CONTROL SYSTEM & Instrumentation UPID : 006637

GROUP-A
1. Answer any ten of the following :
i. What is natural frequency of oscillation ?
Ans: The natural frequency of oscillation is the frequency at which a system oscillates
when not subjected to a continuous or repeated external force.
ii. Control system uses negative feedback.
iii. What is zeta in time response?
Ans: Zeta in time response is the damping ratio that describes how oscillations in a
system decay after a disturbance.
iv. In principle of Argument “P” stands for Poles .
v. What is state space ?
Ans: State space is a mathematical model of a physical system represented in terms of
state variables and their time derivatives using a set of first-order differential equations.
vi. A limit cycle is a closed trajectory in phase space having the property that at least
one other trajectory spirals into it.
vii. Frequency response of a RC circuit can be obtained from frequency analyzer.

viii. Stand art 2nd order closed loop system can be expressed as __________ .
ix. Steady state error is eliminated by Integral controller.
x. What are the general mathematical expression of quadratic roots.
Ans:

xi. eTs introduces Time delay or phase lag in the system.

xii. The state of the network at time t=0 is specified by the inductor current and
capacitor voltage. The state space representation will be homogeneous or
nonhomogeneous?
Ans: Nonhomogeneous, if there is an external input; homogeneous, if there is no
input. So, the answer depends on whether the system is being driven.

GROUP-B
2. What is rise time of 2nd order underdamped system. Find its expression.
Ans:The rise time (tr) is the time taken for the system response to rise from 10% to 90%
(or sometimes from 0% to 100%) of its final steady-state value for a step input.
For a second-order underdamped system, the standard transfer function is:
 Rise time depends on both the damping ratio and the natural frequency. As damping
increases, rise time increases, and as natural frequency increases, rise time decreases.
3. Explain gain and phase margin.
Ans:
4. s2+3s+1__ Obtain State model
s3+2s2+3s+1
Ans:
 5. Explain the function of tacho generator.
Ans:A tacho generator (or tachogenerator) is an electromechanical device used to measure
the rotational speed (angular velocity) of a rotating shaft, typically in motors, engines, or
other machinery. It converts mechanical rotational motion into an electrical signal, which
can be used for monitoring, control, or feedback purposes in various systems.
➢ Function of a Tacho Generator:
1. Speed Measurement:
o The primary function of a tacho generator is to generate an electrical output
(voltage or current) proportional to the rotational speed of the shaft to which it
is coupled.
o The faster the shaft rotates, the higher the output voltage or frequency, providing
a direct correlation between mechanical speed and electrical signal.
2. Feedback in Control Systems:
o Tacho generators are commonly used in feedback control systems, such as in
servo motors or speed regulation systems, to provide real-time speed
information.
o This feedback allows the system to adjust motor speed, maintain stability, or
achieve precise control in applications like robotics, industrial automation, or
conveyor systems.
3. Signal Generation:
o DC Tacho Generator: Produces a DC voltage proportional to the rotational speed.
The polarity of the output voltage may indicate the direction of rotation (e.g.,
positive for clockwise, negative for counterclockwise).
o AC Tacho Generator: Generates an AC signal with a frequency or amplitude
proportional to the rotational speed.
4. Applications:
o Industrial Machinery: Monitors and controls the speed of motors, turbines, or
pumps.
o Automotive Systems: Measures engine or wheel speed in vehicles.
o Aerospace: Monitors rotor or propeller speeds in aircraft.
o Robotics: Provides speed feedback for precise motor control.
➢ Working Principle:
• A tacho generator typically consists of a rotor (connected to the rotating shaft) and a
stator with coils or magnets.
• As the rotor spins, it induces an electromotive force (EMF) in the stator windings due to
electromagnetic induction (in AC tacho generators) or commutation (in DC tacho
generators).
• The magnitude of the induced voltage or the frequency of the output signal is directly
proportional to the rotational speed.
➢ Characteristics:
• Linear Output: The output voltage is typically linear with respect to speed, making it
easy to calibrate.
• No External Power: Most tacho generators are self-powered, generating their own
voltage based on rotation, though some may require external excitation.
• Robustness: Designed to operate in harsh industrial environments with high reliability.
➢ Example:
In a DC motor control system, a tacho generator coupled to the motor shaft generates
a voltage proportional to the motor’s speed. This voltage is fed to a controller, which
compares it to a desired speed and adjusts the motor’s input to maintain the target
speed.
6. Find Transfer function of the following Bode plot.

