Seat No.: ________ Enrolment No.

___________

GUJARAT TECHNOLOGICAL UNIVERSITY

BE - SEMESTER–VII (NEW) EXAMINATION – WINTER 2023
Subject Code:3171714 Date:14-12-2023
Subject Name: Advance Control Theory
Time: 10:30 AM TO 01:00 PM Total Marks:70
Instructions:
1. Attempt all questions.
2. Make suitable assumptions wherever necessary.
3. Figures to the right indicate full marks.
4. Simple and non-programmable scientific calculators are allowed.

Q.1 (a) Explain the relationship between s and z domain. 03

(b) Write the criterion for stability of nonlinear system using describing 04
function.
(c) What is nonlinear system? Classify various types of non linearities. 07

Q.2 (a) Draw the block diagram of discrete time system in close loop. Also 03
state the sampling theorem.

(b) Obtain the z-transform of Unit -Step and unit ramp function. 04
(c) Investigate the stability of the discrete time closed loop system for 07
sampling period T= 3 sec using Jury’s stability criterion.
F ( z ) = Z 3 − 1.8Z 2 + 1.05 Z − 0.2 = 0

OR
(c) Given a z.o.h. in cascade with sampler with T=0.5Sec, 07
(s + 2)
G( s ) =
(s + 1)
Find the sampled-data transfer function, G(z).

Q.3 (a) Write a note on Lyapunov’s direct method. 03

(b) For given following Nonlinear system, Derive the stability using 04
Liapunov method.

̇ =x2
x1
x2̇= -2x1-x23
(c) Consider the sampled data system of figure shown. Determine its 07
characteristic equation in z-domain and ascertain its stability via
bilinear transformation.

OR
Q.3 (a) Define singular point. What are stable and unstable node 03

1
 (b) What is Phase Plane trajectroies. Explain limit cycles. 04

(c) Find the limit of gain K for following system given with saturation 07
nonlinearity.

Q.4 (a) What are isoclines? Write steps of drawing phase trajectories using 03
isocline method in brief.
(b) Make comparison between Describing Function Method and Phase 04
plane method for Non-linear System based on its associated Features,
Advantages & Limitations.

(c) Derive the describing function for relay with deadzone non linearity. 07
OR
Q.4 (a) Define Positive definite ,Positive semidefinite and Negative definite 03
system.
(b) With sketch explain terms stability, asymptotic stability and stability 04
in large.
(c) Derive the describing function for hysteresis non linearity. 07

Q.5 (a) For a given linear discrete time system, 03

𝑦(𝑧) 1
= 2
𝑢(𝑧) 𝑧 − 𝑧 + 0.5
State the controllable canonical form in state space. Also check its
stability.
(b) Design the state feedback controller for the system 04

0 1 0
x(k + 1) = [ ]x(k)+[ ]u
−0.16 −1 1

Such that the systems will have closed loop poles are z=0.5±j0.5

(c) Explain two degrees of freedom control. 07

OR
Q.5 (a) Explain multivariable systems with example 03

(b) Check the controllability and stability of the linear discrete time 04
system 𝑥(𝑘 + 1) = 𝐺𝑥(𝑘) + 𝐻𝑢(𝑘), where, 𝐺=
0 1 0
( ) , 𝐻 = ( ).
−0.16 −1 1

(c) A discrete time system has state equation given by 07

0 1
x(k + 1) = [ ]x(k)
−10 −7

Use Caley-Hamilton approach to find out its state transition matrix.

*************

2
Seat No.: ________ Enrolment No.___________

GUJARAT TECHNOLOGICAL UNIVERSITY

BE - SEMESTER–VII (NEW) EXAMINATION – WINTER 2021
Subject Code:3171714 Date:13/12/2021
Subject Name:Advance Control Theory
Time:10:30 AM TO 01:00 PM Total Marks: 70
Instructions:
1. Attempt all questions.
2. Make suitable assumptions wherever necessary.
3. Figures to the right indicate full marks.
4. Simple and non-programmable scientific calculators are allowed.
MARKS
Q.1 (a) Define local stability, asymptotically stable, asymptotically stable at large. 03
(b) Draw and explain the block diagram of discrete time control system. 04

(c) Derive the transfer function of Zero order hold. 07

Derive the transfer function of Zero order hold.
Q.2 (a) Explain the relationship between s and z domain. 03
Derive the
(b) Explain the stability
transfer function
Analysisofusing
Zero order hold.
Bilinear transformation for discrete 04
system.
Derive the
(c) Explain the Stability
transfer function
criterionofby
Zero
the order hold.
Jury test. 07
OR
Derive the
(c) Describe thetransfer function of Zero of
digital implementation order
PIDhold.
controller. 07

Q.3 (a) List out the properties of z-transform and explain any one. 03
(b) State and briefly explain sampling theorem. 04
(c) Obtain z-transform of 07
a) Unit step input
b) Unit ramp input.
OR
Q.3 (a) List the methods of inverse Z-transform. 03
(b) Give difference between full order observer and minimum order 04
observer.
(c) Describe the design of state feedback controller in Discrete Domain with 07
suitable example.

