Vel Tech High Tech DR - Ranagarajan DR - Sakunthala Engineering College - Department of ECE

Vel Tech High Tech Dr.Ranagarajan Dr.
Sakunthala Engineering College – Department of ECE
Course Code: EC8391

Course Name: CONTROL SYSTEM ENGINEERING L-3 : T-0 : P-0 : Credits - 3
COURSE OBJECTIVES:
 To introduce the components and their representation of control systems
 To learn various methods for analyzing the time response, frequency response and stability of the
systems.
 To learn the various approach for the state variable analysis.
COURSE OUTCOMES:
At the end of the course, the student will be able to:
Knowledge
CO No Course Outcomes
Level
Identify the various control system components and their representations.
C206.1 K3
C206.2 Analyze the various time domain parameters. K4

Analysis the various frequency response plots and its system.
C206.3 K4
Apply the concepts of various system stability criterions.

C206.4 K3
Design various transfer functions of digital control system using state variable
C206.5 K4
models
MAPPING OF COURSE OUTCOMES WITH PROGRAM OUTCOMES:
CO PO1 PO PO 3 PO 4 PO 5 PO 6 PO 7 PO 8 PO 9 PO PO PO
2 10 11 12
C206.1 3 3 2 2 - - - - - - - 1
C206.2 3 3 3 2 - - - - - - - 1
C206.3 3 3 3 2 - - - - - - - 1
C206.4 3 3 3 3 - - - - - - - 1
C206.5 3 3 2 2 - - - - - - - 1
C.No PO1 PO 2 PO 3 PO 4 PO 5 PO 6 PO 7 PO 8 PO 9 PO 10 PO 11 PO 12
C206 3 3 3 2 - - - - - - - 1
Mapping Relevancy
3 – Substantial (Highly relevant)
2 – Moderate (Medium)
1 – Slight (Low)
COURSE DELIVERY METHODS
 Class room lecture - Black board
 PPTs, Videos
 Lab Demonstrations
 Activities like In Plant Training, Live Demonstrations and Guest Lecture
Department of Electronics and Communication Engineering Page #: 1

Vel Tech High Tech Dr.Ranagarajan Dr.Sakunthala Engineering College – Department of ECE
ASSESSMENT METHODS
DIRECT ASSESSMENT INDIRECT ASSESSMENT
 Continuous Internal Assessment(CIA)  Course Exit Survey
 End Semester Examination  Periodical Feedback
 Assignments
 Seminars
 PLICKERS
 FORMATIVE ASSESSMENTY TOOL
COURSE SYLLABUS
UNIT I SYSTEMS COMPONENTS AND THEIR REPRESENTATION 9
Control System: Terminology and Basic Structure-Feed forward and Feedback control theory-Electrical
and Mechanical Transfer Function Models-Block diagram Models-Signal flow graphs models-DC and AC
servo Systems-Synchronous -Multivariable control system
UNIT II TIME RESPONSE ANALYSIS 9
Transient response-steady state response-Measures of performance of the standard first order and second
order system-effect on an additional zero and an additional pole-steady error constant and system- type
number-PID control-Analytical design for PD, PI,PID control systems
UNIT III FREQUENCY RESPONSE AND SYSTEM ANALYSIS 9
Closed loop frequency response-Performance specification in frequency domain-Frequency response of
standard second order system- Bode Plot - Polar Plot- Nyquist plots-Design of compensators using Bode
plots-Cascade lead compensation-Cascade lag compensation-Cascade lag-lead compensation
UNIT IV CONCEPTS OF STABILITY ANALYSIS
Concept of stability-Bounded - Input Bounded - Output stability-Routh stability criterion-Relative stability-
Root locus concept-Guidelines for sketching root locus-Nyquist stability criterion.
UNIT V CONTROL SYSTEM ANALYSIS USING STATE VARIABLE METHODS 9
State variable representation-Conversion of state variable models to transfer functions-Conversion of
transfer functions to state variable models-Solution of state equations-Concepts of Controllability and
Observability-Stability of linear systems-Equivalence between transfer function and state variable
representations-State variable analysis of digital control system-Digital control design using state feedback.
TEXT BOOKS:
TB1. M.Gopal, “Control System – Principles and Design”, Tata McGraw Hill, 4th Edition, 2012.
REFERENCES:
` RB1 . J.Nagrath and M.Gopal, “Control System Engineering”, New Age International Publishers,
5 th Edition, 2007
RB2. K. Ogata, ‘Modern Control Engineering’, 5th edition, PHI, 2012.
RB3. S.K.Bhattacharya, Control System Engineering, 3rd Edition, Pearson, 2013.
RB4. Benjamin.C.Kuo, “Automatic control systems”, Prentice Hall of India, 7th
Edition,1995.

