NATIONAL INSTITUTE OF TECHNOLOGY ROURKELA

Department of Electrical Engineering

End-Semester Examination, 2023
Session: 2022 - 2023 (Spring)
B.Tech in Electrial Engineering
6th Semester
Subject Name: Advanced Control Systems
Subject Code: EE3302
Number of Pages:2 Full Marks: 50 Duration: 3 Hours

Instructions
• Answer all the Questions.
• Figure in the right margin indicates the full marks allotted to a question.

1. Show that the eigenvalues of A have a real part less than −µ if and only if for every
symmetric positive-definite matrix Q, there exists a unique symmetric positive-
definite solution to A′ P + P A + 2µP = −Q, A′ denotes the conjugate transpose of
the A matrix. [7]

2. Suppose that the pair (A, B) is controllable and that the Lyapunov matrix equation
AWC + WC A′ = −BB ′ has a symmetric positive-definite solution W . Show that A
has negative real-part eigenvalues, M ′ denotes the conjugate transpose of the M
matrix. [6]

3. Comment on the stability of the discrete-time homogeneous state equation

 
0.9 0 1
X[k + 1] =  0 1 0 X[k]
 
0 0 1

[6]

4. Consider the system shown in the following equation

x˙1 = x2
x˙2 = −(x1 + x2 ) − h(x1 + x2 )

where h is continuously differentiable and zh(z) > 0 ∀z ̸= 0 ∈ R. Using the

variable gradient method, construct a Lyapunov function, and comment on the
system’s stability. [6]

Contd. to the next page. . .

Advanced Control Systems End-Semester Examination Page 2 of 2

5. Suppose that H1 (s) and H2 (s) are two strictly proper single input, single-
output transfer functions with controllable state space realizations (A1 , B1 , C1 )
and (A2 , B2 , C2 ), respectively. Construct a state-space realization for the
parallel interconnection H1(s) + H2(s), and show that the parallel realization
is controllable iff A1 and A2 have no common eigenvalues (Hint: PBH test
approach may be suitable.) [6]

6. Show that the pair (A, B) is controllable iff the pair (A−BK, HB) is controllable
for any m × n matrix K and any nonsingular m × m matrix H. [6]

7. Do you think any value of the sampling time may make the following system
uncontrollable?

[5]

8. Design an integral state feedback control law for the transfer function shown
below

1
(s3 + 2s2 + s + 2)

such that the closed loop poles get placed at −2, −2 ± 4j. Do you think
that even if we introduce some arbitrary perturbation in the A matrix, our
system would still ensure guaranteed tracking performance for a unit step
input? Provide a detailed explanation. [8]

End of question paper