VI Sem EC Control System Engineering Winter-2023

Priyadarshini Bhagwati College of Engineering

Department of Electronics & Communication Engineering
Rashtrasant Tukadoji Maharaj Nagpur University
Examination
Winter-2023
Paper Solution
Semester : VI Sem Marks: 70
Subject : Control System Engineering Paper Code : PSM/KW/23/2744

Que. 1 (a)

Find the transfer function y2 (s)/F (s) for the system.

Figure 1: (a)

Solution :
There are two displacements y1 (t) and y2 (t). The elements M1 , K1 and B are
under the displacement y1 (t) as K1 and B are between M1 and fixed support.
The element K2 is between y1 and y2 , causing change in the displacement.

The element M2 is under the displacement y2 .

The equivalent mechanical system is shown in figure below :

L: Dr. P.R. Bokde 1 PBCOE, Nagpur

Winter-2023 Control System Engineering VI Sem EC

Figure 2: Equivalent system of figure 1(a)

At node 1,

d2 y1 ( t ) y (t)
f (t) = M1 2
+ K1 y 1 ( t ) + B 1 + K2 [y1 (t) − y2 (t)]
dt dt

At node 2,
d2 y2 ( t )
0 = M2 + K2 [y2 (t) − y1 (t)]
dt2
Taking Laplace transform of both the equations,

F (s) = M1 s2 Y1 (s) + K1 Y1 (s) + BsY1 (s) + K2 [Y1 (s) − Y2 (s)]

0 = M2 s2 Y2 (s) + K2 [Y2 (s) − Y1 (s)]

From above equation we can write,

h i
2
F (s) = Y1 (s) M1 s + K1 + K2 + Bs − K2 Y2 (s)
F (s) + K2 Y2 (s)
∴ Y1 (s) =
[ M1 s2 + Bs + K1 + K2 ]

Using other equation,

 
2 F (s) + K2 Y2 (s)
0 = M2 s Y2 (s) + K2 Y2 (s) − K2
M1 s2 + Bs + K1 + K2
K2 F ( s ) K22 Y2 (s)
∴ 0 = M2 s2 Y2 (s) + K2 Y2 (s) − −
( M1 s2 + Bs + K1 + K2 ) ( M1 s2 + Bs + K1 + K2 )
( )
K 2
K2 F ( s )
∴ = Y2 (s) M2 s2 + K2 − 2
M1 s2 + Bs + K1 + K2 ( M1 s2 + Bs + K1 + K2 )
n o
∴ K2 F (s) = Y2 (s) ( M2 s2 + K2 )( M1 s2 + Bs + K1 + K2 ) − K22
Y2 (s) K2
∴ =
F (s) ( M2 s2 + K2 )( M1 s2 + Bs + K1 + K2 ) − K22

PBCOE, Nagpur 2 L: Dr. P.R. Bokde

VI Sem EC Control System Engineering Winter-2023

Que. 1 (b)
Define the control System and classify. Differentiate the types, mentioning
appropriate examples.

Solution :

Definition of a Control System

A Control System is a system of devices or set of devices that manages, com-
mands, directs, or regulates the behavior of other devices or systems to achieve a
desired output.
In simple terms, a control system takes an input, processes it through a set of
rules or mechanisms, and produces a controlled output.

Input −→ Control System −→ Output

Classification of Control Systems

Control systems are broadly classified into two main types:

1. Open Loop Control System

2. Closed Loop Control System

1. Open Loop Control System

An open-loop control system is one in which the output has no effect on the con-
trol action. The system operates on the basis of input only and does not take
feedback into account.
Example:

• Electric toaster

• Washing machine (without feedback sensors)

• Water pump operated by a manual switch

Block Diagram:

Input → Controller → Process → Output

L: Dr. P.R. Bokde 3 PBCOE, Nagpur

Winter-2023 Control System Engineering VI Sem EC

2. Closed Loop Control System

A closed-loop control system is one in which the control action is dependent on
the output. The system continuously monitors and compares the output with the
desired value and adjusts the input accordingly.
Example:

• Air conditioner with thermostat

• Cruise control in automobiles

• Automatic voltage regulator

Block Diagram:

Input → Controller → Process → Output → Feedback → Comparator

Comparison of Open and Closed Loop Control Sys-

tems

Criteria Open Loop System Closed Loop System

Feedback No feedback used Uses feedback
Accuracy Less accurate due to More accurate and
disturbances self-correcting
Complexity Simple to design and More complex due to
implement feedback loop
Cost Usually inexpensive More expensive
Stability More stable May become unstable if not
properly designed
Example Electric kettle, toaster Air conditioner, automatic
elevator
Response to Does not respond to Adjusts automatically to
disturbance disturbances disturbances

PBCOE, Nagpur 4 L: Dr. P.R. Bokde

VI Sem EC Control System Engineering Winter-2023

Que. 2 (a)
Find the transfer function of the circuit given :

R1

R2
C1
Vi Vo
C2

Solution :
Step 1 : Obtain Laplace Domain Representation :

