Short Answer (Chapter 1) : Jerry Croft Fri Sep 07 04:34:00 PDT 2012

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Short Answer (Chapter 1)

Jerry Croft Fri Sep 07 04:34:00 PDT 2012
Name three applications for feedback control systems

autopilot
remote control car
guided missles
Name three reasons for using feedback control systems and two reasons for not using them
(Yes)
1. automation (convenience)
2. remote control
3. adjust automatically for changes in system
(No)
1. more expensive
2. more complicated
If the error signal is not the difference between input and output, by what general name can we describe the error signal?
actuating signal
Name two advantages of having a computer in the loop

1. adjustments to the controller can be done with software changes
2. many loops can be controlled by the same computer through time sharing
Name the three major design criteria for control systems

1. producing the desired transient response
2. reducing steady-state error
3. achieving stability
Name the two parts of a system's response.

1. transient response
2. steady-state response
Physically, what happens to a system that is unstable?

It follows a growing transient response until the steady-state response is no longer visible. The system will either destroy itself, reach
an equilibrium state because of saturation in driving amplifiers, or hit limit stops.
Instability is attributable to what part of the total response?

natural
Describe a typical control system analysis task

Determine the transient response performance of the system.
Describe a typical control system design task

Determine system parameters to meet the transient response specifications for the system.
Adjustments of the forward path gain can cause changes in the transient response. True or False?
TRUE
Name three approaches to the mathematical modeling of control systems

1. differential equations
2. transfer function
3. state-space
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What mathematical model permits easy interconnection of physical systems?

transfer function
To what classification of systems can the transfer function be best applied?

linear time invariant
What assumption is made concerning initial conditions when dealing with transfer functions?
initial conditions are equal to zero
Why do transfer functions for mechanical networks look identical to transfer functions for electrical networks?
There are direct analogies between the electrical variables and components and the mechanical variables and components.
The motor's transfer function relates armature displacement to armature voltage. How can the transfer function that relates load
displacement and armature voltage be determined?
Multiply the transfer function by the gear ratio relating armature position to load position
Summarize the steps taken to linearize a nonlinear system

1. recognize the nonlinear component
2. write the nonlinear differential equation
3. select the equilibrium solution
4. linearize the nonlinear differential equation
5. take the Laplace transform of the linearized differential equation
6. find the transfer function

Give two reasons for modeling systems in state space

1. can model systems other than linear, constant coefficients
2. used for digital simulation
State an advantage of the transfer function approach over the state-space approach.
yields qualitative insight
An eighth-order system would be represented in state space with how many state equations?
8
If the state equations are a system of first order differential equations whose solution yields the state variables, then the output
equation performs what function?
Forms linear combinations of the state variables and the input to form the desired output
What is meant by linear independence?

No variable in the set can be written as a linear sum of the other variables in the set.
What factors influence the choice of state variables in any system?

1. they must be linearly independent
2. the number of state variables must agree with the order of the differential equation describing the system
3. the degree of difficulty in obtaining the state equations for a given set of state variables
What is a convenient choice of state variables for electrical networks?

The variables that are being differentiated in each of the linearly independent energy storage elements.
What is meant by the phase-variable form of the state-equation?

The state variables are successive derivatives.

Name the performance specification for first-order systems.

Time Constant
What does the performance specification for a first-order system tell us?
The time for the step response to reach 63% of its final value.
In a system with an input and an output, what poles generate the steady-state response?
The input pole
In a system with an input and an output, what poles generate the transient response?
The system poles
The imaginary part of a pole generates what part of a response?

The radian frequency of a sinusoidal response
The real part of a pole generates what part of a response?

The time constant of an exponential response
What is the difference between the natural frequency and the damped frequency of oscillation?
Natural frequency is the frequency of the system with all damping removed; the damped frequency of oscillation is the frequency of
oscillation with damping in the system
If a pole is moved along a radial line extending from the origin, what will the responses have in common?
They will all have the same percent overshoot and the same shape although differetly scaled in time.
List five specifications for a second order underdamped system.