Q.4 (a) Explain positive definite, negative definite and indefinite function. 03
(b) Obtain the describing function of relay with hysteresis type of 04
nonlinearity.
(c) State Lyapunov’s theorem. Discuss the stability for Non linear system 07
using it with suitable example.
OR
Q.4 (a) Explain phase plane analysis. 03
(b) Explain Describing Function Analysis method for Non- linear System. 04
(c) Define singular point. Explain in detail 07

Q.5 (a) Explain phase trajectory and phase portrait. 03

(b) Explain two degrees of freedom control. 04
(c) What is nonlinear system? Classify various types of nonlinearities. 07

1
 OR
Q.5 (a) Explain multivariable systems with example. 03
(b) Explain relative gain array for multivariable system. 04
(c) Explain decoupling of multivariable system and its stability. 07

*************

2
Seat No.: ________ Enrolment No.___________

GUJARAT TECHNOLOGICAL UNIVERSITY

BE - SEMESTER–VII (NEW) EXAMINATION – WINTER 2022
Subject Code:3171714 Date:05-01-2023
Subject Name:Advance Control Theory
Time:10:30 AM TO 01:00 PM Total Marks:70
Instructions:
1. Attempt all questions.
2. Make suitable assumptions wherever necessary.
3. Figures to the right indicate full marks.
4. Simple and non-programmable scientific calculators are allowed.
MARKS
Q.1 (a) What is two degree of freedom control ? 03
(b) Briefly explain the relationship between s-domain and z-domain. 04
(c) Describe the concept of Relative Gain Array (RGA) for Multi variable 07
system analysis with suitable example.

Q.2 (a) How to determine the stability of LTI discrete time system 03
represented by a state space model ?
(b) Briefly explain the graphical method of drawing phase plane with 04
suitable example.
(c) Explain the digital implementation of PID control algorithms in 07
detail.
OR
(c) Discuss the design of state feedback controller in discrete domain. 07

Q.3 (a) Obtain Z-transform of unit step signal. 03

(b) Briefly explain sampling theorem. 04
(c) For the sampled data control system shown in figure 1, determine the 07
output response c(k) considering r(t) as a unit step input.

Fig. 1
OR
Q.3 (a) State final value theorem for Z-transform of asystem. 03
(b) Derive the transfer function of zero order hold. 04
(c) Discuss the effect of sample time on system stability with suitable 07
example.

Q.4 (a) What is multivariable system? Draw and explain block diagram of 03
multi variable system.
(b) What is nonlinear system? Classify various types of non linearities. 04
(c) Explain singular points in detail. 07
OR
Q.4 (a) Explain describing function analysis method. 03
(b) Derive describing function for relay with dead zone. 04
1
 (c) Discuss stability in the sense of Lyapunov and state Lyapunov 07
theorem on stability.

Q.5 (a) Define phase plane, phase trajectory and phase portrait. 03
(b) Explain interaction and decoupling in case of multi variable system. 04
(c) A discrete time system is described by the transfer function 07
𝑌(𝑧) 1 −3 1
𝐺(𝑧) = 𝑅(𝑧) = 𝑧 2+𝑎 𝑧+𝑎 , 𝑎1 = 4 , 𝑎2 = 8 ,
1 2
Find the response y(k) to the input (i) r(k)=𝛿(𝑘) and (ii) r(k)=u(k)
OR
Q.5 (a) Draw and briefly explain the block diagram of digital control system. 03
(b) Examine the stability of a system defined by following characteristic 04
equation using Jury’s stability criterion:
∆(𝑧) = 2𝑧 4 + 7𝑧 3 + 10𝑧 2 + 4𝑧 + 1

(c) Discuss the design of full order state observer for discrete time state 07
space system.

*************

2
Seat No.: ________ Enrolment No.___________

GUJARAT TECHNOLOGICAL UNIVERSITY

BE - SEMESTER–VII (NEW) EXAMINATION – SUMMER 2022
Subject Code:3171714 Date:03/06/2022
Subject Name:Advance Control Theory
Time:02:30 PM TO 05:00 PM Total Marks: 70
Instructions:
1. Attempt all questions.
2. Make suitable assumptions wherever necessary.
3. Figures to the right indicate full marks.
4. Simple and non-programmable scientific calculators are allowed.