R1

R2
1
sC1
Vi (s) i(s) Vo (s)
1
sC2

Step 2 : Applying KVL,

  
1
R1 × sC1 1 
Vi (s) =    + R2 + I (s)
R1 + 1 sC2
sC1
 
1
and Vo (s) = R2 + I (s)
sC2

Step 3 : Taking Output/Input Ratio :

Vo (s) ( R2 + 1/sC2 )
= 
Vi (s) ( R1 /sC1 )
+ R2 + 1/sC2
( R1 +1/sC1 )

Simplify and rearrange the equation,

Vo (s) ( R2 + 1/sC2 )( R1 + 1/sC1 )

∴ = 
Vi (s) R1
R1 R2 + sC + R2
+ R1
+ 1
1 sC1 sC2 s2 C C 1 2

L: Dr. P.R. Bokde 5 PBCOE, Nagpur

Winter-2023 Control System Engineering VI Sem EC

Solving we get,

Vo (s) (sR2 C2 + 1)(sR1 C1 + 1)

∴ = 2
Vi (s) s + R1 R2 C1 C2 + sR2 C2 + sR1 C1 + sR1 C2 + 1

Dividing by R1 R2 C1 C2 to both numerator and denominator, we get,

  
1 1
Vo (s) s+ R1 C1 s+ R2 C2
∴ =  
Vi (s) s + R11C1 +
2 1
+ 1
s+ 1
R2 C1 R2 C2 R1 R2 C1 C2

Que. 2 (b)
Derive the expression for transfer function of closed loop control System.

Solution :
A block diagram in which, forward path contains only one block, feedback path
contains only one block, one summing point and one take-off point represents
simple or canonical form of a closed loop system.
The simple form can be shown in figure as 3

Figure 3: Closed Loop System

Where,
R(s) → Laplace of reference input r(t)
C(s) → Laplace of controlled output c(t)
E(s) → Laplace of error signal e(t)
B(s) → Laplace of feedback signal b(t)
G(s) → Equivalent forward path transfer function
H(s) → Equivalent feedback path transfer function

PBCOE, Nagpur 6 L: Dr. P.R. Bokde

VI Sem EC Control System Engineering Winter-2023

From figure we can write equations as,

E(s) = R(s) ∓ B(s)

B(s) = C (s) H (s)
C (s) = E(s) G (s)
B(s) = C (s) H (s)
∴ E(s) = R(s) ∓ C (s) H (s)
C (s)
But,E(s) =
G (s)
C (s)
∴ = R(s) ∓ C (s) H (s)
G (s)
∴ C (s) = R(s) G (s) ∓ C (s) G (s) H (s)
∴ C (s) [1 ± G (s) H (s)] = R(s) G (s)
C (s) G (s)
∴ =
R(s) 1 ± G (s) H (s)

Use +ve sign for negative feedback and use -ve sign for positive feedback.

Que. 3 (a)
Apply Masson’s gain formula to determine the overall transfer function of
a control system having the block diagram shown in figure 3(a).

Figure 4:

Solution :

L: Dr. P.R. Bokde 7 PBCOE, Nagpur

Winter-2023 Control System Engineering VI Sem EC

Que. 3 (b)
What is the effect of feedback on control system sensitivity?

Solution :
Sensitivity of the overall gain of negative feedback closed loop control system (T)
to the variation in open loop gain (G) is defined as -

∂T
T T Percentage Change in T
SG = =
∂G
G
Percentage Change in G

Where, ∂T is the incremental change in T due to incremental change in G.

We can rewrite the above equation as -

T ∂T G
SG =
∂G T

Do partial differentiation with respect to G on both sides of equation.

(1 + GH ) · 1 − G ( H )
 
∂T ∂ G 1
= = 2
=
∂G ∂G 1 + GH (1 + GH ) (1 + GH )2

Transfer function of negative feedback control system is ,

G
T=
1 + GH

Where, T is the transfer function or overall gain of negative feedback control sys-
tem, G is the open loop gain, which is function of frequency and H is the gain of
feedback path, which is function of frequency.
From above equation, we get,

G
= 1 + GH
T

Therefore we can write sensitivity equation as,

T 1 1
SG = 2
(1 + GH ) =
(1 + GH ) 1 + GH

So we got the sensitivity of the overall gain of closed loop control system as
the reciprocal of (1 + GH). So sensitivity may increase or decrease depending on
the value of (1 + GH).

• If the value of (1 + GH) is less than 1, then sensitivity increases. In this case,

PBCOE, Nagpur 8 L: Dr. P.R. Bokde

VI Sem EC Control System Engineering Winter-2023

‘GH’ value is negative because the gain of feedback path is negative.

• If the value of (1 + GH) is greater than 1, then sensitivity decreases. In this

case ‘GH’ value is positive because the gain of feedback path is positive.

In general, ‘G’ and ‘H’ are functions of frequency. So feedback will increase
the sensitivity of the system gain in one frequency range and decrease in the other
frequency range. Therefore, we have to choose the values of ‘GH’ in such a way
that the system is insensitive or less sensitive to parameter variations.

