(ii)The gain cross over frequency is decreased and thus the bandwidth of
the system is reduced.
(iii)The rise time nad settling time of the system are usually longer,
because the bandwidth is usually decreased.
(iv)The system is more sensitive to the parameter variations because the
sensitivity function is greater than unity for all frequencies approximately
greater than bandwidth of the system.
20) State Nyquist stability criterion. (May 2012) (May 2013) (June 2014) BL1
(May 2016) (May 2017)(May 2021)(Nov 2019).
If G(s)H(s) contour in the G(s)H(s) plane corresponding to Nyquist
contour in s-plane encircles the point -1+j0 in the anti-clockwise direction

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as many times as the number of right halves of s-plane poles of G(s)H(s).

Then the closed loop system is stable.
21) Write the transfer function of lag compensator and draw its pole-zero BL2
diagram (April 2015) (Nov 2015)
A system which has one zero and one dominating pole (the pole which is
closer to origin that all other poles is known as dominating pole) is known
as lag network. The basic requirement of the lag network is that all poles
& zeros of the transfer function of the network must lie in (-) ve real axis
interlacing each other with a pole located or on the nearest to the origin.
 
 1  Ts 
G (s)  
1
  Ts 


The above network provides a high frequency gain of 1/𝛽

22) What are the two notions of system stability to be satisfied for a linear BL1
time invariant system to be stable? (Nov 2016)
The two notions of system stability to be satisfied for a linear time
invariant system to be stable are (i)When the system is excited by a
bounded input, the output is bounded.(ii)In the absence of the input, the
output tends to zero irrespective of initial conditions.
23) Draw the frequency response of lead compensator. (Nov 2019) BL2

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24) Compare lag compensator with lead compensator. (May 2021) BL2
Lag compensator Lead compensator
Lag compensator is a basically Lead compensator is a basically
low pass filter high pass filter
Lag compensator improves the Lead compensator increases the
steady state performance, reduce bandwidth, improves the speed
the bandwidth and increases the of response and reduces the peak
rise time overshoot
When the system is stable and When the system is stable or
does not satisfy the steady state unstable and requires to
performance specifications then improvement in transient state
lag compensation is employed response then lead compensator
is employed
25)
Draw the Bode plot of lag compensator. (May 2022) BL2

PART B
1) Construct Routh Array for the following Characteristic equation and BL3
determine its stability. Also comments on the location of the roots. (May
2023)
(i) s5+s4+4s3+24s2+3s+63=0
(ii) 2s4+2s3+s2+3s+2=0
2) The characteristic equation of a feedback control system is given by BL3
s4+20s3+15s2+2s+K=0. Determine the value of K which will cause
sustained oscillations in the closed loop system. What are the
corresponding oscillating frequencies? (April 2011)

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3) (i)The open loop transfer function of a unity feedback control system is BL3
given by
K
G(S)=
[(s  2)(s  4)(s 2  6s  25)]

By applying Routh criterion discuss the stability of the closed system as a

function of K. Determine the values of K which will cause sustained
oscillations in the closed loop system. What are the corresponding
frequencies? (April 2014) (Nov 2015)
4) Determine the stability of the given characteristic equation using Routh- BL3
Hurwitz criterion
(a) s5+4s4+8s3+8s2+7s+4=0(May 2016) (May 2019)
(b) s6+s5+3s4+3s3+3s2+2s+1=0 (April 2015)
5) Find the stability of the system with characteristic equation BL3
2s4+s3+8s2+s+1=0 using Routh Hurwitz Stability criteria, state its
advantages and limitations. (Nov 2019)
6) Determine the value of K for which the system describes by the following BL3
characteristics equation is stable S3+KS2+(K+2) S+4=0 (Nov 2016)
7) Using Routh Hurwitz criterion, determine the stability of a system BL3
representing the characteristic equation s4+8s3+18s2+16s+5=0. Comment
on the location of roots of the characteristic equation. (May 2017)
8) A unity feedback control system is characterized by the open loop transfer BL3
K ( s  13)
G ( s ).  . Using Routh criterion, calculate the range of values of K
s ( s  3)( s  7)

for the system to be stable. Also determine the value of K the system
become marginally stable and calculate the frequency of oscillation if
any.(May 2021)
9) Explain in detail the design procedure of lag–lead compensator using BL3
Bode plot. (May 2013) (April 2015)
10) (i) Explain in detail the design procedure of lag compensator using Bode BL3
plot. (April 2014) (April 2015) (May 2016) (May 2017)
(ii) Derive the transfer function of lag-lead compensator. (Nov 2015)

