DEPARTMENT OF ELECTRICAL AND ELECTRONICS ENGINEERING

MODULE NOTES

COURSE NAME : CONTROL SYSTEMS

COURSE CODE : 22EEE53

YEAR /SEMESTER : III / V

ACADEMIC YEAR: 2024-2025

 CONTROL SYSTEMS
Course Code 22EEE53 CIE Marks 50
L:T:P:S 3:0:0:0 SEE Marks 50
Hours / Week 3 Total Marks 100
Credits 03 Exam Hours 03
Course outcomes:
At the end of the course, the student will be able to:
Develop mathematical model of mechanical and electrical systems by using transfer function
22EEE53.1
approach
22EEE53.2 Analyze the time response of systems and examine their stability

22EEE53.3 Deduce the closed loop frequency response from open loop system and determine their stability
22EEE53.4 Design a suitable controller/compensator to meet the required frequency response
22EEE53.5 Evaluate state model’s controllability and observability by state space approach
22EEE53.6 Implement a suitable closed loop system for a given practical application
Mapping of Course Outcomes to Program Outcomes and Program Specific Outcomes:
PO1 PO2 PO3 PO4 PO5 PO6 PO7 PO8 PO9 PO10 PO11 PO12 PSO1 PSO2
22EEE53.1 3 3 2 2 - - - - - - - - - 1
22EEE53.2 3 3 2 2 - - - - - - - - - 1
22EEE53.3 3 3 3 3 - - - - - - - - - 1
22EEE53.4 3 3 3 3 - - - - - - - - - 1
22EEE53.5 3 3 3 3 - - - - - - - - - 1
22EEE53.6 3 3 2 2 - - - - - - - - - 1

MODULE-1 MATHEMATICAL MODELLING 22EEE53.1, 8 Hours

22EEE53.6
Open loop and closed loop systems - Mathematical modelling-Mechanical and electrical systems -
electromechanical analogous systems- Transfer function of DC servo motors, AC servo motor-Block diagram
reduction techniques - Signal flow graph.
Self-study Investigate the operation of different control systems applications.
Text Book Text Book 1: 1.1,2.1,2.2,2.4,2.5,2.6,2.7
MODULE-2 TIME RESPONSE 22EEE53.2, 8 Hours
22EEE53.6
Standard signals-Time response-First and second order systems-Time domain specifications-Steady state
error-Static and dynamic error constants - Effect of P-PD-PI-PID controllers.
Applications Investigate the different types of applications in industries with motors
Text Book Text Book 1: 5.1,5.2,5.3,5.4,5.5,5.6,6.7,5.10,10.6
MODULE-3 STABILITY AND ROOT LOCUS 22EEE53.2, 8 Hours
22EEE53.6
Stability Concepts-Location of closed loop poles-Classification of stability-Routh stability criterion-Root locus
construction- Addition of open loop poles and zeros - Assessment of relative stability
Text Book Text Book 1: 6.1,6.2,6.3,6.4,6.5,6.6,7.1,7.2,7.3,7.4
MODULE-4 FREQUENCY RESPONSE 22EEE53.3, 8 Hours
22EEE53.6
Frequency domain specifications-Correlation between time and frequency domain specifications-Polar plot-
Nyquist stability analysis-Bode plot-Determination of closed loop response from open loop frequency
response.
Text Book Text Book 1: 8.1,8.2,8.3,8.4,8.5,8.6,9.3
MODULE-5 COMPENSATOR DESIGN AND STATE SPACE ANALYSIS 22EEE53.4, 8 Hours
22EEE53.5
Compensator design: Performance Criteria-Lag compensator design using bode plots.
Applications: Temperature control system and Position control system
State Space Analysis: State space representation-State Models-Controllability and Observability
Self-study Investigate the state space analysis of a Temperature control system.

