25.4 Q5.3 Q5.

2 SHORT-ANSWER
QUESTIONS
Q5.1 5.11

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system analysis? methods
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systems. instant
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 WhatarefYegn
domainspecificationsindicates
the
The
and
frequency
theyare, performance of the system in frequency
Resonantpeak, M, 4.
Cut-off rate domain,
Resonant frequency, o,
2
5.
Gain margin, K
6.
3.
Bandwidth, Phase margin, y
DefneResOnantPeak2

maximum
value of the magnitude of closed loop transfer function is
The called Resonant Peak.
Whatis k
Resonant frequency?
which the resonant peak occurs
frequency at is called
the maximumvalue of the magnitude of closed loop transferResonant
isThe function.frequency. The resonant peak
DefineBandwidth?
The Bandwidth is the range of frequencies for r which the system gain is more than -3db.
rate?
Whatis cut-off
The slope of the log-magnitude curve near the cut-off frequency is called cut-offrate.

Definegain margin?
The n2in margin, K, is defined as the value by which gain of the system has to be increased to driye
stem to be verge of instability. It is given by the reciprocal of the magnitude of open loop transfer
tnction, at phase cross-over frequency, o, When expressed in decibels, it is given by, the negative
of db magnitude of G(jo)at phase cross-over fregquency.
1 and K, in db =20 log -20 log|Gjoae
Gain margin, K¡ Gja)
Gjo)

Define phase margin?

additional phase lag at the gain cross-over frequency, o required
Ihe phase margin, y is that amount of 180°+ .a where is the phase of Gijo)
o oring the system to the verge of instability. It is given by,
at the gain cross over frequency.
Phase margin, y = 180° + ge where, ac=Gj@)l=gc

What is phase and Gain cross-over frequency? transferfunction

magnitude the open loop
of
which the open loop transter
The gain cross Overfrequencyisthefrequency atfrequency at whichthe phase ofthe
is unity. The phase cross over frequency isthe
function is 180°.
resonant requency
Write the expression for resonant peakand a,/1-2*
frequency, a, =
Resonant
Resonant peak, M, =ar.1
 the factor T+ T
Fig Q3.21l : Bode plot of 1+ joT'

Qi.22 Whatispolarplot?
ofa sinusoidal transfer function G(jo) is a plot of the magnitude
The polar plot
rectangular co-ordinates as o is varie
phaseangle/argument of G(jo) on polar or
infinity.

03.23 What is minimum phase system?

minimum phase systems are systemS With minimum phase transfer functions. Io ini
The
transfer functions, all poles and zeros will lie onthe left half of s-plane
phase

Q3.24 What is AIl-Pass systems?

systems are systenms with all pass transter functions. In all pass transfer functicne t.
The all pass
will have anti-symmetric pole 70
magnitude is unity at all frequencies and the transter function image position wÛt
s-plane, there iS azero in the mirror
pattern (i.e., for every pole in the left half
respect to imaginary axis).
function?
03.25 What is non-minimum phase transfer non-minimum
function which has one or more zeros in the right half s-plane is known as
Atransfer
phase transfer function.

minimum phase system, how the start and end of polar plot are identified?
03.26 In
functions, with onlypoles, the type number of the system determines itre
For minimum phase transfer a system determines the quadrant in wnici
starts, and the order of
quadrant inwhich the polar plot
the polar plot ends.
End of4h
Start of type-3 End of 3 order system
system order system

Start of type-0 Endof1*

Start of type-2 End of2nd ordersystem
system system
order system
Start of type-1 4
system End ofpolarplot ofallpole
Fig Q3.26b:minimumphasesystem.
Fig 03.26a : Start ofpolar plot of all pole
minimum phase system.
 Q2.68 Q2.67 Q2.66 Q2.65 92.64 Q2.63 76
2.

