JNN College of Engineering, Shimoga - 577 204

Control Systems [BEC403]

Module 1

Introduction to Control Systems

(Control Systems Engineering - I. J. Nagrath, M. Gopal)
(Control Engineering - D. Ganesh Rao, K. Channa Venkatesh)

Prepared by

Dr. Sheela S
Assoc. Professor

Department of Electronics & Communication Engineering

JNN College of Engineering, Shimoga

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Contents

1 Introduction to Control Systems 4

1.1 Basic Concepts and Representation . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.2 Types of control systems: . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.2.1 Open loop system: . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.2.2 Closed Loop Control Systems . . . . . . . . . . . . . . . . . . . . . . . . 5
1.3 Physical systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.3.1 General consideration in the design of control systems . . . . . . . . . . . 7
1.3.2 Differential Equations of Physical Systems . . . . . . . . . . . . . . . . . 7
1.3.3 Example Problems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.4 Electrical Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
1.5 Analogous Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
1.5.1 Example Problems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
1.6 Practice Problems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
1.7 Question Bank from previous VTU Question Papers . . . . . . . . . . . . . . . . 21

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Some important Laplace Transform pairs

f (t)(t ≥ 0) F (s)

δ(t) 1

1
u(t)
s
1
t
s2
1
e−at
s+a
ω
sinωt
s2 + ω 2
s
cosωt
s + ω2
2

n!
tn
sn + 1
1
te−at
(s + a)2
ω
e−at sinωt
(s + a)2 + ω 2
s+a
e−at cosωt
(s + a)2 + ω 2

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Chapter 1

Introduction to Control Systems

Control systems plays an important role in every aspect of life. This chapter discusses about
the basic concepts of control system and how to represent mechanical and electrical control
systems. Also, provides an insight on to obtain an electrical system when a mechanical system
is given and vice versa.

1.1 Basic Concepts and Representation

A control system is a systematically arranged interconnection of components which together
act to provide a desired response when excited by an input.
Examples for control system are air cooler, refrigerator, washing machine, vehicles, war
planes and so on. Figure 1.1 shows the general block diagram of the control system.

Figure 1.1: Control system block diagram

Basic Terminologies

1. Plant/Process: The dynamic unit containing components to perform a specified oper-

ation.

2. Command Input: Motivating input signal which is having full control on the system
and is independent of the output.

3. Reference input: Form of input directly usable by the system. Also known as actuating
signal.

4. Reference Selector: Unit that establishes the reference input, also known as comparator
or controller.

5. Disturbances: A signal which tends to adversely affect the output.

1.2 Types of control systems:

Generally control systems are classified into two types as open loop system and closed loop
system.

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1.2.1 Open loop system:
An open loop control system is that system in which the control action is independent of output.
It means tat actuating signal has no component of the output. This type of system is generally
represented as in Figure 1.2.

Figure 1.2: Representation of an open loop system

Examples of open loop system:

i. Traffic control signal: Figure 1.3 shows the control system of traffic signal. Traffic
control by means of signal is time dependent. The traffic becomes mobile or stationary
depending on the duration and sequence of signal (lamp) glow. The duration and sequence
are controlled by relays which are predetermined and not dependent on the density of the
traffic on any road.

Figure 1.3: Traffic control signal

ii. Table fan: Figure 1.4 shows the control system of table fan speed control. Speed of
the fan rotation is controlled by the amount of voltage applied by the regulator and not
dependent on the temperature of the room.

Figure 1.4: Table fan speed control

1.2.2 Closed Loop Control Systems

Feedback Control: It is an operation, which in the presence of disturbances, tends to reduce
the difference between the desired output and the actual output. This difference is called “er-
ror ”. The desired output is the input command. For comparing the actual output with the
desired output, a function of actual output is fed back to the input side using feedback element.
Hence the output has an effect on the input to maintain the desired output. Such systems are
known as closed loop systems.

Actuating Signal: In the case of open loop systems, the reference input is the actuating signal.
Where as in the closed loop systems, the difference between the reference input and feed back
signal is the actuating signal. The actuating signal in the case of unity feedback system is the
“error ” signal. The closed loop system is represented by the block diagram shown in the Figure
1.5.

