UNIT- I

INTRODUCTION TO cONTROL
SYSTEM, MATHEMATICAL
MODELLING AND C.S5.
COMPONENTS
Q.1. What is control system?
Ans. The control system is a means by which any quantity of
interest in a machine, mechanism or other equipment is maintained or
altered in accordance with desired manner.
Q.2. What do you mean by open-loop and closed-loop
control system. Give one example of closed-loop control system.
[E. W.99,CT S.031
OR Explain the significance of "feedback" in the functioning
of control system.
Ans. The control system is means that by which
any quantity of
is maintained or
interest in a machine, mechanism or otlher equipment
altered in accordance with desired manner.
system is that
Open L0op Control Systems :- An open loop
System in which the control action is independent
of the system
a controller or
Output. Therefore, an open loop system utilizes

Controlling devices to control the system

process in such a way so as

desired output without considering the actual systemn

ODtain the
Ouput as shown in figure. The
controller uses an external power
proper control action to' the controlled system
CC lo have the
environmental changes which disturb
POCess. Disturbances here are
control system is characterized by a
process. Thus, open loop
desired system output and actual system
e relationship between output during normal
outp actual system
Without monitoring the
operation
of the system. 5
VBD CONTROL
SYSTEM / CS-I (ETICT)
 VBD CONTROL SYSTEM/CS- (ETiCT
7
6 VBD CONTROL SYSTEM/ CS-I (ETICT)

The outstanding features of this

type of system are:
DISTURBANCES the reference input and error is generated, which is then amplified by
EXTER NAL POWER
amplifier producing actuating signal. Actuating system operates the
Controlled system controller thereby applying control signal to the system plant which
Amplitier Controller changes the controlled system output to signal to tlhe system plant
Process
SYSTEM which changes the controlled system output to the desired value. The
DE SIRED SYSTEM
OUTPUT
OUTPUT characteristics of these systems are high accuracy, fast response to
OPEN LOOP CONTROot SYSTEM
i) Moderate accuracy.
input signals and relatively independent to operating conditions. The
accuracy depends upon:
i) Sensitive to surrounding condition like vibrations, voltages,
i) Output measuring device accuracy.
aging, etc.
ii) Comparing device accuracy.
ii) Slow response to input command changes thereby making
system slow and sluggish. ii) Sensitivity and control element accuracy.
Closed Loop Control System :A closed loop control system, is The advantages of this type of system are high accuracy, fast
that system in which the control action is somehow dependent upon response, independence to operating conditions, flexibility in system.
the system output. Thus, a closed loop control system measures the Feed torward path Disturbance
actual system output, compares it with the input and determines the RIS Actuating Con. Controlled
Error signal Signa
error which is then used for controlling the system output to have the reference
inpyt SystemLcis
desired value. The closed loop sequence of operations Comparater Amplifier Controller
in the system plant
are measurement of output, comparison with reference
input and Feed L
calculation of error, actuation of controller and back signal
controlling system
process. These sequences are shown in figure. Output Measuring
CONTROLLER, CONTROLOF divice Feed back path
ACTUATION SYSTEM Q.3. Give some. examples of closed loop and open loop
PROCESS [E. W.99
control system.
ERROR
CALCULATION Ans. Open loop:-
SYSTEM
OUTPUT
1. Automatic Washing Machine:-The output is the clean cloth
taken as
and the input is the dirty cloth. The soap, water etc. can be
is determined by the timer which
COMPARIsION WITH
inputs too. The control action,
output is less than 100% clean
REFERANCE INPUT determines wash and wring cycles. The
is 100% clean. The control
at start and ideally at the end of the time
status of "clean' cloth. [lf a
action, has nothing to do with the actual
MEASUREMENT it]. Hence open
OF SYSTEM 100% clean cloth is dropped, still the machine washes
OUTPUT loop.
2. Bread Toaster:- A toaster simply
heats the bread for some
These operations in the system hard toast and is calibrated.
measuring devices, comparators,
are performed by output ime. This time is determined for a soft or
the status of toast (burnt /
amplifiers, controllers and
system This control action, has nothing to do with
plant as shown in figure. Measuring conditions).
proportional to the actual system
device generates signal untouched/no bread in toaster, etc. Hence open loop. The
output. This signal is compared And starts and stops after a fixed time.
with toaster resistance.
timer does not check for aging of the
 8

Automatic Coffec/milk
Server :- Ready coffee is prepard Eyes Controtter Plant
3.
is simply releaseared
fixed proportions of ingredients and when 4ctual
by cups are placed currently but does
does not
not ensure Brain Direction
asked. It assumes coffee Legs
filled in the cup. Hence, the system which
whether the fixed volume is upon request
aims to sending a fixed volume of liquid/beverage is Desired
Direction
open loop.
4. AnElectric Lift:- Without an operator, the doors are opened
output, namely whether tho Refer figure it is a closed loop system. When we move away
for some time. But the status of
passengers have reached and let the Iift, etc. IS not monitored. So also from the desired road, our eyes give feedback to brain which controls
whether more than permitted persons have loaded, etc. are nat the motion of our legs such that error is reduced.
checked (with an operator included this becomes closed loop).
Closed Loop:
[Link]:
Refer figure. When body temperature goes up, we perspire.
1. Automatic Electric Irons- An automatic electric iron,
Body heat is uséd to evaporate the sweat and our temperature. Hence,
regulates the temperature of iron such that for a given cloth selection
he temperature remains in a specified range. When the temperature our body maintains constant skin temnperature and is closed loop
falls below the range, heating is started and when it exceeds the range system. Nervous Controller Plant
of heating is stopped. Thus it is closed loop with respect to Normalystem Actual
temperature as the control action (which intiates heating or not Sweat Dir ection
heating the coil) depends on the output temperature. This is the
Desired X} Gtands
S kin
Skin Temp.
principle of closed loop temperature control. Refer figure
Controller

Thermostat
Desired Switech
Q.4. What are the advantages and disadvantages of open
IronActua
Temp.
or OHeater
Temp
loop and closed loop control system ?
Ans. Advantages and Disadvantages of Open
Loop System:
ReterensE Advantages:
Inputt Thyristor Voltage to Motor (1) They are simple in construction and design
Controller
Bridge (2) They are economic
Tacho
generator (3) Easy for maintenance
Motor (4) Not much problems of stability.
is difficult to measure.
(5) Convenient to use when output
Disadvantages:
because accuracy is dependent on
) Inaccurate and unreliable
Gain accuracy of calibration.
adjust with parameter variations,
2) Inaccurate results are obtained
Feedback
Voltage

internal disturbances.
 10 VBD CONTROL SYSTEM/CCS(ETICT
11
SYSTEM/CS- (ETICT)
To maintain quality and accuracy Re-calibration,
3) VBD CONTROL
of the follow the principle
controller is necessary from time to time. (ii) Non-lincar C.S: When output does not
Advantages and Disadvantages of closed loop system; of superposition.
Advantages: 2] According to the nature of control signal:
In this system, the signal is the
1) Accuracy is very high as any error arising is corrected. (i) Continuous Time Systems:-
2) It senses changes in output due to environmental continuous function of time variable.
In this system, the
(ii) Digital or Discrete [Sampled] Data C.S:
parametric changes, internal disturbances, etc. and corrects the same
time is either in the form of a pulse
3) Reduced effect of non-linearities. signal at one or more points of
4) High Bandwidth. train or a digital code.
31 According to the nature of
parameter variation:
5) Facilitates Automation.
i) Time variant C.S: In this
system, the parameters of the
Disadvantages:
1) Complicated in design and system vary with timne.
maintenance costlier In this system, the parameters of the
ii) Time in-varíant C.S:
2) System may become unstable.
Q.5. Differentiate open-loop control system and closed loop system do not vary with time.
4] According to input and output:
control system. [SISOJ System : In this system,
CT S.03 (i) Single Input Single Output
Ans. Comparison between open loop and closed loop
control input.
systems: only one variable is controlled by one
[MIMOJ System: When more
(i) Multi Input Multi Output
pen Open Loop System Closed L0op System
than one variable of the system are
to be controlled with a number of
1) An open loop system has
the | 1) A closed loop system has got
ability to perfom accurately if | the ability inputs, system is called as MIMO system.
to perform accurately of feed back signal
its calibration is good, if the because 5] According to the nature
| of the feedback. i) Positive Feedback [Re-generative feedback] C.S: When
calibration deteriorates so does
feedback system.
its performance. feedback signal is additive [+]; it is positive
[Degenerative feedback] C.S: When
|2) It is easier to build. i) Negative Feedback
| 2) It is difficult to build feedback system
3) In general, it is more feedback signal is substractive [-1;: it is negative
stable.3) It is comparatively less stable. | 6] According to the purpose of the
system:
4) If non-linearities are present, | 4) Even some
system operation degenerates.
under presence of non-
i) Regulator Ifthe object of the CS is to maintain
linearities system operates better in the presence of some
physical variable at some constant value
than an open loop system. Regulator; e.g. a voltage
disturbances, the system is called as
constant.
Q.6. Explain the types of feedback stabilizer has desired output which remain
control system. ii) Servo-Mecharnism: f the object of the CS is that the
Ans. Types of Feed Back Control desired time function,
Systems:- physical variable should follow or track some
They are classified in following
ways: It is a system which controls
1] According to the the system is called as Servo mechanism.
nature of variation derivative; e.g. Servo-voltage
of output: the mechanical position or its time
i)Linear C.S: When output follows is controlled using
the principle of stabilizer in which position'of secondary tap
superposition.
Servo-motor.
 12 VBD CONTROL SYSTEM I CS-(E 13
ETICT
(ETICT)
is CONTROL SYSTEM/ CS-I
Q.7. What transfer function. Give it's limitations VBD
s. TRANSFER FUNCTIONS:
Ans. Transfer function:- It is defned as, the ratio ofLaplace SOLVED EXAMPLES ON
Lan
TF of figure (a). ICTS.031
Prob.1. Find out the
transform of output to Laplace transform of input, unde.
assumption that all the initial conditions are zero. [i.e, neglected M-
For the open loop system shown below: Eo
Ei
The transfer function is given by,
CIS
XIS)
GiS a
transform of the circuit. See figure
(b)
Soln. Taking Laplace
By KVL,
T.F=C =Gís)
X() E 6)=RI(S)+sL(S)+ sC )
Expression for closed loop transfer function
RIS E S)
Gts Cls
E)-R +sL+6)
sC

BIS Ep)6 R sL

HIS . TF=-E s)
E; )
For negative feedbacks
1/sC
Els
Ts)-C) Gs) R+sSL+
R($) 1+G(s)H(s)
If the feedback is positive, then,

T(G)-C)-G) sLC+ SCR +1

R(s) 1-G(s)H(s) 1

Equivalent open loop system is

TF= sLC+sOCR +1
RIS
following circuit.
GIS CIS Prob.2. Find the T.F. of the
1 GIS)HIS) R

Limitations
i) It is valid only for linear
time-
invariant systems. o
ii) It does not take into account
the initial conditions.
ii) It does not give any idea about how the present output
progressing. is (a)
 14 VBD CONTROL SYSIEM/ Cs./e
A(ETICT 15
CONTROL SYSTEM / CS-I (ETICT)
Soln. Step 1: Draw the Laplace transtorm of the circuit VBD
R R

Prob.3. Find the transfer function

CoSfor the network
ET S.02
show below.
Eits) ,ts)) Eo(s)
C

w- w- R
(6) R
Step 2 : Apply KVL to first loop,
R3 eo
E,6)=RI) +1SC )-2 )]
Step 3: Apply KVL to second loop,

E,)=-Rl() SC
)-12(6)] reduce to;
star. Hence circuit will
Soln. Convert figure into
Also E,(-2)
I26)=sCE,
SC
R R
12s)1+2RsC
(S)
.ii) 1+2RsC (s
Put into (i)

R SC
E,)=R4)-E,6) 1+ 2R SC
I(s)=iS)+E, ()
.(iv)
R+SC
Put (i) and (iv) into (ii),

SR. sCE,(6) -E.()4 E;6)+E, (S) SL 1+2RsC"1+RsC

R +RL=Zp: say
sC Now;
R sC
sC

E,() 2+RsC E;() iteg n This comes-out to be,

1+RsC 1+ RsC (RcS+ 2RCs + 1} {R+ RL +2RRSC)
TF=E() 1

+ 1) + (R + RL + 2R RL sC)
(2RsC + 1) sC
E,(6) [RCs +2Rs + 1)]+ (2RsC
2Rc+3RsC+1 e
Now; =11(6). Z(s)
T.F= (s) 1/R2c2 R
E;6)224S4+- and eo=RL.l2)---|Z(s)=Zp 1+2RSC
RC Rc2
 16 VBD CONTROL SYSTEM /CS-
CS-(ETICT
(ET 17
(ETICT)
VBD CONTROL SYSTEM/CS-I
Rc's+2RsC+ 1 1

1() (2RsC+1)sC S+
VoS) RC S+a
Also;
Also 1(S)= S+b
RCs2-2RsC+1+(R +2RRSC+R,)SC V, (S)
S+
(2RsC+1)sC RC R2C
1 a< b
a 1
and
E () R (R-C'S +2RsC+ 1} (2RsC+ 1}+RLSC{R +RL + 2RR LSC) where
RC bR.C
R2C
function of Lag compensator
of
E() (Rc+2RsC+1+2RRLs C +RLsC} {R+RL+2RRL,s Prob.5. Find the transfer
R
fig.(a).
Prob.4. Find the transfer function of the Lcad compensator
of fig(a).
R o
Vi

Vo

Soln. The kVL procedure gives,

+
R
R2 i
Soln. Refer figure (b) taking the (Laplace)
Ri+idt =Vi

transform of the Laplace transform gives, Vo

given circuit,
RI +R2+ )=Vi()
A-

V6-R
Vo)TVi(s)
Vos
RR+R2
+R2 4
Cs) R2* Cs
Rearranging
From KCL at (a) node,
[V)-Vo)] [M)-Vo()] Vo() Vo()
R2t Cs
2Cs a (s+b)=Transfer funetion
1/Cs V ($) b(s+a)
Ri R2 R +R2 * Cs
Vo(s) Cs+1/R
le-arrangngv.(
V,) Cs+1/R+ 1/R2 where a =
(R +R2)C R,C
 10 VBD CONTROL SYSTEM/CS-
ETICT
(ETi 19
CONTROL SYSTEM /CS-I (ETICT)
Prob.6. Find () VBD
shown in figure 2(b),
find
i() Prob.8. For the electrical network
of the
the transfer function E,
(s)/E, (s) by writing the equations
www-
R
network. L

V
eglt
e(t)
di
Soln. V =L+Ri
dt
Taking Laplace transform, we get, Fig.2(6)
IS-991
V,S)=RI (S) + Ls Is)
Soln.
V(s)= (R + Ls) I$)
eu L

I (s)
1

eolt
Vi R+Ls ej(t
Pro.7. For the network shown in fgure. Find the transfer
function (s)
V,6) Apply KVL
Soln. Apply KVL to circuit, we have
1)
Vidt+ iR didt +Ri=e;()

Taking Laplace transform, we have i.i)

Vi Vo and 'Ri=e, (t)
and (ii), we get
V 1)+R 1) Taking Laplace transform of (i)
..i)
sL 1)+I(6)+ RI(s) = EI(s)
V,6) R1) ..()
(iv)
and RI(s)=E, )
Vo iR
Taking Laplace transform we have From (ii) and (iv), we get
Vo(6)= R I() RI(s)
(2) EIS)
Dividing (2) by (1) we have
Vos) R I(S)
EIG)sL+RI)
sC )
V)
R Cs
I(s) R

Vo) RCs sC++R

SC
V,6) 1+RCs
 20 IEMICS-I(ETIC 21

Prob.9. What is block diagram. Give the block diagram

dias
VBD CONTROL SYSTEM /CS-I
(ETICT)

closed loop control system and its transfer

Soln. Block Diagram:
function.
For negative feedback
system. we have,
. from (1)
Es) = R(s) B(s)
-

..(5)
RIS E S)
G(S
CIS) Using(3); ES) = R(s) - H(s). C(s)
..(6)
E(S)
Using (2); C(s)= G(s) .

{R(s) H(s). C(s)}

Using (5); C(s) = G(s)
-

BIS)
C(S){1+G(s). H(S)} =G$). R(S)
T(s)=C) =- G(s) ..(7)
H(S) T6)R(S) 1+G(s).H(s)
For positive feedback system
It is a convenient graphical representation of the transfer Ts)=Cs) G(s) ...(8)
function which gives the clearcut idea about the components and T6)R(G) 1-G(s).H(s)
signals of the system. It can be used for linear as well as non-linear C(s)
systems. The blocks are connected by lines with arrows representing
Now if we substitute (2) in (5) for
the unidirectional flow of information from the output of one block to E(s)= R(s)- H(s).G(s). E(s)
the input of the other.
. E(s)[1+G($). H(s)]=R(s)
(9)
Block Diagram of Closed loop C.S. and its Transfer
Function
R(s)= Input signal R(s)
C(s)- Output signal ES)1+G(s). H(S)
B(s) = Feedback signal
system. For a positive
E(s)= Error signal This expression is for a negative feedback
E(s)= R(s) t B(s) feedback system it will become,
In above expression
the + sign corresponds to positive RS)
feedback
Now,
and- sign corresponds to negative feedback. E(s)-G(S). H(S)
following block
The closed loop C.S. can also be represented by
G$)= Forward path T.F.= )
E(s) diagram (BD).
H(s) = T.F. of feedback B(s) G(s) Cls)
element RS)
C(s) 3)
1+G (s), HS)
G6).H(s)= Loop T.F,=5S)
Es) (4) G(s)
C6)-T(S)
Note: R(S)
T(s)= Closed Loop T.F. = C(s)
G(s).HS)
R(S)
 (ETICT)
the B.D. of a closed loop
loon system YBD CONTROL SYSTEM/CS-I
Hence we can conclude that, disadvantages of
: Prob.10. What are the advantages and
can be reduced to that of
open loop system, but 1.F. of the bloct IET W-00
technique?
becomes complicated. hence is
s block diagram reduction
different. For practical systems B.D. it is
get the T.F. Soln. Advantages:
necessary to reduce the B.D. in order to graphical method.
(i) Simple step-by-step
Block Diagram Reduction Technique: represented by the interconnection of
Table Rules of Block Diagram Algebra (ii) A complex system is

Rule Original disgram Equivalent diagram the blocks.

X,GG2
Disadvantages:
turn out to be
some ofthe control systems
1. Combining blocks XGG (i) Block diagrams of
requires
csscade evaluation of their performance
very complex, such that the
in

diagrams which is carried out by

simplification (or reduction) of block
(X13) GXitX)| GX1X)
block diagram rearrangements.
2. Moving ea summing block
block equivalent using
point sfter8
Prob.11. Find the single
ET.S.04
Lae
block
following one
of the
diagram reduction technique

(XG X) (K1tX/G) (XGXz) CIS

RIS
[Link] summing
point ahead of a
blodk

4. Moving a take off XG G3 to the

point between G2 and
point aftera Soln. Shifting the take off
block

right, we have

5. Moving X,G C(s)

a take of X1
poim ahead of a
block

X,G

6. Eliminating a
feedback loop

L
24
EMICS
VBD CONTROL SYSTEM / CS-(E
(ETICT
25
VBD CONTROL SYSTEM /CS-
(ETICT)
6s/03
the multi loop system
Prob.12. Reducç the block diagram of (E.S.98
Ris) 62 G3 Cts shown in fgure.
1+G263 H1

- CIs
RIS
HS4g9
Atter Simptification
G3 G4+Gs
G3
H115)
L

figure is
the pick off point D in
Rls G1 G2 6L Cfs)
Soln. From transformation,
shifted beyond theblock G4 (s).
G4I51

CiS
A

R(s G1G263 G3 G4 +65 Cis)

1t62Gg G3

H2

innermost feedback loop in

RIs) G162 (63G4t65||
Cis Applying transformations to the
1+62 G3H figure(a).
H2S)
- G4IS1

GalS)GLSj cIS
RIS A
G G2 G3GL+ G5)
45)G5)HS)
Rs
1tG2 G3H1
Cis)
1+521G3G4+65)H2 HtS
1+ G2G3 H1
formed
negative feedback loop
Applying transformations to the
by points B and D in figure (b).
 26
BD CONTROL
VBD CS-I (B
CONTROL SYSTEM/ CST (ETICT)
(ET/CT
SYSTEM/CS-I (ET/CT) 27
BD CONTROL
combine the above
RIS) 6215) 6g1S1 6S) CIS) 3) To make complete block diagram we can
figure (d).
1+Gg15) GS)HglS}+G2S)6ISIHS) figure(a) and (b) so as to give figure (c) and
No
VC

Applying transformations to the negative feedback loop in

fig(c). The open loop form of the block diagram is drawn in fig. (d). iR2
RIS) GISIG2151631S16LS) CIS)

|1 6151641SIH5I6;1SI6g|5| HSj+G|ISIG,|516315I5)HH1S|
Vc
Prob.13. For the fig, draw the block diagram and reduce it. Vi

R R2 Ve
IR1
wW IR2
R1 sC1 R2
lic2
c1 iC C2
CT TC2
RLVo
the last element, we get
4) Moving a take off point ahead of
Vi
Soln.
ET S.99
1) The elements in the circuit
are represented in block diagram
notation as follows;
R
VR2

Lis
5) Combining the cascaded
elements and eliminating the

feedback loop, we get

V 1+R2IC2S1/RL
2) The relations between various voltages
can be represented by
he summation points aS is shown in
figure (b).

CS1/RL
R1

Vo is shifted ahead of
the block, we
6) Now, if pick off point at
iC2 obtain,
28 VBD CONTROL SYSTEM / CS-I (ET/O
TICT)
29
1
VBD CONTROL SYSTEM / CS-1(ET/CT)
1+R21C2S+1/R

+Cs)
RIS)

| 1R2(SC2+1/R

C2S+1/RL

iR2
7) Cascading the forward loop and the feedback loop,
we get G4+6362 Cls
G2

1+5R2CztR2/RL+SR1C (1+SR2C2*R2/R*SR C2*RRL

G2

Prob.14. Find the closed loop transfer function using block 64 6263
diagram reduction technique of following one: CT W-02,03/

CIs

G4+ 626 3

H2
Soln.

Cts)
G4+G32
RIS) 1+ GcH2+G32H2
Cis)

H G2

G4+ 62 G3
 VBD CONTROL SYSTEM /ICS-ETICT 31
CS-I (ETICT)
qWBD CONTROL SYSTEM /
G,64+6,62 G3

RS1 1-64H2+ 62 63H2 CS

G4+6, G3 62 HG2
1+64M2+ G263H2] |6utO2 63

RIS) GG4+G4G263 C(S)

1+642 +62G3 M2+ H1 6qS2 +G464+61626| G3+G4

14G3 G4 H2
Prob.15. Reduce the following block diagram using block
diagram algebra. E S-02
GL

H3

Soln. - G3+ 64
#63 G4H2

H3
R G3+G
+6364 H2

H1
32 VBD CONTROL SYSTEMI
EMI CSETIC
CSJ
33
CS-I (ETICT)
CONTROL SYSTEM/ following block
qBD
G3+ 64 Prob.16. Obtain the
transfer function for the
14636 LH2
T diagram: Cis)

H1
G1 G4

R G162 G3t64 [CT S-03]

1t61G2H3 1463G H2

H1
G16
Soln.
RIs
-
/G12 1/ 93t6 \|
14G162H3/ \1+6364H2

Rls) to G2 G3 Cis)
G16263+61 62 G4

G364 H2+61G263GtH2 H3++G162 H3

62

G1 G

G462 63+64

1+(63t6H2 +C462(G3+64)H2H3 +61G2 H3 G2 G3 Cis

1+62 1-G3
1 + H1 1+ H2
1+ 636z) H2+61 $2 (6346,)HHj+6,62 H3/ G, 4
 34 VBD CONTROLSYSTEM/cS
S(ET
35
SYSTEM/CS-I (ET/CT)
G2 63 VBD CONTROL
RIs)
51
1+G2 1-63 Cls) R(S)
X c2GuGa
1+G2t62 H1/-6gt63 H2/
1-G3
1+62

=
G G2 G3
T.F.
1+G2+G,H1 H2
GG2G3 CIs)
RIS) G162 GF63
1+G2 +GzHjH2 1+G1G2H
diaor
Prob.17. Find single block equivalent using block iagran
reduction technique. [CT S-03 (Sem.), ET 04|

G1G2 Cis)
RIs) Gut63
1+61G2H1

G1G2 G4+ G162G3

RIS 1+6261H1 Ci
G16264+61 G2G3
1-
1+6261H1H2
Soln.

GG2G4 +G,G2G3H2
.T.F
+G,G1+G2GHH2 -G1G2G4+G1G2G3
C(s C(s
Prob.18. Obtain the transfer function R($) for the
following

system: [ET W.03]

R(S) CIS)

H2
 VBD CONTROL SYSTEM/CS
36 (ETI
(ET/CT) 37
Soln. VBD CONTROL SYSTEM/CS-I CIS)

R(S

Ha
C(S)
R 1t6,H

RIS G2 63t G | S263+6,' Cis

1-+6 H 1
+GH1
RIS 2G3+6;) H2 |
cis
1+6,H H

On simplifications,
G1
RIS 6,02 + G2 C3 CIS
1 G2H2
tl 61t G3

Prob.19. Find the transfer function C(s)/R(s) for the block

diagram slhown. ICT S.04J

CIS

RIS G
 VBD CONTROL SYSTEM/CS (ET/CT) 39
38 D cONTROL SYSTEM/CS-

Soln.

Cs)

H3+H
C(s)
(G+ G5
1+164+65lH2|
Hg-H Clb
G,G6162+63} G4+G5)
Rlb
1+ (GL+65)Hat 6,5g0t63)6¢t65'

block
Prob.20. Find the single block equivalent using
following one.
| diagram reduction technique of the
[ETS.00]

3. H
RIb
e106

Soln. The given block diagram is redrawn belów

 41
CONTROL SYSTEM /CS-I (ET/CT)
VBD CONTROL SYSTEM/
/CS BD
40
Function CS) for the
Prob.21. Obtain the Transfer R(S)
IET W.01]
followingsystem:
RIS)
s C6)

It
can be reduced as follows
the second error-detector
Soln. Step 1: Move Gj before

CIS
RS

in series. Hence there equivalent

will
1+6,6H Step 2: G5 and 1/G are
be Gs/G1
and (3).
Step 3: Re-arrange summing point (2)
G3

RS
R

(1+ , 4, 66, ,, H,16, 9+G5

C
 42
encircle parts e()=R,() +L
Step 4:
Simplify the For Input i)dt
G1 Cls)
=R (t) +L +en(t)
dt
Take L.T. ;E, (6)= RI(s) + Ls.I(s) +Eg(6)
- RI(6) =Ls I(s)
ie. E, ()-Eg(s)

Step5: i.e. E,(-E()1 2)

G(s)=G+G, GL
G+Gs IG2] and H(s) =G4 This equation indicates that sl(s) is the output of a summing
Now,
Now, G6)=G1+G,G3J
device which has three inputs. [LHS of the equation]
G2/(1+G1 G3)
CS)(G +G5)
RS) (G (G +Gs) G2 G Also Is)=#xsI(s)
S
.3)
1+-
1+GG3
For equation (3) the B.D. will be
G2(G +GB5)
C(s)
1+G,G3 +G2G4(G1 +G5)
R(S)
sI CS
16)
Prob.22. Draw the B.D. for the R-L-C series circuit.
R L

The final B.D. can be obtained by equation (1) (2) and (3)
eilt) c eolt

sI(s) 1(s

E(s) EoIS)
Soln. For such problems first write the equations for the circ 1
i from those equations draw the B.D.
For output egt)-fi0dt
Take L.T. ; Eg6)1) ...
sC
..[Link] this part will be
E p5)
 44 VBD 45
aBDCONTROL SYSTEM /CS-I (ETICT)
GRAPHS (S.F.G)
SIGNAL FLOW 9) Forward path gain:- It is a product of
branch gains
representation of the relati.
Signal flow graph is
graphical Onsencountered in traversing a forward path.
algebraic equation. forward
between the variables of a set
of linear (For ex. For a forward path of xj -X2 -X3 -X4-X5
algebraic equation y = kx path gains is
kykgkgk9).
Assuming the linear
10) Loop gain:- It is a product of branch gains
encountered in
y-Independent variable,
X-Dependent variable traversing a loop.
(ex. For loop X2 -X3-X2 loop gain is kgk2)

kx y kx=y MASON'S GAIN FORMULA:

output
The relationship between an input variable and an
variable is given by Mason's gain formula as

K3 Kg C-TPA
R.
2PA
X2
where P =gain of thek" forward path
A = Determinant of the graph
gain
=1-(sum of gains of all individual loops) + (sum of
non touching loops)-
products of all possible combination of two
possible combinations of three non-
Kg
(sum of gain products of all
Definitions connected with S.F.G. touching loops) +...
touching the
1) Node:- It represents a system variable and is equalto sum A Value of A for that part of the graph not
the incoming signals.
k forward path. following
2) Branch :-A signal travels along a branch from one node
t
another in the direction indicated by branch arrow and in the proceset
Q.1. Draw the signal flow graph with the help of
and
of cause effect
relationships:
gets multiplied by gain of the branch.
3) Input node :- A node with only out going branches.
previous S.F.G. x1 is input node).
4) Outputnode: A node with only incoming branches. . X2 =t12X1 +t42X4
xs is output node).
(In previous S.F.G. X3 =tg3Xg+t13X1 +t23X2
5) Path:- It is a traversal of connected branches in
the directio X4=tg4Xo +t34Xg tls4¥s
of branch arrows, such that is traversed more than
once.
6) Forward path:- It is a path from input
node to output node.
Xs = t15X1+ t4sX4
) Loop:- t is a path which originates and
same node.
terminates on the X=to6Xo+ ti6X7 + ts6Xs
(ex. X2 -X3 -X2,
X3-X4 X3 -
previous S.F.G)
8) Non-touching
loops- Loops are said to be non-touching Xg = t787 +ggXo
they do not posses any common
node.
Ex. X2-X3 -X2 and X4 -X4 are a pair oftwo non touching) Ans. The S.F.G. is as shown in figure
 VBDCONTROL SYSTE

o6 R
f04
to3
t10

to1x t2 23 *3
s xs ts67 The SFG is
we have
tL2 t76
t64 E=R-CH and C= GE
H
Application of SFG to control system Forward loops loop Gainn
1) R-E-C P =G
Feedback loop Gainn
R G
C 1) E-C-E -
GH
A = 1--GH) = 1 + GH
= 1 By Masons gain formula
A
Find C/R use S.F.G.
C A
A 1+GH
G
R(s)
Procedure. CS)with reference to figure.
1) First
choose the nodes input. Node and output Q.2. Find the transfer function R(S)
node are the
whenever there is a summer the output of summer
-
is taken as node 7
Node G8

R 1
o-

-H4 -H1

-H2

-H3
D, E, F, I and J as shown in
Ans. Marking the nodes of A, B,
Node
figure we have
[Link]. Forward path Path gain
Whenever a signal is being
tapped there is a node. (1) R-A-B-D-E-F-1-J-C P=G1 G2 G3 G4 G5 G6
2) Write the equations
at various node and (2) R-A-B-D-I-J-C P2= G1G2G6G7
set of equations. draw S.F.G. from the P3 = G,G2G3G4G8
(3) R-A-B-D-E-F-J
 Loop gain aRDCONTROL SYSTEM / CS-1 (ET/CT) 49
[Link]. Feedback loops
-GGG4G5GgH3 (a) Find signal to noise Ratio, assuming 'R' as input and 'N
(1) A-B-D-E-F-1-J-A
as noise signal, use SFG technique.
(2) B-D-E-F-I-B -
G2G3G4G5H2
(b) Find C/R using block diagram reduction technique.
(3) E-F-E -G4H4 Ans. Making the node (A, B, D) in fig. we have
G5G6H A =R- H C (1)
(4) F-J-F -

B = G1A -
H2D (2)
There are non-touching loops
D= G2B -H3 C+N 3)
A =1--G,G2G,G4G5G6H3 -
G,G;G4GsH2
C G3D 4)
-
GH4-GsGgH
From (1), (2), (3) and (4), the S.F.G. is
A =1 + G1G,G;G,G;GGH3 + G2G3G4G5H2 + QN
G4H4 +G5GgH
R 1 A G1
B D
A =1
The loop shown below is not touching 2nd forward path -H2 H3
:Ap =1--G4H4) =1+ G4H4
Ag =1
- H1
GL
By Mason's gain formula Signal to noise ratio is given by
CS)P A+ P A2 +P3Ag = Output due to signal (R)_CR
H4 Signal to noise ratio
R(S) A Output due to noise (N) CN
CN
C(S) G,G,G,G4 G5G6 +G,G,G,G7((+G4H4)+G,G,G,G,Gs (i) Output due to signal (R)
R(S) 1+G,G2G3G4G5GgH3 +G2 G3G4GsH2 +G4H4 Assuming N=0 i.e. R acting alone
+G5GgH1
[Link]. Forward Path Path Gain
Q.3. For the feedback control system
shown in fig. (1) R-A-B-D-C P = GG2G3
H2 [Link]. Feedback loops Loop gain
+N () A-B-D-C-A -G1G2GH
(ii) B-D-B -
G2H2
Gii) D-C-D -G3H3
There are no non touching loops.
=l-(-GG2G3H1 -G2H2 -G3H3)
H A
=

= 1
1+ GG2G3H| + GzH2 +G3H3
 VBT US(ET (ETICT) 51
50 arpcONTROL SYSTEM / CS-I
be the output due to
R. GjG2G3R
Cr Signal to noise ratio R
Let = =
CN G3N
By Masons gain formula

CRPPA CRG1
G2R
A CN N
R G G2 G3 we assume R acting alone i.e. N = 0
CR (b) For finding CIR
1+G,G2G3H1 +G2H2 +G3H3 take off point D beyond block G we have
R G) Moving the
G G2 G3R
G G G3 H +G2 H2 + G3H3
H2/a
R1+
noise
i) Output due to
Assume R =0 i.e. N acting
alone.

[Link]. Forward path Path gain

(1) N-D-C P G3
[Link]. Feedback loops Path gain
(1) A-B-D-C-A -
GG2G3H (ii) Eliminating feedback loop comprising of
Gz& H3 we have

(2) B-D-B -G2H2 2/63

(3) D-C-D -G3H3
There are no non touching loops
A =1
A =1+ GG2G3H + G2H2 + G3H3 H G3 in cascade
(iii) Combining the two blocks G2 and
Let CN be the output due to N 1+G3H3
By Masons gain formula H2weget,
and eliminating the feedback loop consisting of G3 we
get,
CN PAL
N A R G2 G3
1t G2H2+G3 H3
G3
1+ Gj G2 G3 Hj+ G,H2 + G3H3

CN G3N
N1+G,G2G,H| + G2H2 + G3H3 ...(6) eliminating the
(iv) Combining the two blocks in cascade and
Dividing equation (5) by (6) we
get uCedback loop we have
 VBDONVIR EM7CS-T(ETI
GaDCONTROL SYSTEM /Cs-I (ET/CT) 53
52 BDD
G GG3 C Non-touching loops
1+G, G, GaH3 +GzH2 + G3H3 A-B-A (G H3) and D-E-D(G,H4)
GGG3 A-E-A (G3H2) and B-D-B (G4 H4)
1+GG,G3H + G2H2 + G3H3
R . A =1 -(G1 H3 +G2H4 +G3H2 +GH1 +G,G2HiH2
flow graph of a system with +G3G4H3H,) +(G,G2H,H4 + G3G4H,H4)
Q.4. Figure givës the signal
inputs and two outputs. Find
expression for the output C & o
A = 1- G2 H4,
Also determine the condition that makes
C independent of b
Ag=l
2
and C2 independent of R1. H3 This loop is Not-touching forward path.
HL
G1 By Mason's gain formula,
_
CIL A
+P2 A2 [G, (1-G,H4)+G3G,H4]
R1 A A
]R,
.C1 =Gj (G2H4)+G3 G4 H, -..(1)
A
D 2 C12 due to R2 (i.e. R1 = 0)

[Link]. Forward path Path gain

Ans. Consider output C1. By principal of superposition
1) R2-D-B-C1 P =G4
Ci= C1 due to R acting alone +C2 due to R2 acting alone
2) R2-D-E-A -B-C1 P2 =G1G2H2
C1 due to R1 acting along (i.e. R2 = 0) A is same as evaluated earlier for C11 AQ
[Link]. Forward path Path gain A=l-G3H2 H2
1)
R-A-B-C1 P=G A2 =1
2) RI-A-E-D-B-C1 P2 This loop is not-touching first forward path
=G3 G4H4
[Link].
By Mason's gain formula
Feedback loops Loop gains C12 A +P2 A2G4(1-GaH2)+G,G,H2
P
1) A-B-A G H3 R2 A A
2) D-E-D +GG,H2]R2
G2 H4 C24-G3H,) A
3) A-E-A G3H2
C= C1+ C12 (2)
4) B-D-B GAH From equation (1) and (2), we have,
5) A-B-D-E-A GG2 HH2 CIG,a-G,H,) + G;G H,}R, + {G (1-G,H;)
6) A-E-D-B-A G3G4H3H4
+GG3H2}R2]
 54 VDD
SYSTEM/CS-I (ETICT)
(ETICT) 55
For C to be independent of
R2, co-efficient of R2 0 aDCONTROL SYSTEM /CS-1
enCONTROL
+ G,G3H2 =0 G2 A=1- G,G2 H4H2
G41-GH2) P= G
G4-G3G4H2 +G,G3H2 =0
1
=
A formula
-G4 By Mason's gain
= G1G2
H2 GG2-G3G4 Cs)PAA
d R(s) A 1-G G2 H H2
Equation(3) gives the condition for C1 to be independent ofR

C(s)-GGG2-R()
....(1)
Similarly, G2H1H2
= U(s) ==0,
C2 G3(1-G,H1)+GjHG2 ]R1 +[G2(1-GH,) Assuming W(s) acting alone i.e. R(s)
SFG becomes CIS)
+G4H3G31R2}

C2 is independent of RI
-G3 H
] G.G, GG4
-

Q.5. Using Mason's gain formula, determine the overall ga

of the following signal fow graph. ICT.S.03, CT.S.03(Sem fwis)
Us) G1 G2 HjH2
R(s)
P H G G2 L =

2 Cls) G1 G2 H,H2, A^=1

-0 A=1-L=l -

By Mason's gain formula,

H1 H2
C6) HA1_GjG2H1_
Ws) A 1-G,G2HH2
GG2H W) .....2)
Iwls) CS G,G2H1H2
= 0,
Ans. The system has three inputs R(s), U(s) Assuming U(s) acting along i.e. R(s) = W($)
and W(s). We wil
consider each input separately. SFG becomes
Us
Assuming U(s) = W(s) = 0, S.F.G.
becomes G1 G2 ls
RI G1 G2

H H2
H2
P G2 L = GG2HH2
A=1- L =1 - GjG2H1H2, Aj=l
By Mason's gain formula.
 VBD CS-I (ETN

56
G2 SYSTEM Cs-I (ET/CT)
/
57
BpcÖNTROL
C
US)
-G,GH1H2 A [Link]. Forward Path Path gain
G2 -U(s)
C 1-G G2 HH2
1) U-X1-X 1a+s
(3) overall C(s) is
given by, P2 B3
From (1), (2) and 2) U-X
GG2R()+ GGpH,W(s)+G2 U(s) - B
C(s)= 3) U- X2 X1-X P3
1- G1G2HH2 s(a +S)

by the following equatio Loop gains

Q.6. A system is represented tion [Link]. Feedback loops
XG) by S.F.G. technique. a2
Find the transfer function 1) X1-X2-X1
US) s(a +s)
X=
X +B3U There are nonon-touching loops.
=-a]X1 +X2 + B2U
A =1-
a2 =1+- +2 a2
+BjU [ET.S.99, W.0 s(a +s) s(a +s)
2 -21
Ans. Taking Laplace transform of above equations, we have A =1
X(s) = X1(s) +BzU(s) ...(1)
=1+ 82
sX()=-a,X1)+X29)+P2UG)
A2 1--42 s(a +s)
Ag =1
a +S By Mason's gain formula,
sX2(6) = -a2X1($) + B,U(s) .(2) X(s) PA+ P2A2 +P3A3
U(s) A
X2()=-2xi(6) +PlU(S) .(3)
S

From (1), (2) and (3),

S

we have S.F.G. as
X().
U(s)
a 1+
ts
B 1+ 42
s(a +s).s(a1
1+
a2
s +s)

Bo X1-92/s s(a tS)

15
+B3 (sa1 +s +a2) + B
1/4t sB2
sa ts +a2

X()_B3(s +a1s+a2)+ sß2 + Bi

U(s) s+a1S +a2
 VBD TROL SYSTEM/CS-1 (ET/CT
58 wBDCONTROL SYSTEM/CS-I (ET/CT
diagram shown in fig 1. Obtain th 59
Q.7. Refer the block [Link]. Forward Path
the condition such that th Path gain
transfer function C(s)/R(S). Find wh R-A-B-D-E-F-C
disturbance signal N(s).t E -aS/97 GG2G3
output is not affected by the R-A-B-D-C
2. GG4
[Link]. Feedback loops Loop gain
A-B-D-E-F-C-A -
GG2G3
R(5)
2 A-B-D-C-A -
GjG4
NS) 3. B-D-E-F-B -
GGH
4. E-F-C-E - G2G3H2
There are non-touching loops
Ans. Marking the nodes A, B, D,E,F apart from input node R A=l-G1G2G3 -G,G4-GG2H1 -GGgH2)
and output node Cas shown in fig. We have the following equations. A = 1+ GG2G3 +GG4 +GjG2H1 +G;G3H2
at node A
A =l and A2 = 1

A =R-Cc ..(1)
at node B By Masons gain formula S-PA+PzA2
R (S) A
B A-HF ...(2)
at node D C) GG2G3+G1G4
D= GB . (3)
R() 1+G,G2G3 +G,G4 + G,G,H + GGgH2
at node E To find the effect of disturbance signal N(s) on the output
E = consider R(s) = 0.
D- H2C (4)
at node F [Link]. Forward Path Path gain
F =G2E 1. N-C -1
Path gain
at node C * (5) Feedback loop will remain the same
1
and hence A will remain the same. The loop
C= G3F+ G4D-N E
From eq. (1), (2). (3), (4)(5) ...(6) shown is not touching the forward path D
and (6) we have the SFG as shown .1 G2
henceA = 1+GjG2H G1
GL
By Mason gain formula
-H1
C)P PALl+G,G,H)
R E F

N(s) A A

For output to be unaffected by disturbance signal

-H1 -H2 N -1+G1G2H)-o
-1
C)0
N(6)
A
For finding C(s)/R(s)
Take N(s) =0
-GGH l GG2H
 SYSTEM/CS-1 (ETICT)
çONTROL
VBOFON
TicapcONTROL
SYSTEM/ CS-I (ET/CT 61
=1+(G G2 G3 H3 +G3G4H2 +GsH
60
signal flow graph
method, reduce the + G G2 G,G4Gs
Q.8. By using - G2G3G4Gg) -
(GGGgH3 +GH)
following block diagram. Consider forward path Pj = GjG2 G3 G4G5
There is no loop that doesnot touch this path
=l-0= 1
Thus A
=
PA 1
T.F.= 14 A

1
1+G G2 G3H3 +G3G4 H2 +G5H| +G, G2 G3G4G5
[ET S-02)
- G2G,G4G6 -GiG2G3H3 -GH
0.9. For the block diagram shown in figure, draw signal
Ans. S.F.G. is as follows.
G6 graph and hence find the closed-loop transfer function using
flow
Mason's gain formula. [ET W-00, 02, CT W-03]
4
G1
/2 54 G5

H2
H3

Number of forward path

1) G G2 GgG4 Gs
Number of single loops Ans. SFG is as follows GL

1)-GGGgH3 2) -GG4H2 3) -GsH|

4)-G,G2G,G,Gs 5) G2 G3 G4G6
Number of two non-touching loops
H2
1)-G,GGgH3 G3 1 Cis)
and 2)-GsH G1 G2
Rs)1
Number of three non-touching
loops are zero.
A= 1
(Sum of all individual
-

product of two non-touching

loops)
loops) + (sum of all gai
H
 OL SYSTEMI CS-I (ET/Ch ONTROL SYSTEM /CS-I(ET/CT)
VBTON
63
62
paths o.10. For the system represented by the following equations,
Q.10.
Number of forward
transfer function X($}/Us) by signal flow
Sind the graph
1) G G2 G3 technique:
2) G4
single loops
Number of independent /
x-B1X1 + X2 + a2u
1)-GH *2-B2X1 +aju. [W-02(Sem.),CT W.02]
2)-GH2
Ans. Taking Laplace transtorm of above equations, we have
3)-GgHs X(6)=X16)+ag U(6) ()
4)-G4HgH2H1
sX1(s)= -B,X1(), + X2(s) + a2U(6)
Number of two non-touching loops
1) -GH 2)-GzHs (c) X2()2
X15)B, +s B+s
Number of three non-touching loops Zero.

