APJ ABDUL KALAM TECHNOLOGICAL UNIVERSITY

SIXTH SEMESTER B.TECH DEGREE EXAMINATION, APRIL 2018

Course Code: EE304
Course Name: ADVANCED CONTROL THEORY (EE) – ANSWER KEY

PART A
Answer all questions, each carries 5 marks.

1 What is a lag compensator? Draw its pole-zero plot and the frequency response (5)
Characteristics.
A compensator having the characteristics of a lag network is called a lag
compensator. If a sinusoidal signal is applied to a lag network, then in steady
state the output will have a phase lag with respect to input. Lag compensation
results in a large improvement in steady state performance but results in slower
response due to reduced bandwidth. The attenuation due to the lag compensator
will shift the gain crossover frequency to a lower frequency point where the
phase margin is acceptable. Thus, the lag compensator will reduce the bandwidth 2
of the system and will result in slower transient response. The phase-lag
compensator is a simple form of low-pass filter and so high frequency signals
are attenuated. If the pole introduced by the compensator is not cancelled by
zero in the system, then lag compensator increases the order of the system by
one.
Pole-zero plot

Frequency response curve

2 Explain the effects of adding PID controller to a system. (5)

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 The PID controller is a device which produces an output signal consisting of
three terms – one proportional to input signal, another one proportional to
integral of the input signal and the third one proportional to derivative of input
signal. 1
Transfer function of the PID controller is

4
The PID controller stabilizes the gain, reduces the steady state error and peak
overshoot of the system
3 Selecting i1(t) =x1(t) and i2(t) =x2(t)as sate variables obtain state equation and (5)
output equation of the network shown in Fig:

Apply KVL in first loop,

Apply KVL in first loop,

…………..(2)
From equation 2

Let,

Substitute Equation (2) in Equation (1)

3.5
State Equation

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 Output Equation,
1.5

4 The characteristic polynomial of certain sampled data system is given by (5)

P(z) = Z4- 1.2Z 3+ 0.07Z 2+ 0.3Z - 0.08 = 0, test the stability of the system using
Jury’s stability test.
The necessary conditions to be satisfied for the stability of the system with
characteristic polynomial, are
and 1.5

Necessary conditions are satisfied. 1

Check for sufficient conditions for stability
Number of rows in the Routh table =
Row

1 -0.08 0.3 0.07 -1.2 1

2 1 -1.2 0.07 0.3 -0.08

3 -0.9936 1.176 -0.0756 -0.204

4 -0.204 -0.0756 1.176 -0.9936

5 0.945 -1.183 0.3144

2.5
1.
2.
3.
Sufficient condition for stability is satisfied. Both the conditions are satisfied,
hence the system is stable.
5 Explain different non linearities with diagram. (5)
Saturation: Output of the system is proportional to input in a limited range of 1
input signal. On exceeding range, output tends to become nearly constant.

Friction: It comes in to existence when mechanical surface comes in sliding

contact.

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 1

•
Dead zone: Kind of nonlinearity in which the system doesn’t respond to the
given input until the input reaches a particular level Or Output becomes zero
1
when input crosses certain limiting value.

Relay: It is intentional nonlinearity. Ideal relay is the extreme case of saturation. 1

It occurs when the linearity range is shrunken to zero and slope in linearity range
become vertical. It can lead to chattering due to discontinuity. Ideal
characteristic can be nearly achieved by SCR switching

Practical relay: Practical relay has a definite amount of dead zone. Relay coil
require a finite amount of current to actuate (cause of dead zone).

Backlash: The difference between the tooth space and tooth width in
1
mechanical system , which is essential for rapid working gear transmission is

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 known as backlash. It is present in most of the mechanical and hydraulic
systems. It increases with wear. When the backlash is traversed, no torque is
transmitted through the shaft and when the contact is achieved, the resulted
impact can destroy the gear and cause a high frequency noise.

