Mechanical Engineering Department

MCQs on Unit No. 06

Subject: Mechatronics

1) The input to a controller is

A. Sensed signal B. Error signal C. Desired variable value
D. Signal of fixed amplitude not dependent on desired variable value

2) Which one of the following is a disadvantage of proportional controller?

A. It destabilises the system B. It produces offset
C. It makes response faster D. It has very simple implementation

3) For a linear time invarient system, an optimal controller can be designed if

A. The system is controllable and observable
B. The system is uncontrollable but stable
C. The system is unstable but observable
D. The system is stable but unobservable

4) A first order dynamic linear system with a proportional controller exhibits an offset to a
unit step input. The offset can be reduced by
A. Decreasing the proportional gain
B. Adding derivative mode
C. Adding integral mode
D. Increasing the proportional gain

5) The transfer function of a P-I controller is

A. Kp + Ki/s B. Kp + ( Ki/s ) C. ( Kp/s ) + Ki . s D. Kp . s + ( Ki/s )

6) The on-off controller is a..........system

A. Digital B. Linear C. Non-linear D. Discontinuous

7) Proportional band of a controller is expressed as

A. Percentage B. Range of control variable C. Ratio D. Gain

8) The frequency and time domain are related through which of the following?
A. Laplace Transform and Fourier Integral B. Laplace Transform
C. Fourier Integral D. Either B and C

9) The range of control of controller __________ due to presence of offset.

a. increases b. decrease c. remains constant d. cannot say

10) Shifting of set point and adjusting its new value by the controller, when the value of
disturbance increases, is called as_______.
a. set-shift b. offset c. stabilization d. none of the above
11) Which of the following is/are the drawback/s of proportional control?
1. Proportional control system is complicated and costly.
2. Proportional control system is not suitable for pressure temperature and
flow control problems
3. If there are sudden disturbance, the proportional control system takes time
to stabilize.
a. (1) b. (2) c. (3) d. (1), (2) and (3)
12) Consider the following graph of Controller Characteristics of On-Off Control.
The region shown between curve A and curve B is called as________.

a. dead zone b. hysteresis c. both a. and b. d. none of the above

13) __________ is the time required for the response to reach 50% of the
final value in the first attempt.
a. Rise time b. Peak time c. Settling time d. Delay time

14) Consider the following graph of error (e) vs controller output (m).
The curve B corresponding to the value of error e2 is the curve followed
by controller characteristics when value of error __________.

a. is decreasing b. is increasing c. remains constant d. is unpredictable

15) The controller characteristics for on-off controller follow _________.

a. only one curve b. two curves c. four curves d. unpredictable
16) Consider the below diagram of Two Position Control. What would be the value of
error, when the controller output takes a fixed value corresponding to the 'ON' position of
final control element?

a. zero b. less than zero c. more than zero d. unpredictable

17) Which of the following is/are the Continuous Control Mode/s used
in control systems?
a. On-Off Control b. Integral Control c. Proportional Control d. All of the above

18) In P-I controller, what does an integral of a function compute?

a. Density of curve b. Area under the curve
c. Volume over the curve d. Circumference of curve

19) Which controller has the potential to eliminate/overcome the drawback

of offset in proportional controllers?
a. P+I b. P+D c. Both a and b d. None of the above

20) If an error signal e(t) of an ON-OFF controller is found to be greater

than zero, what would be its output?
a. 10% b. 50% c. 80% d. 100%

21) Conventional control theory is applicable to ______ systems

a. SISO b. MIMO c. Time varying d. Non-linear

22) The derivative control action is typically used when controlling,

but rarely used when controlling.
(A)Temperature,Flow (B)Flow,Level
(C)pH,Temperature (D)Level,Temperature

23) A proportional plus integral controller

a. has high sensitivity b.increases the stability of the system
c. it increases rise time d. both 2 and 3

24) Which of the following controller is also known as anticipatory controller?

a. P controller b. I Controller c. D Controller d. Both a& b

25) Which of the following controller has sluggish response?

 a. P controller b. I Controller c. D Controller d. Both b & c

26) The transfer function of a system is G(s) = 100/((s+1)(s+100)). For unit step input to the
system the approximate settling time for 2% criterion is
a.10sec. b.100sec. c.400sec. d.4sec.

27) Transient state analysis depends on which of the following?

a. Type of system b. order of system c. both a&b

28) A second order control system has a transfer function

16/(s² + 4s + 16). Find the settling time for 2% tolerance?
a.10sec. b.5sec. c.4sec. d.2sec.

29) The transfer function of the system described by

d²/dt²(y(t)) + 3d/dt(y(t)) + 2y(t) = 5u(t) with u(t) as input and
y(t) as output is
a. 5/(s²+3s+2) b. 5/s(s²+3s+2) c. (s²+3s+2)/5 d. s(s²+3s+2)/5

30) The poles of the second order system are at -3 ± j4.