A =1-(Sum of all single loops) + (Sum of gain products of sX2(-B, X1 ()+21 U() ....i)
twonon-touchingloops)-(.. X26)=2x,6)+LUG) ..(ii)
1--G,H-G2H2-GzH3-G^H3H2Hi) + S

(-GH-GsH3) From i), ii) & ii), we have SFG as

= 1+GH+G, H2 +G3lHg +G4HslH2 H1-G, H1-G3H3
=1+G2H2+ G4H3H2H;
Consider forward path G,G2G3 X-2/s 2
Number of loops that do not touch this paths are zero
/4/
A=1-(0) = 1**
Consider forward path G4
a3
Number of loops that do not touch this paths are -
G2H2.
A2 1-(-G2H2) = 1+GaH2 [Link]. Forward path Path gain
Transfer function T.F= 1AtP2A2 a2
A ) U- X-X
G G2 G3()+G4((+G2 H2)
2) P2 a3
1+G2 H2+G4 H3 H2 H1 U-X
GGG3+G4+G4 G2H2 3) U-X2-X1-X P s(B1+S)
1+G2 H2 +G4 H3 H2 H1
 WBTONIROL SYSIEM,
MICS-T(ETIO
VBDCONTROL SYSTEM/CS-1 (ET/CT)
Loop gains 65
54
Feedback loops :G4X(-H)
[Link].
-B :G5 X(-H2)
1) X-X2 -X s(B1+S)
3d
3d GX(-H2)xGgX(-H)
non-touching loops.
There are no Step 2: Find out all possible combination of two non-touching

=
-B2
1-s(B +5)
1+
B
B+)
loop:
a0$:
3td loop has common nodes With I" and

loop don't ave common node.

2 loop, whereas 1st
and 2
. They are non-touching.
A=1
Step 3 Find out A
A2
B2 B2 A=1--GaHi GsH2 +GH2GgHj]+[G4HG5H]
s(B, +s) sB1 #S)
-

Step 4: Find out all possible forward paths from R to C.

A3 =l
1:GG4G6 ;Mj =G2G,G6iA =1-[G5Ha]=1+GgH2
. By Mason's gain formula,
All other loops are touching this forward path]
Ag +P Ag
X)_RA+P; 2nd
G3G5G; M2 =G3G5G7
Us) A
A21--G4H1]=1+GAH
32-1+a-
B+s
14 B2 + .1
3rd G2GG7: M3 =G,G2G7; Ag =1
X(s) sB+s) s(B+s)
[All the loops are touching this forward path]
US)
1+- B 4h:GGgG6 M^ =G3 G, Gg A4 1
s(B +s)
5:-GGH,G,G6; Ms =-GiG,G,GgH2 A =1
X) a3s+Bs+B,)+sa2 ta
US)
s+B1stB2 6:-G3 GgHG,G7; M6 =-G1G,G,GgH Ag=1
Q.11. A C.S. is represented Step 5: Find the gain
by the following SFG.
T.E. by Mason's Find the
Gain Formula.
ET W.95,S.04) MyAk
-H M-Ckel
R A

Ans. G2G4G+G,H2) +G,G;G,1 +G,Hy)+G,G,G7 +G,G4Gs

Step 1:Find GG,G,GgH -GG,G-GgHyl
out all possible
loops and
their loop gains.
--GH-GsH2 +G,H,G5Hi]+[GaH,GH2|
 66
VBD LITC-l (ET VBDCONTRU
67

Q.12. The following

equation describes a contro syst o.13. Write a short note on
for it and
and obtain follow Sensitivity of controlssystems to parameter variations.
construct the signal flow graph
[E.S.98, 01, W.98, 99, 03,95]
transfer functions
OR Explain the use of feedback in control system in
for uj =0 reduction of parameter
variations,
2foru,=0 and [CT. W.02,03,S.04]
u2 Ans. Sensitivity of control systems to paranmeter variations:
where y2 is output node and u and u2 are input nodes. The open loop transfer function or forward path transfer
unction changes, in practice, are due to environmental changes,
1 a11 +a21y2 +bju therefofore the control process and hence the output is
aging, etc and
2 a121 +a22y2 + b2u2 4changed. In open loop control systems, all these errors and variations
[ET W.O cause the system output to be inaccurate and changing with time.
system senses these changes in output and
Ans. y2Output Node; uj and u2 Input Nodes: However, the closed loop
attempts to change, tne system Output so as to reduce the error in the
y1 Intermediate node Qiutnut. This makes the system output to be less sensitive to system
Using equation (1) and (2); SFG will be as under the system. The
parameter changes which reduces the sensitivity of
system to parameter variations is the prime
less sensitivity of a control
control systems.
advantage of feedback loops in
relative variation in
The term sensitivity is used to describe the
a21 the overall transfer function
T(s) = C(s) / R(s) due to variation in
below
U b2
system parameter and is defined
function T(s)
change inclosedlooptransfer
Sensitivity = Fercentage
Percentage change in system parameter
Finding T.F. using Mason's gain formula

2 =0:
ulu A=l-(aj1 ta22 +a12a21)+ (a11a22)
GIS)
cCS)
RS)
Mj =bja12 A 1
HS)
y2 M14 ba12 G(s)
1) Sensitivity of T(s) with respect to
I-(a11 +a22 +a12a21)+ a1a22
o100
u2lu-0
;A Remains same
ST o change in T
%change in G G x100
, M1 =b2 :;
A =l-a11
G

y2
u2
b21-a1)
1-(aj1 +a22 taj2a 21)
a11222
s ST
G
G
T
 CONT SYSTEM / CS-I (ET/CT)
68 VBD 69
Expression for Sc 8T
x 100
8T G T H
So5G T SH
x 100 8HT
H
G
we have,
T ST
R 1+GH
(1+GH) 1-GH
Expression for SH
Closed loop systemn
T H
G
ST
(1+GH)
shH T
G
G (1+GH T 1+GH
also
1+ 1+GH
8T0-G.G
SH (1+GH)
-G2
(1+GH)2
:. From (1) (2) and (3) -
G H

.1+GH=
(1+GH)2G/1+GH)
(1+GH)2 1+GH GH
sh11+GH
-

This is for closed loop transfer

function (i.e. system with
feedback)
1
For open loop system: For GH >>

T G
i.e. system isvery sensitive to parameter changes in feedback.
3) Sensitivity of T w.r.t parameter K
TG sT = ochange in T
SK
also 8T % change in K
&G -1
S =1 for open loop
system
8G ST
x
T
100
8T K
Thus the sensitivity SK T
of closed loop K x 100
variation in G i.e. SG system with respect to
isreduced by K
a factor 1
+ GH as compared careful selection of the
that of open loop system. A closed loop system requires up of
2) Sensitivity component since G(s) is made
of T(s) with respect of the feedback sensor H(s)
to H(S) elements wicn
S =o change in T Power
elements and H(S) is made up of measuring
is far less cOStuy
To change
in H e at low power level. Also the selection of H(S)
than
that of G(s) to meet the exact specification.
 VBDFON OL SYSTEM/CS-I( SYSTEM/ CS- (ET/ICT) 71
70 ton cONTROL
same element:
Q.14. State true or false and justify the 2) Spring
ack path
)The effect of parameter changes in feedback path of
ar

closed loop system appears directly at the output withond F O

ET.S.9 F-KX1-X2).
appreciable reduction.
F K(X1 -X2)
Ans. True
K= spring constant (Nw/m).
The sensitivity of closed loop system with respect to variation where
lation where element:
3) Damper 1
feedback elements (H) is given by
- GH o-
sh
1+GH FzfX-X2
For GH >>1 F f(1-*2) (Nw-sec/m)
where F= Viscous friction co-efficient
b) Rotational
system:-
1) Inertia element:
Hence the effect of parameter changes in fedback path ofthe
closed loop system appears directly at the output without any
appreciable reduction.
MODELLING OF MECHANICAL SYSTEM: We
Mechanical systems are of two types T= de2..
(a) Translational system dt
(b) Rotational system.
where, J= Moment of Inertia (kg - m*)
(a) Translational system- This system basically
consists of angular velocity (rad/sec)
three elements angular displacement.
(1) Mass 2) Torsional spring element:.

(2) Damper

-
K
(3) Spring.
1) Mass element (kg) :-

F T=K(01-02)
M Where,
K = Torsional stiffness N-m/rad.
3) Damper
element
F ma = m dx
dt2

e2
 VBDCONTROL SY 73
cONTROL SYSTEM/CS-(E
VBIFO cS-ETIO
72
CS)-C(6) = K
S+O
T=F0-02) R()
where F = Viscous friction co-efficient These are two alternative forms of expressing a transfer
of c s =-0a, G(s) tends to infinity, so it is known as the pole of
Q.15. Establish mathematically the superiority the close function. At
to while t=4 is known as its time constant. The dc gain of
loop control system with reference
signal the system,
) effect of disturbance
(ii) effect of system dynamics. W-9 the system is
ET
Figure shows se =
Ans. (i) Effect of disturbance signal:- the
F G)=K
signal Tp in the for
orwar
of closed-loop system with the disturbance
With the feedback loop closed, the closed-loop transfer function is
path. K
C($) K
The ratio of output C(s) to the disturbance signal Tp (s),
whe
.....i)
R(s) TS+(1+K) s+ (+K')
R(s) = 0, is obtained by applying the signal flow gain to the graph o
figure and is given by K/1+,T¢1+K) i)
TcS+1
Cp) -G2(S)
Tp6) 1+G (s) G2 ($) H(S) From equations (1) and (i1), it is found that effect of closing the
loop, that is, introduction
of negative feedback is to shift the system's
9TpIs) pole from-a to
-
(a+K) -
or a(1+K); alternatively to reduce the
T
system time constant from t to
(1+K)
RIs) Els Cis CIs)
Q.16. Why positive feedback is generally not used in control
611s) G21s)
systems? ICT S.04]
Ans. In positive or regenerative feedback, the output is feedback
-HIs) with positive sign as shown in figure below.
If |G,G2 H6)|>>1 the working range of s, R(S) CIS
G(S
CD) -1
Tp 6) G() H(s)
Thus it is seen that if G,(s) is large, the
effect of disturbance
can be decreased by feedback.
(ii) Effect of system dynamics:- In this case, the transfer function is given by
Consider the single-loop G(s)
feedback system of figure. The open-loop CS).
transfer function of ths
system is R(s) 1-G(s) H(s)
denominator of above equation
cls) nere is a negative sign in
Std wch indicates the possibility of denominator
becoming equal to
which is the
giving an infinite output for a finite input
Cnce
condition of instability.
Fig. A simple feedback system
 74 VBD EMT
) CS(ETI ncONTROL SYSTE
CONTROL SYS TEM/CS-1 (ET/CT) 75
BD
PD
loop, the closed-loop transfer function
Hence due to above some reason positive
becomess sensiti.
feedback
ck is
fo
Thus due to high loop-gain proVided by regenerative feedba
"edh
insensitive.
insensitive
to
gener G
is general
s s+s
s+s+50
used in control system. Let s=J
Q.17. What are the advantages and disadvantao. ages =_j)+ jo
.
negative feedback? jo) + jo + 50
Ans. Advantages jo-o
i) System response become fast
ii) Effect of disturbance signal is less
50-0+ jo
=1 rad/sec
ii) Sensitivity due to parameter variation reduces. At 0
j-1 j-1
Disadvantages S 50-1+j 49+j
i) Gain is reduced
ii) Due to introduction of feedback, number of componem
increases. Hence weight, cost and complexity of the system increases
Q.18. Discuss the effect of feedback on:
(i) Speed of Response
s49+ -GH
492+12
-
50
0.0288

i) Signal-to-Noise ratio. 1+GH s2+s+50

Ans. () Speed of response: Due ET
S-01
to feedback used in control Let s=j
system, speed of response is improved.
(i) Signal-to-Noise ratio: Also improved. SH -50 50
SOLVED EXAMPLES ON
Prob.1. The block diagram
SENSITIVITY
jo)+ jo + 50 50 o+ jo
of a position control system is At =1
shown in figure. Determine 50
the sensitivity of closed loop transfer
function T w.r.t. G and H
for @= 1 rad / sec. S 49 +1
ETS.99
50
RIS) = 1.02
10 CIS 11
SIS+1 49)+
[Link] the following system, find the value of A for 5%

HIS)=5
sensitivity of T.F. T(s)= with respect to the variations in
V1 S)
Soln. From figure G(s)= 10
H(s) = 5
when
= 20.
s(s+1) V;1S)
0.8SIs+3 S+4o)
S 1+GH 1+-
10
S+
s(s +1).5

0-25
 76 VBD CS-I (ET/CT)
cONTROL SYSTEM / 77
Vo(s) G) vBD DELLINGG OF MECHANICAL SYSTEM:
Soln. T(s)= 1+G(s).H(s) MOD
V,(s) Mechanical systems are of two types
0.84s (S+3)xS* Translational system
A =0.8uHA
G)xs+3
Cl
s+4
(a)
(b)
system
Rotational
Translational system :- This system basically consists of
0.8 uA H(s) = 0.25 (a)
T(s) elements
1+0.2uA three
(1) Mass
Damper
Now (2)
(3) Spring.
T_(1+0.2uA) 0.8 A -0.8uA (0.2A) 0.8 A 1) Mass element (kg) :
(1+0.2uA) 1+0.24A)2
0.8AH(1+0.2uA) M

j .02uA)2
(1+0.2uA) 0.8uA

1+ 0.2pA dx
F= ma = m dt2
Given =20;
S=5%=0.05 2) Spring element:

.0.05=- A=4.75
1+4A 1 X
Prob.3. Select correct answer, out of multiple choice given
below and justify the same briefly.
) The open-loop transfer function of a unity feedback|
system is given by
8 F=K(x1-x2)
G(s)= where K = spring constant (Nw/mn).
(s+1) (s+ 2) 3) Damper element;
The closed-loop de gain of
the system is
(a) 0.8 (b) 4 (c) 8 (d) none of the above. [S-98)
Soln. The closed-loop dc gain
of the system is 0.8 because
1
2
G($)
1+G(s)H) .)
as H(s)=l (since unity feedback).
Putting in above equation
we get 0.8. (
F=f(-*2)
where F= Viscous friction co-efficient (Nw-sec/m)
 78
VBD EM/ ICSAI TROL SYSTEM/cS-
(ET/CT)

and rotativnal systemns.

b) Rotational system:- alogous quantities in translational
1) Inertia element: Translation system| Rotational stystem
1) Inertia )
1) Mass (M)
2) Damper
(B) | 2) Damper (B)
3) Spring (K)
3) Spring (K) 4) Torque (7)
4) Force (F (x) | 5) Angular displacement (0)
We Displacement
5)
dx 6) Angular velocity,
6) Velocity,
=V
Jae d de
T
d2 dt

where, J=Moment of Inertia (kg - m*)

Levers and Timing Belts
=angular velocity (rad/sec) Gear trains,
and
Gear train, lever
angular displacement. the mechanical
timing belt are
2) Torsional spring element
transmits enèrgy |J1'
device that
of a system to
from one part
K
way that force, T,1
another in such a
speed and displacement are
altered. Consider á Gear train
T K(1-62) shown in figure.
The relationship between
Where, K=Torsional stiffness N-m/rad. Ngd22
torque (T), angular velocity (o),
3) Damper element- and the gear ratio (N, /N2) are derived
angular displacement (O)
fromthe following facts:

77
gear radius (T &r2) of
(i) Number of teeth on the surface of
oe

gears.
1 .(1)
N2=distance
= N2I
travelled along the surface of each
gear is same
T= F¢-6,) (i) The

where F=Viscous friction co-efficient 622 (2)

T10T202
done by both the gears is
1) If losses are neglected, the work
Same
 BDCONTROL SYSTEM/ CS-I (ET/CT)
T0=T 81

(iv) Work done Wj

de and W = dd
=Fdt dt dt
Combining (1) to (4) we get

N_
2 N2 T2
W2
W1
..(10)
Electrical Analogue of Gear train Equating (8) and (10)
2
The electrical analogue of such mechanical systems
fig. is a Transformer. For transformer we have
sha.
hown
N
JN2
&
...(11)

These are the quantities obtained when reflecting from gear 2 too
N2
oear 1. Electrical equivalent of equation (11) is equation (7).
Significance
faN2 Te2 a Xe2 For experimental purpose the mechanical elements and variables
replaced by their electrical analogues. In the working range the
Can be
where, result can be transferred to mechanical system as experimentations is
Iel Equivalent resistance of transformer referred easy for electrical
systems.
to prima
side. CONTROL SYSTEM AND COMPONENTS:
SERVOMOTORS:
Te= Equivalent resistance of transformer referred to seconde
Servomotors are the electrical motorS which are used in servo-
side.
systems (used to control angular position, velocity, acceleration).
The general torque equation is
Servomotors can be A.C. as well as D.C. motors. The mechanical
output of AC servomotors varies from fraction of a watt to 100 watts.
T=ja+ fo =J4 de
The A.C. servomotors are used for low power applications.
d2 dt
D.C. servomotors are used in large power servomechanisms and
Ti-J +f, dej vary in size from about 1/20 H.P. to many H.P.
dt2 dt 8)
Requirement and desirablé characteristics of servomotors
de2 The rotor should have low moment of inertia. This is
1)
T2 =J2 24f dt ...9)achieved
(9) by reducing the armature diameter
From Equation (5) 2) It should give high starting torque.
3) The speed torque characteristics should have negative slope.

TN T2 and D.C. Servomotors

These servomotors can be of following types
Substituting the value of T2 from
equation (9) 1) Armature controlled d.c. servomotors.
(2) Field controlled d.c. servomotors.
(3) Series d.c. servomotors.
 82 VDD VBDCONTRUL
startin
are used where high tir torqy Kr ir
Series D.C. servomotors so important.
ortant. This
1)
linearity is not type constant.
are required and where IS a
control system. where Kf
application in relay feedback developed by the motor is proportional to
motor finds servomotor: The torque TM the
Armature controlled D.C. ure current and air gap flux, i.e.,
ET-S-01, 02, 04,W-t productof the armatur
TM Kripia
K (2)
In this type of motor, the
field current is kept constant and
accordance with the error signal constant.
armature current is varied in a
where K1 is armature-controlled d.c. motor, the field current is kept
signal applied at the input motor).
In the
motor shown in figure equation (2) can be written as
Consider the armature controlled d.c. constant, so that
Ra La TM KTia ...3)
TW D- iConstant)
is shown as the
motor torque constant.
where KT
emt being proportional to speed is given as
eb m
The motor back
de
e
e Kbd 4)
8
emf constant.
where K is the back circuit is
Armature - controlled D.C. motor. differential equation of the armature
The
In this system,
La dla +Raia + eb (5)
Ra resistance of armature (ohms) dt
La = inductance of armature winding (henrys). The torque equation is

ia armature current (amperes) ,de d- TM=

Kpia ..(6)
d2 dt
if = field current (amperes) assuming
Taking the Laplace transform of equation (4) to (6)
e applied armature voltage (volts).
initial conditions, we get
e back emf (volts). zero
(6) 7)
E, ()= K^s0
Tm torque developed by motor (newton-m) -
(s) =E($) E, (s)
.(8)
6 angulardisplacement of motor-shaft (rad.) Ls+Ra)Ia
...9)
Fequivalent moment of inertia of motor and load referred to (Js +fo5). 0(s)= TM() =KTlafunction
($)
of the system is
- From equations (7) to (9), the transfer
motor shaft (kg m).
obtained as.
fo equivalent 1oment of inertia of motor and load referred to
KT ....(10)
newton-m Gs)= () +f,)+KTKp]
motor shaft E(s) s[(R, + sLa) (I, shown in
rad/sec equation (8) is
The block diagram representation of action is
In servo applications, the d.c. motors are generally the differencing
used in u igure where
the circular block representing represented by a block
linear range of the magnetization curve. Therefore, the air gap flux is
known
as the summing point. Equation (9)
is proportional to the field current, i.e Shown
in fig b).
 IBDCONTROL S 85
AEONTROL SYSTEM/ CS-1(
S-
84 (ETO$D emf signal E =K^® (s) is taken off from the shaft
emf. k
back
The
Figure (c) represents equation (7), where a signal is coma taken.
block. The feeddback negatively to the summing point. The angle signa'
from a take off point and fed to the feedback nplee dandbtained by integrarating (i.e., 1/s) the speed 0(s). This
block diagram of the system under consideration,
obtained
by Sis
is
results
diagram of ig.(3) which is equivalent to that of fig.(d) as
(a, b andc) block
connecting the block diagrams shown in fig.
However, it should be noted that the block diagram of
inthe by shifting the take off point trom 00(s)
point from (s) to
to 00(s).
(s).
physica
system under consideration can be directly obtained from the 1
system in fig. 1 by using the transfer functions of simple electrical
an Els |LaStRa
mechanical networks derived already. The voltage applied to th Epls)
armature circuit is E(s) which is opposed by the back emf E, (s). The
net voltage (E -
E) acts on a linear circuit comprised of resistance
and inductance in series, having the transfer function 1/ (sL +R,) Fia.3. Block diagram of
armature controlled D.C. motor
The result is an armature current I (s). For fixed field, the torque circuit inductance La is usually negligible.
The armature
developed by the motor is KTl(s). This torque rotates the load (10) the transfer function of the armature
at a
herefore, from equation
speed 0(6) against the moment of inertia J and viscous friction with controlled motor simplifies to
[Link] (the transfer functions is 1/Js +fo)
e(s) KT/Ra
14ts) E s) ..(11)
Js +s(f, +KTK, /Ra)
La S+Ra
+ KT K, /R)
Ebls) Summing point he term ( indicates that the back emf of the
motor effectively increases the viscous friction of the system.
als) KT
6ls) Let,
f=fo +KT Kz/Ra
SUs+fo lethe effective viscous friction coefficient. Then from equation (11)

els 0(s) Km ...(12)

E(s) s(sTm +1)
Take o
KS point
wicre Km KT/Raf = motor gain constant and
Els)
Tm J/f = motor time constant.

Relation and motor

between back emf constant (K,)
Els 1als) els
1
LaS+Ra
KT lorque
constant (KT) :
SUstfol
Epls) motor torque and back emf constants KT, Kb are
nterrelat
icd. Their relationship is deduced below. In metric units, Kb
Sinvolts/rad/sec
Fig.2. Block diagram of armature-controlled and KT is in newton-m/amp,
[Link]. Ectrical
power
converted to mechanical form= ebla
 TROL TEMICS-ET
SYSTEM STEM/CS-I (ET/CT)
SYS? 87
86 cONTROL
(in mechanical form) current (amperes).
Kh 0ia watts. Power at shaft = field
ir
watts. torque developed by motor (newton-m).
= Te = KTi 0 =
powers balance. Hence equivalent moment ofiinertia of motor and load referred to
At steady speed these two J
=

0 ia = KTia0 or K = KT (in MKS units motor shaft(kg- m)

K 1IConstant) motor auivalent viscous fricti coefficient of motor and load

Rf
-0 f ewton - m
newton- m
to
motor shaft rad/sec
Teferre
Field
windn1m) displacement of motor shaft (rad)
a = angular
e =
Applying K. .L. to field circuit, we have Rsic +Le
dt
transform, we have
Taking Laplace
Es)= Brir ($) + Lf sir (5)
can
This result can be used to advantage in practice as Kh
measured more easily and with greater accuracy than KT. iE(s)Rf 1+sLf 1)
Q.1. Obtain the transfer function of a Field controlled D.c
Servomotor. CE S/94,w/99, S-97, W-9 This Ip will produce a torque

RE
TMKj K2 i ir
ia (Constant) ....(2)
Www TM KT i
where, K = Kj K2ia = Torque constant taking Laplace transform

(2) wehave
of
TM .(3)
Ip()
K
Equation of motion is
Ans. In this type of motor armature current is
kept constant ar
the field current is varied in accordance with
voltage applied to motor as shown in fig.)
the error signal. (I"| dt2 F
Consider a field controlled DC servomotor Taking L.T. we have,
in this system.
R field winding resistance (ohms)
sJe(s) + sf (0)(s) = Tm(
Lf = field winding inductance (henrys). 1
.4)
0() 1

s(sJ + F)
e = field control voltage (volts). Tm () 2J +sF .
From (1),(3) and (4)
 NTROL sYSTEMI
VBIFONT
88
CSA
KT SYSTEM/
STEM/CS- (ETICT) 89
aDCONTROL
E) S(Rp+ SLf) (sJ + F) Armature contiontrolled DC servomotor is a closed loop systemn
2)
effect, while the field control DC servomotor iis an
KT/Rf to
m.f. effe
back e.m.f.
control system.
due
s(1+sLf /Rf) (1+sJ/f)
open loop field controlled DC servomotor is
Km time constant of
0(s) 3) The
compared with the time constant of comparable
E(s) s(l+sTf) (1+sTm rally large
gen
controlled motor.
where, Km = Motor gain constant = KT /Rff armature
for low power
field controlled servomotor is used
4) The.
Tr = Field time constant = Lf /Rf
applications,
afions, t
while the armature controlled DC servomotor
is used for

Tm Motor time constant = J/F applications.

high power
Block diagram characteristics of DC servomotor:
Torque speed
Els
TON
R+SLf SIS J+t

Q.2. Give the Comparison between armature controlled Er

servo-motor and field control D.C. servomotor. [ET S. 12
Ans. 1) In armature controlled DC servomotor, the back e.m
acts as a damping. This is because due to back e.m.f. effect,
t W
W2 Wo
AC servo-motor.
Q.3. Write a short note on Two-phase
[ET-W-97]1
effective viscous friction co-efficient =f+hRaKT geu

Controt phase
winding
increased by an amount T Rotor
Therefore in armature controll
Ra
motor, back e.m.f. contributes additional Error signat Amplifier Vo
damping over and abovetha
provided by the load friction. So this Referance
enhances the stability of phase
system in which amature controlled motor winding
is used.
On the other hand, field controlled A.C. motors
DC servomotor does Ans. For low power applications in control system,
provide any damping in the system and hence controlled are
preferred over D.C. motors because
the armature ol
DC servomotor provides more
stability than the field controlled D More rugged construction.
1)

servomotor. i) No brushes to maintain.i

fi) Light in weight.
 ¢ONTROL SYSTEM/ cs(ETI ONTROL SYSTEMM/CS-I (ETICT)
90
system are of
óf two
tu
used in control pha
AC servomotor an servomotor
motor
schematic diagram of AC is show
is
induction type. The
stator with
a
in the fig. It consists of
two distributed windings (reference Large
VCR
phase Erated
phase winding and control Small Voltage
winding) displaced 90° electrically
apart. Vc2
A fixed voltage from the
constant voltage source is applied to
the reference phase winding while FiG. Typical linearised torque speed characteristics of ac servomotor.
the control phase winding is energised by a voltage that is 90° out o Assumptions:
D Torque speed characteristics are approximated by a straight
phase with respect to voltage of reference winding. The control phase
voltage is usually supplied from aservo amplifier and this voltage has ine
2) The torque speed curves are straight lines parallel to the line
a variable magnitude and polarity. The direction of motor reversestrated control voltage and they are equally spaced for equal
when the control phase signal changes sign. The rotor construction isincrements of control winding voltage. In other words, T «« VNc.
usually a squirrel cage on drag cap type. The diameter of the rotor is
kept small to reduce the inertia thereby obtaining good acceleration We have m = slope of torque speed curve = -o
characteristics. The shape of the torque speed characteristics depends
To = Blocked rotor torque at rated control winding voltage
upo the ratio of rotor reactance (X) to rotor resistance (R)
and is as
(E) (starting torque).
shown in the fig.
A two phase servomotor differs in
the ways from normal
=
No load rated speed (rad/m).
induction motor. _To blocked rotor torque at VCR=E
1) Rotor of servomotor is built
with high resistance so that E rated applied voltage E1
its
X
ratio is small and torque speed characteristics
R with large atio.
R
To
2) In servo applications, the voltages
applied to the two stator
windings are seldom balanced.
Q.4. Derive from first principle,
the transfer function of AC
servomotor. Give the assumptions clearly.
Ans. Assume the rotor to be built IET S.99
of high resistance, so tha
torque speed characteristics is linear.
At any control winding voltage,
 rROL SYSTEM
cONTROL
STSEMCS(
SAET cONTROL SYSTEM/ CS-I (ET/CT)
VBDCO
93
92
motor = 1 = mo +C Q.5. Justify:
by
Torque developed ET W.02]
For small size motors, Iield control is advantageous
aVCR while
T hia motors armature control is advantageous.
Ca Vc AnS, For small Size motors
field-control is advantageous
ToVcR only a low power servo amplifier is required
ace only
because while the
C Vc current which is not large can be supplied from
armature currd an expensive
nstant current amplifier. For large size motors it is on the
whole
C VCR cEC cheaper to use armature -control scheme. Further in armature- control
otor, back emf contributes additional damping over and above
motor that
C KVc
uided by load friction. With the advance made in permanent
. From (1), we get agnet materials, Permanent magnet armature-controlled dc
magnet
T mo+ KVc servomotor are now universally adopted.
Equation of motion is (i) The rotor of the AC servomotor is built with high
resistance.
T=d fddt do +Fo = Ans. The rotor of the servomotor is built with high resistance so
d2 dt
that its X/R ratio is small and the torque-speed characteristics as
= do shown by the curve b of figure 1, is nearly linear in contrast to the
mo + K Vc J+ Fo
dt highly nonlinear characteristic when large X/R ratio is used for servo
Taking Laplace transform, we havee applications, then because of the positive slope for part of the
mo(s) + K Vc (S) = SJo(s) + Fo(s) characteristic, the system using such a motor becomes unstable.
o(s) K Torque
Vc6) SJ+F-m
LargeX/R
o(s) K/F-m
Vc (S)
Km
1+SJ/F-m 1+ STm
K
where, Km
m
=
= motor gain constant SmallX/R

TmF-m = motor time constant Synchronous

speed
Rotor
speed
Fig Torque-speed characteristics of induction motor.
d6
control
dt 0. Write a short note on Hydraulic and Pneumatic
system componentsS.
o(s) = se (s) through the
0(s)=(s) us. In Hydraulic elements, power is transmitted
relatively
0(s) Km
action
of fluid flow under pressure. The fluid used is non-
incompressible oils or certain
Vc(S) s(1+STm) such as petroleum-base
ntlammable synthetic
fluids.
 94 weTEONTROL SYSTEM/ CS-1(
cONTROL SYSTEM /CS-I (ETICT)
BDCO
Common hydraulic control applications are power steerino. Pair of Potentiometers
and
brakes in automobiles, the steering mechanism of large shine 95
the er
control of large machine tools etc. Some important hvdrad Bc
raule
components are Hydraulic pumps and motors, hydraulic valu
alves
hydraulic linear actuator.
The main advantage of the hydraulic systems lies
in th
hydraulic motor which can be made much smaller in physical
siza
than an electric motor for the same power output. In addition elr
to thie
hydraulic components are rapidly acting and more rugged
compared
to the corresponding electrical components.
In pneumatic control system, air medium (or other gases
in
special situations) in used. Air medium has the advantage being Bc
of
non-inflammable and having almot negligible viscosity
compared to
the high viscosity of hydraulic fluids, which also varies
considerably
with temperature causing a marked eifect on
the performance of
control system.
Pneumatic systems are sometimes used in guided
missiles and elt
aircraft systems.
, reference position; 0c=actual position.
Pneumatic system includes pneumatic.
bellows, pneumatic eerrorvoltage o (0, -6) =
flapper valve, pneumatic relay, pneumatic k,(0, -0,)
actuator.
Q.7. Write a short note on error kp = gain or sensitivity
detectors. of potentiometer.
Block diagram
E-W/9s,S.02,CT S.03(Sem.)] representation of potentiometer
Ans. Error detector
The purpose of the error detector is to R
sense the error between
the reference input and actual output and
give an input to the ampli
and controller which is proportional
to this error. The error detectors
ec
commonly used are Error characteristics of potentiometer
1) Potentiometers
2) Synchropair.
1) Potentiometer : Potentiometer is a transducer whicu Kplvolt
converts angular position to an electrical voltage. ,
The potentiometers are used to compare
the shaft positions. Tn Limitations
error voltage is proportional to the difference of potentiometer
between the sha 1)Full means short
rotation is full rotation
position. The connection diagram is as shown in reuiting O n is not available. Since
figure given below. ing of
of two to be limited
ends and
as and hence has always
hence rotation has alwa
 VBTFONTROLSYSTEMICs-I
96 (ETIC oncONTROLSYSTEM/CS- (ET/CT)

below 360°. The permissible angle normally varies from

from 300
20r connectd to the mplifier and the change
in rotor impedance 9
imised with the rotation of shaft
330 ben position. should
2) Poor sensitivity- The sensitivity or gain ofthe potentionm. Synchro as an error detector is shown
meter Synchro in figure.
defined as change in voltage per unit angular difference is Trans mitter Synchro
e Receive
i.e.
Kpe.-0c A . Rotor
Voltage SRotor
is quite low. C Error
Kp Voltage

3) Loading non linearity. A potentiometer otherwise Stator

linea Stator
may become non-linear, because of load across its terminals.
Q.8. Explain the construction and working of
synchro pair.
[ET W.98]
Ans. Synchro: Synchro an electromagnetic
is which converts
the angular position of the shaft into an electrical voltage. Theerror voltage is proportional to (8,-0,). The rotor
of the
Synchro as an error detector consists of transmitter is connected to input shatt and the rotor of the receiver
is
i) Synchro transmitter and connected to load shaft. Synchro as an error detector is basically a
ii) Synchro receiver/control etc. non-linear device. However
for small angular deviations upto 15° the
Synchro transmitter :- Synchro transmitter has
a connected eorvoltage can be represented as e = K (0, -0c)
stator winding which resembles stator
rotor is salient pole dumbbell shape
of a 30 induction motor. The
magnet with a single winding. where,
a e sin (,-6) eK,(0,-e)
K, = Sensitivity of synchro for small values of (6,-6¢)
The diagram of a synchro transmitter
is shown in fig

-o% where, ,K,(0,-0)

=reference shaft position
Voltage control shaft position.
Characteristics of sychro as an error detector
-
-o S Rotór . :Error
Voltage
-o S3
le)
The supply to rotor is given by means of a slip
ring.
Synchro receiver/control
It
is identical to synchro
transmitter except that the rotor is cylindrical in
synchro -c
shape, so that air gaP
flux is uniformly distributed around the rotor. This
feature is essentia
for control transformers, since its rotor terminals are usually
 CONTRo SYSTEM/ICS-I (ETICT)
VBD CONTROL STEMICS IBD
(ET
99
98
E,(6-K.s6(s)
Advantages
Block diagram is shown in figure
1) It has got high sensitivity. Applications:
is available.
APP
2) Full rotation of 360 1) Speed
measurement: In this application tachometer
output is
Disadvantages- It can be used only on a.c. directly connected to a-voltmeter which is calibrated
dre in terms of
Q.9. Write a short note on tachometer. speed.
Ans. Tachometer :- Tachometer is a
rotating device'
wni 2) Position Control System
System
converts mechanical 3) Speed Control

rotations into
load
proportionate electrical Power
controller mlifien
Amplifi er
voltage. It has two coils on
it's stator namely reference
coil and the quadrature
Rotor
coil. These coils are

physically placed 90 ett

apart. The rotor is made of
a highly conducting
material and weight less so
n
as to have less inertia.
Quadrature coil The block diagram for above shown speed control system is as

A tachometer can be classified into two under.

types.
) AC tachometer and Eret Km

(i) DC tachometer. In a DC tachometer, permanent magnet s t14TmS1

used in place of external winding.
E
In both types the output voltage
developed is proportional to thej
magnitude of angular velocity.
d6

dt
s
e(t)=K K Tachometer conistant in V/rad/sec Kn Ra sKT+fo
f
Ra
e (t)> output voltage in volts.
& 0 any displacement in radians.
T
To obtain the transfer function (s) [Link]
Taking L.T
ref s(1+Tms) +KAKTS
 DONTRO
ROL
ROLSTSEAICSA
SYSTEM SYSTEM/CS4 (ETICT)
102 .SYSTEM/CS- 103
CONTROL

-K ,T J29 FIt) K K2 8
K -(K+sF+s2 Pe M1

Kranmer's rule we have

Applying
K22)
+R T -KT(S)
K0 M2

-K -(3 +K)(K+sF+s°]
K-K+sF+s*12|
we have
KT(s) F.B.D,for mass M
From
o (y+K)K+sF+s12)-K2
FO-ka1-
dx
a-z)
=M.d'
K

T slh+s'F+s"04K+/28)+sFK+R a{
Ft=M +kx
+
B+k -*2) )
have
For
mass M we
T) kx-2)=M2
followin
0- M2k2(1 -2) 2)
Prob.2. Find the force voltage analogy of the
ET-W-03,S-4
dt
analogy to equation(1) and (2)
Applying force voltage
system.

We have,

...3)
M L
dt
My
FItL .4)
0L22
dt
C2
M2
we havefrom (3)and(4
=i and q=|[Link]
dt
Soln. The force voltage analogy is as follows.

1)Force (F) Voltage (V)

2) Displacement (X) -> Charge (0)

3) Mass (M) > Inductance (L)
0-L -i2)dt
C2
given
4) Friction co-efficient (B or ) Resistance (R)
the force'voltage analogyofthe
From (5) and (6) we have
5) Spring stifiness ()-> Reciprocal ofcapacilane (1/
sysem as showWn.
The F.B.D. of the system is as shown
 (ETICT)
LnnCONTROL SYSTEM/ CS-I
105
VBTFONTROLSYSTEM
104 CSA(ETI Therefore, theforce ations at X1 and x3 are

L1 C1
w-
R L2 At X1
+ k1x + B +B12 -X2)
C23 R M3 .)

