NPTEL Online Certification Courses

Indian Institute of Technology Kharagpur

Industrial Automation and Control

Assignment- Week 3
TYPE OF QUESTION: MCQ/MSQ
Number of questions: 12 Total marks: 12X 1 = 12

QUESTION 1:
Identify the components of the automatic control-

Fig. 1
(i) Controller
(ii) Sensor
(iii) Actuator
(iv) Plant
a) A-(i), B-(ii), C-(iii), D-(iv)
b) A-(i), B- (iii), C- (iv), D-(ii)
c) A-(ii), B-(i), C-(iii), D-(iv)
d) A-(iv), B-(ii), C-(i), D-(iii)
Correct Answer: b) A-(i), B- (iii), C- (iv), D-(ii)
Detailed Explanation:
Refer to lecture 9, slide time: 4:15
QUESTION 2:
What are the causes of instability in the feedback loop of the automatic control system?

a) Phase lag should be less than 180º with a high loop gain.
b) Phase lag should be equal to 180º with a high loop gain.
c) Phase lag should be greater than 180º with a low loop gain.
d) Phase lag should be less than 180º with unity loop gain.

Correct Answer: b) Phase lag should be equal to 180º with a high loop gain.

Detailed Explanation:
For the negative feedback system, the phase lag should be less than 180º.

QUESTION 3:
What is the objective of the automatic control system?

(i) Maintain Stability

(ii) Follow the Set point
(iii) Reject Disturbance
a) (i) and (ii)
b) (ii) and (iii)
c) (i), (ii) and (iii)
d) Only (i)

Correct Answer: c) (i), (ii), and (iii)

Detailed Explanation:
Refer to lecture 9, slide time: 5:00
QUESTION 4:

Which component of the automatic control loop is responsible for maintaining zero steady-state
error?
a) Controller
b) Actuator
c) Sensor
d) Plant

Correct Answer: a) Controller

Detailed Explanation:
The error signal from the summing point goes to the controller and controlling action is
implemented on the error signal to reduce it to as low as possible without compromising the
stability of the process.
QUESTION 5:

What device is used for obtaining the output even when the error signal is zero?
a) Proportional device
b) Integral device
c) Derivative device
d) None of them
Correct Answer: b) Integral device
Detailed Explanation:
The integral device in the forward loop is used either in the controller or in the plant for obtaining
the output even when the error signal is zero.

QUESTION 6:

What factor is NOT responsible for improving the transient response of the system?
a) Reduce the Rise time
b) Reduce settling time
c) Increase overshoot
d) Reduce overshoot

Correct Answer: c) Increase overshoot

Detailed Explanation:
For improving the transient response of the system, overshoot should be reduced as the output will
remain as close to set point.
QUESTION 7:

Find the steady state error for the system shown in Fig. 2 for step changes in d? (For r = 0, K = 6).
(Correct up to three decimals).

Fig. 2.

Answer:
Steady state error: _______

Correct Answer: 0.1667

Range: 0.166 to 0.167

Detailed Explanation:

For, r = 0,

K
𝐸(𝑠) 𝑠(𝑠 + 6)
=
𝐷(𝑠) 1 + K
𝑠(𝑠 + 6)

𝐸(𝑠) 1 1
= = 2
𝐷(𝑠) 𝑠(𝑠 + 6) + K 𝑠 + 6𝑠 + K

1
𝐷(𝑠) =
𝑠
1/𝑠 1 1 1
Steady state error: lim 𝑠𝐸(𝑠) = lim 𝑠 𝑠2 +6𝑠+K = lim 𝑠2 +6𝑠+K = K = 6 = 0.1667
𝑠→0 𝑠→0 𝑠→0
QUESTION 8:

Which one represents control law of PID equation?