zeta, natural frequency, peak time, %OS, settling time
For a second-order underdamped system, how many specifications completely determine the response?
Only two since a second-order system is completely defined by two component parameters.
Name two conditions under which the response generated by a pole can be neglected.
1. Pole's real part is large compared to the dominant poles
2. Pole is near a zero
Does the solution of the state equation yield the output response of the system? Explain.
No - one must then use the output equation
Name a major advantage of using time domain techniques for the solution of the response.
computer simulation
Name a major advantage of using frequency domain techniques for the solution of the response.
Pole-zero concepts give one an intuitive feel for the problem
What three pieces of information must be given in order to solve for the output response of a system using state-space techniques?
1. State equations
2. Output equations
3. Initial value for the state-vector
How can the poles of a system be found from the state equations?
Det(sI-A) = 0
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Chapter 5
Jerry Croft Fri Oct 05 03:03:22 PDT 2012
Name the four components of a block diagram for a linear, time-invariant system.
1. Signals
2. Systems
3. Summing Junctions
4. Pickoff Points
Name three basic forms for interconnecting subsystems and for each of the forms, state how the equivalent transfer function is found.
1. Cascade - product of individual transfer functions
2. Parallel - sum of individual transfer functions
3. Feedback - forward gain divided by one plus the product of the forward gain times the feedback gain.
For a simple second order feedback control system of the type shown in Figure 5-14, describe the changes in damping ratio as the
gain, k, is increased over the underdamped region.
As K is varied from 0 to infinity, the system goes from overdamped to critically damped to underdamped. When the system is
underdamped, the settling time remains constant.
If a forward path touched all closed loops, what would be the value of deltak?
One
Which two forms of the state-space representation are found using the same model?
The Jordan canonical form and the parallel form result from a partial fraction expansion.
Name four of the five representations of systems in state-space.

1. Phase-variable form
2. cascaded form
3. parallel form
4. Jordan canonical form
5. observer canonical form
When the system matrix is diagonal, what quantities lie along the diagonal?
The system poles, or eigenvalues
Give two reasons for wanting to represent a system by alternative forms.

1. State variables can be identified with physical parameters
2. Ease of solution of some representations
What is the definition of an eigenvector and what is the definition of an eigenvalue?

Eigenvector - a vector which under a matrix transformation is collinear with the original. In other words, the length of the vector has
changed, but not its angle.
Eigenvalue - that multiple of the original vector that is the transformed vector.
What is the significance of using eigenvectors as basis vectors for a system transformation?
Resulting system matrix is diagonal.
Chapter 6
What part of the output response is responsible for determining the stability of a linear system?
Natural response
What does the Routh-Hurwitz criterion tell us? What does this mean about the system's stability?
The number of poles of the closed-loop transfer function that are in the left-half plane, the right-half place, and on the jw axis.
If there are any sign changes, there are positive real poles equal to the number of sign changes. These represent exponential growth
in the system and in turn, instability.
Chapter 6 Problem 1
What causes a zero to show up only in the first column of the Routh table?
Just the way the math worked out
What causes an entire row of zeros to show up in the Routh table?

The presence of an even polynomial that is a factor of the original polynomial
Why do we sometimes multiply a row of a Routh table by a positive constant?

For the ease of finding coefficients below that row.
How do we find the eigenvalues from the state-space representation?

Det (SI-A)=0
Chapter 7
Name two sources of steady-state errors.

1. Nonlinear
2. System configuration
How many integrations in the forward path are required in order for there to be zero steady-state error for a ramp input?
Two
Increasing system gain has what effect upon the steady-state error?
Decreases the steady-state error.
Define system type. Show it using a transfer function and a block diagram with feedback.
System type - the number of pure integrations in the forward path
What effect does feedback have upon disturbances?

Minimizes their effect
For a step input disturbance at the input to the plant, describe the effect of controller gain upon minimizing the effect of the
distubance. Also consider the effect of plant gain.
If each transfer function has no pure integrations, then the disturbance is minimized by decreasing the plant gain and increasing the
contoller gain. If any function has an integration then there is no control over its effects through gain adjustment.
Explain the difference between the actuating signal and the error signal.
Define, in words, sensitivity and describe the goal of feedback-control-system engineering as it applies to sensitivity.
The fractional change in a function caused by a fractional change in a parameter.
Chapter 8
Jerry Croft Sat Nov 03 18:00:03 PDT 2012
What is a root locus?