6 What is limit cycle? How will you determine stable and unstable limit cycle (5)
using phase portrait?
The response of nonlinear systems may exhibit oscillations with fixed
amplitude and frequency; these oscillations are called limit cycles. Once the
system trajectories converge to a limit cycle, it will continue to remain in the
closed trajectory in the state space identified as limit cycles. In many systems the
limit cycles are undesirable particularly when the amplitude is not small and 1.5
result in some unwanted phenomena.
Different types of limit cycles are
 Stable limit cycle
 Unstable limit cycle
 Semi stable limit cycle
Stable Limit Cycles: all trajectories in the vicinity of the limit cycle converge to
it as t → ∞
Unstable Limit Cycles: all trajectories in the vicinity of the limit cycle diverge
to it as t → ∞
Semi-Stable Limit Cycles: some of the trajectories in the vicinity of the limit
cycle converge to it as t → ∞

3.5

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7 What are singular points? Explain the types of singular point. (5)
A point in phase-plane at which the derivatives of all state variables are
zero is called singular point. It is also called equilibrium point. The singular
points are classified as Nodal point, Saddle point, Focus point and Centre or 1
Vortex point depending on the eigen values of the system matrix

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8 Determine given quadratic form is positive definite or not (5)

2.5

Use Sylvester Theorem,

2.5

All principle minors are greater than Zero. Hence is positive definite

PART B
Answer any two full questions, each carries10 marks.
9 For a feedback system shown in Fig. 2, design suitable compensator so that (10)
phase margin is and steady state error for ramp input ≤ 0.2

Step 1: Calculation of K

1.5

Step 2: Draw the bode plot of uncompensated system

ω 0.1 0.5 1 5 10
ϕ -101 -135 -153 -174 -177
Step 3: Determination of phase margin of uncompensated system

The system requires a phase margin of , but the available phase margin is
and so lag compensation should be employed to improve the phase margin
Step 4: choose a suitable value for the phase margin of compensated system

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The desired phase margin,

Phase margin of compensated system,

Let initial choice of

Step 5: Determination of new gain crossover frequency

New gain crossover frequency,

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 Step 6: Determine the parameter,

Step 7: Determine the transfer function of lag compensator

Step 7: Determine the open loop transfer function of compensated system 5.5

Step 8: Determine the actual phase margin of compensated system

Actual phase margin of compensated system,

The actual phase margin of the compensated system satisfies the requirement.
Hence the design is acceptable.
10 Design a suitable compensator for the system with open-loop transfer function (10)

So that the over shoot to a unit step input to be limited to 20% and the transient
to be settled with in 3s.
Given that

Step 1 : Determine the dominant pole 4

Given that

Step 2: Draw pole zero plot. Join with poles

Step 3: To find the angle to be contributed by lead network

2

Since the angle contribution is more than , the lead compensator is realized
as cascade of 2 compensators with each compensator, contributing half of the
required angle.

Step 4: To find the poles and zeros of the compensator

Draw a line parallel to x - axis from

Draw angle bisector at

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 Step 5: Determine the transfer function of the lead compensator
Pole, 4
Zero,
Transfer function of the lead compensator,

11 a Briefly explain Ziegler – Nichol’s PID tuning rules (6)

First Method
The first method is applied to plants with step responses of the form displayed in
Figure.

This type of response is typical of a first order system with transportation

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 delay, such as that induced by fluid flow from a tank along a pipe line. It is also
typical of a plant made up of a series of first order systems. The response is
characterized by two parameters, L the delay time and T the time constant. These
are found by drawing a tangent to the step response at its point of inflection and
noting its intersections with the time axis and the steady state value. The plant
model is therefore

Ziegler and Nichols derived the following control parameters based on this
model.

Second Method
The second method targets plants that can be rendered unstable under
proportional control. The technique is designed to result in a closed loop system
with 25% overshoot. This is rarely achieved as Ziegler and Nichols determined
the adjustments based on a specific plant model
The steps for tuning a PID controller via the 2nd method is as follows:
Using only proportional feedback control:
a) Reduce the integrator and derivative gains to 0.
b) Increase Kp from 0 to some critical value Kp=Kcr at which sustained
oscillations occur. If it does not occur then another method has to be 3
applied.
c) Note the value Kcr and the corresponding period of sustained oscillation,
Pcr

11 b Write the design steps of lead compensator based on frequency domain (4)
approach.
Step 1: The open loop gain K of the given system is determined to satisfy the
requirement of the error constant.
Step 2: The bode plot is drawn for the uncompensated system using the value of
K, determined from the previous step.
Step 3: The phase margin of the uncompensated system is determined from the