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 Figure 1.5: Block diagram representation of a closed loop system

Example of closed loop system:

i. Lift of a multistorey building: A person in the lift presses the button corresponding
to the desired floor, producing an actuating signal which indicates the desired floor and
turns on the motor that raises or lowers the elevator. As the lift approaches the desired
floor, actuating signal automatically reduces to zero and the lift stops and the door opens.

Table 1.1: Comparison between open and closed loop systems

Sl. No. Open Loop System Closed Loop System
1. Construction and design are simple, Complicated design, hence more expen-
hence less expensive. sive.
2. Generally stable Designer should be careful as there is
tendency for less stability.
3. Less accurate and less reliable Highly accurate and more reliable.
4. No feed back, output has no effect on Feed back is present and output affects
input the input.
5. Sensitive to disturbances and environ- Almost insensitive to both disturbances
mental changes and environmental changes
6. Small bandwidth Larger bandwidth
7. Non-linearities affect the response Effect of non-linearity is minimal.

1.3 Physical systems

A physical system is a collection of physical objects connected together to serve an objective.
No physical system can be represented in its full physical intricacies and therefore idealizing
assumptions are always made for the purpose of analysis and synthesis of systems. An idealized
physical system is called a physical model. As idealized assumptions are gradually removed
for obtaining a more accurate model, a point of diminishing return is reached.

Once the physical model of a physical system is obtained, the next step is obtain a mathe-
matical model, which is the mathematical representation of the physical model through use of

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appropriate physical laws. Depending upon the choice of variables and the coordinate system,
a given physical model may lead to different mathematical models.

When the mathematical model of a physical system is solved for various input conditions,
the result represents the dynamic response of the system. The mathematical model of a system
is linear, if it obeys the principle of superposition and homogeneity. This principle implies that
in any linear and bilateral system having multiple independent sources, the response of the
system will be equal to the algebraic sum of the responses of that system by considering one
source at a time.

For instance, let x1 (t) and x2 (t) are the two inputs of a system and y1 (t) and y2 (t) are
the response of the system when either x1 (t) or x2 (t) is applied. According to the principle of
superposition and homogeneity, the system response for the input α1 x1 (t) + α2 x2 (t) is given by
α1 y1 (t) + α2 y2 (t), where alpha1 and α2 are constants.

Mathematical models of most physical systems are characterized by differential equations.

A mathematical model is linear, if the differential equation describing it has coefficients. if the
coefficients of the describing differential equations are function of time, then the mathematical
model is linear time varying model, else the model is linear time invariant model.

1.3.1 General consideration in the design of control systems

Stability, accuracy and the speed of response are the requirements of any control system.
ˆ Control systems must be stable. For a given input, whether it is a reference change or a
disturbance, the system must attain and maintain some useful value within a reasonable
period of time, else the system is unstable.
ˆ A system must be accurate within specified limits. That is, the system must be capable of
reducing errors to zero or to some small tolerable value. All control systems must provide
the demanded degree of accuracy.
ˆ In addition to absolute stability, a control system must have a reasonable relative stability,
that is a system must complete its response to some input within an accepted period of
time and this response must show reasonable damping. Although a system is stable and
exhibit the required accuracy, it has no real value, if the time required to respond fully
to some input is far greater than the time interval between inputs.
A system is to be designed so as to meet all the three requirements of stability, accuracy and
speed of response. But this is not always possible. A stable system is generally less accurate.
A more accurate system is usually less stable. When both the conditions are met, the speed
of response may not be desired. Therefore, it is necessary to make the effective compromise
between these requirements.

1.3.2 Differential Equations of Physical Systems

Consider a physical model of the system built as interconnection of idealized system elements
and describing them in the form of elemental laws. Ideal elements are like building blocks of
the system and are obtained by making the two basic assumptions as follows:
ˆ Spatial distribution of the element is ignored and it is regarded as a point phenomena.
Thus mass of a physical element is considered as concentrated at a point. This process is
called limping and the corresponding model is called limped parameter modelling.