DEPARTMENT OF ECE
COURSE DELIVERY PLAN
COURSE Mrs.D.Gowdhami HTS956

FACULTY ID
INSTRUCTOR
CURSE NAME CONTROL SYSTEM ENGINEERING COURSE CODE EC8391
II/III MONTH & JUNE- 2018
YEAR/SEM
YEAR
Text/
Teaching Course
S.No Date Unit Topic Reference
Methodology Outcome
Books
Terminology and Basic
1 02-07-2018 I C206.1
Structure
Feed forward and Class room
2 03-07-2018 I C206.1
Feedback control theory lecture - Black
Electrical Transfer board
3 04-07-2018 I C206.1
Function Models
4 05-07-2018 I Problems C206.1
Slip Test 1
Mechanical Transfer
5 06-07-2018 I C206.1
Function Models
Class room
6 09-07-2018 I Problems TB1 C206.1
lecture - Black
7 10-07-2018 I Block diagram Models C206.1
board
Signal flow graphs
8 11-07-2018 I C206.1
models
Slip Test 2
DC servo Systems, AC
9 12-07-2018 I C206.1
servo Systems Class room
Synchronous - lecture - Black
10 13-07-2018 I Multivariable control board C206.1
system
Slip Test 3
Transient response-
11 14-07-2018 II C206.2
steady state response
CIA-1(UT-1)
Class room
Measures of performance
12 24-07-2018 II TB1 lecture - Black C206.2
of the standard first order
board
Measures of performance
25-07-2018 &
13 II of the second order C206.2
26-07-2018
system

Slip Test 4
effect on an additional
14 27-07-2018 II zero and an additional C206.2
Class room
pole
lecture - Black
steady error constant and
15 28-07-2018 II board C206.2
system
16 30-07-2018 II type number C206.2
Slip Test 5
17 31-07-2018 II PID control C206.2
Analytical design for PD,
18 01-08-2018 II Class room C206.2
PIcontrol systems
02-08-2018 & Analytical design for PID lecture - Black
19 II board C206.2
03-08-2018 control systems
20 04-08-2018 II Revision C206.2
CIA-2(UT-2)
Closed loop frequency
21 13.08.2018 III C206.3
response
Performance
Class room
22 14.08.2018 III specification in frequency C206.3
lecture - Black
domain
board
Frequency response of
23 16.08.2018 III standard second order C206.3
system
Slip Test 6
24 17.08.2018 III Bode Plot Class room C206.3
25 20.08.2018 III Polar Plot TB1 lecture - Black C206.3
26 21.08.2018 III Nyquist plots board C206.3
Slip Test 7
Design of compensators
27 23.08.2018 III C206.3
using Bode plots
Cascade lead Class room
28 24.08.2018 III compensation-Cascade lecture - Black C206.3
lag compensation board
Cascade lag-lead
29 25.08.2018 III C206.3
compensation
CIA-3(UT-1,2&3)
30 IV Concept of stability Class room C206.4

04.09.2018
RB2 lecture - Black
05.09.2018 Bounded - Input
31 IV board C206.4
Bounded - Output

stability-Routh stability
32 06.09.2018 IV C206.4
criterion
Slip Test 8
33 07.09.2018 IV Relative stability C206.4
Class room
34 08.09.2018 IV Root locus concept C206.4
lecture - Black
Guidelines for sketching
35 10.09.2018 IV board C206.4
root locus
Slip Test 9
Nyquist stability
36 11.09.2018 IV Class room C206.4
criterion.
lecture - Black
37 12.09.2018 IV Problems C206.4
board
38 14.09.2018 IV Problems C206.4
CIA-4(UT-4)
State variable
representation-
39 25.09.2018 V Conversion of state C206.5
variable models to
Class room
transfer functions
lecture - Black
Conversion of transfer
board
40 26.09.2018 V functions to state variable C206.5
models
Solution of state
41 27.09.2018 V C206.5
equations
Slip Test 10
Concepts of
42 28.09.2018 V C206.5
Controllability
TB1 Class room
29.09.2018 Concepts of
43 V lecture - Black C206.5
Observability
board
01.10.2018 Stability of linear
44 V C206.5
systems
Slip Test 11
Equivalence between
transfer function and
45 03.10.2018 V C206.5
state variable
Class room
representations
lecture - Black
04.10.2018 State variable analysis of
46 V board C206.5
digital control system
Digital control design
47 05.10.2018 V C206.5
using state feedback.
CO
CIA-5(ALL 5 UNITS)
1,2,3,4,5

UNIT-I CONTROL SYSTEM MODELING

PART-A
1. What is control system?
In a system, when output quantity is controlled by varying the input quantity, then it is called
as control system.
2. What are the advantages of closed loop control system? (AUC, May-June 2012, Nov-Dec
2012)
 The closed loop system are accurate
 The closed system are accurate even in the presence of nonlinearities
 The closed loop systems are less affected by the noise.
3. What are the types of control system and explain it?