Que. 4 (a)
Find the closed loop transfer function using block diagram reduction tech-
nique.

Figure 5: 4(a)

Solution :
The blocks G2 and G3 are in parallel so combining them as ( G2 + G3 ), we get,

L: Dr. P.R. Bokde 9 PBCOE, Nagpur

Winter-2023 Control System Engineering VI Sem EC

G1 G4 ( G2 + G3 )
C (s) 1− G1 G4 H1
∴ = G1 G4 ( G2 + G3 ) H2
R(s) 1+ 1− G1 G4 H1
C (s) G1 G4 ( G2 + G3 )
∴ =
R(s) 1 − G1 G4 H1 + G1 G4 ( G2 + G3 ) H2

Que. 4 (b)
Determine overall gain using Mason’s gain formula of the following SFG.

Solution :

Step 1 : Obtain total number of forward paths :

There is only one forward path,

∴ P1 = G1 G2 G3 G4

Step 2 : Obtain total number of single loops :

There are four single loops.

PBCOE, Nagpur 10 L: Dr. P.R. Bokde

VI Sem EC Control System Engineering Winter-2023

Loop 1 (L1 ) : P11 = −1

Loop 2 (L2 ) : P21 = − G4
Loop 3 (L3 ) : P31 = − G3 G4
Loop 4 (L4 ) : P41 = − G2 G3 G4

Step 3 : Obtain total number of two non-touching loops :

Loop 1 and loop 2 are two non-touching loops.

∴ P12 = P11 × P21 = G4

Also loop 1 and loop 3 are two non-touching loops.

∴ P22 = P11 × P31 = G3 G4

Step 4 : Obtain total number of three non-touching loops :

There are no three non-touching loops.
Step 5 : Find out value of △ :

△ = 1 − ( P11 + P21 + P31 + P41 ) + ( P12 + P22 )

∴ △ = 1 + 1 + G4 + G3 G4 + G2 G3 G4 + G4 + G3 G4
∴ △ = 2 + 2G4 + 2G3 G4 + G2 G3 G4

Step 6 : Find out value of △1 :

All loops touches forward path P1 .

∴ △1 = 1

Step 7 : Obtain transfer function

C (s) P△
∴ T (s) = = 1 1
R(s) △
C (s) G1 G2 G3 G4
∴ T (s) = =
R(s) 2 + 2G4 + 2G3 G4 + G2 G3 G4

Que. 5 (a)
Define : (1) Delay time (2) Rise time (3) Peak time (4) Peak overshoot (5)
Settling time (6) Steady state error (7) Time response

L: Dr. P.R. Bokde 11 PBCOE, Nagpur

Winter-2023 Control System Engineering VI Sem EC

Solution :

1. Delay Time

It is the time required for the response to reach 50 % of the final value in the first
attempt.
It is given by -
1 + 0.7ξ
Td =
ωn

2. Rise Time

It is the time required for the response to rise from 10% to 90% of the final value
for overdamped systems and 0 to 100% of the final value for underdamped sys-
tems.
It is given by -

π−θ
Tr = sec where θ must be in radians
ωd

3. Peak Time

It is the time required for the response to reach its peak value.
It is also defined as the time at which response undergoes the first overshoot
which is always peak overshoot.

π π
Tp = = p sec
ωd ωn 1 − ξ 2

4. Peak Overshoot

It is the largest error between reference input and output during the transient
period.
It can also be defined as the amount by which output overshoot its reference
steady state value during the first overshoot.

√−πξ
%MP = e 1− ξ 2 × 100

PBCOE, Nagpur 12 L: Dr. P.R. Bokde

VI Sem EC Control System Engineering Winter-2023

5. Settling Time
This is defined as the time required for the response to decrease and stay within
specified percentage of its final value (within tolerance band).

1
Time constant of system = =T
ξωn
Ts = 4 × Time constant

Practically the setting time is assumed to be 4 times, the time constant of the
system.
4
Ts =
ξωn

6. Steady State Error

Steady state error is the difference between the desired final output and the actual
output of a system as time approaches infinity in response to a specific input signal
(such as step, ramp, or parabolic input).
Mathematically, if the input is r (t) and the output is y(t), then the steady-state
error ess is given by:
ess = lim [r (t) − y(t)]
t→∞

In the Laplace domain, using the Final Value Theorem:

 
R(s)
ess = lim s · E(s) = lim s ·
s →0 s →0 1 + G (s) H (s)

Where:

• E(s) is the Laplace transform of the error signal e(t),

• R(s) is the Laplace transform of the input signal r (t),

• G (s) is the open-loop transfer function,

• H (s) is the feedback transfer function.

Significance:

• Steady-state error indicates the accuracy of the control system.

• It depends on the type of input, system type (based on number of poles at

origin), and system gain.