Kp de(t)
a) u(t) = K p e(t) + ∫ e(t) dt + K p
Ti dt
de(t)
b) u(t) = K p e(t) + 𝐾𝑝 ∫ e(t) dt + K p Td dt
Kp de(t)
c) u(t) = K p e(t) + ∫ e(t) dt + K p Td
Ti dt
Kp de(t)
d) u(t) = K p Tp e(t) + ∫ e(t) dt + K p Td
Ti dt

𝐊𝐩 𝐝𝐞(𝐭)
Correct Answer: c) 𝐮(𝐭) = 𝐊 𝐩 𝐞(𝐭) + ∫ 𝐞(𝐭) 𝐝𝐭 + 𝐊 𝐩 𝐓𝐝
𝐓𝐢 𝐝𝐭

Detailed Explanation:

Ref. Lecture 11, Time: 01:48 to 13:20

QUESTION 9:

_______ is the band of error which causes a 100% variation in the controller output expressed as a
percentage of the measurement range.

a) Integral Time
b) Proportional Gain
c) Integral Windup
d) Derivative Time

Correct Answer: b) Proportional Gain

Detailed Explanation:
Proportional Gain is the band of error which causes a 100% variation in the controller output
expressed as a percentage of the measurement range.

Ref: Lecture 11, Time: 04:10

 QUESTION 10:

Consider a temperature control system, where the full-scale measurement of a Heater is 150oC. In
this system, a 100% change in the output of the Heater is caused by an error of 3oC. Calculate
Proportional Band.

Answer: _______%

Correct Answer: 2
Detailed Explanation:
3
Proportional Band = change in error that causes 100% change in input = × 100 = 2%
150

Ref: Lecture 11, Time: 08:00

QUESTION 11:

Which one is the velocity form of PID controller?

T T𝑑
a) u(kT) = K p [e(kT) − e((k − 1)T)] + (K p T ) e(kT) + (K p T
) [e(kT) − 2e((k − 1)T) + e(k − 2)T]
i

T T𝑑
b) ∆u(kT) = K p e(kT) + I(k − 1)T + (K p T ) e(kT) + (K p T
) [y(kT) − y((k − 1)T)]
i

T T𝑑
c) ∆u(kT) = K p [e(kT) − e((k − 1)T)] + (K p T ) e(kT) + (K p T
) [e(kT) − 2e((k − 1)T) + e(k − 2)T]
i

T T𝑑
d) u(kT) = K p e(kT) + I(k − 1)T + (K p ) e(kT) + (K p ) [y(kT) − y((k − 1)T)]
Ti T

Correct Answer: b)
𝐓 𝐓𝒅
∆𝐮(𝐤𝐓) = 𝐊 𝐩 𝐞(𝐤𝐓) + 𝐈(𝐤 − 𝟏)𝐓 + (𝐊 𝐩 ) 𝐞(𝐤𝐓) + (𝐊 𝐩 ) [𝐞(𝐤𝐓) − 𝟐𝐞((𝐤 − 𝟏)𝐓) + 𝐞(𝐤 − 𝟐)𝐓]
𝐓𝐢 𝐓

Detailed Explanation: Ref: Lecture 12, Time: 18:10

QUESTION 12:

Transfer function of PID controller is _____

𝑑
a) 𝐾𝑝 𝑒(𝑡) + 𝐾𝐼 ∫ 𝑒(𝑡) 𝑑𝑡 + 𝐾𝐷 𝑑𝑡 𝑒(𝑡)
1
b) 𝐾𝑝 + 𝐾𝐼 𝑠 + 𝐾𝐷 𝑠
𝐸(𝑠)
c) 𝐾𝑝 𝐸(𝑠) + 𝐾𝐼 + 𝐾𝐷 𝑠𝐸(𝑠)
𝑠
𝑑
d) 𝐾𝑝 𝑒(𝑠) + 𝐾𝐼 ∫ 𝑒(𝑠) 𝑑𝑡 + 𝐾𝐷 𝑑𝑡 𝑒(𝑠)

𝟏
Correct Answer: b) 𝑲𝒑 + 𝑲𝑰 𝒔 + 𝑲𝑫 𝒔

Detailed Explanation:
𝑑
PID equation: 𝑢(𝑡) = 𝐾𝑝 𝑒(𝑡) + 𝐾𝐼 ∫ 𝑒(𝑡) 𝑑𝑡 + 𝐾𝐷 𝑑𝑡 𝑒(𝑡)
𝐸(𝑠)
After applying Laplace Transform: 𝑈(𝑠) = 𝐾𝑝 𝐸(𝑠) + 𝐾𝐼 + 𝐾𝐷 𝑠𝐸(𝑠)
𝑠
𝑈(𝑠) 1
Transfer function of PID Controller: 𝐸(𝑠) = 𝐾𝑝 + 𝐾𝐼 𝑠 + 𝐾𝐷 𝑠