Open loop system:
Any physical system which does not automatically correct the variation in its output
is called open loop system.
Closed loop system:
A system in which the output has an effect up on the input quantity in order to
maintain the desired output value are called closed loop system.
4. Distinguish between open loop and closed loop control systems.

Open Loop Systems Closed Loop Systems
1 Inaccurate and Unreliable Accurate and Reliable
2 Simple and Economical Complex and Costly
3 Changes in Output due to external Changes in output due to external
disturbances are not corrected disturbances are corrected automatically.
automatically.
4 They are generally Stable Great efforts are needed to design a stable
system
5. Write the force balance equation for (i) Ideal mass element (ii) Ideal Dash-pot (iii) Ideal
spring
 For Ideal mass fm = M. (d2x/dt2)
 For ideal spring fk =k.X
 For ideal dashpot fb =B. (dX/dt)
6. What are the basic elements used for modeling mechanical rotational system?
 Moment of inertia.
 Dash pot with rotational frictional coefficient 
Torsional spring.
7. What are the properties of signal flow graph? (AUC, May-June 2012)
 Signal flow graph applies to the linear system
 Signal travels along the branches only in the direction described by the arrows of the
branches.

 The equation based on which signal flow graph is drawn must be algebraic equation in the
form of effects as the function it causes.
8. What are the characteristics of negative feedback? (AUC, May-June 2014)

 Negative feedback opposes or subtracts from the input signals giving it many advantages in
the design and stabilization of control systems.
 Feedback reduces the overall gain of a system with the degree of reduction being related to
the systems open-loop gain.
9. Define transfer function. (AUC, Nov-Dec 2013)

Transfer Function is the ratio of Laplace transform of output to the Laplace transform of input,
with the initial conditions being zero.
10. Name any two dynamic models used to represent control systems. (AUC, May-June 2013)
 Physical model
 Empirical model.
11. Define non-touching loops.

The loops are said to be non-touching if they do not have any common nodes.
12. Write the mason’s gain formula. (AUC, May-June 2013), (AUC, May-June 2014)
T= ∑
Where,
= Forward path gain of kth forward path

K= No. of forward paths in the signal flow graph
= 1- (sum of individual loop gain) + ( sum of gain products of all possible
combination of 2 non touching loops) – (sum of gain products of all possible
combinations of 3 non touching loops) +…
13. What are all the two types of electrical analogous of mechanical system?
 Force –voltage analogous systems.
 Force-Current analogous systems.
14. What are all the components of Block diagram?

The basic elements of a block diagram are block, branch points and summing point.

PART-B
1. Find the transfer function Y2(S) / F(S)
Ref : Control System Engineering by A NAGOORKANI, First Edition. Pg No 1.10
2. Write the Differential equations governing the mechanical rotational system shown in fig.
and find the transfer function.
3. Find the transfer function C(S)/R(S) for the system shown in fig.
4. Obtain the overall gain C(S) / R(S) for the signal flow graph shown in fig..

5. Block diagram reduction technique finds the transfer function for the system shown in
fig.
6. Find the overall gain C(S) / R(S) for the signal flow graph shown in fig.
7. Write the differential equation governing the mechanical translational systems and find
the transfer function. Draw the force voltage and force current electrical analogies.
(AUC, May-June 2013)
8. Derive the transfer function for the armature and field controlled DC Motor. (AUC,
May-June 2014)
Ref : Control System Engineering by A NAGOORKANI, First Edition. Pg No 1.21,1.24
9. Write the Differential equations governing the mechanical translational system shown in
fig. and find the transfer function.

10. Derive the transfer function of the given signal flow graph.
11. Draw a signal flow graph and find the closed loop transfer function for the block diagram
shown in fig.
12. For the Block diagram shown in fig. Find C1 / R1 and C2 / R1

UNIT-II TIME RESPONSE ANALYSIS

PART-A
1. What are transient and steady state response of a control system? (AUC, Nov-Dec 2012)
The transient response is the response of the system when the system changes from one state to
another. The steady state response is the response of the system when it approaches infinity.
2. With reference to time response of a control system, define peak time. (AUC, Nov-Dec 2012) The
time taken for the response to reach the peak value for the first time is peak time. The time taken for
response to raise from 0% to 100% for the very first time is rise time.
3. Distinguish between type and order of a system.

 Type number is specified for loop transfer function but Order can be specified for any transfer
function.
 The Type number is given by number of poles of loop transfer function lying at origin of S- Plane
but the order is given by the number of poles of transfer function.
4. What will be the nature of response of a second order system with different types of damping?
 For Undamped System the response is Oscillatory.
 For Underdamped System the response is damped Oscillatory.
 For Critical Damped System the response is exponentially rising.
 For Over damped System the response is exponentially rising but the rise time will be very large
5. List the advantages of generalized error coefficients. (AUC, May - June 2012) 
 Steady state is function of time.
 Steady state can be determined from any type of input.

