M.Tech.
(Power Electronics & Power System / Industrial Drives & Control) First Semester
(C.B.C.S.)
Advanced Control Theory
P. Pages : 4 NRT/KS/19/4405/4420
Time : Three Hours *0394*
Max. Marks : 70
_____________________________________________________________________
Notes : 1. All questions carry marks as indicated.
2. Solve Question 1 OR Questions No. 2.
3. Solve Question 3 OR Questions No. 4.
4. Solve Question 5 OR Questions No. 6.
5. Solve Question 7 OR Questions No. 8.
6. Solve Question 9 OR Questions No. 10.
7. Assume suitable data whenever necessary.
8. Use of non programmable calculator is permitted.
1. a) A linear time invariant system is described by the following state model. 8
x1 0 1 0 x1 0
x = 0 0 1 x + 0 u
2 2
x 3 −6 −11 −6 x 3 2
Transform this state model and there from obtain the explicit solutions for the state vector
and output when control force u is a unit step function & initial state vector is
x T0 = 0 0 2 .
b) Write the state equation of the system shown in fig. Q. 1 (b) in which x1, x 2 & x 3 constitute 6
the state vector. Determine whether the system is completely controllable & observable.
U(s) 2 x2(s) 2 x1(s)
s ( s + 1)
+_ +_
s+3
x3(s)
s
Fig. Q. 1 (b)
OR
2. Consider the position control system using a d. c. motor in armature control mode Let
choice of state variables be c c ia with all the three state feedback loops open the
system is
x1 0 1 0 x1 0
x = 0 −1 1 x + 0 u
2 2
x 3 0 −1 −10 x 3 10
Find:
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i) Draw block diagram of the position control system. 3
ii) Show signal flow graph. 3
iii) Find controllability. 2
iv) Design state variable feedback. 6
Such that the following design specification are to be met for its transient response
= 0.5, n = 2 rad / sec
s − 10 n
3. a) For the sampled data control system shown in fig. Q. 3 (a) Find the output c(k) for r(t) = 6
unit step.
T=1 sec
r(t) e(t) 1 c(t)
+_ ZOH
s +1
1/s
Fig. Q.3 (a)
b) A sampled-data control system of order one with transportation lag is shown in fig. Q. 3 8
(b). Determine the condition for system stability if T .
T
r(t) e(t) Aa c(t)
+_ ZOH −s
e s+a
Fig. Q. 3 (b)
OR
4. a) For the sampled data feedback system with a digital n/w in feedback path as show in fig. 8
Q. 4 (a) Find C(z)/R(z).
T
r(t) e(t) c(t)
+_ ZOH G(s)
e(kT)
T
H(z)
c(kT)
Fig. Q. 4 (a)
b) Describe Shannon's sampling theorem for sampled data control system. 6
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5. a) Investigate stability of the system shown in fig. Q. 5 (a) for sampling period T = 0.4sec, 8
3 sec.
T
r(t) e(t) k c(t)
ZOH
s (s + 2)
+_
e(k)
Fig. Q.5 (a)
b) A linear continuous time plant of a sampled-data system is described by the state equation. 6
0 1 0
x= x+ u
−4 0 2
Determine the value of sampling period T which makes the system uncontrollable.
OR
6. Consider a linear system, 14
0 1 0
x= x+ u
0 −5 100
y = 1 0 x
The feedback controller for the system is given by
x
u = −k1 −k 2 1 + r
x2
Assume that the states x1 & x 2 are not accessible for feedback. An observer system is to
be designed to reconstruct x. Design the feedback matrix G so that x − x will delay as fast
as e − l0t
7. a) Consider a nonlinear system 7
x1 = x 2
x 2 = − x 2 − x13
Find the stability.
b) Explain variable Gradient Method. 7
OR
8. a) A simple mass, spring & viscous friction system is shown in fig. Q. 8 (a) 8
x
K
b M
Show that system is stable.
b) Explain Krasovskii's method. 6
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9. Consider the plant 14
x1 1 0 x1 1
x = −1 2 x + 0 u
2 2
i) Prove that the system is unstable
ii) Prove that the system is uncontrollable
iii) Select any values for matrices Q & R with the constraint that they are positive
definite and design a controller for the plant so as to minimize
1
(x
T
J= Qx + u T R u) dt
2
0
check that resulting overall system is stable.
OR
10. Explain in details. 14
i) Minimum principle of Pontryagin.
ii) Two point boundary value condition.
iii) Riccati equation.
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