Chapter 1 Natural Control Systems: The system inside

a human being or a biological system.

Control System- consists of subsystems and
processes(or plants) assembled to attain Man-made Control System: The various
desired output with desired performance, control systems that are designed and
given a specified input developed by man.

4 primary reasons we build control Combinational Control Systems:

systems: Combination of a natural and man-made
control system.
1. Power Amplification
2. Remote control Open- Loop Systems
3. Convenience of input form
4. Compensation for disturbances

2 major measures of performance:

Transient response and steady- state error.

Regulation of steam pressure began around

1681 with Denis Papin’s invention of the Input- sometimes called a reference.
safety valve.
Output- can be called the Controlled
seventeenth century, Cornelis Drebbel in variable
Holland invented a purely mechanical
Closed-Loop (Feedback Control) Systems
temperature control system for hatching eggs

In 1745, speed control was applied to a

windmill by Edmund Lee, William Cubitt
improved on the idea in 1809

eighteenth century, James Watt invented

the flyball speed governor to control the -Makes use of Output Transducer/Sensor,
speed of steam engines which measures the output response and
In 1868, James Clerk Maxwell published the converts it into the form used by Controller
stability criterion for a third-order system The input position can be converted to a
based on the coefficients of the differential voltage by a potentiometer, a variable
equation resistor,
In late 1920s and early 1930s, H. W. Bode the output temperature can be converted to a
and H. Nyquist at Bell Telephone voltage by a thermistor.
Laboratories developed the analysis of
feedback amplifiers. Actuating Signal- Happens when the output
signal is subtracted from the input signal.

Analysis- Is the process by which a system’s

performance is determined
REVIEW QUESTIONS: CHAPTER 2 What function do gears perform?

What mathematical model permits easy - Transmit rotational force from one
interconnection of physical systems? shaft to another.

- Transfer Function What are the component parts of the

mechanical constants of a motor transfer
To what classification of systems can the
function?
transfer function be best applied?
- Inertia, damping, load inertia, load
- Linear Time – invariant (LTI) systems
damping.
What transformation turns the solution of
The motor transfer function relates armature
differential equations into algebraic
displacement to armature voltage. How can
manipulations?
the transfer function that relates load
- Laplace Transform displacement and armature voltage be
determined?
Define the transfer function
- Through the motor performance
- Is the relationship between the characteristic equation.
output signal of a control system
and the input signal.

What assumption is made concerning initial

conditions when dealing with transfer
functions?

- Zero Initial Conditions.

What do we call the mechanical equations

written to evaluate the transfer function?

- Equations of motion

If we understand the form the mechanical

equations take, what step do we avoid in
evaluating the transfer function?

- Free Body Diagram

Why do transfer functions for mechanical

networks look identical to transfer functions
for electrical networks?

- There are direct analogies between

the electrical variables and
components and the mechanical
variables and components.
Design- Is the process by which a system’s
performance is created or changed.
What is required to represent a system in
the number of equations of motion required is state space?
equal to the number of linearly independent
- Input, output, and state variables
motions.
related by first-order differential
Linear independence implies that a point of equation.
motion in a system can still move if all other
If the state equations are a system of first-
points of motion are held still.
order differential equations whose solution
gears exhibit backlash, which occurs yields the state variables, then the output
because of the loose fit between two meshed equation performs what function?
gears
- Then the output equation will
State Equations- A set of n simultaneous, describe the system output by means
first order differential equations with n of system variables and input
variables, where the n variables to be solved combined in appropriate form.
are the state variables.
What is meant by linear independence?
Output Equations- The algebraic equation
- If no vector taken from the set can be
that expresses the output variables of a
written as linear combination of the
system as linear combinations of the state
remaining vectors in the set.
variables and the inputs.
What factors influence the choice of state
General Solution:
variables in any system?

- Linear independence, Number of

state variables must agree with the
order of the D.E.,

What is a convenient choice of state

REVIEW QUESTIONS: CHAPTER 3 variables for electrical networks?

State variable- the set of variables that are - The variables being differentiated in
used to describe the mathematical "state" of each linearly independent energy
a dynamical system. storage element (such as the inductor
current and capacitor voltage)
State- Is a set of variables whose knowledge
helps us predict the behavior of the control What is meant by the phase-variable form
system. of the state equation?