The damping ratio of the system is
a. 3/4 b. 3/7 c. 3/5 d. 4/5

31) Find the relation of damped natural frequency (ωd)

a. (ωn) √(1-2ζ²) b. (ωn) √(1-4ζ²) c. (ωn) √(1-1/ζ²) d. (ωn) √(1-ζ²)

32) For parallel P+I controller , controller output(m )is given by equation
a. m=Kpep+Ki∫epdt+mo b. m=Kpep+KpKi∫epdt+mo
c. m=Kpep+Kd(dep/dt)+mo d. m=Kpep+KpKd(dep/dt)+mo

33) For Serial P+I+D controller, controller output(m )is given by equation
a. m=Kpep+Ki∫epdt+mo b. m=Kpep+KpKi∫epdt+ KpKd(dep/dt)+mo
c. m=Kpep+Kd(dep/dt)+mo d. m=Kpep+Ki∫epdt +Kd(dep/dt)+mo

34) For parallel P+D controller , controller output(m )is given by equation
a. m=Kpep+Ki∫epdt+mo b. m=Kpep+KpKi∫epdt+mo
c. m=Kpep+Kd(dep/dt)+mo d. m=Kpep+KpKd(dep/dt)+mo

35) A derivative controller has initial , controller output Po= 55% & derivative constant
Kd = 0.5 % /sec% . What will be the controller output , when the error
 Changes at 1.5% sec.
a.55.75% b. 55% c.57.25% d.50%

36) An Integral controller is used for speed control with a set point of 12rpm within range
of 10rpm to 15 rpm .the controller output is 22% initially. The constant
KI= -0.15% controller output per second per percentage error. If the speed jumps
to 13.5r.p.m., calculate the controller output after 2 sec for constant ep.
a.35% b. -31% c.31% d.-35%
37) A proportional controller is used to control temperature within 50°C to 130°C
A set point is 73.5°C. If it jumps to 50°C,find the error signal ep %
a.-29.25% b.29.25% c.29.37 d.-29.37

38) The transfer function of a P-D controller is

A. Kp + Kd.s B. Kp + ( Ki/s ) C. ( Kp/s ) + Kd . s D. Kp . s + ( Ki/s )

39) In Transient response of Second order mechanical system the time required
for response to reach 50% of its final value is called
a. Rise Time b. Delay Time c. Peak time d. settling time

40) In Transient response of Second order mechanical system the time required
for response to reach 10% to 90% of its final value is called
a. Rise Time b. Delay Time c. Peak time d. settling time

41) In Transient response of Second order mechanical system the time required by
the response to reach the peak value for the first time is called
a. Rise Time b. Delay Time c. Peak time d. settling time

42) For transient time domain analysis of second order mechanical system,
Peak time (Tp) is given by the relation
𝜋−𝜃
a. 𝜋/𝜔𝑛(√1 − 𝜀 2 ) b.(1 + 0.7𝜀)/𝜔𝑛 c.4/𝜀𝜔𝑛 d. 𝜔𝑑

43) For transient time domain analysis of second order mechanical system,
Rise time (Tr) is given by the relation
𝜋−𝜃
a.𝜋/𝜔𝑛(√1 − 𝜀 2 ) b.(1 + 0.7𝜀)/𝜔𝑛 c.4/𝜀𝜔𝑛 d. 𝜔𝑑
44) For transient time domain analysis of second order mechanical system,
Delay time (Td) is given by the relation
𝜋−𝜃
a.𝜋/𝜔𝑛(√1 − 𝜀 2 ) b.(1 + 0.7𝜀)/𝜔𝑛 c.4/𝜀𝜔𝑛 d. 𝜔𝑑

45) For transient time domain analysis of second order mechanical system,
Settling time (Ts) is given by the relation
𝜋−𝜃
a.𝜋/𝜔𝑛(√1 − 𝜀 2 ) b.(1 + 0.7𝜀)/𝜔𝑛 c.4/𝜀𝜔𝑛 d. 𝜔𝑑

46) Determine the approximate Rise time, settling time & % peak overshoot for
 second order system subjected to unit step input .Assume system have damping factor
0.75 & natural frequency is 5 rad/sec.
a.1.066sec,0.731sec,2.83% respectively b. 2.066sec,0.731sec,4.83% respectively
c. -1.066sec,0.731sec,-2.83% respectively d. 1.066sec,0.531sec,2.83% respectively

47) For system T.F. G(s)= 100/S2+15S+100 find out Peak time, Rise time & Delay time
a.0.576sec., 0.3657sec, 0.1525sec respectively
b. 0.576sec., 0.3657sec, 0.2525sec respectively
c. 0.475sec., 0.3657sec, 0.1525sec respectively
d. 0.376sec., 0.3657sec, 0.1510sec respectively

48) For system T.F. G(s)= 100/S2+15S+100 find out Settling Time & Peak overshoot %
a.0.533sec.,2.38% respectively b. 0.533sec.,-2.38% respectively
c. 0.233sec.,4.38% respectively d. 0.633sec.,1.38% respectively

49) Fig. shows as error time graph .Find the the value of ep for different time interval.

a. ep = t,(0-1 sec);ep=1(1-3 sec); ep= -0.5t+2.5 (3-5sec)

b. ep = -t,(0-1 sec);ep=1(1-3 sec); ep= -0.5t+1.5 (3-5sec)
c. ep = 0.5t,(0-1 sec);ep=1(1-3 sec); ep= -0.5t+2.5 (3-5sec)
d. ep = -0.5t,(0-1 sec);ep=1(1-3 sec); ep= -0.5t+2.5 (3-5sec)

50. For P+D controller (parallel mode) fig. shows as error time graph .
Find the the value of controller output m for different time interval.
Assume Kp=5%;Kd=0.5 & controller output 30% when error is zero.

Ans:
 Time (sec.) 0 1 2 3 4 5
Controller
30.5 35.5 & 35 35 35 & 34.75 32.25 29.75
o/p (m)%

51. For P+I controller (parallel mode) fig. shows as error time graph .Find the the
value of controller output m for different time interval.
Assume, kp=5,Ki=1,Kd=0.5 & Po=20%

52. For P+I controller (parallel mode) fig. shows as error time graph .Find the the
value of controller output m for different time interval. Assume Kp=10, Ki=2
& Kd=0.5 & Po=0 i.e. controller o/p is zero when error is zero.

Ans:
Time (sec.) 0 1 2 3 4 5
Controller
1.5 11.5 & 12 14 16 & 17.75 14.5 9.75
o/p (m)%