23
Text Book Text Book 1: 10.1,10.2,10.3,10.5,12.1,12.2,12.3,12.4,12.7

CIE Assessment Pattern (50 Marks – Theory)

Marks Distribution
Qualitative
RBT Levels Test (s) MCQ’s
Assessment (s)
25 15 10
L1 Remember - - -
L2 Understand 5 - -
L3 Apply 10 5 5
L4 Analyze 10 5 5
L5 Evaluate - 5 -
L6 Create - - -

SEE Assessment Pattern (50 Marks – Theory)

Exam Marks
RBT Levels
Distribution (50)
L1 Remember --
L2 Understand 10
L3 Apply 20
L4 Analyze 15
L5 Evaluate 5
L6 Create --

Suggested Learning Resources:

Text Books:
1) Control Systems Engineering, I.J.Nagrath and M.Gopal, New Age International Publishers, Sixth
Edition, 2017, ISBN :9386070111.
2) Control Systems, Principles and Design, M. Gopal, Fourth Edition, Tata McGraw Hill, 2015, ISBN:
9780071333269.
3) Control System Engineering, Norman S. Nise, Sixth Edition, Wiley India, 2011
Reference Books:
1) Modern Control Engineering, K. Ogata, Fifth edition, PHI, 2012, ISBN: 0136156738.
2) Control System Engineering, S.K.Bhattacharya, Third Edition, Pearson, 2013, ISBN:
9788131791653.
3) Control System, Dhanesh. N. Manik, Cengage Learning, 2012, ISBN: 9788131518120.
4) Automatic Control systems, Benjamin C. Kuo, Ninth Edition, Wiley, 2014

Web links and Video Lectures (e-Resources):

 https://onlinecourses.nptel.ac.in/noc20_ee90/preview
 https://onlinecourses.nptel.ac.in/noc24_ee65/preview
 https://www.academia.edu/35425584/Control_System_By_Norman_nise_Sixth_Ed
 https://controltheorymaster.files.wordpress.com/2017/11/farid-golnaraghi-benjamin-c-kuo-
automatic-control-systems.pdf
Activity-Based Learning (Suggested Activities in Class)/ Practical Based learning
 Video demonstration of latest trends in industry applications
 For active participation of students, instruct the students to obtain solution for block diagrams and
signal flow graphs
 Organizing Group wise discussions on different control systems applications
 Seminars

24
 DEPARTMENT OF ELECTRICAL AND ELECTRONICS ENGINEERING

22EEE53- CONTROL SYSTEMS

MODULE 1 : MATHEMATICAL MODELLING

Open loop and closed loop systems - Mathematical modeling-Mechanical

and electrical systems - electromechanical analogous systems- Transfer
function of DC servo motors, AC servo motor-Block diagram reduction
techniques - Signal flow graph.
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22EEE53- CONTROL SYSTEMS
Question Bank

MODULE 1 : MATHEMATICAL MODELLING

Open loop and closed loop systems - Mathematical modeling-Mechanical

and electrical systems - electromechanical analogous systems- Transfer
function of DC servo motors, AC servo motor-Block diagram reduction
techniques - Signal flow graph.
Module 1
1 Explain the open loop and closed loop control systems with examples?
2 Classify the different type of system
3 Write the differential equations governing the mechanical rotational system shown in figure. Obtain the transfer
function of the system.

4 Draw the F-I and F-V analogy for the given mechanical system.

5 Use block diagram reduction technique, to obtain the transfer function.

6 Draw the T-V & T-I analogy for Rotational systems?
7 C s 
Solve for the signal flow graph shown below.
R s 

8 Draw the F-V & F-I analogy for translational systems?

9 Derive the transfer function for Armature controlled DC motor.
10 Write the differential equations governing the mechanical systems shown in figure and determine the
transfer function and find F-V analogy.

11 Find the overall gain C(s) / R(s) for the signal flow graph shown below.

12 Determine the transfer function for given signal flow graph by using Mason’s gain formula.
13 Explain the Mason’s gain formula and also write advantages of signal flow graph?
14 Derive the transfer function for field controlled DC servo motor?
15 Explain the effect of feedback on the stability of a closed loop system?
16 Determine the transfer function for given mechanical system.