State Vector- is a vector, which contains the - Provides a simplified representation

state variables as elements. of the system that eases the
controllability analysis and helps in
State Space- is a group of variables, which model reduction.
summarizes the history of the system in order
to predict the output.
TIME RESPONSE: CHAPTER 4 REVIEW QUESTIONS: CHAPTER 4

Poles of a transfer function

Name the performance specification for first-
- Causes the transfer function to
order systems.
become infinite
- Time Constant
Zeros of a Transfer function
What does the performance specification for
- Causes the transfer function to
a first-order system tell us?
become zero.
- The time for the step response to
Zeros and poles generate Amplitude for both
reach 67% of its final value
forced and natural responses
In a system with an input and an output, what
The reciprocal of the time constant has the
poles generate the steady-state response?
units (1/seconds), or frequency.
- Input Pole
- Exponential Frequency
In a system with an input and an output, what
Defined as the time for the waveform to go
poles generate the transient response?
from 0.1 to 0.9 of its final value.
- System Pole
- Rise Time
The imaginary part of a pole generates what
Defined as the time for the response to reach
part of a response?
and stay within 2% of its final value.
- The radian frequency of a sinusoidal
- Settling Time
response
Comes from a unit step input and two real
The real part of a pole generates what part of
poles,
a response?
- Overdamped Response
- Exponential Response
Comes from a unit step input and two
What is the difference between the natural
complex poles.
frequency and the damped frequency of
- Underdamped Response oscillation?

Comes from a unit step and two imaginary - Natural Frequency has no damping
poles. being considered and the damped is
the with a damping.
- Undamped Response
If a pole is moved with a constant imaginary
Comes from a unit step and two multiple real part, what will the responses have in
poles. common?
- Critically Damped Response - Their damped frequency of
oscillation will be the same
If a pole is moved with a constant real part, The transfer function of a phase-lead
what will the responses have in common? controller is given by
- They will all exist under the same
- (1+aTs)/(1+Ts), a>1 T>0
exponential decay envelop

If a pole is moved along a radial line extending If the system matrix of a linear time
from the origin, what will the responses have invariant continuous system is given by
in common?
- s2+5s+3=0
- They all have the same percent
overshoot and the same shape Given a unity feedback control system
although differently scaled it time with G (s) = K/s(s+4), the value of K for
which the damping ratio is 0.5.

CONTROL SYSTEMS QUESTIONS AND - 16

ANSWERS The LVDT is used in the measurement
The impulse response of a LTI system is of:
a unit step function, then the - Displacement
corresponding transfer function is
A system with gain margin close to
- 1/s unity and phase margin close to zero is :
For a type one system, the steady – - Relatively stable
state error due to step input is equal to
The steady state error for a unity
- Zero feedback system for the input r(t) to the
The equation 2s4+s3+3s2+5s+10=0 has system G(s) = K(s+2)/s(s3+7s2+12s) is
roots in the left half of s–plane: 6R/K. The input r (t) is

- Two - Rt2/2

If the Nyquist plot of the loop transfer The ramp input is applied to a unity
function G (s)H (s) of a closed-loop feedback system with type number 1
system encloses the (1, j0) point in the G and zero frequency 20. What is the
(s)H (s) plane, the gain margin of the percentage of steady state error?
system is - 5%
- Less than Zero

Consider the function F (s) =5/s (s2+s+2) ,

where F (s) is the Laplace transform f (t).
Then the final value theorem is equal to

- 5/2
 A unit integrator is applied to a The Laplace transform of a parabolic
modified system along with a ramp signal is
input. The modified value of the steady
- 1
state error is 0.25. What was the initial
value? The system with the open loop transfer
function 1/s(1+s) is:
- 0.2
- Type 1 and order 2
Systems of type higher than 1 are not
employed in practice. The identical first order system have
been cascaded non-interactively. The
- False
unit step response of the systems will
The initial response when output is not be:
equal to input is
- Critically Damped
- Transient Response
A third order system is approximated
The steady state error for a unit step to an equivalent second order system.
input is The rise time of this approximated
lower order system will be:
- 1/(1+kp)
- Smaller than the original
For a unity feedback system, the open
system for any input
loop transfer function is G(s) =
K(s+2)/s2 (s2+7s+12). What is the type of A system has a single pole at origin. Its
system? impulse response will be:

- Two - Constant

The For a unity feedback system the When the period of the observation is
open loop transfer function is G(s) = large, the type of the error will be:
K(s+2)/s2 (s2+7s+12). What is the value of
- Steady State error
Ka?
When the unit step response of a unity
- k/6
feedback control system having forward
For a system whose transfer function is path transfer function G (s) =80/s(s+18)?
G(s) =10/s (1+s), what are the dynamic
- Overdamped
error coefficients k2 & k3 respectively as
k1 is infinity? With negative feedback in a closed loop
control system, the system sensitivity to
- 10, 11.1
parameter variation:

- Decreases
 An underdamped second order system Let us assume x (t) = A cos(ωt + φ), then
with negative damping will have the the Laplace transform of x (t) is?
roots :
- X(S)=A(Scos Ø-ω sinØ)/(S2+ω2)
- On the right-hand side of
Let us assume x (t) = A cos(ωt + φ), what
complex plane as complex
is the s-domain expression?
conjugates
- Y(s)=H(s) A(Scos Ø-ω
How can the steady state error can be
sinØ)/(S2+ω2)
reduced?
Let us assume x (t) = A cos(ωt + φ), what
- By Increasing the input
is the value of k1?
The transfer function of a system having
- 1/2 H(jω)Ae-jØ
the input as X(s) and output as Y(s) is?
First order system is defined as :
- Y(s)/X(s)
- Total number of poles and
In the circuit shown below, if current is
order of equation
defined as the response signal of the
circuit, then determine the transfer A unit step is applied at t=0 to a first
function. order system without time delay. The
response has the value of 1.264 units at
t=10 mins, and 2 units at steady state.
The transfer function of the system is

- 2/(1+600s)

The transfer function of the system is

- H(s)=SC/(S2 LC+RCS+1) G(s) =100/(s+1) (s+100). For a unit step
In the circuit shown below, if voltage input to the system the approximate
across the capacitor is defined as the settling time for 2% criterion is:
output signal of the circuit, then the - 4 sec
transfer function is?
A system with transfer function 1/Ts+1,
subjected to a step input takes to
seconds to reach 50% of step height.
The value of t is :

- 14.4s

- H(s)=1/(S2 LC+RCS+1)
A first order system and its response to For the system 2/s+1, the approximate
a unit step input are shown in figure time taken for a step response to reach
below. The system parameters are 98% of its final value is:

- 5 and 10 - 4s

Laplace transform of unit impulse The unit step response of a second

signal is : order system is = 1-e-5t-5te-5t . Consider
the following statements:
- 1
- 1,2 and 3
Time response during steady state the
output velocity matches with the input The loop transfer function of controller
velocity but lags behind the input by T. Gc(s) is :

- True - 1+0.1s/s

What will be the nature of time he peak percentage overshoot of the

response if the roots of the closed loop system is :
characteristic equation are located on
- 16.3%
the s-plane imaginary axis?
Consider a second order all-pole
- No Oscillations
transfer function model, if the desired
Consider a system with transfer settling time(5%) is 0.60 sec and the
function G(s) = s+6/Ks2+s+6. Its damping desired damping ratio 0.707, where
ratio will be 0.5 when the values of k is: should the poles be located in s-plane?

- 1/6 - -5+j5

The output in response to a unit step Which of the following quantities give a
input for a particular continuous control measure of the transient characteristics
system is c(t)= 1-e-t. What is the delay of a control system, when subjected to
time Td? unit step excitation.
1. Maximum overshoot
- 0.693
2. Maximum undershoot
Which one of the following is the most 3. Overall gain
likely reason for large overshoot in a 4. Delay time
control system? 5. Rise time
6. Fall time
- High positive correcting torque
- 1,4 and 5
Which of the following is not the feature A transfer function has two zeroes at
of modern control system? infinity. Then the relation between the
numerator(N) and the denominator
- No oscillation
degree(M) of the transfer function is:
The output of the feedback control
- N=M-2
system must be a function of:
When deriving the transfer function of a
- Input and feedback signal
linear element
The principle of homogeneity and
- Initial conditions are assumed
superposition are applied to:
to be zero but loading is taken
- Linear time invariant systems into account.