Fls)= 5Mx1($)+K1xI($)+ sBjX1(s)+sB12 x (s)- x2($)]

.(ii)
Prob.3. Find the system equation and force-volta At x2
analogous network for the following
system:
dx2 +K2x2 +B, X2
2
B12(-X2) = M2 dt
dx
B12 i.e. 0 MM d2 + k2X2 + Bz +B12
dt
(x2 -X1)
dt

sM2X2(s) + K2x2(s) + sB2 x2 (s)+ sB12

0
B2 x2-X1(s).i)
ICT S-03 (Sem)y
System equations in time domain (i) and (i)
Soln. There are two displacement x and x2
System equations in s-domain (ii) and (iv).
Total number ofdisplacement =3, including reference
Prob.4. Find the
M is connected to x M2 is connected to x2.
.
X(s)
K) is connected to xj and reference. transfer function
E(s)
K2 is connected to x2 and reference. M
for the electro
Bi is connected to x1 and reference.
mechanical system
B2 is connected to x2 and reference.
shown. Assume that the
Fis appliedto x1 R Li
B12 coil has a back emf
2 dx
C coil
and the coil
dt
current i produces a
Iorce Fc
Kzi on the mass MRL and C are the resistance,
ductance and capacitance respectively. K is the spring constant
and f is the friction in the damper element. ICT S.04)
 107
SYSTEM
SYSTEM// CS-I TICT)
CONTROL SYSTEMI
ICSETIY
Cs cONTROL
OL
WBD

equationof
pertormance for the.
the given syste BDAlso,
106
Writing the = Mx)+ Fx(t)
+kx(t) + kx(t)
Soln. F()= R2i2(t)
Laplace domain. Fs +2k)x (s)
in (s) = (Ms* +
or R212
(Ms2 +Fs+2k (5)
=
M
i.e. I2(5) R2
l2(s) in equation (4) we get,
L Substituting this value of
R.
Ms2+Fs+2kkRC+ ()
M- 2 (s2RLC+sL +R) k2
Coil

E;(s)
X) k2
(RM+2kCRL + FL
)-12(6)] .(1) E:(s) sMCRI +s° (FCLR+ LM) +s4
E)=RI6)+ +kik2CR+s(FR+2kL + kjkz)RL
sLla)2)-1) Prob.5. A d.c. motor
with fixed excitation has a
moment of
10N-m-
2) = 6 x 10kg-m2 and friction of 3 x
-skjX($) =-E, (s) inertia Jm of JL = 400
motor drives a load having an inertia
e)=k1 sec/rad. The
a reduction
200 N-m-sec/rad through
kg-m and a friction of is required to
Substituting the value of
100 1. If an armature current of 0.4 amp
gear of
1 N-m. Find the
response of the output speed
(2) from equation (1), we get, produce a torque of to the armature
2)-I)] in equation
input of1 amp is fed
at load and when a step steady state
generator. Find also the
sLI2)+RI6)-E;()=-sk,X(s) from a constant current
Substituting for from equation (2) in equation (1), speed in r.p.m. at the motor shaft.
I(s)
we get, Motor

sLI2()+sk,Xs + sRC| sLl2 () + Tm Wm,9m

24
sC
sk X($)| 100

E) N2
or
WL

(sL+R+sRCL) I,(s)+(sR,RC
+ sk)x (s) = E;(s). (4
108 VBD I CSAETI
STEMTCS-I(ET SYSTEM /CS- (ETICT)
ncONTROL
VoDco
Soln. We have m
m N2 100 S) 2.5
25
109

I (s) (0.1s+0.05)
moment of inertia of motor and load (s +0.5)
Jm. Equivalent relere = step of amp
1
i
to motor shaft.
) S

mm+ J 25
s(s+0.5)

6x 10-2+1
100
400 - A

s+0.5
B

kg - m 50 50
m0.1 m (s)= S s+0.5
= equivalent viscous friction c0-efficient of motor and Using partial fraction, we have
gear refer to motor shaft. A 50, B =- 50
Taking inverse Laplace transform, we have
2
Fa 50e 0.5t
N2 F n (t) = 50
Also we know,
2
=3x102+ 200 LNL=
N2 100
100
Fm0.05N-m-sec/rad.
Equation of motion is given
by,
L100 0m
dmFmea OL 50 (1 -e0.3t
100
mm=T= KTia ..1)
T KTia OL = 0.5 (1-eu.5t
when,
i =0.4 A Steady state speed of motor is given by,
T 1N-m Steady state speed = lim m)
KT == 2.5 rad/m.
a 0.4
50 (1 - eu.) = 50
Taking L.T. of equation =lim
(1) we have
s m
m) + Fm,
n($) = KTla(s) inr.p.m. (: N =
60 x
0 r.p.m.)
m) KT 2 Tt

I)s smeFma
eq Steady state speed =
50 x60 477 r.p.m.
210
 V'DL EMICSAETI
SYSTEMI CONTRUL 111
110 CS-( BD
Prob.6. A simple voltage regulator
system is show
infig
own Vp=ip Rp+l diF
E
output terminals of theA dt
potentiometer is used at the he generator
tant (K Vr(s)= Ip(s) Rp + Lpslp($)= IF(s)(Rp +
givea feedback voltage KV,, where K is a constant (K. s
1).
sLp)

hat itit may

enough, such that
is high IF
potentiometer resistance Rp+ sLf 2)
current. The amplifier has aa gain VF()
assumed to draw negligible
20 volts/volt. The generator gain is 50
volts/field. Refferene eggi
voltage is V, = 50 V. Eg()=KglF($)
Amptifier
RFA00
ww-
Rq-1 3)
w
V
Ir(s)
Ra
Referance
voltage
KA L=200h
eg
gVo+l
50urce
Ku Taking L.T, B, (s)= V, (s) + IL() R
Vo(s)= E ()- 1L()Ra 4)
when switch-is closed
e= V-KV
a) Draw the block diagram of the system, when the
generator is supplying a load current. Indicate the transfer E(s)= V,(s)-KV, (s)
function of each block. when switch is open
b) The system is operated
value of K in order to give a
as closed loop's. Determine the eV
steady no load generator termina E(s)=V,(S)
voltage of 250 volts. What reference
voltage would be required to
restore the generator terminal Block diagram of the system
voltage to 250 V, when the load
current drawn from the generator
is 30 Amps? Vols)
c)The system is operated
open loop. [Link]
reference voltage needed to
obtain no load voltage
must be change in terminal of 250V. What
voltage for a load
Soln. a) of 30 amp?
V= Ke
Taking Laplace transform, we
have IL =
VE(9)= KAE(s) implies Vo, when
b) Steady no load terminal voltage
Vp=
E(s)
KA Vg
1) Eg () =Vo(s) = V,(c)
112

Now
lim
S0
Vo
VBTONTROL SYSTEM/CSA(ETICH

(o)= 250=s V, ($) (By final valuetheorem

Kg /Rp + sLF
thene
BDCO
ONTROL SYSTEM/CSA (ETICT)

We know V.)=
50
, S
V,6)=250
20x
113

V,)KA E(s) = 100+ 200s -0.1x 2507

VE () KaKK
-
1+
R+sLF E()= 280 = lim E, ()
So

V) KAKg 280 =
20x 50
V,) RF+ SLp + KAK,K So 100 +2000s

50 1000
V, 280 [V,-25)
100

50 V = 53 volts
KAK 50 x 20x
cWhen the system is operated at open loop we want

-
S
V,(s) S
Rt sLp +KAKK 100+200s+100k
lsRg
From (1) Vglsl=Els)
KA
s 7'tls)

SX 50 x 20 x
Rp+SL

limV 250
S-0 100+ 200s+1000 K
Vo (oo)
250=20X 50 x50
= 250 when I =0
100+1000K when I
V=E. Fromblock diagram,
=0,
K= 0.1 VV,(s)RpKAK
We want Vo 250 +sLf
when I =30 A. Therefore,
we have
egV+lL Ra
E, should be more Vo )AV/s R +sLF

eg250+ 30x 1 280 "V(s)= S

eg)=280 (under steadystate condition) =
limV ) sV, (s)
E,6) KAKg
S-

V,sf kV,) KA K V,/s 20 x 50 V,/s

Rp+ sLF 250 = S. S

So Rp + sL S0 100 + 200 s
KAKg
Eg6) 20 x 50 V
Rpt sLp IV,6)- KV,($) 250=
100

V =250
 114 VBD CON 115
=
e eiC
= 30 A, also
when, I terminal voltage, E(s)= Ei(s) -
E,(s)
change in
ILRa =30x 1 =30V 2)
(AV)= egKglp
Change in voltage
=-30V
voltage)
there is drop in terminal voltage).
-ve sign indicates that system shown in the fi IF() 3)
control
Prob.7. In the speed
the

constant is negligible.
generator field time e(t)= K,o
block diagram of the
system and [Link]
a) Draw the
transfer function o ($)/ ;(S),
where o is the load speed. E-K(s)
4)
system originally at rest a control voltage e.s
b) With the diagram is as shown in figure
load speed wi The block
suddenly applied. Determine how the
100 v is
change with the time.
e K,o
Given-J=6 Kg
-m E, K
(s)
KA 4Amp/ Volt
KT 1.5 N-m/amp., Kg = 50 VIAmp.. We know that
KT
V/rad/sec. K =
K = 0.2
From the block diagram,
we have
Ra
Ials) Tis
Els) Fls Eds ws
Jachometer
Ebls
en9 ebMoto
LOAD
Etls

a(s) KT/[Link] KT
e Eg(s) 1+ K K;/ Js. R sJR + KbKr

Friction is negligible. /W-999 The block diagram simplies to

Soln. a) Let the error signal at the input of amplifier be e . Here KAKKT
IF)-KA (1) G(S)IR +KbkT
E(s)
H(s)=K
 SYSTEM/CS-1 (ETICT) 117
SYSTEM/ CSiET pcONTROL
(E
Laplace we have,
Taking inverse
116 KA KgKT 481.92 e-10.375,
w (t) = 481.92 -

sJR + KKT e-0.375 t

ofs) o (t) = 481.92 (1 -
OS KKgT.K the motor
E(s) 1
+KbKT relation gives the variation of speed of
sJR The above
KT wis) with time. servomotor has rated voltage applied to
5RatKpKT Prob.8. A two phase characteristics of the
winding. The torque-speed
4e reference winding is shown in
115 V, 50 c/s applied to control
Etls motor with
moment of inertia is of the motor is 1x 10kg-m
figure. The
and friction is negligible. Find
the transfer function connecting
KAKg KT the shaft position e with the control winding voltage V.
cos) E/9s,s/97,W/03, s/99,w/oo
+KAKgKT
E,6) sJR +KKT
havee
Substituting the values, we

s) 4x 50x 1.5
Tor que
E;(s) sx 6 x1+ 1.5 x 1.5 + 4 x 50 x 1.5 (Nim)
3000
(s) 300
Speed ir p. m.)
E; () 6s+ 62.25 function of a.c. servomotor is given
Soln. We know that transfer
os) 50
E (6) S+10.375 by es)= km ...(1)
V (s) s(1+s Tm)
b) os) 50
k
km = motor gain constant
E;(s) s+ 10.375 where, km F - m
50 27Tx 3000-314.159 rad/sec
(s) = E() 27tNo
s+10.375 Also Wo
60 60
E(s) =100/s =1.739 x103
o(s)=30x 100 5000
K==
Ei 115
s(s+10.375) s(s+10.375) 0.2 6.36 x 10
B
m 314.159
o(s)=+
A 481.92 B
10.375
=-481.92 km
Wo

F-m
-=0-(-6.36 1.739x 10-3
x 10*))
. F 0)

481.92
-
481.92
o(s)=
S S+10.375 km 2.734
 {(ETICTy CONTROL SYSTE
118 p 119
Referenece
Vodtage
mF-m
Ix10-5
1x 10 0.0157 sec
0-(-6.36 x10*)
given by ve
From (1), transfer function is
8M
2.734 Gears
Servomotor
V.(6) s1+0.0157s)

Prob.9. In the position control system shown, the sensitivit.

ivity
of the synchro error detector is
1
Voltdeg. The transfer funetion
of the motor is synchros

Os
Kn
Vc() s($ m +1)
where, Km =15rad/sec/volt, m =0.15 sec.
AC supply

Thegear ratiosare
=
=1 and
OM 50
Soln. The block diagram of the schematic diagram is shown in

L figure
Km 8m
) If the input shaft is driven at a constant speed of
=rad/sec, determine the value ofthe amplifier gain such that the
steady state error is less than 5°. Find this value of amplifier m50
gain determine the damping ratio and settling
time of the system.
i) If the amplifier is modified by introducing an additional
G(s)=-
s)=ApA m X 0.02
derivative term such that its output is given Tts(1+s2 m)
by
180
Vc)=K ^e()+K,"0 Kp =l volt degree=volt/radian
T
dt
x15x0.02
find the value of Kp such
that the damping ratio will improve to G(s)=80xkA
TTXs(1+0.15s)
0.5.
ICT-S-04 (Sem.))
ess()= 5 =0.08726 radian
180
120 VBIfONTROL SYSTEMIc
ICSAE
121
= YSTEM/Cs-1 (ET/CT)
pcONTROL SYS7 .

But, 0.0872
feedback
Comparing with:standard second order

Where, R
=
T rad/sec.
250, = 6.66 &=240
180xkA Xl5x0.02
lim sG(s) =
and ky =
s-0
.

T(1+0.15s)
2x15.49
6.66
=240
AS4 = 0.2148
'= 15.4919 =15.50

= 1.2 sec.
0.08726 =
54
Eo 0.2149x15.49.

kA
V (t)=kAe(t) +kp dt

KA0.08726x54 Taking Laplace transform, we get,

= 2.094 Ve(s) = kaE(s) +kpsE(s)

kA
G(s)=80X2.094x15x0.02 = E(s)kA +skpl
Tts(1+0.15s)
V)= (kA +skp)
Es)
36 36/0.15 240
6.66s+s2 *Skp)X180x15x0.02
(s+0.15s) s+6.66s G(s)= EA TTXs(1+0.15s)
Transfer function with unity feedbacks
_(2.094+skp)x54
G(s)H() 240x1 TXs(1+0.15s)
1+G(s)H(s) 240
1+ 17.18(2.094 +skp)/0.15
s+6.66s
s(1+0.15s)/0.15
240/s + 6.66s + skp)
114(2.094
s2 +6.66s + 240/(s +
6.66s)
6.66s+s
240
s+6.66s+240
Gs) H(s) 114(2.094+ skp)/6.66s +s
1+G(s)H(s) 1414(2.094 +skpD)
6.66s+s
 SYSTEM/ (ETICT)
CONTROL
VBD CONTROL SYSTEM /CS-1 ETICT
122 BD 123
will be; (q> Change)
114(2.094+skp) The network
s2+6.66s+114(2.094 +skp)
C
114(2.094+skp) 2 C2 R2
s+6.66s+114skp + 238.716

o238.716 0n=15.45
2E0, =6.66+114kp Force-Current Analogy: (y> flux linkages)
=0.5
.
[20.5)x15.45]-6.66 =kp 0-CV *Vi* -Va) .(1-B)
114
kp = 0.077 sec. 0-C2V2+RÝ2*V2+2-)...1-B)
R2 L3 L2
Prob.10. Find the force-voltage and Force-current Analn.
logy Network
offollowing system: IET-W-01 3

21

Mg
Prob.11. Consider the electromechanical system given
X)
B B2 below. Obtain the transfer function ET-S-02
Soln. Following equation will be used for the mechanical
Vi,
system:
For mass-Mj: 0=Mjä +Bj*| +KX| +K2(*1 -X2) .(1)
M

For Mass-M2: 0=M2*2 + B2*2 +K2x2 + K2(*2

-X1).
2)
Force-Voltage Analogy: R R
www- ww
0=L +R19141(-92) .(1-A)

0=L292+R292 +
+2 2-91) 2-A)
124 fONTROL SYSTEM IcSAETIC SYSTEM /CS-1 (ET/CT) 125
cONTROL

Soln. Assume that the back emf induced in the coil Prob.12.'Fi the rce Voltage analogy of the following
[ET S.00]
eb kdx/dt. The electrical equivalent circuit will be, system.
LLLULLLL1L
X(5)
Ck=ks
dt
R
R
wwm

Ft

Apply kVL to the first loop: 2

Ri)S 4)-iz()}dt =V
M2

V,6=Rl)+)-a6)
SC
() (1)
For second loop: Soln. The force voltage analogy is as follows
1 1)Force (F)> Voltage (V)
-e =RI2(6)+126)-1()
SC
2) 2)Displacement (x) Charge (Q
3) Mass (M) > Inductance (L)
Solving (1)& (2); I,(s)=S)e, (RsC+1) 4) Friction cofficient () Resistance (R
RsC+2R 5) Spring stiffness (k) Reciprocal of capacitance (1/C).
Now force (F) on mass M is related to coil current by;
F)ai2() ie. F()=K,i2) ie. F(o)=K^li(0)
k1x M1
x
Also, F(s) [Ms + fs +k] X($) d *
d2
B
dt
Kl2(s)=[Ms +fs +k] X(s) ...3)
Using (1), (2) & (3);
M M2
[Ms+fs+k] x(s)
=
blV 6)-KsX(s) (RsC+1)
RsC+2R
X(6) Kb
Vi(s) (Ms +fs+K)(R^sC+ 2R) + Khk.s(RsC+ 1) Ft d22
M2
dz
 YSTEMICSI
BD CONTROL SYSTEM/CS CS-I (ETICT) 127
126 (ETI VTROL SYSTEMI
CONTA

Also that I(s) =

sQ(s) vD
EPEATEDLYASKED
UNIVERSIITNYaUESTIONS
diagrams of given system are:
The free body
equations will be
The differential
open-loop and closed-loop control
What do you mean by
B dx
o1,
+ K2(X1 -X2) control system.
F(t)-M system. Give
one example f closed-loop
dt IE-W-99,CT-S-03]

dx2
0-Ma+K2(%2 -X1) 0.2, P-51 some control
dt2 examples of closed loop and open loop
0.2. Give E-W-99
equation (1) will become
By above F-V analogy, system.
1
/03, P-71
Differentiate open-loop control system and
closed loop
.3. [CT-S-03
control system.
IQ5, P-10 ICT-S-031
TF of figure (a).
Prob.1. Find out the
0-sLla)+ 9-1) 4)
Prob.1, P-13
the network show
e ()for
These equation (3) and (4) can be drawn in the form of electrica transfer function
analogous circuit as shown below.
Prob.2. Find the
IET-S-02
Steam Vatve toa
ntrol below.
boiler Stealm Furnacee
[Prob.3, P-15 block
advantages and disadvantages of
x(t Heating Prob.3. What are the IET-W-00
M,mK diagram reduction technique?
E [Prob.10, P-23] block diagram
Relay controlling Steam block equivalent using
Solenoid outlet
Themocouple Prob.4. Find the single ET-S-04)
Amplfler reduction technique of the
following one
IProb.11, P-231 system
diagram of the multi loop
Prob.5. Reduce the block E-S-981
shown in figure.
IProb.12, P-25] it.
block diagram and reduce
Prob.6. For the fig, draw the IET-S-99J

[Prob.13, P-26] blockk

loop transfer function using
Prob.7. Find the closed CT-W-02,031
following one:
diagram reduction technique of
Prob.14, P-28
 ppcoNTRo SYSTEM/cs.
128 (ET/CT)
ahCONTROL
ROL SYSTEM
SYSTEM/CS
/CS- (ETIC)
ETICT 129
thethe block diagram shown in figure, draw
Prob.8. Reduce the following block diagram using bloet 0.1.
2.7. For signal flow
closed-loop transfer fuiction
diagram algebra. hence find the
[Prob.15, P-30]
S-02 [E
yroypth
using Mason's
ET W-00, 02, CT W-03]
foraua.
Prob.9. Obtain the transfer function for the following blot gain P-61)
diagram: [CTS-03 Q.8. For the
09 system represente by the following equations,
find
[Prob.16, P-33] ferfunction X(s)/U(s) by signal flow graph technique:
transfer
Prob.10. Find single block equivalent using block diagra
ram he x = X1 tazu
reduction technique. CT S-03 (Sem.), ET 041 *1 =-B1x1 +X2 +a2u
[Prob.17, P-34]
CS) x2=-B2X1 +aju. [W-02(Sem.),CT W.02]
Prob.11. Obtain the transfer function R(s) for the following
Q.10, P-63]
represented by the following SFG. Find the T.F.
system: [ET W.03] Q.9.A C.S. is
[Prob.18, P-35] by Mason's
Gain Formula.. [ET W.95,S.04
Prob.12. Find the transfer function C(s)/R(s) for the block 1Q.11, P-64
diagramshown. [CTS.04] Q.10. The following equation describes a control system,
[Prob.19, P-37] sdiruct
ne signal flow. graph for it and obtain following transfer
onstruct the g
Prob.13. Find the single block equivalent using block diagram
functions:
reduction technique of the following one. ET S.00 u =0
[Prob.20, P-39] 2 toru2 =0 and for
Prob.14. Obtain the Transfer Function
CS) u2
R(S)for
the following
where y2 is output node and u1 and u2 are input nodes.
system: IET W.01 y1 a1y1+a212 +b1U1 ...(1)
Prob.21, P-41]
2 a12y1 +a22Y2 +b2u2 (2)
Q.4. Using Mason's gain formula, determine the overall gain of
the following signal flow graph. CT.S.03, CT.S.03(Sem.)} IET W.01
0.5, P-541 IQ.12, P-661
Q.5. A system is represented by the following equations. Find Q.11. Write a short note on Sensitivity of control systems to
K( parameter variations. E.S.98, 01, W.98, 99, 03]
the transfer function by [Link]. technique.
U(s) OR Explain the use of feedback in control system in reduction
of parameter variations. ICT. W.02,03,S.04]
x=X1 +B3U; x1=-aX1 +X2 +B2U
IET.S.99, Q.13, P-67]
W.03}
Q12. State true or false and justify the same:
106, P-56
Q.6. By using signal flow graph method, reduce the following The effect of parameter changes in feedback path of the
without any
block diagram. ET S-02 appreciable system appears directly at the output [ET.S.98]
dlooP
reduction.
0.8, P-601 Q.14, P-701
 (ETICTn
SYSTEM /CS-I 131
ONTROL
VoDcoN
130 pONTROL sYSTEM/cs-I (ETICT Justify: ET W.02]
Q.20. tors, field control is advantageous while
Q.13. Establish mathematically the superiority of the the clo all size for
close
loop control system with reference to (i) effect of disturbance s i) Forarmature
re control is advantageous.
gnal motors the AC servomotor is built with high resistance.
rotor ofthe .
(i) effect of system dynamics. ETW-971 g The
(ii)
IQ.15, P-72] 0.5, P-93 short note on error detectors.
Q.14. Why positive feedback is generally not used in contr.
ntrol Q.21. Write a
systems? ICTS.04 [ET S.02,CT S.03(Sem.)]
Q.16, P-73 P-941
0.7, construction and working of synchro pair.
Q.15. Discuss the effect of feedback on: Q.22. Explain the
) Speed of Response (i) Signal-to-Noise ratio. ETS-01 [ET W.98]1
Q.18, P-74] 10.8, P-96
Prob.15. The block diagram of a position control system is
shown in figure. Determine the sensitivity of closed loop transfer Prob.17. Find the force voltage analogy of the following
function T w.r.t. G and H for =l rad / sec. [ET.S.991 [ET.W.03,s.04]
system.
[Prob.1, P-74)
Prob.2, P-102]
Prob.16. Select correct answer, out of multiple choice given
Prob.18. Find the system equation and force-voltage analogous
below and justify the same briefly. following systemn: ICT S-03 (Sem.)]
) The open-loop transfer function of a unity feedback systemis network for the

ven by Prob.3, P-104]

8
G(s)=. Prob.19. Find the transfer function E(s) for the electro-
(s+1) (s+ 2)
The closed-loop de gain of the system is mechanical system shown. Assume that the coil has a back emf
(a) 0.8 (b) 4 (c) 8 (d) none of theabove. [S-98]
[Prob.3, P-76] eh K1and
dx the coil current i produces a force Fc =Kzi on the
Q.16. Obtain the transfer function of a Field controlled D.C. dt
Servomotor. [ET-S-97, W-98] mass MRL and C are the resistance, inductance and capacitance
[Q.1, P-86] in the
respectively. K is the spring constant and f is the friction
Q.17. Give the Comparison between armature controlled dc
S.04 ICT S.04]
servo-motor and field control D.C. servomotor. ET damper element.

0.2, P-88] [Prob.4, P-106]

Q.18. Write a short note on Two-phase AC servo-motor. in the fig., the
[ET-W-977 Prob.20. In the speed control system shown
O.3, P-89 generator field time constant is negligible.
Q.19. Derive from first principle, the transfer function of AC a) Draw the block diagram of the system and determine the
servomotor. Give the åssumptions clearly. [ET S.99] ransfer function o (s) l e; (s), where o is the load speed.
Q.4, P-90
 132 çONTROL sYSTEMIcSi(ETIC
VBIFO cONTROL
SYSTEM/0 s-1 (ETICT)
133
b) With the system originally at resta control voltage e,. ind the force-voltage and Force-current Analogy of
rob.22. Find
is suddenly applied. Determine how the load speed will change
chanen.
system [ET W.01]
following
the time. wi [Prob.10, P-122]
electromechanical system given
Prob.23. Consider the below.
Given-J= 6 Kg- m functionX()
x(s)
the transfer
[ET S.02]
KA =4 Amp/Volt Obtain Vi ()

KT =
1.5 N-m/amp., Kg = 50 VIAmp. Prob.11, P-123]
Prob.24. Find the Force Voltage analogy of the following
Ki = 0.2 V/rad/sec. [ET S.00]
system.
Friction is negligible. W-9 [Prob.12, P-125]
[Prob.7, P-114
Prob.21. In the position control system shown, the sensitivityot
the synchro error detector is 1 Volt/deg. The transfer function ofth
motor is
M) Km
Vc) s(s 2m +1)

where, Km = 15rad/sec/volt, Zm =0.15 sec.

The gear ratios are =1 and

M 50

) If the input shaft is driven at a constant speed of n=rad/sec,

determine the value of the amplifier gain such that the steady state
error is less than 5°. Find this value of amplifier gain determine the
damping ratio and settling time of the system.
i) If the amplifier is modified by introducing an additional,
derivative term such that its output is given by

Yc(t)=K Ae(t) + Kn del

dt
find the value of KpD such that the damping ratio will improve to 0.5.
ICT-S-04 (Sem.)
[Prob.9, P-118]
 UNIT I CONTROL
SYSTEN
EM/ CS-I (ET/CT) 135

RESPONS OF
F F.C.S. D
is a constant. For
A = 1, the function r(t) is known as unit
where A
where
function. By definition of Laplace
transform,
TIME
Controi:
trol Systems: step
Feedback dt = A
Response of
Time response
response is the
Time
ion of oulpu
L[r = J r)" S

Time Artt
rt)
respect to time. ust
usually divided function This function tAt
variable with control system is intotwo i) Ramp
value of r(t) is
se ofthe
response described in figure. The
Time
is then increases linearly
parts Transient
response C (). ezero fortt<0 andequations
for defining this
The
1) response Css (t). with time.
2)
Steady state
response C()=
onse C(t C ()+Css (t). function are: 0RAMP FUNCT1ON
Mathematically, time
the response
the response, that goes r() =0 t<0
response: t is a part of to
r (t) =At t>0
Transient Lim (t) = 0.
toCr the function.
becomes large 1.e. where, A is the slope of
zero, as time response- It is ked response, when time A =1, the function is known as unit ramp
function. By definition
Steadystate For
Eor
transform,
of Laplace
reaches infnity. Order of the system is tho ighest
system
Order of the J r()e" dt f Ate" A
power of s'in the
system
characteristic: equation (i.e. 1+G($)H(S=0

state error:- It is the difference

between actual oitn
itput
Lr() = =
0
dt =

Steady function is illustrated in figure.

output as t tends to
infinity. ii) Parabolic function:- This
and the desired t <0 and is a
e(t) = tolr(t)-c(t)]
Lim The value of r(t) is zero for
ess
t quadratic function of time for t>0.
Arlt)

short notes on Standard

test signals.
Q.1. Write defining this
The equations
Ans. Standard test
signals - Standard test signals are as

function are:
follows: t<0
described
r () = 0
i) Step function:- This is Arlt)
in figure. The value of the function r(t) r () = At t>0 PARABOLIC FUNCTION
1
remains zero for 0, which increases where, A is a constant. For A =
t<
instantaneously from zero to A for t> 0.
this function is known as unit parabolic function. By definition of

The equation defining this function are: Laplace transform,

STEP FUNCTION =
r() = 0 1<0
r(t)=A t>0
L[r( = r(t) estdt = Aes" dt 3
S
0

Function equations and the Laplace transform of these

134
VBD cONTROL SYSTEM/SH(E excitation functions are listed in table 1.
 wBfONTROL SYSTEMI
CONTROL SYSTEM /cs- (ETICT) 137
MICS(ETICq BD
136
Table 1 TICT
Derivation ofsteady state error:
rhe teady state response is important to judge the accuracy of
Excitation Functions difference between the steady-state responseand
Defining output. The
Excitation Laplace the
[Link] Equations Transformof reference gives the steady state error.
Functions desired
E(s) = R(s) -B(s)
Functions Tn Figure

r () = 0 t<0 B(s)= C(s) H(S)

Step function A But
r ()=A t>0
r()=0 t<0
R(s) =

Also
E(s)= R(s)- C(s) H(s)
C(s)= G($) E(S)
Ramp function
r=At t>0
R(s) 4 Es)= R($)-G) E$) H(6)
s
E(s) [1+ G(s) H(S)] = R(s)
Parabolic function r (t)=0 t<0
r(=At t>0
R()= 4s° E(s)
R(s)
1+G(s) H(s)
iv) Impulse function:
Els) Cs)
It is definedas R$)
r)=s ()=1 t=0
0 t#0
The function has a unit value only fort = 0. In practical cases
cases Fig. Canonical diagram
apulse whose time approacheszero is taken as impulse function. is used, the expression is
Lfr(0)] =L6 (1) =1 Ifpositive feedback
R)
E)- G(S)H{S)
t St1
Combining
ES)1+
R(S
G(s) H(s)
)

H(s) =l]
Lt=0 [For a unity feedback system
Es)=R) i)
1tG(s)
feedback). In time domain
Fig. Impulse
input (Negative sign a used for + ve
Steady State Error e:
It is defined as thedifferencebetween
e(t)=LE)
time. Steady state
the desired system output, as
actual system output and
and is the expression of
error valid for all
t->o [as 't becomes largel.
It is the error is defined as
measure of system accurac i.e. system's
steady state performance.
"here are two methods for evaluating the Css t L

o e(1)
e Transtorm
Laplace
I. Error constant method From the final value theorem in
2. Error series method
 138 CSJCSETICTn CONTROL SYSIEN
SYSIEM/ 9T(G7C) 139
Steady state= e (t)= s0 E(s) D Method:
Ess error Error Series IET-S.97]
nethod
[Link] the drawbacks of above method.
5E(S) This
ess
R)W6) =
sR(6) E)11+G($).H(s)J 1+G(s).H(s)
ess 0 1+G(s) H(6) series is defined as
The error
Error Constant
Method
r() + C1r()+()+ nl
n!
() +.
G(s).H(s) is given by es
In general, the loop T.F.,
K1+T s)1+T2 5)...1+Tm s)
d r(
dr(; fr(t) =.
Gs).H(s)= (A) (T) dt dt
s'1+Tís)1+T2 5)..1+Th s) coefficients
K'( + Z1) (s +22).(s +Zm) C eror
s(s +P) (s + P2)..(s + Pn) (B) Co
Li
0 We (s)
Gain; T= dWs) ..C=m dW, ()
Equation (A) is the time constant form; K = me
Co =
Lim
ds"
ds
constant Type of Input:
Equation (B) is the pole zero form;z= zeros p = poles Steady State Error and
[1] Type of C.S. : [CT-S.03 ) Step Input:
magnitude A is applied)
origin gives the type of the (A step of
Number of poles at the control
system. Above equation represent type T system. It means there are Here ()= A rr(t) = 0
t>0
t<0
T number of integrations in the system.
[2] Order of C.S. R)
Total number of poles in the loop T.E. represents the order of A/s
the system. Above equations represent nh order system. By eqn. (), ES)1+ G(s) H($)
Q.2. What are the advantages and disadvantages of statie
SE($)
cc
error constant? [ET-W.00,02,CT-W.02 ()
Ans. Advantages A A
i) Give idea about steady-state error. Lt S
s0 1+ G (s)H(s)
i) Used for three standard test inputs.
Disadvantages: A
Lt
G) The important time variation of error is
ess () $-0 1+G(s) H(S)
not known.
(ii) The exact quantum ot error is not specified A A
being extreme ess(0)
value of 0 or o. 1+ Kp
LG$)H6)
1+ s-0
 VBDOÇONTROLSYSTEM/EMI CS-(ETIC SYSTEM/CS-I (ET/CT)
140
Constant Kp Of a
system is
stem defined
Cs.I
definea qBD on
CONT OL sYS
CONTROL 141

The Position Error

as
R(6)3
t"=n!
H(s)
s+1
kp 0G()
A
es )1+ k ess 0SE($) = s-0 1+ G(s) H(S)

(2) Ramp Input: considered.

A ramp ofslope
'A' is A
Lt
)=At t ct) 0 + G($)H(s) +sG()H(S)
A
=0 t<0
A A
=
R(s) =Lr() = S 1+ S-0 S G(s)H(s) ka

esss-+0
Lt sE(6)
ess A
ka
.(iv)

A Refer Figure Define

the acceleration error constant as

s0
Lt
14 G(s) H(S) c
LL A
S
s 1+G(s)H() s-0 S+s G(s)H(s)

A A
ky
1+sG(s)H(s)
ess A ii)
Ky

Define the velocity error constant ky as.

ka SG($)H(s)
ky 8 G(s)H(s) Effect of type ofsystem on ess
(3) Parabolic input:
'
From above derivations: -
A parabolic input of slope coefficient
is applied. p 0 G(s) H(s)
t>0 ky =sG(s) H($)
,
=0 t<0 H(s).
ka sG(s)
 142 qBISONTROL sYSTEM CS-I yBDCON
(ETIC R(s)
Sr. Constant Equation Steady
Slate
No. Error
1. Position Error| G(s)H(S)
k= A Fig.(a)
constant kp
2. Velocity Error kky S-0 s.G() H(s)
Ss
where in, G)TS
constant ky y H(s) = 1

Acceleration ka =sG(s)H(s)| C(s)

Error constant
essA
ka
T(s)=
R(s)
Ka G(s) .
Table ()
closed-l0op .r 1+G(S) .H(s) 1+Ts

Sr. Type Step Input Ramp input Parabolic Input

Parabolic Inpu C(s)1+Ts-x R(s)

No. Kp ess Ky Css Ka ss R(s) = 4

Type K 0 co IFR(5) in unit step input; ie.
A
Zero 1+K

22 Type K 0 C6)C(s)s(1+Ts)
One T
3 Type
Two
K co1 Take inverse Laplace Transform

Table (ii) c(t) = 1 - et/T

system. The variation of
Reduction of steady - state error can be done' by, This is the output response of the
1. Decreasing the value of K. output c(t) with time (t) is as shown [Figure b]
2. Increåsing the type of the system. c(t) = 1 -
e/T
Q.3. Write a short note on Response of higher order system.
ET-W.98] dc)e
dt
Ans. The order of a system equal to the number of poles in that
Att 0; c (t)= 0
system. Hence response of a higher order system will be same as the
effect of a adding poles to that system. And dct_
=2= Slope of the response curve,
figure(b)

Time Response of 1*t order system dt T

Figure(a) shows the B.D. of 1" order system: As t co, c(t) |
 144 VBIFONTROL SYSTEM/ CS. CONTROL SYSTEM 145
BD
rt)=1
Cs)= S s+k/T
inverse
Taking Laplace
1-e"k/T°t
C)= (A)
equation (A), we see that as k increase the time
Thus from
steady state is smaller. Hence the transient response can
require to
improved to any desired level by proper choice of forward path
Fig.(b) be
gain.
Q.4. Show that for a first order unity feedback systern he Time response of 2
order system
transient response can be improved to any desired level by System can be represented by the B.D. of figure(i)
proper choice of forward path gain. [ET-S.98
c()
Ans. Consider a first order unity feedback system.

R(s) Clc)

Fig.i)

where k, is the forward path gain. Ky =Gain; T Time constant

The transfer function is given by, S)
The close loop T.F. = T(s) = R(s)
C(s)
R(s)
G k/Ts
1+GH 1+k/Ts
C(s) k
Gs) Kyis+ 1S) x1
1+ G(s).H(s) 1+
Rs) k+ST s(1+Ts)
Theresponse to unit step (i.e R(s)=) is given by C() Ky_ K, /T
S

C(s)
R(s) Ts+s+ Ky s2+s+
k+ST s
k/T C(s) Kv/T (1)
+
s(s+ k/T) R6)2

S+k/TT The standard form of 2 order system is

A=s.C() -o =1 C(s)
ons + @ 2 2
B (s+k/T) .Cs) -k/T-1 R(s) s+2
 CONTAUL E/C)
BD 137
136 VBFONTROL SYSTEM/CS (ETICT Derivation of steady state error:
respor is important
Table 1 The steady state to judge the accuracy
The difference between the steady-state of
Excitation Functions output. response and
Defining Laplace the erence gives the steady state error.
[Link] Excitation
Transform
Functions
Equations of InFigure E(s) = R(s) - B(s)
Functions B(s) = C(s) H(s)
t<0 But
Step function |r (t) = 0 R(s) = A E(s)= R(6)- C(s) H(s)
r ()=A t>0
Also
C(s)= G(s) E(s)
2 Ramp function r() 0 t<0
R(s) = E(s) = R(5)-G(s) E(s) H(s)
r () =At t>0
E(s)[1+G(s) H(s)] = R(s)
Parabolic function r()=0
=At
t<0
t>0
R($) = 2A
E(S)1+G(s) H(S)
R(s)
r ()
iv) Impulse function Es)
It is defined as Rs) C(s)
B(S)
r(t)=s(t)=1 t=0
t#0
cases
The function has a unit value only for-t 0. In practical
==
Fig. Canonical diagram
a pulse whose time approaches zero is taken as impulse
function.
If positive feedback is used, the expression is
L[r()] = L () =1 R($)
E6)1- G($)H(S)
(t St=1 R(s)
Combining E(s) = -
1)
1t G) HS)
=0 [For a unity feedback system H(s) = 1]

E(s)=R(s) (i)
1+G6)
Fig. Impulse input (Negative sign a used for +ve feedback). In time domain
Steady State Error less : e (t) =L" E(s)
It is defined as the difference between actual system output and
and is the expression of error valid for all time. Steady state
the desired system output, as t-c [as t becomes large]. It is the
error is defined as
measure of system accuracy i.e. system's steady state performance.
There are two methods for evaluating the ess ss e(t)
1. Error constant method From the final value theorem in Laplace Transform
2. Error series method
 138 VBfONTROL SYSTEM/ CS cONTROL SYS
S 139
(ETICT Method:
pD
stateLte (t)= 0 S E(s) Error Serieseliminates the drawbacks of above ET-S.971
ss =Steady
error
This
nethod method.

t
sss>0 SE(s) R(s); We(s) =.
E) 11+G(s).H($)J 1+G(s).H(s)
sR(s) is defined as
Csss0 1+ error series
G(s) H(S) The

Error Constant Method .(0) Co r(t) + Cj r()*i(t)+ n

no+
G(S).H($) is given by
In general, the loop T.F, ()=d*r(O
G).H(s)=KI+T s)(1+T2 s)...1+Tm 5)
;
r(T) = d2
.

A) dt
s'(1+T s) (1+T% s).(1+Th s) errorcoefficients
C
K' (s +Z1) (s+22) .StZm , (B) Co 0 We (s)
s(s+P1) (s + P2)..(+Pn) d"W.(s)
Equation (A) is the time constant
form; K = Gain ;
T- time
Lim d We (s) CLim
Co s-0 ds ds"
constant Type of Input:
zero form; z= zeros; p = poles Steady State Error and
Equation (B) is the pole
[1] Type of C.S. ICT-S.03] () Step Input:
magnitude A is applied)
the type of the control (A step of
Number of poles at the origin gives r(t)=
.

Here
A t>0
system. It means there are
system. Above equation represent type 'J r(t)= 0 t<0
J'number of integrations in the system. A
R()
[2]Order of C.S. S

Total number of poles in the lóop T.F. represents the order of A/s
the system. Above equations represent n order system. Byeqn.(i). E(s) 1+ G(s) H($)
Q.2. What are the advantages and disadvantages of static
error constant? [ET-W.00,02,CT-W.02
es()=0 sE()

Ans. Advantages:
LL
A
s ess14k
(i) Give idea about steady-state error.
s-0 1+ G (s)H(s)
i) Used for three standard test inputs.
A
Disadvantages: ess
(i) The important time variation of error is not known.
)s-0 1+G(s) H($)
(ii) The exact quantum of error is not specified being extreme A A
ess(t)=.
value of O
or Cs I+s0G($)H(s) 1+ Kp
 I40
VBIFO
ÇONTROLSYSTEM/ SYSTEM/CS-1 (ET/CT
SYST 141
ETIC CONTROL
NTROL
BD
The Position Error Constant kp

kpS0 G(s) H(s)

ofa system is defined as
-
A
ess)1+kp LsE(S)s0 1+ G(s)H(s)
(2) RampInput:
A ramp of slope 'A' is considered. 2 Lt A
r()= At t>0 ct) 0 G(s) H(s) S-0
= 0 t<0
1+ 2 + s2 G()H(S)
ess A
=Lr(t) = A
s G(s)H(s) k
R()
S 1 s0
A
ss 0 SE(s)
ss ka
(iv)

the acceleration error constant as

Refer Figure Define
L
s-0 1+G(s)H(s) co)
. ss
A ka
Lt Lt A
S
s-0 1+G()H() "-0 s+s G($) H(s)

1+s sG() H($) Ky

ess
.i)
Define the velocity error constant k, as
k 0G6)H)
k,08G)HG) Effect of type of system on ess:
(3) Parabolic input:
i,'1 From above derivations: -

A parabolic input of slope coefficient

is apPplied. kp 6 G() HS)
r()=A,2 2
t0 ky30 sG(s) H(s)
= 0 t<0 .
ka sG6) H(s)
 CONTROL
142 VBFONTROL SYSTEM/Ics
I csA(ETIC vD
Sr. Constant Equation Steady
State
No. Error
1. Position Error k-LG(s) H($)
constant Kp A Fig.(a)

Velocity Error G)
2. ky S.G(6)H(6) where in,
constant ky H(s) = 1

Accelerationk
Eror constant
ka os G(s) H(s)|
T(s)
C6)
R(s)
Ka = closed-loop T.F. = Gs) 1 1

Table (i) 1+G(s).H(s) 1+Ts

Sr.| Type Step Input Ramp input Parabolic Input =

C(s)1+Ts
1 x R(s)

No. Kp ss K, Ess Ka
ss i.e. R(S) =
R(s) in unit step input;
Type K A1+ K 0 If
Zero
C(s)
2| Type K 0 s(1+Ts)
One
0 C()
C(s)= T Take inverse Laplace Transform
3 Type 0 K 1+Ts
Two K
Table ii) c(t) = 1 -e-t/T
This is the output
response of the system. The variation of
Reduction of steady state error can be done by,
-

1. Decreasing the value of K. output c(t) with time (t) is

as shown [Figure b]
2. Increásing the type of the system. c(t) = 1 - et/T
Q.3. Write a short note on Response of higher order system.
dc()
.

ET-W.98] dt
Ans. The order of a system equal to the number of poles in that
Att=0; c (0)=0
system. Hence response of a higher order system will be same as the
responsecurve, figure(b)
effect of a adding poles to that system. And dc=i=
dt T
Slope ofthe
Time Response of 1*order system
Ast oo; c(t) 1

Figure(a) shows the B.D. of 1s order system:

 44
VBTONTROL sYSTEM
SYSTEM/
CS-I
ONTROLSYSTEM/ CS-T(ET/CT) 145
(ET BD
=
C(s) S s+k/T
r (t)=1
Laplace inverse
Taking
1-ek/T°t
C)= (A)
equation (A), we see that as k increase the time
Th us from
steady state is smaller. Hence the transient response can
required tto
improveded to any desired level by proper choice of forward path
Fig.(b) be
gain. response of 2nd order system
Q.4. Show that for a first order unity feedback systém Time
transient response can be improved to any desired level represented by the B.D. of figure(i)
by System can be
proper choice of forward path gain. [ET-S.98
C(S)
Ans. Consider a first order unity feedback system.

R(s) cic)

Fig.i)

where k, is the forward path gain" K =Gain; T= Time constant

The transfer function is given by,
The close loop
T.F. = T(s) = CG)
C) G k/Ts R(s)
R(s) 1+GH 1+k/Ts
G) Kv/s 1+ Ts) x1
C(s) k 1+ G(s).H($) 1+
1+
Rs) k+ST s(1+Ts)
The response to unit step (i.e R(s) = )is given by C(s) K,/T
k
R(s) Ts +s+ Ky 2+
Cs)
k/T C(s) Kv/T (1)
R(s) K
s(s +k/T)

S+k/T The standard form of 2" order system is

A =s.C)s- =1 C(s)
2
2)
B (s +k/T) . Cs)s=-k/T =-1
R(s) $2 +2 os + 0
 145 VBTfONTROL SYSTEM/ c ETICT CONTROL
SYSTEM /cs 147
PD called as the damped natural
where in is
is Jad
and 2 oh T oscillation. With the help of
oscillation.
of
frequency of
equation (5); the roots of
imoginary aves

above (which represents rreal axes

ristics equation
oles) can
be located on the S-plane
is as shown in figure (ii) +
S-plane
The and - axes are called as real
rein O
and -jwg are called as
OnUn-damped natural frequency of
oscillation
axes
whereas j@a iad
imaginary axes.
Damping factor
.What
Q.5. Wha is the effect of g on response and root location
Characteristic equation a order system? EW/97 CT-S.03]
The characteristic equation of
the system lq(s)] is defined ofsecond Effect of on response and root systems.
H(S) Ans.
qs)= 1+G(s)
the closed loop T.F. Case1:0<5<1
Which is the denominator of
are complex and conjugates of each other. The poles
the T.F. The poles
It represents the poles of
by,
q)=l + G(s). H(s)=s 20,s + +@
4) aregiven

Therefore, the order of the characteristic equation will be sama

S1.2-5on t(3 -1)@,
characteristic equation [g(s)= The Doles are
located on the second and third quadrants of
as the order of the system. Solution of
real and imaginary parts exist. The response is said to
01 gives the location of the poles of the
system. scplane as both
Stability of the systemn: be under damped.
A system, is said to be stable if for bounded input, the output is Case 2:=1
are given by S =S2 =-ž@,
also bounded. The poles are real and equal and
Consider the characteristic equation of a 2nd order system. They lie on negative X-axis (o axis) as imaginary part is zero

q)=s+2Eo,s +@ and are repeated. The response is said to be critically damped.