17 Draw the speed torque characteristics & Derive the Transfer function for AC servo motor?
18 Write the rules for block diagram reduction techniques.
19 Write the differential equations governing the Mechanical rotational system shown in below figure

20 Determine the overall transfer function C(S)/R(S) for the system shown in fig
 DEPARTMENT OF ELECTRICAL AND ELECTRONICS ENGINEERING

22EEE53- CONTROL SYSTEMS

MODULE 2 : TIME RESPONSE

Standard signals-Time response-First and second order systems-Time

domain specifications-Steady state error-Static and dynamic error
constants - Effect of P-PD-PI-PID controllers.
 DEPARTMENT OF ELECTRICAL AND ELECTRONICS ENGINEERING
22EEE53- CONTROL SYSTEMS
Question Bank

MODULE 2 : TIME RESPONSE

Standard signals-Time response-First and second order systems-Time domain
specifications-Steady state error-Static and dynamic error constants - Effect of
P-PD-PI-PID controllers.
Module 2
1 Explain and derive the steady state error?
2 Determine the output response of first order system when the input is unit step & unit impulse signal?
3 Derive the expressions for Rise time, Peak time, Peak overshoot & settling time.
4 Derive and Draw the response of second order system for undamped & critically damped case and when input is
unit step.
5 A Unity feedback system has the forward path transfer function
𝐾 (2𝑆+1)
1
G(s) = 𝑆(5𝑆+1)(1+𝑆) 2 .When the input r(t) = 1+6t , identify the minimum value of K 1 so that the steady state error

is 0.1.
6 Explain the standard test signals?
7 K
A unity feedback system is characteristic by an open loop transfer function G(S) = . Determine the gain
S(S  5)
‘K’ so that they will have a damping ratio 0.5. For this value of ‘K’ determine the settling time, peak overshoot
and for a unit step input.
8 10(𝑆+2)
For a unity feedback control system the open loop transfer function𝐺(𝑆) = 𝑆 2 (𝑆+1). Find the error
constants.
t t
9 The unit impulse response of a unit feedback control is given by c(t )  te  2e , (t ≥ 0) predict the open loop
transfer function
10 Find the time response specifications and expression for output for unit step input to a system having the system

d2y dy
equation as follows.  5  16 y  9 x. Assume zero initial conditions.
dt 2 dt
11 C s  20
A system has the following transfer function  calculate its unit step response with zero initial
R s  s  10
conditions
12 where the system shown in figure and find the following
a) system type
 b) static error constants, K p , K v and K a and

c) The steady- state error for an input r(t) = 5u(t).

R(s) C(s)
5
G ( s) 
s ( s  1)(s  2)

(s+3)

13 What is the effect of adding a pole and adding a zero to the system.
14 Define steady state error.
15
For a second order system whose open loop transfer function G s  
4
,derive the maximum overshoot
ss  2
and the time to reach the maximum overshoot when a step displacement of 18° is given to the system. Find the
rise time, delay time and the settling time error of 7%.What is the time constant of the system.
16 K 1  0.5s 1  2 s 
The open loop transfer function of a unity feedback control system has G s  
s 2 s 2  4 s  5
.Investigate

the position, velocity and acceleration constants for and the steady state error for unit ramp, unit step and unit
parabolic inputs.

17 𝐾
The unity feedback system is characterized by an open loop transfer function is 𝐺(𝑆) = . Determine
𝑆(𝑆+10)
the gain K, so that the system will have a damping ratio of 0.5. For this value of K, determine settling time,
Peak overshoot and time to Peak overshoot for a unit-step input.
18 Define the time domain specifications for second order under damped systems & draw its response for unit step
input.
19 10
For a servomechanisms with open loop transfer function 𝐺(𝑆) = (𝑆+10)(𝑆+3) What type of input signal gives

constant steady state error and calculate its value.