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11) Explain in detail the realization of lag, lead and lag-lead electrical BL3
network. (May 2017)
12) Design a lead compensator fora unity feedback control system has an open BL4
k
loop transfer function G(s)= for the specifications of KV=10sec-
[ s ( s  1)]
1
and phase margin is 35. (Nov 2016)
13) Explain in detail the design procedure of lead compensator using Bode BL3
plot. (Nov 2015) (May 2022)
14) ConstructtheRoutharrayanddeterminethestabilityofthesystemrepresentedby BL3
thecharacteristicsequations5+s4+2s3+2s2+3s+5=0. Comment on the
location of the roots of characteristics equation. (May 2022)
PART C
1) Consider the unity feedback whose open loop transfer function is BL6
𝐾
𝐺(𝑠) =
𝑆(0.1𝑠 + 1)(0.2𝑠 + 1)
System to be compensated to meet the following specifications: Static
velocity error constant = 30 /sec, Phase margin ≥50-degree, Bandwidth
(𝜔b) = 12 rad/sec. (Nov 2018)
2) K BL6
For the given system, G( s)  , design a suitable lag-lead
s( s  1)(s  2)

compensator to give velocity error constant =10sec-1, phase margin=50ᵒ,

gain margin≥10dB. Realize the basic compensators using electrical
network and obtain the transfer function. (Nov 2017)
3) Design a lead compensator for unity feedback system whose open loop BL6
transfer function𝐺(𝑠) = ( )(
to satisfy the following condition
)

i) Velocity error constant Kv≥50

ii) Phase margin ≥20 degrees. (May 2018)
4) Design a lag compensator for the system 𝐺(𝑠) = to satisfy the BL6
( )

following specifications: (i) Static velocity error constant Kv =10 sec-1,

(ii). Phase margin ϕm ≥60o. (May 2019)

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5) Design a lag compensator for the system to have a phase margin of 65 BL6
degrees
1
𝐺(𝑠) =
(𝑆 + 1)(0.25𝑠 + 1)
H(s)=1, Maximum steady state error for unit step input =0.1. (Nov 2019)
6) Sketch the Nyquist plot for the system whose open loop transfer function. BL6
K
G(s) H(s) = And find the range of K for stability of closed
[ s ( s  2)( s  10)]

loop. (May 2016)

7) By use of Nyquist stability criterion determine whether the closed loop BL6
system having the following open loop transfer function is stable or not .If
not how many closed loop poles lies in the right half s-plane G(s)H(s)=
( s  2)
(Nov/Dec 2015) (Nov 2019)(Nov 2017)
[( s  1)( s  1)]

8) ConstructtheNyquistplotforasystemwhoseopenlooptransferfunctionisgiven BL6
K (1  s) 2
by G( s)  , find the range of K for stability. (May 2018) (May
s3
2023)
9) Design a suitable phase lag compensating network for BL6
𝐾
𝐺(𝑠) =
𝑠(1 + 0.1𝑠)(1 + 0.2𝑠)
to meet the following specifications Kv = 30 sec-1, Phase margin ≥ 40o
(May 2023)
UNIT V STATE VARIABLE ANALYSIS
PART A
1) What are the advantages of state space analysis? (Nov 2011) (May BL1
2013) (May 2018) (May 2019) (May 2021) (May 2023)
a) The state space analysis is applicable to any type of systems. They can
be used for modelling and analysis of linear and nonlinear systems,
time variant and time invariant systems and multi input multi output
systems.
b) The state space analysis can be performed with initial conditions.

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c) The variables used to represent the system can be any variables in the
system.
d) Using this analysis, the internal states of the system at any time instant
can be predicted.
2) What is state space? (May 2016) BL1
The set of all possible values which the state vector X(t) can have at time
‘t’ forms the state space of the system.
3) Define state and state variable. (Nov 2012) (May 2013) (Nov 2015) BL1
State: the state is the condition of a system at any time instant.
State variable: a set of variables which describe the state of the system at
any time instant are called state variables.
4) What are phase variables? BL1
The phase variables are defined as those particular state variables which
are obtained from one of the system variable and its derivatives. Usually
the variable used is the system output and the remaining state variable and
then derivatives of the output.
5) Write the properties of state transition matrix. (May 2010) (May BL1
2014)
The following are the properties of state transition matrix.
1. (0)  eA0  I (unit matrix)

   (t)
1 1
2.  (t )  e At  e At
3.  (t1  t2 )  e A(t1 t2 )  e At1 e At2   (t1 )(t2 )   (t2 ) (t1 )

6) Define: State equation. (Nov2013) BL1

The state variable model can be represented in the form of n first order
differential equations as
dX 1 
 X 1 ( t )  A11 X 1 ( t )  A12 X 2 ( t )  , .......  A1 n X n ( t )  B1u ( t )
dt
dX 2 
 X 2 ( t )  A21 X 1 ( t )  A22 X 2 ( t )  ,.......  A2 n X n ( t )  B 2 u ( t )
dt
:
:
dX n 
 X n ( t )  An1 X 1 ( t )  An 2 X 2 ( t )  , .......  Ann X n ( t )  B n u ( t )
dt

