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UNIT I - DISCRETE STATE-VARIABLE TECHNIQUE

PART –A

1. Define state diagram.

The pictorial 'representation of the state model of the system is called State
diagram. The State diagram of the system' can be either in Block Diagram form or
in Signal flow graph form
2. How the state diagram of the system is represented?
The state diagram describes the relationship among the state variables and provides
physical interpretations of the state variables. The time domain state diagram may
be obtained directly from the differential equation governing the system.
It can be either in Block Diagram form or in Signal flow 'graph form.'
3. Write the fundamental elements are used to construct the state diagram.
Three fundamental elements are used to construct the state diagram.
Scalar : The scalar is used to multiply a signal by a constant.
Adder : It is used to add two or more signals.
Unit delay: The unit delay element will delay the signal passing through it by one
sample time.
4. Define state transition matrix.

5. Sketch basic model of state diagram

6. Mention the drawbacks of practical sample / Hold circuit.

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7. List the different methods available for computing A k.

The state transitionmatrix Ak can be computed by anyone of the following methods.
 Matrix exponential.
 Z - transform
 Canonical transformation,

Cayley-Hamilton theorem
8. What is the stability criterion for sampled data control system?
 The sampled data control system is stable if all the poles of the z-transfer
function of the system lies inside the unit circle in z-plane. "
 The poles of the transfer function are given by the roots of the characteristic
equation.

Hence the system stability can be determined from the roots of the characteristic equation.
9. Define characteristic equation of sampled data control system.
The characteristics equation may have either of the following two forms.
1 + G(z)H(z) = 0
1 + GH(z) = 0

wherezi’s and pi’s are zeros and poles of open loop transfer function, m is the
number of zeros and n is the number of poles.
10. Write the types of stability analysis of sampled data control systems.
Stability Analysis using
 Bilinear Transformation and Routh Stability Criterion
 Root locus technique
 Jury’s stability test
11. Summarize the necessary and sufficient conditions to be satisfied the stability
of sampled data control system using Bilinear transformation and Jury’s
stability test.
The necessary conditions to be satisfied for the stability of the system with
characteristic polynomial, F(z) are
o F(l) > 0 and
n
o (-1) F(-l) > 0

Sufficient conditions for stability of the system. Totally (n - 1) conditions

 laol<lanl
 Ibol :> Ibn-1I

ICo I > Icn-21

12. Classify the basic types of decomposition.
There are three basic types of decomposition:
 Direct decomposition
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 Cascade decomposition
 Parallel decomposition.
13. What is Bilinear transformation?
The bilinear transformation is a mathematical mapping of variables. It is used to
transform continuous-time system representations to discrete-time.
14. Illustrate the concept of controllability and observability test.
Controllability:
i. Find controllability matrix Qc
ii. Find determinant of Qc
iii. If |Qc| is not equal to zero find rank of Qc and comment about
controllability

Observability:
i. Find observability matrix Qo
ii. Find determinant of Qo
iii. If |Qo| is not equal to zero find rank of Qo and comment about observability
15. Construct the state model for the system.
 x1 (k  1)  2 3  x1 (k )  0
 x (k  1)  1 1  x (k )  1u (k ),
 2    2   
 x (k ) 
y (k )  1 1 1 .
 x 2 (k )
Refer book
16. State the condition for controllability by Kalman’s method.
Controllability:
i. Find controllability matrix Qc
ii. Find determinant of Qc
iii. If |Qc| is not equal to zero find rank of Qc and comment about
controllability

17. Classify the methods used for stability analysis

Stability Analysis using
 Bilinear Transformation and Routh Stability Criterion
 Root locus technique
 Jury’s stability test
18. Explain pole-placement design.
Pole placement method is a controller design method in which the places of the
closed loop system poles on the complex plane is determined by setting a controller
gain matrix k = [ k1 k2 k3 … kn]
19. Produce the expression for state feedback gain matrix.
state feedback gain matrix is given by
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Where a1, a2, … an coefficients of desired system characteristic equation

