Code No: RR410205 Set No.

1
IV B.Tech I Semester Supplimentary Examinations, February 2008
ADVANCED CONTROL SYSTEMS
(Electrical & Electronic Engineering)
Time: 3 hours Max Marks: 80
Answer any FIVE Questions
All Questions carry equal marks
⋆⋆⋆⋆⋆

1. State the basic theorem for determining the concept of controllability of time vary-
ing system utilizing state transition matrix. Explain the same with proof. [8+8]

2. For the
 system 
• 0 1
x = x
−2 −3
find a suitable Lyapunov function V(x). Find an upper
 bound
 on time that it takes
1
the system to get from the initial condition x(0) = to within the area defined
1
by x21 + x22 = 0.1 . [16]
•
3. (a) Consider
 the system
 X =Ax + Bu

1 0 0 1 0
A = 0 2 0 ; B =  0 1 
0 0 3 1 1
Obtain the controllable companion form
(b) Prove that if the linear time-invariant system is controllable and bi( 6= 0) is
the ith column of B, then there exists a feedback matrix ki such that the single-
•
input system x = (A + Bki ) x + bi ri is controllable. [8+8]

4. (a) Discuss some typical control problems to provide some physical motivation for
the selection of a performance measure.
4
(b) Consider a unity feedback system with G(s) = s(s+α)

The output is required to track unit step input. Find the value of α that
minimizes integral square error. [8+8]

5. Illustrate with an example the problem with terminal time t1 free and x(t1 ) fixed
[16]

6. For the system

•
x = u, with |u| ≤ 1, find the control which drives the system from an arbitrary
Rt1
initial state to the origin and minimizes J = |u(t)| dt, t1 is free. [16]
0

7. (a) Explain the popular intentional nonlinear elements and their functionalities.
(b) Derive the Describe function for Saturation nonlinearity. [6+10]

1 of 2
Code No: RR410205 Set No. 1
8. A linear second-order servo is described by the equation
.. .
e + 2 ζ ω e + ωn2 e = 0
n
•
where ζ = 0.15, ωn = 1 and e(0) = 1.5, e(0) = 0
Determine the singular points. Construct the phase trajectory, using the method
of isoclines. [16]

⋆⋆⋆⋆⋆

2 of 2
Code No: RR410205 Set No. 2
IV B.Tech I Semester Supplimentary Examinations, February 2008
ADVANCED CONTROL SYSTEMS
(Electrical & Electronic Engineering)
Time: 3 hours Max Marks: 80
Answer any FIVE Questions
All Questions carry equal marks
⋆⋆⋆⋆⋆

1. State and prove canonical decomposition theorem. [8+8]

2. Check the stability of the system described by

•
x1 = −x1 + 2x21 x2
•
x2 = −x2
by using the variable ?gradient method. [16]

3. (a) Consider
 a single-input/single-output
   system
• 0 1 0
X= x + u
 −1  − 2 1
y= 1 2 X
Check for controllability and observability.
(b) Now introducing a feedback signa[u = r + [2 − 1]X in (a) comment on control-
lability and observability. [4+4+4+4]

4. A plant
 is described
  by the equations
0 1 0
x= x+ u x1 (0) = 1 x2 (0) =Choose the feedback law u=−K[x1 +x1 ]
0 0 1
Rα
Find the value of k so that J=1/2 (x21 + x22 + λu2 )dt is minimized when
0

(a) λ = 0
(b) λ = 1
Also determine the values of minimum J in two cases. [4+4+4+4]

5. Illustrate with an example the problem with terminal time t1 fixed and x (t1 ) free.
[16]

6. (a) State and explain the principle of optimality.

(b) Obtain the Hamilton Jacobi equation for the system described by
•
x = u(t) subject to the initial condition x(0) = x0 Find the control law that
minimizes
Rt1
j = 1/2x2 (t1 ) + (x2 + u2 ) dt : t1 Specified [2+6+8]
0

7. (a) Explain the popular inherent nonlinear elements and their functionalities.
(b) Derive the Describe function for an on-off nonlinearity. [6+10]

1 of 2
Code No: RR410205 Set No. 2
8. Consider the system shown in Figure 8 , the input r is a unit-ramp function. Draw
.
a typical trajectory in the e e plane. [16]