MARKS
Q.1 (a) Explain the block diagram of the digital control system. 03
(b) Discuss about mapping between s and z domain. 04
(c) Derive the transfer function of Zero order hold. 07
Derive the transfer function of Zero order hold.
Q.2 (a) List the methods of deriving Inverse Z-transform, explain it with 03
suitable example.
(b) Explain the Stability criterion by the Jury test. 04
(c) Obtain discrete time state and output equations when the sampling 07
period T=1s of the following continuous time system

OR
(c) How the PID controller can be implemented with a digital system? 07
Explain with relevant equations.

Q.3 (a) State sampling theorem. 03

(b) List out the properties of z-transform and explain any two. 04
(c) Determine the inverse of matrix (zI - G), where 07

OR
Q.3 (a) Introduce terms positive definite, negative definite and indefinite 03
function.
(b) Define nonlinear system. Classify various types of nonlinearities. 04
(c) Describe the design of state feedback controller and state observer 07
with suitable example in Discrete Domain.

Q.4 (a) Obtain the z-transform of Unit -Step function. 03

(b) Write a note on phase trajectories. 04
(c) Explain Singular points in detail. 07
OR
Q.4 (a) Comment on stability of nonlinear systems. 03
(b) Make comparison between Describing Function Method and 04
Phase plane method for Non-linear System based on its associated
Features, Advantages & Limitations.

1
 (c) Obtain the describing function of relay with dead zone type of 07
nonlinearity.

Q.5 (a) Explain jump resonance in non-linear system. 03

(b) Explain decoupling of multivariable system and its stability. 04
(c) Discuss two degree of freedom controller design with example. 07
OR
Q.5 (a) What is multivariable system? Draw and explain the block diagram 03
of multivariable system with example.
(b) Explain relative gain array for multivariable system. 04
(c) With sketch explain terms stability, asymptotic stability and 07
locally stable.

*************

2
Seat No.: ________ Enrolment No.___________

GUJARAT TECHNOLOGICAL UNIVERSITY

BE – SEMESTER- VII EXAMINATION-SUMMER 2023
Subject Code: 3171714 Date: 28/06/2023
Subject Name: Advance Control Theory
Time: 10:30 AM TO 01:00 PM Total Marks: 70
Instructions:
1. Attempt all questions.
2. Make suitable assumptions wherever necessary.
3. Figures to the right indicate full marks.
4. Simple and non-programmable scientific calculators are allowed.

MARKS
Q.1 (a) State effect of sample time on stability of LTI system. 03
(b) Comment on stability of nonlinear system and limit cycles. 04
(c) Derive the transfer function of Zero order hold. 07

Q.2 (a) Explain the block diagram of the digital control system. 03
(b) Explain phase plane, phase trajectory, phase portrait. 04
(c) Explain Singular points in detail 07
OR
(c) Describe the digital implementation of PID controller. 07

Q.3 (a) State sampling theorem. 03

(b) Obtain the z-transform of Unit -Step function 04
(c) Consider the system described by 07
y(k)-0.6y(k-1)-0.81y(k-2)+0.67y(k-3)-0.12y(k-4)=x(k)
Where x(k) is the input and y(k) is the output of the system. Determine
the stability of the system.
OR
Q.3 (a) List the methods of inverse Z-transform. 03
(b) Find the z-domain transfer function of the following s domain transfer 04
a s
functions i.) ii.)
(s + b)2 + a2 (s + a)2
(c) For the sampled-data control system shown in figure. Find the output c(k) 07
for r(t)=unit step.

Q.4 (a) Derive the relationship between z and s-domain. Also explain the mapping 03
of s-domain in to z-domain.
(b) Explain the describing function analysis? 04
(c) Obtain the describing function of relay with hysteresis type of non- 07
linearity. Comment on the memory type non-linearity and memory less
non-linearity.
OR
Q.4 (a) Give the application of fuzzy logic in control system. 03
(b) What is RGA analysis? 04
(c) State the Ackerman formula and discuss its applications. 07

1
Q.5 (a) Examine the stability of the following characteristic equation: 03
P(z) = z3 −1.1z2 + 0.1z − 0.2 = 0
b) Explain limit cycles for nonlinear systems. 04
(c) Explain stability of nonlinear system with example. 07

OR
Q.5 (a) What is two degrees of freedom control? 03
Explain the graphical method of drawing the phase plane with suitable
(b) example. 04
(c) Explain multivariable systems with example. What is interacting and non- 07
interacting systems?

*************