The plot of a system's closed-loop poles as a function of gain.
Do the zeros of a system change with a change in gain? Why or why not?
No
What are two ways to find where the root locus crosses the imaginary axis?
1. Apply Routh-Hurwitz to the closed-loop transfer function's denominator.
2. Deltas = 0 with s=jw
How can you tell from the root locus if a system is unstable?
If any branch of the root locus is in the rhp, the system is unstable.
How can you tell from the root locus if the settling time does not change over a region of gain?
If the branch of the root locus is vertical, the settling time remains constant for that range of gain on the vertical section.
How can you tell from the root locus that the natural frequency does not change over a region of gain?
If the root locus is circular with origin at the center.
How would you determine whether or not a root locus plot crossed the real axis?
Determine if there are any break-in or breakaway points.
Briefly describe how the zeros of the open-loop system affect the root locus and the transient response.
The zeros of the open loop system help determine the root locus. The root locus ends at the zeros. Thus, the zeros are the closed-
loop poles for high gain.
Chapter 9
Jerry Croft Sat Nov 03 18:08:55 PDT 2012
Name two major advantages of the design techniques of Chapter 9 over the design techniques of Chapter 8.
1. Permits design for transient responses not on original root locus and unattainable through simple gain adjustments.
2. Transient response and steady-state error specifications can be met separately and independently without the need for tradeoffs.
What kind of compensation improves the steady-state error?

PI or lag compensation
What kind of compensation improves both steady-state error and transient response?
PID or lag-lead compensation
Cascade compensation to improve the steady-state error is based upon what pole-zero placement of the compensator? Also, state
the reasons for this placement.
A pole is placed on or near the origin to increase or nearly increase the system type. The zero is placed near the pole in order not to
change the transient response.
What are the advantages and disadvantages of using a passive lead network instead of an active PD controller?
In order to speed up a system without changing the percent overshoot, where must the compensated system's poles on the s-plane
be located in comparison to the uncompensated system's poles?
Further out along the same radial line drawn from the origin to the uncompensated poles.
Why is there more improvement in steady-state error if a PI controller is used instead of lag network?
The PI controller places a pole right at the origin, thus increasing the system type and driving the error to zero. A lag network palces
the pole only close to the origin yielding improvement but no zero error
6/7/2020 StudyBlue printing of Controls Exam #2
Controls Exam #2
Christopher Bonuel Fri Nov 04 23:10:34 PDT 2011
Name the four components of a block diagram for a linear, time-invariant system.
Signals, systems, summing junctions, pickoff points
Name the two components of a signal-flow graph.

Nodes (signals) and branches (systems)
How are summing junctions shown on a signal-flow graph?

Signals flowing into a node are added together. Signals flowing out of a node are the sum of signals flowing into a node.
If a forward path touched all closed loops, what would be the value of delta sub k?
1
When the system matrix is diagonal, what quantities lie along the diagonal?
What is the advantage of having a system represented in a form that has a diagonal system matrix?
Solution of the state variables are achieved through decoupled equations. i.e. the equations are solvable individually and not
simultaneously.
For what kind of system would you use the observer canonical form?
Systems with zeros.
What is the definition of an eigenvector?

A vector which, under a matrix transformation, is collinear with the original. In other words, the length of the vector has changed, but
not its angle.
Based upon your definition of an eigenvector, what is an eigenvalue?

An eigenvalue is that multiple of the original vector that is the transformed vector.
What is the significance of using eigenvectors as basis vectors for a system transformation?
Resulting system matris is diagonal.

Time constant
What does the performance specification for a first-order system tell us?
The time for the step response for reach 63% of its final value.
The input pole
The system poles


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oscillation with damping in the system.
If a pole is moved with a constant imaginary part, what will the responses have in common?
Their damped frequency of oscillation will be the same.
The will all have the same percent overshoot and the same shape although differently scaled in time.
List five specifications for a second order underdamped system.

zeta, natural frequency, peak time, %OS, settling time
What pole locations characterize (1) the underdamped system, (2) the overdamped system, and (3) the critically damped system?
(1) Complex, (2) Real, (3), Multiple real
Pole's real part is large compared to the dominant poles, (2) Pole is near a zero
How can you justify pole-zero cancellation?