The solution gives the location of poles i.e. roots. of q(s) Case 3:>1
in S-plane The poles are real and unequal.
They are given by,
s=-Eo, tjon l-E2
S S2 -ot j0a
where in The response is over-damped.
Case 4: =0
The poles are complex with only imaginary parts. Hence they
1-2 lie on jo axis and are conjugates of each other.
 VBTFONTROL SYSTEM
CONTHU
148 149
CS-I(ETICTn DD standa form of 2nd order unity feedback system.
The T.F. is,
The poles are given by,
C(s)
S1,52 t@, v-1 = tjon T)R s2+2 o,s +
The response is undamped (no damping).
step, input [R(s) = 1/s]|
Case 5: <0 ie. 0> >-1 For unit
The poles are real and lie in right half of s-plane. This
unstable condition.
an co s2 +2@ns + on
Case 6: =
-1 and case 7: <-1 The
autout response C(t) can
be obtained by taking
inverse
These are shown in figure below. Transform. Hence C(s) must be expressed in factored
Laplace form.
s2+ 2 on + o =

s+-ot jo, vi-g*)} |s+ Ea-jo, v-

Cis)

Therefore by method of residues

5 67
-1 C0 + on
2-2nS ls=o

0<<7 (Poles 5-5, 6-6,7-7are -ve , +2Re

ss+2E0 jo, V1- -

s=Eon-j o,v-E2
- Left Half Plane Right Half Plane
J
Q.6. Derive the expression for the output of a second order
underdamped system to a unit step unit. (ET-W.97,01]
Ans. Time Response of a Standard 2nd order under
Ct)i-e
I-2
-50.t
sin n i-g? tan
Damped System to Unit Step Input:
 150 VBTFONTROL STEMI cONTROL SY 151
CS ETICT yBD
This is the equation for the output response standard
of standar 2nd uild up time t,: Time required for the step excited
vi) increase from zero to final value when
order unity feedback system when excited by a unit step input, outp to the increase
system stant rate and is equal to the maximum value of the actual
cons

-
knoOw
e at at a rate, is known as build up time.
or C() = 1
sin[wat+0]., s
increase shoot : The ratie
shoot: ratio of the maximum value of the step
vii) Over the final output is known as overshoot in the
system outpt
oltput to
specilications
Q.7. Give the different time response specifications ang excited The centage overshoot in the system is defined by
[ET-S.99, 02,W.91 system. Maximum output overshoot for step input
their formulae.
overshoot = Final value of output for step input x100
Ans. Time response specifcations %

UTRU [Link] error : The difference between the ideal and

C(tL -Transient Response of the System Steady Stote
vii)
eal values of the system output, for a step excitation, after
Response actual
Peak eient has
transient, expired is known as steady state error of the system.
-Final Value
Overshoot the of system output upto the settling time ts is
The behaviour
02

Steoda as transi response of the system, while the system output

030 State Error cnown as transient
afte time ts is known as steady state response of the
0-5T behaviour
mThese
system. two regions respectively correspond to transient and
0-10
components of the system equation solution.
ady state
stead
for rise time for second order
o.8. Derive the expression
underdamped unity feedback control system. ET-S.97,98]
i) Delay time ta: The time required for the system output to time C (t,):
Ans. Expression for rise
reach one half of the final value, is defined as delay time:
Cc)="1-es
-{0,t
) Rise time t,: The time required for the system output to
rise from 10 % to 90% of the final value, is defined as the rise time.
co -?
sin (0at +0)

ii) Settling time ts: The time required tozthe system output
to settle down and stay within + 29% of the final value, is known as
al t=t C(t,)=1
-E0,t
settling time. sin (at, +0)
1= 1--
iv) Peak time t,: The time required for the system output to 1-
reach the first maximum value, is known as peak time. -E0,tr
v Duplicating time tp: The time required for the system .. sin (at,+0)=0
output to reach the final value for the first time, is known as
duplicating time.
-E
-E0nr0
152 ONTROL SYSTER
cSAETi
VBD SYSTEL CS-I (ET/«
coNTAOL
SYSTEM/ 153
sin (oat +0) = 0
gBD
Oat +0=T atp =T
weare considering instant after zero, it is n

from (1), the first minimum or undershoot will occur

Hence, time for first
minima or undershoot,

y- atna=2. 27 2Tt
where, 0= tan-1 min
nin 0d o, 1-2
Q.9. Derive the expression for peak time (1,) for second
Sen. OVERSHOOT
I 11 oVERSHOOT
order underdamped unity feedback control system. Cau
Ans. Expressionfor peak time (p):
Differentiating C(t) and equating it to zero we have,

dCO=00
4.0
U
TIL UNDERSHOOT
UNDERSHOOT
dt 1

sin (gt +0) =o

we have, 21 3T
*o =n V1-E Wd
Wa Wd Wa

e 0t
sin (og t+0)-e5@".o, cos(wt+ 0)=0 peak overshoot (M,) for
Eo. o.10. Derive the expression for
cecond order underdamped
unity feedback control system.
sin (ogt +0)-1-E (ot+6)=o overshoot (M,):
cos Ans. Expression for peak
- cos0,-E3 =sin S%Mp
C(t)-C() x100
C()
cos sin (ogt +0)-sin 0 cos (@at +0)=0
= -@n 'p.
sin @at 0 e
CO=CO l=t,=1-* sin (oa tp +0)
@at =n7 (1) 1-E2
where, n = 0, 1, 2, -....
at t= tp, the first maxima or peak occurs, n =1,
 sYSTEM/ CS-I (ETICT 155
cONTROL
154 VBIFONTROL SYSTEM/cS-(ETIC
Derive the expression or settling time (ts) for seco
CS >n
E/ 2.11.
[Link] feedback control system.
Cp)=1eTy- sin d +0 order. Expression for settling time: -
1- ns. e,t sin (at, +0)
c0 -E2
tolerance band at t = ts
=1- sin(-sin 0) For 2%
C(t)
-E 1-32
= 0.02

_zE small
Ct)=1+
v-2 is
-51
Ctp) =1 +e
TE/-52
-0ts 0.02
Also C(c) =1
Percentage overshoot is given by, 4 for 2% tolerance band,

100 x
Cp)-C(o)
ts
n band
M, For 5% tolerance
% = -

C(oo)
3 for 5% tolerance band,
=100 xtet $//1 -
-1
Time constant of second order system is T=
Mp
=100 eT3/Vi -2 n
y=Mp and the duration of the
transient 1.e. the settling time ts is four times
100
the time constant of
the system during which the transient error is
reduced to less than 2 percent of its initial value. During this time t,s.

the number of complete oscillation of the output is approximately

General expression for C() is 2 1T

C) =1-(-1)"e-nmE//i-3 Number of oscillation before settling system output

forn 1, 2, 3,
4.. =N= 21-2
Maximum overshoot Ct,) is obtained by substituting n = 2 Tt
 TEMICSAETI SYSTEM/ cS-I (ET/CT)n
156 VByfONTROL SYSTEM ONTROL 157
VBD
atrol
Q.12. Explain how the derivative control and and 25'0 =2@ +Ta
the performance of the systenintez
control are used to improve em.
ET-S.
Ans. Modification of performance of a
system: nerivative feec
Derivative feedback has increased the damping ratio by an
perf
modify the performan
The following principle are applied to
of a system nount amount 1d n /2.
oa fore, overshoot gets reduced. Also the settling time given
1) Derivative control, 2) Integral control, 3) Rate feedbaoi.
ck gets reduced as s increases. Thus, derivative control is
reduc
1) Derivative control: Derivative i
control is used to improv 4/g0n gets
the overshoot of a given system (1.e. to increase the value
of by
by
improve the transient response of the system.
to
does not affects the steady state error.
ed Integral Control:
Tntegral Control: The integral control is used to improve
performance. of the system. Figure shows the block
Wn2
steadystate
SIS+2dw) T-CIS) the system with integral control.
diagram ofa
Wn2
PLANT TO BE
sS+28Wn) scisi
cONTROLLED

The block diagram with a derivative control added to

tha
proportional control is shown in figure. The signal applied to
process/plant consist of two components namely,
1) One proportional to the instantaneous error signal.
2) The time derivative of the error signal. G() Hs)= s(s+20)
Characteristic equation is 1+G(s) H(s) = 0
(s+Ki)o
Wn
-CIS) s(s+25on)
sISt2 Wn)
Thus, we see that without integral feedback,
type of system
type of the system is type 2. We
was type 1and with integral control
state error reduces with the increase in the type
know that the steady
of the system. Thus, integral control improves the steady state
1+1+Tas) response.
s(s+25, 3) Rate feedback or tacho feedback: Figure shows the block
di' gram of the system with rate feedback.
s+s [20n +Ta ®1+o =0
Let, 5= Damping ratio without derivative feedback
(1)
E ES Wn2
sS+28wn)
Damping ratio with derivative feedback
from (1)
 £ONTROL STEMICS-(ETIC CONTROL STEM/CS-I (ET/CT)
158 BD 159
of the output signal
feedback, the derivative
sio
In this type of i
the error signal.
feedback and compared with respone
improves the transient nse
This type of feedback ie Plant CS

increase the damping ratio.

Wn2
C(S
RIS) s24(2Wn+Ke W's

15. What is effect of

adding a zero to a system on
1+G(s) H(s) = 0 the
Characteristic equation is response? [ET-W.00,CT-W.02,03,S.04]
0 +K, w)s+o =0 0) transient
Adding Zero to a Systemn:
s+(2 ratio
Ans. Effect of
the new damping We have,
Let' be 2
From (1) we have, CS)
=250 +K,@ R(s) 2 + 2g0,s + 0
2
system,
For a 2nd order
Let a zero at s =-z be added to this system.
it can be seen that the rate
From the above expression, s+z)
feedback improves the damping ratio by
an amount K @n /2.
T(6)2
' +280,s + 2
Q.13. Compare derivative control
with integral control.
[CT-S.04] If we want to preserve the steady state response; the equation
using derivative should be divided by constant z.
Ans. Transient response is improved by
2
be improved by integral
control. Steady state performance can
In derivative control T(s) =
control in addition to proportional control. [zs +2 5 ons + w]
scheme, the input signal to the plant is a combination of
two signals,
one is proportional to the error signal and another is proportional
to z .S
the derivative of the error signal. In integral control, one system
is
zis+2g0,s +@n"] zls+20,S +0 1
proportional to the error signal and another is proportional to the For unit step input
integral of the error signal. c'(t) = c(t) + s/z c (t)
Q.14. Write short note on PID controllers. [ET-W.97
Ans. PID controllers: In PID controller, advantages of PD ie. e(t)=c()+
controller namely transient part of PI controller namely steady-stale
part is mixed. There response will be under (Figure)
 cONTROL SY
SYSTEM/cs (ETICT) 161
160 fONTROL SYSTEM/Cs- qBD
"TIC
where,

C(t) 0' tan

P-0n
Ce
u(t)1 The effect of pole depends on its location.
If pson
[i.e. pole is near to the origin). The effect of ()
much longer then (III) term,
of c') lat
will
p0 Kl and0 K2 =0
Therefore, the response due to this added pole will be
are avoided.
ominating. Suchsituations
[i.e. pole is located away fromthe origin]
If p>5on
Observations:
i) Peak over shoot has increased.
DP iK
K =0 and p K2 =

(1I) term diminishes quickly and of (I) term

ii) Peak time has reduced The response of
ii) Smaller the value ofz ie. the closer the zero to the origin, tne response is dominated
the (II) term. So
dominated by the (I)
last longer. Hence
approximated to that of 2 order systemn.
the more pronounced is the peaking phenomenon. Therefore, such the response is
locations are avoided. For sufficiently large vàlue of zero i.e. if zero SOLVED PROBLEMS
is located sufficiently away from the origin, its effect becomes Prob.1. The open loop transfer function of a unity feedback
negligible. 10
response, system is given by G(s) Find the static error
iv) An art full introduction of zero improves transient s(0.1s+1)
hence used for sluggish systems. state error
co-efficients (i.e. Kp,Ky and K). Obtain the steady
Q.16. What is the effect of adding a pole to a system on the
transient response? ofthe system when subjected to an input. r(t)=a, +a1t+ a2t.
Ans. Effect of Adding Pole to a System: Ew/99 CT-W.03,S.04
Let a pole be introduced at s = - p' and to nullify its effect on 10
Soln. We have G (s) = and H(s) =1
steady state performance; numerator is multiplied by 'p. s(0.1s+1)
T(s)=C) p H(s) = 10
R(s) (s+p) (s4 +2 o,s + 0) G(s)
s([Link]+1)
Hence order of the system is increased by one. 10
For unit step input: Kp =LimG($) H(s) = Lim-s(0.1s+1)
S-0 s0 s(0.1s+1)
c)=- K1 e +K2 e sin o,1-t21+0"| = Lim
S*10
Ky =LimsG ( s)
III s-0 S0 s(0.1s +1)
 SYSTE
CS-I (ETICT)
162 PATFONTROL TEMICS TROL SYSTEM/
CONTROL 163
(ETICn
BD S s+3s3+10
Lim-
10 10 H(s) =
=
s0 (0.1s +1) G(s)
G6) (s+10) s(s+5)
=Lims G(s) H(s) =Lim-
s10 . s4 3+10
+3s3+10
K s([Link] + 1)
s0 (s) H(s) =$2(s+5) (s +10)
Gs)
s0

= Lim
s10
=0 G(s) H(s) =lim
s +3s3+10
+3s3+10
s-0 ([Link]+1) Kp s0 s(s+5)(s+10)
r()=atat+ a2t Kp
ess =ess due to a,u(t) +ess due to ajt +ess due to a,t2
lim s G(s) HIS)
lim s+3s+10
s02(s +10)(s +5) ]
Ky s0
ess
1+Kp
Ky = o
+10]
2 =co H(s) = inS+3s3
0 s Gs)
k, limsG6)
= H S) s0 (s+10)(s+5)
The steady error equal to infinity implies that es continuously
10
increases with time. 0+0+10
Prob.2. Refer to the system slhown in figure. (0+10) (0+5)50
S
Cls) 0.2
RIs) ka
S+ 10
Steady state error due to r(t) = I+2t
+3t2 is,
essess due to 1. u(t) + ess due to 2t + ess due to 3t
St3 1 -+
s+5 1+Kp Ky Ka
6

10 1+ 2 0.2
SS+5) ess=0+0+30
Obtain steady state error for input ess30.
r(t)= 1+2t +3t2 Prob.3. G($)2 10(S+1).Find for unity feedback
Soln. The feedback loop is in parallel. From figure. s (s+2)(s+10)
H(s) 10 +S+3 () Type of system, (i) Error coefficients.
s (s+5) S+5 (ii) Steady state error for i(t) =1+4t+ t' /2.
sss +3)+10
(s+5)
+3s+10
s(s+5)
Soln. () We have,
[ET-S.03,CT-S.04]
164
VBIFONTROL SYSTEM/CS SYSTEM/CS-1 (ET/CT) 165
cONTROL
= 10 (1+s)
G) H) D 100
sx 21+0.5s)
0.5(1+s)
(10) (1+0.1s) G (s) Hs)
=
s(1+[Link])

s(1+0.5s) (1+0.1s) imG() H(s) m 100100

Thus the type of the system is 2.

K = (1+0.1S)
S

s. G(s) H(s)
(i) Kp = lim G(s)H(s) = lim 0.5(1+s) K, 0 s.100 100
S0 s-0 s(1+0.5s) (1+ 0.1s) lim 100
S0 S(0.1s+1)
Kp
=100
0.5(1+s) Ky
K=0 SG($) HS)=
s0 s(1+0.5s)(1+0.1s) lim Ss.G(s) HS)
= lim s2.100
s(0.1s +1)
= 0

lim s2 G(s)H(s) = 0.5(1+s) Now r(t)=1+2t+3t2. + ess 3t2

s-0 1+0.5s) (1 +0.1s) essegs due to 1. u() due to 2t+ ess due to

ka 0.5 2.3
Css 1+Kp K&y Ka
(iii) Steady state error due i(t) =1+4t
+is given by,
1 2
ess=ess due to u(t) + ess due to 4t+ ess due to ess1+ 100
2 o.
1+Kp
+ ss
Prob.5. Open loop transfer function of unity feedback
k
system in G(s) = Determine the factor by which gain
s(Ts +1)
0.5
Y should be multiplied, so that overshoot of unit step response
ss2 be reduced from 75% to 25%. Derive the formula used to solve
Prob.4. For a feed back control system having forward path
k the problem. (ES/95s]
G(s)= and H(s) = [Link] k=100 Soln. Characteristic equation is,
s(1+0.1s)
i) Determine the steady state error, if the input is 1+G(s) H(s) =0
r (t) = 1+ 2t+3t. [ET-S.98] 1+
k
=0
Soln. We have k = 100 s(1+Ts)
100
G (s)=
s(1+0.1s)
and H(s) = 1

0
Comparing with standard characteristic equation,
 ONTROL SYSTEM/cS-1 (ET/CT)
166 VBFONTROL SYSTEM/CS 167
I CS-(ETICT Determine the value of gain k for
1)
system to
have a
s +20,s
We have,
+ o =0 mping
ratio of e
r0.5.
value
For the walue of gain k determined in part (1), find
unit step input. the
sponsetoa r
What will be the response,if () = 5u ().
3) Characteristic equation is given by,
Soln. 1)
n 1+G(6) Hs) =0
T k (0.1)= 0
250 1s(1+0.15)
0.1s+S +0.1k=0
2 2 T 2)
s+1Os +k
=0
From (1) and (2), we get Comparing with standard characteri. equation,

s +2o+ Oas +@ =0
We have,

1
= ko =/k

KT =
75
25
05
=
10

oMp, =e
1 0.0911

MP,6-n =25 =0.5

2 = 0.4037
0.5
Let x be the factor which multiples the gain to obtain
2 0.4037 for getting 25% overshoot. =
.k 100

S1 S10.0911 1/2 VKT <1 (=0.5)

E
2)
S2 0.4037 1/2 [Link] Time response to unit step is given by,

x= x = 0.05092.
C)=
e$t
sin (gt+0)
Prob.6. For a feedback control system having a forward
sinVI-E2
path transfer funetion G(s) = and feedback path = 10.
s(1+0.1s) 0.5,
H()=0.1
 CS-I(ETICT)
M/CS-I
SYSTEM/ (ETICT) 169
CONTROL

168 ONTROL an 120

SYSTEMICSA(
CSAETI
s6+1)+5)
=10,/1-0.5?
og =0
1- S
8.66 rad/sec

transfer function of the system is,

closed loop
The
60° Cs) Gs)
T6) R(s) I+G($) H()
eU.5x10t
Ct)= 1- sin (8.66 +60) 120
1-(0.5 s(G+1)(s+5)
(sin&.66+60°). 120 S
C0=1-1.1547e
3) Response for 5 u() s$+1+5)°6
120
Ct)=51-
-= sin(od t+0)
+6 +25
the system is,
characteristic equation of
The
Ct)= 5-1.547e sin(8.66t+ 60°)
s+6s +25 =0
Ct)= 5-5.735e (8.66t+
sin 60°)
Prob.7. The block diagram of a simple servo system s +20,s+@n=0, we have h2En=25=6
is Comparing with
shown in figure. Determine the characteristic
equation of the oscillations =5, while the
system. Hence calculate the undamped frequency undamped frequency of
of oscillations, The
damped frequency of oscillations, damping
ratio, damping damping ratio 1s 0.6
factor, maximum overshoot, first undershoot,
time intervals
after which maximum and minimum occurs, settling
time and
o=5
20n =0.6
the number of cycles completed before the output is settled
frequency of oscillation
within 2 percent of the final value. The input to The damped
the system is a
unit step
og =On y1-3 =5-06
Soln. From figure.
5x0.8 =4
definition is,
RIS EIS) the systemby
1.2 CIS The damping factor of
1 SIS102S1)
Eo =0.6x4 2.4

overshoot is given by,

The maximum
=eš/y1-E?
M,
20x 1.2 -Tx0.6/V1-0.62
GS) s+1)0.2s+
 CONTHUL

170 ONTROL SYSTEM/CS1 BD 1

(ETI
_ -0.67T -2.358 0.095 We
have
n
second order system whose characteristics
0.8
For a
Second
First undershoot is given by nby 0.1s +s + 1.6 = 0. The settlingtimefor the
quationis g ;.
Mm =e-2n/yi-=4.716=0.0094 system
would be
(b) (b) 0.8 sec, (c) 1.6 sec , (d) none ofthe above.
sec,
The time interval after which the peak overshoot will OCe.
occur (a) 1 time for the system would be 0.8 sec.
The settling
[Link].
T
5x0.8
=0.785 sec.
The
ation can be written as,
51-(0.6)2 =
s2+10s +16 0
occ
The time interval after which the first minima Comparing with standard characteristics equation
given by,
2t -
s+20nS+0 =0
= 2x0.785 = 1.57 sec. on =100
min We have 2
51-0.6
The settling time of the system is given by : Eon =5
4
(T,) = : = 0.8 sec
4
sec. Settlingtime 5
5x0.6
Time
response of higher order systems:
Number of cycles completed before the output is settled within system having forward path
Prob.9. For a unity feedback
2% is 21-5 2x0.8
= 0.85 cycles.
transfer function
10
G(S)s(s+2)(s+5)
Tt TX 0.6
frequency of
Prob.8. The response of unity feedback system is given Determine the damping-ratio and natural
by C(t) = 1-e" sin (4t + 0.5). The time constant of the closed dominant poles.
poles.
loop system given by 1 +G(s) H(s) =0
Soln. Characteristic cquation is
(a) 2, b)-1/2, (c) 4, (d) none of the above. [ET-S.98] 10 0
1+
Soln. The time constant s(s+2)(s+5)
is-
(1)
s+7s+ 10s +10=0 poles.
The time constant is given by system, it will have three
This system is a third order
poles and
Ihose poles which are near to origin
are called dominant
Comparing the given equation with standard higher
time response poles. Usually, all the
equations given by e time response is governed by these order
approximated by the second
control systems can be
C()= 1-
e,t Order

ystems whose poles are the dominant poles.

sin(at +0)
1-E2 Factorising equation (1), we have
 EMICSAIE CONTROL SYST
wTROL SYSIEM/CI(EICI 173

(s+5.5) (s +1.5s +1.75) =0 BD of the

tanut of
input the system V1(0)=10, the Laplace transform
Thus, this system will have one pole at 5.5 For the
For other two poles, comparing the quadratic actor
10
V(s)= Substituting this value in (1), the output of the

in(2) input
standard characteristics equation s +2
We have =1.75
@nS +@
=0, of r
systemis 300
2)
V2)(s +1) (s+ 2) (s +50)
0 =1.32

2E0 =1.5
1.5
_
20 2x1.32
=0.56 SPLANE

Other two poles are at s1 S2 - @n tj@a

-50
-0.75 +j0.8284
transfer function is drawn in
plot of the system
The pole zero
X
50 is very far away from the
noted that the pole at s =- =
ure. It is and s -2.
as compared to the poles at s = 0, s =-1,
imaginaryaxis - 50 in the system
5.5 0.75
term corTesponding to the pole s =
Hence, the neglected as compared to the
X will be very small and can be
response
at s = 0, S =- 1,
and s =-2.
Thus, we see that this system can
be approximated by a second terms for poles the system from the
final value
state output of
order system with characteristic equation The steady steady state value 3 in
To have the same
s2+1.5s+1.75=0 theorem and (2) isV2.3. function (2) is
constant 300 of the original transfer
the system, the
=0.56 and on =1.32 rad/sec. 9
the approximate transfer function. Hence,
the
Prob.10. The closed loop changed to in
order system is
transfer function of a third 10
the system is
approximate transfer function of
V26) 30 9
V(s) (s* +53s +152s+100) 3)
V2) 10
Find the approximnate transfer Vs) (s+1) (s+2)
function of the system. 10
Hence, calculate the approximate V,(s)= from (3)
response of approximate system output for S
step of 10 volts is applied at the the system, when a The
input terminals
Soln. Factorizing the of the system. 9
denominator of
the given transfer V2 (s)=-
s (s+1) (s +2)
,function and rewriting it 2s 30 .(4)
V($) (s+1) (s+2)
(s+ 50) ..(1) B C
(s+1) (s+2)
 VDD YSTEMICSAI
hOLSYSTEM/ SYSTEM/CS-I(ETICT) 175
partial fraction C% CONTROL
Using Heaviside's theorem. on
9 s2+4.8s+72=0
A=sV2)s=03x4
4.8=0.283
B-(s+1) V 6)s=-1(-D0-9
9 hence
72
radian/sec
= V72

C(s+2) V2S)-2 9 _9 8.484 rad/sec.

(-2)(-1) 2 y1-E2
Substituting these values in (4) o4 8484
= 8.4841-0.283 = 8.05 radian/sec.
9
known
system shown in fig. below the
45 (s+1) 2(s+2) Prob.12. For the
=5.0.
The approximate response of the system is
yalues are
Ke = 20, K^
Vz(0)=[(0.75-9et +4.5e"]. Km
Ke Sl1+ Tm S)
Prob.11. Aservo mechanism is
represented by the followino AMPLIFIER MOTOR
diferential equation. ERROR
DETECTOR

de4d=1446 the
dt2 to unit step input,
dt system is subjected
When the
where is the actuating
and r = reference input
signal ='r-0.5 . response was observed
to be
C(0=1-2et/014-t/002
and 0 is the output
Find the value of (1) damping shaft position.
ratio, (2) natural frequencyof
oscillations and (3) damped Determinè
frequency of oscillations. transfer function. frequency of the
Soln. (1) Substituting i) The motor undamped natural
for 0 isthe given Damping ratio and
we get differential equation, i)
system. input.
for unit ramp
d44.8=1449=144
d2*4.84 ii) Velocity error KKAm, H(S)=1
we have G(s) = s(1+Tm)
dt (T-0.5 0) Soln. i) From figure,

d-4.8+
dt2 720(t) =144 r . G(S)1+Km 100
dt TmS)
...1) G(s) H(s) = 0
Characteristics equation is +
1
e(s) 144
sTm+S+100Km =0
R($s+4.85+72 00 Km=0
m=0
The characteristic equation is given
1+- s(1+Tm
by, 100 Km
1)
* 0
Tm
 VBD
VBDONIROL SYSTEM
oL SYSTEM/

Taking inverse Laplace of C() we have

EMICSAIE CONTROL
SYSTEM/
Cs
YSTEM/CS-I (ET/CT 177

BD rad/sec
22.36
C()=125 0.25 500 n
sS+10 s+50 s(S+10)(s+ 50) 250, = 60
60
R( -=1.34
32x 22.36
co-efficie (Ky)=LimsG(S) H(S)
500 Velocity eror
i) s0
Cs)s(s+10) (6+50) 500 s.20x5x1/12
R($) (s+10) (s+
50) Ky lim- s(l+s/60)
s-0
S

C6) 1008.33
500
Ky =8.33
R() +605+500 12
L -=0.12.
Comparing with6 CsKy 8.333
R(S)
s +2g0,s +0 Prob.13. A feed, back
system employing output rate
We have characteristics figure.
equation
damping is shown in
s+60s+500=0 of derivative feedback (k9= 0), determine
a) In the absence
From (1) and (2), we have 2 damping factor and natural frequency ofthe
system. What is
the
resulting from unit ramp input?
60 the steady state èrror
which
m derivative feedback constant ko,
b) Determine the
What is the
Ta =0.0166 increase the damping factor of the system to 0.6.
will the
input with this setting of
100Km-500 steady-state error to unit ramp
derivative feedback constant?
Tm system with
steady-state error ofthe
c)Illustrate how the
[Link].-ST reduced to same
ramp input can be
K 100
=3 derivative feedback to unit
damping factor is
maintained at
in part (a), while the
60
value as LW94,9,98, 041
Km=0.0833 0.6?
QC
1

Motor transfer function =- Km

m 0.0833 KA 10 Sts+2)
s1+Tms) s(1+0.0166ós)
i) Comparing (2) with standard Amplifier
characteristics
have equation, we
H SKO

=500
 178 VBIFONTROL SYSTEM/ CONTROOL STEM/CS-1 (ETICT) 179
O
D
n
Soln. a) In the absence of derivative feedbackie gain of the amplifier be increased from
Ko=0 Let the
s+2s+ 10=0
characteristic equation is
to
KA
KA = 10 characteristics equation is,
Comparing with s +2g o,s +0 = 0 we ha The
nave
KA
o=10 =V10 =3.162 rad/sec.
s(s+2) = 0
1+
2 2
=0.3162
n V10 1+-
Kos
1 s(s+2)
ess due toramp input is given by ess + KA = 0 ' KKa.
s (2+Ko)s= 2+Ko we want =0.6
Ky = lim s G(6) H(s) = s. 10 and 2 0 Ko .(1)
s (s+2) 2x0.6x VKA = 2+ KA
ess 0.2 lim s G(s) H(s)
==
s0 3
..(2)
also Ky= s0 ss+(2+K0
b) With derivative feedback the characteristic
10
equation, is
. Kv2+Ko we want ess 0.2 . ess =
Kv
=
1+G(s) Hs) 1+SS*2) ...(3)
1+
Kos 2+R0 = 0.2 2+ Ko = 0.2 KA

s(s+2) *K'A
s+ (2+ Ko)s + 10 =
0 From (1) and (3) we get,
1.2 KA = 0.2 KA
Comparing with standard
characteristic equation, 1.44K' = 0.04.K KA =36
2 n 2+Ko and o
=10
we have
also from (1) 2x0.6x V36 = 2+ Ko Ko 5.2
0 = v10 = 3.162 rad sec.
/ system has a dynamic
Prob.14. A simple closed loop
We want to be 0.6.
2x0.6 x V10'=2+Ko response defined by relation
= 1.7947
Ko doddo =
K,(0-0,)
Tm
also, Ky = Lim dt2 dt
50 S G(s) H(s) = 10 constant and Ky is the
velocity
where, Tm is the motor time
2 +(2+Ko)S constant. When this system is
subjected to a unit step input
Ky= 5-0
Lim 10
is given by
+(2+Ko) 01() = u(t), the response obtained
[sin(5.66t +0.927)
1.
10 e
Kv
Av 2+Ko
10
2.63
2+1.7947
0 () =1-1.25
Determine the values of
overshoot, (ii) Settling time,
ess due to ramp input is ess (i) Damping ratio, (ii) Peak
settling time,
(iv) No. of oscillations during EW/97 99]
Ky. 2.6352 0.3794
(v) Steady statetorque..
 CONTROL SYSTEMI
180 VBIFONTROL SYSTEMI 181
YBD
CS (ETIC following unity fecdback system
Soln. The given system is a second order system. It Prob.15. For the
ItsTespon
to unit step input is given by, 20
RIS cls
C)=1-
e
sin at+ tan-1 Vl-3
+55+
-3
domain specilications and the expression for
Comparing this with the given response Find the time
unitystep input is applied. ET-W.03,S.04]
C()=1-1.25 e:24 sin (5.66t +0.927)1 output, when a
[Link] quation of the systemis 1+G(s) H(s) =0
we have, 20 = 0

i)
1

1.25 1-E =0.64 24 5s +4

=
s+ 5s + 24 0 .(1)

E0.36 E=t0.6 Comparing with s*+ 280,s + o = 0,

we have

=0.6 (:* response is under-damped) o=24 .n4.8989 rad/sec.

.'. 0.51031
Damping ratió (5) =0.6
20n 5
= 4.8989 1-(0.51031)2
ii) oMp =100e-/y1-t2 o =Onl-5"
@a4.2129 rad/sec.
%Mp = 100e t 0.6/(0.8) 4 sec.
% Mp=9.47 % =1:6
2.5
ii) Settling time given by
96 Mp = 100 e
në//1-
4
( on =4.24) 100eT(0.510311-(0.510312
% Mp
4 0.943 sec. Mp = 15.50%
240943 %

C(s)
iv) Number of oscillation during
settling time is given by, in standard form can be written as,
R(s)
N21- N-21-(0.6)2 C)20 X
24

N 0.8488
Tt.(0.6) R(s) 24 2+ 5s+ 24
. C() is given by,
v) Steady state torque =
output which exists in the steady state
condition = ess = =0.1696.
Ct)=20 1 sinsin (ogt+0)
 182

C()

C(t)=20
is given by

e5t sin(gt
çONTROL

+0)
TEMI
CS(ETICN CONTRo
BD

0.51 =
-
sYSTEM/cS-I (ET/CT)

0.6=

- Tt
183

=5?
where, e= tan-I V-5 radians 02635(1-
0.02567
-1.1628e2.3tsin (4.2129 t + 1.03)
E = 0.1602
C()=
1= = 0.2, let = 2 and k = k2
k
Mp

02-/-
Prob.16. For the system : G(s) = For
with unity
s(1+ST)
feedback where k and T are constants. If the system overshoot
to be reduced from 0.6 to 0.2, by change in k only, show that:
is
- 1.6094= T
Tk-1=43
Tk2-1 2 0.4559
Also from
(2), we have
k and k2 corresponding k for 0.66 and 0.2 overshoot. [ET-S.04 1

Soln. The characteristic equation is given by,

I+G(6) H(s) = 0
E21Tk
1+ 1=
s(1+Ts)
0 0.1602 =
2/Tk
Tk==9.7412
8.7412 (3)
Comparing with s + 2o,s + » =0 (1)
Tk-1
Also 52
We have, K 2,Tk2
On
T
0.4559=-
2E0n 2 Tk2
Tk2 = 1.2028
1
2TK ..(2)
Tk2Tk2-1 =0.2038
From (3) and (4), we get
L4)

=
Let for Mp 0.6, = 51 and k=kj
TK-8.7412 = 43.3
Tk2-1. 0.2028
 184 VBTPONTROL SYSTEM

Prob.17. For a unity feedback control I

rol system,
CSA
cONTRO
ONTROL
SYSTEM /CS-I (ETICT
185

system has a forward

overshoot is 30% undamped natural frequency VBD
A unity feedback control
Calculate resonance magnitude, resonance frequencyis 6 ta Prob.I
cy. ction given by
function
Soln. Given: % Mp =30, @n =6 rad/sec. transfer
ath 10
G s(s+1)
To find M, and o
ratio and undamped natural
rš/yi-2 value of the damping
% Mp = 100 e Find
ind the
feedback is introduced so as to change
If tachometer
frequency. If,
erE//1-g2 transfer function from unity to (1+K,s).
30 100 feedback path
damping ratio of 0.5.
the value of Kn to obtain
0.3=e//1-g3 should be the
at percentagepeakovershoot in each [Link]-W/o3,E-W,99]
n (0.3) =- Tt Find the characteristic equation
Soln. The
1+G(s) H(s) =0
-

.
1.20397= Tt
1-E2 .1=0
1+ s(s+1)

0.38323 =
s +s+10=0

:0.14686 -2)= E2 210=0.158 = 3.162 radians/s.

0.12806
0.3578
The resonance magnitude (M,) is given
and n=V10 radians/s
The closed loop system
transter function =
G
, hence tne

by, system is
characteristic equation for closed loop
M, =- 1+G(s) H(s)=0
. 21- 2x0.35781 (0.3578)2
10(1+ K1$)=0
M, = 1.4964 1+
s(s+1)
The resonance frequency is given
by, =
s+5+10+10 K,s 0
o On -
22
s +(1+10 K,)s+10 0
=

= 61-20.3578)2 (given)
0.5
= 5.175 rad/sec.
1+10 Kn
210
 186 WAFONTROL SYSTEM/cS-I CONTROL,SYSTEM cS-1 (ET/CT)
(ETICTn 187
Hence 3.162 Kn D Figure ws the block diagram of the system.
1+ 10
Soln. a) Reference
vottage ge
K, = 0.2162 ALead
% Peak overshoot is given by.

=100 enE/y1-3 8M
%Mp Servomotor
Peak overshoot in first case
SYNCHROos
=0.158)=63.76 %

Peak overshoot when, =0.5 is 24%. Amplifier OR

Prob.19. In the position control system shown in figure
the A C.
sensitivity of the synchro error detector is 1 volt/deg.
The
transfer function of the motor is found to be
M) Km
veS Km
Vc) s(ST m +1)
st1 TmS
where Km =15 rad/sec/volt, Tm =0.15 sec.
The gear ratios are given as &c/0L
=1,0L/0M =1/50.
a) If the input shaft is driven at rad
a constant speed of n
rad/sec, determine the value of the amplifier gain,
es5° 180
such that the sR(s)
steady state deviation between input and output esslim-
positions is less s-01+G(s) H(s)
than 5 deg. For this value of amplifier
gain, determine the R(6)=0R ()
darping ratio and settling time of the system.
= 7t
b) To improve the system dynamics, R
the amplifier is
modified by introducing an additional derivative OR (s) =T/s
term, such that
its output is given by vc()=KA e(t) + Kp de(t)
.R=
dt
@R
s0R$) = @R (s)

dt (S)_
Determine the value of Kp, such that the damping OR(s)=R
ratio is S 2
improved to 0.5. Does this modification affect the steady-state =skAKM_
G(s) H(s)
error as in part (a)? Also calculate the new settling time and 50 s(l+TmS)
compare it with that of párt (a). sI V/deg = 180/T V/rad, Km =15 rad/ sec/ volt
m
0.15 sec
 189
188 VBIFONTROL SYSTEMIcSA sYSTEM/ CS-1 (ET/CT
cONTRO
ETIC
180/n.KA15 KmKs . = 0
G() H6)50s(1+0.15s) (KA +sKp 50s(1+ TmS)
1+
KAKmKs =0
51 [Link]/s4
2+ (50 + KpKmKs)s +
ss 180 Km K_
s0 1+ 180/[Link] .15 .(10 KpKmsss+A
50

50 s(1+0.15s) 50Tm 50Tm

Tm
= 2.094 KD X15X57.295 2.094 x15x57.295
KA 1
Characteristic equation is 1+G()
180/Tx2.094X150
H(s) =0 015 50x0.15
=
+114.59 KD)+240.639 0
50x0.15

1+ s(1+0.15s). 2+(6.66
50 Comparing it with s
+250,s+02=
s +6.66s+ 240.6=0
Comparing with s +2g0,s+ @ o = 240.639
=0, we have
O =240.639 =15.5 rad/sec.
o 240.6
2E@ =6.66+114.59 Kp
o=v240.6=15.5 we want =0.5
20 =6.6. 2x0.5x15.5 = 6.66 +114.59 Kp
6.66 6.66 15.5-6.66=114.59 Kp
=0.214
20 2x15.5
Kp
8.840.077
4
Kp114.59
4
sec.
En 0.214x15.5=1.2 4 4 = 0.516 sec.
E E
0.5x15.5
b) Here, we have

Vct)=KA e(t) + K, eO ess sR (s)

1+G(s) H(S)
dt
Vc(s)=K E($) + sKa E(s) lim
[Link]/s4
Vc6)-KA + sKp
+skp) KmKg.l
-014A50s(1+TmS)
E(s)
.. The block diagram is 50T(1+Tm)
modified as shown in figure Css lim =
New characteristic equation is + KpKmKs)s +KKmKs
0. [Link]+(50
Ks EKASKDeSKm mS1 0(S6cS
S(1+TmS)
ss 50T
2.094x15x57.295
es180
Lhus, we see that ess remains unaffected.
 SYSTEM/ C
STEM/CS-H (ET/CT)
SYST 191
NTROL SYSTEMI cONTROL
cONTROL
cSA
190

Prob.20. Refer the figure(a).

ranstere
Obtain the transfer E
C
function " D the
the
valu of Eg(6) trom (vi)
value
in (v)
Put
(6)
E, La)-1(6)+2)=-E,
SC
sC2
overa transfer function E,) Es) given by
Hence prove that the circuit acts as qP
Proportiong 1s
Thus, the Ej(S)
Derivative-Integral" controller. ET-S

wwwTT 2)-I1()]-12s)SC
sC2
C1
)
EE() (6)]+RI1(s)
C2 R22
eo
-[)-12
sC2
ei
1,6)+ sC2
)-1,()
sC2

Soln. Given: circuit is

Fig.(a)
-2+RI (6)+RI ()
SC2
R1 C1
response of PID
Comparing the transter function with the
acts as PID controller.
cantroller. It is seen that circuit

22i
on servomechanism show
Prob.21. Measurement conducted
the system response
to be
c(t)=1+0.2 e001.2e-10t
The describing equations for this system are to unit step input.
when subjected
closed-loop transfer function.
G-i2) dt+Rij =€ ..1) ) Obtain the expression for
frequency and damping
(i) Determine undamped natural
ET-W.00,03,CT-W.02,03]
atioof the system.
G-i)d i1 +Ria =0 Soln. We have,
c(t)=1+0.2e-o0t-1.2e-10t
R212 eo ii)
Taking Laplace transforms Taking inverse Laplace transform
of equations (i), (ii) and' (in), |
assuming zero initial conditions, we
obtain
Co)+ 0.2 1.2
Le= S+a
6-l2
sC2 ()]+RI,(s) E;() =
.(iv)
s s+60 s+10
(s+10) +0.2s(s+10)-1.2s(s +60)
S+60)
1)-h())+26)+R2
C SC
+R2 l2(6)=0 .(v)
s(s+60)(s+10)
s+70s+ 600+0.2s2 +2s-1.2s-72s
R2l2 ()=E, (s)
..(vi) s(s +60) (s+10)
 193
192 VBIFONTROL SYSTEM/
ICSA(ETiR YSTEM/CS-1 (ET/CT)
SYSTEM/
coNTROL

600
s(s +60) (s+10)
DG6)s(0.5s 1
+1) (0.2s +1)
step input:
R(s)= ess tor
i) sR($)
C(s) 600 600 = lim 1+G(s)H(6)
R(s) s(s+60) (s+10) (s+60) (s +10) S-0
r(0)=u(t) R(s)

C(s) 600 s. lim

S
R(s) s2+70s +600 CssS0 1+G($)H(s) sss0 1+G(s) H(S)

Comparing with
Comparing
witR(S)
C) (H(s) = 1)
s2 +2E0s+@n lim
essS0 1+
We have characteristics equation s(0.5s+1) (0.2s + 1)
s+70s +600 =0 s(0.5s+1) (0.2s+1)
Comparing (i) with standard characteristic equation, we have
esslim
Css
0 s(0.5s+1) (0.2s +1)+1

600 ess=0
1
24.49 rad/sec. input (Here r(t) = t, R(s) ==4
i) ess for unit ramp
2g0 =70 = 70 Css limn
s-0 sG(s) H(s)
70 =1.42
2x24.49 1
Prob.22. A unity feedback system is characterised by the
sslim
S-0 1

open loop transfer function s(0.5s+1)(0.2s +1))

G(s)= ess lim
s(0.5s+1) (0.2s+1) S0 1

i) Determine the steady-state errors to unit step, unit ramp (0.5s+1) (0.2s +1)
and unit parabolic inputs = lim(0.5s+1) (0.2s +1)
s0
i) Determine rise time, peak time, peak overshoot and
settling time of the unit step response of the system. IE-W.00 'ess1
Soln. Given: m) ess for parabolic input, here r(t)=
 (ET/CT) 195
SYSTEM/cs-1
SYSTE
cONTROL
L
194 VBDçONTROL SYSTEM lcs ypD
Specilications:

R) 1+0.15 = 0.5285 sec

Ta
n
sslim-
1 1-50.7853
T -B
=
s-0 s G(s) H(s) P B tan
Dd
= lim-
m-0.7855 - 1.178 sec.
@d
s(0.5s+1)(0.2s +1)

= lim-
S
T 1.5707 sec.
s-0 (0.5s+1) (0.2s +1)
ess =0
Prob.23. The system equation is el v1-2 4.321%
% Mp = 100.x
+4+8y=8x. = 2 sec.
dt dt
TsE

-
Find the time domain specifications for unit step input.
[CTS.03
(ogt +B)
Soln. Given :+4+8y=8x C(t)= 1- sin
dt dt
Taking Laplace for zero initial conditions
C0=-1.4le sin(2t+0.7853°)
sY(6)+4s Y(s)+8 Y(s) =8X()
(s+4s+8)Y(6)=8X(6) Prob.24. G(s) =-s(s+4) and H(s) =1

Y) parameters for the given

X(s)
8 Calculate the transient response
[CT-S.03]
s2+4s+8 system with input r() = 2a(1).
Comparing with standard form, we get 6
Soln. Given G(s) = - and H(s)=1|
On2 s(s+4)
R+E0,s +0 C() G(), 6

8 =v8 =2.828 rad/s. R(s) 1+G($)H(s) .s +4s+6

unit step
The transient response parameters are defined for
= 0.707rad/s.
204 28
imput.

Comparing with standard form, we get

=0n 1-E =2.828 V1-(0.707)2 =2 rad/sec.
=6
 SYSTEM
STEM/CS-1 (ETICT)
196 FONTROL SYSTEM,ICS(ETICTn cONTROL 197

2.449 rad/sec. BD above block diagram as follows:

@n Reducethe
= 0.816 23
20 = 4
.1+0-26S CIE

-5° = 1416 rad/sec. 23 kS 30S

O 0 1+
1+0-26S
i) Tpeak 2.218 sec = Peak time
d

(i) % Mpeak ey-)x 100 = 1.185% =peak overshoot

129-72 S clt)
1+0.75 =0.64 sec
(ii)Ta= 30S+7-8+690ks2
@n

4
(iv) Ts = settling time = 2.002 sec.

(v) = 1416 rad/s and o,

2.449 rad/s. =

Prob.25. Refer the block diagram as shown in figure

(i) Find the natural frequency of the system. 129 72S
(üi) Find the value of "K' so that the damping is critical. 30S+7-8s+690ks2 Cit)
(iii) Obtain the expression for e(t), assuming r(t) as a unit RIt

step function. 129-725

elt)
CIty 30 30 S+7-8S+690ks2

rt 23S231+0265
S
55 T305T C(s) 129.72s
R(s) 159.72s+7.8s +690 Ks
C(s) 129.72s
R(s) s(159.72+7.8s +690 Ks)
129.72
[ET-S.977
Soln. Given:block diagram is as follows: 7.8s+690 Ks+159.72
rlt) Comparing with the standard equation
23S Clt
R0265
T0s i.e.
We get,
s+20,s + @n
o=129.72
=11.38 rad/sec.
 198 VBFONTROL SYSTEM/ 199
ySTEM/CS-1 (ETICT)
CONTROL S
Prob.26. For a unity feedback system IBD
36
G) = 100x el v-*) 52 Ao a
s(s+0.72) Peak overshoot, % Mp
Determine the characteristic equation that,
of the 1
[Link] We know
calculate the damping ratio, peak time, =
settling time T,
overshoot and number of cycle completed peak Rise time =
before outnt
tput
settled, when unit step is applied to the system.
[CT-S.03
in radians
Soln. Given: G(s) =- 36 NowB=tan
and H(s)=1
s(s+0.72)
1.229
Characteristic equation is given as
= 3.14-1.2 - = 0.32 sec.
1+G(s) H(s) = 0 T, 5.9
system having a forward
1+
36
=0 Prob.27. For a feedback control
s(s+0.72) function
path transfer
s(s+0.72)+36 0 G(s)=K/ls(s +0.15)] and H(s)=0.1
s+0.725+36 =0 Determine the value of gain K for the system to have a
G)

Comparing with standard equation damping ratio of 0.5.

of the form, we get the complete response for
s+2E0,s+@ (i) For this value ofK, determine
= s +0.725+36 [ET-S.99
a unit step input..
=36 Soln. Given: G(s)
=-
K
and H(s)=0.1
s(s+0.15)
n = 6 rad/sec.
Characteristic equation is
2E0 =0.72
1+G(s) Hs) =0
=0.0612
1+- K -(0.1) =0
+0.15
We know that, s(s +0.15)
s(s +0.15) +0.1 K=0
Peaktime = Tp =
s+0.15s+0.1K =0
characteristic cquation, we get
Here, o=@, V1-E Comparing with standard
= 6y1-(0.06) = 5.9rad/sec.