6. Give the steady state error to a various standard input for type - 2 systems. (AUC, May - June
2013)
 Unit Step as Input : “0” Steady State Error.
 Unit Ramp as Input : “0” Steady State Error.
 Unit Parabolic as Input : Constant Steady State Error (1/Ka).
7. What is the effect of PID controller on the system performance?

The effect of PD controller is to increase the damping ratio of the system and so the peak overshoot
is reduced.
8. What is first order and second order systems?

The order of a dynamic system is the order of the highest derivative of its governing
differential equation. Equivalently, it is the highest power of “S” in the denominator of its transfer
function.
If the power is 1, it is First order system.
If the Power is 2, it is Second order system.

9. Define delay time and rise time. (AUC, May - June 2014)
Delay Time is the time taken for response to reach 50% of the Final Value, the very first time. Rise
Time is the time taken for response to raise from 0 to 100%, the very first time.
10. Describe peak overshoot and settling time.

Peak overshoot is defined as the ratio of maximum peak value measured from the maximum
value to final value.
Settling time is defined as the time taken by the response to reach and stay within specified
error.
11. Why derivative controller is not used in control system? (AUC, May - June 2012)
The Derivative controller produces a control action based on rate of change of error signal
and it does not produce corrective measures for any constant error. Hence derivative controller is
not used in control systems.
12. What are type 0 and type 1 system? (AUC, May - June 2014)
The number of poles of the loop transfer function lying at the origin decides the type number
of the system and denoted by “N”.
If N = 0, it is termed as Type – 0 System.
If N = 1, it is termed as Type – 1 System.
13. Give the units of Kp, Kv and Ka? (AUC, Nov-Dec 2013) No Units. They are Constant.
14. The closed-loop transfer function of second order system is given below. Determine its damping
ratio and natural frequency of oscillation. (AUC, May - June 2013)
C(S)/R(S) = 400/ S2 +6S +400 ω2n /S2

+2Ϛωn s+ ω2n = 400/ S2 +6S +400
ω2n =400 2Ϛωn=6
ωn =20 Ϛ =6/2*20=0.15
PART-B
1. Derive the expressions and draw the response of first order system for unit Step input. Ref :
Control System Engineering by A NAGOORKANI, First Edition. Pg No 2.7
2. Consider a second order system Y(s)/R(s) = ωn2/ s2+2ςωns+ωn2. Find the response y(t) to a
input of unit step function. (AUC, Nov-Dec 2012)
3. Explain A unity feedback control system has an open loop transfer function
G(s) = 1/(0.5s+1)(0.2s+1). Determine the steady state error for unit step, unit ramp, and unit
acceleration inputs. Also determine the damping ratio and ωn of the dominant roots. (AUC,
Nov-Dec 2013)

4. Determine the steady state error of the system and generalized error coefficients when
subjected to an input r(t) = 2+3t+t2. (AUC, May - June 2014)
5. With a neat block diagram and Derivation explain how PI, PD and PID compensation will
improve the time response of the system. (AUC, May-Jun, 2016)
6. For a system G(s) H(s) = K1(2s+1)/s(5s+2) (1+s)2. Find the minimum value of K1, to limit
steady state error to 0.1 when input to system is 1+6t. (AUC, Nov-Dec 2012) Ref : Control
System Engineering by A NAGOORKANI, First Edition. Pg No 2.48
7. The unity feedback control system is characterized by an open loop transfer function G(s) =
K / [s(s+10)]. Determine the gain K, so that the system will have damping ratio of 0.5 for this
value of K. Determine the peak overshoot and peak time for a unit step input. (AUC, May -
June 2016)
8. Derive the time response analysis of a first order system for step and ramp input. (AUC, Nov-
Dec 2015)
9. A certain unity negative feedback control system has the following forward path transfer
function G(s)=k(s+2)/s(s+5)(4s+1). The input applied is r(t)=1+3t. Find the minimum value of
k so that the steady state error is less than 1. (AUC, May - June 2012)
10. With a neat diagram, explain the function of PID Compensation in detail. (AUC, Nov-Dec
2015)
11. A unity feedback system has the forward transfer function , For the input r(t)
= 1 + St, find the minimum value of K so that the steady state error is less than 0.1 (Use final
value theorem)
12. Explain in detail about PI and PD Compensation.


UNIT-III FREQUENCY RESPONSE ANALYSIS

PART-A
1. List out the different frequency domain specifications?