If the residue at that pole is much smaller than the residues at other poles.
Name a major advantage of using time-domain techniques for the solution of the response.
Pole-zero concepts give one an intuitive feel for the problem.
Det(s I - A) = 0
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Exam 3 Short Answers

Jared Kleinowski Fri Oct 11 16:00:23 PDT 2013
What is a root locus

The plot of a system's closed-loop poles as a function of gain
Do the zeros of a system change with a change in gain? Why or why not
No
The zeros come from the numerator G(s) and the poles come from the denominator (1+G(s)H(s)). Gain value comes from H(s).
What are two ways to find where the root locus crosses the imaginary axis
(1) Apply Routh-Hurwitz to the closed-loop transfer function's denominator. (2) Search along the
imaginary axis for 180 degrees
How can you tell from the root locus if a system is unstable
If any branch of the root locus is in the rhp, the system is unstable
How can you tell from the root locus if the settling time does not change over a region of gain?
If the branch of the root locus is vertical, the settling time remains constant for that range of gain on the vertical section.
How can you tell from the root locus that the natural frequency does not change over a region of gain?
If the root locus is circular with origin at the center.
Briefly describe how the zeros of the open-loop system affect the root locus and the transient response
The zeros of the open loop system help determine the root locus. The root locus ends at the zeros. Thus,
the zeros are the closed-loop poles for high gain
Name two major advantages of the design techniques of Chapter 9 over the design techniques of Chapter 8
A. Permits design for transient responses not on original root locus and unattainable through simple gain adjustments.
B. Transient response and steady-state error specifications can be met separately and
independently without the need for tradeoffs

What kind of compensation improves both steady-state error and transient response
Cascade compensation to improve the steady-state error is based upon what pole- zero placement of the compensator? Also, state
the reasons for this placement
A pole is placed on or near the origin to increase or nearly increase the system type, and the zero is placed near the pole in order not
to change the transient response
What are the advantages and disadvantages of using a passive lead network instead of an active PD controller?
AdvantageNo additional power required
Noise due to differentiation is reduced
Dis
Additional pole does not reduce number of branches that cross imaginary axis
Further out along the same radial line drawn from the origin to the uncompensated poles
6/7/2020 StudyBlue printing of Exam 3 Short Answers
Why is there more improvement in steady-state error if a PI controller is used instead of a lag network?
The PI controller places a pole right at the origin, thus increasing the system type and driving the error to zero. A lag network places
the pole only close to the origin yielding improvement but no zero error
6/7/2020 StudyBlue printing of FB Test #1
FB Test #1
Lee Seela Sun Nov 17 00:17:09 PST 2013

a. Guided Missiles
b. Automatic gain control in a radio receiver
c. Satellite tracking antenna
FOR: Power gain, remote control, parameter conversion
NOT: Expense, complexity
If the error signal is not the difference between input and output, by what general name can we describe the error signal?
Actuating signal

Multiple subsystems can time share the controller. Any adjustments to the controller can be implemented with simply software
changes

Achieving stability, transient response, and steady-state error
Name the two parts of a system's response

Steady-state & Transient
Physically, what happens to a system that is unstable?

It follows a growing transient response until the SS response is no longer valid; i.e. hits limit stops, equilibrium state b/c of saturation
in driving amplifiers, or destroy itself.
Instability is attributable to what part of the total response?

Natural Response
Describe a typical control system analysis task.
Determine the transient response performance of the system.
Describe a typical control system design task.
Adjustments of the forward path gain can cause changes in the transient response. True or false?
True.
Name three approaches to the mathematical modeling of control systems.

1. Transfer Function2. State-space3. Differential Equations
What mathematical model permits easy interconnection of physical systems?

Transfer function
To what classification of systems can the transfer function be best applied?
Linear time invariant
What assumption is made concerning initial conditions when dealing with transfer functions?
initial conditions are equal to zero
Why do transfer functions for mechanical networks look identical to transfer functions for electrical networks?
There are direct analogies between the electrical variables and components and the mechanical variables and components.
displacement and armature voltage be determined?
Multiply the transfer function by the gear ratio relating armature position to load position
Summarize the steps taken to linearize a nonlinear system.

a. Recognize the nonlinear component
b. Write the NLDE
c. Select the equilibrium solution
d. Linearize the NLDE
e. Take the Laplace transform of the LDE
f. Find the transfer function
Give 2 reasons for modeling systems in state-space

1) Can model systems other than linear, constant coefficients2) Used for digital simulations
State an advantage of the transfer function approach over the state-space approach.
Yields qualitative insight.
An eighth-order system would be represented in state space with how many state equations?
8
If the state equations are a system of first-order differential equations whose solution yields the state variables, then the output
equation performs what function?
What is meant by linear independence?