= s+2E0,s+@ 0
T =
W
"
5.9
= 52.45 %
We have, aw =0.1 K
 VBDONTROL SYSTEM/I
SYS
SAETIE CONTROL STEM/CS1(ET/CT) 205
ROL
204
= 16.8 a D ess for Ramp input
2(0.5) 4
a =0.23 T-B
=
time, T, ess Ky
Rise
=Lims.G(s) H(s)
where, Ky
p=tan
-=60 S-0
s10 10
= = 10
Lim-s(0.5s+1)(0.1s+1) (1) (1)
=3.464 y S0
1-E 4l-0.25
0.1
-60 16.41 sec. ess
T3.464 ess for
parabolic input
= 0.90 sec. Lims*G(s).H(S)
where Ka =
essKa S-0
10 =0
=Lims2
=100 x el v =8.08 . KaLiSs(0.5s+1)
Ka (0.1s+1)
Mp
4 4 L=2 seC. Ess conducted on a
servomechanism
T 0.5(4) 0.5 Prob.33. Measurements
be
Prob.32. A unity feedback system
is characterized1 ythe show the
error response to
function e(t)=1.66 e
sin (6t +37°)
Determine
open loop transfer sudden unit displacement.
10 is given a
where the input and damped natural
G(S)(0.5s +1)(0.1s +1) damping ratio
natural frequency,
Determine the steady-state errors to unit step mthe input, [ET-W.02,04]
inputs. IET-S.02,W.03)frequency.
ramp input and unit parabolic e sin (6t +37°)
10
and H(s) =1 Soln. Given: e(t) = 1.66 system given by
Soln. Given: G(s)= s(0.5s+1)(0.1s+1)
that, the response to a second order
We know
1 system, input is as
followed.
It is a type step
ess for step input is given by, (wdt +0)
A
et) = 1-
1- e sin
VI-E2
ess1+Kp where Kp = LimG(s) H($) response
S0 Comparing this with the given
10
e(t) = 1.66e sin (6t+37°)
KLim
S0 S(0.5s +1)([Link] +1) We have
ess0
 SYSTE 1/CS-I (ETICT)
206 CONTRO
ROL
aa 1/T1/t K
or
wBFONTROL STEMICS
D
2n 2
(ETICT

i 1-E2
1.66 1-=0.36 250 2
0.25
=0.64 0.8 M,
Mp
25% or
Damping ratio = 0.8
-Ew = v-g
0.8 =
-8
Mp
100xel
8
S1
n = 10 rad/sec. Let =
og On = 10/1-(0.8)2
el V
25=100x
= 10/1-0.64 = 6 rad / sec.
Prob.34. The open-loop transfer function
of a unity
feedback system is given by
0.25 =el

- -
K both sides,
G) Taking log on
s(TS+1) -51T 0.071 =F-
(0.25)=-
() By what factor should be amplifier gain K° be
so that the damping ratio is increased from 0.25 to
multipied, In
0.75? we get
(ii) By what factor should K be multiplied, so Squaring both sides,
that the
minimum overshoot of step response is reduced from 80% to x 1-5f)=3}
8.385 10
20%? IET-W.02,04
8.385 x 10 = 1.00838 f
Soln. Given: G(s) = K
s(TS+1) andH(s) = 1
51=0.321
K Solving for Mp =75°
C). G() s(TS+1)L= K K/t K=0.0431
R(6) 1+G(6) H(s) K_
14
s(Ts+1)
sts+K2 T T
Gain must be increased by K

Wn i) For M,=0.8 =51

Comparing
wIL24+2E0n , we get
S+on 2

or
n 0.8= el -?
Taking log on both sides,
 U8
A
TROL SYSTEM
CONTROL SYS
SYSTEM/ CS-I (ET/CT

cSAETICT D K
Or. In (0.8) = . =T G(S)HS) s(s+1)
: finite error for a ranp input.
system, it will ihave a
type 1
As a =LO.1 t =
0.183 R(s)=Lr()
v1-2
s.R(s) Ii0.1/sxs_0.1
Squaring and solving for
1 esss01+ G(s) H(s) K +1)
s01+s K
S1 =0.341
Similarly for Mp = 0.2 for
2 SO.005 i.e. s 0.005
ess
Solving similarly
2 =0.398 0.005
0.1K
20.
But.
12KT K2
Deah.36. In the position control
system shown, the
P error detector is 1 Volt/deg. The
acifivity of the synchro
1
sensi
function of the
motor is
0.341= transfer
2 KT M (6)
eM Km
. KT =8.349 and for 2
Vc s)
where
S.m+1)
s(s 2m +1)
Kn = 15rad/sec/volt, 2m
0.15 sec.

0.398 K,T 2.189

2 KT The gear ratiosare C=1
Prob.35. For r(t) = 0.1 t; it is desired that ess S0.005 find
K for the following system:
and
GM 50
C(S
K a constant speed of
() If the input shaft is driven at
sI S+1)
1= rad/sec, determine the value of the amplifier gain such that

ICT-S.031 the steady state error is less than Find this value of
5.
Soln. We know that amplifier gain determine the damping ràtio and settling time of
K the system.
Gs)= and H(s) = 1

s(s+1) i) If the amplifier is modified by introducing an additional

derivative term such that its output is given by
 (ETICT) 211
SYSTEM/ CS-I
VBIFONTROLS
SYSTEM NTROL
Vc()=K Ae(t)+ ICS-(ETICT
180xkAx15x0.02
find the Kp G$) xs(1+0.15s)
G(s)=
valueof
0.5. Kp such that tthedt
damping ratio will 51 0.08726 radian
Reterencce improve
i 3° =
ess()=
to 180
Voltage
0.0872= R
But Ky

Tt
rad/sec.
where R
180xkA x15x0.02
lim sG(s) =.
and ky=lim; s0
Tt(1+0.15s)
BM
Gears
Servomotor
=A54
0.08726 5= 54
kA TT
synchros

'KA 0.08726 x54

=2.094
kA
AC Supply 180x2.094x15x0.02
G(s) Tts(1+0.15s)

36 36/0.15 240
ICT-S.04] =
Soln. The block diagram of the schematic diagram +s s+6.66s
figure.
is shown in (s+0.15s)6.66s
Transfer function with unity feedbacks
Km
G(s)H(S)= 240x1
ec sl1+SZm 1+G(s)H(s) 240
s+6.66s
L 240/s+6.66s
s2 +6.66s +240/($ +6.66s)
Gs)=pKA km X0.02
ns(1+s2m) 240
_180
= s+6.66s+240
Kp =l volt degree volt/radian
T
:

Comparing with standard second order feedback

 212
SYSTEM CS-1 (ETICT) 213
VBIFONTROL SYSTEMICS-A ONTROL
2E0, = 6.66 csETICT
(ETICT +114kp
6.66
& 240o 2E0 =
6.66
2x15.49 =0.5
= 0.2148 =15.4919
n=240 2(0.5) x15.45)
- 6.66
kp
= 114
15.50
4
4 kD 0.077 sec.
g0 sec.
0.2149x15.49.2 feedback system has
Prob.37. A unity
V(t)= ke(t) +kn e0 K(Ts+1)
dt GSs(T25 +1) (T3s+1)
Taking Laplace transform,
we get, for a unit step input, steady-state error is
Ves)=kA E(s) + kpsE(s) hProve that
= E(s)[kA +skpl zero. ra
a unit ramp input,
find the value of "K' to be set so
ForFor a
(ii) [W.97]
EE(s) = (kA +skp) steady-state error (ess) doesn't exceed 0.25.
that the
=. K(Tis +1)
s(T25+1)(T3s+ 1) and H(s)
= 1
Soln. Given: G(s)
G(s)= KA +skp)x180x 15x 0.02
TXs(1+0.15s) type 1 system
Since it is a
(2.094+skp)x54 =Lim G(s) H(s)
TTXs1+0.15s) K
17.18(2.094+ skp)/0.15
Lim
K(Tis+l) . es 1+Kp
s(1+0.15s)/0.15 0 (T2s +1) (T35 +1)
114(2.094 + skD) Hence a type-l system tracts
a unit step input without any
+s
6.66s error.
s ady-state
G(s) H(s)_114(2.094+skp)/6.66s+s Prob.38. For the following unity feedback system, find the
1+G(s)Hs) + timedomain specifications and the expression for output, whenna
11414(2.094 skp)
unit step input is applied.
6.66s +s2
114(2.094+skp)
20 CCS)
s+6.66s +114(2.094 +skp) RS)
114(2.094+ skp) +5s4
s+6.66s+114skp +238.716
=238.716 =15.45 IET-S.00]
 214 (ET/CT) 215
cONTROL
SYSTEM / CS.H
SYST
-ONTROL
TROL SYSTEM/
tan- 1-5|
Soln. Given that: CSA(ETICT y8D
c(t)=1-e at sin
-2.t+
G(s)2 20
5s+4 -E2
H(s) =1 values
substituting the
The closed loop T.F. will 2.5t
be sin [4.202t+59.25]
T.F s) G() 20
20
c(9c(t)=0.859
Control System has
R(s) 1+G(s) H(s) Prob.39. A
s+5s+ 4+ 20 s+5s+24
The characteristic equation is =
1+G(s) H(s) =0
2
GS)(4s+1)
-s+5s+24=0 system time consta is required
to be reduced to 1 sec.
For 2n order system, the standard characteristic (1) The
equationis can be achieved using proper feedback, without
lustrate how it IET-W.01]
qs)=s+20,s+@0 . 9crificing the system gain.
Comparing equation (1) and (2) 2/4 0.5
2 +1
=24; o=24= 4.89 rad/sec Soln. Gs4s s+1/4 S+0.25

5 R(s) Cs)
2n =5;
24.89=0.5112
Calculating the values of time-domain specification

Tt-tan
- ..
K= 0.5 and a=the' response is,
0.25
Rise timne 3 =0.501 sec For unit-step input,
n1-2 (t)=Ke-(k+ o)t'and Time constant (1)= 1
K+a

Peak time 0.747 sec and T 1.33 sec.

= c(t)=0.5e 0.75
n 1-2
Now desired time-constant; Ta =1 sec.
Peak-overshoot :Mp =e =0.1543 =15.43% This has to be achieved without sacrificing the gain
"K'. 'a'
V1-4 ie. location of the pole should be changed. Let the new
location is or'.
4
Setting time 1.601 sec a'=0.5
=
TaK4
TaK+o 1=+o
The output expression of 2 order system when subjected to
G(s)=- 0.5
unit step input is given as s+0.5
 characteristic equation for a certain etCT)
Prob.40. The eedback
CONTROL SYSTEM/ CS-I (ET/CT)
given by 0.1s* +S+ 10 = 0 aD 217
control systemis K
state error ot the system when
Obtain the steady subjected Soln. G(s))=- H(s) = 1; K=8
s(s+6)
=2+2t. ET-W.01
to an input r()
or s+10s + 100 The closed loop transfer function is
Soln. 0.1s +S+ 10=0 0 C(s) G(s)
100
1+210s-=0 or 1+G ()H (s) =0 R(s) 1+ G($) H(s)

100 100 K
Gs)HG)2+10s) s(S+10) s (s +6) K
K
1+ -x1 s+6s+K
r()=2+2() s (s+6)

R(- 2,2s+1) For K=8

S
C() 8
SR(s) R(s)
Steadystate eror, ess
s lim
1+G(s) H(s) s+6s+8
Comparing with standard second order system-transfer
sx2(s+1)
function
im
s0 100
1+
s(s+10) s2+2eo,s+0
2 s+1) o8 On 2.828
lim- 2(s+1) (s+10) s
sim s(s+10) +100 S 0 s (s+10) +100 2on =6; = 6 =1.060
2x2.828
s(s+10)
ess =0.
Since l system is over-damped.
C(s) 8
Prob41. The unity feedback system has a forward path
transfer function given by R($) (s+2)(s+4)
=
For r () = 2 (t) R (s) 2/s
Gs)K
s(s+6) C(s) 8
Find the time response of the system when subjected to R(s) (s+2) (s+4)
step of 2 units for K = 8. Sketch this output for 2 seconds. H0 8 16
much time it will take approximately to C(s)-
reach the steady state (s+2) (s +4) s(s+2) (s+4)
[ET-W.O
Expanding by partial fraction
218 SYSTEM/CS-1(ETICT)
CONTROL 219
UeTFONTROL SYSTEM/CS-I VBD
(ET/Cn below shows mechanical
Prob.42. Figure vibrating system.
C(s) D force is appleid to the system the mass oscillates
(s+2) (s+4) of
When8.9 Figure. Determine M, fand K.
in i
shown ET-W.01]
16 16
A=S0S s(s+2) (s+ 4) 2x4
gs
as x(t)in
meter
16 0029m
B=S-2 (s +2)-
s(s+2) (s+4)
001

16 16
-2(-2+4) -4
16 2
D 4 (s+4) 16
s(s+2) (s+4)-4(-4+ 2)
sec
=0.0029 m for an output displacement
Soln. From Figure; Mp
D--2 C)=2- (s+2) s
4 2
(s+4) 0.01 m. On
percentage basis it will be 29%
of
0.29= etE/y1-?
Taking inverse Laplace transform

C(t)=2-4 e2 +we4t 1.2378=ng

C(2)= 2-4H0.018 +2H3.3SH 104 -2
C2)= 1.92 =0.366
Also from the same figure; t, = Peak time ==2 sec
@ 1.060x2.828 n 1-2
ts =1.33 sec. n =1.687 rad/sec
andard 2d order characteristic equation is;
q(s)= s +20,s+ o =0

q(s)= s+1.235 s+2.846=0

19
For the mechanical vibration system shown in figurei) the T.F.
_C(t S
1
XS).=-
Fs) ms+fs+K
1-33 sec
q(s)= ms + fs +K=0
Equating the co-efficient; K =2.846, f= 1.235 and m=1.
 SYSTEM/.CS-I (ET/CT
VIFONTROL SYSTEM/CS-I CONTROL 221
220
(T TICT
qBD
Prob.43. Consider a unity feed back control PEATEDLY ASKED UNIVERSITY OUESTIONS
system whose
open loop transfer function is are the advantages and disadvantages of static error
0.4s+1 Q1. W
what
GS): [ET-W.00,02,CT-W.02]
constant?
s(s+0.6)
Obtain the response to a unit step input. What is the rise
102,P-138)a short note on Response of higher order system.
me 2. Write
for this system? What is the maximum overshoot? [ET-S.02
[ET-S.02] [ET-W.98
Soln. q(s)=l +G(s).H(s) = 40.4s+1 Q3,
P-1421
-
=0 for a first order unity feedback system, the
s (s+0.6) Q.3. Show that
response can be improved to any desired level by proper
q(s) = s+s+1=0 Equating with s +2Eo,s +0 =0
transient
choice of
forward path gain. [ET-S.98
on =1 and 250, =l : j=0.5
Q4, P-1441
The response is given by, o4. What is the effect of on response and root location of
ICT-S.03)
second order system?
C()=1_est sin 1-E+ tan-I l- 1Q3, P-1477
-3 o.5. Derive the expression
for the output of a second order
underdamped system to a unit step unit. [ET-W.97,01]
C()=1-1.15e" usin (0.866t+ n/3]
(0.6,P-148
specifications and their
Mp 16.36
ey1-E2
% Maximum overshoot Q.6. Give the different time response
formulae. [ET-S.99, 02,W.99]
Tt-6 = 2.43 sec. Q.7, P-1501
on VI-E2 Q.7. Derive the expression for rise time for second order
underdamped unity feedback control system. IET-S.97,98]
108, P-151
Q.8. Explain how the derivative control and integral control are
used to improve the performance of the system. [ET-S.98]
Q.12, P-156]
Q.9. Compare derivative control with integral control.
ICT-S.04]
IQ.13, P-158]
Q.10. Write short note on PID controllers. [ET-W.97]
Q.14, P-158
 222 cONTROLsYSTEM/
cs-I (ET/CT
BIFONTROL SYSTEMI 223
Q.11. What is effect of adding a zero to a CSI (ETICT) input with this setting of
system error
or to unit the derivative
transient response? IET-W.00,CT-W.02,03,S.04j constant?
stale
ecidback
llustrate how
hoW the steady-state error of the
1Q.15, P-159]
system with
Prob.1. The open loop transter function
of a unity c)ve feedback to unit ramp input can be reduced to same
feedback derivative value
10
system is given by G) = 10
s(0.1s+1) Find the static error part(a),
hile the damping factor is maintained at 0.62
while
[ET-W.98, 04]
efficients (i.e. K,,Ky and Ka). Obtain the
co- s P-1771
steady state error oftha Prob.13,
AA simple closed loop system has a dynamic response
system when subjecte to an input. r{t)=a, +ajt b.6.
+aat2 relation
definedby
ICT-W.03,S.04] d00dd0. = K, (8-00)
[Prob.1, P-161]
Prob.2. G(s) =
10 (s+1) Tm2 dt

s (s+2)(s+10)
Find for unity feedback
where, Im
t
the motor time constant and K, is the velocity
is the
G) Type of system, (i) Error coefficients, constant. When this
system is subjected toa unit step input 01() =
(ii) Steadystate responseobtabtained is given by
error for i(t) = 1+4t + t/2. (ET-S.03,CT-S.04 u,the e 4.24t sin (5.66t +0.927) 1.
[Prob.3, P-163]. 0 ()= 1 - 1.25
Prob.3. For a feed back control system having forward Determine the values of
path Damping ratio, ii) Peak overshoot, (iii) Settling time,
G(s)
and H(s) = 0.1.. Given k= 100 iv) No. of oscillations
during settling time
d+0.1s) torque.
(v) Steady state ET-W.99
i) Determine the steady state error, if the input is Prob.14, P-179]
r () = 1+2t +3t2. [ET-S.98] Prob.7. For the following unity feedback system
IProb.4, P-164] Find the time domain specifications and the expression for
Prob.4. The response of unity feedback system is given byoutput, when a unity step input is applied. ET-W.03,S.04]
Prob.15, P-181]
C() = 1-e" sin (4t + 0.5). The time constant of the closed loop
k
system (a) 2, (b) -1/2, (c) 4, (d) none of [Link]. [ET:S.98 Prob.8. For the system: G(s) = with unity feedback
s(1+ST)
Prob.8, P-170]
to be reduced
Prob.5. A feed back system employing output rate damping'is wherekand.T' are constants. If the system overshoot is
shown in figure.
from 0.6 to 0.2, by change in
k only, show that:
a) In the absence of derivative feedback (ko = 0), determine Tk 43
the damping factor and natural frequency of the system. What is the Tk2-1
steady state error resulting from unit ramp input? and k2 corresponding k for 0.6 and 0.2 overshoot. ET-S.041
b) Determine the derivative feedback constarnt ko. which
will Prob.16, P-182]
increase the damping factor of the system to 0.6. What is the steady Prob.9. Refer the figure(a). Obtain the transfer function
 (ETICT)
SYSTEM/ CS-I 225
224 TROL
CONTA
VBTFONTROL SYSTEM/CS-1(T Referthe block diagram as shown in figure Q.3(b).
E, ()
c D 14.
Find the
natural frequency of the system.
value of 'K' so that the damping is critical.
E; (s) Findthe expression for e(t), assuming
Hence prove that the circuit acts as "Proportional Derivativa (ii) Fnin
[Link] r(t) as a unit step
Integral" controller.
ve-
[ET-S.97 i) [ET-S-971
function. P-1961
[Prob.20, P-190]
Prob.10. Measurement conducted on servomechanism show
b25
Prob.25,
Prob.15. or a unity feedback system
the system response to be
36
c(t)=1+0.2 e-o1.2e-l0t G(S)s(s+0.72)
when subjected to unit step input. characteristic equation of the system. Hence
Determit the
i) Obtain the expression for closed-loop transfer function. damping ratio, peak time, settling time, peak overshoot
ii) Determine undamped natural frequency and damping ratio calculate the completed before output is settled, when unit
number Of cycle
ar of
of the system. [ET-W.00,03,CT-W.02,03 andnumber
system. ICT-S-03]
Prob.21, P-191] applied to the
dep is P-1981
Prob.11. A unity feedback system is characterised by the open (Prob.26,
loop transfer function Prob.16. For a feedbacK control system having a forward path

G()- transfer
function
s(0.5s+1) (0.2s+1) H(s) = 0.1
G(s)= K/[s(s +0.15)] and
i) Determine the steady-state errors to unit step, unit ramp a
and
unit parabolic inputs Determine the value of gain K for the system to have
ii) Determine rise time, peak time, peak overshoot and settling damping ratio of 0.5.
time of the unit step response of the system. IE-W.0] For this value of K, determine the complete response for a
)
[Prob.22, P-192] ET-S-99]
unit step input.
Prob.12. The system equation is
[Prob.27, P-199]
dy+4d+8y =8x. Prob.17. A unity feedback control system has
dt2 dt
Find the time domain specifications for unit step input. 25
Gs)(s+ 6)
CTS.031
[Prob.23, P-194] Obtain the expression for dynamic error using generalised error
Prob.13. G(s)=- 6 series. Assumie unit step input. IET-W-97
and H(s) =1
s(s+4) IProb.28, P-200
Calculate the transient response parameters for the given
Prob.18. The output of a certain system, when subjected to a
system with input r(t) =2a(t). [CT-S.03] step of 3
units is given below:-
[Prob.24, P-195]
 SYSTEM
SYSTEM ICS-I (ETICT) 227
CONTROL
L
226 vBDProb.23, The open-loop ansfer function of a unity feedback
cSi(ETIC
VBD cONTROL SYSTEM/CS- (ETICTn
given by K
6(s+1) systemIs
C($)2 G(s)
(2 +7s +10 s(TS+1)
Find the transfer function of the system, order and type ofth should be amplifier gain "K be multipied, so
.hat factor
what
system. ET-S-0 By is increased from 0.25 to 0.75?
g ratio is
damping
[Prob.29, P-202] the d
sotthe
what factor should K be multiplied, so that the
Prob.19. A unity feedback system is characterized by open By response is reduced from 80% to 20%?
shoot of step
overshoot
loop transfer function inimum
minin ET-W-02,04]
1
P-2061
G6s(0.5s +1)(0.2s+1) Prob.34, find K
= 0.1 t, it is desired that ess 0.005
Prob.24 For r(t)
Determine the steady-state errors for unit step and unit ram system: ICT-S-031
folloWing
input. for the P-2081
Also determine the damping ratio and natural frequency of
Prob.35,
system shown, the sensitivity
TET-W-02 Prob.25. In the position control
dominant roots. is Volt/deg. The transfer function of
1
synchro error detector
IProb.30, P-2021
f the
motor is
motoris
Prob.20. For the system shown above, find the value of 'a" he
the
such that the damping ratio is 0.5. Determine the rise time, peak OMS) K
time, maximum overshoot and settling time for the subjected unit
step input. [CT-W-021
Vc(s) s(s +1) m
rad/sec/volt, 2m = 0.15 sec.
Prob.31, P-203 where Km =15
Prob.21. A unity feedback system is characterized by the open
loop transfer function
The gear ratios are =1 and LOM 50
10 OL
G(s)=
s(0.5s+1)([Link] +1) at a constant speed of n=
) If the input shaft is driven
Determine the steady-state errors to unit
step input, unit ramp rad/sec, determine the value of the amplifier gain such that the steady
input and unit parabolic inputs. JET-S-02,W-j3
[ET-S-02, W-03]|
IProb.32, P-2041 state error is less than
5 Find this value of amplifier gain
Prob.22. Measurements condcted on a servomechanism show determine the damping ratio and-settling time of the systm.
the error response to be (i) If the amplifier is modified by introducing an additional
derivative term such that its output,is given by
1.66
e(t)= e sin(6t +37°)
where the input is given a sudden unit displacement. Determine the
-K +Kn e dt
natural frequency, damping ratio and damped natural frequency. the' damping ratio will improve to
find the value of Kp such that
[ET-W-02,04/ 05 .sit ICT-S-041
[Prob.33, P-2051 Prob.36, P-209
 228
BD CONTROL SYSTEMICS[E .SYSTEM/CS-I (ETICT)
229
cONTROL
TICn
o
Prob.26. A unity feedback system has below shows mechanical vibrating system
Prob.31. Figure
is applied to the system the mass
oscillates as
K(Ts+1) NN of force
Gs) s(Tas+1)(Ths +1) When8.9
eQ
M, fand K. ET-W-011
Figure. Determine
shown
shon in
) Prove that for a unit step input, steady-state error Prob.42, P-219
be Prob.32. Consider
a unity feedback control system whose open
(ii) For a unit ramp input, find the value of 'K' to se So that fiunction is
transfer
the steady-state eror (ess) doesn't exceed 0.25. loop
IV-97 100P
0.4s+1
Prob.37, P-213] G(S)=-s(s+0.6)
Prob.27. For the following unity feedback system, find s. What is the rise timeforthis
response to a unit step input.
btain the ET-S-02
time domain specifications and the expression for output, when overshoot?
a is the maximum
system? What
unit step input is applied. ET-S-0
[Prob 43, P-220
Prob.38, P-213
Prob.28. A Control System has
2
Gs)= (4s+1)
The system time constant is required to be reduced to 1
sec.
Illustrate how it can be achieved using proper feedback, without
,

sacrificing the system gain. [ET-W-01

Prob.39, P-215
Prob.29. The characteristic equation for a certain feedback
control system is given by 0.1s+s+ 10=0
Obtain the steady state error of the system when subjected to an
inputr(t)=2 +2t. ET-W-011
Prob.40, P-216
Prob.30. The unity feedback system has a forward path
transfer function given by

Gs)=KK
s(s+6)
Find the time response of the system when subjected
to a step
of 2 units for K = 8. Sketch this output for 2 seconds. How much
time it will take approximately to reach the steady state?
ET-W-O11
Prob.41, P-216
 UNIT III CONTROL SYSTEM/ CS-I
(ET/CT) 231

STABILITY FEEDBACK OF URD

Abscalte stability
is the quality of a stable or unstable
cONTROL SYSTEM ed. Relative
erformance, R stability is the quantitative measure of

stability. stability:
Q.1. Define stability in detail with suitable examples Location of poles and
all locations in left half in s-plane (L.H.P.) the impulse
[CT-W-02 1) For
response tends to zero. and hence if poles are
in LHP, the system is
Ans. A system is said to be stable, if
i) For a bounded input, the output is also bounded. Stable. Corresponding Impulse
ii) In the absence of input, the output tends towards zerm Location Root in s Plane
Response
irrespective of initial conditions. No.

Stability is of three types: LHP Real

i) Absolute stability. Axis Single
CIn at
ii) Conditional stability.
ii) Relative stability.
Q.2. Define i) Absolute stability
i) Conditional stability
ET-S-99, CT-S-03
IET-S-99
T
ii) Relative stability. [CT-S-03, ETS-99, W-99
Ans. Stability:-A system is said to be stable, if . LHP Real
is Axis Repeated
(1) For a bounded input, the output also bounded.
(2) In the absence of input, the output tends towards zero
irrespective of initial conditions.
If the output of the system goes on increasing with respect to
time, the system is unstable.
Stability is of three types 3. LHP
(1) Absolute stability Complex Single at
(2) Conditional stability and sinbt
(3) Relative stability. jb
Ans. (1) Absolute Stability :- A system is said to be absolutely
stable with respect to a parameter ofthe system, if it is stable for all
values of this parameter.
(2) Conditional Stability :- A. system is said to be4 4. jo Axis er- C sin at
conditionally stable with respect to a parameter of the system, it is
stable for only certain bounded ranges of the values
parameter.
if
of this
Single
AAP
(3) Relative Stability - Relative stability is a quantitative|
measure of how fast the system transients die out.
230 VBD CONTROL SYSTEMI
CS-I (ET/CI)
 (ETICT)
ONTROL SYSTEM/ CS. 233
VBDCONTROL SYSTEM/CS.
232
ie
AETICN qID in Right Half of s-plane (RHP. The
For all locations
For
(2)response
Axis
[Link] ja nanse begins increase with time and becomes unbounded.
Repeated Cltt npulse
stem is
system unstable
unstable for poles in RHP. Here the real part of
the
AA Hence positive.
poleIs Poles on ja axis, the nature of response for simple poles is
(3)
ot
does not decay
to zero with time nor does it become unbounded.

6. Origin jw
it Such systems are known as marginally stable or limitedly
CIty For Repeated
roots on Jo axIs, system is unstable. In short,
Single stable.
1a

6 following thumb rule is emerged.

the
the
characteristic equation
If roots of the
negative real part, system is stable.
has part, system is unstable.
(ii) has positive real
has zero real part and pole is not repeated, system is stable.
1. Origin (ii)
Ct
Repeated
Leff half
of S-ptane S-plone

8. RHP
AJw STABLE
Real Axis L Stabte
Repeated
+6
Cit NYtor
Morginoly
stobie ZZUnstoble stable
Simple poles
INN Limted
9. RHP
Real Axis 4J S-Plane
Repeated
CI te
Q.3. State Routh's stability criteria.
: The necessary and
Ans. State Routh's Stability Criteria
stable is that there should
sufficient condition for the system to be
Ctt Routh's array.
10. RHP not be any sign change in the first column of
column of Routh's array,
Complex If there are sign changes in the first
the system is unstabl and number of
sign changes in the first
-io roots of the
column of Routh's array indicates the number of
characteristics equation in the right half of s-plane.
 234 235
wBD CONTROL SYSTEM CONTROL SYSTEM/Cs-I (ETICT)
SYSTE
ICS(ETI cONTROL
Routh's array is computing
constructed from BD 39 the specific cases arising while
characteristics equation the co-cfficient
eCcn ot
of sin. Q.5. What
are
1+G ($) H (S) =0,as 0.5.
5.
(1) Arrange the co-efficient
[Link]-efici 0
as follows.
of first s in the characteti Routh's
array ?
arising while computing
Routh's array:
Specific cases Routh's array
ntwo
equation in two rows. racteri.
terisans
Case 1-The first element
in any one row of the
non-zero's. For example:
(2) First row will consist in that row are
of first, third, fifth co-efficient other elements
r hut
but other
the characteristics equation. ofs zero,
l ofsis
Second row will consist
of 2", 4", [Link] ofs
the characteristics equation. 0 2
(3) The element of remaining s
rows are computed as follows put s = 1/x in the original
overcome this difficulty,
Consider equation in
and obtain the new characteristic
F (s)= a,s" + To
as+a9s +as haracteristic equation characteristic equation.
outh's criteria to the new
apply the Rou
+as"n-+ ..n 0
,n-4
+ a4s and
and x-roots in the right half of the x-plane equals the
The number of
s a0 Qumber of s-roots in the right
half of s-plane.
a2 a4 Routh's table
All the elements in any one row of the
sh a3 a5
Case 2
are all zero.
n-2 a122-2033 a124-20a5 =b2
b a1
b3
sn-3 D a3-ab2
C1 ba5-ab3= c2 s 0 0 0 0
b b sO
an These condition indicates that there are symmetrically located

Q.4. Give the limitations of Routh's stability criteria. For e.g.:

roots in the s-plane.

(1) Real roots with positive and negative equal parts.

ET-W97,88,00,01, S-01,03,96|
(2) The roots on imaginary axis.
Ans. (1) The method is valid, only if the characteristis
() The complex conjugate roots torming a quadrate in the
equation is algebraic and that all the coefficients are real.
S-plane.
(2) The method offers information only on the absolute
Overcome the situation, the auxiliary equation is formed
stability of the system but does not give any indication o Tiau(The polynomial
whose co-efficients are the elements of a row, Just
stability. above
the row of zero's in Routh's array is called auxiliary
(3) This method gives the number of roots in the right hal o polynomial.)"
on the
the s-plane, left half of the s-plane and number of roots Let us denote the auxiliary equation
by A(s) = 0,.
imaginary axis. Find dA(S)
method does not and replace the row ofzeros by the co-efficients obtained
For roots in the right half of the s-plane, the ds
fom A(s)
indicatethe nature of theroots.' s and cany out the Routh's
ds aay computation as ušual
 (ET/CT) 237
236 SYSTEM CS-I
/
CONTROL
qBD CONTROL SYSTEMI CS-I(ETich 4
It may be noted that the roots of auxiliary
equation A(s) =0 dominant roots f the characteristic
: i.e.
equation., ts =
i.e. ts -
also the roots of the original equation.
the dominant
Example: inversely proportional to the real part of
time is
Settlingtim is less i.e. if o
relatively more stable if settling time
Set ustem is relatit
s oot.
ie.
System
roots are located far-away from jw-axis. Hence the
s largei.e. the is modified by shifting the origin of S-plane
is
characterist, equation
Routh criterion is applied. If it
a a2 a3 by
to -by.
substituting s =z- 1. Then
means that the roots are lying to the
left-side of
0 0 satisfied; then it is checked w.r.t.
is Similarly, the location of roots
A(s)= ajs* + a2s+ ags 1axis. and so on.
dA(S) 4as3 +2a2 S +0 g-2, =3 Hurwitz stability eriterion. What are its
= O.8. State
ds IET-S-94,97,98,01, W-97,98,01,02,03,04, CT-W-031
limitations?
characteristics equation of an nth order system is
Ans. The
D(s)= a0s" +a1 s+a,s-1 ++an =0
to be
S* 31 a2 a3 The necessary
and sufficient condition for this system
n = 1, 2,.....n } of the
stable is that the n-sub determinants Dn{
4a 2a2 0
positive.
Q.6. What are the advantages of Routh's criterion? Hurwitz determinant [Link]
ET-S-96, W-01where
a3 a
Ans. Advantages of Routh's criterion:
) lt is a simple algebric method to determine the stability of
ao a2 4
closed loop without solving for roots of higher order polynomial of 0 a a3
the characteristics equation.
H 0 ao a2

ii) It is not tedious or time consuming.

ii) It progress systematically. an
0 00
iv) It is frequently used to determine the conditions of absolute
and relative stability of a system.
Q.7. What do you mean by relative stability? Explain how .
Routh's criterion can be used to determine relative stability?
ET-W-99
..
2, a3 a5
Ans. Relative Stability by Routh Criterion:
If system is stable, its relative stability is determined Dl20 aa
quantitatively. It is obtained by computing the settling time of the i 0' a a3.
D=|H
 239
STEM/ CS- (ET/CT)
238 cONTROL SYST
VBD CONTROL SYSTEMICS-1 (ETICT)
ITe p system is
limitedly stable.
Limitations: Hence
Relative
stability margin = 0.
(1) As the order ult tosolve
ofthe system increases, it is difficult
the individual determinants. two roots on the
left hand side ofs-plane.
There are
(2) While only whether the system is stable or not is known 643s+3s* +
+ 9s° 8s+ 6s + 4
noW many such roots lie in Right Hand Side of s-plane is not known
(s" + 3s* + 2)
SOLVED EXAMPLE = (s+ 3s +2)
found from
Prob.1. Determine the nature of roots in the left half of tha Remaining roots are
S-plane for the system, whose characteristics equation is given by
0
s2+3s + 2
s+3s+5s*+9s+8s*+ 6s +4=0 (s+1)(s+ 2) = 0
Comment on the absolute as well as relative stability of the s-plane)
system. s-1, s =-2 (L.H.S. of
the L.H.S. of the s-plane are real.
The roots on
Soln. 1 5 8 4
transfer function of a unity feedback
3 .9 6 0 Prob.2. The open loop
given by
6 4 0 control system is
K
s 8
0
12 0
0
0
0
G()
(s+2)(s+4) (s+ 6s+25)
closed loop system as a function of
s 3 4 0,. 0 Discuss the stability of
sustained
s 4/3 0 00 ' K. Determine the
values of K which will cause
system. What are the corresponding
Auxiliary equation is
A(s) =. 2s
4 0

+6s +4
0 0
'. ,
'

' . scillation in the closed loop

0scillation frequencies?
Soln. Characteristics equation
is given by
IET-W-98,99,03,04)

dAS)- 8s3+ 12s. K =

ds 1+
(s+2) (s +4) (s + 6s +25)
There are no-sign changes in the first column of Routh's '

array system is stable. s+12s+69s+198s +200 + K = 0

For nature of roots

= 4 69 200+K
A.E. = 2s* + 6s2 + 4 0
198
= 12
s+35+2 0 S
200+ K 0
s2 52.5
(s+1) (s+2)= 0 x 198 12(200+ K)
s s= -2 52.5 -
0 0
-1, 52.5
stj, s=t 2 j. "
(152.28-0.2285 k)
=
There are four roots on the imaginary axis 0i *2
s 200 + K f [Link] ji
 240 YSTEM/Cs-I (ETICT) 241
VBD CONTROL SYSTEM/CS-1(ET ONTROL SYST
TICT
For system to be stable, to Figure.
the first column
there should not be any sign
changes: Prob.3. Refer
of Routh's array. sin 100
152.28 0.2285 K>0
s4s+10
152.28> 0.2285 K
152.28K or K <666.43 KgS+K2sH
0.2285
Also 200+K>0
K-200 and usually gain taken positive
'. For stability
relationship between kj and k2 to put the
-200<K <666.43 Find the
For positive values of gain system at the
limit of stability.
velocity feedback is used, what value of k1 is
0<K<666.43
i If onlystability limit? IET-S-98
The sustained oscillations occur in required: the
the system when Somesome of have,
Eliminating the inner feedback loop we
the roots of characteristics equation of Ans.
lie on jo axis. (i.e. imaginary
-
100
axis).
This needs that the elements corresponding
to odd powers of s G(s)
s (s+10)
are all zero's. 100
1
ks+k2s+k2s
152.280.2285 K =0 s(s+10)
. _152.28 =666.43.
K
100
0.2285 G)3410 s2+100ks + 100 k s
This is maximum value of K for stability. 100
This value of K will
cause sustained oscillations.
Gs)3+(10+100k2)s + 100kj$
Auxiliary equation for K=666.43
also H(s)==1
s+200 +K = 0 The characteristics equation of the system is + G(s)H(s) = 0
1
52.5
52.5 s4+200 +666.43 100
0 1+ =0
52,5 s +866.43
s+(10+ 100k2)s + 100kjs
0 s+ (10+100k2)s + 100 k s + 100
=
( ..(1)
866.43
s2 e Routh's array is shown below
52.5
S =tj4.062
s 100 k
2 100
SEJO (10+ 100k2)
.. Oscillation frequency is 100k (10+ 100 k2)-100
0
o =4.062 rad/sec. 10+ 100 k2
100
 (ETICT)
242 VBD CONTROL SYSTEM/CS- (ET. SYSTEM / cS-I 243
cONTROL
BD 16+ k(s+1) = 0
For system to be at the limit of stability
100 k (10+ 100 k2) -100
s(s-1)s"-4s + =
10+100 k2
0
(s2-s) (s+ 4s + 16) + ks +k 0
1000 k +10000 k k2 = 100 44s3+16s- s°- 4s 16s + ks +k =0
10 k +100
kik21 4 +3s+ 12s +(k-16)s + k = 0

k2 =10k
100 k1 The Routh's
array 1s as shown.

ii) If only velocity feedback is used, then k2 = 0. 4

1 12 k
The characteristic's equation (1) will be k-16 0

s3+10s2 +100kjs+ 100'=0

2
52-k k
The Rouths array is shown below 3

k+ 59k -832
1
100k. 0 0 0

s 10 100 52-k
.0 0
s 1000 k 100
10 For system to be
k
stable
100
For system to be at the limit of stability 52-0
1000 k-100
10
52- k>0
k< 52 .1)
1000 k1 = 100
k>0 (2)
100 -832
k 1000 -k+59k
52-k
k 0.1 k2-59k+832 >0
Prob.4. A control system has loop transfer function (k-35.6846)(k - 23.3153)>0
Gs) H(s)=. k(s+1) k> 35.6846 or k> 23.3153
s(s-1) (6*+ 4s + 16) k35.6846.
Find the frequencies at which the system can oscillate and bri:Range of k for stability 35.6846 <k< 52
explain how such oscillations can be damped out. by suitable For sustained oscillation, we should have
measures.
Ans. The characteristics equation is -k2 +59k -8320
1+G() H($)=0 52- k
k(s+1) k-59k + 832 =
0
1+ = 0
.s(s-1) (s + 4s + 16) (k-35.6846) (k-23.3153) = 0
k 35.6846 and k=23.3153
 YSTEM/ CS-I TICT)
cONTROL SY 245
244 VBD should
VBD CONTROL
SYSTEM / CS-I (ETICY
system to e stable, there not be any sign changes in
Rout array.
k 35.6846
column of Routh's
first
( k= 23.3153 will make system unstable
ble) the k>0
Auxiliary Polynomial for k = 35.6846 is
21.333->0
2-k2+k = 0
128 k
(52-35.68462+35.6846 =0 or
k128 2)
-0.1666 k + 18.666 k 426.66 >0-

5.43846 s + 35.6846 = 0 and 21.333-0.1666 k

s235.6846 0.1666 k -
k+426.66 >0
18.666
5.43846
s-6.56151 . (k-80.03) (k- 32) >0
s+j2.5615 k 32, k> 80.03
Roots of auxiliary polynomial 'are also roots of original
Range of k for stability is
equation
.Roots on imaginary axis are
80.03<k< 128
S1j2.5615 Sustained oscillations occurs in the system, when some of the
s2-j2.5615 on jw axis (i.e. Imaginary axis).
oo
rnots of characteristics equation lie
Comparing with s =jo we have This needs that elements corresponding to odd powers of 's' are
2.5615 rad/sec.
zero's:
Prob.5. Characteristic equation of a certain system is given all
as s+6s*+18s+ (k-20)s+k =0 -0.1666 k^+ 18.66 k - 426.66 = 0
Find the range of gain k for the stability of the system. Also
21.333 k/6
find the value of 'k' to produce sustained oscillations and the|
ET-S-991
(k-32) (k-80)= 0
frequency of oscillations. For sustained oscillation to occur
Soln. The Routh's array for the characteristic equation
k 80
s+6s3 +18s +(k-20)s + = is as shown k 0 Auxiliary equation for k = 80 is
1 ,18
=
6 k-20 21.33s2 +80 0
s? 21.333 k 0
,
8s +80 =0
-0.1666 k+ -
18.666 k 426.66 1..
s
21.333-0.1666
. k
0
S210
s k 0 S+j3.16227
:. Oscillation frequency is o =3.16227 radlsec
 246 (ETICT) 247
SYSTEM CS-1
VBD CONTROL SYSTEM
I CS-1 (ETIC
CONTROL /
Prob.6. Determine
the stability for G(s)=4/s(s+ qs+ 2k).System oscillates at
[Link] [ET-S-04
s+2sS +8s+12s+20s and k marginal.
+16s + 16 =
0. [ET-S-04 d/sec. Find q = 1, the characteristics equation is given
Soln. The Routh's array =4ra uming H(s)
is w
Soln.
s 8 16 0
sS
20
by 1+G(s) H(s) =
2 12 16 0
= 0
s2 12 16 0
1+ s(s+qs + 2k)
Row of zeros s3+ qs+ 2ks + 4 = 0

A(s) =2s+ 12s+ 16 = array is given by,

0 The Rouths
aA=8s3 +24s = 2k
0
4
s
2kg-4 0
8
20.16
2 12 16 0 S 4
2 12 16 0
For marginal
value ofk,
s 8 24 0. 0 2kq-4=0
s2 6 16 0 2kq4 (1)
s
s2.67o 4 4
2k
16
i. 'A} Now for this value of k
=
There are no sign changes in the first column of Routh's array. A(s)= qs*+ 4 0
so system is stable. s2-4/q
For nature of roots, we have
A(s) = 2s* + 12 s2 + 16 = 0 Sti
s+6s4 + 8 = 0 Also given o = 4
Put s=y 2 = q 0.25
y+6y +8 =
0 4
(y+2) (y+4) = 0
y-2, y = -4 From (1) 4
2k =
s-2tjv2
s =
-
s = t j2 = 4
Non-repeated roots on imaginary axis. Hence the system is k 2 x 0.25
8
.
narginally stable. .f Kmarginal F8, q0.25
 248
VBD CONTROL SYSTEM / CS-I ETICT
(ET CONTROL SYSTEM/ CS- (ET/CT)
NTROL 249
rob.8. A feedback system has an open-loop transfer BD Determine the value of K>0 and a>0,so that the
function1of Prob.9. oscillatesaat a frequency 2 rad/sec.
slhown in figure
m
Kls+11
ET-W-00
Gs) H)= Ke sos+2s+1
s(s +5s+9)
Determine by use of Routh's criterion, tlhe maximum
value
of K for the
closed-loop system to be stable. ET-W-00
G(s)=_K(s+1
K(s+1)
Soln. Given:
andH(s) =1
Kes s+as+2s+1
Soln. Given: G(s) H(s)=- andH(s)=F1 Characteristic equation is
s(s +5 +9)
+5s K(s+1
Characteristic equation is given as
=0
3+as+2s+1|
1+G(s) H(s) =0
s3+as+(K+2)s+ (K+1)=0.
Kes is shown as
1+ = 0
The Routh's Array
s(s
s(s +5s+9)
+5s +9)+Ke=0
s a
2+K
K+1
S
s+5s +9s+Ke =0 s a(2+K)(K+1)
a
ss+5s +9s +K -Ks =0 at low frequencies e
s+5s2 +(9-K)s +K =0
(1-s) s K+1
a(2+K)-(K+1) i.e. a(2+K)>K+1|
.The Routh's array is shown as. At Kmar a
1
9-K K+ -(i)
aK+2 equation is
The auxiliary

