Controllers and compensators:

1. Lag compensators reduces stability of a system and hence D is in correct

K s  a 
2. Given: Gs =  lead
s  b 

-b -a

So: a < b

3. Given:
Td = (t)

1 _
Va 1 1/s 
_ 1  0.1s + 5s  1

Va = 0 far Td = (t)

-Td + 1
1/s 
_ 5s  1

1
1  0.1s
 1 1 
 1 5s 


 Td S 1  1 
 5s  10.1s  1
 1 1 
ss = Lim  -  5s  =  1   0.5
1  1 
5s  10.1s  1 1  1
S0


S 2 S 1 
4. Given 
S  4 S  1 
Now: 1  2    0.5

1  4    0.5

 0.25 0.25
5. Given: G(s) = currently : G  j 
 
S  1 8s  s 
2
 
1   8 j  3
2

0.25
gc = 0.5rads/sec G  j 
 
1   64 2  9
2

 8 
P.M = 300 G  j   tan 1    180 0
 3 
So ge-current  0.25 = (1-2) 642  9
(0.25)2 = (1-2)2 (642+9)
(642+9) (w4+1-22) = 0.0625
646 - 94 + 642 + 9 - 1284 - 182 = 0.0625
646 - 1194 + 462 + 9 + 8.9375 = 0
2 = 1.0.288, -0.1398, 0.97
g = 1.014 and 0.984
Hence PM: current  -69.138
Amount of phase to be added: 69.138+30 = 99.1380
3s  0.5
From the options, the phase contributed by  990
s  0.5 3

1
6. Given system: 2
 stable and undo damped
s  2s  2
S 2
Hence a lag compensator is sufficient:
S 1

7. Since lead compensator is needed: Options A and B are eleminated.

k S  2 1
Here:  2  1  0 must be considered :1  GH
S  10 S  1
(S2-1) (S+10) + K(S+2) = 0
S3-S+10s2-10+KS+2K = 0
S3+10S2 + (K-1)s + (2K-10) = 0
RHC: S3 1 K-1
2
S 5 K-5 2K – 10 > 0
S1 5K-5- K+5 K>5
0
S 2K-10
10S  2 
So: Correct answer is
S  10
8. Gain is too small, cascaded controllers will increase the gain

9. Osscilations are transient behavior which can be reduced by increasing Kd.

10. Derivative controllers tend to increase transient overshoots hence (D)

 K
11. The overall system T.F is given as 2
. For the given specs. The transient behavior of
S K
S  9.9
the system is to be changed hence the correct possibility is a lead compensator (B)
S3

900 900
12. Given: G = G
SS  1S  9   
  2  1 81   2 
900
G(j) = G=-90-tan-1()-tan-1(/9)
j1  j9  j
Uncompensated pc  -90 –tan-1 -tan-1(/9) = -1800
     / 9 
  tan 1  2   90
0

  1   / 9 
pc= 3
gs-comp = pc-un comp = 3
Now in a compensated system: gc = 3rads/sec
P.M = 450
Now P.M.D uncompensated system:
900
G 1   2 (2+1) (2+1) = 9002
 2

   1   81 2

2 4 2 2
 [ + 82 +81]=900
2 +824+812-9002 = 0
2 = 72.21  gc-un comp = 8.5 rads/sec
Phase at gc –uncomp = -90 –tan-1(gc) –tan-1 (gc/a)
Phase = -216.65
P.M = 36.65
Phase to be injected  36.65+45 = 81.65
Hence: lag-lead compensator is needed for injecting 450 at S rads/sec as gc - uncomp > gc
–comp

13. Since the settling time is to be made smaller  speed or the system is to be increased.
S 3
Hence derivative controller is to be used so sites (D)  4 
S 3

14. Statement 1 is false as derivative  to rate of change of errors, Statement 2 is true as PO

controllers improve transient response of the system.

15. Given:
1 100
Controller

Control gain = 100

20% controller Band  20 = New gain
 1 20
Since Error Controller Now O/P

Error = 1
O/P = 20

Bode plots
1. P.M = Phase  1 +1800 = 150+180 = 300

G.M = Magnitude Phase 180 0

= 0.5 dB

2. Slope maximum = 14(-20) +2(20) = 12  -20 = -24dB/D

3. The Bode magnitude plot of the system is given as below

-20
-40
-20
-40
-20 0 dB

Freq (Hz)
1 5 80 100 200
0.01 20Hz  Slope=-20dB/D

20Hz  Slope = -20dB/D

4. From the magnitude plot:

K S  1 K S  1
H(s) = 
S  10S  100 1000 0.1s  1(0.01s  1)
Now  = 1, Magnitude = 20dB.
K 2  1 K 2
H 
 2

