UNIT I

PART A
1. Define Mason’s Gain formula.
Masons Gain formula states that the overall gain of the system is
T = Σ Pk Δ k / Δ

K = No. of forward paths in the signal flow graph

Pk = Forward path gain of kth forward path
Δ = 1- [sum of individual loop gains ] +[sum of gain products of all possible
combinations of two non touching loops]- [sum of gain products of all possible
combinations of three non touching loops] +…
Δk = Δ for that part of the graph which is not touching kth forward path.

2. Write the analogous electrical elements in force voltage analogy for the elements
of mechanical translational system.

3. Distinguish between open loop and closed loop system.

Open loop system Closed loop system
Inaccurate and unreliable Accurate and reliable
Simple and economical Complex and costlier
The changes in output due to The changes in output due to
external disturbance are not external disturbances are
corrected automatically corrected automatically
Stable system Unstable system

4. Define thermal resistance.

The thermal resistance for heat transfer between two substances is defined as the ratio of
change in temperature and change in heat flow rate.

5. Mention the reasons for preferring negative feedback in the control system.
Improves Stability
Reduces Sensitivity to Parameter Variations
Enhances Accuracy
 Increases Bandwidth
Improves Linearity
Regulates Gain
6.State servomechanism.
The servomechanism is a feedback control system in which the output is
mechanical position (or time derivatives of position velocity).

7. Write the force balance equation of ideal spring, ideal mass.

Ideal spring

f = fk = KX
Ideal mass
f = fm = M d2x/dt2
8.Mention the basic components of block diagram.
A block diagram of a system is a pictorial representation of the functions performed by
each component of the system and shows the flow of signals. The basic elements of
block diagram are block, branch point and summing point.

9. Mention the basic properties of signal flow graph.

i) signal flow graph is applicable to linear systems.
ii) It consists of nodes and branches. A node is a point representing a variable or signal.
A branch indicates functional dependence of one signal on the other.
iii) Signals travel along branches only in the marked direction and when it travels it gets
multiplied by the gain or transmittance of the branch.
10. Write the rule for eliminating the negative feedback loop.
If a system has a negative feedback loop, where:
• G(s)G(s)G(s) is the forward path transfer function
• H(s)H(s)H(s) is the feedback path transfer function
Then, the equivalent transfer function after eliminating the feedback loop is:

11. State transfer function.

Transfer function of a system is defined as the ratio of Laplace transform of output to Laplace
transform of input with zero initial conditions.
12. Name the basic elements in the control system.
Input, Output, Controller, Process, feedback and error detector are the basic elements of
 control systems.

PART B & C
1. Find the overall gain for the signal flow graph shown.

2. Write the differential equation governing the mechanical rotational system shown and
draw the torque-voltage and torque- current electrical analogous circuits and verify by
writing mesh equations.

3. Determine the transfer function Y2(S)/F(S) of the system and also draw the electrical
analogous circuit shown for the fig.

4. Write the differential equations governing the mechanical system shown in figure. Also draw
the force voltage and force current analogous circuit and verify by writing mesh and node
equations.
5. Analyze the given block diagram and draw a signal flow graph to determine the closed
loop transfer function of a system.

6. Write the differential equations governing the mechanical system shown in fig and
determine the transfer function.

7. Determine the overall transfer function C(S)/R(S) for the system shown in fig.
 UNIT II
PART A
1. List the time domain specifications.
The time domain specifications are
i. Delay time ii. Rise time iii. Peak time iv. Peak overshoot
v. settling time

2. Name the test signals used in time response analysis.

The commonly used test input signals in control system are step, ramp, impulse,
acceleration and sinusoidal signals.

3. Find the type and order of the following system

Order of the system-5, Type no-3

4. State peak overshoot.

Peak overshoot is defined as the ratio of maximum peak value measured from the
Maximum value to final value

5. Recall damping ratio.

Damping ratio is defined as the ratio of actual damping to critical damping.

6. Distinguish between type and order of the system.

7. Define order of a system.

The order of a system is defined as the highest power of the complex frequency variable s
in the denominator of the system's transfer function.
8. Mention the effect of PI & PID controller on the system performance.
The PI controller increases the order of the system by one, which results in reducing
the steady state error.

