Code No: 37015 Set No.

1
IV B.Tech I Semester Supplimentary Examinations, May/Jun 2009
ADVANCED CONTROL SYSTEMS
(Electrical & Electronic Engineering)
Time: 3 hours Max Marks: 80
Answer any FIVE Questions
All Questions carry equal marks
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1. Construct the state model for a system characterized by the differential equation
d3 y 2

dt3
+ 6 ddt2y + 11 dy
dt
+ 6y − 4 = 0
Draw the block diagram representation of the state model. [16]

2. Convert the following system matrix to canonical form

 
−3 0 1
(a) A =  1 1 0 
2 −1 2
 
1 1 −1
(b) A =  0 2 1  [16]
1 2 1
3. The block diagram of a system with hysteresis is shown in Figure 3. Using describ-
ing function method, determine whether limit cycle exists in the system. If limit
cycles exists, determine their amplitude and frequency. [16]

Figure 3
4. The relay with dead-zone is now controlled by the signal e + 31 de


dt
combining prop-
ertional and derivative control as shown in figure 4. Construct a phase trajectory
with [e (0) = 1.4, ė (0) = 0] as the initial state point. What is the effect of the
derivative control action? [16]

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Code No: 37015 Set No. 1

Figure 4
5. (a) Discuss Lyapunov direct method for the linear system.
(b) State and prove Lyapupnon‘s Instability theorem. [8+8]

6. What is full order observer? Derive the equations of full order ovserver. [16]

7. Show that the extremal for the functional

π/8
R
J(x) = (ẋ2 − x2 ) dt
0
which satisfies the boundary conditions
x(0) = 0, x(π/8) = 1 . [16]

8. For a unity feed back system with G (s) = k/s. Compute ‘K’ that minimizes the
performance index. J
R∞ 2
e + λ (ë)2 dt


J= [16]
0

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Code No: 37015 Set No. 2
IV B.Tech I Semester Supplimentary Examinations, May/Jun 2009
ADVANCED CONTROL SYSTEMS
(Electrical & Electronic Engineering)
Time: 3 hours Max Marks: 80
Answer any FIVE Questions
All Questions carry equal marks
⋆⋆⋆⋆⋆

1. Obtain the state space representation of the system shown in Figure 1 in which x1 ,
x2 , x3 constitute the state vector. Also find transfer function matrix. [16]

Figure 1
2. (a) What is Duality property? State and Prove Principle of Duality.
(b) Define observability and controllability. Explain about Kalman’s Test of con-
trollability and observability. [8+8]

3. With suitable example, explain how describing function analysis of nonlinear system
is used for stability analysis? [16]

4. A second order servo containing a relay with dead-zone and hysteresis is shown
in figure 4. Construct the phase trajectory of the system with initial conditions
e(0)=0.65 and ė(0) = 0. [16]

Figure 4
5. Determine the stability of the origin of the following system.
ẋ1 = x2
ẋ1 = −g(x1 ) + x2 [16]

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Code No: 37015 Set No. 2
6. Find the
 three dimensional
 observer
  with eign values -2,-2,-3 for the system.
−2 −2 −2 2
Ẋ =  0 −1 1  X + 0  u;

1 0 −1 1 [16]
 
y= 1 1 0 X
7. Consider a system with state equations
ẋ1 (t) = x2 (t)
ẋ2 (t) = −x2 (t) + µ(t)
The performance index to be minimized is
Rt1 2
J = 12 (x1 + µ2 ) dt.
t0
the control inequuality constraints are given by
|µ(t)| ≤ 1 for t, ∈ [t0 , t1 ]. [16]

8. The system shown in figure 8 determine the optimal values of the parameter k1 and
R∞
k2 such that the prformance Index P I = J = (e2 + 0.25u2 ) dt is minimised. Also
0
comment on the stability of closed loop system with optimal parameters. [16]

Figure 8

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Code No: 37015 Set No. 3
IV B.Tech I Semester Supplimentary Examinations, May/Jun 2009
ADVANCED CONTROL SYSTEMS
(Electrical & Electronic Engineering)
Time: 3 hours Max Marks: 80
Answer any FIVE Questions
All Questions carry equal marks
⋆⋆⋆⋆⋆