These equations are called state equations

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7) What is state diagram? What are the basic elements used to construct BL1
the state diagram?
The pictorial representation of the state model of a system is called state
diagram. The state diagram of the system can be either in block diagram
or in a signal flow graph form. The basic elements used to construct the
state diagram are scalar, adder and integrator.
8) What are the advantages of state space modelling using physical BL1
variables?
(a)The state variable can be utilized for the purpose of feedback.
(b)The implementation of design with state variable feedback becomes
straight forward.
(c) The solution of state equation gives time variation of variables which
have direct relevance to the physical system.
9) What are the advantages and disadvantage in canonical form of state BL1
model?
The advantage of canonical form is that the state equations are
independent of each other. The disadvantage is that the canonical variables
are not physical variables and so they are not available for measurement
and control.
10) Write the solution for homogenous state equations. BL1
The solution of homogenous state equation is X(t) = eAt X0
where X(t) = State vector at time time, t
eAt = State transition matrix
X0 = Initial condition vector at t=0
11) What is resolvant matrix. BL1
The laplace transform of state transition matrix is called resolvant matrix.
Resolvant matrix ϕ(s) = £[ϕ(t)] = £[eAt]
Also ϕ(s) = [SI-A]-1
12) How is the model matrix determined? (May 2012) BL2
The model matrix M can be formed from eigenvectors. Let m1, m2,

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m3,....mn be the eigen vectors of a nth order system. Now the modal matrix
M is obtained by arranging all the eigen vectors column wise as shown
below. Modal matrix = M = [ m1 m2 m3 ,.... mn]
13) Give the concept of controllability. (Nov 2013) (Nov 2015) (May 2017) BL2
A system is said to be completely state controllable if it is possible to
transfer the system state from any initial state X(t0) at any other desired
state X(t), in specified finite time by a control vector U(t). Controllability
test is necessary to find the usefulness of a state variable. If the state
variables are controllable then by controlling the state variables the
desired outputs of the system are achieved.
14) When is a system said to be completely observable? (May 2016) BL2
A system is said to be completely observable if every state X(t) can be
completely identified by measurements of the output Y(t) over a finite
time interval.
15) State the concept of observability? (May 2018) (Nov 2018) (May 2022) BL2
The observability test is necessary to find whether the state variables are
measurable are not. If the state variables are measurable then the state of
the system can be determined by practical measurements of the state
variables.
16) What is the necessary condition for complete Observability of a BL2
system? (Nov 2019)
For a nth order system described by state model
𝑋̇ = 𝐴𝑋 + 𝐵𝑈
𝑌 = 𝐶𝑋 + 𝐷𝑈
We can form a composite matrix Q0 where,
𝑄 = [𝐶 𝐴 𝐶 (𝐴 ) 𝐶 (𝐴 ) 𝐶 … . . (𝐴 ) 𝐶 ]
If the system is completely observable if the rank of composite matrix Q 0
is n.
17) State the limitations of state variable feedback. (Nov 2016) BL1
The limitations of state variable feedback are more states are to be known.

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These states can either measured or estimated. This technique is

insensitive to system parameter changes and external disturbances.
18) For a first order differential equation described by 𝑿̇=Ax(t)+bu(t). BL2
Draw the block diagram form of the state diagram. (Nov 2016).

19) Draw the block diagram representation of state model. (May 2017) BL2
(May 2023)

20) State the mechanism in control engineering which implies an ability to BL1
measure the stable by taking measurement at output. (May 2019)
Observability and Controllability are the two methods to check the output
response characteristics and observability in control engineering implies
an ability to measure the stable by taking measurement at output.
21) Find the controllability matrix for the system BL2
𝑥̇ −2 −3 𝑥 1
= + 𝑢
𝑥̇ 1 0 𝑥 0
𝑥
𝑦 = [0 1] 𝑥

1 −2
𝑄 = [𝐵 𝐴𝐵] = =1≠0
0 1
The rank of Qc is 2
The system is completely controllable.
22) Write the state model of a linear time invariant system. (May 2021) BL1
The state model of a linear time invariant system is given by
𝑋̇ = 𝐴𝑋 + 𝐵𝑈
𝑌 = 𝐶𝑋 + 𝐷𝑈

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𝑋̇ - Differential state vector

