NATIONAL INSTITUTE OF TECHNOLOGY ROURKELA
Department of Electrical Engineering
Supplementary Examination, 2021
Session: 2021-2022 (Summer)
B. Tech 5th Semester
Subject Name: Principles of Control Systems Engg.
Subject Code: EE3301
Number of Pages: 2 Full Marks: 50 Duration: 2 Hours
Figures at the right hand margin indicate marks.
All parts of a question should be answered at one place.
Attempt all questions. Be brief and to the point.
Figure 1: For Q.1 (c)
1. (a) Make Routh’s array and discuss about stability of the system having characteristic equation:
Q(s) = s8 + 3s7 + 10s6 + 24s5 + 48s4 + 96s3 + 128s2 + (192 + q)s + 128 where p, q, r last three
digits of your roll number.
(b) The step response shown in Fig. 2 is the for the system G(s) and y(s) = G(s)u(s). (i)
Draw an approximate impulse response of the system (ii) Find approximate response y(k∆t)
(up to step 5) for arbitrary input u(k∆t) = 0.5, p×0.1, q ×0.1, r ×0.1, 0.3 for k = 0, 1, 2, 3, 4.
Consider ∆t = 0.1.
(c) Consider a mass-spring system as in Fig. 1. Restoring force of the string has nonlinear
relation with change in length, Fspring = k(x + 0.01x2 ), where x is change in length. Derive
the relation between mass position (x) and applied force (u). Find equilibrium of the system.
Also derive, linearized state space model around the equilibrium point. [4+5+6]
Step Response
0.6
0.5
0.4
Amplitude
0.3
0.2
0.1
0
0 0.2 0.4 0.6 0.8 1 1.2
Time (seconds)
Figure 2: Step Response
Please go on to the next page. . .
Principles of Control Systems Engg. Supplementary Examination Page 2 of 2
2. (a) A step response of a system G(s) is shown in Fig. 2. Guess the structure of G(s); give
reasons for your guess. (b) An unity-feedback system has the following open-loop transfer
(s2 +1.1s+m)
function GK(s) = K (s+7.5)(s−3+p)(s−1+q)(s−1+r) where p, q, r last three digits of your roll
number and m = max(p, q, r). Calculate angle of arrival. [4+3]
3. An unity-feedback system has the following open-loop transfer function GK(s) =
(s−2.5)(s−3.5)
K (s+4.5)(s+p)(s+q)(s+r) where p, q, r last three digits of your roll number. (a) Find breakaway
points of the root-locus plot for the system (with K > 0); show the derivations required. (b)
Approximately plot the locus. [4+3]
4. Design a lead compensator (K(s)) placed in the forward path of an unity-feedback system
1
with the plant G(s) = (s+0.3×r) 2 to place closed-loop poles such that the closed-loop behaviour
should be as close as possible to a system whose damping ratio (ζ) = 0.6 and undamped-natural
frequency (ωn ) = 4.5 rad/s (Here p, q, r last three digits of your roll number). Calculate all
the error constants values: Kp , Kv , Ka . [7]
5. (a) A Bode magnitude plot for a combination of lag and lead system has following slops : (i)
0 dB/decade (ii) then 20 dB/decade (iii) 0 dB/decade (iv) −20 dB/decade (v) 0 dB/decade.
Given that the magnitude is 34 dB at both very Low and very high frequencies. Also given
lag compensator pole
that pole-zero ratio of lead compensator is 5 and ratio lead compensator pole = 10. If first corner
frequency is at m, here m = max(p, q, r). Guess the structure of the transfer function. (b)
Choose a lag compensator whose pole must be at P = −(p + q + r), where p, q, r last three
digits of your roll number. Draw nyquist plot for the compensator. [5+2]
(s−7.5)
6. A system has the following open-loop transfer function GK(s) = K s(s+p)(s+q)(s+r) where p, q, r
last three digits of your roll number. (a) On a plain paper, draw an approximate Nyquist-plot
for K = 1. Find the number of encirclement of the Origin. (b) Draw Bode phase-plot. [4+3]
End of Questions. ALL THE BEST
