Code No: R5410205 1

IV B.Tech I Semester(R05) Regular/Supplementary Examinations, December 2009

ADVANCED CONTROL SYSTEMS
(Electrical & Electronics Engineering)
Time: 3 hours Max Marks: 80
Answer any FIVE Questions
All Questions carry equal marks
?????

1. (a) Derive an expression for state transition matrix by using Laplace Transform Method
" #
0 1
(b) Compute state transition matrix for the given system matrix A =
−2 −3
[8+8]

2. (a) Consider
 the system   
−1 0 1 0
   
Ẋ =  1 −2 0  X +  1  U
0 0 −3 1
and houtput i
y= 1 1 1 X
Transform the system into observable canonical form.
(b) The state equations of a system are given below. Determine whether the system is completely controllable
and observable.
   
−6 −18 −6 2
   
Ẋ =  2 3 1  X +  −3  u
−4 −8 −3 7
h i
y= 1 3 1 X [8+8]

3. What are the different types of non-linearities. Explain each of them in detail. [16]

4. Draw the phase trajectory of the system described by the equation. ẍ + ẋ + x2 = 0. Comment on the stability
of the system. [16]

5. For "the system #

0 1
X= X
−2 −2
Find suitable Lypnunov function V(x). Find an upper bound on time that it takes the system to get from the
initial condition
" #
1
x(0) = to within the area defined by x21 + x22 = 0.1 [16]
1

6. For the following system, design a state feedback control law, so that the closed loop system has poles at -2,-3,-4.

   
0 1 0 1 0 " #
    0 2 0
A= 3 2 0  B= 0 1  C= [16]
1 0 1
2 1 1 0 0

7. (a) Derive Euler-Language equation.

(b) Find the curve with minimum arc length between the point x(0)=1 and the line T1 =4. [8+8]

8. (a) Explain formulation of the optimal control problem.

(b) Explain formulation of the optimal control problem for the minimum-time problem. [8+8]

?????
Code No: R5410205 2
IV B.Tech I Semester(R05) Regular/Supplementary Examinations, December 2009
ADVANCED CONTROL SYSTEMS
(Electrical & Electronics Engineering)
Time: 3 hours Max Marks: 80
Answer any FIVE Questions
All Questions carry equal marks
?????

1. A feedback system is characterized by the closed loop transfer function

s2 +3s+3
T (s) = s3 +2s 2 +3s+1

Construct a state model for this system and also give the block diagram representation for the same. [16]

2. (a) Determine
" # "the state #controllability
" # " for#the system represented by the state equation.
ẋ1 2 1 x1 1
= + u
ẋ2 0 −1 x2 0
(b) Explain the different tests for controllability used for continuous time systems.
[8+8]

3. What are the different types of non-linearities. Explain each of them in detail. [16]

4. (a) Explain how do you determine the stability analysis of Nonlinear system using phase trajectory.
(b) Explain about “phase portrait showing limit cycle behaviour in nonlinear system.” [8+8]

5. Consier the
" linear autonomus
# sytem.
0.5 1
X(k+1)= X(k)
−1 −1
Using direct method of Lyapunov, determine stability of the equillibrium state. [16]

6. Given the system Ẋ=AX+Bu,

  
1 0 0 1
   
where A= 0 2 0  x +  1  u.
0 0 3 1
Design a linear state varubale feedback such that the closed-loop poles are located at -1, -2 and -3.
[16]

7. Find the extremal of the functional

Zπ/4
J(x) = (x21 + ẋ22 + ẋ1 ẋ2 )dt.
0
[16]
³π ´ ³π´
x1 = 0, x1 = = 1, x2 (0) = 0, x2 = = −1
4 4
8. Consider a system described by the equation
ẋ(t) = f (x) + F (x)u(t)
where f(x) and the n × p matrix F(x) may be non linear. Use the Maximum Principle to show that it is necessary
to use a Bang-Bang Controller to obtain the minimum - time response for this system if the input variables ui (t);
i=1,2 ...........p are constrained to a magnitude of less than a constant M. [16]

?????
Code No: R5410205 3
IV B.Tech I Semester(R05) Regular/Supplementary Examinations, December 2009
ADVANCED CONTROL SYSTEMS
(Electrical & Electronics Engineering)
Time: 3 hours Max Marks: 80
Answer any FIVE Questions
All Questions carry equal marks
?????

1. Derive the expressions for the general solution of non homogenous state space model.
[16]

2. (a) What is Duality property? State and Prove Principle of Duality.

(b) Define observability and controllability. Explain about Kalman’s Test of controllability and observability.
[8+8]

3. Define describing function. Explain the signifances of describing function analysis.

[16]

4. What is a singular point? Classify the different types of singular points by giving the phase portrait. [16]

5. For "the system #

0 1
X= X
−2 −2
Find suitable Lypnunov function V(x). Find an upper bound on time that it takes the system to get from the
initial condition
" #
1
x(0) = to within the area defined by x21 + x22 = 0.1 [16]
1

6. What is full order observer? Derive the equations of full order ovserver. [16]

7. (a) Compute the extremals for the given functional

Rt1 √1+ẋ2
J(x) = x dt; x(0) = 0, x(t1 ) = t1 − 5
0
(b) Discuss functional of single variable. [8+8]

8. Consider
" # the"system # " # " #
ẋ1 0 1 x1 0
= + [u]
ẋ2 0 0 x2 1
It is desired to find the optimal control
" function# u such that the following performance index.
Rα 0 1 0
J = (x Qx + u0 u) is minimized Q= . [16]
0 0 µ

?????
Code No: R5410205 4
IV B.Tech I Semester(R05) Regular/Supplementary Examinations, December 2009
ADVANCED CONTROL SYSTEMS
(Electrical & Electronics Engineering)
Time: 3 hours Max Marks: 80
Answer any FIVE Questions
All Questions carry equal marks
?????

1. A
" linear
# "time-invariant
# " system
# is characterized by the homogenous state equation.
ẋ1 1 0 x1
=
ẋ2 1 1 x2
Compute" the
# solution of the homogeneous equation, assuming the initial state vector
1
X0 = [16]
0

2. (a) The state space representation of a system is given below. Determine whether the system is completely
controllable
 and observable.
  
−6 2 −4 1
   
Ẋ =  −18 3 −8  X +  3 u
−6 1 −3 1
h i
y = 1 −1 2 X
(b) Define controllability and observability. Explain about Kalman’s Test of controllability and observability.
[8+8]

3. Derive the describing function for dead zone and hysteresis non-linearity. [16]

4. Explain the procedure followed for constructing phase trajectory in isocline method.
[16]

5. Consider
" # the
" following#system
" #
ẋ1 0 1 x1
=
ẋ2 −1 −1 x2
Find a Lyapunov function for the system. [16]

6. A single-input
 sytem is described
 bythe following state equation.
−1 0 0 10
   
Ẋ =  1 −2 0  X +  1  u
0 1 −3 0
Design a state feedback controller which will give closed loop poles at -1±j2, -6. Draw a block diagram of the
resulting closed loop system. [16]

7. (a) Find the extremals for the following functional

π/4
R
J(x) = (ẋ2 − x2 ) dt; x(0) = 0, x( π4 ) is free.
0
(b) Explain control and state variable inequality constraints. [8+8]

8. (a) Explain formulation of the optimal control problem.

(b) Explain formulation of the optimal control problem for the minimum-time problem. [8+8]

?????