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WINTER – 2022 EXAMINATION

Model Answer
Subject Name: Control System Subject Code: 22541
__________________________________________________________________________________________________
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Q. Sub Marking
No. Q.N Answer Scheme
.

Q.1 Attempt any Five of the following 10 M

a) State the transfer function of open loop and closed loop system. 2M

Ans Transfer Function is defined as the ratio of Laplace transform of Output to that of
Laplace transform of input under the assumption that all initial conditions are
zero.
Transfer function of open loop system:
C(S) / R(S) = G(s) H(S)
Transfer function of closed loop negative / positive feedback system:

b) List standard test inputs. Draw their graphical representation. 2M

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Ans Standard test inputs and their graphical representation is given as: ½ M to
each input
Test Input Graphical Representation and its
representa
Unit Step Input tion

Unit Ramp Input

Unit Parabolic Input

Unit Impulse Input

c) Define 2M
i) Gain Margin
ii) Phase Margin

Ans Gain Margin: Margin in the gain allowable by which gain can be increased till 1 M to
system reaches on the verge of instability. each
defination.
Phase Margin: The amount of additional phase lag which can be introduced in
the system till system reaches on the verge of instability.

d) Define offset. State the methods to eliminate it. 2M

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Subject Name: Control System Subject Code: 22541
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Ans Offset: The proportional controller produces a permanent residual error in the definition 1
controlled variable, when a change in load occurs. This is referred to as offset. M and
method of
Methods of eliminating offset: It can be minimized by the large proportional elimination
gain Kp, by doing manual resetting and by using integral controller. 1M

e) Classify Servo System. Draw the generalized block diagram of a servo 2M

system.

Ans Servo system is classified as: Classificati

1. Based on nature of components of system on 1 M
Electrical Servo System, Hydraulic Servo system, electro hydraulic Servo system. and block
diagram 1
2.Based of driving system
M
AC Servo System, DC Servo System
3. Based on control methods
Open loop Servo System, Closed loop Servo System.
Generalized block diagram of a servo system is given as:

f) Draw and label the time response of 2nd order control system for unit step 2M
input.

Ans neat
labeled
diagram 2
M

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Subject Name: Control System Subject Code: 22541
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g) State with justification if AC two phase induction motor can be used as AC 2M

servo motor.

Ans AC servo motor should have less inertia than 2 phase induction motor since it is used in
feedback applications to regulate the speed of the load. This is achieved by reducing the
diameter of the rotor and increasing its length compared to 2 phase induction motor. To 2M
achieve this, special designs of rotor like drag-cup rotor or squirrel cage rotor are used. (brief
The characteristic of 2 phase induction motor is nonlinear with initial positive slope. But explanatio
the characteristic of AC servo motor is made linear with negative slope to improve the n)
stability since it is used in servo system which is a feedback system. This is achieved by
small X/R ratio which is obtained by increasing the resistance of the rotor winding. The
increase in rotor resistance may cause heat dissipation and power loss and reduction in
the speed.
Therefore, by considering these two points, AC two phase induction motor can be used
as AC servo motor.

Q.2 Attempt Any THREE of the following 12M

a) Find the state space representation for the transfer function 4M

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Ans

2M

1M

1M

b) Find the type of the system and steady. State error for a unity feedback 4M

system with for input r(t) = 5t.

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Ans type of
system
=1 M
rest all
step =
3M

c) Compare AC servomotor & DC servomotor (any four points). 4M

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Ans

Sr.No AC Servomotor DC Servomotor

1 Low power output High power Low power output High power
o/p o/p

2 Maintenance is less Maintenance is more

each
3 No Brushes / commutators Brushes / problem, point 1
absent commutators present. mark Any
4 Stable and smooth operation Noisy operation 4 points
5 Less problem of stability More problem of stability

6 No RF noise because of absence Brushes produce RF noise.

of brushes

7 Non – linear characteristics Linear characteristics

8 No voltage supply to rotor, Voltage is given through power

Rotor current is supplied supply to rotor.
inductively by rotating magnetic
field of stator.