No variable in the set can be written as a linear sum of the other variables in the set.
What factors influence the choice of state variables in any system

(1) They must be linearly independent
(2) The number of state variables must agree with the order of the differential equation describing the system
(3) The degree of difficulty in obtaining the state equations for a given set of state variables
What is a convenient choice of state variables for electrical networks?
The variables that are being differentiated in each of the linearly independent energy storage elements
What is meant by the phase-variable form of the state-equation?
The state variables are successive derivatives
Time constant
What does the performance specification for a first-order system tell us

The time for the step response to reach 63% of its final value
The input pole
The system poles
oscillation with damping in the system.
They will all have the same percent overshoot and the same shape although differently scaled in time
List five specifications for a second-order underdamped system.
ζ, ωn, TP, %OS, Ts
2
a.) Pole's real part is large compared to the dominant poles

b.) Pole is near a zero
Does the solution of the state equation yield the output response of the system? Explain.
No; one must then use the output equation
Name a major advantage of using time domain techniques for the solution of the response.
Computer simulation
Name a major advantage of using frequency domain techniques for the solution of the response.
What three pieces of information must be given in order to solve for the output response of a system using state-space techniques?
State equations, output equations, and initial value for the state-vector
Det(sI-A) = 0
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Feedback Test 4
Matthew Summa Wed Dec 05 18:09:37 PST 2012
Each pole of a system contributes how much of a slope to the Bode magnitude plot
20 dB/decade
A system with three poles and two zeros would exhibit what value of slope at high frequencies in a Bode magnitude plot?
40 dB/decade
Describe the asymptotic phase response of a system with a single pole at -2

Zero degrees until 0.2; a negative slope of 45o/decade from a frequency of 0.2 until 20; a constant -90o
phase from a frequency of 20 until ∞
What causes a zero to show up only in the first column of the Routh table
Just the way the arithmetic works out
Name two major advantages of the design techniques of Chapter 9 over the design techniques of Chapter 8
A. Permits design for transient responses not on original root locus and unattainable through simple gain
adjustments. B. Transient response and steady-state error specifications can be met separately and
independently without the need for tradeoffs
What is a convenient choice of state variables for electrical networks

energy storage elements
Define frequency response as applied to a physical system

sine input is applied to a system. The sin output's magnitude and phase angle is measured
in the steady-state. The ratio of the output mag divided by the input mag is the mag
response at the applied freq. The dif between the output phase angle and the input phase angle
is the phase response at the applied frequency. If the mag and phase response are plotted over a range
of dif freq, the result would be the freq response for the system.
What are two differences between Bode magnitude plots for first-order systems and for underdampedsecond-order systems
Second-order systems require a correction near the natural frequency due to the peaking of the curve for
different values of damping ratio. Without the correction the accuracy is in question.
Name three advantages of frequency response techniques over the root locus
a. Transfer functions can be modeled easily from physical data; b. Steady-state error requirements can be
considered easily along with the design for transient response; c. Settles ambiguities when sketching root
locus; (d) Valuable tool for analysis and design of nonlinear systems.
Briefly state the Nyquist criterion

Z = P - N, where Z = # of closed-loop poles in the right-half plane, P = # of open-loop poles in the righthalf
plane, and N = # of counter-clockwise encirclements of -1 made by the mapping
What simplification to the Nyquist criterion can we usually make for systems that are open-loop stable?
We need only map the positive imaginary axis and then determine that the gain is less than unity when
the phase angle is 180o
Define gain margin

The range at which gain can be adjusted to cause an encirclement around -1
Define phase margin

The phase value that can be adjusted to cause the nyqiust plot to shift and encircle -1
Briefly explain how to find the static error constant from the Bode magnitude plot
For Type zero: Kp = low frequency gain; For Type 1: Kv = frequency value at the intersection of the
initial slope with the frequency axis; For Type 2: Ka = square root of the frequency value at the intersection
of the initial slope with the frequency axis