Resonant Peak, Mr.
Resonant Frequency, ωr.
Bandwidth, ωb.  Cut-off Rate  Gain Margin, Kg.
Phase Margin, γ.
2. What is phase margin? (AUC, Nov-Dec 2013)

The Phase margin is the amount of phase lag at the gain cross over frequency required to bring
system to the verge of instability.
3. Define –Gain Margin?

The Gain Margin, kg is defined as the reciprocal of the magnitude of the open loop transfer
function at phase cross over frequency.
4. Define Corner frequency. (AUC, Nov-Dec 2012),(AUC, May - June 2014)

The frequency at which the two-asymptotic meet in a magnitude plot is called Corner frequency.
5. Define gain cross over frequency?

The Gain Cross Over Frequency is the frequency at which the magnitude of the open loop transfer
function is unity.
6. State Nyquist stability Criterion for a closed loop system when the open loop system is stable.
(AUC, Nov-Dec 2013)
If G(S)H(S) – Contour in the G(S)H(S) – Plane corresponding to Nyquist contour in S-plane
encircles the point -1+j0 in the anticlockwise direction as many times as the number of right half
S-plane poles of G(S)H(S). Then the closed loop is stable.
7. Draw the polar plot of G(s)=1/(1+sT). (AUC, May - June 2012)

Ref: Nagoorkani Pg.no: 4.89-Q.4.27 (Second edition)
8. Define Resonant frequency (μf)?

The maximum value of the magnitude of closed loop transfer function is called Resonant Peak.
The frequency at which resonant peak occurs is called resonant frequency.
9. What are the main advantages of Bode plot? The main advantages are:
 Multiplication of magnitude can be into addition.
 A simple method for sketching an approximate log curve is available.
 It is based on asymptotic approximation. Such approximation is sufficient if rough
information on the frequency response characteristic is needed.
 The phase angle curves can be easily drawn if a template for the phase angle curve of
1+ j∆ is available.
10. Define Phase cross over frequency?

The Phase cross over frequency is the frequency at which the phase of the open loop transfer
function is 1800.
11. The damping ratio and the undamped natural frequency of a second order system are 0.5 and
5 respectively. Calculate the resonant frequency. (AUC, May - June 2014)
12. What is Nichols chart? (AUC, Nov-Dec 2012)

The chart consisting of M & N loci in the log magnitude versus phase diagram is called Nichols
chart. A Nichols chart displays the magnitude (in dB) plotted against the phase (in degrees) of the
system response.
13. What are Constant M and N Circles? (AUC, Nov-Dec 2015)

The magnitude of closed loop transfer function with unit feedback can be shown for every value
of M. These circles are called M circles.
The Phase of closed loop transfer function with unit feedback can be shown for every value of M.
These circles are called M circles.
14. Draw the polar plot of an integral term transfer function. (AUC, May - June 2013) Ref: Nagoor
kani Pg.no: 4.40 (Second edition)
PART-B
1. Sketch the Bode plot for the following transfer function and determine the Phase margin and
Gain margin.
Ref : Control System Engineering by A NAGOORKANI, First Edition First Edition. Pg No 3.32
2. Sketch the polar plot for the following transfer function .and find Gain cross over frequency,
Phase cross over frequency, Gain margin and Phase margin. G(S) = 400/S(S+2)(S+10) Ref
: Control System Engineering by A NAGOORKANI, First Edition. Pg No 3.51
3. The open loop transfer function of unity feedback system is given by (𝑺) = 𝟏/[𝒔(𝟏 + 𝒔)𝟐].
Sketch the polar plot and determines the gain margin and phase margin. (AUC, Nov-Dec
2016)
4. Write down the procedure for designing Lag Compensator using Bode plot. (AUC, Nov-Dec
2016)
5. Sketch the Nyquist plot for a system with the open loop transfer function G(S) H(S) =K
(1+0.5S) (1+S) / (1+10S) (S-1). Determine the range of values of K for which the system is
stable.
6. Design the lead compensator for the system G(s) = 1/S(S+2) with damping coefficient equal
to 0.45, velocity error constant>20 and small setting time.

7. For the following transfer function G(s) = k(s+3)/s(s+1))s+2). Sketch the Bode magnitude plot
by showing slope contributions from each pole and zero. (AUC, May - June 2012) Ref : Control
8. Given G(s) = Ke-0.2s/ s(s+2)(s+8), find K for the following two cases.
(i) Gain margin equal to 6db
(ii) Phase margin equal to 45ᶿ. (AUC, Nov-Dec 2012)
9. The open loop transfer function of unity feedback system is given by, ,
Sketch the polar plot and determine the gain margin and phase margin.
10. The open loop transfer function of unity feedback system is given by (𝑺) = 𝟏/[𝒔(𝟏 + 𝒔)𝟐].
Sketch the polar plot and determines the gain margin and phase margin. (AUC, Nov-Dec
2016)
11. For a certain system, G(S) = K / S (S+1) ( S+2). Design a suitable lag - lead compensator to
give, velocity error constant = 10 sec-1 phase margin = 50˚, gain margin ≥ 10 dB. Ref : Control
12. Explain in detail the design procedure of lead compensator using Bode plot. (AUC May –
June 2013)
UNIT-IV STABILITY ANALYSIS