45-6K
as+(K+1)=0 as=-K+1
s 5
K
s2 +11
a
Substituting the value of 'a' from equation (1), we get
-K+1 =-(K+2)
For system to be stable, K> 0 and 0>0 (K+1)/K+2
45 6K>0 S=tjvK +2
But K+2 =2
45>6K
Squaring K +2=4, we get
K< 7.5
. Kmar
=2
0 <K < 7.5
a K+1 2+13 a=0.75
 250
YSTEMI CS-I (ETICT) 251
VBD CONTROL SYSTEMI cONTROL
Prob.10. The
characteristic equation
Fs)=s+s +3s3 +9s +16s+10=0.
CSI (ETICT
of a feedback system
is
BD
s32 1+K

Using Routh's s2 2+T 5K

system. criteria, determine the stability s'(2+T)(1+K)-10KT
of the
ICT-S-031 2+T
Soln.
F(s)s+s
The Routh's array is as
+3s+9s +16s+10=0
follows. |SK
SK> 0.. K>0o
3 16 For system to be stable:
9 10 T+K)-10 0 and T = 1
sec.
2+T
10 10 (2+1) (14+ K)-10K>0
120 0 3+3K 10K>0
10 3-7K>0
As there is a sign change in srow and again in -7K>-3
s*row, the
system is unstable. Also, two sign changes indicate
poles in right hand side of s-plane.
that there are two
K
Prob.11. he loop transfer function of a feedback
control Therange of K is 0<K«
system is given by systemn is
Prob.12. The characteristic equation for a
G(s)H(s) = K(s +5) s(s6s+13) + K=0
s(1+ Ts) (1+ 2s)
Draw the stability boundary in the (K, T) plane. Hence ) Determine the value of K, such that the characteristic
obtain the maximum permissible value of 'K' such that the time equation has a pair of complex conjugate roots on the imaginary
constant 'T' is 1 sec. axis
IET-S-971 Write the factored form of the characteristic equation for
Soln. Given: G(s) H(s) = K(s+5) this case.
s(1+Ts)1+2s) (ii) Determine the value of 'K, such that the characteristic
Characteristic equation is equation has a pair of complex conjugate roots whose real part
I+G(s) H(s) =0 is-1. ET-W-02
K(s+5) Soln. Given: s(s + 6s+13)+ K=0
Tt +Ts)(1 +2s) 0
=

.'. s3+6s2+13s+K=0
s(1+Ts) (1 +2s)+ K (s+ 5) =0
= Routh's array is as follows.
(s+Ts )(1+2s) + Ks+ 5K 0
13
S+2s+Ts +2Tss +Ks +5K =0
= K
2Ts+ (2+ T)s+s+ Ks + 5K 0 78-K 0
2Ts+(2+ T)s+ (1+ K)s+5K =0 6
The Routh's array is as follows:
s K
 252 (ETICT)
SYSTEM/ CS-I 253
yBD CONTROL SYSTEM ICS-I (ET/ cONTROL
TICT
672- and -33K>0 K>0
For system to be stable K> 0 and 78-K0 .
6 K <672
78 K>
0 K>33
-1121K-672K
K<78 0
and 14
Range ofK is 0 <K < 78.
Prob.13. The open-loop transfer function of -1121
Ká-672 K>0
a contral
system is given by ro
K >672 K
.. 1121
-112IK> 672
G() H()= K(s+0.5)(s +2) 112 K
s (s+6)(s +8) 672
Find the range of the gain constant K for stability 1.66> K.
usino
g
Routh's criterion. (ET-S-02 Prob.14. Find the
range or K for stability for a unity
ET-S-02
Also find Kmax and frequency of sustained
Soln. Given: G(s) H(s) =S+0.5)S+2) dback system.
Oscillations.
s(s+6)(s+8) K
The characteristic equation is 1
+ G(s) * H(s) = 0 CT-S-031
(s+2) GS)s(s+2)(s +4)(s +6)
i.e. 1+ (S+0.5) =0 K
s°(s+6)(s+8) Soln. Given: G(s)= and Hs)= 1
s(s+2)(s+4)(s +6)
s'(s+6)(s +8)+K(s+0.5) (s+2)=0 Characteristics equation is
:.
(s+6s)(s +8) +(Ks+0.5 K)(s +2) =0 1+
K
0
s3 +8s +6s4 +48s3 +Ks +2Ks+0.5 Ks +K=0
s(s+2)(s+4)(s+6)
s(s+2)s+4)(s+ 6)+K =0
s +14s+ 48s +Ks +(2.5K)s +K=0 . (s+2s)(s + 6s+4s+24)+K0
Routh's array is as follows
s+6s3+4s3 +24s2 +2ss +12s+8s2 +485+K=0
ss 14
48 2.5K
s +12s +44s +48s+K=0
K K
672-K 34 K The Routh's array is as follows
14 14
33K K
1
44 K
-6724 KK
-112K 0
12 48 0
14
K
s 40
1920-12K
K 0
s 0
For column I to be positive 40
672-K0 s K
14 For system to be stable
 SYSTE
SYSTEM / CS-I (ETICT) 255
254 CONTROL
ONTROL
TEM / CS-I (
VBD CONTROL SYSTEM ICS-I (ETICn BD and K = 0.52 :.K> 0.52, K>2.52
K=-2.52 0.52<k<0
K>0 and 1920-12K,o
40 stained oscillations occurs in the system, when some of the
ned oscilla
1920 12 K>0 eeharacteristics equation lies on jo axis.
1920> 12 K =0
3K+6K-4
160> Kk
(K-0.52)= 0.
(K+2.52)
K<160 sustained oscillations to occur K = 0.52. Auxiliary equation
'. Range ofk is 0 <K < 160 For
160 K-0.52 is
At marginal stability Kmar for = 0
Auxiliary equation s 3Ks+4 = 0;3(0.52)s* +4
40s+K=0 i.e. 40s = -160 L.56s+4 0; s2 =4
1.56
smar=2 4

rad /sec.
S=tj2
sOscillation
tj2.56
frequency is. o = 2.56 rad/sec.
Prob.15. The characteristic equation of a system is Prob.16. Determine the range of values of k (k> 0)such that
q() = s* +3Ks* +(K+2)s +4 =0 characteristic equaton
range ot K, so that system remains'
stablo the +5) s +(4 k+7)=0
system shows sustained oscillations, find frequency of
3+3(k+1) s* +(7k
has roots more thans=-1.
oscillations. [CT-S-04 ICT-S-02]
[Link]) = s' +3Ks+ (K + 2)s + 4 0. =
Soln. For checking the stability
w.r.t. G =-1 axis;
The Routh's array is Puts-(z-1)
5)(z-1)+(4k+7)=0
s3 1
K+2 q(2)= (z-1)° +3(k+1) (z-1) +(7k+
s? 3K 4 q(2)= z-3z2+3 z-1+3 k z-6 kz+3 k+3
z2-6z+3
s 3K +6K-4
3K
+7 kz-7k+5z-5 +4k+7 0
4 q(z)= z' +z(-3 +3 k+3) + z (3 -6k-6+7k+ 5)+
=
For system to be stable, there should not be any sign changes in (-1+3 k +3-7k-5+4k+7) 0
e first column of Routh's array. 9() z+3 kz4+ (2 +k)z+ (4)=0
3K 0 and K>>0 From Routh array
3K(K+2)-40 1 (2+k)
3K
3k 4
K>0
3K +6K-4>0
3k+6 k-4
3k
: (K+2.52) (K-0.52) =0
 (ETICT)
cONTROL
SYSTEM/ CS-I 257

256 VBD CONTROL SYSTEM/CS- (ETICT) K> 1.236 or

K>0 or
2 -2K>0 -3.226
4-K-2 stable operation of the system is
from z2 =k>0 K for af
2<K>2
andfrom z'=3k+6k-4
3k lie on imaginary axis
K =2
The roots
k=-6tv36+48
6
- 15.1
6
and 3. The
4+2s+ 2s +4s+2=0
becomes
chart equation

for stability; 0 < k <0.5 On solving

we get,
Prob.17. The output of a control system e(t) is related to an S = + 0.828
input r(t) by: S t 4.828 and
Is +2s3+2s +(2+K)s+K]C ()=K (s+1) R($
Determine the range of K for stable operation of the
system. Find the value of k' which yields imaginary roots. For 2
- L328 0-828
this value of K', find all the closed loop poles of the system.
IET-S-011
Prob.18. For G (s) = 4/s (s° +qs 2k).
+ System oscillates
Soln. s+2s3 +2s +(2+K)s+K|C(s) =K(s+1)R()
ICT. S.04]
C)_ K (s+1) atw= 4 rad/sec. Find q and k marginal.
4
R6 s+2s +2s +(2+K)s+ K Soln. Given: G (s) = 2s (s +qs +2k)
Hence the characteristics equation is,
s42s3+2s2 +(2 +K)s+K=0 At mar=4 rad/sec, q=? k ?
C(s) G(6)
The Routh's Array is T (s)=
R (s) 1+G (s) H (s)
s 2 K
1
S (2 + K) Let, H (s) =
K 4
K C(s) 4

s 2 K) (2+ K)- 2K R (s) s (s +qs +2k) +4 s +qs +2ks +4

(2 K)/2 The characteristic equation is
K

For system to be stable, all the term in first column must be g(s)=s+qs2 +2ks+ 4 =0
positive. Routh array is

20 2
; 2-K>0 s2
1
2k
4
0
0
K<2 (1) 2qk-4
(2-K)(2+K)-2K0
4
(2-K)/2
 SYSTEM/ CS-I (ETICT) 259
NTROL

258 VBD
cONTROL SYSTEM
/ cs.,
For stability q> 0 and 1-T 0
2gk-40 2qk-4>0
stability I - T>0
2qk>4 For
Atk=
4 T<I
Prob.20. Check
the stability
24
2q
The roots lie on jw-axis. +8s"+12s320s +165+16=0 ET.S-00
Forming the auxillary equation (the row above the Oneefrom
+2s Array is as shown below
Cala, The Routh
where value of k is obtained is s row)
20 16
8
A (s)=qss+4=0 1 12 16 0
2 12 16
s2
special case. Hence Auxillary eqn. is formed.
*i This is also 2

Take auxiliary,
Eqn. for s" row,
This is of the form s= tjo and 'o' is given as 4 rad/sec.
A(s)=2s*+12s +16
4 q=0.25.
dA=8s2+24s
Substitute this in equation (1) ds
4 Completing array
k= 2q
2x0.25
8.

Prob.19. Determine an approximate-upper-limit on the

88 20 16
12 16 0
time delay (T) so thât the system represented by the following 2
characteristic equation in stable. 2 12 16 0
q(s) =s +s+e~s =0 8 8 24 0

Soln. The time delay term e is approximated to [ l-sT]

ss2.670 6 16 0

=
q(s)=s +S+(1-sT) 0 16
i.e. s+(1-T) s+ =0 1 No sign change hence system may be stable.
From the Routh-array Solving for Aux. eqn.

2s +12s2 +16=0
 CS-I (ET/CT)
ONTROL SYSTEM / 261
260 cONTROL SYSTEM /CS-I(ETICT
1VBD

Put s2= y The

imiting alue gives -2. As we
ested in
is-ve.
2y+12 y+16 =0 only,sign
sign
There is sign change in s'row. Total two sign changes,
y=2V144-138=-3+1 poles on R.H.S. and hence system is unstable. For
4 icating two
-2 will always be roots on R.H.S. of s-plane.
y=-4. case, the
his
thisC
2: Another method to overcome above difficulty is
i.e.
s-2 Meth to
or s=#jv2 and form the Routh array in terms of z.
eplacesby Z
or s =-4
s=tj2 5+0
Non repeated roots on jo-axis hence this is a marginally stable
System. Taking L.C.M.

[Link] the stability s +s* +2s°+2s +3s+5=0 52 +3z* +2z° +2z +z+1=0
Soln. The Routh Array shows that s row breaks, down. It is
Routh array is
1
special case of Routh Test. Replace 0 in column 1
of s row by 5 2
1
E and proceed with the array. 3 2

2 3 -4/3 -2/3
1
2 5 2 1/2
-2 0 2
2e+2 5
Two sign changes in first column indicates two roots on R.H.S.
s 4-4-5e2 Hence system is unstable.
2E+2
5

Let e>0 from right (say +0.5 to 0)

() lim 2 2
lim 2
E0 sign is +ve as E0from right.
(ii) -4e-4-5e4/2e+2.
 CONTROLeYSTEMICSA SYSTEM/CS-I (ET/CT) 263
262 VBD hoONTROL
OL
ETI feedback is used, what value of k is
REPEATEDLY ASKED UNIVERSITY QUJES
STION only velocity
m) If stability limit? [ET.S-98]
equiredat theP.2411
required
Q.1. Define stabilty in detail with suitable examples
les. Prob.3,
racteristic equation of a certain system is given as
[CT-W-02
(k-20)5+k =0
4+6s3+ 18s4 +
0.1, P.230 range of gain k for the stability of the system. Also
Eind the
Find
Q.2. Define i) Absolute stability ET. S-99, CT.S-031 of
of k'to produce sustained oscillations and the
ii) Conditional stability find he value
the [ET. S.99]
[ET S-99 oscillations.
ii) Relative stability. CT. S-03,ET S-99, frequency of P.244)
[Prob.5,
Q.2, P.230] stability for
Prob.4. Determine the
Q.3. Give the limitations of Routh's stability criteria. =
+2s3+8s+ 12s + 20s +16s+16 0.. (ET. S.041
ET W.97,88,00,01, S.01,031
04, P.234] [Prob.6, P.246]
Q.4. What are the advantages of Routh's criterion? [ET.W-01 = qs +2k). System oscillates at
Prob.5. For G(s) 4/s (s*+
0.6, P.236 marginal. [ET. S.041
4 rad/sec. Find q and k
Q.5. What do you mean 'by relative stability? Explain how 0
Routh's criterion can be used to determine relative stability? Prob.7, P.247]
transfer function
Prob.6. A feedback system has an open-loop
[ET-W-99
0.7, P.236] of
Q.6. State Hurwitz stability criterion. What
are its limitations? Kes
IET. S.97,98,01,W.97,98,01,02,03,04, CT. W.03] G(s) HS)
s(s+5s +9)
Q.8, P.2377
maximum value of
Prob.1. The open loop transfer function Determine by use of Routh's criterion, the
of a unity feedback [ET. W-00
control system is given by K for the closed-loop system to be stable.
[Prob.8, P.248]
G(s)=- K Prob.7. Determine the value of K> 0 and
a > 0, so that the
(s+2)(s+4) (s* + 6s+25) 2 rad/sec.
system shown in figure oscillates at a frequency
Discuss the stability of closed IET. W-00]
loop system as a function of K. I

Determine the values of K which

will cause sustained oscillation in [Prob.9, P.249) feedback system is
the closed loop system. What
are the corresponding oscillation Prob.8. The characteristic equation of a
frequencies? F(s)=s+s4 +3s3 +9s +16s +10==0.
ET. W.98,99,03,04) the šystem.
IProb.2, P.239 Using Routh's criteria, determin®:the stability of
[CT. S-03
Prob.2. Refer to Figure.
(i) Find the relationship between [Prob.10, P.250]
kj and k2 to put the system a feedback control
t the limit of stability. Prob.9. The loop transfer funcfion of
system is given by
 (ETICT). 267
SYSTEM/CS-I
ROOT LOCUS TECHNIQUR cONTROL
NTAOL

[Link] what is root locus. State the Evans

D
s |
and s2 = -x
c
ionst
Ans. Root locus is defined as a plot of loci
of the poles =0 and s2 = 0
closed loop transfer function (or roots of characteristics
EK= 0; s1
the poles of open-loop TF
) roots co-incide with
when one or more parameters of the open loop transfer equaion The
funct 2
varying from 0 to (usually the gain Ko is varied). O<K <
(i)If
Consider a simple 2 order unity feedback system and distinct.
distinct.
having are real and
loop TF s
and s2
increases from zero, the
roots depart from

G(s)=-K As K
and mmove towards each-other.
s (s+a) s1 =-a
The characteristics equation will be 0 and
=0 2 Roots are equal; s1 and s2
qs)= 1+ G(s). H(s) = s+as + K =0 Gii) If K |
=

The roots of the open loop TF are ;

and the roots of characteristic
S0 ands =-a <K<o: Roots are complex-conjugate with
equation. (i.e. closed loop Th
will be;

constantreal part;
figure(a) and gives
varying K is plotted in
The R.L. with
Construction of R.L. starts from
locating the poles and zeros o following infoT 0
openloop T.E. S-plane. They poles of the system-for K =
are as shown in figure ctartsfrom
(i) Root-locus starts
from open-loop
open-loopPo
(a).
a2
to;4 the roots move towards
(ii) As K is increased from 0
+00

the point (-.0) from opposite directions.

l2 R.L. breaks-away
from the real-axis | from
(ii) At K=;
V 00
point - 0) and move along the line G=-
closed loop
Now let us examine the be obtained for
effect of varying Hence following information can
roots of characteristic equation; "K' on the
he location of
q(s) response of the system: K>0; the
LHS of jo -axis for
) As complete R.L. lie on the
266 positive values ot K.
VBD CONTROL
SYSTEM/CS-I (ETICT) closed-loop system will be stable for all
 CONTRA6ROL 269
268 VBDçONTROL
SYSTEM CS-I (ET/C) co
BD
G) H6)24s+Z -L4s+P
j=l
R.L. lies on negative real
axis; hen. i=l
i) For 0 <K
poles will
contribute--ve angle and zero's will contribute

,
but distinct
ystem response will be over-damped as roots are real i.e. Doint s =S1 lies on root loci, then
angle. a m
2
=
both the roots are same and real; system i ve
(ii) For K KI61 +Z)
critically damped. G(s1) H(s1)=i and
TI61 +P)
Civ) For K> root are complex-conjugate with negative
j-l
real-part system will be under-damped. m
P =t (2K +1) n
(v) For any desired response; the valve of K cab
be obtained
2G61) H1) 524S1 +2i -22s+
jl
from the Root-Locus; Hence 'K' can be adjusted for getting any
Rules for
construction of root loci - The root locus statts
specific ess, [Link] etc. H(s).
from the poles of G(s)
Therefore we can conclude that R.L. is a very useful technique
for analysis and design in time-domain. ls+Z 1
...(1)
Q.2. Explain magnitude and angle criterion with respect to Fs)=imtil K
root locus technique. [ET. W.041 IIls+Pi
Ans. Magnitude and angle condition of root locus: jl
locus, the right
Closed loop poles are obtained from the equation. For K 0, that is at the starting point of the root
1+G(s) H(s) =0 side of equation (1) is intinity for which s approaches to the poles of
the loop transfer function
G(s) H(s). Hence, the locus of the
G(s) H(s) = -1 roots start from the poles of the loop transfer
characteristic equation
|G (s) H(s)=1>magnitude condition function.
4G(s) H(s) =t (2K +1) T > angle condition i) The root locus terminates at
zeros of G(s) H(s).
the root locus the
Where, K =t0, 1, 2, 3.... For K=o i.e at the terminating points of
approaches to the zeros
(s +Z2)-(s+Zm ight side of equation l is zero, for whichs
Consider, G() K(+Z) of the loop transfer function G(s) H(s). Hence
the locus of the
(s+P) + P2)-(s +Pn)
(s
zero of th loop
characteristic equation roots, terminates at the
Z. Z2, Z3Zm arethe zero's and P1, P2, P3 Pn are the
transfer function.
Pole plot of
Prob.1. Determine the points on the pole zero
KIG+Z) G() H(s)= K(s+1) (s+3) and indicate points at
which
G (s)
H(s)| =- s(s+2)(s+4)
the root
s+P) locus terminates.
is
jl doln:. The loop transfer function of the system
 cONTRFo SYSTEM/cS-I (ET/CTt 271
ONTROL
270
VBTFONTROL sYSTEM/cS (ETICT D9Prob.2. Det
etermine the number of separate root locus for
transfer functions:
followingloop
G(s) H(s) =K(S+)(s+3) thes
K(s+1) (6+3)
H()= s(s+2)(s+4)
a)G()
s(s+2) (s+4)
Function G(s)H(s) contains zeros at s =-1 and s -3 as shou
=-
K
in the pole zero plot of figure. Hence, the root locus tor G(s)}Hs b) G () H(s) s(s+2)(s+4)
G()HS
function
starting from two zeros will terminate at s = -1 and s = --3,t The loop transfer
Soln: a) (s +3)
which K=o. Theseterminating points are shown in figure.
F(s)= G (s)
H(s) = A(+) (s+ 4)
s(s+2)
-
finite poles at s = 0, s = -2 and s = 4 and
Jur Function conta
1 and s = 3. Thus, for this function P = 3 and
zeros at sSE=-1
-
-

S-Plane
finite equation (2) as P Z, the number of separate root locus
2. From
N=P=3. function.
is b) The lop transfer
K
Terminating. points F6)=G($) H6)=2,
s2(s+2) (s+4)
of the root locus
order pole at s = 0 and simple
Function contains finite second
s = -2 and s =
- 4. There are no finite zeros present.
ite poles at
finite (2) as P>Z
The root locus starting from the third pole terminates at the Thus, forthis function P = 4 and Z = 0. From equation
zero of s=o, because G(s) H(s) is a rational function for which the number of separate root locus is N =P=4.

iv) Root locus and the

inverse root locus are symmetrical with
total number of poles must equal the total number of zeros including
the poles and zeros at infinity. respect to the real axis.
systems
Generally, the loop transfer functions of linear control
ii) Number of separate root locus depends upon the number of these rational loop transfer functions in the
rational functions. For
are
poles and zeros of the loop transfer function. characteristic equation complex. roots always appear in conjugate
Since the root locus starts from the poles of G(s) H(s) and pairs, therefore the root locus and the inverse root locus are always
terminates at the zeros of G(s) H(s), the number of separate root symmetrical with respect to the real axis.
loci are
locus N is obtained from, v) a) For large values of s (i.e. the roots), the root

NZ For Z>P asymptotic to the straight line with angles given by,

N=P For P> ZJ ..(2) K

K
=K+1)n
Where, Z= Number of finite zeros of G(s) H(s) P-Z
P=Number of finite poles of G(s) H(6).
where, P=No. of the poles ofG (s) H (s)
Thus, the number of separate root locus is equal to the number Z= No. of zero's of G(s) H(s)
b) Number of asymptotes is given by
of poles or zeros which ever is greater.
Number of asymptotes = P-Z.
 CONTROL
CONTR EM/CS-I(ET/CT) 273
272
VBFONTROL SYSTEM/ CS.(ETICT PD
D
c) The intersection of the asymptotes (intersection is called
centroid) lies
K=0 0-450
on the real axis only and is found irom the follou:. 3X1
Tormulae. 02 135°
=135°
Intersection of asymptotes =
2poles
O

of G(s) H(s)-2zeros of
P-Z
G($) H(s)
K 2 0 = 225°
4

where, G
Poles of G(s) H(s) = Sum of the distances ofG() K 3 4 4 315°
H(s) poles from the origin.
interception of asymptotes with the real axis i.e. the
zeros of G(s) H(s) =Sum of distances of G(s) H(s) zero The
position of
centroid fror he origin in s-plane is,
from the origin.
Prob.3. A unity feedback system has
K +2
G)- ASYMPTOTES
s(s+4)(s+2s+5) S-Plane
+1
For the loop transfer function of this system, calculate the .
35
following when K is changed from +oo to -.
i) Number of 225

finite poles and zeros. Hence obtain the number of zeros at

infinity. i) Number of separate root locus. ii) The angles of ASYMPTOTES
asymptotes and the centroid in the pole zero plot. X

-2
Soln: The loop transfer function of the system

G) H(s)= K
s(6+4) (s +2s +5)
_
2poles of G($) H($) -2 zeros of G(s) H(s)
P-Z
K
s(s+4)(S+1+2j) (s+1-2j) [0-4-1-2j-1+2]l-0-15
i) The finite poles of loop transfer function are located 4
at s = 0, which
4, s =-1-2j and s = -1 +2j. There are no finite zeros in the vii) Real axis locus: The sections of real axis in s-plane
S=- are obtained by
loop transfer function, hence P = 4 and Z = 0. lie on the root locus or on the inverse root locus
As there are no finite
zeros, four finite poles, there must be four
zeros at infinity. converting the total number of finite poles and zeros of the loop
left of the
ii) The number of root locus is N =
4 0 = 4. Hence, the
-
transfer function G(s)H(s) which are located in the right or
number of separate root locus or number section under consideration.
of asymptotes is 4.
ii) The pole zero plot of G(s)H($) is sketched in the points of the
figure The For positive values of K, (i.e. for root locus),
various angles of asymptotes are number of finite
T0ot locus on the real axis lie to the left of an odd
 274 VBTEONIHOLSYSIEM/CS-I
M]esl (ETICT)
(E: CONTROL S 275
9D
poles and zeros of G(s)H(s). If no points on the real axis lie to
o the
left of an odd number of finite poles or zeros, then no portion of .
ToO
locus lies on the real axis.
J
Px +3
S-PLANE
t2
AA0
F+1

-0
--27-
ROOT LOcus
Figure Determination of the angle of departure of root locus

Around a pole p (complex), select a point s on the root locus

Pgx
branch starting from p and
located very close to it. The net angle
eontribution of all other poles and zeros at this point is
vii) Angle of departure and arrival: - The angle of departure
04-(01 +02 +03 +05)
from an open loop pole is given by
is 0,,. In the limit as, the
The angle contribution of the pole p
s
t 180° (2k +1) + ¢ ;k=0, 1,2...
point. s on the, root locus approaches P ,0, equals the angle of
where is the net angle contribution, at this pole,
of all other
open loop poles and zero. departure of the root locus from the pole p.
Similarly, the angle of arrival at an open-loop
zero is given by ix) Intersection of the root locus with the imaginary axis:
The point of intersection of root locus with the imaginary axis
in s
2 t 180° (2k +1) -¢;k=0, 1, 2.
where means the net angle contribution at zero plane can be determined by applying the Routh's criterion to the
under
consideration of all other open loop poles characteristic equation of the system, which gives the critical values
and zeros.
Thus, the angle of departure from a real ot K and o at the intersection point. In case of complex and
open-loop pole or the
angle of arrival at a real open loop zero is always
0 or 180. The
Conditional stable system, the values of k and o at the intersection
angle of departure or arrival need therefore pornt are easily obtained from the Bode plot of the system.
be calculated only for
complex poles and zeros. Consider a closed loop system for which the
characteristic
Consider, the open loop pole zero equation is
configuration shown in
figure.
(7)
s+bs +cs+Kd =0
 SYSTEM / CS-1 (ETICT) 277
YSTEM/CS-I NTROL
276 pONTROL SYSTEN (ETIC SDc.
is
1+G($) H(S) = s(6+2) (6* +2s +2) +K=0
The Routh's array for above equation
+4s3 +6s +4s + K ==0
S or
uation).. u1ation, the Routh's array of the system characteristic
equati
s Kd.... (Auxiliary Equation). From

s bc-Kd 0 equationis
b K
Kd J3 4 4
S
To obtain the value of K at the intersection point of imagima.
ginary 2 5 K
axis with the root locus is obtained by equating the first element in 20-4K
the row for s equal to zero in the array. Hence 5
be-Kd o s K
b 9 element of th row for s in Routh's array
Solving equation 9 for K Equ ting the

K= d
D20-4-0
(10) 5
(1)
The auxiliary equation of Routh's array is K=5 of the array from the row for s2 is
sb+Kd=0 11) The auxiliary equation
Solving equation (11) for s and substituting s=j 5s+K=0 2)
Solving equation (2) for
s and substituting the value of K from
Kd
s=jo=tJ equation (1))
S=jo=tj 3
Hence the point at which= the
root locus intersects the naginary
Vb Vd 'b (12)
axes are K =5, S = -j and
K 5, S = +j.
Equation (10) and (12) define the intersection point on the x)Breakaway points [CT. S.04]: The point on the re axis of
imaginary axis with the root locus. This point on the imaginary axis S-plane at which two or more branches of root
locus depar rom or
corresponds to the point in s-plane at which the root locus changes arrive at the real axis are known as breakaway point
or saddl: point.

its position from right half to left half of s-plane. The value of K at BREAK AWAY
A

BREAK AWAY
this point is also known as the static sensitivity of the system. POINT S-PLANE OINT S-LANE
Prob.4. Calculate the values of K and w for the point in s- K 0 K-0
K-oc K 0
K P1 P2
plane at which the root locus of G($)H(s)= 2 Z1

s(s+2)(s +2s+2) ROOT LOcUS

intersects the imaginary axis. ROOT LOCUS
IET S.04]
Soln. For GG) H(s)=- K (a) Breakaway point between (b) Breakaway point
axis.
s(s+2)(s + 2s +2) two zeros on the axis. between the two poles on the real
The characteristic equation of the system is
 VBIFONTROL SYSTEMICSA SYSTEM/CS-I (ET/CT)
(ETIC CONTROL 279
278 awD
VBD
points of roo loci are obtained by using any
The breakaway discussed below:
procedures
S-PLANE the
K0 one of
Procedure I
Obtain the
DObtain loop transfer function G(s) H(s) of the system
K:0
K 0 1) Differentiate this loop transter function with respect to s and
6 21
zero that is
equate it to
d[G$)HS))0 .(13)
K 0 K=0 ds
breakaway
equation (13) to obtain the value of s at the
3) Solve
(C)Breakawaypoint with siz separate root loci on the real: axis
in figure (a) represents
The point A on the real axis a bre point
of this method is that for loop transfer
which the root locus of two complex roots The main disadvantage
away point at breaks
and s, it is cumbersome.
function having higher orders of
then approaches to two zeros Z and Z2: The point B on the
real Procedure II
a breakaway point at which the system
Find the characteristic equation of the system of
axis of figure (b) represents the parate
separs D

root loci meet and then move along the real axis as K increases.S. n function. Let this equation be
loop transfer
these two cases, the breakway points A and B represent double toot 14)
of the characteristic equation. In general, a breakaway point may
1+ F(s) =a0 s" +as"...an 0
2) Differentiate the
characteristic equation with respect to s.
have more than two characteristic equation roots as shown in figure
c). The point C in figure (c) represents a breakaway point on the real Thus from eq. (14)
sn-l+bisn-2, ...n-1=0 (15)
axis at which six separate root loci meet from six different directions F)=bo
thus representing the sixth order characteristic equation root. The
where [bo =nao. bi =a1(n -1), b2 =a2 (n -2)]....etc.
root locus diagram may have more than one breakaway points which 1
+ F(s) and
3) Arrange the coefficients of s in expressions
lie on the real axis or occur at the complex conjugate poles and are
F(s) into two rows. From equation. (14) and (15), these rows
zeros, because the root locus is
symmetrical about the real axis.
Thus, breakaway points have the
following properties: a0 a a2 n-1 an
1) Breakaway
point represents the root of characteristic bo b b2..n- .(16)
equations of first or higher
order. 4) Arrange the coefficient of these rows to have
the array
11) Breakaway
points either lie on the real axis or occur in described below which is not Routh's array even though the cross
complex conjugate pairs.
special features of this tabulation are
multiplications are similar. The
11) The root loci
or inverse root loci approach or ve the
a) The term s' (where j = 0, 1, 2,....n) of each row represents
breakaway point on the
real axis at an angle
of ,where n is the a particular row in the array.
number of root loci n value-
or inverse root loci s repeats for three consecutive rows for the
the or
leaving the breakaway point. which are approaching b)The term
1V) The
roots at the breakaway =n-1...j.
pointhave infinite sensitivy
 VBFONROLSYSTEM/
YSTEMICSA(ETIC
CS
280
(ETICT)
third rows of the three rows which cONTROL SYSTEM/ CS-I 281
c)The first and fom qBD
array are
identical. the ntm
group s in the Tls +Pl
ntains multiple
characteristic equation I + F(s) containe
d) If the orde
the tabulation contains all zeros thereby G(s) H()|
roots. a row of having
premature tabulation.
system, the characteristic equation j
For the third order
Draducof lengthof vectors drawnfromthe polesof G(sH(s)tos
written as S
3 +a1s* +a2s +a3 = 0 Droductof lengthof vectorsdrawnfromthezerosof G(sH(s)to
1+ F(s)= ags
17) Thus in figure the
value of K at s is
Differentiating eq. (17) with respect to s
B.D.E
F(s)=bos +bis+ b2 (18) K= A.C.
Fromeqs.(17) and (18) ju
ROOT LOCUS
ao a2 ag S1 S-PLANE

bo b2 0
Co .b1-b2o o2-b22o c2 =oa3-a C D
bo bo
bo b b2
bL-beo,b2-b2C% =
sd da b0-C
bo bo
dob-dbo.e, dob2djDo e -d0-0b, 8.3: Procedure for construction of root locus:
do .do The procedure for constructing the root locus of the loop
do oo to oo is described
transferfunction, when is varied from +
do
below:
sf doe-djeo f,-d,0-e,0
do do
1) Starting| For positive values of K, the |Locate the poles of
determine
S, Determine the breakaway equationPOnt
on of root root locus starts at the poles of | G(s)H(s) &
tne c
point by solving the
Tormed by the row of
coefficients, which is just before the row of
locus.
u G(s) H(s). For negative values the number of finite|
poles
zeros. K, the root locus starts at poles P and the
of
Xi) the zeros of G(s) H(s). at infinity.
Value of K at a point Ka
on the root locus: The value of zeros of|
a point S on the For positive values of K, the |Locate the
root locus is vectos Terminating H(s) and
determined by measuring uthe root locus terminates, at the G(s)
from the poles and |point of root zeros of G(s) H(s). For determine the
zeros of loop transfer
function to the point
.

locus. finite
theroot locus and then substituting negative values of K, the number of
the zeros Z and the zeros
values in the followmg" root locus terminates at the |
poles of G(s) H(s). at infinity.
 eTEONTROL SYSTEM/CS- ONTROL SYSTEM I CS-1 (ETICT) 283
282 (Y VBD
Z>P, the number of | Determine th Departure For positive values of K, the | Determine the
3) Number of For henumbe /8) arrival departure or arrival angles at departure and arrival
separate sèparate ro
root separate root loci is N = Z. of separate
of root locus
ar
/and
at the complex poles or zeros for the| angles for positive|
|loci. For Z<P, the number of N. /angle
Doles loop transfer function of the values of K.
complex
separate root loci is N = P. the system is determmined as
plots for the Make the root
locus and described below:
4) Symmetry Root rational loop plots
lo Complex zeros
systems
of root locus transfer having ots symmetrical
to respectively. a) Select a point s, which is
functions with constant the real axis. very close to the pole or zero
diagram.
coefficients are symmetrical and lies on the root locus
with respect to the real axis, in associated with that pole or
|

S-plane. zero.
The number of asymptotes Calculate the departure and
b)
n=P-Z arrival angles for positive
5) Asymptote | For positive values of K at | Determine the values of K.
angles for the| s-»o, the asymptotes are number and sketch
|
intersection points of | Determine and locate
root locus plots straightlines at the angle the asymptotesI 9) Points of At the
o4
at intersection of |root loci with the imaginary the intersection point
at sco defined by various angles. rOot loci with axis in s-plane, the values of on the imaginary axis
0-2K+
P-Z
the imaginary K are obtained by tnewith the root locus.
criterion. For
axis in s-plane. | Routh's
where K =0, 1... upto complicated loop transfer
(P-Z) exclusive. functions, Bode plot is used.
6) Centroid or The point of intersection of| Calculate the value of and locate
10)Breakaway For all values of K, the |Determine
the intersection | asymptotes lies on the real the intercept on the saddle breakaway points on the root | the breakaway points
or
point of axis in s-plane. For positive real axis and locate by one of locus in s-
points on the |locus are obtained on the root
asymptotes. or negative values of K, the the centroid. following methods.
distance
root locus. the plane.
between the Method I: Differentiate the
centroid and the origin in s- system loop transfer

o
plane is defined by function with respect to s
=poles of G(6) H($) +
and equate equal to zero
2 Zeros of G(s) H(s) d[G(s) H(6)]_ dk=0
P-Z ie. ds ds
7) Locus of For positive values of K,this Sketch the root loci| Method II: By tabulating|
aracteristic root locus lies on afor various values of
equation roots particular section of real axis K, which lies on the
the array from the system
characteristic equation and|
on the real for which the total number real axis. Indicate
axis.
then solving the equation
of real poles and real zeros proper directions. formed from the coefficient
to the right of the section is s in this array.
odd. of
 284 BIfONTROL SYSTEMICS4
CSA(ETICT coNTROL YSTEMICS1 (ETICT) 285
(EY 2D
11) Value of K | The magnitude of K at the |Determine [Link] P3 are open-loo poles. Bis break-away point.
at t jo
on the rootpoint s, on the root locus is
Jocus. obtained from
K at the of
point and comple
RLinterests Jo-axis
=
when R.L. crosses axis.
jo
K Gain This can be
Let
the root locus. Routh criterion.
hG() H6) tcrmincd from
corresponding to bfeak-away point.
Product of all vector K,= Gain
Iengths from Arrow
direction shows increase in value ofK.
> K2. We know that R.L. starts from K = 0.
Poles of G(s) HS) to s t is obvious Ki
Product of all vector lengths from
Follow ing
conclusions can be drawn.
s
zeros of G(6) H(s) of
For K< K2:R.L. branches starting from P and P2 are
0<
hing on real
axis. For the root s1 and s2 =-30n tjo,,1-2.
[Link] will you determine transient response from imaginary parts will be zero.
Roots are real and distinct.
root.
locus?
System is over damped.
Ans. Determination of Transient-Response from Root. will be equal and real (break-away
(i) At K= K2; Roots
Locus critically damped.
point). System will be
iwdn1- K2
(iii) For <K1; roots will be complex conjugate.
<K
System will be under-damped.
J (R.L. crosses joaxis).
(iv) For K = K^; root will be imaginary
System will be un-damped.
J dA
(v) For K > Kj;-R.L. will be on RHS of jwaxis. System will

wn be unstable.
. System response (Qualitatively) can be decided from above
Ps P2 P mentioned rules. Now we shall concentrate on the values
of K

between K2 and K as it gives under-damped

response.
find transient
Let K = Ka (given) for which we have to
response and closed loop transfer-function.
Transient Response Determination:
"P to
Step1: Locate the point on R.L. (obviously from
apply
After sketching the R.L., Transient-response can be obtained Jo) at which gain 'K' is equal to KA. For this we have to
for. the specified value of gain K. Also for any desired magnitude criterion i.e.
transient/steady state response gain K can be adjusted.
Product of Dist of all the open - loop Poles from the point
Let us consider a system which has R.L
as shown in the AProduct of Dist of all the open loop zeros from the pol
diagram
 286 VBIFONTROL SYSTEM/ICs
cONTROL SYSTEM/ CS-I
(ETICT (ETICT) 287
This point has to be determined by trial and errors. Let p
the point.
"A' Effect of Addition of Poles and Zero's
Ans,
IET. S.01
Determinethe real (A) and imaginary, [Cj ) AAddition of open loop poles :- The addition of a pole to
Step 2 og), transter function, pulls the root locus to the right
of
co-ordinates this point. A =- OA t(joa)a evstem loop
system
the in
hereby making
the system less stable and slow response. Consider
If we join this point with origin we can get the E.
line.
loop transfer function.
=cos A a
system of
K
Thus we can obtain the specifications E and on correspond. G(s H(6) (1)
ding ss+a)
to 'A'.
Step 3:Find the transientresponse specifications: The root locus of
equation (1) is sketched in figure (a) having
at s = - b is added to the
=em{/l1-E breakaway point B1, when a simple pole
s M, the

system loop transter function, equation (1) reduces to

K
G) H6) 2)
Tt-tan =
ss+a) s +b)
and t, =
is sketched in figure (b). It is
n y1-2 The root locus of equation (2)
noted from this figure that by
adding the pole, the breakway point
Determination of Closed-loop T.R.
shifted from B, to B2 and the root locus has bent
towards the
As 'A' is one of the roots for given value of gain [Link] has
=- c is added to the
root will be its Complex-Conjugate i.e. A*. The third-root will be on righthalf of s-plane. If one more pole at s
system loop transfer function (2) then
changes to
the third branch i.e. starting from P3. .: Itwill be real. This is
obtained by trial and error from 'A' and 'A*" so that gain is 'KA'
etermination of gain for specified Transient Response. S-PLANE
ROOT
Step 1: Translate the given transient response into pair of
Complex-Conjugate poles.
LOCUSB
-0 KE0
K-0 d/2
Step 2: At SA (or SA)determine the gain by magnitude
criterion. This will be the required gain.
Step 3 For determining the closed-loop T.F. use the same k
procedure as explained above. a) Root locus
K (3)
Q.4. What is the effect of adding G(s) HG)
i) Poles
=
s(s+a)s +b) (s +c)
ii) Zeroes It is
The root locus of equation (3) is sketched in figure (c).
in a system [Link] performance? Explain this using root one more pole has pulled
noted from this figure that the addition of
locus plots. E-s/96,W-01) the breakaway point B2 to B3 further towards the right half of s-
 CS-I (ETICT) 289
CONTROL SYSTEM /
TROL SYSTEM/Cs (ETICT RD
Addition of zero: The addition of zero to the system
288
more bent towards tho i)
plane and the conjugate root locus has of pulling the root locus to the left half of
locus controls th
righ produces the effect
half of s-plane. Since the conjugate root thereby making
making the system to be more stable and faster in
thereby
S-plane
response of the system, the addition of a pole to the loon transfe the system described by the loop transfer
th
function pulls the root locus to the right half of s-plane thereby
Se.
response. Consider
Con
function 1
making the system less stable. or which the root locus is shown in fig.(a). On adding a
k - b to the loop [Link] of this system.
simplezeroat s
G(s) H(s) = S+b) 4)
s+a)
S-PLANE
Aj
ROOT LOCUS k
k=0 k=0 S-PLANE

K0

kO

k-
jw
k

+60
8
S-PLANE
135 +45

K-oB
K 0 K=0
-b -a B
K=0
k.
k:0
 290 VBD CONTROL SYSTEMICSI{ CONTROL STEM/ CS-I (ETICT)
SYSTI 291
(ETICT BD
The root locus
TICT
of the loop transfer function (4) is sketched be conveniently carried out by rewriting the
This can
figure (b). From this figure, it is noted that the eakaway in that 'a' appears
0,Such
characteristic equation as
1
4
has shifted to the left from Bj to B2 and the root locus
point
ha.
B,
parameter.
+K s
This equation the form that
is in its root
towards the left half of s-plane. If a pair of complex bent
njugate
coniuat a gaincan be drawn for various values of 'K' by allowing 'a' to
are added to the system, loop transfer function (1) changes to poles ontours
co.
O to
yary from
=K+cs+a SOLVEDEXAMPLES
G6) HS) eah.5, Sketch the root locus and indicate all possible
s(s+ a) system with the following open-loop
5 details for a
unity eedback
The root locus of equation 5 is plotted in figure (c)
from whick transfer function:
it is noted that by adding these poles, the breakaway
point has shited K [ET-S-02/
to the left and the root locus has bent towards the
lefthalf ofs- plane GS)s(s+2)(s +4)(s+6)
Q.5. Explain the effects of pole/zero addition to K
the transfer
function ofa control system, on its root-locus. ET-W-97,CT-W-02 Soln. Given: G(5)s(s +2)(s +4) (s +6)
Ans. Effect of adding a zero and a pole: and m =0
added in the forward path for a2 order system:-
When a zero is Here n=4 =n-m4-0 4
ending at o
:. Number of loci
) Bandwidth increases, hence rise time is lessened. real axis is loci.
The
(i) Settling time increases.
Number of asymptotes= n- m=4
(ii) System becomes more stable.
When a pole is added in the forward path: Angles of asymptotes
) Bandwidth decreases, hence rise time increases. B
(2x+1)l80 x=0, 1,2,3
nm
(i) M, increases. B 450,1350,225°,315°
(ii) System becomes less stable.
Q.6. Write a short note on Root -(0+2+4+6-0)=-3 isthe centroid.
Contours. IE-W-95 4
Ans. Root Contours:
For Ob
Root-locus plot is constructed by 2)(s+4)(s+6)
over the complete range. Root contour
varying the open-looP gain
technique is adopted to the
K===-s(S+
N(S)
1

cases where a parameter other than

K or more than one parameter is -[s+12s* +14s+48s]
to be varied. The corresponding root-locus
plots are called at Root +36s +28s+48=0
Contours. Root-contours can be
constructed by the same rules.
a-4s3
The ds
breakaway points between 0 and -2,
.

only additional requirement is that the

characteristic equation
is to be We expect there are two
manipulated in the form ofspecified
variable parameter and-4 and-6.
in place of 'K.
For example: Solving the above equation, we get
Let us consider the characteristic eqn.s* + Two breakaway points as follows.
Let the root-contours are to be plotted by
as +K= 0. 'Oj -0.93,-4.76
find value of
allowing both 'a' and As there cróss over of jo axis, it is needed to
is
K' to vary.
jo cross over.
 VBD CONTROL SYSTEM
292 cs
I CS- (ETICT
(ETI CONTROL SYSTEM /CS-I (ETICCT) 293

D(s)+KN(s) = 0 BD transfer function of a unity feedback control

s(s+2) (s +4) (s + 6)+K-1 = 0 rob.6. The loop
+14s +48s+K=0 systemis
s+12s = K
The Routh's array is shown as G) H(s) s(s+2)(s +5)
the value
14 K Cletch
ke the root locus of the system and determine
damping (ii) Marginal stability from the root
S 12 48 0 (i) Critical
s2 ofKfor ICT. S-03]
10 K locus. K
480-12K
s 0
Soln. Given :
G(s) H(s) =
10 s(s+2)(s+5)
K 0

For cross-over the term 480-12 >0,480- 12K>0 Number of zeros, m =0

10 Number of poles, n =3
K> 40 s=-5
The auxiliary equation is i.e. at s 0, s=-2,
m =3 -0 3.
Number of poles ending at infinity,
n -

10s+K=0, 10s-KK
. Number of asymptotes=n- m =3
s2 s=-4 S=tj2
10 Angle of asymptotes,
is 40.
Thus root locus crosses at =+j2 s and value of K at cross over (2x+)180°
B
n-m
where, x =0, 1; n-m-1
B 60°, 180°, 300
Centroid:
K
Real part of poles of OLTF-
6C -3 =40

p-1
135 Real part of zeros of OLTF
n- m
S-6
S7
315 S=-2 S 0 2+6)+(0)-0
3-0
=-2.33
is given as
Breakway Points :-Characteristic equation

. 66-4 76
1+G(s) H(s) =0
1+
K
s(s+2)(s+5)
:0

s(s+2) (s+5) + K=0

(s+2s) (s+5) +K =0
294 BD CONTROL SYSTEMI CSI SYSTEM/CS-I (ETICT) 295
ETICT
(E cONTROL
s3+5s+2s +10s+K=0 an jw

s3+7s2 +10s+K=0
Asymptote
K--(s+7s +10s)
)
i.e.
dk0 /ti3
Take
ds
3s +14s+10 = 0 tj2

Apply
bvb2-4ac
2a 1
-14196-12014t 8.71
6 6 180
s=-3.78 or s - 0.88 S-0
Take s-0.88 S5 300
{-i1
As there are no complex poles or zeros, angle of arrival and Sc-233
departure are not expected.
Now, take the characteristics equation Breakaway
point=-0-88
-j2
s+7s2 +10s+K=0
Apply Routh's aray as follows Asymptote
3
s
17 10
K
3

70-K
7
-jw
K
For the system to be stable, all the elements in
Root locus of G(s) HG)
=
the 1" column of s(s+2)(s+5)
Routh's array should be positive.
i.e.K>0 and K
>0, i.e. K <70 Prob.7. For the system with
7 K H()=1
Combining 0 <k< 70 is the stable
range of k. G) (s +2s+ 2) (s +2s+5)
Take s row,
determine the closed
Thus, 7s +K=0 Sketch the complete root locus. Hence Roots
7s-Kk loop transfer function of the
system such that 'Multiple
7s-70 s =-10 exist in the system.
ICT-S-01, ET-S-971
+ j3.16
S =

The complete root locus is as shown in figure. Soln.