L: Dr. P.R. Bokde 13 PBCOE, Nagpur

Winter-2023 Control System Engineering VI Sem EC

7. Time Response
Time response of a control system is the output of the system as a function of time
when it is subjected to a specific input signal.
It describes how the system behaves over time and consists of two major com-
ponents:

1. Transient Response:

• The part of the response that dies out with time.

• Includes rise time, peak time, overshoot, and settling time.
• Dominates the behavior of the system at the initial stage.

2. Steady-State Response:

• The part of the response that remains after the transient effects have
disappeared.
• Represents the system behavior as time approaches infinity.
• Indicates the accuracy of the system.

Mathematically, if the input is r (t) and the output is y(t), then the time response
is:
y(t) = ytr (t) + yss (t)

Where:

• ytr (t): Transient response

• yss (t): Steady-state response

Que. 5 (b)

Unity feedback system having open loop transfer function - G (s) =

25
. Determine the rise time, settling time, first peak time, and max-
s ( s + 5)
imum percentage overshoot, when the closed loop system is subjected to
unit step input.

Solution :
Given :

25
G (s) =
s ( s + 5)
H (s) = 1

PBCOE, Nagpur 14 L: Dr. P.R. Bokde

VI Sem EC Control System Engineering Winter-2023

25
C (s) G (s) s ( s +5) 25
∴ = = =
R(s) 1 + G (s) H (s) 1 + s(s25 +5)
s2 + 5s + 25

We have the standard equation,

s2 + 2ξωn s + ωn2 = 0
∴ s2 + 5s + 25 = 0

We get,

ωn2 = 25
∴ ωn = 5 rad/sec
And 2ξωn = 5
∴ ξ = 0.5

Now, damped frequency of oscillation is -

q
ωd = ωn 1 − ξ 2
q
∴ ωd = 5 1 − (0.5)2 = 4.330 sec

The peak time is given by -

π π
Tp = = = 0.725 sec
ωd 4.330

Now,
"p # "p #
1 − ξ2 1 − (0.5)2
θ = tan−1 = tan−1 = 1.04 sec
ξ 0.5

Rise time is given as -

π−θ π − 1.04
Tr = = = 0.485 sec
ωd 4.330

Settling time is given by -

4 4
Ts = = = 1.6 sec
ξωn 0.5 × 5

L: Dr. P.R. Bokde 15 PBCOE, Nagpur

Winter-2023 Control System Engineering VI Sem EC

% Peak overshoot is given by -

√−πξ
%M p = e 1− ξ 2 × 100 = 16.30%

Que. 6 (a)
Derive the time response of second order underdamped system to unit step
input.

Solution :
For underdamped systems, ξ < 1
∴ s2 + 2ξωn s + ωn2 = 0 has two roots,
q
s1,2 = −ξωn ± iωn 1 − ξ2
q
Now, let ξωn = α and ωn 1 − ξ 2 = ωd

∴ s1,2 = −α ± jωd

1 C (s) ωn2
For unit step input, R(s) = and = 2
s R(s) s + 2ξωn s + ωn2
Substituting R(s),
ωn2
C (s) =
s(s2 + 2ξωn s + ωn2 )
The partial fraction can be calculated for the laplace inverse as below,

a1 a2 s + a3
C (s) = + 2
s s + 2ξωn s + ωn2

ωn2 a1 (s2 + 2ξωn s + ωn2 ) + s( a2 s + a3 )

∴ =
s(s2 + 2ξωn s + ωn2 ) s(s2 + 2ξωn s + ωn2 )

Equating numerators on both sides, ωn2 = s2 ( a1 + a2 ) + s( a1 2ξωn + a3 ) + a1 ωn2

Equating constants,
∴ a1 ωn2 = ωn2

Equating coefficients of s2 ,
a1 + a2 = 0

and Equating coefficients of s,

a1 2ξωn + a3 = 0

PBCOE, Nagpur 16 L: Dr. P.R. Bokde

VI Sem EC Control System Engineering Winter-2023

∴ a1 = 1 , a2 = −1 and a3 = −2ξωn .

As ξωn = α
∴ a1 = 1, a2 = −1, a3 = −2α

1 −s − 2α
∴ C (s) = + 2
s s + 2αs + ωn2
 
1 s + 2α
∴ C (s) = − 2
s s + 2αs + ωn2

So adjusting denominator as s2 + 2αs + α2 + ωn2 − α2 = (s + α)2 + ωn2 − α2 .