9 Applications:- low Application: high power

power(computer peripherals, (machine tools, robotics)
recorders etc.)

d) For a given transfer function 4M

Find
i) Pole
ii) Zero
iii) Pole – Zero plot
iv) Characteristic equation.

Ans (i) Poles:

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Model Answer
Subject Name: Control System Subject Code: 22541
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Poles are obtained by equating the denominator of the transfer function to zero
therefore:
S2 +7S + 16 = 0 Which is a quadratic equation .
For the quadratic equation ax2+bx+c=0, a=1, b=7, c=16
the poles are =[ -b±√(b^2-4ac) / 2a ]
= -7 ±√(49-(4*1*16)) / 2*1
= -7 ±√(49-(64)) / 2
= -7 ±√(-15) / 2
= -7 ±j√ (15) / 2
Therefore:
S = -7 + j√ (15) /2 and S = -7 - j√ (15) /2
Poles are :
1. -3.5 - 1.93j
2. -3.5 + 1.93j

(ii) Zeros:

S2 + 16 = 0
S2 = - 16

S = ±4 j
S = +4j , -4j
(iii)Pole – Zero plot:

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Subject Name: Control System Subject Code: 22541
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(iv)Characteristic equation:
( S2 +7S + 16)=0

Q.3 Attempt any THREE of the following. 12M

a) Derive the transfer function for RC network. 4M

AN 1M
S.

Input equation :
1
𝑉𝑖(𝑡) = 𝑅𝑖(𝑡) + 𝐶
∫ 𝑖(𝑡)𝑑𝑡

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Output equation:
1
𝑉0(𝑡) = 𝐶
∫ 𝑖(𝑡)𝑑𝑡 2M

Taking Laplace of Input and Output equations:

𝐼(𝑆)
𝑉𝑖(𝑆) = 𝑅 𝐼(𝑆) + 𝐶𝑆

𝐼(𝑆)
𝑉𝑂(𝑆) = 𝐶𝑆

𝑉0(𝑆) 𝐼(𝑆) 1M
1
TF= 𝑉𝑖(𝑆)
= 𝐶𝑆
𝐼(𝑆) = 𝑅𝐶𝑆+1
𝑅 𝐼(𝑆)+ 𝐶𝑆

b) For a unity feedback system whose open loop transfer function is 4M

Find position, velocity and acceleration error constant.

Ans 𝑇𝑦𝑝𝑒 𝑜𝑓 𝑡ℎ𝑒 𝑠𝑦𝑠𝑡𝑒𝑚 = 0 1M

50
𝐾𝑃 = lim 𝐺(𝑆)𝐻(𝑆) = 𝐾𝑃 = lim (1+0.1𝑆)(1+ 2𝑆)
= 50
𝑠→0 𝑠→0
1M
50
𝐾𝑉 = lim 𝑆 𝐺(𝑆)𝐻(𝑆) = lim 𝑆 (1+0.1𝑆)(1+ 2𝑆)
=0 1M
𝑠→0 𝑠→0

2 2 50
1M
𝐾𝐴 = lim 𝑆 𝐺(𝑆)𝐻(𝑆) = lim 𝑆 (1+0.1𝑆)(1+ 2𝑆)
=0
𝑠→0 𝑠→0

c) Using Routh’s stability criteria, determine the stability for the system with 4M

characteristic equation

Ans Routh’s array: 3m

S4 3 5 2

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Subject Name: Control System Subject Code: 22541
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S3 10 5 0

S2 3.5 2 0

S -5/7 0 0

S0 2 0 0
1M
Conclusion:
There are two sign changes in the first column. Therefore, two poles are on
the right side of S-plane. So the system is unstable.

d) Explain different components of AC servo system with neat diagram. 4M

Ans 2M

● AC position control system consists of components such as Synchro 2M

as error detector, AC servo amplifier and AC servo motor which is
connected to the load.
● The load is connected to the rotor of synchro transmitter as
feedback.
● The rotor of synchro control transformer is kept constant at the
reference position.
● The differential output of the synchro error detector is the error
voltage which is given to the AC servo amplifier.
● The amplifier output which is the error voltage is given to the
control winding of AC servo motor.

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● Thus, the speed of the motor is adjusted according to the error
voltage and feedback signal.
● Thus, the load is positioned according to the reference signal.

