Advanced Control System Assignment
Answers
SECTION-A: Short Answer Questions (2 Marks Each)
What is controllability and observability?
Controllability is the ability to move a system from any initial state to any final state using
suitable control inputs within finite time. Observability is the ability to determine the
complete state of a system from the output measurements over time.
Define State transition matrix.
The state transition matrix Φ(t) = e^(At) maps the initial state x(0) to the state at time t, i.e.,
x(t) = Φ(t)x(0), for a linear time-invariant system ẋ(t) = Ax(t).
State the structure of a generic fuzzy logic.
A generic fuzzy logic system consists of: 1. Fuzzifier, 2. Knowledge base (rules), 3. Inference
engine, 4. Defuzzifier.
State Popov’s stability criterion.
Popov’s criterion states that a nonlinear feedback system is stable if the Popov plot of the
linear part lies to the right of the Popov line, ensuring absolute stability for certain sector-
bounded nonlinearities.
What do you mean by dead zone?
A dead zone is a region in the input-output characteristic where the output remains zero
despite non-zero input, typically due to actuator insensitivity or threshold effects.
Explain the relative degree and zero dynamics of a nonlinear system.
Relative degree is the number of times the output needs to be differentiated until the input
explicitly appears. Zero dynamics are the internal dynamics of the system when the output
is constrained to be zero.
State the cost function of a time optimal system.
The cost function is usually: J = ∫(0 to T) 1 dt = T, where T is the minimum time to reach the
desired final state.
State H∞ control problem.
The H∞ control problem seeks a controller that minimizes the worst-case gain (in H∞
norm) from disturbance to output, ensuring robust performance and stability.
What are the different variants of performance indices used in MIT Rule?
Common indices include mean square error (MSE), integral square error (ISE), integral of
time-weighted square error (ITSE), and integral of absolute error (IAE).
SECTION-B: Long Answer Questions (8 Marks Each)
1. Discuss the properties of state transition matrix.
• Φ(0) = I (Identity matrix)
• Φ(t1 + t2) = Φ(t1)Φ(t2) (Semigroup property)
• Φ⁻¹(t) = Φ(−t)
• dΦ(t)/dt = AΦ(t)
• It can be computed using Laplace Transform, matrix exponential, or diagonalization.
2. Describe operation of a sliding mode control.
Sliding mode control is a variable structure control method where the system states are
forced to 'slide' along a predefined sliding surface. It uses discontinuous control to switch
system dynamics and is robust against model uncertainties and disturbances. Key steps:
define sliding surface, ensure reachability (using Lyapunov), design switching control law.
3. Write short note on Sugeno Fuzzy Inference System.
Sugeno FIS uses if-then rules where the output is a linear function of inputs or a constant.
It's computationally efficient and suitable for optimization and adaptive techniques.
Example: If x is A and y is B, then z = ax + by + c.
4. A = [0 1; -2 -3] Compute state transition matrix.
Find eigenvalues: λ² + 3λ + 2 = 0 ⇒ λ = -1, -2
Diagonalize: A = PDP⁻¹, then Φ(t) = Pe^(Dt)P⁻¹
Final expression (after steps):
Φ(t) = e^(-t) * [[2e^(-t) - 1, e^(-t) - e^(-2t)]; [-2(e^(-t) - e^(-2t)), 2e^(-2t) - 1]]
5. Explain Liapunov direct method of stability for nonlinear system.
Choose a Lyapunov function V(x) > 0 and ensure Ṽ(x) < 0. If such a function exists, the
system is asymptotically stable. No need to solve the system differential equations.
Example: V(x) = xᵀPx, Ṽ = xᵀ(PA + AᵀP)x
6. Define Describing function. What is the difference between stability analysis of linear
and nonlinear systems?
Describing function is an approximate frequency domain method for analyzing nonlinear
systems using equivalent gain and phase shift. Linear analysis uses superposition; nonlinear
analysis needs special tools like phase plane, Lyapunov, describing function. Describing
function is valid only for limit cycles and not general transients.
7. Discuss the characteristics of nonlinear system.
• Multiple equilibrium points
• Limit cycles and chaotic behavior
• Non-superposable (nonlinear response to inputs)
• Sensitive to initial conditions
• Can exhibit bifurcation and hysteresis
8. What is the membership of fuzzy sets? What can we do with type-2 fuzzy logic sets?
Membership in fuzzy sets ranges from 0 to 1, indicating partial belonging. Type-2 fuzzy sets
use a fuzzy membership function (uncertain boundaries), allowing better handling of
uncertainty. Applications: advanced decision-making, uncertain system modeling, robust
control.