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 ˆ It is assumed that the variables associated with the elements lie in the range that can be
described by simple linear law of

i. a constant of proportionality or
ii. a first-order derivative or
iii. a first-order integration

Consider the ideal element shown in Figure 1.6(a). A through variable vt passes through
the element and has the same value at both input and output ports. An across variable va
appears across the two terminals of the element and the and both the ports are not at the same
value.
Example for through variable is current through an electrical resistance. Similarly, example
for across variable is voltage across an electrical resistance.

The general block diagram of actual elements is as shown in the Figure 1.6(b), where vi
represents input or independent variable, vo represents output or dependent variable.

(a) Ideal element (b) Actual element

Figure 1.6: Block diagram of an ideal and actual element

Mechanical systems can be further categorized as translation systems or rotational system

based on their movement. Translation systems changes their position by moving from one place
to another with out rotating while rotational systems rotate circularly without changing their
position.

Mechanical systems obey the basic law known as the Newton’s law and may be restated as
“The sum of the applied forces must be equal to the sum of the reactive forces”. Through and
across variables of ideal mechanical elements are given in Table 1.2.
The three qualities characterizing the elements as a mechanical translation system are mass
(a through variable), damping and elasticity (across variables). Basic elements that describe
these qualities are also called network elements. A mechanical network is drawn for each
mechanical system to facilitate writing the differential equations.

1. Mass: The mass M is the ideal inertia element. Assume the mass shown in the Figure
1.7(a) is subjected to a force f (t) newton. The reaction force fM is equal to the product
of mass and acceleration and is opposite to the direction of the applied force, which is
given by
d2 x(t)
fM = M newton (1.1)
dt2
2. Spring: Network representation of a spring shown in the Figure 1.7(b). Assume that
the ends e and d has position at xe and xd respectively which are measured from the
respective equilibrium position. The reaction force fk on each end of the spring is same
and is given by
fk = k(xe − xd ) newton (1.2)

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 Table 1.2: Variables of mechanical elements
Elements Through Integrated Across Integrated
variable through variable across
variable variable

Translational Force F Translational Velocity Displacement

(N = kg−m/s2 ) momentum
Rt difference difference
p = −∞ F dt v = v1 − v2 x = x1 − x2
(N − s) (m/s) (m)

Rotational Torque T Angular Angular Angular

(N − m) momentum
Rt velocity displacement
h = −∞ T dt difference difference
(N − ms) ω = ω1 − ω2 θ = θ1 − θ2
(rad/s) (rad)

If the end d is stationary then the equation reduces to

fk = k(xe ) newton (1.3)

where k represents stiffness constant of the spring.

3. Damper: Figure 1.7(c) shows the network representation of damping action is a dash
pot. The reaction force fB is equal to the product of damping coefficient B and the
relative velocity of the two ends of the dash pot which is given by
 
dxe dxd
fB = B − newton (1.4)
dt dt

(a) (b) (c)

Figure 1.7: Elements of mechanical translation system

Similarly for rotational motion elements considered are inertia element (J) (a through variable),
damping and torsional spring (across variables). Figure 1.8 shows the summary of mechanical
elements, force acting on them and their displacement.
Mass / inertia and the two kinds of springs are known as conservative elements because
they can store energy and can be retrieved without any loss. Where as damper is a dissipative
element as it consumes energy.

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 Translational Elements

(a) (b) (c)

Rotational Elements

(d) (e) (f)

Figure 1.8: Ideal elements of mechanical system

Table 1.3: Ideal elements of mechanical system notation and units

System Element Notation Units
Force F newton N
Mass M kilogram kg
Translational Spring k newton/meter N/m
dash pot B newton per meter/sec N/m/sec
Displacement x meter m
Velocity v meter/sec m/s
Torque T newton-meter N-m
Inertia J kilogram-meter square kg-m2
Rotational Spring k newton-meter/radian N-m/rad
dash pot B newton-meter per radian/sec N-m/rad/sec
Displacement θ radian rad
Velocity ω radian/sec rad/s

Procedure for writing differential equation for a complete control system

1. Mechanical network is drawn by marking independent nodes that correspond to each
displacement.

2. Each element is connected between the nodes that correspond to the two displacements
at each end of that element.

3. The mass and the moment of inertia are always connected from the reference node to the
node representing it’s displacement.

4. The spring and dash pot elements are connected to the two nodes that represent the
displacement or each end of the element.