But α = ξωn ∴ α2 = ξ 2 ωn2

Substituting in above we get, (s + α)2 + ωn2 − ξ 2 ωn2 = (s + α)2 + ωn2 (1 − ξ 2 )

q
Now, ωd = ωn 1 − ξ 2 ∴ ωd2 = ωn2 (1 − ξ 2 )

Substituting this in the equation of C(s), we get,

( )
1 s + 2α
∴ C (s) = −
s (s + α2 ) + ωd2

   
−1 (s + α) −αt −1 ω
Now, L =e cos ωt and L = e−αt sin ωt
( s + α2 ) + ω 2 ( s + α2 ) + ω 2
Adjusting C(s) as,
( )
1 s+α α
C (s) = − +
s (s + α)2 + ωd (s + α)2 + ωd2
2

Multiplying and dividing by ωd to the last term,

( )
1 s+α α ωd
C (s) = − + ·
s (s + α)2 + ωd2 ωd (s + α)2 + ωd2

Taking Laplace Inverse,

α −αt
c(t) = 1 − e−αt cos ωd t − e sin ωd t
ωd

q
Using α = ξωn , ωd = ωn 1 − ξ2

L: Dr. P.R. Bokde 17 PBCOE, Nagpur

Winter-2023 Control System Engineering VI Sem EC

" #
ξ
c(t) = 1 − e−ξωn t cos ωd t + p sin ωd t
1 − ξ2
e−ξωn t hp i
∴ c(t) = 1 − p 1 − ξ62 cos ωd t + ξ sin ωd t
1 − ξ2

Now, sin(ωd t + θ ) = sin(ωd t) cos θ + cos(ωd t) sin θ

q
Comparing this with the expression in brackets we can write sin θ = 1 − ξ2
p
1 − ξ2
and cos θ = ξ. Hence tan θ = .
ξ
p
1 − ξ2
θ = tan−1 radians
ξ

Hence using this in the expression,

e−ξωn t
c(t) = 1 − p sin(ωd t + θ )
1 − ξ2

(p )
1 − ξ2
q
where, ωd = ωn 1 − ξ 2 and θ = tan−1 radians.
ξ

Que. 6 (b)
Explain PD and PI controller in detail.

Solution :

PD Type Controller

A controller in the forward path, which changes the controller output corre-
sponding to proportional plus derivative of error signal is called PD controller.

de(t)
Output of Controller = Ke(t) + Td
dt

Taking Laplace = KE(s) + sTd E(s) = E(s) [K + sTd ]

The transfer function of such controller is [K + sTd ]. This can be realized as
shown in the figure.

PBCOE, Nagpur 18 L: Dr. P.R. Bokde

VI Sem EC Control System Engineering Winter-2023

Figure 6: PD Controller

Assuming K = 1, we can write,

(1 + sTd )ωn2
G (s) =
s(s + 2ξωn )
C (s) (1 + sTd )ωn2
And = 2
R(s) s + s [2ξωn + ωn2 Td ] + ωn2

Comparing denominator with standard form, ωn is same as in the previous P

type controller.

And 2ξ ′ ωn = 2ξωn + ωn2 Td

ωn Td
ξ′ = ξ +
2

ωn Td
Because of this controller, damping ratio increases by factor .
2

K p = lim G (s) H (s) = ∞

s →0
ωn
Kv = lim sG (s) H (s) =
s →0 2ξ

As there is no change in coefficients, error also remain same. Hence PD con-

troller has following effects on system.

1. It increases damping ratio.

2. ωn for system remains unchanged.

3. ’TYPE’ of the system remains unchanged.

4. It reduces peak overshoot.

5. It reduces settling time.

6. Steady state error remains unchanged.

L: Dr. P.R. Bokde 19 PBCOE, Nagpur

Winter-2023 Control System Engineering VI Sem EC

PI Type Controller

A controller in the forward path, which changes the controller output corre-
sponding to the proportional plus integral of the error signal is called PI con-
troller.

Z
Output of Controller = Ke(t) + Ki e(t)dt

Taking Laplace transform,

 
Ki Ki
Output of Controller = KE(s) + E(s) = E(s) K +
s s
 
Ki
Therefore transfer function of such controller is K + and can be realized
s
as shown in the figure.

Figure 7: PI Controller

Assuming K = 1, we can write,

 
Ki
1+ s ωn2 (Ki + s)ωn2
G (s) = =
s(s + 2ξωn ) s2 (s + 2ξωn )

i.e. system becomes TYPE 2 in nature.

C (s) (Ki + s)ωn2

= 3
R(s) s + 2ξωn s2 + sωn2 + Ki ωn2

i.e.it becomes third order.

Now as order increases by one, system relatively becomes less stable as Ki
must be designed in such a way that system will remain in stable condition. Sec-
ond order system is always stable.

PBCOE, Nagpur 20 L: Dr. P.R. Bokde

VI Sem EC Control System Engineering Winter-2023

K p = lim G (s) H (s) = ∞ ess = 0

s →0
Kv = lim sG (s) H (s) = ∞ ess = 0
s →0

Hence PI controller has following effects :

1. It increases order of the system.

2. It increases TYPE of the system.

3. Design of Ki must be proper to maintain stability of system. So it makes

system relatively less stable.

4. Steady state error reduces tremendously for same type of inputs.

Que. 7 (a)
State Hurwitz’s stability criterion and what are its limitations?