20 10
Find the static error coefficients for a system whose 𝐺(𝑆)𝐻(𝑆) = and also find the steady
𝑆(𝑆+1)(2𝑆+1)

state error for r(t)=1+ t + t2/2.

 DEPARTMENT OF ELECTRICAL AND ELECTRONICS ENGINEERING

22EEE53- CONTROL SYSTEMS

MODULE 3 : STABILITY AND ROOT LOCUS

Stability Concepts-Location of closed loop poles-Classification of

stability-Routh stability criterion-Root locus construction- Addition of
open loop poles and zeros - Assessment of relative stability
 DEPARTMENT OF ELECTRICAL AND ELECTRONICS ENGINEERING
22EEE53- CONTROL SYSTEMS
Question Bank

MODULE 3 : STABILITY AND ROOT LOCUS

Stability Concepts-Location of closed loop poles-Classification of stability-

Routh stability criterion-Root locus construction- Addition of open loop
poles and zeros - Assessment of relative stability.
Module 3
1 What is root locus? List out the advantages of Root locus technique?
2 Determine the stability of the system represented by the characteristic equation S4 + 2S3 + 8S2 + 4S + 3 = 0 by
using RH criteria?
3 Explain the concept of root locus?
4 Determine the stability of the system represented by the characteristic equation S6 +S5-2S4-3S3-7S2-4S-4 = 0 by
using RH criteria? And also comment the location of poles and zeros.
5 Determine the stability of the system represented by the characteristic equation S4+8S3+18S2+16S+5 =0= 0 by
using RH criteria?
6 K
The open loop T.F. of a control system is given by G  S H  S =
S  S+6  S2 +4S+13
Determine the

breakaway points, angle of departure from complex poles & angle of asymptotes.
7 Sketch the root locus for the given open loop transfer function is
𝑘
𝑆(𝑆 + 2)(𝑆 + 4)
8 𝐾(𝑆+1)
The open loop transfer function is given by G(s) = 𝑆 3 +𝑎𝑆 2 +2𝑆+1 .Compute the value of K and ‘a’ so that the

system oscillates at a frequency of 2 rad/sec

9 Estimate the breakaway points for unity feedback control system having open loop transfer function ,G(s) =
𝐾
𝑆(𝑆 2 +4𝑆+13)
. Decide whether the breakaway points are valid breakaway points.

10 Write the procedure for plotting the root locus?

11 𝐾
Sketch the root locus for the given open loop transfer function is 𝑆(𝑆 2 +4𝑆+20)
12 Describe identify the range of K for stability. The closed loop transfer function is
C ( s) K

R ( s ) s ( s  s  1)(s  2)  K
2
13 Use the procedure for finding the stability of the system by Routh stability criterion.
14 Justify the breakaway and breaking point. How to determine them?
15 What is the necessary and sufficient condition for stability?
16 Using Routh criterion determine the stability of the system whose characteristics equation is

S4+8S3+18S2+16S+5 =0.
17 𝐾(𝑆+9)
The open loop transfer function of a unity feedback system is given by G(s) = 𝑆(𝑆 2 +4𝑆+11) . Compute the limiting

value of K for the stability of the system by sketching the root locus
18 If any element in any row of the Routh array is negative then the system is unstable – Justify the statement with
an example.