9. Comment on poles and zeros of transfer function.

Poles:
• Poles are the values of S that make the denominator zero, i.e., they satisfy D(s)=0.
• They determine the stability and dynamic response of the system.
• If any pole has a positive real part, the system is unstable.
Zeros:
• Zeros are the values of S that make the numerator zero, i.e., they satisfy N(s)=0.
• They influence the transient response and frequency response of the system.
• Zeros can introduce phase changes in the system’s response.
10. Define Steady state error.
The steady state error is the value of error signal e(t) when t tends to infinity.

11. Define dominant pole.

The dominant pole is a pair of complex conjugate pair which decides the transient
response of the system.

12. Give the relation between generalized and static error coefficients.
C0 = 1/1+Kp C0, C1, C2 = generalized error coefficients
C1 = 1/ Kv Kp, Kv, Ka = static error coefficients
C2 = 1/ Ka

PART B & C
1. Derive an expression for second order system for under damped case when the input
is unit step.
2. Sketch the root locus of the system whose open loop transfer function is
G(S) = K (S+9) / S (S2+4S+11).
3. (i) For a unity feedback control system the open loop transfer function

G(S) = 10 (S+2) / S2 (S+1). Find (a) position, velocity and acceleration error constants.
(ii) Find the steady state error when the input is R(S) where

R(S) = 3/S –2/S2 +1/3S3

4.The unity feedback system is characterized by an open loop transfer function is
G(s)= K / s (s+10). Determine 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.
5. A unity feedback control system has an open loop transfer function
 G(s)= K / s (s2+4s+13). Sketch the root locus.
6. Derive an expression for second order system for critically damped case when the
input is unit step.

7. Sketch the root locus of the system with the given open-loop transfer function

Find the value of K so that damping ratio of the system is 0.5.

8. Derive an expression for second order system for over damped case when the input
is unit step.
UNIT III
PART A
1. Give the advantages of Bode plot in frequency domain design.
The magnitudes are expressed in db and so a simple procedure is to add magnitude
of each term one by one.
The approximate bode plot can be quickly sketched, and the c: can be made at
corner frequencies to get the exact plot.
The frequency domain specifications can be easily determined.
The bode plot can be used to analyze both open loop and closed loop system.

2. List the frequency domain specifications.

1. Resonant peak 4. Cut-off rate
2. Resonant frequency 5. Gain margin
3. Bandwidth 6. Phase margin.

3. State phase margin.

The phase margin Y is defined as the additional phase log to be added at the gain
cross over frequency in order to bring the system to the verge of instability.
phase margin γ = 180 + ϕgc

4. Write about corner frequency.

The magnitude plot can be approximated by asymptotic straight lines. The
frequencies corresponding to the meeting point of asymptotes are called corner
frequency. The slope of the magnitude plot changes at every corner frequencies.

5. Define frequency response.

A frequency responses the steady state response of a system when the input to the
system is a sinusoidal signal.

6. Draw the bode plot of G(S) =K / sn

7. Define gain margin.
The gain margin, Kg is defined as the value of gain to be added to system, in order to bring
the system, to the verge of instability. The gain margin, kg is given by the Reciprocal of
the magnitude of open loop transfer function at phase cross over frequency.
Gain margin, Kg = 1 / G(jwpc)

8. Draw the polar plot of G(s) = 1/s(1+sT1).

9. Define resonant peak and resonant frequency.
The maximum value of the magnitude of closed loop transfer function is called resonant
peak. The frequency at which resonant peak occurs is called resonant frequency.

10.Write down the correlation between time and frequency response.

There exists a correlation between time and frequency response of first or second order
systems. The frequency domain specification can be expressed in terms of the time domain
parameters. For a peak overshoot in time domain there is a corresponding resonant
in frequency domain. For higher order systems there is no explicit correlation between time
and frequency response. But if there is a pair of dominant complex conjugate poles, then the
system can be approximated to second order system and the correlation between
time and frequency response can be estimated.

11. List the advantages of frequency response analysis.

The advantages in frequency domain design are
a. The effect of disturbances, sensor noise and plant uncertainties are easy to
visualize and accesses in frequency domain.
b. The experimental information can be used for design purposes.
12.Recall gain cross over and phase cross over frequency.
The gain cross over frequency  gc is the frequency at which the magnitude of the open
loop transfer function is unity. The frequency at which, the phase of open loop transfer
functions is called phase cross over frequency  pc.