PART-A
1. Define stability.
A linear relaxed system is said to have BIBIO stability if every bounded input results in a
bounded output.
2. What is the necessary condition and sufficient condition for stability in routh stability
criterion? (AUC May – June 2013)
Routh criterion states that the necessary and sufficient condition for stability is that all of
the elements in the first column of the routh array is positive. If this condition is not met, the system
is unstable and the number of sign changes in the elements of the first column of routh array
corresponds to the number of roots of characteristic equation in the right half of the S-plane.
3. What is meant by Relative stability? (AUC, May - June 2014)

Relative stability is the degree of closeness of the system, it is an indication of strength or
degree of stability.
4. What is a dominant pole?
The dominant pole is a complex conjugate pair which decides the transient response of the
system.

5. What is root locus? Explain with suitable example. (AUC, May - June 2012)
The path taken by the roots of the open loop transfer function when the loop gain is varied
from 0 to 1 are called root loci.
6. State Nyquist stability criterion. (AUC, May - June 2012)

If the Nyquist plot of the open loop transfer function G(s) corresponding to the Nyquist
control in the S-plane encircles the critical point –1+j0 in the counter clockwise direction as many
times as the number of right half S-plane poles of G(s), the closed loop system is stable.
7. Write the necessary and sufficient condition for stability in routh stability criterion. (AUC,
May - June 2013
The necessary condition for stability is that all the coefficients of the characteristic
polynomial be positive. The necessary and sufficient condition for stability is that all of the elements
in the first column of the routh array should be positive.
8. Define Routh Hurwitz stability criterion.

Routh criterion states that the necessary and sufficient condition for stability is that all of
the elements in the first column of the routh array is positive. If this condition is not met, the system
is unstable and the number of sign changes in the elements of the first column of routh array
corresponds to the number of roots of characteristic equation in the right half of the S-plane.
9. Write a note on angle and magnitude condition of root locus.

The angle criterion states that S =Sa will be a point on root locus if for that value the phase
of G(S)H(S) is equal to odd multiple of 1800.
The Magnitude Criterion states that S = Sa will be a point on root locus if for that value of
S Magnitude of G(S)H(S) is equal to 1.
10. Write the characteristics equation for closed loop system.

C(s)/R(s)= G(s)/1+G(s).H(s)
The characteristics equation is,
1+G(s).H(s)=0,
G(s).H(s) = -1 this equation can be converted to two Evans conditions
G(s).H(s) = +1
11. What are root loci?

The path taken by a root of characteristic equation when open loop gain K is varied from 0
to is called root loci.
12. Describe the terms: (i) Asymptotes (ii).Centroid (iii). Breakaway point
Asymptotes are straight lines which are parallel to root locus going to infinity and meet the root
locus at infinity.
 The meeting point of asymptotes with real axis is called centroid.
 The Point at which the root locus breaks from the real axis to enter into the complex plane
is called as Break away point.

13. Explain the method of calculating breakaway point.

At break away point the root locus breaks from the real axis to enter into the complex plane.
At break in point the root locus enters the real axis from the complex plane. To find the break away
or break in points, form a equation for K from the characteristic equation and differentiate the
equation of K with respect to s. Then find the roots of the equation dK/dS = 0. The roots of dK/dS
= 0 are break away or break in points provided for this value of root the gain K should be positive
and real.
14. State any two limitation of Routh stability criterion. (AUC, Nov – Dec 2012)  It is valid only
if the Characteristic equation is algebraic.
 If any co-efficient of the Characteristic equation is complex or contains power of ‘e’ this
criterion cannot be applied.
 It gives information about how many roots are lying in the RHS of S-plane; values of the
roots are not available. Also it cannot distinguish between real & complex roots.
PRT-B
1. Construct Routh array and determine the stability of the system whose characteristic
equation is, S6 + 2S5 + 8S4 + 12S3 + 20S2 + 16S+16 = 0. (AUC, May - June 2012) Ref :
Control System Engineering by A NAGOORKANI, First Edition. Pg No 4.13
2. Find the range of K for stability of s4 +2s3 + 2s2 + (3+K)s + K = 0 ,for k>0 Ref : Control System
Engineering by A NAGOORKANI, First Edition. Pg No 4.23
3. Sketch the root locus of the system whose open loop transfer function is given below. Find the
value of K so that the damping ratio of the closed loop system is 0.5, G(S) = K / S (S+2)
a. (S+4) (AUC, May - June 2012)
b. Ref : Control System Engineering by A NAGOORKANI, First Edition. Pg No 4.72
4. A unity feedback control system has an open loop transfer function given below, Sketch the
root locus. G(S) = K (S+9) / S (S2+4S+11)
a. Ref : Control System Engineering by A NAGOORKANI, First Edition. Pg No 4.75
5. Construct R-H Criterion and determine the stability of a system representing the
characteristic equation S5+S4+2S3+2S2+3S1+5 = 0. Comment on location of roots of the
characteristic equation.
6. Write detailed notes on relative stability with its roots of s-plane.