K H(s) 1

The marginal value of K is 70. G6)2+2s+2) (s +2s+5)

 RT CONTROL CONTROLSYSTEMGS(ETIST
SYSTE
sAIETICT RD
G()(s)
K
dp-90
(s24 2) ( 2s 5)
-1-J1
K [0-(909090)1- -90"
(s2s4 2)(s 2s 5)
4
d180
Steps for Drawing Root Locus
-1J1
Step (1): Root locus is symmctrical about 6
axis
Step (2): Therc are four number of poles locatcd
d-90 12
at -1-
s- 1 +J4. 1-J 1. - + J2. 1- 12 whcre pain K
1
Break away point
-0 Step (3)
-

There are no zeros. oquation is

The characteristic
Step (3) Total numbct of Root locus branchcs -0
P- 4 G()Ha)
Number of branches teminating on I=0
zcros=0
Number of root locus branches - P-Z-4
1

tcrminating at (22)( 2s5)

Step(4): Asymptote
Number ofAsymptote (2s 2)( 2 3) K -0
-P- Z-4 1la14 10 K 0
Angle of Asymptote '4 14 10)
A 0(29 + 1)
-0,1. 2.3 K--( 41t
(P-2) 14)-0
A 45, 135, 225, 315 d-ds (4.222
Step (5):Centroid 6A 2Real port of pole
-2Real port of zero
a-(2
ds
.61s 7)-0

6A - 1-1-1)
4
(P-Z)

-1
Step (6): Number poition ofreal axis lies
on root locus
-26
s-1,-1
t 7-0
-(s1)(2 4s 7-0
31581,- 1-J1581 are
581 and- I J1581 two actual breakzw
ay

-IJ1
-

-
Step (7): Angle of departure
point
d-180+ 190
-1+J1 Breakaway Direction-
aus
2 Angle contribution of zero
Step (9) lterection of Root locus on ja
-
Angle contribution of pole
The characteristic equation is
dp=180+[0-(90 +90-90 0)]=90° 14s (10 K)
-1+J
4s1
 VBD CONTROL SYSTEM/ (ETICT)
SYSTEM/ CS-I 301
300 CS-((ETICT cONTROL
wRD
y root loci for the system having
Prob.8. A unity feedback control system has G (s) = k(s +b) Prob.9. Sketch he
K and H(s)= 1.
s(S+a)
b>a
G S)2+ 2s +2) (s +2s +5)
Draw the exact root locus. Hence obtain the minim nimum the close loop transferifunction such that the system
Obtain
CT-W-011
possible damping ratio for the closed loop poles. ET-W-971 oscillatory response in the steady state.
Soln. (1) Here number of poles = n =2 xhibits an K
number of zeros= m=1 Soln.G()(2+2s+2) (s* +2s+5)
number of loci = n =2
zero Poles are located as under
number ofloci ending at oo= n - m =1 There is no
(2) Draw poles and zeros first. The Rough sketch is Figure(a).
P and P2
t4-8-1tjl
m 2

P3 and P4
-2t4-20_-1tj2
2
and they will terminate at
Branches will start from all the poles
infinity. Angle of
asymptotes : As there are four poles and no zero,
Fig.a)
(n=4 and m=0); angles
will be +45° and 135°.
(3) Real axis loci lies between 0 and -a and- b to o.
(4) There are 1 asymptotes i.e. n m along- 180°
-
Centroid (o)==-11_
4
(5) k=S)_ s(S+a)_s+as
Cross of R.L. imaginary-axis
:

N() (s+b) s+b

q(s)=s + 4s* +11s4 +14s+(10+K)=0
dk0S+as) ()-(s+ b)(2s+ a)
ds From Routh array:
(s+b) 11 (10+K)
1
.0= s+as-2s(a+2 b)s-ab
4 14
0 s2-2bs-ab s 10 (10+K)
KK
Solving 100-4
s=-btvb -ab =
ab s
10
0
The co-ordinates are accepted.
(6) The Root Locus is now drawn in Figure(b) 10+K
. 100-4 0 >0 ie. K
K<25
<25
for stability 10+K>0ie. K>- 10 and 10

for stability; 0 < K< 25

At K 25; the row of s will have all zero elements.
Asympto te S-b S S0 Auxillary equation
=
A (s)=10 s+(10+25) 0.
StjW3.5 Crossing Point
 (ETICT)
CONTROL SYSTEM/ CS-I 359
aBD
UNIT- V behavi ur of
the system can be obtained by replacing 's' with jo"

FREQUENCY RESPONSE in the

transfer function G(s) of the system, i.e.

ANALYSIS Gjo)-Gs)=jo=|GGo) 2 ¢(o)

M (0) 2 ¢ (o)
system is defined [Link] M= |G(j@)| is the magnitude of G(jø) and d (o)is
The frequency response of a control
where,

steady state response of the system when-a Sinusoidal input

is appli
plied
the angle
of Gljo). The function G (jo) representing the sinusoidal
at the input terminals. The sinusoidal input signal when appliedtthe
a steady
steaoy state
behaviour of the system is a function of complex
in
linear system results an output signal which is sinusoidal in stea
eady ving magnitude
nitude and phase
phase angle and is known as
only in amplitude
an
andvariabie j o naving
variable Jo
state and differs from the input waveform
non-linear
ude and
of the system. The magnitude and phase angle of
For non-linear system, the system frequency unction
figure. For
phase angle as shown in figure.
angle
output with sinusoidal input contains higher and sub-harmonic of function G Gjo) for various frequencies are represented by various

input frequency. eranhical plots in different co-ordinates which give better insight for
Xi(t LINEAR Xolt analysis and design of control systems.
OUTPUT
INPUTLSYSTEM Q.1. What are the limitations of time domain analysis?
xi(t Ans. Limitations of Time Domain Analysis
) Time domain approach becomes difficult to analyse the
response as the order of the system increases.
(2) In design problems, there is a lack of an unified approach
for finding design. solutions that satisfy various time domain

Xolt) specifications, such as rise time, maximum overshoot etc.

AAAAA Hence frequency domain approach is another alternative

analytic technique.
Q.2. What are the advantages of frequency domain
analysis?
Frequency response method determine experimentally the
properties of complicated control systems without any difficulty, as Ans. Advantages of Frequency Domain Analysis :
the sinusoidal test signals for various ranges of frequencies and () It is easy to get a frequency response test in a laboratory
amplitudes are easily available. It is possible with this method to with good accuracy. This is useful if transfer function is difficult to
obtain experimentally, the transfer function of the system without be obtained
by analytical techniques.
complicated and long calculations. This also indicates the changes (2) Design of open loop transfer function for specified closed
required in the system parameters to control the bandwidth, noise oop performance is easier in frequency domain than time domain.
and disturbance in the system. variations are
) Effects of noise disturbance and parameter
The transfer function describing the sinusoidal steady state casy to visualize
in frequency response.
358 VBD CONTROL SYSTEMICS-I (ETICT)
 CONTROL SYSTEM / CS-I (ETICT)
VBD CONTROL SYSTEM/I CS-I
CS-I(EY
ETICT
aD 361
360
(3)
Magnitude versus phase plot : It is a
plot of magnitude
time and frequency domain rectangular co-ordinates as o is varied.
The relations between versus phase on
performance, is indirect. Once these
relations are understo.
stood, Q.5. Writo
/rite short note on Frequency response specifications.
be adopted with advantage.
irequency response may [ET-W-99, 02]
"Need of frequency domain
Q.3. Write a short note on don Ans.
analysis'. Mr
OR
Explain in short 'Need of frequency domain analysis
db
Ans. Need of Frequency Domain Analysis:
In time domain all variables are plotted with respect to time
How does the output behave for various values of time? This can hbe
tim
easily plotted with Y-axis showing the output and X-axis the time.
Time domain analysis are thus easy to visualise.
Now in frequency domain, the independent variable is Bandwidth (B.W.) JET-W-00: The range of frequencies
frequency. A frequency is varied how does the output behave is over which M(o) is equal to or greater than 1/2 is called as
analyzed. Here the X-axis has frequency and Y-axis has the various bandwidth ofthe system.
output. But the effects, of change of frequency is not easy to The bandwidth of a system defines the filtering characteristics
visualize. of the system and also gives the measure of the transient properties
Now control system have inputs which are usually a sudden of the system. Higher frequency signals are passed through a control
change (step), acceleration, impulse, etc. No system is applied asine system with larger bandwidth there by making
the system transient
wave for it's input. Still frequency domain analysis is used. response faster having larger overshoots. For small bandwidth
This is because
system only lower frequency signals are passed through the system
(1) The response and specifications of frequency domain
canwhich makes the system transient response slower, having smaller
be related to time domain response and specifications in time domain
overshoots.
Quantities
(2) There is a unified approach. [Apart from limitations intime i) Peak "resonance (M,): The maximum value of the
domain analysis.] Hence we need to study frequency domain magnitude of closed loop transfer function M(jo) is defined as the
analysis. peak resonance M, or
M(0), of the system as shown in figure.
Q. 4. What are the methods of frequéncy response analysis Larger values
of M, produce larger overshoot in the time response
Ans. There are several methods of frequency response analysis.| of the
system. Generally, the value of M, selected for design is
The following curves are used widely.
between 1.l
(1) Polar Plot: It is a plot of magnitude versus phase angle as and 1.5.
in) Resonant frequeney (o,): The frequency at which the
o is varied from zeró to infinity in polar co-ordinates
gnitude of M(0) is maximum is known as the resonant frequency
(2) Bode plots L: There are two plots: () Magnitude
Phase, both versus frequency o in logarithmic value. (,) ofthe system.
 CONTROL TEM/CS- (ETICT) 363
WBD CONTROL SYSTEMIsAETICT
CSE UBD
362

iv) Cut-off rate: The rate

of cut-off for the frequeney response C(jo)=T()0)(jo+200n
as the cutoffratn jo) +2go, (jo)+0
characteristics at higher frequencies i5 known
ability to distinguish betu..
system. This indicates the system ween the
signal and the noise present in the sy'stem. In general, shatn
sharp cutof 1- +25j-
characteristics are accompanied

v) Gain margin:
by Jarger Mp and less stabilit
This is defined as the magnitude

reciprocal of the open loop transfer function evaluated at the nh.

phase
.
of the TG)
(1-u)
n
+j2zu
Dn

cross-over frequeney for which the phase of open loop transfe = s the normalized driving frequency signal
Where, u
function is -180°. Hence gain margin (G.M.) of the open loon n
frequency. From
equation (i), we get
system transfer function is equal to 20 log10 Cio at the phase
G (jo)
Tjo) =M=-u+ (2g? (ii)
cross-over frequency
vi) Phase margin: This is defined as 180° plus the phase Tjo)=¢= - tan"(2u /(1-u)]
11)
angle (o), of the transfer function at which the magnitude is unity.
The steady-state output of the system for a sinusoidal input of
This indicates the relative stability of the system.
unit magnitude and variable frequency o is given by,
vii) Gain cross over frequency: The frequency at which

G (jo)H (jo)| = 1
(0db) is called as the gain cross-over sin ot-tan-12u
+(25u)2
frequency. I-u2
viii) Phase cross over frequency: The frequency at which From equation (ii) and (ii), it is seen that when

u=0, M=1 and o =0

2Gjo) H(jo) =180° is called phase cross-over frequency.
Q.6. Establish the correlation between Time
response specifications.
and Frequency
(ET-S.97,04, CT-S-03
u= 1, M= and
25
o=-
Ans. A second order system has the transfer function
u , M->0 and o=-T
C(s)
ne magnitude and phase angle characteristics for normalized
R(s)
s+20,s +o
quency u for certain values of are shown in figure (a) and (b)
as
The sinusoidal transfer function of
the system is obtained Dyfollows
follows.
putting s=jo
 CS SYSTEM//CS-I (ET/CT)
364 BD CONTROL SYSTEMI cSAETIC IBDCONTROL 365

,Mt=1<0707) which gives

=
1
4u-4u +85u, 0 or u,=ya-28)
yC1-2E2)
o, =On iv)
10 equation (ii)
From
Magnitu-
de M M, ...(v)
0-6 25Va-E)
Mr MI0-707 and
tan a-2 E|
0-2
From (iv)
and (v), it is seen that as» -
0

LUr=Wr/Wn and M, co

lal
0< E <0.707, M, 1s greater than unity, », is less
For

than @n
and
E>0.707, there is no resonant peak and the M, = 1
Cor

O, 0.
-90 M, of frequency
response is indicative of g damping factor
frequency is indicative of natural
for0<E<0.707. @, the resonant
Phase
angle indicates speed of response
frequency @, (for a given ) and hence

as
180 0-4 0-8 10 12 2-0
Normatized Frequency u etting 4E@n
(b
Cut-off frequency of bandwidth
The frequency where M has a peak value is known as the has a value
Cut-off frequency @c is the point at which M
resonant frequency. At this frequency, the slope
of the magnitude 0.707. Usually control system are low pass filters, hence M = 1 for
curve is zero. Let o, be the resonant frequency
and u, =(0, {Oa)zero equal to @c. Put M = 0.707,
frequency, bandwidth becomes
.

be the normalized resonant frequency. Then

dM 0=0inequation (i), we get

du u-
140-uu, +82i, 0
2-u2+(23u,f Let
c On
 CONTROL 3Y. 367
BD CONTROL SYSTEM/CS-I
366 (
ETICT D plot of M,
and M, vers is shown in figure (c) below
A 3-5
0.707 5)2
-u2u, 3-0

1-u+2ueE) =2 MrMp 20
Mr
Solving u--25 JV454-42 +2
15

=op -2gst-4g3+21/2 (vi)

1:0

0-5

and BW =@c
O 0-2 04 0-5 T 0-8 10
positive sign is-taken as BW is a positive quantity. From (vi), 0:707

BW @ is function of o and It is seen for 0 <

M and M, are functions of

(1) BW is directly proportional to on only. For > Mr does not exist and Mp is also well damped.

(2) BW decreases as L increases Similarly the rlation between o, and oa as a function of is

shown by taking
3) BW and M, are directily proportional for 0<<0.707
-2 (vii)
(4) As time increases, BW decreases. 1-2
g.
Further co-ordinates between time and frequency domain It is seen both are functions of
response are discussed with reference to a step response. Relation
Again BW is indicative of g and settling time t
12r
between @d, the damped frequency of oscillation and 1.0
M,, the peak
overshoot given by relations from time domain specifications i.e. wrd o-8

0-6

0-4

0-2
M, =exp
0
00-2 0-4 0-6f 08.10
0707
 376 VBD CONTROL SYSTEM ICS-IETICT
(ET
SYSTEM/CS-I (ETICT)
Q.11. What does band width imply? alD CONTROL 377

Ans. A large band width means higher frequencies are cail Q.14. Say True of False. Justify with Reasons. "As
passed through the system. This means ise time andhence damping ratio increase from 0 to 0.707, Mp increases, M,
a faster risc

band width gives an idea about transient response characteristin

tics. A decreases".
small band width implies only few frequencies are passed and hen Ans. As 3 increases from 0 to 0.707 both M, and M,
implies a sluggish response. But a large band width imp decreases, as
as said above. Hence false.
said in Ex 55 above. false
band width
ePdecreases,
susceptibility to noise and hence, from noise tering o.15. Derive the correlation between phase-margin and
damping-factor.
characteristic is known. The sensitivity to parameter variations ns s
also implied in band width.
Ans. Consider a standard 2 order system.
Q.12. What are the effects of adding a zero and a pole in the The open loop T.F. = G G«) H(jo)=.
forward path? jo) jo+250n)
Ans. EFFECTS OF ADDING A ZERO AND A POLE At gain-cross-over frequency (o) : |Gjo)|.|H(jo)|=1
When a zero is added in the forward path for a second order

system, =1
jo (jog+25@n)|
(1) Band width increases, hence rise time is lessened.
(2) Settling time increases.
i.e. -=1
(3) System becomes more stable.
When a pole is added in the forward path,
g yo+45o
(1) Band width decreases, rise time increases. a+42 .a-o =o
(2) M, increases.
If say x= o is substituted; it becomes a quadratic eqn.
(3) System becomes less stable.
Q.13. Justify with reasons. Say True or false. Solution given; o2=4S @ t/163 0+40
As damping ratio increases peak overshoot and resonating| 2
peak magnitude both reduces".
-2 oto4z+1
Ans. The resonating peak magnitude
M, =- decrease
51-2 =-22
On
+y1+45
as increases.
Now
- Tt =180° +2G(jo).Hjo) lo=@g
Mp= PM
e-
. .

peak overshootreduces as PM 180-90°- tan

g
increases Hence True.
2
 CONTROL YSTEM/CS-I (ETICT) 387
WRD

[Link]. Factor Magnitude Phase

Straight line of slope »
-90 for all
JO dB
-20 and passes
dec
through o=1,0 dB
point.

2 Line slopes are o tan o for all o

1+jo
1) 0 dB
forfor o <1
dec

2)-20 dB for w>1

dec
3 1 Line slopes are o=-tan 5
forall o
1+
)o dB
dec
for o <1

dB
2) 20 dec for o>1

4 K=2 Straight line at = 0° K>0

20log1o 2 6.02 dB

The phase for each term is

for k 2 =0
for j -90
for
1

1+j
- tano
 CONTROLSYSTEM /cS-I (ET/CT) 393
VBD
392 BD I CSi(ETICTn
CONTROL SYSTEM/CS-1(T Q.18. What are the limitations of Polar Plot?
Limitations of Polar Plot:
Ans.
14.42 1) The
calculation or requency response by polar plot
=1
(2.13) and not give the effect of individual poles and zero's.
g1+ogx tedious and does
2) Addition
A of poles and zero's to an existing system requires
o (1+4.54o)=207.93 recalculation of frequency response.
complete
he
@g =6.657 rad/sec Method of constructing Polar Plot:
1) Determine the transfer
function G(s) of the system.
ii) Phase-margin= pM =180° + 2G (j0)| o=og
=
2Substitute s jo in the transfer function G(s) and obtain the
PM =180°+[-90°- tan (2.13x 6.657)] function G (jo)..
frequency response
PM=4.033
3) Obtain the magnitude of G (jo) at o = 0 and o= o by
ii) M, having lim |G (jo)| and lim |G (jo)|.
251- 2x0.162 1(0.162)2 0-0
M, =3.128 4) Calculate the phase angle of G (jo) at o=0 and o=o by

Polar Plot having lim2 G(jo) and lim 2 G(jo).

IE-W-97 00
Q.16. Write a short note on Polar Plot.
5) Rationalize the complex frequency function G (jo) and
Ans. Polar Plot:
The polar plot of a sinusoidal transfer function G Go) is a plt separate the real and imaginary parts.
as
of |Gjo)| versus phase angle of G(jo) on polar. co-ordinates 6) Determine the frequencies at which the plot intersects the
o' is varied from zero to infinity. It is also called Nyquist plot. Ihe real axis by equating the imaginary part of G go) equal to Zero, 1.e.
plot is plotted on a complex plane. As o is varied, magnitude and Im (jo)]=0. Hence calculate the value of G(jo) at the
G
phase angle change and if magnitude is plotted for varying phas
construct nersection point by substituting the determined value of frequency
angle, the locus obtained is the polar plot. It is easier to
and tne rationalized expression of G (jo).
and at any desired frequency, ready information of magnitude
phase angle can be obtained. However calculations are tediousano T) Determine the frequencies at which the curve intersects the
to imaginary
ifa system is modified by adding a pole or zero, the polar plot has axis by equating the real part of G(jo) equal to zero 1.
be constructed again.
RG (jo)]=0. Hence calculate the value of G(jo) at the
Q.17. What are the advantages of Polar Plot? LCTSCction point by substituting the determined value of o in the
Ans. Advantages of Polar Plot: Frationalized
1) It indicates the frequency response characteristics over the
expression of G (jo).
entire rauge of frequencies in a single plot. o Sketch the complete polar plot ofthe system, which satisfies
2) The stability of a system can be investigated using polareabove
pol specifications.
plot.
 VBD CONIRUL 395
394 VBD CONTROL SYSTEMI CS-I (ETICT
Graphical Method:
Q.19. How will you determine gain margin and phase
(1) Construct the polar-plot of the given system.
margin from polar plots?
(2) Find the frequency at which the plot intersects - 180°. This
Ans. Determination of GM and PM from Polar-plots:
will be Op
Let us assume that for a certain system, the polar plot is as

(3) Find the intersection point; say 'a'. This will be

shown figure.

The system must be a open-loop stable system. Gio) at g

Now as per the definitions of Gain Margin, it is the factor by
GM O GM 20log
which gain can be increased to drive the system to the verge of
instability, and mathematically; =
(4) With centre at origin and radius 1, drawa circle which
GM intersects the polar-plot; say at "b'.
G(j@)l o= @p
dist ob 1

Where is the phase cross-over frequency

The frequency at this point will be og
ie. thefrequency at which/ G(jo)= -180°
(6) PM =L ob w.r.t.-180° axis =0
90
Analytical Method:

180 1) Equate 2G(jo) to 180 and find the frequency. This will
0
0
bep*

2) Find
1G(jo)|by substituting o= p
3) GM=
G(jo)l a=op?
Similarly Phase margin DpM =180 + ZG(jo)|o=Dg 4) Equate will be og.
| G(ja)| to l and find the frequency. This
Where @ is the gain cross-over ency
frequency i.e. the freq
$) DPM
at which
180° +2Gjo)lo=og
|G(jo)|=1.
 (ETICT)
CONTROL SYSTEM/ CS-I 419
418 VBD CONTROL SYSTEM/CS1 (TICT VDD
equation (4), it is seen that the zeros of q(s) at
90 From are the roots of the characteristic equation and
1, -Z2,. Pn are same as the open-loop
poles ofq( at-P1P2
a(s)
the system. For the system to be stable, the roots of the
etem. Fo
poles of
the and hence the zeros of q(s) must lie in the left
cteristic equation
180 s-plan. It is impoftant to note that even if some of the
or the
half of
half poles lie in the right half of s-plane, all the zeros of q(s),
open- closed-loop poles may lie in the left half of
s-plane,
the
operation.
.
ie,aning thereby that an open-loop unstable system may lead to a
closed-loop stable
investigate the presence of any zero of q(s) = 1+
In order to
right half s-plane, let us choose a contour, which
Gls) H(s))in the (right) hal Or
Nyquist stability criterion itcompletely encloses this of the s-plane. Such a contour
Q. 20. State and explain Nyquist's stability criterion in
Nyquist ntour is shown in fig. (2) It is directed
called the
IE-S-98; W-99, W-00, S-02 or a infinite line segment Ci along the
most general-form. comprises
the location of roots of clockwise and
Ans. Nyquist stability criterion relates response an arc C2 of infinite radius.
frequency, io-axis and
the characteristics equation to the open-loop
not necessary. and the Along C
The computation of closed-loop poles is
stability study can be carried out graphically from the open-loop
s= jo with s varying from -jo to+ jo and along C2,
frequency response.
Re with 6 varying from + to 0 to
-
Q.21. What is Nyquist criterion? ET-S-97,
CT-W-03,S-04| =lim
R-
Ans. Nyquiststability criterion: The Nyquist contour so defined encloses all the right half
system-shown in figure
Consider the single-loop feedback s-plane zeros and poles of q(s)=1 +G(s) H(s). Let there be Z zeros
The characteristic equation of the system is
q(s)=1+G (6) H(s)=0 ..(1) andP poles of q(s) in the right half of s-plane. As s moves along the
is traversed in
transfer function yquist contour in the s-plane, a closed contour Ia
The standard pole-zero form of the open-loop
theq(s)- plane which encloses the origin N = P-Z
G () H(S) is
+ Zm) times in the counter clockwise direction.
G(s) H(s) =k 1)(S+ Z2)..(s ,mSN 2) In order, for the system to be stable, there should be no zeros of
(s+P1)(s+P2)..(s+ P)
46)-1+G (s) H ($) intheright RiS) OlS
From equation (1) and (2), we obtain
(S+22)...(s+ Zm) .. half of s-planc,
i.e., 6tS
q(s)=1+ kZ
g6) Z=0
(s+Pp) (s+ P2)... (s + Pn)
P1)(s + P2)... (s+Pn) +k(s+ z1) (s + z2)... s+Zm2
This condition is met if HIS)
(s# N=P ...(6)
(s+ P) (s+P2).. s + Pn
for à closed-loop system to be stable, the number o,
+zi)s +z5).+zn)2 . at 1s,
nter clockwise encirclements ofthe origin of the q (S) lane o
(s+P) (s +P2)...(s+ Pn)
 420 STEMICS-A SYSTEM s-1 (ETICT)
BD CONTROL (ETICR CONTROL 421
g'BD poles of G(s) H(s),
of right hall s-plane
the contour iw
T should equal the number of the the closed-
S-plone
ber stable.
um

right half s-plane poles of q(s), which are the

Ca
C2 slem
Joop
system isstable
commonly occuring case of the open-loop stable system,
poles of open-loop transfer function G(s) H In the stable, if the contour GH of G(s)
(s). As G(s) H(s) is generally known in the Re closed-loop system is H(S)
the point, i.e. the net encirclement is zero.
factored form, the number of such poles (P) is encircle (-1 +j0)
doesnot Nyquist
easily ascertained by inspection. Procedure for drawing plot:
In the special case (this is generally the J» the Nyquist contour
Themapping of
into the contour TGH
is
case in most single-loop practical systems)
ofP=o (i.e., the open carried out as
follows:
loop stable system), the closed-loop system is stable, if the imaginary axis
i)The mapping of is carried out by

N=P=0 ubstitution of s= 0 in G(s)H(s). This converts the mapping

which means that net encirclements, of the origin of the

q(s function into a frequency function of G (jo) H(jo).
plane by the Tq contour should be zero. It is easily observed that
physical systems (msn) lim Re'"G($) H(s)
i In
R-0
= real
G () H(s)=[1+G(6) H(s)]-1.
constant (it is zero
constant (itis if m < n). Thus the infinite arc of the Nyquist
It therefore follows that the contour IGH of G(s) H(s)atoitrmaps into a point on the real axis.
corresponding to the contour TGH is thus polar plot of[G (ja) H(j»)]
The coimplete
Nyquist contour in the JV
with o varying from -oo toco. This is usually called the Nyquist
s-plane is the same as as) Plane
plot or locus of G(s) H(s). Further it is important to note that the
contour
I of 1+
1+GH Nyquist plot is symmetrical about the real axis sinc
G(s) H(s) drawn from
the point (-H +j 0).
1+GHGH G
(jo) H* (jo)=G(-jo) H(-jo).
14j0
Thus the encirclement [Link] the principle of argument and hence deduce
of the origin by the Syquist stability
criterion in its most general form.
contour is TCH Contour contour IET-S-01,W-02]
equivalent to the encirclement of the point (-1 + j0) by the contour Ans. Principle of argument:
TGH as shawn in figure (3).
Consider a function q (s) that can be expressed as a quotient of
We can now state the Nyquist stability criterion as follows: o polynomials. Each polynomial may be assumed to be known in
If the contour rGH of the open-loop transfer function GS) lorm of product oflinear factors as givenbeloW
H(s) corresponding to the Nyquist contour in the s-plane encircles
the point (-14j0) in the counter-clockwise direction as many times afs)=a1) (-a2)..(s-am)
(s-P2)..(s-Pn)
1)
(s-B)
 SYSTEM
EM/ CS-I (ETICT)
CONTROL
cONTROL 423
422
VBD CONTROL SYSTEM / CS-I (ETICT
BD s-plane

Let s be a complex variable, represented by s =0+J0 on the jw qls-plane

qls)
Complex s-plane. Then the function q(s) is also complex (being a rerosofqi
qls)
s-1)
of gs)
dependent variable) and may be defined as q(s)= u + jv and poles
d

represented on the compiex (s)-plañe with "co-ordinates u andy.

Equation (1) indicates that for every point s in the s-plane' at which (s-Ba) Lals)
in
q(s) is analytic, we can find a corresponding point q(s) the q(s)-
plane. Alternatively, it can be stated that the function q(s) maps the
points in the s-plane into the q(s)-plane. Since any number of points ,is-Pa)
in the s-plane can be mapped into the q(s)-plane, it follows thatfora
contour in the s-plane which does not go through any singular point, I9
IA
there corresponds a contour in the q(s)-plane as shown in figure 1.
The region to the right of a closed contour is considered enclosed by If the s-plane contour is so chosen that it does not encloses any
or
the contour, when the contour, is traversed in the clockwise ero orpolethe corresponding
contourin the q(s) plane then will not
zero of q(s) enclosed by the
direction. Thus, the shaded area in figure 1a is enclosed bythe closediclethe origin. In general for each
contour, lanecontour the corresponding
q(s) plane contour encircles the
Consider an s-plane contour which encloses only one ofthe aiein orngin
once in clock-wise direction.

zero's of q(s) says, s=aj as shown in figure 2 while all the poles
Aiw
and remaining zero's are distributed in the s-planè outside
the
s-plane Hs) plan
contour.
S-plane
7 1gls)-plane
s2
gls2)

(sa A

Artitrarily chosen
S-plane contour
Correspon ding qls)-plane
contour
w S-PLANE iv qsPLANNE

(A 8)
once
It is found that the q(s) plane contour encircles the origin
in the clockwise direction.

Ifthe s-plane contour encloses two zero's as shown in fig.

say, at s =d1 and s =
a2. The q(s) plane contour encircles the orig
twicein the clockwise direction as shown in figure
 CONTROL SYST
SYSTEM 9ElIC)
425
BD Nyquist contouredefined earlier cannot be used
424 qBD CONTROL SYSTEM/CS- TICT) axis, i as such
s-plane conto jO S-plane ontour should not pas through a singularity
Similarly for each pole of q(s) enclosed by the tour ne the
since h of
(5). To study stability in such cases, the Nyquist
encircles the origin one in Gs)H contour
ne coresponding g(s) plane contour 1+ ied so as to bypass any jo-axis pole.
modified This is
zero ust be
Thus, if there are P poles andd4Z zera.
ero's
Counter clockwise direction. omplished by indenting the Nyquist contour around the j o-axis
afe
contour then the corresponding
of q(s) enclosed by the s-plane along a semicircle
o radius E, where e>0 as shown
emicircle of in fig.
times in the
e clockwjsnoles
clocku.
encircle the origin Z a short note on Nyquist
plane contour must Q.23. Write Contour.
times in the counter clockwise direction, resultino n w
direction and P
Ans.
the origin, (P - Z) times in counter
clockwice j
a net encirclement of
c
direction. For example in case of
1
zero and 3 poles enclosed by the

the origin by the q(s) plane

e
R
s-plane contour the net encirclement of
= 2 i.e. two counter clockwise revolutions as shown -joo
contour is 3-1
-jw
in figure 4.

This relation between the enclosure of poles and zero's of q()

of origin by q(s) plane
by s-plane contour and the encirclement which comnpletely encloses right half of the s-plane
-
Á contour

contour is commonly known as principle of argument. is called as Nyquist Contour. It is directed clockwise and comprises
OPEN L0OP POLES ON THE jo Axis. of an infinite line segment C along jo axis and an are C2 of

infinite radius.
Jo

Along C; S=jo with 's' varying from -jo to +j co; and

-0
io o
j0 Re
Radius along C2 s
=R With '6' varying from +
-i
ne Nyquist contour so defined encloses all the right half s-

plane poles and zeroes ofq (s) = 1

+G (s) H (s).
If G() H (s) and therefore 1+G(s) H($) has any poles on
 CONTRUL

426 VBD CONTROL SYSTEMI CS-I(E D iw

SOLVED PROBLEMS: +jw
5(s3)
Prob.18. Consider G() HS) s-1)
and then determine the
Draw the complete Nyquist plot ET-W-99,CT-W-03
stability of closed loop system.
H(s)=25+3)
Soln. Given: G) H6)
G(s) s(s-1) (1

function has one pole at origin. Hence i) For

The loop transfer
be as shown below. (jo) the sketch and angle will be as shown below
Nyquist contour in s-plane will For
J

jw
L=90
w-00

w:0
0

Here it is therefore the sketch and angle will be as

shown below. 6
:"'.
Step 1: Part I of Figure(a)
Puts=jo in equation (1) 202 90. (3)

Hjo)=8+jo
G(s) H(gO)io(-1+j (i) For
1
iw
-1+ jo)
Now calculating the angle 2G(jo) H(j»). For doing this
let
For(-1+jo), the sketch and angle is as shown below.
us first see the angles of individual components i.e.
Angle-180-an w
(3+jo), and
jo (-1+jo)
+jw
(i) For (3+jo)
By calculation tan
20tan
 CONTROL SYSTEM GS-T(ETICT)
429
(ET
CONTROL SYSTEM/ CS-I ETICT) BD othe intermediate point o=3
For any ther
428 VBD
(d)
), therefore
nerelore the Sx32 +32
However here the
component
is1+ jo Gljo)
Hjo)=<
3xV12 +32
2.236

sketch and angle will be

tano io)= tan -90+180° +tano
20= -180° - Positive IGjo)
OR = 45°-90° +180° +71.56=206.56..(8)
=80+ tan o 4 negative
results from equation (5), (6), (7) and (8) are observed, it
40 the
f found
(a) At o=0 jw tha the resulting polar plot crosses the- ve real axis.
will be
Gjo)HGo)== point of intersection with negative real axis is obtained as

and (4)
iw The
ws. At
this point of
intersection the angle
2Gjo)Hjo) should
From equation (2), (3)
+180 + tano
2Gjo) HGo)=tan"-90°
3
be180
180= tan -90 +180 + tano
= 0-90° + 180 +0
=90°

At o=0; Gj»)H(jo)|=» 90 = tan + tano

and Gjo) H(jo) =90 Taking tan on both sides
(b) At o =
=tan
tan 90= tan+tano3
Gjo) H(jo)|==0
We know that,
LG(jo) Hjo)= tan
-90°
3
+180° + tano )-- tan A tanB
tan (A +B)=-
tan A tan B
90-90°+ 180°+ 90° 270° =-90°
=

.At o= Ggo)Hjo)|=0
and 4G(jo) H(jo)=-90° ) tantan90-
c) For any intermediate point o =1 1-X0
Ggo)Hjo)l-
Gg)Hg)
Sx/12+32
==11.18
Ixv12+12
- 3 0 3
=1= o2 =3;: o=v3 =1.732

ience the polar plot will intersect negative real axis at

radlsec.

2G(jo) Hjo)|= tan 90°+ 180° + tan'o (9

3
0=1.732
= 153.43 At this value
= 18.430-90°+ 1800 +450 of o, the magnitude will be
430 qBD CONTROL SYSTEM /CS-I(E CONTAOL SYSTEM / CS (ETICT)
ETICT 9D
The given
open loop transfer function
GGo)Hjo)j=3*V1.732 +32
431
17.32
= 5
.p
s-plane. P= 1.
1. Hence has one
pole (s=
ighthalf the open
1.732x v1.7322 +12 3.463 (10)
(l0)iht
The
abovenyquist indicates thatloop 1) in
system
the (-I +j 0) point is unstable.
Step 2: Part lI of figure(a) eG(s) locus
H(s) 1ocus
G(s) H(S) once in counter clockwise is encircle
bythe ircled
Cncircled
Z = N+P directi
Puts [Link]
varies
equation (1)
from+90° to-90° and R->
N=-1.1. Z is found from
to be zero which
no zero of [1 +G(s) H(s)] in the
on. Hence
lence
indicates
wherein there is right half the
system is thus stable s-plane and the
closedloop
IGGo)HGo)|R. [Link] the stability of
the closed loop
(Re+3) system
5
aring G(s)
() H(s)=S+2
R Re (Re-1)
0 having G
H(S+1) (s-1)
using Nyquistplot.

6+90°; 2G(jo) Hj@)>90° 90° G(s) H(s) = s+2

when -90=ono Ans.
At 6=-90; 2G(jo) H(jo)=-90 +90+90=90(11) . .Gio)Hjo)=
($+1)(s-1)
- jo+2
Step 3 Part III of figure(a) Gjo)H(jo)=
(jo+1) jo-1)
This will be the mirror image of part I as varies from The Nvquist plot for this
-
o to 0-
is plotted in figure (use
Step 4: Part IV offigure(a) echnique as used for plotting polar plot). same
Put s Eein equation (1) From the transfer function, we see
that there are no zero's in
wherein 8 varies from 90° to 90° and R.H.S. of s-plane.
-
e^0 the

Z 0 and one pole in the right half of s-plane.

Gjo) Hjo)|,-cejo
iw
imS(eeJ+3)
ee (Ee-1) : W-0 W -oo
when -900; 2G(jo) H(jo)=90° -180 W-0 -1t jo Wt
At 0-90; 2G(jo) H(j»)=- 90° (12)
P 11 W-1NCREASING
Nyquist plot is as shown below, Im
GHPlane .N=P-Z=1-0=1
The Nyquist plot should encircle the point -
1 + j0 once in
counterclockwise
W-04 direction.
From the plot we see'that it encircles the point-1+j0 once in
Counterclockwise
direction.
Re
Wco N=l+P, thus Z = 0 .e. there are no zero's ofl +G($) HSs)
w:0 ight half of s-plane and hence the elosed loop system is
Stable
 VBD COn IEMI CS-l(ETICH
SEM YBD CO
432 ETiC) values of o,Gjo)H(jo) 433
system With an open loop
looD transfer For various is calculated
and plotted
Q.25. Consider a sier figure(b).
in
s shown
function.
The G o)-locus intersects the real
(4s+1) axis at a point
G) H)=-- Gjo)H(jo)=-180
s(s+1) (2s +1) where
the system by using N (-180° tan
Investigate the stability of quist or
-
o-tan 20+tan4o) =-180°
CT-W-02
stability criteria. which gives, =1/2N2 =0.354 rad/sec.
system has a double pole at the origi
Ans. The open-loop
therefore indented to bypass the oria:
rigin as Therefore, G (jo)H(jo) lo=1/2/2=10.6
The Nyquist contour is
in figure(a). The mapping of the
Nyquist contour is obtaained
shown Further 1G(jo)H(jo)lo-+jo=0 2-270,
as follows:
i) Semicircular indent represented by s= lim e eJ (whe
herre . ie. the map of j o-axis ends at 04-270° as +00.
E0
ii) The infinite semicircle of the Nyquist contour represented
varies from -90° through 0° to 90°) is mapped
into
lim ReJ9 (¢ varies from + 90° through 0°
by S to -90°) is
4EeJ+1 R-0
Lim
E-0 20 (EeJ® + 1)(2eeJ" +1)] mapped into

(1+4ReJ) = 0 e i3¢
= Lim =ce-j20 Lim
(1 + ReJ®) (1+2ReJè)
e0E ej28 R-R2
=o (180° >20°-> Z-180°)
=0 (2-270°>20°>2+270°)
This part of the map is an infinite circle shown in figure b. The complete mapped plot corresponding to the Nyquist
ii) Along the jo-axis contour of figure(a) is shown 'in figure(b). From this plot, it is
observed that (-1+j0) point is encircled twice in the clockwise
Gjo) H(jo)= +j4o) direction. Therefore, N =-2. From the given transfer function, it is
jo) (1+jo) (1+j2o)
Bseen that no pole of G(s) H(s) lies in the right half of s-plane ie. P=0.
iw iv Thus-2 0- Zor Z = 2. Hence two zeros of q(s) lie inthe
j right half of s-plane from which we conclude that the system in
unstable.
10-6 By use of Nyquist criterion, determine whether the
i W= 0 W+
Q.26.
IOSed loop. systems having the following open loop transfer
i je W=0T Wa-
functions is stable
8e 14js or not. If not, how many closed loop poles lie
wv/2 in the right half s-plane?