α1, α2, α3 …… αn coefficients of given system characteristic equation
20. Explain about the concept of state observer.
An observer is a dynamic system that is used to estimate the state of a system or
some of the states of a system. A full-state observer is used to estimate all the states
of the system. . The observer can be designed as either a continuous-time system or
a discrete-time system

PART B
1. Give the state model of the discrete data system represented by the difference
equation y(k+2)+5y(k+1)+6y(k) = u(k).
Refer class notes
(i) Jordan canonical form. (7)
(ii) Phase Variable form. (6)
2. Derive the state equation for the system shown below in which and
constitute the state vectors. Examine whether the system is completely controllable
and observable.
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3. (i) Sketch the block diagram of a typical sampled data control system and
explain the function performed by each block.(8)
Block diagram – 3marks ,explanation – 5 Marks
(ii) Test the controllability of the following system. (5)
 x1 (k  1)   2  1  x1 (k )  0
 x (k  1)   0 
1   x 2 (k ) 1
u (k ),
 2  
 x (k ) 
y (k )  1 1 1 .
 x 2 (k )
Controllability:
i. Find controllability matrix Qc =[B AB]
ii. Find determinant of Qc
iii. If |Qc| is not equal to zero find rank of Qc and comment about
controllability

4. (i) Describe the principle and design procedure for state feedback control
scheme with block diagram.
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Diagram – 3 marks , explanation – 5 marks

(ii) Test the stability of the following system.
3
p(z) = +0.07 Z2+0.3 Z - 0.08=0.
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5. Examine about state controllability and observability of the following system.

 x1 (k  1)  0 1 0   x1 (k )  0
 x (k  1)  0 1 1   x 2 (k )  0u (k )
 2  
 x3 (k  1)  0  3  2  x3 (k )  1
 x1 (k ) 
y (k )  3 4 1 x2 (k ).
 x3 (k ) 

6. Express state equations and output equations of the following difference equation
and draw the state model of the system,
(i) y(k+3)+5y(k+2)+3y(k+1)+2y(k)=u(k).
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(ii) y(k+3)+5y(k+2)+3y(k+1)+2y(k)=u(k+1)+u(k)
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7. 0 1 0

Find the state transition matrix of the given system matrix A  0 0 1 
0  0.5 1.5
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8. Check the stability of the sampled data control system represented by the following
characteristic equations using bilinear transformation. (13)
(i) =0

(ii)
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9. Determine the open loop response of the sampled data system shown below to a
unit step change in input X(t). (13)
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10. Explain in detail about methods of decomposition of discrete data transfer

functions. (13)
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11. A discrete time system has the transfer function

Y ( z ) 6 z 3  15 z 2  7 z  5

U ( z) ( z  2) 2 ( z  1)
Analyze the state model of the system in
Phase variable form.

(i) Phase variable form. (6)

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(ii) Jordon canonical form.

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12. Check the stability of the sampled data control system represented by the following
characteristic equation.
(i) -0.08Z +0.24=0.

System is not stable.

(ii) .

13. The system matrix A of a discrete time system is given by [ ]. Find

k
state Transition Matrix A using Cayley- Hamilton theorem. (13)
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14. A single input system is described by the following state equation.

[ ] [ ][ ] [ ]

Design a state feedback controller which will give closed-loop poles at -3, -5 and 2.
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PART C

1. Develop the STM for the system having system matrix of 3x3 Jordon block with
eigenvalues λ1. (15)
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2. Consider a linear system described by the tra

nsfer function.