5. The force/torque equation is written for each node by equating the sum of the forces/-
torques at each node to zero.

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 Table 1.4 shows the differential equation of the ideal mechanical elements when inertial force
acts upon them.
Table 1.4: Differential equation of mechanical elements
Force upon translational elements
Element Differential Equation Laplace Transform
dv(t) d2 x(t)
Mass M =M M sV (s) = M s2 X(s)
dt dt2  
dx1 (t) dx2 (t)
dash pot B(v1 (t) − v2 (t)) = B − B(V1 (s) − V2 (s)) = Bs(X1 (s) − X2 (s))
dt dt
Spring k(x1 (t) − x2 (t)) k(X1 (s) − X2 (s))
Force upon rotational elements
Element Differential Equation Laplace Transform
dω(t) d2 θ(t)
Inertia J =J Jsω(s) = Js2 θ(s)
dt dt2  
dθ1 (t) dθ2 (t)
dash pot B(ω1 (t) − ω2 (t)) = B − B(ω1 (s) − ω2 (s)) = Bs(θ1 (s) − θ2 (s))
dt dt
Spring k(θ1 (t) − θ2 (t)) k(θ1 (s) − θ2 (s))

1.3.3 Example Problems

1. Refer the mechanical system shown in Figure 1.9.
a. Obtain the equations of motion for masses M1 and M2 .
X2 (s)
b. Find the transfer function
F (s)

Figure 1.9:

Solution:
Step 1. Draw mechanical network

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Step 2. Write differential equation corresponding to each node
At node x1 (t) the DE is

d2 x1 (t) dx1 (t)

f (t) = M1 + B1 + K1 x1 (t) + K2 (x1 (t) − x2 (t))
dt2 dt
At node x2 (t) the DE is
d2 x2 (t)
0 = M2 + +K2 (x2 (t) − x1 (t))
dt2
Step 3: Apply Laplace Transform for both the equations

F (s) = M1 s2 X1 (s) + B1 sX1 (s) + K1 X1 (s) + K2 (X1 (s) − X2 (s))

0 = M2 s2 X2 (s) + K2 (X2 (s) − X1 (s))
= M1 s2 + B1 s + K1 + K2 X1 (s) − K2 X2 (s)


⇒ F (s)
= −K2 X1 (s) + M2 s2 + K2 X2 (s)


0

Step 4: Write the above equations in matrix format to find transfer function
    
F (s) (M1 s2 + B1 s + K1 + K2 ) −K2 X1 (s)
=
0 −K2 (M2 s2 + K2 ) X2 (s)

Step 5: Solve for X2 (s) using Cramer’s rule

(M1 s2 + B1 s + K1 + K2 ) F (s)
−K2 0 K2 F (s)
X2 (s) = =
△ △

where △ = (M1 s2 + B1 s + K1 + K2 ) × (M2 s2 + K2 ) − K22

X2 (s) K2
⇒ =
F (s) △

2. Refer the rotational system shown in Figure 1.10. obtain the equations of motion for the
θ1 (2)
inertias J1 , J2 and find the transfer function .
T (s)

Figure 1.10:

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Solution:
Step 1. Draw mechanical network

Step 2. Write differential equation corresponding to each node

At node θ1 (t) the DE is
d2 θ1 (t)
T (t) = J1 + K1 (θ1 (t) − θ2 (t))
dt2
At node θ2 (t) the DE is
d2 θ2 (t)
0 = J2 + K2 θ2 (t) + K1 (θ2 (t) − θ1 (t))
dt2
Step 3: Apply Laplace Transform for both the equations
T (s) = J1 s2 θ1 (s) + K1 (θ1 (s) − θ2 (s))
0 = J2 s2 θ2 (s) + K2 θ2 (s) + K1 (θ2 (s) − θ1 (s))
= J1 s2 + K1 θ1 (s) − K1 θ2 (s)


⇒ T (s)
= −K1 θ1 (s) + J2 s2 + K2 + K1 θ2 (s)


0
Step 4: Write the above equations in matrix format to find transfer function
    
T (s) (J1 s2 + K1 ) −K1 θ1 (s)
=
0 −K1 (J2 s2 + K2 + K1 ) θ2 (s)
Step 5: Solve for θ1 (s) using Cramer’s rule