G(s)H6) = ET-W-98
s(1+2s)1+s)
 qBD CONTROL SYSTEMI CS. CONTROL SYSTEM, T (ETICI)
AETICT
434
ies.
BD part of G(jo) HGo) to zero
435

transfer function is equateima rinary (..equation (2)=0)

Ans. The open loop =
o(1-2o) 0
we

Gjw)Hgw)= io1+jo)(1+2jo) )
I- 200
j

J
=
Putting o 1/V2 in the real part of Gjo) Hjo) we get

GG/2 ) HG 1/2)= -
=-0.666

Thus, the Nyquist plot intersect the negative real axis at- 0.666
=0, |G(jo)H(jo)= and
-i open loop transfer function
at
4Gjo)Hjo) = -90°
The Nyquist contour for the above
is shown. (3) The infinite semicircular arc of the Nyquist contour
is obtained as follows represented by
The mapping of Nyquist contour
origin
1) The semicircular indent around the pole at the ReJ° ( variesfrom 90° through 0 to -90°)
Lim
represented by R
Lim E eJo 1
S= E0 is mapped into Lim =
.0
." Ro LRed(+Re'®)(1+2Re")J
( varying from- 90° through 0 to +90 ) maps into
i.e. the origin of G(s) H(s) plane.
.
1
=.Lim
oLEea+2Eei®)0+Eej®EEeJ (4) Themappingof Im GH Plane
negative imaginary axis is the
= o e =
o(L90° >L0°> -90°) mirror imageof positive P 0
imaginary axis, The Nyquist plot -2/3 N=D
Thus the semicircular indent around the origin maps into a
s as shown in figure
semicircular arc of infinite radius in G(s$) H($) plane.
Z 0

There are no poles of

to oo) is doneas
Re
(2) The mapping of imaginary axis (o = 0t G(s)H(s) in the right half of s-
follows. Along the jo axis we have plane.
Stablel
Gjo)Hgo)io1+jo)(1+2jm) Thusfor stability the (-1+
J0) point should not be encircled
1
by the Nyquist plot. From the
Gjo) H (jo) = - .) plot, we see that the (-1+ j0) point is not encircled by the
-3+jo(1-204) st
quIst plot hence the system is always stabie
For the point whère the Nyquist rosses the negative real ax
 CONTROL SYSTEM//CS-1 (ETICT)
437
WBD CONTROL SYSTEMICS. (ETICT BD
critical value of stability is obtained by letting Gj 2.4482)
436 system whose
10se open The
feedback loon Hencece,
a unity
Q.27. Consider 0.8s equalto-1. 1
ke 0.378k=2.65 k
transferfunction is GS)s+1) Figure shows
the Nyquist plots of
plot, of kb.
determine the critical value of e0.8jo 2.65
Using the Nyquist 2.65 and
j 1+ jo
stability.
Nyquist stability
criterion. ET-S-99 1
Explain also the Im
ke0.8s
Ans. We have (s+1)

k(cos 0.8- j sin 0.80)

k.e.8Jo 0
Go o)jo+1) jo+1) w-2-5 10
Re
Re
Rationalising, we get W2 2.65
0.80 -j sin 0.80) (1- jo)
GCio) cos -w / 1+jw
Cjo+1) (1-jo)
1.5 2-650.8 jw
w1 1+j
k. (cos 0.8 o - j sin 0.8@) (1 - jo) f-2 0.5
Gjo)= 2

Prob.19. Draw the complete Nyquist plot for a system

Gjo) [(cos 0.8a@-
sin 0.80) whose open-loop transfer function is

= K
-j(sin 0.8o +ocos 0.8o)] G) H(s)
s(s+2) (s+10)
Equating imaginary part ofequation (1) to zero, we get
Determine the range of K for which closed-loop system is
sin 0.80 + o cos 0.8 o =0 stable.
sin 0.8
Soln.
cos 0.8o
+0= 0
K
tan 0.8 G(s) H(s)
.0- (2) s(s+2) (s +10)
Solving equation (2) for smallest possible value of o, we get,
. 2.4482
K/20
For point of intersection of Nyquist plot with the real
s(1+0.5 s) (1 +0.1 s)
axis
substitute o=2.4482 into the real part
of G(jo) -90
- tan
0.5 o- tan'0.1o
GG 2.4482) = k K/20
(cos 1.956 2.4482 sin 1.9586) M=-
1+(2.44822 oy1+(0.5 o) 1+(0.1
G2.4482)=-0.378 K
 SYST STEMICS4
438 ETICT cONTROL sYSTEMICS-I (ETICT)
VBD 439
When, Th polar plot and magnitude versus phase plot can easily
iv) The
iv)
=0 =-900 compute from the Bode plot.
=-270 be co
be e frequency response ot a system consists of two or
more
for which the frequency response from Bode plots
Nyquist plot is shown in
Figure. cascade element
1 ained by combining the Bode plots of individual elements.
==4.47 rad/sec an be
Consider a typical ansfer function G(jo) factored in the time
0 T T20.5x0.1
Constant form

aKTT
a20 T+ 12)
mag
Gljo)=
k(1+joTa)(1+ j»T,).

Ti)(1+joT2).+28 4jo
jo(1+jo
K(0.1x0.5)
20(0.1+0.5) Wro
n
K
Rea k(1+joTa) (1+ joTp)..
240 Go)=
For stability jo'd+joT)+joTz).-+2n
W0
K <1
240 G Go in dB (i.e. log magnitude) is given by
or K<240. G jo) in dB = 20 log10 (equation 1)
BODE PLOT
.20 log G (jo)= 20 log k + 20 log(1+joT,)
The complete Bode plot of a system consists of two
Curves

plotted in rectangular co-ordinates. These, are i) magnitude of Gjo)| +20log1+joTb+-20r log(o)

in db versus log o and i) phase angle, of G(jo) versus loga. -20 log|1+joT|-201og|+ joTa|.
These graphs are also [Link] corner plots or logarithmic plots.
The advantages of these plots are:- -20 log1 j2 (2)
i) As logarithms are used in plotting curves, the product factos

ofGGo) are converted into addition terms on the plot. and the phase angle is given by

1 Due to the nature of Bode plots, in most of the

exact function plots can be represented approximately by sua
system tn
Gjo) =
tanoTa + tan oT t...(-90°)- tan oT
ine asymptotes. The accurate curves are then obtained by adding
tan oT2...tan2o/n (3)
corrections to approximate
plots. o-02
ii) The phase angle plots are curves From equation (2) and (3), we see that the Bode plot of Ggo)
the tangent
lan oT for which various values can easily be obtained by adding theBode plots of the factors of Gg@).
the table of tangents.
ODtain
These factors
are found to be of the forms given below:
 BD SL SYSIEMICSE
CONTROLSSTEM/Cs. 449

448 Second order Pole 1+ j2g

(6)
Mag n n
Here
magnitude plot is
40
(1) 0 db
for <n
30 44pdb -dec-
(2)-40 db for > n
20 dec
6d do necessary
error correction of
(3) 0 0n as per
Odb
logw d=-tan-1250/o,
db02
h3-97dbgF01
Phase Plot is

20 n
Second Order Zero 1+j2 @n
curve for 1 +2j Here magnitude plot is
Fig. Magnitudes
n (1) 0 db for <n
(2)Poles at Origin (1/jo)":
(20)-40 db n
Magnitude Plot is straight line at 20nd
dec
slope [Link]
d dec
for @>

(3) Do necessary error corTection on at o=@,n as per Phase

through @=1,0 db. Phase o=-90n°.
3) Zeros at origin (jo)" 20
throu plotis o= tan-
Magnitude plot is a straight line at 20 n db/dec passing

o=1,0db. Phase d=90n°.

1-0
n
1 Q.28. Write a short note on experimental determination of
(4) First order poles-
jo/a transfer function of a control system using Bode plot. [ET-S-97]
Magnitude plot is two straight lines at 0 db for o<aand« Ans. The first step in the analysis and design of a control
system is to derive a mathematical model of the plant under
20 db
dec
for o>a. Phase o= tano/a. consideration. Obtain a model analytically may be quite dificult.

5) First order zeros (1+jo/b): We may have to obtain it by means of experimental analysis. The
Magnitude plot is two straight 1ines at 0 db for o<bandaportance of the frequency response methods is that the transfer
unetion of the plant or any other component of a system, may be
+20 db/dec for o> b. Phase o= tano/b.
 450 ETICT CONTROL SYSTEMICS-I (ETICT)
frequency-response measurem
rements. BD 451
determined by simple Choose suitable Y and X
amplitude ratio and phase
shift have been measured at f
a suffic
te Step 3 scales for magnitude
curve. Draw the Bode magnitude
within the frequency ange of interest, curve for each.
number of frequencies Step 4 Draw the Resultant,
Then the transferfunctionthe
may be plotted on the Bode diagram.. Write the phase equation corresponding
approximations. W ca Step 5 to the
be determined by asymptotic build phase of each term present.
asymptotic log-magnitude
curves consisting of several segments
.

6, Depending upon largest frequency term present,

juggling of the corner frequenei
frequencies, choose the starting point of log scale.
With some trial and error
fit to the curve. t Prepare phase Table.
usually possible to find a very close Step 7
Nichol'schàrt. Draw the phse, plot to suitable scale..
Q,29. Write a short note on Step 8
useful chart for determining the closed-lo Gain Margin Caleulations:
Ans. This is very
open loop trañsfer functian By Step From phase resultant curve find owhere phase
frequency response for the specified curve crosses 180°. This is called phase crossover
determines
constructing the Bode plot and polar plot, we can only hethe
frequency. Say =Opc.
GM, PM, og and o; but we can not
ed loopfrequency
find the closed
Step 10 For this value of pc go to magnitude resultant
response specifications.
curve. Find out how many db below 0 db is the
Nichol's chart not only gives these specifications but also give
response resultant curve. This is gain margin.
the idea about gain adjustment for the desired frequency
Phase Margin Calculations
specifications.
Step11 From the magnitude resultant curve find where the
Nichol's chart consist of constant "M' and N circles. t has
resultant crosses 0 db. This is gain crossover
magnitude in dB along Y
phase angle in degrees along X axis and frequency @gc.
axis. For the given open loop transfer function, we determine find out phase
Step 12 For = g c. go to phase curve and
magnitude of dB and phase angle in degrees for various values o
frequencies. Then we plot gain phase plot on Nichol's chart.
angle o: Phase margin = 180°+o. System is stable
From Nichol's chart, we can determine for positive values of gain and phase margin.
i) Closed-loop frequency response. SOLVED PROBLEMS:
ii) Closed-loop frequency specifications. Prob.20. Sketch the Bode plot for
10
ii) Stability ofthe closed-loop system. G()
s(1 + 0.1s) (1 + 0.05s)
iv) Gain margin, phase margin, gain cross-over frequeney
phase cross-over frequency. Determine the gain margin and phase margin. Also
of 20
STEPS IN SOLVING BODE'S Ermine the value of open lóop gain for i) a gain margin
PLOT: (CT-W-03,ET-W-00,S-02
Step1 Bring G (s) H() in standard db and i) a phase margin of 18°.
form
Step 2 Prepare a list of factors 10
present.. Soln. We have GG »)F +i0.1o)1+j0.00
 UNIT VI
TE VARIABLE ANALYSIS
STATE
the following
o.1. Define IET-W-00, S-99, CT-W-03/
(i) State
variable
i) State
ET-W-97, 98, S-99, 01, 02, W-02, CT- W-03, S-03]
vector ET-S-99, CT-W-03]
(ii) State
ET-W-98, S-99,W-02, CT-W-03/
(iv) State spacé
[ET-W-98, CT-W-03]
v)State trajectory
ET-S-02, CT-S-031
(vi) State model
system is the smallest
State: - The state of a
dynamic
Ans. (i)
variables (called state variables), such that the knowledge of
set of
= to, together with the
knowledge of the input
these variables at t
completely determines the behaviour of the system for
for t2to,

state of a dynamic system at time t is uniquely

time t2to The
and the input thereafter
determined by the state at time t=to

)and it is independent of the state and input before t2to.

(t>t,
network
single input, single output linear, electrical
Consider a is
a fixed configuration. The input for it u(t) and the output
having
known, complete knowledge of the input u(t)
yt). As the network is
oo to t is sufficient to determine the output
over the time interval -

over
time interval. But, if the input is known only
Yt) over the same
the voltage across capacitors and
the time interval t to t, then

inductors at some time ti, where to Stj St, must

Currents through
to t. At
determine the output y(t) over the interval t,
De known in order to

and voltages constitute the "State' of the

ime t, these currents
The state of the network is related to the
network at the time t.
memory of the network.
(ETICT) 487
VBD CONTROL SYSTEM / CS-
 cONTROL SY
DISTURBED TRAJECTORY
488 VBD CONTROL SYSTEM/ BD
CS(ETo
TICT X3 X+x
Consider the solution of a linear constant
co-cfic.
cient
differential equation for the t2to. The complete solution
will be
ha
in REFERENCE
terms of arbitrary constants and these will be evaluated fro TRAJECTORY X°
boundary conditions at time to. The state of a system separatesthe
future from the past, so that the state contains all the relevan
nt
information concerning the past history of the system required
t
determine the response for any input. The systems which
e
considered here are classified as deterministic systems.
i) State variables: The state variables of a dynamic systêm
-
trajectory:- he curve traced out by the state point
are the smallest set of variables which determine the state of the v) State
to f=t in the direction of increasing time is known as
from t=to
dynamic system. If x1 (t),x2(t),.Xn (1) are chosen as variables and trajectory.
state
if with these variables the dynamic behaviour could be completely (va State Model: - State model consists of:
described, then these variables (minimum set) are described as state 1) State equations and
is written in the standard form as
variables. It should be remembered that these state variables need not 2) Output equations and

Xnx1 =[AJnxn Anxl *|BInxp Upx1 -State equation

be physically measurable or observable. However it is convenient to
choose variables so as to be measurable, since optimal control laws Yq =[Clq«n nxl + |Dlqxp Upxl-Output equation
will require the feedback of all state variables with suitable where, x= State vector of dimension nx 1

weighting [X1 X2, X3, ..,]

(iii). State vector If n state variables are needed to
u= Input vector of dimension px 1

completely describe the behaviour of a given system, then thesen

[u1, u2, u3,.up
state variables can be considered to be the n components of a vector
is thus a
y- Output vector of dimension qx1
X(t) and this vector, is called a state vector. A state vector
for any -ly1, Y2, Y3,.Yq
vector which determines uniquely the systems state X()
A= System matrix of dimension nx n
t2 to, once the input for t2 to, is specified.
co-ordinate B= Input matrix of dimension nxp
(iv) State space : It is the n-dimensional space whose

axes consist of the Xj axis, X2 axis,

.. Xn axis. Any state can be
IC=Output matrix of dimension qxn
D= Transmission matrix of dimension q *p
A trajectory n
uniquely represented by a point in the state space. omodel can be obtained by choosing statevariablesas
State model using physical variables:
three-dimensional space is shown in figure.
 VBD CONTROL SYSTEM I CS-1 (ET/C VBDCONTROL IEMICS- (ETICT)
490 491
Nate In phase variable form,
1) Physical variables number of state
variables in
system order ofthe system((i.c. order a
2) Phase variables of the differential
equation).
3) Canonical variables. State model using canonical variables
- In this type
of
The physical variables are the variables in the systems whil
hich ndel, the state variaoies are so chosen, such that system
the physical systems, for example matrix A
have direct relevance to current
ent, turns out to be a diagonal matrix.
voltage, angular position, velocity etc. Advantage :-The canonical state model
is most suitable for
Advantages of choosing physical variables as state variables:
investigation of system properties
and evaluation of time response.
Since the state variables are the physical variable they can be
Disadvantage -The canonical variables
measured easily and hence can be easily used for control purposes. are not the physical
Disadvantages : Solution of state equation with physical variables and hence cannot be measured easily
and cannot be used
variable chosen as state variable is tedious. for control purposes.
Note White state modeling, we express state variables in 0.2. What are the disadvantages of classical approach.
terms of its derivative. Therefore choose such variable as state
Ans. Disadvantages of classical approach:
variable whose derivative equation is easily available. For example,
(i.e. transfer function modeling)
in electrical circuits the current through inductor, the voltage across
the capacitance or charges across the capacitance's are choosen as
1) The transfer function approach, becomes highly
state variable. cumbersome for using Multi nput Multi Output System (MIMO
State model using phase variable as state variables In this system).
type of model, the first state variable is chosen as the output variable 2) The transfer function approach, reveals only the system
itself, while the remaining state variables are successive derivatives
output for a given input and provides no information regarding the
of the output variable.
internal states of the system.
i.e. X =y, X2 =ý, Xx3 =ý
3) In the transfer function approach, all the initial conditions of
n-y n-2 . x^ =y- the systems are neglected.

where, yn-_dy Q.3. What are the advantages of State-Space techniques.

dtn- Ans. Advantages of State-Space Techniques: The various
Advantage : The state model using phase variable is
the most auvantages of state-space techniques over the classical approach are:
powerful method of state variable
formulation. .
It can be applied to time variant, non-linear as
well as Multi
Disadvantage: The phase variables cannot measured easily
be Input Multi Output systems.
and hence can't be used for
control purposes.
 492 S(ETICT) YBD CUN
a time domain approach, while classical Q.5. How transfer function 493
2. It is essentially be derived
from the
theory is frequency domain approach.
a state model?
ET-S-01, CT-S-041
designed for optimal condition
conditions OR Derive the expression for
3) The systems can be with transfer function
indices. in terms of
respect to given performance C,D matrices oflthe state model.
A. B,
carried out for a class of inputs, [Link] function from
4) The design can be state model
initial conditions in the design
5) It enables us to include Consider a single input, single output
system
are very suited for digital mputer
6) The state-space methods
x=[A]x+[B]u
approach.
computations, because of this domain 1)
represent physieal y=[C]x +[DJu
7) The state variables need not necessarily 2)
Taking Laplace transform of equation (1)
quantities of the systems.
8) The use of vector-matrix notation greatly simplifies the sx(s)=[A]x(s) + [BJu(s)
mathematical representation of systems of equations. Sx(s)-A]x(s)= [BJus)
Q.4. What are the advantages of modern control theory
(sU TAJ] xs)=[B]uls)
over conventional control theory?
where, []= Identify matrix of dimension n x n
Ans. In moderm control theory, the analysis is done by state
Pre-multiply both sides by [s [- AJ'
variables. It eliminates the above drawbacks of conventional control
theory and provides additional advantages. x)={n-tAJ'tBju6) 3)
i) The design procedure is analytical. Taking Laplace transform of equation (2)
i) The method can be used for optimization also. ys)=[C]x() +[DJu(s)
ii) Feedback proportional to some of the internal variables of Substituting x(s) from (3), we have,
the system for improving the system performance can also be
y(s)=[C][s[]-[A]]'[B] u(s)+[D] u(s)
provided.
iv) The method is applicable to linear/non-linear, time Transfer function y( u(s) is

variant/time-invariant, continuous time/discrete time systemns with

=[C]S-[A]Tr'B]+ [D.
multi-input, multi-output also. us)
of a system from
v) Provides information not only regarding the output,
but also Q.6. How will you investigate the stability
internal states also. Hence direct control over its state-space model?
the system elements 1s
possible. model : For determining
Ans. Stability of a system from state
 494 V'BD GONIRC SYSTEMl GST(ETICT)
CONTROL SYSTEM/ICSI(ETICT)
waD
the stability from the state model, obtain the eigen values of system
Y(s)=Cx (s) + Du (s) 495

matrix [A]. For system to be stable, all the eigen values of IAx
A] Solving for Y(s), we obtain
should lie on left hand side (L.H.S.) of s-Plane (i.e. the eigen valuo
Y(s) = C(sl-A)"X(0) +C(sl-A)"l Bu(s)
should have negative real parts). + Du(s)

The eigen values of [A] are obtained as the solution of equation Assuming zero itial conditions, we get
the system transfer
1[-[A]=0 function as,

Q.7. Write a short note on eigen values. T(S)= =C(sI-A)B+D

U(s)
Ans. The eigen values of nxn matrix A are the roots of
characteristic equation,
Cadj(sI- A)B
det (sI-A) +D
21-A=0
Prob.2. For the network shown in figure.
Inequation sI-A|=0 gives the poles oftransfer function:
)Obtain the state model ofthe system.
hence Is I A| = 0 is the characteristicsequation in 's' and
.
-

() Find the eigen values of the system.

A1-A|=0 is the characteristics equation in Therefore poles
1
ww-
.
and eigen values of the system are same.
1F
For stability, all the eigen values should have negative real part. ei eo

SOLVED PROBLEMAS
Prob.1. Given the 'SISO' system
x Ax+Bu (ii) Using the results of part
(iv) Comment on,
y Cx+Du
(a) The stability of a network.
(b) The nature of response (underdamped/overdamped
Derive the expression for the transfer function Y)
U(s) Ieritically damped) to the step changes in the input.
IET-S-98
.".[ET-S-971 Soln. (i) We take mesh currents as i,i2, ig as shown in fig.
Soln. Given : x= Ax + Bu
Let
y= Cx+ Du (G1-i2)dt ..(1)
Taking the Laplace transform
X=
of equation (i) and (ii), we get
x2 =i2-i3
(2)
=
X(s)-X(0) Ax (s) +Bu(s) .3)
X3 =Ji3 dt
Writing the mesh equations, we have
 VBD CONTROL SYSTEM I CS (ETICT TROL SYSTEMI CSI (ETICT
CON:
514 BD
The following equations are satisfied |A-A=0 515
dif
a) Vi =Rf i
+Li 2a+3-0
dirRLi +
dt Lf
(1) . 2(3+3) +2=0
b) =Bdo= Tm =KTi 1 +3+2=0
B
do
dt
= 0.
AT
J
.) ,
0.+1)0 +2)=0
A2=-2
dt Consider (11-A)(x)=0
dir R
dt Lr
do KT Ni
dt
1
-X1-X2 =0 and 2x1
+2x20
Choosing X1 =1, x2=-1
Prob.13. A control system is having state space
[21-A]x =0
representation.

4;y= [1 3] X

() Transform the system to canonical form 2x1-X2=0 2x +X2 =0

(i) Draw the block diagram for it. Choosing =1,
(ii) Discuss the stability ofthe system.
X1
X2-

-
Soln. The canonical model from this general model is given by m2
=Ml AMZ+M-'Br
Y= CMZ+D4 M
where, M=[M1 M2-----M,]
M1 M2,------M, are the eigen vectors of A

we have, MAM=
A-2
The characteristics equation is given by
 VBD CONTROL YSTEM/ Cs (ETICT SYS:
516 VBDCONTROL I CS(ETICT)

s)=Cs)_Z(s) C()
G()R(S)
MB-1-1 R(s) Z(s)
517

Consider
M-11 3 |-t2 -59
Zs) 1
R(6)s+ +6s+11s
The canonical form ofthe system is +6
53Z(s) +6s*Z(s) +l1s Z(s) + 6=R(s)
2--z- y--2-5] Z
(ii) Block diagram of the system
Taking L, we have
Z+ 6Ž +11Z+6Z=r
Let =Z, 1)
x2 X1= Z and
x^=
2 =Z=xj
2)
X=Z=x3
3)

From (1), (2). 3) and (4), we have

=-112-6Z-6+r
3-11x1 -6x2 -6x3 +r ..6)
(ii) Since the eigen values (1 = -1, A2 =-2) lie to the left
From (2), (3) and (5), we have the state equation
as
half of s-plane, hence the system is stable.
Prob.14. The open loop transfer function of unity feedback
system is given by -11 -6-6]| x
5(s +3s+4)
G(s)=
G6)+1)(s+2)(s+3)
Also,
z(s)
=5 (s2+3s +4)
Obtain the state model in phase variable form, assume C(S)5s2 +15s+20
second state variable as output variable of Z(s)
the system. [ET-S-98J
G(s) =US),
Soln. G6)=R((s+
1 C(s)=5s Z(s) +15sZ (s) +20 Z(s)
(s+)6+2)(s+35(s2 +3s+4) -*

Taking L, we have
 g ar32 0HVIVA-VOCE

Q.1. What is Control System?

Ans. The control system is a means by which any quantity of
interest in a machine, mechanism, or other equipment is maintained
or altered in accordance with a desired manner.
Q,2. What is system?
Ans." A system is an arrangement of or a combination of
different physical components connected or relared in süch a manner
so as to form an entire unit to attain a certain objective".

Q.3. What is output?

Ans. "The actual response obtained from a system is called
output".
Q.4. What is input?
Ans. Tfhe stimulus or excitation applied to a control system
"

from an external source in order to produce the output is called

input".
Q.5. What is closed loop system atl.
Ans. "A system in which the control action is somehow
dependent on the output is called as closed loop system
Q.6. Give examples of closed loop system.
Ans. The examples of closed loop system are
1) Missile launching and guidance system.
3

2) Sunseeker solar system.

.. 3) Water load controller etc:

What are the advantages of closed loop system?
Ans. It has the following advantages
I) High accuracy.
2) High bandwidth.
3) Facilitates automation.
Q8. What are the disadvantages of closed loop system?
[Link] disadvantages are
1) Complicated in design.

2) System may become unstable.

VED CONTROL
SYSTEM/ CS-I (ETIC) 529
 CONTROL SYSTEM/CS-I(ET CONTROL SYSTEM/CS- (ET/CT
D PD 531

system?
0.16. What are the drawbacks of negative feedback
system?
530 open loop no feedbact Ans. The drawbacks are
system, there is
is a so
Q.9. What Sensitivity to variations in H(s) is more.
open loop system output.
Ans. In anindependent of the ) More components for H(s) are required.
is Thus complexity
control action automatically
automaticaly car
carried for and cost increases.
OR :-h
which does not
physical system,
open loop
system. ii) Gain decreases.
Any called an iv) If G(s) H(s) =
output is loop systemn. I, than T(s) = *» and the system
-

variation in the
examples of open system are unstable.
becomes
Q.10. Give the loop control
examples of open o.17. Give the classification of control system.
Ans. The driver.
1)
Automatic hand Ans. Control system can be classified in many ways:-
toaster. 1) Linear versus non-linear system.
2) Bread
Electronic lift. 2) Continuous ume & discrete time control system.
3) etc.
drinks-milk bottling
4) Cold open loopP system? 3) Deterministic & stochastic control system.
the advantages of
Q.11. What are in
construction and design. 4) Time varying& time invariant control systen
simple
Ans. They are
1) 5) Lumped parameter & distributed parameter control system.
economic.
2) They are 6) Single- input single output & multiple input multiple
-
maintainance. - -

3) Easy for output control system.

problems of stability.
4) No much
disadvantages of open loop systemn? Q.18. What do you mean by linear systems?
Q.12. What are the dependent
unreliable because accuracy is Ans. A system is said to be linear, if it obeys the principle of
Ans. 1) Inaccurate & superposition and homogeneity.
calibration.
on accuracy of recalibration of tha Q.19. What is deterministic & stochastic control system?
maintain quality and control,
2) To Ans. A control system is said to be deterministic, when its
time to time.
controller is necessary from response to input as well as behaviour to external [Link] is
Q. 13. What is feedback?
property of the system which permits predictable & repeatable. Otherwise is called as stochastic control
Ans. "Feedback is that
with the reference input so that system.
the output to be compared
Q.20. What do you understand by time-varying control
appropriate control action is formed".
feedback? system?
Q.14. What are the effects of
Ans. The system whose parameters vary with time are called as
Ans. The effects are:
1) Gain is reduced.
time-varying control systems.
2) Sensitivity is improved.
Q,21. What is time invariant system?
3) Stability may be affected. Ans. The system whose parameter do not vary with time are
called as time invariant control system.
Q.15. What are the advantages of negative feedback system?
Ans. The advantages are: Q.22. Define servomechanism.
1) Sensitivity to variations in G(s) decreases. Ans. "A servomechanism is a power amplitying feedbuck
2) System dynamics improves. control system in which the controlled variable is mechanical
3) Effect of disturbances signal decreases. position or its time derivative such as velocity, acceleration".
 VBDCONTROL SYSTEMICS-I (ET/CT
532 CONTROL SYSTEM/CS-I (ET/C
pD 533
electrical components commonly: ncea
0.23. Name the in o.30. What is the equivalent of the following parameters in
control systems. translational motion to rotational motion?
Ans. They are DC
servo-motor, AC servo_motor, syncho
nro, 1) Mass 2) Damper
3) Spring 4) Force
potentiometer, tachogenerator etc.
system? 5) Displacement 6) Velocity.
Q.24. What is adaptive control
.

measure its own Ans.

Ans."Adaptive control system continuously Translational Rotational
performance index, compare it with given performance index & Mass Inertia
modify parameters such that optimal performance is given under all Damper Damper
possible operating conditions". Spring Spring
Q.25. What are the applications of control system in non Force Torque
Displacement. Angular displacement
engineering field?
Velocity Angular velocity
Ans. Control system has wide application in medical field such
Q.31. Give the equation of voltages and current for resistor,
as temperature regulation,. neurological, respiratory and
inductor amd capacitor.
cardiovascular controls. Ans. For resistor,
Q.26. Define Transfer function.
v =iR, O
Ans. The ratio of the Laplace transform of the output tto the
input under zero intial conditions is known as transfer function. For inductor,
C)Laplace of output 2gt or
id
R(s) Laplace of input
Q.27. Define poles of transfer funçtion.
Forcapacitor,
Ans. The values of 's' for which the transfer function Or i= c dvdt
magnitude G(s) becomes infinite after substitution in denominator Q.32. Give the force-voltage analogy
of system is called as poles of transfer function. Ans.
Translational Electrical Rotational
Q.28. Define zeros of transfer function.
Force (F) Voltage (v) Torque (T)

.
Ans. The values of 's' for which the transfer function
Mass (M) Inductance (L) Inertia (J)
magnitude G(s) becomes zero after substitution Damper (B)
in numerator of Damper (B) Resistance (R)
system is called as zero of transfer function. Spring (K) Soring (K)
e Elastance D
Q.29. Define characteristic equation.
Ans. The equation obtained by equating the denominator Displacement (x) Charge (q) Displacenment (0)
Velocity ( Velocity (w)
polynomial of transfer function to zero is called as
characteristic Currenti-
equation.
 YPD CONTROL SYSTEM/CS-I (ETICn CONTROL SYSTEM/CS-I (ETICn 535
WD
534
force-current analogy. Q40. What is a mathematical model?
Q.33. Give the Ans, It is the mathematical representation of physical model
Ans.
Electrical Rotational through the use of appropriate physical laws.
Transtational
Current (i) Torque (T) Q41. What is time response of a system?
Force (F)
Capacitance (C) Inertia (J) Ans. The response of a system to an applied excitation is called
Mass (M) response.
Reciprocal of Spring (K) as Time
Spring (K) Q.42. What is transient response?
inductanceT Ans. That part of the time response that goes to zero as time
becomes very large called as transient response.
1S

Damper (B) Damper (B) Q43. How can you reduce the value of steady state error?
Conductance Ans. 1) Increasing the type of the system.
R
Displacement (Q) 2) Decreasing the value of k.
Displacement (x) Flux linkage (0) (damping factor) for
Q.44. What is the value of
Velocity dQ underdamped response?
Velocitydt Voltage damping factor
Ans. For underdamped response, 0< < ,i.e.
l1

dt
Q.34. What is a block diagram? lies between 0 and 1.
Ans. It is diagramatic representation of a system, where each Q.45. What is the value of for overdamped response?
block represents an element, a plant, mechanism, device etc. without Ans. > 1, for overdamped response.
damped
internal details. Q.46. What is the value of 3 for critically
Q.35. What is signal flow graph? response?
Ans. A signal flow graph is a pictorial representation ofa Ans. =1, for critically damped response.
system & it displays graphically the transmission of signals in a
Q.47. If g<1, then poles are lie in which quadrants?
system.
Q.36. What are the components ofsignal flow graph? Ans. It lies in second & third quadrant.
system?
Q.48. What is the value of for undamped
g
Ans. The components are: Input node, output node, path,
forward path, loop, Non-touching loop, Path-gain and Loop-gain. Ans. = 0 for undamped system. undamped natural
Q.37. What is a physical system? Q49. What is the significance of
Ans. A physical system is a collection of physical objects frequency 'on 'and the damped frequeney *oa' on S-plane?
distance of the roots (poles)
connected together to serve an objective. Ans. '0,"' represents the radial
Q.38. Give the examples of physical systems. represents the imaginary
from the origin on S-plane whereas 'a"
Ans. Examples of physical systems are S-plane.
1) An electronic amplifier. component of the root on 'jo' axis of
Q.50. What values of ' are normally preferred in
2) Governing mechanism of steam turbines or communications
satellite orbiting the earths etc. practical systems?
values of lie between 0.4 and
Q.39. What is a physical model? Ans. Normally the preferred
Ans. An idealized physical system is called as a physical 0.8 for a 2"" order system.
model.
 qBD CONTROL SYSTEM/CS-(T SYSTEM/CS-(ETICT)
536 CONTROL 537
response of a system? wD
Q.51. What is frequency G) By locating the rOOts of the characteristics equation in S-
Ans. The steady state response of system to sinusoidal i, s
a a

frequency response.
l inpu
planc.t
is termed as its Hurwitz stability criterion.
(i)
Q.52. What are the advantages of frequency response over (iii) Routh-Hurwitz stability criterion
time-response analysis? iv) Bode-plot technique.
Ans. The advantages are: (v) Nyquist stability criterion.
0) Ease and accuracy of meašurement.
?:
* (vi) By locating the eigen values.
more easily.'
(i) Transfer function can be obtained ku O.57. Show bounded and unbounded response?
Gii) The closed loop T.F. of a system can be known from Ans.
it.
open loop TF.
Unbounded o/P
(iv) The effects of noise disturbance and parameter variation Bounded OP
are relatively easy to visualize.
(v) The transient response of a system can be obtained from it's
AAT
frequency response through Fourier integrals."

analysis? '
M
Q.53. What are the limitations of îrequency response Bounded i/P VV.\ Bounded i/P

Ans. The limitations are

(i) For a system with large time constant, frequency response
test is cumbersome to perform.
* of frequency analysis?
(ii) Frequency response test cannot be
performed on non Q.58. What are diferent méthods
interruptable systems. Instead step or impulse Ans. i) Polar plot
is used.
Q.54. What are the different methods ii) Bode plot
of Frequency
Response Analysis?
23sas:A i) Magnitude versus phase plot.
Ans. Different methods are:
Q.59. What does M, indicates?
1) Bode plot closed loop system.

.
Ans. M,indicates relative stability of the
2) Polar plot in the forward
3) Magnitude verses phase Q.60. What happens when a zero is added
angle plot.
Q.55. When would you call path?
a system as a stable system?
Ans. If a bounded input is Ans. 1) Bandwidth increases.
given to a system, and the system
produce bounded and controllable 2) Setling time increases.
output, then the system is stable.
Also in the absence of inputs, 3) System become more stable.
the output shou!l tend added in the forward
increase. to zero as time Q.61. What happens when a pole is
Q.5. What are the different
methods of checking
path?
a
stability of closed loop system? the Ans. 1) Bandwidth decreases.
1

Ans. The methods ere it 2) M, increases.

3) System become less stable.
'
 BD CONTROL SYSTEM 539
538
ETICT CONTROL SYSTEM/CS-I (ETIC
awRD
Q.62. Define delay
time. system.
required for the response to reach 0.73. What is conditionally stable
[Link] is the time 50
0% of is conditionally stable, if the system is stable
Ans. A system
first value in first attempt. certain bounded ranges of values of
this parameters.
Q.63. Define rise time. for only necessary conditions for stability of a
0.74. What are the
Ans. It is the time required for the response to rise from 10%
system?
to 90% of the final value.
Q.64. Define peak time. Ans. The conditions are
system is existed by bounded input. the output
Ans. It is the time requried for the response to reach the peak
AK
6) When the
bounded.
of the time response. should also be
input, output should tend towards zero
Q.65. What is peak overshoot? (i) In the absence of
Ans. indicates the normalized difference between the time
It irrespective of initial conditions.
characteristics equation should NOT lie on
response peak and the steady output. (ii) Roots of the
s-plane.
Q.66. Define settling time. RHS of jw axis in
Ans. It is the time required for the response to reach and stay Q.75. What is PD controller? mpensation
within a specificd tolerunce bund of its final value. to posses derivative error c
Ans. A system is said way on the rale of
Q.67. What is stcady state error? its output depends in some
when the generation of producing such a signal is
Ans. It indicate the error betr een the actual utput and desired signal. The controller
change of actuating P D controller.
output.
called as proportional plus derivative controller or
Q.68. What are the different types of stability?
Ans. The different types are Q.76. What is Pl controller?
compensation scheme, the output
1) Conditional stability Ans. In an integral error actuating
manner upon the integral of the
2) Absolute stability response depends in some compensation is
signal. The controller
which introduces such a
3) Relative stability. controller.
integral controller or Pl
Q.69. When is a system said to be absolutely
stable. called as proportional plus used to improve
Ans. A system is said to be absolutely stable Q.77. What are the
different controllers
if it is stable for
all values of input parameters.
the steady-state and
transient response of a system?
Q.70. When is a system said to be are
conditionally stable? Ans. The controllers
Ans. A system is said to be conditionally
stable with respect to G) Proportional-
Derivative controller (PD)
a parameter controller (PI)
if the system is stable for only certain
this parameter. bounded ranges of (i) Proportional -Integral
Q.71. What is relative stability? (i) PID controller.
output- derivative controller.
Ans. It is the quantitative measure (iv) Rate-feedback of response of
of how fast the transient dies PD controller on the
out in the system. It is measured by Q.78. What is the effect of
settling time. Less
time, better is the relative stability. the settling a 2 order system?
Q.72. What do you understand
by the term absolutely Ans. With PD controller- same.
stable system? ess fairly remains
i) The steady state error time becomes
Ans. Absolutely stable with increases, therefore settling
respect to a parameter Ci) The value of
system if it is stable for all values
of this parameters. of the
gets improved.
less. Thus transient response
 CONTROL SYSTEM CS-I (ETICT)
VBD CONTROL SYSTEM /CS-I (ET/CT) VBD
D 541
540
on the response of .85. From where do the root locus starts
0.79. What is the effect of Pl controller a terminates? and where it
second order system? Ans. A root-lOcus always originates from
Ans. With Pl controller open-loop
This leads the system K-0 and terminates at open loop zeros. In the absence poles
where K=0
(i) Order of the. system increases. teñds towards infinity where K
of zero,
towards instability. theroot locús
ess decreases o.86, What is the effect of addition of poles
(ii) Type of the system increases. The value of on root locus?
Ans.1) System becomes oscillatory.
thus the steady state performance becomes good.
system. 2) Gain margin decreases.
Q.80. Why controllers are used in control
response and transient 3) Increases settling time.
Ans. To improve the steady state
used in control system. 9 4) The root locus shifts towards imaginary axis.
response, controllers are
Q.81. Draw the input and output waveform for the 0.87. What is the effect of addition of zeros on root locus?
Ans.1) Gain margin increases.
frequency response of control system.
Ans. The frequency response' is defined as the steady state 2) System become stabler
response of the system when a sinusoidal input is applied at the input 3) Speeds up settling time.
terminals, but it differs form the input only in amplitude and phase Q.88. What is the importance of angle-criterion?
angle. Ans. By uing angle-criterion, without actually constructing the
ropt locus, we can determine whether a given point lie on the
Input root
Output.t 3 locus or not.
Q.89. What is all pass functions?
Ans. Functions in which zeros lie on the right half of s-plane &
the location of each pole-zero pair is symmetric about j» axis is
called as all pass functions.
Q.90. What is minimum phase functions?
Ans. Functions having poles & zeros, all of which that lie
wholly in the left half of s-plane are called as minimum phase
functions.
Q.82. Why derivativecontrol is used?r t
Q.91. What is polar plot?
Ans. To improve ransient response of a system, derivative Ans. Polar plot is a locus of all points of |G (j)plotted as
control is used
Q.83. Why integral controlis ued? s , )

Ans. To improve steady state response, integral contról is used.

frequency waries from zero to infinity.
Q.92. What is a ac servomotor?
Q.84. What is root locus? Ans. It is a two phase induction motor.
Q.93. What are Synchros?
Ans. The plot of the locus of the closed loop poles as a
functions of the open loop gain k, when k is varied Ans. An example of electromagnetic transducers that converts
from 0 to is angular position of shaft into electric signal is called as a synchros.
called as root locus.
 VBDCONTROL SYSTEM/CS-I aDCONTAOL SYSTEM/CS-1(ETICcn
542 (ETiCn 543
Synchro-Error-detector? o.100. What are the kinds of controller components?
Q.94. What is a
synchro-transmitter and synchro-receiver, when
Ans. The Ans. The different kinds of controller components are
connected together to form a synchro-pair is called as synchro e 1) Sensors

detector. 2) Differencing and amplification

Q.95. What is the difference between synchro-transmitter 3) Actuators.
and synchroreceiver. O.101. How, does a servomotor differ from induction
Ans. The rotor of a synchro-transmitter is of dumbell shane motor
(salient pole) whereas the rotor of a synchro-receiver is of cylindrical Ans. 1) The rotor of a servomotor is built of high resistance, so
shape. ratio is small and torque speed characteristics is linear.
that X/R
Q.96. What do you understand by electrical zero position of 2) In servo applications, the voltage applied to the two stator
a Synchro Control Transformer? windings are seldom balanced.
Ans. When the rotors of synchro-transmitter and receiver Q.102. What is a synchro transmitter?
(which are connected to each other to form a error detector) are Ans. The basic synchro unit is usually called as synchro
positioned at right angles to each other, the emf induced in the rotor transmitter.
winding of the synchro receiver is zero. This position is called as it's Q.103. What is a stepper motor?
electrical zero position. Ans. It is a special type of synchronous motor which is
Q.97. What are the advantages and disadvantages
of a designed to rotate through a specific angle.
tachometer? Q.104. Give the applications of stepper motor.
Ans. Advantages: Ans. The applications are
(i) Compact, efficient and reliable. 1) Paper feed motors in typewriters and printers.
ii) Can generate high voltage gradient's with low temperature 2) Positional of print heads.
rise.
3) Pens in X-Y plotters.
(iii) No residual voltage is present at zero
speed. 4) Recording heads in computer disk drives.
Disadvantages:
Q.105. Synchros operate on ac or de supply?
(i) Due to finite and less number
of commutator segments, Ans. Synchros operate on ac supply only.
inherent ripple in the output voltage waveform
is present. Q.106. What will happen if synchros are operated on de
ii) Poor commutation.
Q.98. What are the different types supply?
it will produce the
Ans. 1) Slotted armature type.
of dc servomotor? Ans. If synchrons are operated on dc supply,
magnitude of flux
2) Surface wound armature type. flux but it will not sinusoidally varying. And the
so high that the
3) Surface wound rotating armature, Willgo on increasing and ultimately it becomes
stationary core type. synchros burn out.
Q.99. What is a controller?
Q.107. Why ac motor is preferred over de
motor?
Ans. The controller consists of an
error detector and control motor because of:
elements. The error detector compares Ans. AC motor is preferred over dc
the feedback signal
output with input and the control from the 1) More rugged construction.
elkments manipulate
produce a control signal. this signal to 2) Light in weight.
3) No brushes to maintain.
544 VBD CONTROL SYSTEM
/CS- (ETICT

Q. 108. What is the purpose of error detector?

Ans. The purpose of the error detector is to sense the
error
rOr
between the reference input and actual output and give an innut
to
the amplifier and controller which is proportional to this error.
Q.109. What is potentiometer? .'

Ans. Potentiometer is a
position to an electrical voltage.
transducer which converts angular
.
Q.110. What are the limitations of potentiometer?
Ans. i) Full rotation is not available.
ii) Poor sensitivity.
et t1

ii) Loading non-linearity.

you mean
ui
Q.111. What do by bounded output?
Ans. Bounded output means with respect to time,
the output
goes on decreasing.
Q.112. What is bandwidth?
Ans. The range of frequencies over which
M (w) is equal to or
greater than
is called as bandwidth of the system.
A
Q. 113. What is gain cross-over frequency?
Ans. The frequency at which. G (jo) H(jo) =1 is called as
the gain cross-overfrequency.
Q.114. Whatis phase cross-over frequency?
Ans. The frequency at which
G(jo) H (jo) = 180° is called
as the phase cross-over frequency.
0.115. What is resonant frequency?
ene
Ans. The frequency at which
the magnitude of M
maximum is known as the (0)is
resonant frequency of the
system.
Q.116. What is peak resonance?
Ans. The maximum value of the
magnitude of closed loop
transfer function is defined as peak resonance.