PART B & C

1. Sketch the Bode plot and determine Gain margin and Phase margin.

G(S) = 75(1+0.2s) / s (s2 +16s +100)

2. Plot the Bode diagram for the following transfer function and obtain the gain and
phase cross over frequencies. G(s) = 10/ s (1+0.4s) (1+0.1s).
3. Sketch the Bode plot of the system to determine the value of K corresponding to a gain
crossover frequency of 5 rad/sec.
G(s) = Ks2/(1+0.2s) (1+0.02s)
4. For the function, G(S) = 5(1+2s) / (1+4s) (1+0.25s). Draw the bode plot and obtain
gain cross over frequency.
5. Analyze the polar plot for the following transfer function and find
Gain margin and Phase margin.

6. Sketch the polar plot for the following transfer function and find Gain margin and Phase
margin.
 G(s) = 1/ s (1+s) (1+2s)
7. The open loop transfer function of a unity feedback system is given by
G(s) = 1 / s (1+s)2. Draw the polar plot and determine gain and phase margin.
8. Sketch the polar plot for the following transfer function and find Gain margin and Phase

margin. G(S) = 400/ S (S+2) (S+10)

Soln:
 UNIT IV
1. Draw the bode plot of lead compensator.

2. Draw the frequency response of lag compensator.

3. Recall Routh Hurwitz criterion.

Routh criterion states that the necessary and sufficient condition for stability is that all the
elements in the first column of the routh array should be positive. If this condition is not met, the
system is unstable and the number of sign changes in the elements of the first column of the routh
array corresponds to the number of roots of characteristic equation in the right half of the s plane.

4. Mention the effect of adding a pole to open loop transfer function of a system.
The addition of a pole to open loop transfer function of a system will reduce the steady
state error. The closer the pole to origin lesser will be the steady-state error. Thus the
steady- state performance of the system is improved. Also the addition of pole will
increase the order of the system, which in turn makes the system less stable than the
original system.

5. Recall BIBO stability.

A linear relaxed system is said to have BIBO stability if every bounded (finite) input
results in a bounded (finite) output.
6.State Nyquist stability criterion.
The Nyquist stability criterion states that a closed-loop system is stable if and only if the
Nyquist plot of the open-loop transfer function G(s)H(s) does not enclose the point -1+j0 in the
complex plane, or if it does enclose it, the number of encirclements in the anticlockwise
direction is equal to the number of open-loop poles in the right half of the s-plane.
7.Mention the necessity of compensation in feedback control system.
In feedback control systems compensation is required in the following situations. When
the system is absolutely unstable, then compensation is required to stabilize the system
and also to meet the desired performance. When the system is stable, compensation is
provided to obtain the desired performance.

8.Mention the two notations of system stability to be satisfied for a linear time-
invariant system to be stable.
A linear time-invariant (LTI) system is said to be stable if: The bounded input sequence
always produces a bounded output sequence. Its natural response approaches zero as time
approaches infinity. All the poles of the system lie on the left-hand side of the jω axis.

9.Define Relative stability.

The relative stability indicates the closeness of the system to stable region. It is the
indication of the strength or degree of stability.

10.Write the necessary and sufficient condition for stability.

The necessary and sufficient condition for stability is that all the elements in the first
column of the routh array should be positive.

11.Mention the effect of adding a zero to open loop transfer function of a system.
The addition of a zero to open loop transfer function of a system will improve the
transient response. The addition of zero reduces the rise time. If the zero is introduced
close to origin then the peak overshoot will be larger. If the zero is introduced far away
 from the origin in the left half of s-plane then the effect of zero on the transient response
will be negligible.

12. Mention the characteristics of lag-lead compensator.

The lag lead compensation has the characteristics of both lag and lead compensation. The
lag compensation improves the steady state performance and decreases the bandwidth. The
lead compensation increases the bandwidth and improves the speed of response.
PART B
1. Determine the stability of the system whose characteristic equation is
s 7+9s6+24s5+24s4+24s3+24s2+23s+15=0 using Routh Hurwitz criterion. Comment on
the location of roots of characteristic equation.
2. Determine the stability of the system whose characteristic equation is
s7+5s6+9s5+9s4+4s3+20s2+36s+36 =0. Find the location of the roots.
3. (i) Using Routh criterion, determine the stability of the system
whose characteristic equation is 9s5 - 20s4 +10s3 - s2 - 9s – 10 = 0.
(ii) F(s) = s5+s4+2s3+2s2+3s+5 =0. Find the number of roots falling in the RHS plane and
LHS plane.
4. Construct the Nyquist Plot for a system with the open loop transfer function