7. Determine the range of K for stability of unity feedback system whose open loop transfer
function G(s) = K/ s(s+1)(s+2) using Routh stability criterion. (AUC, Nov-Dec 2012)
8. Draw the approximate root locus diagram for a closed loop system whose loop transfer
function is given by G(s) H(s) =K/S(s+15)(s+10). (AUC, Nov-Dec 2012) Ref : Control System
Engineering by A NAGOORKANI, First Edition. Pg No 4.69

9. Draw the Nyquist plot for the system whose open loop transfer function is,
a. G(S) = K / S (S+2) (S+10). (AUC, May - June 2012)
b. Ref : Control System Engineering by A NAGOORKANI, First Edition. Pg No 4.35
10. Sketch the root locus of the system whose open loop transfer function is give below. Find the
value of K so that the damping ratio of the closed loop system is 0.5. G(S) = K / S (S+2) (S+4)
(AUC, May - June 2012)
11. Sketch the Nyquist Plot for a system with the open loop transfer function given below.
a. Determine the range of k for which closed loop system is stable.
b. G(S) H(S) = K (1+0.5S) (1+S) / (1+10S) (S-1)
c. Ref : Control System Engineering by A NAGOORKANI, First Edition. Pg No 4.46
12. Determine the stability of closed loop system by Nyquist stability criterion, whose open loop
transfer function is given by, G(S) H(S) = (s+2)/(s+1)(s-1).
UNIT-V STATE VARIABLE ANALYSIS

PART-A
1. Draw Sampler and Hold Circuit. (AUC, Nov-Dec 2016)
2. Define Observability of a system. (AUC, Nov-Dec 2015)

A System is said to be completely observable if every state X(t) can be completely identified
by measurements of the output Y(t) over a finite time interval.
3. What is the necessity of compensation in feedback control system? (AUC, May-June 2014)
The necessity of compensation is its consideration of saturation and transient performance
in addition to the usual steady-state behavior.
4. Write the transfer function of lag-lead compensator.? (AUC, May-June 2014) G(S) =
((s+1)/T1)(s+1/T2)) / ((s+1/(βT1)(s+β/T2))
5. Define state transition matrix using classical method.

The Matrix in which we can list the transition probabilities is called as State Transition
Matrix and is usually shown by P.
6. Give the concept of controllability. (AUC, Nov - Dec 2013)

A system is said to be completely state controllable if ti is possible to transfer the system
state from any initial state , to any other desired state in specified finite time by a control vector.

7. Define state variables and state vectors. ( AUC May – June 2013)
• A set of variable which describes the state of the system at any time instant are called state
variables.
• The state vector is a (n*1) column matrix whose elements are state variables of the system.
8. What is state trajectory?

State Trajectory is a trajectory is the set of points in state space that are the future states
resulting from a given initial state.
9. Define state and state variables of a model system. (AUC, Nov - Dec 2012, May-Jun 2016)
A state variable is one of the set of variables that are used to describe the mathematical
"state" of a dynamical system. Intuitively, the state of a system describes enough about the system
to determine its future behaviour in the absence of any external forces affecting the system.
10. What is homogeneous and non-homogeneous state equation?

An equation in differential form M(x,y) dx + N(x,y) dy = 0 is said to be. homogeneous, if
when written in derivative form.
11. Describe feedback compensation.

The feedback compensation is a design procedure in which a compensator is placed an
internal feedback path around one or more components of the forward path so as to meet the desired
specifications.
12. What is Zero order hold circuit? (AUC, May - June 2016)
The zero-order hold (ZOH) is a mathematical model of the practical signal reconstruction
done by a conventional digital-to-analog converter (DAC). That is, it describes the effect of
converting a discrete-time signal to a continuous-time signal by holding each sample value for one
sample interval.
13. State sampling Theorem. (AUC, Nov-Dec 2016)

A band limited signal can be reconstructed exactly if it is sampled at a rate at least twice the
maximum frequency component in it.
PART-B
1. What are the Sampled data control system? With an aid of a block diagram show basic
elements of a sampled data control system and give functioning of these elements. (AUC,
NOV/DEC:2017)
Ref: Nagrath and Gopal (Fifth Edition), Pg No :515.
2. Test the Controllability & Observability of the system by any one method whose state space
representation is given as,
Ref: Control System Engineering by A NAGOORKANI, First Edition. Pg No 6.62