By M(s)systems.
Control not The Whyreduced. is The What eror. the
Determine The What relative
The What proportional
controllerThe What
ial produce
derivative
derivative effect Pl- sensitivity
=2s+1 is But disadvantage is is is
(s+1)
n
the controller the
the
the stability the
the of
corrective effect
PD effect
disadvantage
impulse controller system of effect
controller
- the of
controller increases
of of in the on
responsemeasures PD-controller becomesPl-controller proportional system system
produces system.
is in improvesthe
e not is the proportional
of to toperformance
used less parameter It
for
increase order
the a on on
controller also
control in stable
feedback any the of the
control increases
he
tsystem steady-state
constant e
thsystem controller?
variations.
action than when
system is
systems? damping that
system performance? the
performance? the
based a
error. it proportional
original by produces loop
tracking
governed ratio one,
Hence on gain
rate of systen. which
the accuracy,
by
derivative of a of
controller
change system results constant the
the
closed systemEngineerting Systems
Control
and in disturbance
controller of reducing, steady is
loop error introduced
so which
transfer signal the state
is peak the resultssignal
not and error. in
function, overshoot steady sin
rejection
used it a
reduig system?
does
in state
and
:73.
 (ompensalori related by
the . and uare
compensator
In load
Oxpression, 1-sin m
or a 1+ sin m
2/a concludethat
expressions we can smaller the value of
the above
Since a < 1from
the value
When of m phase lead occursin lead compensator? Give the expressions for maximum lead ang.
maximum

03.62 correspondingfrequency. geometric mean of two

andthe at the corner trequencies of
maximum phase lead occurs
The
compensator.
=tan
-1(1-a)
angle, 2/a
Maximum phase lead

/ o , 0 = / * 1.
Frequency corresponding to o
angle
T a

maximum phase lead

relates a and _ oflead compensator
Write the two equations that
03.63
1-sin m
m=tan =1+sin 9m

compensation?
Q3.64 Whatis lag-lead procedure in which a lag-tead compensator is introduced ir be
compensation is a design
The lag-lead specifications. R.
so as tomeet the desired
system
lag-lead compensator? Given an example.
Q3.65 What is
characteristics of lag-lead
1sc,
having the
Acompensator compensator. If a sinusoidal E(s)
lag-lead
network is called thenthe output
lag-lead compensator
signal is applied toa with respect to input,
but
lag and lead Electricallag-la
will have both phase Fig3.65: Compensator
in different frequency regions.
lag-lead compensator canbe realised by a
An electrical is an
network shown in fig Q3.65
R-C network. The R-C
compensator.
example of electrical lag-lead
functionoflag-lead compensator and draw iis
Write the transfer
23.66 Pole-zenplae
pole-zero plo. 3.66:compensat"
lag-lead
Fig
Transfer function of (s+ 1/1,) (s+ 1/T,)
lag lead cornpensator
(s+ 1/BT,) (s+ 1/aT,)
lag section lagsection
 Chapter 5- Control System Analysis using
State Variable Methods
In this case the
necessary and sufficient condition for complete
have no rows with all zeros. If any controllability is tmo
row of the matrix B is zero then must
uncontrollable. the corresoonding stale variable is
Case (ii) :When eigenvalues have
In this case the state multipliclty
model can be converted to Jordan
{- JZ + BU canonical form shown below,
Y=Z + DU where J= M-1 AM
In this case the system is
the last row of each Jordancompletely controllable, if the
block are not all zero and allelements of anv rowB of that
must not have all zeros. rows corresponding to other correspond to
state variable
068 State the condition for controllability by
Kalman's method,
For anh order system described by state
equation, X= AX+ BU, we can form a composite matx,
where, Q=(B AB A2 B.... An1 B]
Inthis case the system is completely state
controllable if the rank of the composite matrix Q is n.
ps69 What is the advantage and the disadvantage in Kalman's test for controllability?
The advantage in Kalman's test is that the calculations are simpler. But the disadvantage in Kalman's
test is that, we can't find the state variable which is uncontrollable, But in Gilbert's
the uncontrollable state variable which is the state variable
method we can find
corresponding the row of B which has
to
all zeros.

Define observability.
Asystem is said to be completely.observable if every state X() can be completely identiñed by
measurements of the output Y(t)over a finite time interval.
What is the need for observability test?
The observability test is necessary tofind whether the state variables are measurable or not. Hthe state
variables are measurable then the state of the system can be determined by practical measurements
of the state variables.

2 Siate the condition forobservability by Gilbert's method.

Consider the transformed canonicalor Jordan canonical form of the state model shown below which
is obtainedby using the transformation, X= MZ
{= AZ+ BU {=JZ +BU
Y=Cz+DU Y-z+DU
where C= CM andM= Modal matrix.
The necessary and sufficient condition for complete observability is that none of the columns of the
matrix C be zero. If any of the column is of C has all zeros then the corresponding state variable is not
observable.
L23 State the condition for observability by Kalman's nethod?
For a n order system described by state model,
K= AX +BU
Y=CX+ DU
We can form acomposite matrix Q, where
Q5=[c ATc (AJ²c (A°CT. (A")n-1c"]
In this case the systemis completely observable if the rank of composite matrix, Q, is n.