Unit I: System Representation
1. Mechanical to Electrical Analogy: Derive the transfer function
for a given translational mechanical system (mass-spring-
damper) and draw its equivalent electrical circuit using Force-
Voltage and Force-Current analogies.
2. Servomotors: Compare the construction and operating
principles of AC and DC servomotors. Derive the transfer
function for an armature-controlled DC motor.
3. Block Diagram Reduction: Given a complex control system
with multiple feedback loops and summing points, reduce it to a
single block and find the overall transfer function C(s)/R(s).
4. Signal Flow Graphs (SFG): Explain Mason’s Gain Formula.
Convert a specific block diagram into a Signal Flow Graph and
calculate the transfer function using the formula.
Unit II: Time Domain Analysis
1. Time Domain Specifications: For a second-order system given by
derive the expressions for Rise Time (t_r), Peak Time (t_p), and
Maximum Overshoot (M_p).
2. Steady State Error: Define the static error coefficients (K_p, K_v, K_a). Find the
steady-state error for Type 0, Type 1, and Type 2 systems when subjected to step,
ramp, and parabolic inputs.
3. PID Controllers: Describe the effects of P, PI, and PID controllers on a system's transient and
steady-state performance. Explain the Ziegler-Nichols method for controller tuning.
4. Sketch the root locus for a system with a given open-loop transfer function
Determine the range of K for system stability.
Unit III: Frequency Domain Analysis
1. Bode Plots: Draw the Bode magnitude and phase plots for a given transfer function.
From the plot, determine the Gain Margin (GM) and Phase Margin (PM).
2. Polar Plots: Sketch the polar plot for a given system (e.g., a Type 1, third-order
system). Discuss how the plot changes as the system type increases.
3. Frequency Specifications: Define Resonant Peak (M_r) and Resonant Frequency
(ω_r). Explain the mathematical correlation between these frequency-domain specs
and the time-domain damping ratio .
4. Stability Analysis: Using a Bode plot, explain how you can determine if a closed-
loop system is stable, marginally stable, or unstable based on the Gain and Phase
crossover frequencies.
Unit IV: Stability and Compensator Design
1. Routh-Hurwitz Criterion: Use the Routh-Hurwitz criterion to determine the stability
of a system with the characteristic equation
Determine if there are any roots in the right half of
the s-plane.
2. Nyquist Stability: State the Nyquist stability criterion. Sketch the Nyquist plot for a system
and determine the stability based on the encirclements of the (-1,j0) point
3. Compensator Design (Lead/Lag): Design a Lead compensator using a Bode plot
to meet a specific Phase Margin requirement for a given plant.
4. Compensator Comparison: Compare Lag, Lead, and Lag-Lead compensators in
terms of their effect on bandwidth, speed of response, and steady-state accuracy.
Unit V: State Variable Analysis
1. State-Space Modeling: Convert a given nth order differential equation or transfer
function into Controllable Canonical Form and Observable Canonical Form.
2. State Transition Matrix: Define the State Transition Matrix ɸ (t). List its properties
and explain how to compute it using the Laplace Transform method ɸ (t)=L-1(sI-A)-1
3. Controllability & Observability: Define these concepts clearly. Given a system in
state-space form ({A, B, C}), use Kalman’s Test or Gilbert’s Test to check if the
system is completely state controllable and observable.
4. Solution of State Equations: Solve the non-homogeneous state equation
for a given set of initial conditions and a unit step input.
Unit I: System Representation
1. Analogy Analysis: Two systems are said to be analogous if their governing
differential equations are identical. Analyze why the Force-Voltage analogy
represents Mass as Inductance, whereas the Force-Current analogy represents Mass
as Capacitance. What physical property of these components dictates this
relationship?
2. SFG vs. Block Diagram: Critically evaluate a scenario where a control system has
multiple nested loops and cross-coupling. Analytically demonstrate why Mason’s
Gain Formula might be less prone to human error than traditional block diagram
reduction for such a system.
3. Servomotor Dynamics: In an armature-controlled DC motor, if the armature
inductance (L_a) is neglected, the system becomes a first-order system. Analytically
explain the physical significance of this assumption on the motor's time constant and
overall responsiveness.
4. Non-Linearity: Most physical systems (like a spring) are non-linear at high
displacements. Explain why we still use linear transfer functions to represent them
and identify the specific mathematical conditions under which this "linearization"
remains valid.
Unit II: Time Domain Analysis
1. Damping vs. Performance: For a second-order system, if the damping ratio zeta) is
increased from 0.4 to 0.8, analytically predict the trade-off between the settling time
(t_s) and the peak overshoot (M_p). Which value would you choose for a precision
robotic arm, and why?
2. Steady-State Limitations: A Type-1 system has zero steady-state error for a step
input but a constant error for a ramp input. Analyze how you could modify the system
to achieve zero error for a ramp input without making the system inherently unstable.
3. PID Sensitivity: Compare the analytical effect of the Derivative (D) term and the
Integral (I) term on a system's noise sensitivity. Why is a pure Derivative controller
almost never used in a high-noise environment like an industrial chemical plant?