Y – Output vector ,U – Input vector, A – State matrix, B – Input matrix, C
– Output matrix, D – Transition matrix
23) List the merits and demerits of phase variables. (May 2022) BL1
Merits:
Using phase variables, the system state model can be written directly by
inspection from differential equation governing the system.
The phase variables provide a link between the transfer function design
approach and time domain design approach.
Demerits:
The disadvantages in choosing phase variables is that the phase variables
are not physical variables of the system and therefore are not available for
measurement and control process
PART B
1) The state space representation of a system is given below. Obtain the BL3
transfer function. (May 2011)

 x1    2 1 0  x1  0  x1 
        
x    0 3 1  x2    0  u y  0 1 0  x2 
 2        
    3 4 5   x3   1   x3 
 x3  
 

2) A LTI system is characterized by the state equation BL3


 x1  1 0  x1  0
        u where u is a unit step function. Compute the
x  1 1 x2  1
 2
1
solution of these equations assuming initial conditions 𝑥 = (May
0
2023)
3) A system is represented by the state equation X=AX+BU; Y=CX where BL3
0 1 0  0
   
A  0 1 1  , B   0  and C  100 . Determine the transfer function of
   
 0 1  10  10 

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the system. (May 2013)

4) . BL3
Y ( s) 3
A system is characterized by the transfer function 
U ( s ) s 3  5s 2  11s  6

Identify the first state as the output. Determine whether or not the system
is completely controllable and observable. (May 2013)
5) For the given state variable representation of a second order system given BL3
below find the state response for a unit step input and by using the discrete

 x1   0 1   x1  0   x1 0 0 
time approximation.           u       (Nov 2013)
 x   2 3
  x2   2  x2 0  1 
 2

6) Consider the system with the state equation. Check the controllability of BL3
the system. (Nov 2013)
 
 x1   0 1 0  x1   0 
       
x    0 0 1  x2    0  u
 2      
    6  11  6   x3   1 
 x3  
 

7) (i) Obtain the state model of the system described by the following BL3
y ( s) 5
transfer function.  2 .
u (s) s  6s  7
(ii) Obtain the state transition matrix for the state model whose system
1 1
matrix A is given by A =   (May 2014)
 0 0 

8) (i) Check the controllability of the following state space system. (May BL3
2014)
𝑥̇ = 𝑥 + 𝑢 ; 𝑥̇ = 𝑥 ; 𝑥̇ = −2𝑥 − 3𝑥 + 𝑢 + 𝑢
(ii) Obtain the transfer function model for the following state space
system.
0 1 1 
A=   B=   C= 1 0  D=  0 
 -6 -5   0 

9) Consider the system with the state equation. Check the controllability and BL3

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observability of the system. (Nov 2015) (May 2016)

0 1 0 1 10
T
A= 0 0 1 , B= 0 C = 5
−6 −11 −6 1 1
̇ =Ax(t)+bu(t),
10) (i) The state model of the system is defined by 𝑥 (𝑡) BL3
y(t)=CX(t) where
0 1 0 1
A= 0 0 1 , B= 0 , C = [1 0 0]. Obtain the diagonal canonical
−6 −11 −6 1
form of the state model by the suitable transformation matrix. (May 2016)
(ii) Explain about the effect of state feedback. (May 2016)
11) Determine whether the system described by the following state model is BL3
completely controllable and observable (Nov 2016)
0 0 1 𝑥 0 𝑥
𝑥 ̇ (t) = −2 −3 0 𝑥 + 2 u(t); Y(t)=[1 0 0] 𝑥
0 2 −3 𝑥 0 𝑥
12) Check the controllability and observability of the system whose state BL3
space representation is given as (May 2017)

13) (i) What are state variables. Explain the state formulation with its BL3
equation. (May 2017)
(ii) Given that (May/June 2017)

Compute state transition matrix.

14) Consider the following RLC series circuit shown in figure below and BL3
obtain its state model. (May 2019)

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15) Consider the following plant of the state space representation, BL3
0 1 −2
𝐴= 𝐵= 𝐶 = [−2 0]
−2 −3 2
Examine the controllability and observability of a state-space formed by
the system. (May 2019)
16) Derive the state variable formulation of parallel RLC circuit with current BL2
source input. (Nov 2019)
17) i) Obtain the state model for the system described by the transfer function BL3
Y (s) 1
T (s)   (May 2021)
U ( s) s 3  6s 2  10s  5

ii) Obtain state transition matrix for the state model whose A matrix is
given
1 1
by 𝐴 = (May 2021)
0 1
18) Determine the state controllability and observability of the system BL3
̇ =Ax(t)+bu(t), y(t)=CX(t) (May 2021)
𝑥 (𝑡)
−1 1 0 0
A= 0 −1 1 , B= 1 , C = [1 0 1].
0 0 −1 1
19) The state model of a system is given by the given state equation. Verify BL3
that the system is controllable and observable. (May 2022)

20) A system is
characterized by the transfer function BL3
Y(s) 10
=
U(s) 𝑠 + 4𝑠 + 2𝑠 + 1
Determine the state model for the given transfer function and check
whether the system is completely controllable. (May 2023)
PART C
1) Determine and show the state model of armature-controlled DC motor BL4
with neat sketch. (May 2022)

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