T (s) −K1
2
0 (J2 s + K2 + K1 ) T (s) × (J2 s2 + K2 + K1 )
θ1 (s) = =
△ △

where △ = (J1 s2 + K1 ) × (J2 s2 + K2 + K1 ) − K12

θ1 (s) (J2 s2 + K2 + K1 )
⇒ =
F (s) △

1.4 Electrical Systems

The resistor, inductor and capacitor are the three basic elements of electrical circuits. Here
inductor and capacitor are the storage elements and resistor is the dissipative element. These
circuits are analyzed using Kirchhoff’s voltage and current laws. Consider the L-C-R circuit
shown in Figure 1.11. Analyse the circuit using Kirchhoff’s Voltage Law (KVL). The KVL
expression for the circuit is
1 t
Z
di(t)
vs (t) = L + Ri(t) + i(t)dt (1.5)
dt C −∞
1 t
Z
vo (t) = vc (t) = i(t)dt (1.6)
C −∞

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 Figure 1.11: L-C-R series circuit

We know that current can be expressed as rate of change of electric charge q with respect to
dq(t)
time i.e., i(t) = . So, the KVL expression in terms of electric charge can be expressed as
dt
d2 q(t) dq(t) 1
vs (t) = L 2
+R + i(t) (1.7)
dt dt C
Similarly using Kirchhoff’s Current Law (KCL), analyse the R-L-C parallel circuit shown
in the Figure 1.12. The KCL expression for the circuit is

Figure 1.12: R-L-C parallel circuit

Z t
dv(t) 1 1
i(t) = C + v(t) + v(t)dt (1.8)
dt R L −∞

dϕ(t)
Since the voltage can be expressed in terms of magnetic flux ϕ as v(t) = , we can express
dt
the KCL expression in terms of magnetic flux as

d2 ϕ(t) dϕ(t) 1
i(t) = C 2
+R + ϕ(t) (1.9)
dt dt C

1.5 Analogous Systems

Systems whose differential equations are of identical form are called analogous systems. The
analogy between mechanical and electrical systems are considered here. Table 1.5 shows the
analogous systems such as Force-Voltage (F-V), Force-Current (F-I), Torque-Voltage (T-V) and
Torque-Current (T-I). Some Laplace transform (LT) required for analogous systems are shown
in Table 1.6.

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 Table 1.5: Analogous systems
Translational Rotational F-V / T-V analogy F-I / T-I analogy
f (t) T (t) v(t) i(t)
M J L C
1
B B R
R
1 1
K K
C L
x(t) θ(t) q(t) ϕ(t)
dx(t) dθ(t)
v(t) = ω(t) = i(t) v(t)
dt dt

Table 1.6: Some important time domain and its corresponding Laplace domain notations for
analogous systems
f (t) F(s) f (t) F(s)
x(t) X(s) θ(t) θ(s)
dx(t)
sX(s) v(t) V (s)
dt2
d2 x(t)
s2 X(s) i(t) I(s)
dt
R 1
x(t)dt X(s)
s

Procedure for writing analogous circuits:

ˆ The F-V and T-V analogous circuit obey KVL laws, where as F-I and T-I analogous
circuits obey KCL laws.

ˆ Number of loops in F-V or T-V analogous circuits are equal to number of KVL expres-
sions, while number of nodes in F-I or T-I analogous circuit are equal to number of KCL
expressions.

ˆ In F-V or T-V analogous circuits, if any electrical element (R, L, C) is handling only one
current variable (i(t)), then it belongs to only one loop in the circuits.

ˆ In F-V or T-V analogous circuits, if an element is handling the difference of two current
variable then it is common to the loops handling those current variables. For example, if
an element R is handling the current i1 (t) − i2 (t), then R belongs to loop 1 and 2 as i1 (t)
is the current in loop 1 and i2 (t) is the current in loop 2.
v(t)
ˆ In F-I or T-I analogous circuits, if current in through a resistance R is given as , then
R
R is placed between the node v(t) and reference. Suppose if the current through R is
v1 (t) − v2 (t)
, then R is placed between nodes v1 (t) and v2 (t). Similarly for other passive
R
elements also.