-20dB/dec
0dB/dec
+20dB ---------
-20dB/dec
0dB/dec
+4dB --------------------------
Log w
0 0.5 4 20 80 -40dB/dec

Ans:
GROUP - C

7. (a) If energy storage element is present in nonlinear element what is the

characteristic of the describing function?
(b) Explain the requirement of Describing function method ? Obtain the generalized
expression for describing function for a given non linear element.
8. (a) What is a CRO ? Draw an label each part of CRO.
Ans: The cathode ray oscilloscope is an electronic test instrument, it is used to obtain
waveforms when the different input signals are given. In the early days, it is called as
an Oscillograph. The oscilloscope observes the changes in the electrical signals over
time, thus the voltage and time describe a shape and it is continuously graphed beside
a scale. By seeing the waveform, we can analyze some properties like amplitude,
frequency, rise time, distortion, time interval, and etc.
➢ The function of each block of CRO is mentioned below.
• Vertical Amplifier − It amplifies the input signal, which is to be displayed on
the screen of CRT.
• Delay Line − It provides some amount of delay to the signal, which is obtained
at the output of vertical amplifier. This delayed signal is then applied to vertical
deflection plates of CRT.
• Trigger Circuit − It produces a triggering signal in order to synchronize both
horizontal and vertical deflections of electron beam.
• Time base Generator − It produces a sawtooth signal, which is useful for
horizontal deflection of electron beam.
• Horizontal Amplifier − It amplifies the sawtooth signal and then connects it to
the horizontal deflection plates of CRT.
• Power supply − It produces both high and low voltages. The negative high
voltage and positive low voltage are applied to CRT and other circuits
respectively.
• Cathode Ray Tube (CRT) − It is the major important block of CRO and mainly
consists of four parts. Those are electron gun, vertical deflection plates,
horizontal deflection plates and fluorescent screen.
(b) Explain briefly all the parts of CRO.
Ans: Parts of a CRO and Their Functions:
1. Cathode Ray Tube (CRT):
The main part of the CRO where the electron beam creates visual waveforms
on a fluorescent screen. It contains the electron gun, deflection plates, and the
screen.
2. Electron Gun:
Produces and focuses a beam of electrons. It includes the cathode, control
grid, and accelerating anodes to direct the beam toward the screen.
3. Vertical Deflection Plates:
These plates deflect the electron beam vertically according to the input signal.
They represent voltage on the Y-axis of the screen.
 4. Horizontal Deflection Plates:
These deflect the electron beam horizontally. They are driven by a time base
signal to represent time on the X-axis.
5. Vertical Amplifier:
Amplifies the input signal to a suitable level before sending it to the vertical
deflection plates.
6. Time Base Generator:
Generates a sawtooth waveform that controls the horizontal movement of
the beam, creating a time-scale for the waveform display.
7. Trigger Circuit:
Stabilizes the waveform display by starting the horizontal sweep at a fixed
point on the input signal. This ensures a steady and readable waveform.
8. Delay Line:
Delays the input signal slightly so that the horizontal sweep starts just before
the signal reaches the screen, allowing the beginning of the waveform to be
seen.
9. Horizontal Amplifier:
Amplifies the time base signal to control the horizontal deflection plates
effectively.
10. Fluorescent Screen:
Coated with phosphor; it glows when hit by the electron beam and displays
the waveform.
11. Power Supply:
Provides required voltages for all internal components including high voltages
for CRT operation.
9. (a) Explain the sufficient and necessary conditions for Routh Stability criteria.
Ans: Routh Stability Criteria - Sufficient and Necessary Conditions
The Routh-Hurwitz stability criterion is used to determine the stability of linear
time-invariant systems by examining the characteristic polynomial coefficients
without solving for the roots directly.
❖ Necessary Conditions
1. All Coefficients Must Be Present For a characteristic polynomial of nth order:
s^n + a₁s^(n-1) + a₂s^(n-2) + ... + aₙ = 0, none of the coefficients a₁, a₂, ..., aₙ should
be zero. Missing coefficients indicate poles on the imaginary axis or in the right
half-plane.
2. All Coefficients Must Have the Same Sign All coefficients must be positive
(assuming the leading coefficient is positive). If any coefficient is negative or zero,
the system is unstable. This is because for a stable system, all roots must have
negative real parts, which requires all coefficients to be positive.
❖ Sufficient Conditions
3. All Elements in the First Column of Routh Array Must Be Positive After
constructing the Routh array using the characteristic polynomial coefficients,
examine the first column. For system stability, all elements in the first column must
have the same sign (conventionally positive). This ensures no sign changes occur.
4. No Sign Changes in the First Column The number of sign changes in the first
column of the Routh array equals the number of poles in the right half-plane. For
stability, there should be zero sign changes in the first column, meaning no roots
have positive real parts.
❖ Mathematical Framework
For a characteristic polynomial: 1 + G(s)H(s) = 0 or D(s) = s^n + a₁s^(n-1) + ... +
aₙ = 0
The Routh array is constructed as:
• First row: coefficients of even powers (s^n, s^(n-2), ...)
• Second row: coefficients of odd powers (s^(n-1), s^(n-3), ...)
• Subsequent rows: calculated using the Routh algorithm
(b) Discuss the importance of characteristic equation.
Ans: The characteristic equation is a fundamental concept in control theory and systems
analysis, particularly for linear time-invariant (LTI) systems.
➢ Stability Analysis: The characteristic equation is crucial for determining the stability
of a system. The roots of the characteristic equation, known as the eigenvalues,
indicate the system's behavior over time. If all roots have negative real parts, the
system is stable; if any root has a positive real part, the system is unstable. Thus,
analyzing the characteristic equation helps engineers design stable systems.
➢ Dynamic Response: The characteristic equation provides insights into the dynamic
response of a system. The nature of the roots (real, complex, repeated) affects the
transient response characteristics, such as overshoot, settling time, and oscillations.
Understanding these dynamics is essential for designing systems that meet specific
performance criteria.
➢ Control System Design: In control system design, the characteristic equation is used
to assess the effects of feedback and controller design on system stability and
performance. By modifying the system parameters or adding controllers, engineers
can alter the characteristic equation to achieve desired system behavior.
➢ System Identification: The characteristic equation plays a vital role in system
identification, where the goal is to model a system based on its input-output behavior.
By deriving the characteristic equation from experimental data, engineers can
develop mathematical models that accurately represent the system dynamics.
➢ Predictive Analysis: The characteristic equation allows for predictive analysis of
system behavior under various conditions. By examining how changes in system
parameters affect the roots of the characteristic equation, engineers can predict how
the system will respond to disturbances, changes in input, or modifications in system
configuration.
(c) Examine the stability of the following system : s5+2s4+33+6s2+2s+1=0.
Ans:
➢ Conclusion:
• There is at least one sign change in the first column of the Routh array.
• Hence, the system is unstable.