G(s) H(s) = K(1+s)2/s3. Determine the range of K for which closed loop system is stable.
5. Analyze the given system, G(s) = K /s (1+2s) using a lag compensator such that phase
Margin is 40º and the steady state error for ramp input is less than or equal to 0.2.
6. Design a Lag compensator for the unity feedback system whose closed
loop transfer function is G (S) = K / s (s+4) (s+80). It is desired to have the
phase margin to be atleast 33º and the velocity error constant K v = 30 sec-1.
7. Draw the Nyquist plot for the system whose open loop transfer function is
G(S)=K /S(S+2) (S+10)
Determine the range of K for which closed loop system is stable.
8.By Nyquist stability criterion, examine the stability of closed loop system whose
open loop transfer function is
 UNIT V
1. State diagonalization.
The process of converting the system matrix A into a diagonal matrix by a
similarity transformation using the modal matrix M is called diagonalization.

2. Define controllability.
A system is said to be completely state controllable if it is possible to transfer
the system state from any initial state X(t0) at any other desired state X(t),
in specified finite time by a control vector U(t).

3. Write the general form of state variable matrix.

The most general state-space representation of a linear system with m
inputs, p outputs and n state variables is written in the following form:
X = AX + BU
Y = CX + DU
Where X = state vector of order nX1.
U = input vector of order n X1.
A = System matrix of order n X n.
B = Input matrix of order n X m
C = output matrix of order p X n
D = transmission matrix of order p X m

4. Give the need for observability test.

The observability test is necessary to find whether the state variables are
measurable or not. If the state variables are measurable then the state of the
system can be determined by practical measurements of the state variables.

5. Define state variable.

The state of a dynamical system is a minimal set of variables (known as state
variables) such that the knowledge of these variables at t-t0 together with the
knowledge of the inputs for t > t0, completely determines the behavior of the system
for t > t0.

6. State modal matrix.

The modal matrix is a matrix used to diagonalize the system matrix. It is also
called diagonalization matrix.
If A = system matrix. M = Modal matrix
And M-1=inverse of modal matrix.
Then M-1AM will be a diagonalized system matrix.

7. List the properties of state transition matrix.

The following are the properties of state transition matrix
Φ (0) = eAx0 = I (unit matrix).
Φ (t) = eAt = (e-At)-1 = [Φ(-t)]-1.
Φ (t1+t2) = eA(t1+t2) = Φ(t1) Φ(t2) = Φ(t2) Φ(t1).
8. Write the canonical form of state model of nth order system.
If the system matrix, A is in the form of diagonal matrix then the state
model is called canonical form.

9. Draw the block diagram of a state model.

10. List any four advantages of state space analysis.

It provides an easy way to find the transfer function of the system where Laplace
Transform and z-transform cannot be applied.
It applies to the non-linear and time-variant systems as well.
It helps in analyzing the behavior of the system.
It helps in the designing of the controllers.
It can handle multi-input and multi-output systems easily.

11. State the duality between controllability and observability.

The concept of controllability and observability are dual concepts and it is
proposed by kalman as principle of duality. The principle of duality states
that a system is completely state controllable if and only if its dual system
is completely state controllable if and only if its dual system is completely
observable or viceversa.

12. Define state model.

 The state model of a system consist of state equation and output equation. The state
equation of a system is a function of state variables and inputs. The output at any
time are functions of state variables and inputs.
Ẋ(t) = A X(t) + B U(t) - State equation
Y(t) = C X(t) + D U(t) - Output equation

PART B
1.With a neat block diagram, derive the state model and its equations of a Linear multi –
input –multi – output system. (OR) Explain the state model of a system and obtain its state
equation and output equation.
2. Test the controllability and observability of the system whose state space representation is
given as

Y=[ 1 0 0]

3.Check for controllability and observability of a system having following coefficient

matrices.

4.Obtain the state model of the mechanical system shown .

5.Obtain the transfer function model for the following state space system.

6. i) Obtain the state model of the system described by the following transfer function
Y(s)/U(s) = 10/s3+4s2+2s+1.
ii) Check the controllability for the state space system

7. Examine the controllability and observability of the system using Kalman’s

method.

Y= [ 1 0 0 ]