15
1.5.1 Example Problems
3. Refer the mechanical system given in Figure 1.13. (a) Draw the mechanical network. (b)
Obtain the equation of motion. (c) Draw the electrical networks based on Force-Voltage and
Force-Current analogies respectively.

Figure 1.13:

Solution:
Step 1: Draw the mechanical network for the given system

Step 2: Write equations of motion using differential equations

d2 x1 (t) dx1 (t)

0 = M1 + B1 + K1 (x1 (t) − x2 (t))
dt2 dt
d2 x2 (t)
 
dx2 (t) dx3 (t)
f (t) = M2 + K3 x2 (t) + K1 (x2 (t) − x1 (t)) + B2 −
dt2 dt dt
2
 
d x3 (t) dx3 (t) dx2 (t)
0 = M3 2
+ B2 − + K2 x3 (t)
dt dt dt

Step 3: Write F-V analogous equations using the Table 1.5 for the differential equations in
Step 2.
Z
di1 (t) 1
0 = L1 + R1 i1 (t) + (i1 (t) − i2 (t)) dt
dt C1
Z Z
di2 (t) 1 1
v(t) = L2 + i2 (t)dt + (i2 (t) − i1 (t)) dt + R2 (i2 (t) − i3 (t))
dt C3 C1
Z
di3 (t) 1
0 = L3 + R2 (i3 (t) − i2 (t)) + i3 (t)dt
dt C2
Step 4: Write F-I analogous equations using the Table 1.5 for the differential equations in

16
Step 2.
Z
dv1 (t) 1 1
0 = C1 + v1 (t) + (v1 (t) − v2 (t)) dt
dt R1 L1
Z Z
dv2 (t) 1 1 1
i(t) = C2 + v2 (t)dt + (v2 (t) − v1 (t)) dt + (v2 (t) − v3 (t))
dt L3 L1 R2
Z
dv3 (t) 1 1
0 = C3 + (v3 (t) − v2 (t)) + v3 (t)dt
dt R2 L2
Step 5: Draw F-V and F-I analogous circuits as shown in Figure 1.14.

(a) F-V analogous circuit (b) F-I analogous circuit

Figure 1.14: Analogous circuits

4. For the rotational mechanical system shown in the Figure 1.15 draw the electrical networks
based on torque-voltage and torque-current analogy.

Figure 1.15:
Solution:
Step 1: Draw the mechanical network for the given system

Step 2: Write equations of motion using differential equations

d2 θ1 (t)
 
dθ1 (t) dθ1 (t) dθ2 (t)
T (t) = J + B1 + B2 − + K (θ1 (t) − θ2 (t))
dt2 dt dt dt
 
dθ2 (t) dθ2 (t) dtheta1 (t)
0 = B3 + B2 − + K (θ2 (t) − θ1 (t))
dt dt dt

Step 3: Write T-V analogous equations using the Table 1.5.

17
 Z
di1 (t) 1
v(t) = L + R1 i(t) + R2 (i1 (t) − i2 (t)) + (i1 (t) − i2 (t)) dt
dt C
Z
1
0 = R3 i2 (t) + R2 (i2 (t) − i1 (t)) + (i2 (t) − i1 (t)) dt
C
Step 4: Write T-I analogous equations using Z the Table 1.5.
dv1 (t) 1 1 1
i(t) = C + v1 (t) + (v1 (t) − v1 (t)) dt + (v1 (t) − v2 (t))
dt R1 L R2
Z
1 1 1
0 = v2 (t) + (v2 (t) − v1 (t)) + (v2 (t) − v1 (t)) dt
R3 R2 L
Step 5: Draw T-V and T-I analogous circuits as shown in the Figure1.16

(a) T-V analogous circuit (b) T-I analogous circuit

Figure 1.16: Analogous Circuits

1.6 Practice Problems

1. Obtain the equations of performance by drawing the mechanical network for the system
X2 (s)
shown in the Figure 1.17 and find the transfer function .
F (s)

Figure 1.17:

2. Obtain the equations of performance by drawing the mechanical network for the system
θ(s)
shown in the Figure 1.18 and find the transfer function for J1 = 1Kgm2 , K1 , K2 =
T (s)
1N m/rad and B1 , B2 = 1N m/rad/sec.
3. Obtain the equations of performance by drawing the mechanical network for the systems
X2 (s)
shown in the Figure 1.19 and find the transfer function for Figure 1.19(a) and
F (s)
X1 (s)
for Figure 1.19(b).
F (s)
18
 Figure 1.18:

(a) (b)
Figure 1.19:

4. For the given mechanical systems (Figure 1.20), draw the analogous electrical circuits
using F-V and F-I analogy.

(a) (b)
Figure 1.20:

5. For the given rotational systems (Figure 1.21), draw the analogous electrical circuits using
T-V and T-I analogy.

Figure 1.21:

19
6. For the given mechanical system (Figure 1.22), draw the analogous electrical circuits using
F-V and F-I analogy.

Figure 1.22:

7. For the given rotational system (Figure 1.23), draw the analogous electrical circuits using
T-V and T-I analogy.

Figure 1.23:

8. For the given mechanical system (Figure 1.24), draw the analogous electrical circuits using
F-V and F-I analogy.

Figure 1.24:

X2 (s)
9. For the given mechanical systems (Figure 1.25), find the transfer function . Draw
F (s)
the analogous electrical circuits using F-V and F-I analogy.

Figure 1.25:

20
 10. Refer the electro mechanical system shown in the Figure 1.26, determine the transfer
X(s)
function .
E(s)

Figure 1.26:

1.7 Question Bank from previous VTU Question Papers

BEC403

1. Define control system with examples. Compare closed loop and open loop control systems.
(June 2025, Jan 2026)

2. Explain closed loop control system with an example. (Jan 2026)

3. For mechanical system shown in Figure 1.27(a). (Jan 2026)

i) Draw mechanical network

ii) Write differential equations
iii) Draw electrical network by F-V analogy.

4. For the mechanical system shown in the Figure 1.27(b)

i) Draw the mechanical network

ii) Draw the analogous electrical circuit in which force is analogous to current.

(a) (b)
Figure 1.27:

21
 5. For the mechanical system shown in the Figure 1.28
i) Draw the mechanical network
ii) Draw the electrical network based on torque-current analogy and write performance
equations of mechanical system.

Figure 1.28:

6. For the mechanical system shown in the Figure 1.29, write the mechanical network, equi-
librium equations and obtain the electrical network based on F-V analogy.

Figure 1.29:

7. The force-voltage analogy of a mechanical system is shown in Figure 1.30. Obtain its
analogous mechanical network. (June 2025)

Figure 1.30:

8. Explain the effect of feedback on control system. (June 2025)

9. Find the force voltage analogous electrical network for the given mechanical system shown
in Figure 1.31. (June 2025)

Figure 1.31:

10. Derive the differential equation governing the mechanical rotational system shown in
Figure 1.32. Draw the equivalent voltage and current analogy circuits.

22
11. Compare open loop and closed loop control system with practical example. (Jan 2025,
July 2024 Supplementary)

Figure 1.32:

θ2 (s)
12. For the system shown in the Figure 1.33. Find the transfer function G(s) =
T (s)
consider J1 = 1kgm2 , K1 = 1N m/rad, , K2 = 1N m/rad, B1 = 1N m/rad/sec, B2 =
1N m/rad/sec.(Jan 2025)

Figure 1.33:

13. Draw the mechanical network for the system shown in Figure 1.34. Write the equations of
performance and draw its analogous electrical circuit based on force voltage analogy.(Jan
2025)

Figure 1.34:

14. The circuit shown in Figure 1.35(a) is called lead-lag filter. Find the transfer function
V2 (s)
when R1 = 100ω, R2 = 200Kω, C1 = 1µF and C2 = 0.1µF .(Jan 2025)
V1 (s)
15. What are the variables and elements of translational motion? For the mechanical system
shown in Figure 1.35(b). (Jan 2025)

i. Write the differential equations of performance.

ii. Draw and write loop and nodal equations based on F-V and F-I analogous networks.