Design a feedback controller with a state feedback so that the closed loop poles are
placed at -1, -2±2j.
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3. Consider the system


x  Ax  bu
y  cx  du
 2  1 1 0
Where A    ; b  ; c  0 1; d  2 0
1 0 1 1
Design a full-order state observer so that the estimation error will decay in less
than 4 seconds. (15)
REFER CLASS NOTES
4. (i) Check whether the discrete data system represented by the characteristic
polynomial +10 z+1 is stable or not.
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(ii) Find the state equation for the discrete time system described by,
y(n+3)+5y(n+2)+7y(n+1)+3y(n)=u(n). (8)
Refer class notes

UNIT II - SYSTEM IDENTIFICATION

1. Discuss briefly system identification.
System identification is the field modelling dynamic system or process from
experimental data. So it is an experimental approach. Some experiments are performed
on the process' to collect input and output data. Then a model is filled to the
experimental data by assigning suitable values to its parameter.
2. Classify the models available for system identification.
 Black-box model
 White box model
 Gray box model
3. List the non-parametric methods of system identification.
The four different non parametric methods for system identification are
1. Transient An 1alysis
2. Frequency Analysis
3. Correlational Analysis
4. Spectral Analysis
4. Differentiate parametric and non-parametric method of system identification.
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5. Write the advantages of transient analysis method.

 In this method the input is taken as a step or impulse and the recorded output
(example transient response of a FODT system to a unit step input) helps to
Identify a model.

Model parameter is identified easily.

6. Examine the drawbacks of transient response analysis.
1. The design and parameter adjustment of closed loop system for specified closed
loop performance cannot be carried out easily.

The effect of the noise disturbance and parameter variations in the frequency domain
cannot be easily visualized.
7. What is meant by frequency analysis?

8. Briefly explain the first order system parameter estimation using impulse response
method.
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9. When correlation analysis is required?

10. What is spectral analysis?

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11. Define parametric method of system identification.

12. Write the requirements of a parameter estimation problem.

13. Define least squares estimation method.

14. Classify the methods used for system identification

The four different non parametric methods for system identification are
1. Transient An 1alysis
2. Frequency Analysis
3. Correlational Analysis
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4. Spectral Analysis
parametric methods for system identification are
1. least square estimation
2.Recursive least square estimation
15. Summarize the steps involved in system identification problem.

Write this in terms of steps

16. What are the limitations of LS method?
The main disadvantages of linear least squares are limitations in the shapes that linear
models can assume over long ranges, possibly poor extrapolation properties, and
sensitivity to outliers.
Linear models with nonlinear terms in the predictor variables curve relatively slowly, so
for inherently nonlinear processes it becomes increasingly difficult to find a linear
model that fits the data well as the range of the data increases
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17. Compare about different methods used for system identification.

18. What are the advantages of recursive identification method?

19. Write the recursive least square algorithm which uses Kalman filter as parameter
estimator.
20. Write the features of recursive identification method.

PART B
1. Explain the properties of a Mathematical model.
Explanation of any two methods – 6+7 marks
2. Define System identification? Explain its procedure.
Definition – 2 marks
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3. Why we use Simulation models? Explain any two prediction models. (13)
Any two methods from
1. Transient analysis
2. Frequency analysis
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3. Correlation analysis
4. Spectrum analysis
Explanation -6+7 marks
4. What are various model representation for an LTI system? Explain.
Any two methods explanation – 6+7 marks
5. Describe any two identification methods with the help of the algorithm used.
Different methods:
1. transient analysis
2. frequency analysis
3. correlation analysis
4. spectrum analysis
Explanation of any two methods – 6+7 marks
6. (i) Describe the frequency analysis method of system parameter estimation.

(ii) Briefly describe the improved frequency analysis.

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Sine and cosine signal is considered as 2 disturbance signal and frequency

response of the system is analyzed. Concept explanation + derivation – 5 marks
7. (i) How the impulse response identification using step responses is done?

By giving impulse input , response is plot and parameters are identified from
plot.