 100   10000 2
 1000
K
20 log   20
1000
10 2 s  1 10 2 s  1
Hs   
10000.1s  10.01s  1 s  10s  100

5. From the figure, the transfer function of the system is:

K S  2 
G(s) H(s) =
S S  10 
 2K
Now: 20log  26.02
10  0.1
26.02
Log 2K =  K  10
20
10 S  2
Now: GH =
S (S  10)
1 1 1
ess =  lim   0 .5
KV SO SGH 10  2 / 10

K
6. Given  G s 
1 s / a
K
G (j) =
1  j / a
K
G  j
1  2 / a 2
Now at  = 0.5a: G  j = 0.8944k
20log (0.8944k) = 20log 0.8944 + 20logK
Error = -0.97
 
w  tan 1 0.5  26.570
G(j) = -tan-1 a   0.5a
45
From the plot, the angle at 0.5   22.5
2
Error = -2637+22.5 = 4.07

7. From the figure.

40  0 40  0
 40   40
log 300  log FL log 900  log FH
 300   900 
Log    1 Log     1
 FL   FH 
FL = 30Hz FH = 9000Hz
FH-FL = 8970

8. Only 1 is correct as & doesn’t contribute towards the phase angle

K
9. From the figure, H(s) =
SS  1S  20 
K
Now: 20log  60
0.1  1  20
K
log 3
2
K = 2  1000 = 2000
 1000 100
Now: H(s) = 
SS  1S  20  SS  10.05s  1

10. From the figure, the transfer function can be of the form
K S  0.1 K  0.1 10s  1
H(s) = 
S S  0.05 0.05s 20s  1
 K  0 .1 
Now: 60 = 20log 
 0.05  0.01
3 = log (200K)
K=5
5 S  0.1
Hence H(s) =
5S  0.05

State space analysis

Given  x 1  x 2 
1.  As no inputs are present, B = 0 and hence system is incontrollable
Hence x 1  x 2 

0 1 0
2. Given  0 0 1   Char Eq S3  3s 2  Ks  6  0
 6  K 3
RH-criteria S3 1 K
S2 1 2
S1 K-2 Magnitude stable: K-2 = 0
S0 2 K=2

3. We will use cayley- Hamilton’s thereon to solve this example

As per CHT: K1A+k2 = sin AT or k1+k2 = sint
 2 2 
Now the eager values of A =    4,  1
 1  3
- 4k1 + k2 = sin(-4t) = - sin4t  sin 4t  sin t
Now: K1 
- k1  k 2  sin  t    sin t  3
sin t  4 sin t
K2 =
3
 sin 4t  sin t   2 2   sin 4 t  4 sin t 
So: sin4t =    I
 3   1  3  3 
 2
Hence trace: tr(sin4t) = sin 4t  4 sin t  1 sin 4t  4 sin t 
3 3
1
-1[sin4t-sint]+ [sin4t-4sint]
3
 2 1 1  4 1 4 1
At t = /4:      
3 2 3 2 2 3 2
 0.707

0 1 0 
4. x    x    a  Controlable cronicalfoam :
 a  b  d 
D=1
Now from the diagonal farm, we know the eigen value as  -3, -1
Now: (S+3) (S+1) = 0
S2+4s+3 = 0
Now: b = 4, a = 3 Here, a+b+d = 8

0 1  x  0 
5. Given system: x      u and y  1 0x
 2  k  1
1
The overall transfer is Now: 2
S  Ks  2
Now: 1+GH = S2+Ks+2  0
Ks
2
 1 0
S 2
GH  No.of branches  P- Z = 2 - 1 = 1

1  et 
6. Given xo =   then x  t    t 
 1  e 
0   e  t  e 2 t 
Xo =   then x t    t 2 t 
1  e  2e 
a b   e  t  a  b 
Let STM:   Now: x(t) = eAT xo   t     ------------(1)
c d   e   c  d 
 e  t  e 2 t  b
 t 
2 t   
------------(2)
 e  2e  d 
Now: a = 2e-t –e-2t
b = e-t – e-2t
c = 2e-t+2e-2t
d = e-t+2e-2t
3
Now:   = xo
5
 2e  t  e 2 t e  t  2e 2 t  3  11e  t  8e 2 t 
X(t) =  t 2 t   
 2e  e e t  2e 2 t  5  11e t  16e 2 t 

 3 1 
7. Given x   x
 0  2
STM  L-1 [SI-A]-1
S  3  1  1 S  2 1  1
SI-A =    SI  A     
 0 S  2  0 S  3 S  2S  3
 1 1 