Solution :
For the transfer function :

C (s) b sm + b1 sm−1 + ........ + bm N (s)

= 0n n − 1
=
R(s) a0 s + a1 s + .............. + an D (s)

The necessary and sufficient condition for the polynomial,

D (s) = a0 sn + a1 sn−1 + a2 sn−2 .............. + an = 0

to have all roots in the left half of s-plane is that the n sub-determinants Dn , n =
1,2,....,n of the Hurwitz determinant H should be positive.
Where,
a1 a3 a5 − − −
a0 a2 a4 − − −
0 a1 a3 − − −
H = 0 a0 a2 − − −
− − − − − −
− − − − − −
0 0 0 − − an
Now,
D1 = a1

L: Dr. P.R. Bokde 21 PBCOE, Nagpur

Winter-2023 Control System Engineering VI Sem EC

a1 a3
D2 =
a0 a2

a1 a3 a5
D3 = a0 a2 a4
0 a1 a3

Dn = H

Limitations of Hurwitz stability Criterion

1. As the order of the system increases, it is difficult to solve the individual
determinants.

2. How many such roots lie in RHP is not known.

3. It is too difficult to predict marginal stability.

Que. 7 (b)

Consider the forth order system whose characteristics equation is - s4 +

8s3 + 18s2 + 16s + 5 = 0. Comment on stability of system by Routh stability
criterion.

Solution :
Given the characteristic equation:

Q(s) = s4 + 8s3 + 18s2 + 16s + 5 = 0

This is a 4th order polynomial:

Q ( s ) = a0 s4 + a1 s3 + a2 s2 + a3 s + a4

where: a0 = 1, a1 = 8, a2 = 18, a3 = 16, a4 = 5

Hurwitz Matrix:
 
8 16 0 0
 
1 18 5 0
H=
 
 0 8 16 0 

0 1 18 5

PBCOE, Nagpur 22 L: Dr. P.R. Bokde

VI Sem EC Control System Engineering Winter-2023

Principal Minors:

∆1 = 8
8 16
∆2 = = 144 − 16 = 128
1 18
8 16 0
∆3 = 1 18 5 = 8(288 − 40) − 16(16) = 1984 − 256 = 1728
0 8 16
8 16 0 0
1 18 5 0
∆4 = = 8000
0 8 16 0
0 1 18 5

Since all principal minors ∆1 , ∆2 , ∆3 , ∆4 are positive, the system is:

Stable as per Hurwitz’s Stability Criterion.

Que. 8 (a)
Define :

1. Stability of feedback control system

2. Absolute stability

3. Conditional stability

4. Relative stability

Solution :

1. Stability of feedback control system

Consider a system i.e. a deep container with an object placed inside it as shown
in figure 8.
Now if we apply a force to take out the object, as the depth of the container is
more, it will oscillate and will settle down again at its original position.
If we assume that the force required to take out the object tends to infinity i.e.
always object will oscillate when force is applied and will settle down but will
not come out, such a system is called absolutely stable system. No change in pa-

L: Dr. P.R. Bokde 23 PBCOE, Nagpur

Winter-2023 Control System Engineering VI Sem EC

rameters, disturbances, changes the output. As against this, consider a container

which is pointed one, on which we try to keep a circular objects as shown in the
figure 9.

Figure 8:

Figure 9:

In this case object will fall down without any external application of force. So
if we try to keep the circular object, we will always fail to do so. Such a system is
called unstable system.
While in certain cases the container is shallow, then there exists a critical value
of force for which object will come out of the container.
As long as F < Fcritical , object regains its original position, but if F > Fcritical ,
object will come out. Stability depends on certain conditions of the system, hence
system is called as conditionally stable system.
There are few systems, for example, Pendulum where system keeps on oscil-
lating when certain force is applied. Such systems are neither stable nor unstable
and hence called critically stable or marginally stable systems.

PBCOE, Nagpur 24 L: Dr. P.R. Bokde

VI Sem EC Control System Engineering Winter-2023

Stability of Control System

Definition of BIBO Stability

This is Bounded Input Bounded Output stability (BIBO).

A linear time invarient system is said to be stable if following conditions are
satisfied :

1. When the system is excited by a bounded input, output is also bounded and
controllable.

2. In the absence of the input, output must tend to zero irrespective of the
initial conditions.

Unstable System

A linear time invarient system is said to be unstable if,

1. For a bounded input, it produces an unbounded output.

2. In the absence of the input, output may not return to zero. It shows certain
output without input.

Besides these two cases, if one or more pairs of simple non-repeated roots of
characteristic equation are located on the imaginary axis of the s-plane, but there
are no roots in the right half of s-pane, the output response will be undamped
sinusoidal oscillations of constant frequency and amplitude. Such systems are
said to be critically or marginally stable systems.

2. Absolute Stability

A linear time invarient system is said to be critically or marginally stable if for

a bounded input, its output oscillates with constant frequency and amplitude.
Such oscillations of output are called undampled oscillations or sustained oscil-
lations.
For such a system, one or more pairs of non-repeated roots are located on
imaginary axis as shown in figure ??.

L: Dr. P.R. Bokde 25 PBCOE, Nagpur

Winter-2023 Control System Engineering VI Sem EC

Figure 10:

Key Point

The stability or instability is a property of the system itself i.e. closed-loop

poles of the system do not depend on input or driving functions. The poles
of input do not affect stability of system, they affect only steady state out-
put.