4. Root Locus Sensitivity: Observe a Root Locus where the branches move into the
Right Half Plane (RHP) as gain K increases. Analytically determine the "critical gain"
K_{cr} and explain the physical behavior of the system (e.g., oscillations) when K =
K_{cr}
Unit III: Frequency Domain Analysis
1. Bandwidth and Speed: Analytically establish the relationship between Bandwidth
(BW) and Rise Time (t_r). If a communication system requires very high-speed data
transmission, what does this imply about the required frequency response of its
control loops?
2. Bode Plot Interpretation: If a system has a Gain Margin of 12 dB and a Phase
Margin of 45°, and the gain is doubled (+6 dB), calculate the new margins.
Analytically discuss whether the system is "more" or "less" robust after this change.
3. Non-Minimum Phase Systems: Some systems have zeros in the Right Half Plane
(Non-minimum phase). Analytically explain why these systems exhibit an "initial
dip" in the opposite direction of the command (e.g., a plane pitching down slightly
before it climbs).
4. Correlation Analysis: Given the frequency specs (M_r, ω_r), derive the
corresponding time-domain specs (\zeta, \ ω_r )Explain why frequency domain
analysis is often preferred over time domain analysis for experimental modeling of
unknown "black-box" systems.
Unit IV: Stability and Compensator Design
1. Routh-Hurwitz Edge Cases: Analyze a case where a row of zeros appears in a Routh
Array. What does this tell you about the symmetry of the poles in the s-plane, and
what are the implications for the system's marginal stability?
2. Nyquist Robustness: The Nyquist plot provides a "visual" sense of stability.
Analytically explain how the proximity of the Nyquist contour to the (-1, j0) point
relates to the system's ability to handle parameter variations (robustness).
3. Lead vs. Lag Philosophy: A Lead compensator is often likened to a "Derivative"
action, while a Lag is like an "Integral" action. Analytically justify this comparison
by looking at their effects on the phase angle and steady-state error.
4. Compensator Trade-offs: When designing a Lead compensator to improve the
transient response, why is there a practical limit to how much phase lead we can add
in a single stage? Analyze the impact on the system's high-frequency gain (noise).
Unit V: State Variable Analysis
1. Internal vs. External View: A system can be "Stable" according to its transfer
function but "Unstable" in its internal state. Analytically explain how Pole-Zero
Cancellation can hide an unstable internal state and why State-Space analysis is
required to detect this.
2. Observability Logic: If a system is "Unobservable," it means some internal states do
not affect the output. Propose an analytical method using the Observability Matrix
to determine which specific component of a complex system (like a satellite's sensors)
has failed.
3. Diagonalization: Analytically explain the advantage of representing a system in its
Diagonal (Canonical) Form. How does this decouple the system, and why is this
useful for solving the state equations \dot{x} = Ax + Bu?
4. Controllability Limits: Suppose you have a two-tank system where only the first
tank has a pump. Analytically determine the conditions under which the level of the
second tank is still "Controllable."
Mathematical & Analytical (Foundational)
These are best for the first half of the semester to build rigor.
Modeling of Hybrid Systems: Derive the transfer function of an electromechanical system (e.g., a DC
Motor coupled with a mechanical load).
Stability Boundaries: Use the Routh-Hurwitz criterion to find the range of "K" for which a 4th-order
system (like a chemical reactor) remains stable.
Time-Domain Performance: Given a second-order system, calculate the peak overshoot, rise time,
and settling time. Discuss how adding a zero (PD controller) affects these values.
Root Locus Sketching: Manually sketch the root locus for a system with a transport delay (using Padé
approximation).
2. Simulation-Based (MATLAB / Simulink / Python)
These count heavily toward "Independent Study" records for NBA.
Cruise Control System: Model a car’s cruise control. Students must design a PID controller to
maintain 60 km/h and test how the system reacts when the car hits an "uphill" disturbance.
Inverted Pendulum Stabilization: A classic "Modern Control" problem. Students use State-Space
analysis to keep a pole balanced on a moving cart.
Bode Plot Validation: Provide a complex transfer function. Students must sketch the Bode plot by
hand and then use MATLAB's bode() command to verify their gain and phase margins.
Water Level Controller: Model a two-tank system in Simulink. Students must observe the
"interaction" between tanks and design a controller to prevent overflow.
3. Application-Based (NBA "Content Beyond Syllabus")
These demonstrate PO (Program Outcome) attainment in real-world contexts.
Drones & UAVs: Research and present how "Attitude Control" works in a quadcopter. Map the
sensors (IMU) to the feedback loop.
Bio-Medical Control: Design a closed-loop system for Insulin Delivery (Artificial Pancreas). Model the
glucose-insulin relationship as a first-order system with delay.
Renewable Energy: Design a "Maximum Power Point Tracking" (MPPT) control logic for a Solar PV
system to ensure the panel always operates at peak efficiency.
Spacecraft Orientation: Discuss how reaction wheels are used as actuators to control the "Pitch, Roll,
and Yaw" of a satellite in a vacuum.
4. Hardware-Linked Assignments (Mini-Projects)
If your lab has Arduino or PLC kits.
Temperature Control: Use an Arduino and a thermistor to maintain a small box at exactly 40°C.
Ball and Beam: Design a system where a ball is kept at the center of a tilting beam using an
ultrasonic sensor for feedback.