10. (a)Obtain transfer function of a simple RC circuit without initial condition.

Ans:
(b)What is the order of the system. What is its type? Can you determine the time
constant from the output response curve of the RC Circuit ? how system response
is affected by the Time constant?
Ans:

(c)How physical model is developed ? what is difference between physical and

mathematical model?
Ans:A physical model is developed by following these steps:
1. Understand the System
Identify all the components, their connections, and how energy flows in
the system (mechanical, electrical, thermal, etc.).
2. Apply Physical Laws
Use fundamental principles such as:
 o Newton's laws (mechanical systems)
o Kirchhoff’s laws (electrical systems)
o Conservation of energy/mass
3. Identify Inputs and Outputs
Define what causes a change (input) and what you want to
observe (output).
4. Draw Equivalent Diagram
Create a schematic or block diagram representing how each
part of the system works.
5. Simplify if Necessary
Assume ideal components or linear behavior for easier
analysis.

Feature Physical Model Mathematical Model

A representation of a system using physical A representation using equations or
Definition
components or diagrams formulas
Real-world setup, circuit, schematic, or Differential, algebraic, or state-
Form
prototype space equations
Derived from physical model using
Basis Built from physical laws and observations
math
Used for analysis, simulation, and
Use Helps visualize and understand the actual system
control design

Example RC circuit, mechanical spring-damper system H(s)=1/1+sRC F =ma