Q: Write a note on steady state error and error constant in control system
Steady State Error (SSE):
- It is the difference between the desired input and actual output as time → ∞.
- Formula: ess = lim(s→0) sE(s)
- Depends on system type, input, and gain.
Error Constants:
- Position Error Constant (Kp) = lim(s→0) G(s)H(s), ess(step) = 1/(1+Kp)
- Velocity Error Constant (Kv) = lim(s→0) sG(s)H(s), ess(ramp) = 1/Kv
- Acceleration Error Constant (Ka) = lim(s→0) s²G(s)H(s), ess(parabola) = 1/Ka
Q: State the effects of feedback in a closed loop system
Effects of Feedback:
- Reduces sensitivity to parameter variations.
- Improves accuracy (reduces steady-state error).
- Increases stability (up to a limit).
- Increases bandwidth and speed of response.
- Reduces distortion and noise.
- Reduces system gain (trade-off).
Q: Discuss the concept of stability of a LTI system and the effect of location of the poles on
stability with suitable figures.
Stability of LTI System:
- A system is stable if bounded input gives bounded output (BIBO).
- Determined by pole locations of transfer function.
Pole Locations and Stability:
- Poles in Left Half Plane (LHP) → Stable (decaying response).
- Poles on imaginary axis → Marginally stable (sustained oscillations).
- Poles in Right Half Plane (RHP) → Unstable (growing response).
- Repeated poles on jω-axis → Unstable.
Q: Compare PI, PID and PD controllers
PI Controller:
- Eliminates steady-state error but slows response.
- Increases overshoot.
PID Controller:
- Combines P, I, D effects.
- Eliminates steady-state error.
- Improves transient response and stability.
PD Controller:
- Improves transient response and damping.
- Cannot eliminate steady-state error.
- Reduces overshoot.
Q: Write short notes on the following
(a) Nyquist Stability Criterion:
- Frequency domain method using open-loop transfer function.
- Encirclement of (-1+j0) decides stability.
(b) PID Controller:
- Control law: u(t)=Kp e(t)+Ki∫e(t)dt+Kd de/dt.
- Combines P, I, D actions for accuracy and stability.
(c) Lag Compensation:
- Improves steady-state accuracy.
- Transfer function: Gc(s)=(1+sT)/(1+sβT), β>1.
(d) Properties of State Transition Matrix (STM):
- Φ(0)=I, Φ(t1+t2)=Φ(t1)Φ(t2), Φ■¹(t)=Φ(-t).
- dΦ/dt=AΦ(t)=Φ(t)A.
(e) Gain Margin (GM) & Phase Margin (PM):
- GM: reciprocal of gain at phase = -180°.
- PM: additional phase lag needed to reach instability at gain crossover.
Q: Explain minimum phase and non-minimum phase system
Minimum Phase System:
- All poles and zeros in LHP.
- Stable and minimum phase shift.
Non-Minimum Phase System:
- Has zeros in RHP or on jω-axis.
- May be stable but with excessive phase lag and slower response.
Q: Answer the following questions
(a) State & State Vector:
- State: smallest set of variables to describe system.
- State vector: column matrix of state variables.
(b) Transfer Function:
- Ratio of Laplace output/input under zero initial conditions.
(c) Non-touching Loops & Sink Node:
- Non-touching loops: loops without common node.
- Sink node: node with only incoming branches.
(d) Properties of STM:
- Φ(0)=I, Φ(t1+t2)=Φ(t1)Φ(t2), Φ■¹(t)=Φ(-t), dΦ/dt=AΦ.
(e) Order & Type of System:
- Order: highest power of denominator polynomial.
- Type: number of poles at origin.
(f) Force-Voltage Analogy:
- Force ↔ Voltage, Velocity ↔ Current,
Mass ↔ Inductance, Damping ↔ Resistance,
Spring constant ↔ 1/Capacitance.
(g) Stability:
- BIBO: bounded input → bounded output.
- Poles in LHP → Stable, on jω-axis → Marginal, RHP → Unstable.