(SI-A)-1 =  S  3 S  2S  3   1S  3 1S  2  1S  3
1 1
 0   0 S 2 
 S 2 
e 3 t e 2 t  e 3 t 
eAT = L-1[(SI-A)-1] =  
 0 e 2 t 
AT e 3t e 2 t  e 3t   10  2e 3t  e 2 t 
x(t) = e xo =     10 
 0 e 2 t   10  e
2 t

0 
Now t: xss =   so a  0, b  0
0 
a + b=0

8. From the diagram

x 1 = u+x2-x1
x 2 = -u-2x2
y = x1+x2
 1 1 
STM  L1 SI  A 
1
A 
 0  2
 1 S  2 1 
 L-1   
 S  1S  2  0 S  1 
e  t e 2 t  e  t 
eAT   2 t
  AT
 trace e t  0  2
0 e 

9. From the given equations

 3  1 1
A=   B  C  1 0
2 0 0 
 1  3
c = [B AB] =     c  2  considerable 
 3 2 
 C 1 0
o =      1o1   1  observable 
CA  3  1

10. We know direct overall response at the system is

y = cx
x = eAT xo = 0 and u(t) = S(t)
x = eATB
Hence y = ceATB

1 0 p
11. Given: A =   B  
0 1  q 
 p p
c = [B AB] =   c  0 for all P and q  uncontrlable always 
q q 

0 a1 0  0 
12. Given: A =  0 0 a 2  B  0

a 3 0 0  1
c = [B AB A2B]
 0 0 a 1a 2  0 0 a 1a 2 
2 
A = a 2 a 3 0 0  now : c  0 a 2
 0 
 0 a 1a 3 0  1 0 0 
  a 1a 22
a1  0, a2  0, a3 = 0

 1 2 1
13. a =   B  
 6  1
1 3 
< = [B AB] =  
1   6
  = +6-3 = +3 If  = -3 system is uncomfortable

1
14. From the figure: y1 = u1  y 2  y1  y 2  1 u1  y1  ---------- (1)
5 5
1
y2 = u 2  y 2  ----------- (2)
5
1
From (1): [1+1/5] y1 = u1
5
1  y1   1S  1 0   u1 
[1+1/5] y2 = u2     
5 y  0 1 u
 2  S  1  2 
15. Given:
1

x x2 x 1
2 1/s 1/s X1 0.5
u  2   1  y
-1
-1

  1 1
x 1  x 2  x1 A 
  1 0
x 2  2u  x1
SI  A  S  I S  1  0
S2+S+1 = 0
Sum = -1
Produced = 1

16. From the figure

x 1 = 5x1-2x2+u1
x 2 = 2x1+x2+u1+u2
 x 1  5  2  x1  1 0  u 1 
state model:  x   2 1   x   1 1 u 
 2   2   2
 y1  1 0   x1 
 y   1  1  x   0u
 2    2
When u1 and y1 are the only 9/p and o/p
5  2 B1  1 1T
A=  
2 1  C1  1 0
1 3
c = [B AB] =    6   0  NOT CONTROLLABLE 
1 3
 C  1 0 
o =       0   2  OBSERVABLE 
CA  5  2
Hence, y   only output and u2  only input

1 0
17. A =  
1 1
S  1 0 
SI-A =  
  1 S  1
  1 0 
1 S  1 0   S  1 
L-1{(SI-A)-1} =  1
S  12  S  1  1 2
1
S  1
 S  1
AT  et 0
e =  t 
 e et 
3
18. By KVL
 VC 
 VC  +
10-VC = 3  6  10V 2 6
VC 2
 2 5s 
25
  _
V 5s 
10-VC = 3 C  VC 
 2 6 
 3V 15s 
10VC =  C  VC 
 2 6 
3 15s 
10 =   1  VC
2 6 
 9  6  15s 
10 =   VC
 6
60 12 4
VC =  
15s  15 3s  3 S  1
VC(t) = 4e-t at t = 1 VC = 4e-1 = 1.471

19. From the SFG

x 1  x 2 
x 2  x 3 

Controlable canonical form :always controllable
x 3  a 1 x 1  a 2 x 2  a 3 x 3  u 
4  c1 x 1  c 2 x 2  c 3 x 3 

20. Given:

1 x1+4-1 x 1 1 -1 x 2 1
u      y

x1 X2
1/s 1/s

x 1   x1  u --------- (1)
x 2 1x 2  x 1    1x 2  x 4  u 
x 2  x1  x 2  u ------- (2)
 1 0 
A=   hence Eigen values sum  -2
 1  1