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 bode plot.
Step 4: Determine the amount of phase angle to be contributed by the lead
network by using the formula given below

Where, Maximum phase lead angle of the lead compensator

Desired phase margin

Phase margin of the uncompensated system

Additional phase lead to compensate for shift in gain crossover frequency
Choose an initial choice of
Step 5: Determine the transfer function of lead compensator

From the bode plot, determine the frequency at which the magnitude of is 4
db. This frequency is

Transfer function of the lead compensator,

Step 6: Determine the open loop transfer function of compensated system

Step 7: verify the design
Finally bode plot of the compensated system is drawn and verify whether it
satisfies the given specifications. If the phase margin of the compensated system
is less than the required phase margin then repeat step 4 to 7 by taking as
more than the previous design.
PART C
Answer any two full questions, each carries 10 marks.
12 Find the complete response of the system (10)
and

to the following input , where is the unit step input.

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 2.5

2.5

13 a Transform the system in to controllable canonical form (7)

Find transfer function,

To convert it into Controllable Canonical form

By inspection,

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 b State and explain sampling theorem (3)
A band limited continuous time signal with highest frequency hertz can be
uniquely recovered from its samples provided that the sampling rate is greater
than or equal to samples per seconds.
During sampling process, a continuous-time signal is converted into discrete -
time signals by taking samples of continuous-time signal at discrete time 3
intervals.

14 a Consider a system defined by (7)

Using state feedback control , it is desired to have the closed loop poles at
and , , determine the state feedback gain matrix

Check for controllability

3
Controllability matrix

Hence the given system is completely state controllable.

The characteristic polynomial of the original system is

The desired closed loop poles are 1.5

Hence the characteristic polynomial of the desired system is

State feedback gain matrix,

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 2.5

b What is pulse transfer function? (3)

The transfer function of Linear Discrete System is given by z – transform of its 1
impulse response. The transfer function of LDS is also called z – transfer
function or pulse transfer function
Let = Impulse response of a LDS system
Now, the – transform of 2
Transfer function of LDS system or Pulse transfer function is given by

PART D
Answer any two full questions, each carries 10 marks.
15 Obtain the describing function of saturation non-linearity (10)
The characteristic curve for saturation as shown in the given figure
Let us take input function as
Now from the curve we can define the output as

Let Amplitude of the fundamental harmonic component of the output

Phase shift of the fundamental harmonic component of the output with
respect to the input
The describing function is given by

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 3

The output has half wave and quarter wave symmetries

4

On substituting , we get

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 On substituting for S,

The describing function is

Depending on the maximum value of input , the describing function can be

written as
If , then
If , then

16 A common form of an electronic oscillator is represented as shown in Fig. 3. For (10)

what value of , the possibility of limit cycle predicted? If determine
amplitude and frequency of limit cycle. Also find the maximum value of for

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the system is stable.

Polar plot of when

Let, ,

0.4 0.5 0.6 0.8 1.0 1.2

Polar plot of when

When

0.6 0.65 0.75 0.8 1.0 1.2

Polar plot of
The function of can be expressed as ,

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We know that describing function of saturation non linearity is given by
2

Here,

From the equation of we can say that, the locus of starts at

and travels along the negative real axis for increasing
values of X as shown in figure. The locus of is shown as a bold line on the
negative real axis.
To find the maximum value of K for stability
When K is increased the locus shifts upwards. For, a particular value of K
locus crosses the starting point of locus and this value of K is the
limiting value of K for stability.
If crosses negative real axis at of

Let = frequency when

At

For the above equation to be infinity, the denominator should be zero

1.5
At

Therefore the system remains stable if 1.5

Calculation of amplitude and frequency of limit cycle when K = 3
When the locus intersects locus at . At the
intersection point a stable limit cycle exists
Coordinate corresponding to stable limit cycle
Let, = frequency of stable limit cycle

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 At

For the above equation to be infinity, the denominator should be zero

Frequency of limit cycle

1.5

17 A second order system is represented by , (10)

where,
Assuming matrix to be identity matrix, solve for matrix in the equation
. Use Lyapunov theorem and determine the stability of the system.
Write the Lyapunov function

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Solving the above equations, we get

Hence Matrix 5

Check stability by using Sylvester theorem

2.5
Hence the system is stable
Lyapunov function

2.5

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