(ii) Explain the procedure involved. (5)

8. Discuss a detailed account on correlation analysis method of system identification.

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9. Show how Spectral analysis method used for identifying system parameters.(13)
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10. Demonstrate with an example for each, explain any one parametric and non-
parametric methods of system identification. (13)
Refer q.no 8&9 ans
11. Derive and explain the steps of the least square algorithm.
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12. Summarize in what way spectral densities influence the deviation of estimate from true
value.
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13. Explain the steps of the Recursive least square estimation method.
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14. (i) List and explain the least square algorithm for real time identification which
uses a forgetting factor λ. (8)
(ii) Give and discuss the properties of LSE. (5)
Refer Q.No 11 ans

1. (i) What is meant by Linear regression? How such model predicts a moving object.
(15)
Refer Q.No 11 ans
2. (i) Design the second order system impulse response.
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(ii) Discuss the limitations of transient analysis.

1. The design and parameter adjustment of closed loop system for specified
closed loop performance cannot be carried out easily.
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2. The effect of the noise disturbance and parameter variations in the

frequency domain cannot be easily visualized.

3. Explain Nonlinear Least-square Estimation and its iterative solution.

(15) Refer Q.No 11 ans
4. Design Transfer Function and Equation error model in Dynamic systems.
Derivation + explanation – 8+7 marks

UNIT III - DIGITAL CONTROLLER DESIGN

1. Define one sided and two sided Z transform?

2. What is region of convergence (ROC)?

The Region of Convergence, or ROC, of a Z-Transform comprises all the values on the
Z-plane for which the transformation converges.
3. List the different methods available for inverse z-transform.

4. Define z-transform of unit step signal.

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5. Give the steps involved in determining the pulse transfer function of G(z) from G(s).

6. List the major disadvantages of Feed-forward controller.

7. Define modified Z transform of a unit step signal.

Refer class notes
8. Discuss the need for modified Z transform.
A limitation of the z-transform method is that it does not provide information about
the behavior of signals between the sampling instants. It is also inadequate in some cases of
practical importance, e.g. for systems with delay, non-uniform sampling, or multi-rate
samplers. One method that can overcome these shortcomings is the use of the modified z-
transform. This technique is similar to the normal z-transform, but introduces time delay
before sampling a signal.
9. Apply the modified Z transform of 1/s.
Find modified z transform of unit step input . refer note
10. Find the modified Z-transform of e-at.
Note: apply formula and find the final answer

11. What is pulse transfer function?

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12. Give the steps involved in determining the pulse transfer function of G(z) from G(s).

13. Write down the discrete equivalent of velocity form of PID algorithm.
position PID: u(t) = Kp * e(t) +Ki * Ts * [e(0) + e(1) + ... e(t)] +u(0)
velocity PID: u(t) = u(t-1) + Kp * (e(t) - e(t-1)) + Ki *Ts * e(t)
14. What is digital equivalent of analog controller?
Analog
A signal is considered analog if it is defined for all points in time and if it can take any real
magnitude value within its range.
Digital
A signal or system is considered digital if it is both discrete-time and quantized.
Here is an example of an analog waveform and the digital equivalent. Notice that the digital
waveform is discrete in both time and magnitude:

Analog Waveform Digital Waveform

15. Prepare the assumption made while designing dead beat controller.
The dead beat algorithm is applicable for the closed loop system output response should
have
 The rise time (Tr) should be the minimum value
 The settling time (Ts) should have finite value
The steady state error (ess) should be exactly zero.
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16. What are the limitations of dead beat algorithm?

If the process contains a time delay that is greater than the sampling period, then dead
beat controller D(z) require future values of the error to determine the current value of the
controller output, which is physically impossible and the controller is said to physically
unrealizable.
17. Point out various assumption made in design of Dahlin’s controller.
The time constant of closed-loop response Tf (or) equivalently, the parameter αf (or)
α is an adjustable parameter that is selected by trial and error in the field.
18. Draw the general block diagram for predictive controller.

19. Summarize the characteristics of dead beat control.

The deadbeat response has the following characteristics:
 Zero steady-state error.
 Minimum rise time.
 Minimum settling time.
 Less than 2% overshoot/undershoot.
 Very high control signal output.
20. Analyze the need for Feed Forward Control scheme.
Feedback control is typically used to regulate a variable (or variables) in a control
systems design which has time varying disturbances, and or operating parameters. It is also
used when the accuracy afforded by feed forward controls is not adequate to meet the
application performance specifications.
21. List the major disadvantages of Feed-forward controller.