F(S) = S6 +S5-2S4-3S3+7S2-4S-4 =0.Find the number of roots falling in the RHS plane and LHS plane.
19
20 State angle criterion and magnitude criterion in root locus.
21 𝐾
Sketch the root locus of the system whose open loop transfer function is 𝐺(𝑆) = 𝑆(𝑆+2)(𝑆+4).
22 𝑘
The open loop T.F. of a control system is given by 𝑆(𝑆+2)(𝑆+4) Determine the centroid, poles, zeros and angle

of asymptotes.
23 K ( s 2  4s  20)
Develop the root locus plot for 0<K<∞.Given, G(s)H(s)  .
( s  2)(s  4)
Find the following:
a. The gain ,k at the jω-axis crossing,
b. The gain at the point where the locus crosses the 0.45 damping ratio line and
c. The point where the root locus crosses the 0.45 damping ratio line.
24 Investigate on the relative stability of a system based on the location of roots in s-plane.
 DEPARTMENT OF ELECTRICAL AND ELECTRONICS ENGINEERING

22EEE53- CONTROL SYSTEMS

MODULE 4 : FREQUENCY RESPONSE

Frequency domain specifications-Correlation between time and

frequency domain specifications-Polar plot - Nyquist stability analysis-
Bode plot-Determination of closed loop response from open loop
frequency response.
 DEPARTMENT OF ELECTRICAL AND ELECTRONICS ENGINEERING
22EEE53- CONTROL SYSTEMS
Question Bank

MODULE 4 : FREQUENCY RESPONSE

Frequency domain specifications-Correlation between time and

frequency domain specifications-Polar plot - Nyquist stability analysis-
Bode plot-Determination of closed loop response from open loop
frequency response.
Module 4
1 10
Draw the bode plot for the given transfer function
𝑆(1+0.4𝑆)(1+0.1𝑆)

2 Write the procedure for bode plot?

3 20
Draw the bode plot for the given transfer function 𝑆(1+3𝑆)(1+4𝑆) and find PM & GM

4 Explain Nyquist Stability Criterion.

5

6 Compare time domain and frequency domain specification

7 Why Compensation is necessary in feedback control system?
8

9 Explain the concept of phase margin & gain margin?

10 10
Draw the polar plot of 𝑆(1+0.4𝑆)(1+0.1𝑆)

11 20
Determine the phase margin & gain margin for the transfer function 𝑆(1+3𝑆)(1+4𝑆)

12

13 Explain frequency domain specifications?

14

15 Explain the necessity and various types of compensators in control systems?

16

17 Draw the Bode plot for the given transfer function.

75(1+0.2𝑆)
G(s) = 𝑆(𝑆 2 +16𝑆+100)
 DEPARTMENT OF ELECTRICAL AND ELECTRONICS ENGINEERING

22EEE53- CONTROL SYSTEMS

MODULE 5 : COMPENSATOR DESIGN AND STATE SPACE ANALYSIS

Compensator design: Performance Criteria-Lag compensator design

using bode plots. Applications: Temperature control system and
Position control system State Space Analysis: State space
representation-State Models-Controllability and Observability.
 MODULE 5

STATE SPACE ANALYSIS

\
COMPENSATOR DESIGN
Frequency response of lead compensator
 DEPARTMENT OF ELECTRICAL AND ELECTRONICS ENGINEERING
22EEE53- CONTROL SYSTEMS
Question Bank

MODULE 5 : COMPENSATOR DESIGN AND STATE SPACE ANALYSIS

Compensator design: Performance Criteria-Lag compensator design using

bode plots. Applications: Temperature control system and Position
control system State Space Analysis: State space representation-State
Models-Controllability and Observability.
Module 5
1 Design a lead compensator for a unity feedback system with open loop transfer function G(S) = K/ S(S+1)
(S+5) to satisfy the following specifications (i) Kv > 50 (ii) Phase Margin is > 20
2 K
Consider the unity feedback system whose open loop transfer function is G ( s )  . Design a lag-
s( s  3)(s  6)
lead compensator to meet the following specifications. (i) Velocity error constant, K v = 80 (ii) phase margin, γ ≥
35º. (Semilog Graph)
3

5
6

7 What are the advantages of State Space analysis?

8

10

11

12
13

14 Explain P, PI & PID controllers in control systems?

15 Obtain the state space model of RLC series circuit
16
Compute the state transition matrix
17 Explain the different steps to be followed for the design of lag compensator using Bode plot?