3. Consider a unity feedback system with open loop transfer function. G(S) = 75/(s+1)(s+3)(s+8).
Design A PID controller to satisfy the following specifications. (a) the steady state error for
unit ramp input should be less than 0.08. (b) Damping ratio = 0.8. (c) Natural frequency of
oscillation = 2.5 rad/sec.
4. Consider the system defined by, X= Ax-BU; Y=Cx; Where, Check the Controllability and
Observability of the system.
5. Construct a state model for a system characterized by the differential equation (d3y/dt3)+
6(d2y/dt2) + 11 (dy/dt) +6y + u =0
6. With neat block diagram explain the sampled data control system and state its advantages
7. Explain the functional modules of closed loop sampled data system and compare its
performance with open loop sampled data system. (AUC, Apr-May 2015)
Ref : Control system Engineering by I.J. Nagrath and M.Gopal. fifth Edition Pg. No.515
8. Consider a system with state-space model given below,
Verify that the system is observable and controllable. (AUC, Apr-May 2015)
9. Describe the procedure for the design of lag compensator using Bode Plot. (AUC, May –
June 2014)
10. Explain the electric network realization of lead compensator and also its frequency. (AUC,
May – June 2014)
11. Write detailed notes on Sampler and Hold circuit.

12. Obtain the state model of the system described by the following transfer function, y(s)/u(s)
=5/s3+6s+7. (AUC, May - June 2014)







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Vel Tech High Tech Dr.Ranagarajan Dr.

Sakunthala Engineering College – Department of ECE

Course Code: EC8391

C206.2 Analyze the various time domain parameters. K4

Apply the concepts of various system stability criterions.

Department of Electronics and Communication Engineering Page #: 1

Department of Electronics and Communication Engineering Page #: 2

COURSE Mrs.D.Gowdhami HTS956

Department of Electronics and Communication Engineering Page #: 3

30 IV Concept of stability Class room C206.4

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Department of Electronics and Communication Engineering Page #: 5

UNIT-I CONTROL SYSTEM MODELING

3. What are the types of control system and explain it?

4. Distinguish between open loop and closed loop control systems.

Department of Electronics and Communication Engineering Page #: 6

8. What are the characteristics of negative feedback? (AUC, May-June 2014)

9. Define transfer function. (AUC, Nov-Dec 2013)

11. Define non-touching loops.

= Forward path gain of kth forward path

14. What are all the components of Block diagram?

Department of Electronics and Communication Engineering Page #: 7

1. Find the transfer function Y2(S) / F(S)

Ref : Control System Engineering by A NAGOORKANI, First Edition. Pg No 1.10

Ref : Control System Engineering by A NAGOORKANI, First Edition. Pg No 1.46

Ref : Control System Engineering by A NAGOORKANI, First Edition. Pg No 1.57

Department of Electronics and Communication Engineering Page #: 8

Ref : Control System Engineering by A NAGOORKANI, First Edition. Pg No 1.79

Ref : Control System Engineering by A NAGOORKANI, First Edition. Pg No 1.65

Ref : Control System Engineering by A NAGOORKANI, First Edition. Pg No 1.81

Ref : Control System Engineering by A NAGOORKANI, First Edition. Pg No 1.29

Department of Electronics and Communication Engineering Page #: 9

Ref : Control System Engineering by A NAGOORKANI, First Edition. Pg No 1.8

Ref : Control System Engineering by A NAGOORKANI, First Edition. Pg No 1.84

Ref : Control System Engineering by A NAGOORKANI, First Edition. Pg No 1.90

12. For the Block diagram shown in fig. Find C1 / R1 and C2 / R1

Ref : Control System Engineering by A NAGOORKANI, First Edition. Pg No 1.61

Department of Electronics and Communication Engineering Page #: 10

UNIT-II TIME RESPONSE ANALYSIS

3. Distinguish between type and order of a system.

7. What is the effect of PID controller on the system performance?

8. What is first order and second order systems?

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10. Describe peak overshoot and settling time.

C(S)/R(S) = 400/ S2 +6S +400 ω2n /S2

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12. Explain in detail about PI and PD Compensation.

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UNIT-III FREQUENCY RESPONSE ANALYSIS

1. List out the different frequency domain specifications?

2. What is phase margin? (AUC, Nov-Dec 2013)

3. Define –Gain Margin?

4. Define Corner frequency. (AUC, Nov-Dec 2012),(AUC, May - June 2014)

5. Define gain cross over frequency?

7. Draw the polar plot of G(s)=1/(1+sT). (AUC, May - June 2012)

8. Define Resonant frequency (μf)?

10. Define Phase cross over frequency?

Department of Electronics and Communication Engineering Page #: 14