Birla Institute of Technology and Science, Pilani
Second Semester 2008-2009
AAOC C321: Control Systems
Comprehensive Examination(Closed Book)
Date: 04.05.2009 Time: 3 Hrs MM: 120
Q.1 Consider the system given in Fig. Q.1(a). The torque speed characteristic of 2-
phase ac servomotor with 50 V applied to control winding is given in Fig. Q.1(b).
The various parameters of this system are given below.
Amplifier gain (KA) = 10 V/V; synchro pair sensitivity (Ks) = 5 V/rad
Tachometer constant (Kt) = 0.2 V/rad/s
Moment of inertia of the motor is 0.05 kg-m2 and friction coefficient is 0.01 Nm/rad/s
Moment of inertia of the load is 0.5 kg-m2 and friction coefficient is 0.1 Nm/rad/s
Gear reduction ratio: , and
For this System
(a) Draw the block diagram
(b) Find the transfer function L (s)/ r (s)
(c) Determine the sensitivity with respect to sudden changes in amplifier gain K A
at DC frequency.
[20]
T (Nm)
50 V
Speed (rad/s) 500
Fig Q. 1(b)
Fig Q.1 (a)
Q.2 For the system shown below, design a suitable compensator using Bode’s
magnitude (asymptotic) and phase plots to meet the following specifications
(a) Steady state error for a ramp input is 0.1 unit
(b) Gain margin is always 12 db and
(c) Phase margin is 60, take margin of safety as 12.
Also draw the Bode plots for overall system including compensator.
Semi-log graph sheet is provided for the same. [25]
R(s) + K Compensator 1 C(s)
s( s + 2)
PTO
Q.3 Sketch the Nyquist plot for a system whose open loop transfer function is
, choosing the appropriate Nyquist contour. Determine the range
of K for which the closed loop system is stable. [25]
Q.4 (a) For the liquid level control system shown below,
i. Write down the governing differential equations
ii. Draw the signal flow graph and therefrom determine the transfer function
and using Mason’s gain formula.
C1, C2 and C are the capacities of respective tanks.
Q+Qi Qd
C1 C2
Q2+Q2
H1+H1 R1 H2+H2 R2
Q1+Q1
C
Fig Q.4
H+H R
Q+Qo
(b) The transfer function of a system is .Using the concept of
dominant pole pair, reduce the system to second order and then determine
the time at first undershoot. [20+5]
Q.5 The block diagram of a control system is shown in Fig. Q.5. For this system:
(i) Clearly sketch the region in K- Plane that can be used without instability
arising. (K and are greater than zero).
(ii) Determine the values of K and so that the system’s damping ratio is
0.707 and its settling time is 1.5 sec for 5% tolerance band. Also sketch
the real axis part of root locus.
(iii) Draw the neat sketches of root contours for K=27.25 and 38.25, clearly
showing the steps involved. [7+8+10]
C(s)
R(s) + K
Fig Q.5