Figure 8

⋆⋆⋆⋆⋆

2 of 2
Code No: RR410205 Set No. 3
IV B.Tech I Semester Supplimentary Examinations, February 2008
ADVANCED CONTROL SYSTEMS
(Electrical & Electronic Engineering)
Time: 3 hours Max Marks: 80
Answer any FIVE Questions
All Questions carry equal marks
⋆⋆⋆⋆⋆

1. Convert the system

   
−1 0 1
x(t) = x(t)+ u(t)
0 −2 1
 
y(t) = 1 1 x(t)

(a) Find, if possible, a control

 law, which will derive the system
1
X(0) = 0 to x1 = in2sec. from
1
(b) Find, if possible, the state x(0) when
y(t) = 12 e−2t + 23 for u(t) = 1, t > 0 [8+8]

2. Check the stability of the system described by

•
x1 = −x1 + 2x21 x2
•
x2 = −x2
by using the variable ?gradient method. [16]

3. (a) Explain the different methods of determination of observer gain matrix

(b) Consider the system described
 by the state
 model
• −1 +1
X = Ax where A = ; C = [1, 0] Y =Cx
1 −2
Obtain the state observer gain matrix using all 3 methods. The desired given
values for the observer matrix are µ1 = −5, µ1 = −5 [8+8]

4. Consider
 the plant  
• 1 0 1
X= x+ u
−1 − 2 0

(a) Select any values for matrix Q and R with the constraint that they are positive
definite and design a controller for the plant so as to minimize.
Rα  T 
X Qx + uT Ru dt
0

(b) Check that the resulting overall system is stable. [8+8]

5. Illustrate with an example the problem with terminal time t1 fixed and x (t1 ) free.
[16]

6. (a) Formulate the continuos time process as a multi state decision process

1 of 2
Code No: RR410205 Set No. 3
(b) What is the principle causality? [8+8]

7. Determine the amplitude and frequency of the limit cycle of the system shown in
Figure 7. [16]

Figure 7
8. A second - order servo containing a relay with dead-zone and hysteresis is shown in
the block diagram of Figure 8. Obtain the phase-trajectory of the system for the
•
initial conditions e(0) = 0.6.5, e(0) = 0. Does the system have a limit cycle? If so,
determine its amplitude and period. [16]

Figure 8

⋆⋆⋆⋆⋆

2 of 2
Code No: RR410205 Set No. 4
IV B.Tech I Semester Supplimentary Examinations, February 2008
ADVANCED CONTROL SYSTEMS
(Electrical & Electronic Engineering)
Time: 3 hours Max Marks: 80
Answer any FIVE Questions
All Questions carry equal marks
⋆⋆⋆⋆⋆

1. Convert the system

   
−1 0 1
x(t) = x(t)+ u(t)
0 −2 1
 
y(t) = 1 1 x(t)

(a) Find, if possible, a control

 law, which will derive the system
1
X(0) = 0 to x1 = in2sec. from
1
(b) Find, if possible, the state x(0) when
y(t) = 12 e−2t + 23 for u(t) = 1, t > 0 [8+8]

2. State any two properties of B1 B0 and explain them. [8+8]

3. (a) Explain the linear system with full-order state observer with neat block dia-
gram.
(b) Design a full-order
 state observer
 for the given state model.
1 −1
Given A = ; C = [1, 0]
−2 1
and given values are µ1 = −5,µ2 = −5. [8+8]
4. (a) Explain output Regulator problem?
(b) Consider the linear plant of a system characterized by the transfer function
G(s)0=100/s2 . Make the output C(t) follow a unit step input r(t) minimizing.
Rα
J= {(x(t) − c(t)2 + 0.25u2 (t)}dt where u(t) is the actuating signal of the
0
plant. [8+8]
5. Illustrate with an example the problem with terminal time t1 fixed and x (t1 ) free.
[16]
6. Obtain the Hamilton- Jacobi equation for the system
X1 = X2
X2 = 2X1 +4
J = X(0) = 0
To minimize
Rt1
J = 1/2X2 (t1 ) 1/2(x21 + x22 + u2 )dt
0

Final t1 is specif ied.U(t)andX(t) are not constrained. [16]

1 of 2
Code No: RR410205 Set No. 4
7. (a) Explain the concept of limit cycle and jump responses.
(b) Derive the equation for the describing function N for the hysteresis nonlinearity
shown in Figure 7. [6+10]

Figure 7
8. Draw a phase-plane portrait of the system defined by
.
x 1 = x1 + x2
.
x 2 = 2x1 + x2 . [16]

⋆⋆⋆⋆⋆

2 of 2