PART – B
1. Determine the inverse z-transform of the following function.
z
(i) F ( z)  2 . (6)
z  z  0.5
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2. Determine the inverse z-transform of

When (a) ROC : IZI > 1.0 (7)

and (b) ROC : IZI < 0.5 (6)
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3. The input-output relation of a sampled data system is described by the equation

c(k+2)+3c(k+1)+4c(k)=r(k+1)-r(k).
(i) Determine the z-transform function. (5)
(ii) Also obtain the weighting sequence of the system. (8)
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4. Solve the difference equation c(k+2)+3c(k+1)+2c(k)=u(k)

Given that c(0)=1; c(1)=-3; c(k)=0 for k < 0
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5. Find C(z)/R(z) for the following closed loop sampled data control systems. Assume
all the samplers to be of impulse type.
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6. (i) Consider a system described by the difference equation

C(K+1)+2C(K)=r(K); C(0)=0. Obtain the system’s impulse response. (6)
(ii) For the sampled data control system, discover the output C(K) for r(t) = unit
step (7)
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7. A digital control system is shown in Figure.

When the controller gain K is unity and the sampling time is 0.5 seconds, determine
(i) The open-loop pulse transfer function
(ii) The closed loop pulse transfer function
(iii)The difference equation for the discrete time response
Refer class notes
8. (i) (i) Design the dead beat controller algorithm for a first order process
10
G p (s)  . (6)
0.5s  1
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(ii) Design a digital deadbeat control algorithm for

10e 2 s
G(s)  ; T  1 sec. Then the process dead time Td=2T.(7)
0.2s  1
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9. Determine unit step change for a given process using deadbeat controller
1
G p (s)  . (13)
( s  1)(5s  1)
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10. e 1.6 s
Consider a process with the following transfer functions, G p ( s )  , T = 1 sec.
s3
Show how to design a controller using deadbeat algorithm. (13)
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11. (i) Sketch the block diagram for IMC. (5)

(ii) Describe the simplified Smith Predictor scheme with the steps. (8)
12. Explain digital feed forward controller with a design procedure and give a comparative
statement for feedback and feed forward controller with a neat block diagram. (13)
13.
Consider a linear system described by the transfer function = .

Design a feedback controller with a state feedback so that the closed loop poles are
placed at -1, -2±2j. (13)
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14. Explain about Riccati equation and state the necessary and sufficient condition for
optimal solution. (13)
Refer class notes

PART C
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1. Design the transfer function model in Z domain by solving the difference equation
C(k+3) + 4.5c(k+2) + 5c(k+1) + 1.5c(k) = u(k).
Given that c(0) = 0; c(1) = 0; c(2) = 2; c(k) = 0; k < 0.
Refer class notes
2. Find C(z)/R(z) for the following closed loop sampled data control systems. Assume
all the samplers to be of impulse type.

(15)

Part B Q.No 5
3. Design a smith predictor algorithm for computer control of a first order process
K p e  d s
having dead time whose transfer function is given by G p ( s)  .
s  1
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4. e 0.8 s
Design a Dahlin’s controller algorithm for G p ( s)  , T = 0.4 sec.
0.6s  1
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UNIT IV - MULTI-LOOP REGULATORY CONTROL

1. What is Multi-loop Control?

Multiloop control: Each manipulated variable depends on only a single controlled
variable, i.e., a set of conventional feedback controllers.
2. Compare multiloop with multivariable PID controller.
3. What are the problems arising from interactions?

4. How do you pair input u with output y for a process?

5. How many relative gains do you compute in order to specify complete relative gain
array of a process?
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If the process is of 2x2 process i.e) process consists of 2 input and 2 output variable,
calculation of one relative gain is enough . for a 2 x 2 process
[ ]

6. Analyze degrees of freedom with respect to multiloop control.

Design Degree of Freedom (DDF) is the difference between the total number of variables
and the number of chemical and physical equations.
DOF = number of variables – no of physical equation

7. What is the result of dynamic interaction?

8. What is a Pairing of inputs and outputs? How it is represented?

9. What are the criteria to select the best loop configuration?

10. What are the advantages of RGA?

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11. What are the properties of RGA?

