07a80202 Advancedcontrolsystems

Code No: 07A80202 R07 Set No.
2
IV B.Tech II Semester Examinations,APRIL 2011
ADVANCED CONTROL SYSTEMS
Electrical And Electronics Engineering
Time: 3 hours Max Marks: 80
Answer any FIVE Questions
All Questions carry equal marks

1. Consider the system described by the state model
x =
_
1 1
1 2
_
[x]
y =
_
1 0
[x]
Design a full order state observer. The desired eigen values for the observer matrix
are
1
= 5,
2
= 5. [16]
2. Discuss the state controllability and observability of the following system: [16]
[ x] =
_
3 1
2 1.5
_
[x] +
_
1
4
_
[u]
3. Find the curve with minimum arc length between the point x(0) =1 and the line
t
1
= 4. [16]
4. Find the trajectories in the (t,x) plane which will extremize
J(x) =
t
1
_
0
(t x + x
2
) dt
In each of the following cases:
(a) t
1
= 1 , x(0) = 1, x(1) = 5.
(b) t
1
= 1 , x(0) = 1, x(1) is free. [16]
5. Describe the stability analysis of non-linear systems using phase trajectories. [16]
6. For the system x =
_
0 1
1 1
_
x
Find the suitable lyapunov function V(x) obtain an upper bound on the response
time such that it takes the system to go from a point on the boundary of the closed
curve V
(x)
=100 to a point within the closed curve V
(x)
= 0.05. [16]
7. A feedback system has a closed loop transfer function
C(s)
R(s)
=
4(s+6)
s(s+1)(s+3)
. Construct
three dierent state models for this system and give block diagram representation
for each state model. [16]
8. Using the describing function analysis, prove that no limit cycle exists in the system
shown in gure 1. Find the range of values of the dead-zone of the on-o controller
for which limit cycle is predicted. [16]
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fi g -1
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Code No: 07A80202 R07 Set No. 2
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Figure 1:

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. [16]
2. Find the curve with minimum arc length between the point x(0) = 0 and the curve
(t) = t
2
10t + 24. [16]
3. Consider the system
x = Ax + Bu
y = Cx
Where A =
_
0 20.6
1 0
_
, B =
_
0
1
_
, C =
_
0 1
The system usesthe observed state feedback such that u = k x .

Design a full order state observer, assuming the desired eigen values of the observer
matrix are
1
= 10 and
2
= 10. [16]
4. Consider a non-linear system of equations
x
1
= 2x
1
+ x
1
x
2
x
2
= x
2
+ x
1
x
2
There are two equilibrium points: x =
_
0
0
_
and x =
_
1
2
_
.
Determine the stability of the origin. [16]
5. (a) Explain the following singular points:
i. Nodal point
ii. Saddle points
iii. Focus point
iv. Centre points.
(b) For the control system shown in gure 2, plot the phase trajectory. [8+8]
6. Explain the describing function of dead-zone non-linearity. [16]
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Figure 2:
7. (a) What are the major theoretical approaches for design of optimal control. Ex-
plain one of the approach in detail.
(b) Find the extremals for the functional
J(x) =
t
1
_
0
_
1+ x
2
x
_
dt , x(0) = 0, x(t
1
) = t
1
5. [8+8]
8. For the state equation x = Ax.
Where A =
_
_
0 1 0
3 0 2
12 7 6
_
_
. Find the initial condition vector x(0) which will
exciteonly the mode corresponding to the eigen value with the most negative real
part. [16]

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1. Write short notes on the following for optimal control system design:
(a) Minimum-Time problem.
(b) State regular problem.
(c) Innite - time state regulator problem. [6+6+4]
2. Describe the minimization of functions in the optimal control system design.
[16]
3. A linear time invariant system is described by the following state model. Obtain
the canonical form of the state model: [16]
_
x
1
x
2
_
=
_
0 1
4 5
_ _
x
1
x
2
_
+
_
0
1
_
u and y =
_
1
3

1
3
_
x
1
x
2
_
4. A system has a nonlinear element, with describing function, K
N
= (1/X) < 45
0
in cascade with, G(j) =
10
2
j(1+j0.5)
. Determine the limit cycle of the system. [16]
5. Consider the system dened by x = Ax + bu
y = Cx
where A =
_
_
1 0 1
1 2 0
0 0 3
_
_
, B =
_
_
0
1
1
_
_
, C =
_
1 1 1
Transform the system equations into the controllable canonical form. [16]
6. A single input system is described by the following state equation
x =
_
_
1 0 0
1 2 0
0 1 3
_
_
[x] +
_
_
10
1
0
_
_
[u].
Design a state feedback controller which will give closed loop poles at 1j2, 6.
[16]
7. A simple servo is described by the following equations
Reaction torque =

c
+ 0.5

c
Drive torque = 2 sign(e + 0.5 e)
e =
R

c
e(0) = 2 and e(0) = 0
Construct the phase trajectory using the delta method. [16]
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8. Prove the linear system x = Ax is globally asymptotically state at the origin if and
only if for any given symmetric positive denite matrix Q, there exists a symmetrix
denite matrix P that satises the matrix equation.
A
T
P + PA = Q. [16]

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1. What are the common physical non-linearities and explain saturation and backlash
non-linearities? [16]
2. Consider the following system
[ x] =
_
0 1
1 2
_
[x] +
_
0
1
_
[u]
y =
_
1 2
Prove that by selecting the value to K, it is possible to destroy the observability

property. [16]
3. (a) Describe the instability theorems of lyapunov.
(b) What are the sucient conditions of stability of non-linear autonomous sys-
tem? [8+8]
4. Write short notes on the following for optimal control system design:
(a) Tracking problem.
(b) Output regular problem.
(c) Minimum energy problem. [6+4+6]
5. Construct phase trajectory for the system described by the equation,
dx
2
dx
1
=
4x
1
+3x
2
x
1
+x
2
.
Comment on the stability of the system. [16]
6. Convert the following system matrix to canonical form: [16]
A =
_
_
1 2 1
1 0 2
1 3 1
_
_
7. Find the externals for the following function J (x) =
t
1
_
1
_
2x +
1
2
x
2
_
dt , x (1) =
2, x (t
1
) = 2, t
1
> 1 is free. [16]
8. Construct the state model for the system characterized by the following dierential
equation
...
y
+ 3 y + 2 y = u + u . Also develop the block diagram. [16]

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Code No: 07A80202 R07 Set No.

The system usesthe observed state feedback such that u = k x .

Prove that by selecting the value to K, it is possible to destroy the observability

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