In continuous data systems: If the initial conditions for a system are

inherently zero, what does it physically
- Data is necessarily a
mean?
continuous function of time at
all points in the system - The system is at rest or no
energy is stored in any of its
A linear system at rest is subject to an
part
input signal r(t)=1-e-t. The response of
the system for t>0 is given by c(t)=1-e-2t. The standard second order system to a
The transfer function of the system is: unit step input shows the 0.36 as the
first peak undershoot, hence its second
- 2(s+1)/(s+2)
overshoot is:
In regenerating the feedback, the
- 0.216
transfer function is given by
Consider the input with the inputs 4 u(t)
- C(s)/R(s)=G(s)/1-G(s)H(s)
and the impulse response 5 +7 , the
A control system whose step response time constants of the output are,
is -0.5(1+e-2t) is cascaded to another
- 0.2, 0.33 and 0.5
control block whose impulse response
is e-t. What is the transfer function of the In a second order feedback control
cascaded combination? system natural frequency and damping

- 0.5/s(s+2) - Can be designed by changing

the gain of the individual
system
Undamped natural frequency of a component in the forced response will
second order system has the following be:
influence on the response due to
- 2t u(t)
various excitations:
The system in originally critically
- Increase in speed of response
damped if the gain is doubled the
and decrease sensitivity
system will be :
Normalized response of a dynamic
- Under damped
system refers to:
Let c(t) be the unit step response of a
- Characteristic feature of a
system with transfer function
response due to specific
K(s+a)/(s+K). If c(0+) = 2 and c(∞) = 10,
excitation irrespective of its
then the values of a and K are
amplitude
respectively.
The characteristic equation of a control
- 10 and 2
system is s(s2+ 6s+13)+K=0. The value of
k such that the characteristic equation The damping ratio and peak overshoot
has a pair of complex roots with real are measures of:
part -1 will be :
- Speed of response
- 20
A system has a complex conjugate root
Normalized difference between the pair of multiplicity two or more in its
time response peak and steady state characteristic equation. The impulse
output is response of the system will be:

- Maximum peak overshoot - A sinusoidal oscillation which

rises exponentially ; the
Rise time, Peak time, maximum peak
system is therefore unstable
overshoot, settling time, and steady
state error are mutually dependent. The forward path transfer function is
given by G(s) = 2/s(s+3). Obtain an
- True
expression for unit step response of the
Control system are normally designed system.
to be:
- 1-2e-t+e+2t
- Under damped
find the initial and final values of the
A system generated following function:
F(s) = 12(s+1)/s(s+2)^2(s+3)
by The ramp
- 0, 1
The step response of the system is c(t) = The maximum overshoot is:
10+8e-t-4/8e-2t . The gain in time constant
- To measure the relative
form of transfer function will be:
stability
- -7.5
The second order approximation using
The unit impulse response of a second dominant pole concept of a system
order system is 1/6e-0.8tsin(0.6t). Then having transfer function 5/(s+5)(s2+s+1)
the natural frequency and damping is:
ratio of the system are
- 1/(s2+s+1)
- 1 and 0.8
For the system, C(s)/R(s) = 16/(s2+8s+16).
In a RLC series circuit, if the resistance R The nature of the response will be
and inductance L are kept constant but
- Critically damped
capacitance C is decreased, then which
one of the following statements is/are
correct?
1. Time constant of the circuit is
changed.
2. Damping ratio decreases.
3. Natural frequency increases.
4. Maximum overshoot is unaffected.

- 2 and 3

Consider the following system shown in

the diagram :

If the system shown in the above

diagram x (t) = sint. What will be the
response y (t) in the steady state?

- sin(t+45)/√2

For critically damped second order

system, if the gain constant(K) is
increased, the system behavior

- Becomes under damped