National Institute of Technology Tiruchirappalli

Department of Electrical and Electronics Engineering

B.Tech. Degree, 5th Semester EEE-A
Mid-Semester Exam
Sub. Code & Title: EEPC20-Control Systems
Date: 03.11.2020 Max. Marks: 50
Time: 120 minutes
• Answer ALL questions Roll No.
• There are 5 questions. Each question carries 10 marks
• Make suitable assumptions wherever required and state them clearly

𝑠+1
1. The loop transfer function 𝐺𝐻 = . Find the root loci on the real axis. Draw the
𝑠(𝑠+4)(𝑠2 +6𝑠+10)
asymptotes and determine the angle of departure from the open loop complex conjugate poles.

2. For the system given below, find the rise time, time period, peak time, peak overshoot, 5% settling
time, number of oscillations and percentage increase.

Given: m=1kg, spring coefficient K=4N/m, damping coefficient C= 2Ns/m, input force=unit step.

3. A) Find the transfer function of the system given below using signal flow graph. (6 marks)

B) Find the overall transfer function using principle of superposition. (4 marks)

1
4. Consider the plant 𝐺(𝑠) = . Design a lag compensator for desired phase margin=400,
𝑠(𝑠+1)(0.5𝑠+1)
Gain margin=10 dB and steady state specification 𝐾𝑣 = 5𝑠 −1

5. A torque-controlled crane hoists a load with a fixed rope length. The corresponding linearized
𝑋𝑇 (𝑠) 1 𝑠2 +𝜔02 𝑔
model is 𝑃(𝑠) = = where 𝜔0 = √ , L= the rope length, 𝑚 𝑇 = mass of the car,
𝐹𝑇 (𝑠) 𝑚𝑇 𝑠 (𝑠2 +𝑎𝜔02 )
2 𝐿
a= the combined rope and car mass, 𝑓𝑇 = the force input applied to the car, 𝑥𝑇 = the resulting rope
displacement. If the system is controlled in a feedback configuration by placing it in a loop as
shown in figure below, with K>0, where will the closed loop poles be located?