1. For a system represented by the state equation

Ẋ(t) = Ax(t) " #
1
 
e−2t
the response is X(t) = when X(0) =
−2e −2t
−2
" #
1
 −t 
e
And X(t) = when X(0) =
−e −t
−1
Determine the system matrix A and the state transition matrix. [16]

2. Consider a system having transfer function

G(s) = s22s+10
+5s+6
Write the controllable canonical form of representation of the system. [16]

3. With suitable example, explain how describing function analysis of nonlinear system
is used for stability analysis? [16]

4. Consider a system with an ideal relay as shown in figure 4b. Determine the singualar
point. Construct phase trajectories, corresponding to initial conditions,

(a) c(0)=2, ċ(0) = 1 and

(b) c(0) = 2, ċ(0) = 15 .
Take r=2 Volts and M=1.2 Volts. [16]

Figure 4b
5. Consider the non-linear system described by the equation
ẋ1 = x2
ẋ2 = −(1 − |x1 |)x2 − x1
Find the region in the state plane for which the equilibrium state of the system is
asymptotically stable. [16]

6. (a) Show that the zero‘s of a scaler system are invariant under linear state feedback
to the input.

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Code No: 37015 Set No. 3
(b) For a single input system explain pole placement by state feedback. [8+8]

7. (a) Find the curve with minimum arc length between the point x(0) = 0 and the
curve θ(t) = t2 − 10t + 24
(b) Discuss state variable and control inequality constraints. [8+8]

8. Explain the steps to find out the optimum gain setting to PID controller to minimize
Integral Square error. Details of eact step are to be given. [16]

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Code No: 37015 Set No. 4
IV B.Tech I Semester Supplimentary Examinations, May/Jun 2009
ADVANCED CONTROL SYSTEMS
(Electrical & Electronic Engineering)
Time: 3 hours Max Marks: 80
Answer any FIVE Questions
All Questions carry equal marks
⋆⋆⋆⋆⋆

1. (a) Obtain the state model of the electrical network shown in Figure 1a. [16]

Figure 1a
(b) Obtain the state model of the system whose transfer function is given as
Y (s)
U (s)
= s3 +4s10
2 +2s+1 [8+8]

2. (a) Determine the state controllability for the system represented by the state
equation.
       
ẋ1 2 1 x1 1
= + u
ẋ2 0 −1 x2 0
(b) Explain the different tests for controllability used for continuous time systems.
[8+8]

3. The response of a system is y=ax2 +ebx , test whether the system is linear or non
linear. [16]

4. Linear second order servo is described by the equation ë + 2τ wn ė + wn2 e = 0, where

τ =0.15, wn = 1 rad/sec e(0)=1.5 and ė (0) = 0. Determine the singular point.
Construct the phase trajectory, using the method of isoclines. [16]

5. (a) State and explain Lyapunov‘s Instability thorem.

(b) Discuss stability in the sense of Lyapunov? [8+8]

6. Given
 the model   
0 0 0 1
Ẋ  0 −1 0  X +  1  u y=[40/3, -15 5/3]
0 0 3 1
Determine the transfer function Y(s)/U(s). Realise the transfer function is control-
lable and observable compnion from. [16]

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Code No: 37015 Set No. 4
7. (a) Find the extremals for the following functional
π/4
(ẋ2 − x2 ) dt; x(0) = 0, x( π4 ) is free.
R
J(x) =
0

(b) Explain control and state variable inequality constraints. [8+8]

8. Formulate the two point boundary -value problem which when solved, yields the
optimal control u∗ (t) for the system
ẋ1 = x2
ẋ2 = x1 + (1 − x21 ) x2 + u
x(0) = [ 1 0 ]T
R2
J = 21 (2x21 + x22 + u2 ) dt
0
when

(a) u(t) is not bounded and

(b) |u(t)| ≤ 1.0 [8+8]

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