12. What are the implications when the RGA element λ ij = 0 and λij = 1?

13. Classify the different types of Tuning of Multi-loop PID control systems.

14. Compose the tuning procedure of Biggest Log-modulus tuning (BLT) method.
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15. Assess the failure sensitivity of multivariable process.

Refer class notes
16. Illustrate De-tuning method.

17. Define De-coupler.

Coupling is the interaction between the controlled variables and manipulating variables.
The decoupling controller is used to eliminate the interaction.
18. What is static decoupling?
When a process has multiple loops and the various control loops upset each other, use of
a reciprocal system that isolates the loops from each other may be required. Such a
design is referred to as decoupling control. static decoupling is used for constant
reference input signal.
19. What is partial decoupling?
Decoupling is used to convert MIMO system into SISO system.
20. Compose the mathematical representation of closed –Loop stability.

PART – B

1. Describe the nature of interaction between two control loops when a loop is open
and another is closed and vice versa.
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2. Explain how to obtain process interaction.

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3. (i) Consider process with 2 measurements and 3 inputs as shown below:

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 u1 
 y1   0.5 0.07 0.04   
 y   0.004  0.003  0.001 u 2 
 2   u 
 3
How to pair input-output variable for this process.

(ii) Give the properties and applications of RGA.

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4. (i) Consider a blending process with steady state gain matrix as shown
below.
 y1  0.025  0.075  u1 
y    1 1  u 2 
 2 
How would you choose input-output pairing for this process.

(ii) Find the loops using the Relative Gain Array. Consider a process with
the following input output relationships.
)+ )

)+ ).
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5. Consider the following RGA for a process with following matrices.

(a)
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(b)

How would you choose input-output pairing for the above process?

6. Decide a suitable multi-loop control strategy for a process with the following steady-
state gain matrix which has been scaled by dividing the process variables by their
maximum values. (13)
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[ ] [ ][ ]

Refer class note

7. Consider a following 2 x 2 process

[ ] [ ]
[ ]
Design a decoupler for the process
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8. Write in detail about RGA and selection of loops. (13)

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9. (i) Explain the strategies for reducing control loop interactions. (6)
(ii) Illustrate the methods in Tuning of Multi-loop PID Controllers with
examples.(7)
10. Describe about steady state effective gain of two input and two output processes.
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11. (i) Consider the following process with three inputs and three outputs.
)+ )– )

)+ )

)+ )+ )
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Using Bristol's relative gain array, select the control loops with
minimum steady state interaction. (6)
(ii) Select the control loops with minimum steady state interaction for the
following system with two outputs and three inputs, (7)
)+ )+ )

)+ )+ )

12. Explain the Biggest Log Modulus tuning method for

(i) Multiloop. (10)
(ii) Single loop. (3)
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13. Explain how to design decoupler for two input two output processes.
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14. (i) What is decoupling? Explain the types of decoupling. (10)

(ii) Comment on the Dynamic Considerations while calculating RGA. (3)

PART C
1. (i) Explain the significant differences between partial decoupling and static
decoupling. (10)
Refer partc q/no 2 ans
(ii) Explain the Stability Theorem. (5)
2. Consider a following 2 x 2 process
. e s . es
s . s s
[ ] [ ]
. e s
. e s s
[ . s . s ]
Design a decoupler for the process.
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3. Write note on Singular Value Analysis. (15)

Refer class notes
4. A 2 x 2 process has the following steady-state gain matrix:
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Calculate the determinant, RGA, eigenvalues, and singular values of K. Use K12 = 0
as the base case; then recalculate the matrix properties for a small change, K12 = 0.1.
(15)
Refer class notes