3. Conditionally Stable System

A linear time invarient system is said to be conditionally stable if for a certain

condition of a particular parameter of the system, its output is bounded one.
Otherwise if that condition is violated output becomes unbounded and system
becomes unstable i.e. stability of the sytem depends on condition of parameter of
the system. Such a system is called conditionally stable system.

Figure 11:

PBCOE, Nagpur 26 L: Dr. P.R. Bokde

VI Sem EC Control System Engineering Winter-2023

4. Relative Stability
The system is said to be relatively more stable or unstable on basis of settling
time. System is said to be relatively more stable if settling time for that system is
less than that of the other system.
The settling time of the root or pair of complex conjugate roots is inversely
proportional to the real part of the roots.

Figure 12:

So for the roots located near the jω axis, settling time will be large. As roots
or pair of complex conjugate roots moves away from jω-axis i.e. towards left half
of s-plane, settling time becomes lesser or smaller and system becomes more and
more stable.
So relative stability of the system improves, as the closed loop poles moves
away from the imaginary axis in left-half of s-plane.

Que. 8 (b)
Sketch the root locus of a unity feedback control system with -

k
G (s) =
s(s + 1)(s + 3)

Determine the value of K for marginal stability.

Solution :

L: Dr. P.R. Bokde 27 PBCOE, Nagpur

Winter-2023 Control System Engineering VI Sem EC

Step 1 : Obtain number of loci and loci ending at infinity :

Number of Poles = n = 3
Number of Zeros= m = 0
Since, m < n, Number of loci = n = 3
and Number of loci ending at infinity = n - m = 3
Thus there are three root loci. all proceed to end at infinity.
Step 2 : Draw the poles and zeros to suitable scale. Here there are no zeros.
Step 3 : Find the real axis loci :
Moving from origin on negative X-axis, root locus is present whenever the total
number of poles and zeros to out right is odd. Accordingly real axis loci is :

1. Present between −1 < σ < 0

2. Absent between −3 < σ < −1

3. Present between −∞ < σ < −∞

Three poles are present at s = 0, s = -1 and s = -3.

• There are 3 loci. They start from poles at s = 0, s = -1, s= -3. as there are no
zeros in this example al will proceed to infinity along (n - m = 3) asymptotes.

• Between s = 0 and s = -1 real axis, two loci start towards each other. Hence
they must breakaway between 0 and -1 (as root loci begins on a pole and
must end on a zero).

Step 4 : Find number of asymptotes and their angles :

1. Number of asymptotes = n - m = 3

2.  
180
Angles of asymptotes = (Odd Multiple of)
n−m

180◦
 
β = (2x + 1) x = 0, 1, 2
3
∴ β = 60◦ , 180◦ , 300◦

Step 5 : Centroid :

PBCOE, Nagpur 28 L: Dr. P.R. Bokde

VI Sem EC Control System Engineering Winter-2023

As per centroid formula,

∑ Real part of Poles − ∑ Real part of zeros

σc =
n−m
(0 + (−1) + (−3)) − 0
∴ σc = = −1.33
3−0

Step 6 : Breakaway points :

D (s) −s(s + 1)(s + 3)

k=− =
N (s) 1
∴ k = −(s3 + 4s2 + 3s)

Now,

dk
=0
ds
∴ 0 = −(3s2 + 8s + 3)
∴ 0 = 3s2 + 8s + 3

Solving,
s = −0.45 ands = −2.21

Select the value of s where real axis loci from step 3 present. Here as real
axis loci is present between 0 and -1. s = -0.45 is accepted. Similarly s = -2.21 is
dropped for same reason (real axis loci is absent).
Step 7 : Intersection of Imaginary axis :
Characteristic equation is -

D + kN = 0
∴ s(s + 1)(s + 3) + k(1) = 0
∴ s3 + 4s2 + 3s + k = 0

Routh’s array :

s3 1 3
s2 4 k
12−k
s1 4 0
s0 k

L: Dr. P.R. Bokde 29 PBCOE, Nagpur

Winter-2023 Control System Engineering VI Sem EC

From row of s1 ,

12 − k = 0
∴ k mar = 12

This makes row of s1 as row of zeros.

∴ A(s) = 4s2 + k = 0 and usek mar

12
∴ s2 = − = −3
4√
∴ s = ± j 3 = ± j1.732

Step 8 :
No complex poles hence ϕd not required. Root locus breaks at ±90◦ at breakaway
point.