16. Define control system. Write down any four differences between open loop control system
and closed loop control system. (July 2024)

17. For the mechanical system shown in Figure 1.36(a), obtain the equivalent electrical system
using Force-Voltage method. (July 2024)

23
 (a) (b)
Figure 1.35:

18. For the mechanical system shown in Figure 1.36(b), obtain the equivalent electrical system
using Force-Current method. (July 2024)
19. For the mechanical system shown in Figure 1.36(c), obtain the equivalent electrical system
using Force-Voltage method. (July 2024)

(a) (b) (c)

Figure 1.36:

20. For the mechanical system shown in Figure 1.37(a), obtain the equivalent electrical system
using Force-Voltage method. (July 2024)
21. Draw the electrical network based on torque - current analogy and write performance
equation for the mechanical system in Figure 1.37(b).
22. For the mechanical system shown in Figure 1.37(a), (July 2024 Supplementary)
(a) Draw the nodal equivalent circuit
(b) Write the differential equations governing its dynamic behaviour
(c) Write the force voltage and force current analogous electrical networks along with
equations
23. The force voltage analogy of the translational mechanical system is given below Fig.Q2(a).
Obtain its analogous mechanical system. Also write the differential equations governing
the mechanical system.

24
 (a) (b)
Figure 1.37:

21EC43

1. Explain different types of control systems. (July 2023)

18EC43

1. Define control system and explain with an example. (July 2023, Feb 2023, Aug 2022,
Aug 2021)

2. Compare open loop and closed loop control system. (July 2023, Feb 2023, Aug 2022,
March 2022, Aug 2021)

3. What are the effects of feedback in control systems? (July 2023, Feb 2023)

4. Find the transfer function of the electromechanical system shown in Figure. 1.38(a).
(July 2023)

5. Write the differential equation for the given mechanical system shown in Figure 1.38(b).
Find the analogous electrical circuit based on Force-Voltage analogy. (July 2023)

(a) (b)
Figure 1.38:

6. Find the Torque-Voltage Analogous circuit for the Figure 1.39(a) shown. (July 2023)

25
 (a) (b)
Figure 1.39:

7. For the rotational system shown in Figure 1.39(b) draw the mechanical network. Obtain
Θ(s)
the equations of performance and find the transfer function . (Feb 2023)
T (s)
8. For the mechanical system shown in Figure 1.40(a). Write i) The mechanical network ii)
The equations of performance iii) The electrical network based on Force-Current analogy.
(Feb 2023)
X1 (s)
9. Find the transfer function for the system shown in Figure 1.40(b). (Feb 2023,
F (s)
Aug 2021)

(a) (b)
Figure 1.40:

10. For the mechanical system shown in Figure 1.41(a). Find the analogous electrical network
based on Force-Voltage analogy. (Feb 2023)
11. Write the differential equations governing the mechanical system shown in Figure 1.41(b).
Draw the force-voltage and force-current electrical analogous circuits. (Aug 2022)

(a) (b)
Figure 1.41:

12. Write the differential equations governing the mechanical rotational system shown in
Figure 1.42(a). Obtain the transfer function of the system. (Aug 2022)

26
13. Write the differential equations governing the mechanical rotational system shown in
Figure 1.42(b). Draw the torque-voltage analogous circuit. (Aug 2022)

(a) (b)
Figure 1.42:

Θ2 (s)
14. Find the transfer function for the given mechanical system in Figure 1.42(b).
T (s)
(March 2022)

15. Draw the F-V analogous circuits for the mechanical system shown in Figure 1.43(a). with
necessary equations. (March 2022)
X1 (s)
16. Obtain the transfer function for the mechanical system shown in Figure 1.43(b).
F (s)
(March 2022)

(a) (b)
Figure 1.43:

17. Draw the T-I analogous circuits for the mechanical system shown in Figure 1.44. with
necessary equations. (March 2022)

Figure 1.44:

18. For the mechanical system shown in Figure 1.43(b). (i) Draw the mechanical network.
(ii) Write the differential equations. (iii) Draw electrical network by F-V analogy. (Aug
2021)

19. What are the effects of negative feedback in control systems? (Aug 2021)

27
20. For the rotational system shown in Figure 1.45. Draw the electrical network based on T-I
analogy. (Aug 2021)

Figure 1.45:

X2 (s)
21. Find the transfer function for the system shown in Figure 1.46. (Aug 2021)
F (s)

Figure 1.46:

28