Q.4 Attempt any THREE of the following. 12M

a) Find the transfer function of the following differential equation. 4M

2
𝑑 𝑦(𝑡) 𝑑𝑦(𝑡)
2 +4 𝑑𝑡
+ 8𝑦(𝑡) = 8 𝑥(𝑡).
𝑑𝑡

AN 2
𝑑 𝑦(𝑡) 𝑑𝑦(𝑡)
+4 + 8𝑦(𝑡) = 8 𝑥(𝑡)
S. 𝑑𝑡
2 𝑑𝑡

Taking Laplace,
2
𝑆 𝑌(𝑆) + 4𝑆𝑌(𝑆) + 8𝑌(𝑆) = 8𝑋(𝑆) 2m
2
𝑌(𝑆)[𝑆 + 4𝑆 + 8] = 8𝑋(𝑆)
𝑌(𝑆) 8 2m
𝑇𝐹 = 𝑋(𝑆)
= 2
𝑆 +4𝑆+8

b) Draw the response of second order system for critically damped case, for unit 4M
step input.

Ans. 2m
When damping factor ζ = 1, system is called critically damped system

𝑃𝑜𝑙𝑒𝑠 =− ω𝑛, − ω𝑛
−ω𝑛𝑡
The o/p response 𝑦(𝑡) = 𝐴 + 𝐵𝑡𝑒

It can be seen that the critically damped response is exponential.

The response:

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2m

c) State the concept of marginal stability. 4M

AN Marginal stability:-If the poles (non -repeated) are located purely on imaginary axis of 2M
S. s-plane, system is said to be critically stable. Here the output amplitude neither increase
nor decrease but the system oscillates with constant amplitude.
Response:

2M

d) Explain ON-OFF controller with equation. State any two of its application. 4M

AN It has only two fixed positions such as on (1) and off (0). The output signal P remains 2m
S. either 0% or 100% depending upon whether the error is negative or positive. So the
equation of On-Off controller is:
P = 100% (on) for positive error
P = 0% (off) for negative error .
Consider a practical example of temperature control system with Set Point “x”.
When the temperature is more than “x” the on - off controller will be off and when it is
less than “x” ,on - off controller will be on.
Output diagram:

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Example:- Relays, Thermostat 2m

Applications: temperature control systems for houses (heating and cooling), freezers and
other home appliances are using on-off control

e) Using Routh’s criteria, determine the range of K for the system to be stable
for the characteristics equation

Ans. Routh’s array: 2m

S4 1 13 K

S3 4 36 0

S2 4 K 0

S 144−4𝐾 0 0
4

S0 K 0 0

To satisfy the condition for stability,

2M
𝐾 > 0,
144−4𝐾
4
> 0

Or 144− 4𝐾 > 0, 144 > 4𝐾, 36 > 𝐾

Therefore, the range of 𝐾 for the system to be stable is,

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0 < 𝐾 < 36

Q. 5 Attempt any TWO of the following. 12M

a) Derive the transfer function of the system shown below using block diagram 6M
reduction techniques in Fig. No. 1.

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Ans

b) Draw Bode plot for the system with open loop transfer function. 6M

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Ans Step 1: The given open loop transfer function is already in the time constant form 2M
10
𝐺(𝑆)𝐻(𝑆) = 𝑆(1+2𝑆)(1+0.2𝑆)

Step 2: Identify the factors;

1. Open loop gain 𝐾 = 10, 𝑀 𝑖𝑛 𝑑𝐵 = 20 𝑙𝑜𝑔 𝐾 = 20 𝑙𝑜𝑔 10 = 20 𝑑𝐵 2M

2. Pole at origin (1/S) which has a magnitude plot with slope of − 20𝑑𝐵/𝑑𝑒𝑐𝑎𝑑𝑒.
𝐹𝑜𝑟 ω = 0. 1,
𝑀 𝑖𝑛 𝑑𝐵 𝑓𝑜𝑟 (1/𝑆) = − 20 𝑙𝑜𝑔0. 1 = 20 𝑑𝐵
1 1
3. First order poles are (1+2𝑆)
and (1+0.2𝑆)
. The corner frequencies of them are
1 1
ω𝑐1 = 2 = 0. 5, ω𝑐2 = 0.2
= 5

Frequency in Bode plot at which the magnitude plots of low and high frequency ranges
meet is called corner frequency.