Figure 13:

PBCOE, Nagpur 30 L: Dr. P.R. Bokde

VI Sem EC Control System Engineering Winter-2023

Step 9 :
The complete root locus is shown in the figure below :
The line cos−1 ξ = 60◦ intersects root locus at P(-0.45, j0.7).
To find k at P, use magnitude condition.

| G (s) H (s)| at P = 1
k
∴ at -0.45 + j0.7 = 1
s(s + 1)(s + 3)
k
∴ =1
|−0.45 + j0.7| |−0.45 + j0.7 + 1| |−0.45 + j0.7 + 3|
∴ k = 0.8321 × 0.8902 × 2.6442 = 1.958 for ξ = 0.5

Que. 9(a)
Define : (i) State (ii) State variable (iii) State vector (iv) State space (v) State
trajectory

Solution :

1. State :
The state of a dynamic system is defined as a minimal set of variables such
that the knowledge of these variables at t = t0 together with the knowledge
of the inputs for t ≥ t0 completely determines the behaviour of the system
for t ≥ t0 .

2. State Variables :
The variables involved in determining the state of a dynamic system X(t),
are ca;;ed the state variables. X1 (t), X2 (t), ......Xn (t) are nothing but the state
variables. These are normally the energy storing elements contained in the
system.

3. State Vector :
The ‘n’ state variables necessary to describe the complete behaviour of the
system can be considered as ‘n’ components of a vector X(t) called the state
vector at time ‘t’. The state vector X(t) is the vector sum of all the state
variables.

4. State Space :
The space whose co-ordinate axes are nothing but the ‘n’ state variables
with time as the implicit variable is called the state space.

L: Dr. P.R. Bokde 31 PBCOE, Nagpur

Winter-2023 Control System Engineering VI Sem EC

5. State Trajectory :
It is the locus of the tips of the state vector, with time as the implicit variable.

Que. 9(b)
Transfer function of system is defined by -

Y (s) s2 + 2s + 3
= 3
U (s) s + 5s2 + 4s

Obtain canonical state space model and draw its block diagram representa-
tion.

Solution :

Given Transfer Function

Y (s) s2 + 2s + 3
= 3
U (s) s + 5s2 + 4s

Step 1: Express in standard form

Y (s) b s2 + b s + b0
= 3 2 2 1
U (s) s + a2 s + a1 s + a0
where:
b2 = 1, b1 = 2, b0 = 3, a2 = 5, a1 = 4, a0 = 0

Step 2: Canonical State-Space Representation

   
0 1 0 0
Ẋ = 0 0 1  X + 0 u
   

0 −4 −5 1
h i
y= 3 2 1 X

Block Diagram Representation

PBCOE, Nagpur 32 L: Dr. P.R. Bokde

VI Sem EC Control System Engineering Winter-2023

Que. 10 (a)
Determine the system transfer function using the following state equation :
" # " #" # " #
Ẋ1 − 5 − 1 X1 2
= + u
Ẋ2 3 − 1 X2 5

" #
h i X
1
y= 1 2
X2

Solution :

Given: State Equations

" # " #
−5 −1 2
Ẋ (t) = X (t) + u(t)
3 −1 5
h i
y(t) = 1 2 X (t)

Step 1: Use Transfer Function Formula

Y (s)
= C (sI − A)−1 B + D
U (s)
Where:
" # " #
−5 −1 2 h i
A= , B= , C= 1 2 , D=0
3 −1 5

" #
s+5 1
sI − A =
−3 s + 1

det(sI − A) = (s + 5)(s + 1) + 3 = s2 + 6s + 8

" #
1 s + 1 −1
(sI − A)−1 = 2
s + 6s + 8 3 s+5

Step 2: Compute Transfer Function

" #
1 2s − 3
(sI − A)−1 B = 2
s + 6s + 8 5s + 31

L: Dr. P.R. Bokde 33 PBCOE, Nagpur

Winter-2023 Control System Engineering VI Sem EC

1(2s − 3) + 2(5s + 31) 12s + 59

C (sI − A)−1 B = 2
= 2
s + 6s + 8 s + 6s + 8

Final Answer:
Y (s) 12s + 59
= 2
U (s) s + 6s + 8

Que. 10 (b)
The closed loop TF of a system is given below :

C (s) 24
=
R(s) (s + 1)(s + 2)(s + 3)

Obtain the state model for the given transfer function.

Solution :
The given closed-loop transfer function is:

C (s) 24 24
= = 3
R(s) (s + 1)(s + 2)(s + 3) s + 6s2 + 11s + 6

Step 1: Standard Form

C (s) b0
= 3 2
R(s) s + a2 s + a1 s + a0
Where:
a2 = 6, a1 = 11, a0 = 6, b0 = 24

Pad the numerator:

h i
Numerator vector: 0 0 24

Step 2: State-Space Model (Controllable Canonical Form)

State Matrix (A):

 
0 1 0
A= 0 0 1 
 

−6 −11 −6

PBCOE, Nagpur 34 L: Dr. P.R. Bokde

VI Sem EC Control System Engineering Winter-2023

Input Matrix (B):

 
0
B = 0
 

Output Matrix (C):

h i
C = 0 0 24

Feedthrough Matrix (D):

D=0

Final State-Space Equations

   
0 1 0 0
ẋ (t) =  0 0 1  x ( t ) + 0 u ( t )
   

−6 −11 −6 1
h i
y(t) = 0 0 24 x (t)

L: Dr. P.R. Bokde 35 PBCOE, Nagpur