Part A

1. In the circuit shown in figure, the input u is a current source. Check the observability of the system. Give a physical interpretation directly from the network. [6]
2

1H
1

1F

2. The solution of the following Vander Pol equation with = 0.5 and initial condition x (0) = 0 and x(0) =10 is shown in figure.
+ (1 x 2 ) x + x = 0 x

u
tIMEe

[7] ()a Determine the frequency and amplitude of the oscillations by any nonlinear technique. [2] ()b Linearize the Vander Pol equation about the equilibrium point and comment about the stability of the equilibrium point. ()c With the information obtained from question no 2 and 3, sketch the approximate [2] phase plane portrait of the equation. 3. Figure below shows a position control servomechanism. The block diagram of the system is shown in figure on next page.

R(s )

K1

Kp

GM (s )

C (s )

The numerical values of the system constants are: Gain of the potentiometer K 1 = Gear ratio n =
1 10

Amplifier gain K p =10 volts/volt

24 volts/rad

Motor gain constant K m = 0.72 Motor time constant Tm = 0.13 (a) Assuming inductance of the armature circuit is small, derive an expression for the Km transfer function of the dc motor in the form G M ( s ) = . s (Tm s +1) (b) Can the servomechanism follow the step change in the reference input correctly? Justify your answer. (c) Can the servomechanism follow a unit ramp input correctly? Justify your answer. (d) Determine the time constant of the system (e) How much stable the system is?(Give one time domain specific and one frequency domain specification) (f) How fast the system is?(Give one time domain and one frequency domain specification) (g) To improve the performance of the system, in addition to the positional signal, the velocity signal is also fed back to the input to produce the actuating error signal using a tachometer. The tachometer constant is 2.5 volts/rad/sec. Comment about the stability of the system after tachometer feedback by determining the new values of specifications. (h) Is the ability to follow a ramp input now changed? Justify your answer. (i) An alternative method of improving the performance of the system is to use lead compensation. Design a lead compensation to satisfy the following specification. Phase margin 75 (j) Draw an electrical lead network with the parameters obtained in the previous question. Assume the value of one of the element. Part-B 4. (a) Given the characteristic equation of a closed loop control system,
s ( s +1)( s + 2) + K = 0
s (i) Find the root sensitivity S K s (ii) Find the points on the real axis where S K = 0 and

[3] [1] [1] [1] [2] [2] [2] [1] [3] [2]

[5]

s SK =

(b) A unity feedback system has the open loop transfer function G ( s ) = K

s . ( s + 2) ( s + 3) 2
2

Sketch the root loci of the chara. equation for < K < .What is the gain at s=-0.5?

5.

(a) Open

s +1 G ( s) H ( s) = K . Find the range of K for stability. ( s + 20 )( s 1) 2

loop

transfer

function

of

unity

feedback

system

is

given

by

(b) The above system with K = 100 is to be controlled over a computer network, which introduces a time delay in the system. How large may the time delay be before the closed loop system becomes unstable? (c) Use Ziegler Nichols frequency method to determine the parameters in a PID controller for control of the process with open loop transfer function G ( s ) = 6. (a) A closed loop system is described by the following equations.
x1 = x 2 x 2 = 500 x1 20 x 2 + 500 u 0.5 . s ( s +1) 2

y = x1

where u is the reference input and y is the output. Design a state feedback controller so that the system has a bandwidth of 25 rad/sec and damping ratio of 0.7. (b)Consider the following linear systems. Can you find Lyapanov functions for these systems? If yes, suggest Lypanov functions for these systems. [5] (c) Consider the following nonlinear systems. Using a Lypanov function V( x ) = x 12 + x 2 2 , examine the stability of the origin. [5]

7.

(a) Using Poincare perturbation method obtain the first order corrected solution of
b + c c 3 = T , (0) = 0 3!

[7]

(b) Define describing function. Obtain the describing function of the dead zone nonlinearity