Till the corner frequencies the magnitude plot’s slope will be 0 𝑑𝐵/𝑑𝑒𝑐𝑎𝑑𝑒 and from the
corner frequencies it changes to − 20𝑑𝐵 /𝑑𝑒𝑐𝑎𝑑𝑒.

Step 3: Phase angle : 2M

Frequenc For For For Factor 3, For Factor 4, Total phase
y =w Factor1 Factor 2, 1/ (1+2S) 1/(1+0.2S) angle
, K=2 1/S
3 = -tan-12w = +
1 2
1 2
4 = -tan-1 0.2 w
+ 3+ 4
0 0 0 0
0.1 0 -90 -11.3 -1.1 -102.40

1 00 -900 -63.40 -11.30 -164.70

10 00 -900 -87.10 -63.40 -240.50

100 00 -900 -89.70 -87.10 -266.80

1000 00 -900 -89.970 -89.70 -269.670

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c) Draw the circuit diagram of the electronic PI controller and state its 6M
equation. Compare the proportional and integral control action on the basis
of
1) Output
2) Equation
3) Stability
4) Speed of response

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Ans Circuit
Diagram
and
equation
2M
Compariso
n 1 M each

Electronic PI controller

Where P0 is the controller output when time t=0

Parameters Proportional Integral

Output Output is proportional to the Output is proportional to the

present error past history of errors.

P = KpEp + Po
Equation P= Controller output Pout =
Ep=Error Percentage Pout =Controller output
Kp=Proportionality constant Ep=Error Percentage
Po= Controller Output at SP Ki =Integral constant
P0=Controller Output at t=0

Stability Moderate Stability Less stability

Speed of response Moderate speed Slow speed

Q. 6 Attempt any TWO of the following: 12M

a) Draw the functional diagram of DC servo system and explain the use of each 6M
element. Describe the error detector used in it with suitable diagram.

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Ans. Block
Diagram
2M
Explanatio
n 2M
Error
detector
2M

DC Servo System
Dc position control system consists of 2 potentiometers in parallel as an error detector,
DC servo amplifier and DC servo motor which is connected to the load. The load is
connected to the wiper of one the potentiometer as feedback.
The other potentiometer wiper is kept constant at the reference position.
The differential output of the 2 potentiometers is the error voltage which is given to the
servo amplifier. The amplifier output, which is the error voltage, is given to the
motor. Thus the speed of the motor is adjusted according to the error voltage and
feedback signal. Thus the load is positioned according to the reference signal.
Potentiometer as error detector:

An assembly of two potentiometers in parallel is used as an error detector in DC servo

systems. This type of arrangement allows comparison of two separately located shaft
positions. The output voltage is taken across the variable terminals of the two
potentiometers. It gives the output voltage proportional to the difference in the positions
of both the wipers of potentiometers. It is given to a servo amplifier. The motor, in turn
moves and the shaft connected to the load potentiometer moves with it in such a way as
to make the output voltage zero. That is, the output (Load) potentiometer shaft moves in
accordance with the shaft of the input (reference) potentiometer.

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b) The open loop transfer function of a unity feedback system is given by 6M

Find the settling time and peak overshoot. Draw its response.

Settling
Ans. Time 2M
Peak
overshoot
2M

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c) Draw the circuit diagram of electronic PID controller. State the effect of 6M
integral and derivative control action on the system performance.

Diagram
Ans. 3M
Integral
1.5 M
Derivative
1.5 M

PID Controller

Derivative controller responds to the rate at which the error is changing. It improves
damping and reduces maximum overshoot. It reduces rise time and settling time. It
increases bandwidth.

Integral controller corrects for any offset between set point and process variable
automatically. Integral action is provided by summing the error over time, multiplying
that by a gain and adding the result to the present controller output. The control action is
slow. It removes the offset by allowing the controller to adapt to changing external
conditions by changing the zero-error output.

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