Flight control, automatic A/C, Noise canceling systems
power gain, remote control, parameter conversion; Expense, complexity
If the error signal is not the difference between input and output, by what general name can we describe the error signal
Actuating signal

Multiple subsystems can time share the controller,
adjustments to the controller can be
implemented with simply software changes

Stability, transient response, and steady-state error
Name the two parts of a system's response

Steady-state, transient
Physically, what happens to a system that is unstable

The
system will either destroy itself, reach an equilibrium state, or hit limit stops
Instability is attributable to what part of the total response

Natural response
Describe a typical control system analysis task

Determine the transient response performance of the system
Describe a typical control system design task

Adjustments of the forward path gain can cause changes in the transient response. True or false
True
Name three approaches to the mathematical modeling of control systems

Transfer function, state-space, differential equations
What mathematical model permits easy interconnection of physical systems

Transfer function
To what classification of systems can the transfer function be best applied

Linear time-invariant
What assumption is made concerning initial conditions when dealing with transfer functions
Initial conditions are zero
Why do transfer functions for mechanical networks look identical to transfer functions for electrical networks
Components can be treated the same in a mechanical system as in an electrical system
displacement and armature voltage be determined
Armature inertia, armature damping, load inertia, load damping
Summarize the steps taken to linearize a nonlinear system

(1) Recognize the nonlinear component, (2) Write the nonlinear differential equation, (3) Select the
equilibrium solution, (4) Linearize the nonlinear differential equation, (5) Take the Laplace transform of
the linearized differential equation, (6) Find the transfer function
Give two reasons for modeling systems in state space

(1) Can model systems other than linear, constant coefficients; (2) Used for digital simulation
State an advantage of the transfer function approach over the state-space approach
Yields qualitative insight
An eighth-order system would be represented in state space with how many state equations
Eight
If the state equations are a system of first-order differential equations whose solution yields the state variables, then the output
equation performs what function
What is meant by linear independence

No variable in the set can be written as a linear sum of the other variables in the set
What factors influence the choice of state variables in any system

(1) They must be linearly independent; (2) The number of state variables must agree with the order of
the differential equation describing the system; (3) The degree of difficulty in obtaining the state equations
for a given set of state variables
What is meant by the phase-variable form of the state-equation

The state variables are successive derivatives
Name the performance specification for first-order systems

Time constant
What does the performance specification for a first-order system tell us

The time for the step response to reach 63% of its final value
In a system with an input and an output, what poles generate the steady-state response
The input pole
In a system with an input and an output, what poles generate the transient response
The system poles
The imaginary part of a pole generates what part of a response

The real part of a pole generates what part of a response

What is the difference between the natural frequency and the damped frequency of oscillation
Natural frequency is the frequency of the system with all damping removed; damped frequency include damping
They will all have the same percent overshoot and the same shape although differently scaled in time
List five specifications for a second-order underdamped system

ζ, ωn, TP, %OS, Ts
two
Name two conditions under which the response generated by a pole can be neglected
Pole's real part is large compared to the dominant poles, (2) Pole is near a zero
Does the solution of the state equation yield the output response of the system? Explain
No; one must then use the output equation
Name a major advantage of using time domain techniques for the solution of the response
Computer simulation
Name a major advantage of using frequency domain techniques for the solution of the response
What three pieces of information must be given in order to solve for the output response of a system using state-space techniques
State equations, output equations, and initial value for the state-vector
How can the poles of a system be found from the state equations
Det(sI-A) = 0
Name the four components of a block diagram for a linear, time-invariant system
Signals, systems, summing junctions, pickoff points
Name three basic forms for interconnecting subsystems and for each of the forms, state how the equivalent transfer function is found
Cascade, parallel, feedback
For a simple, second-order feedback control system of the type shown in Figure 5-14, describe the changes in damping ratio as the
gain, K, is increased over the underdamped region
As K is varied from 0 to ∞, the system goes from overdamped to critically damped to underdamped.
When the system is underdamped, the settling time remains constant
If a forward path touched all closed loops, what would be the value of deltak
One
Name four of the five representations of systems in state space

Phase-variable form, cascaded form, parallel form, Jordan canonical form, observer canonical form
Which two forms of the state-space representation are found using the same method
The Jordan canonical form and the parallel form result from a partial fraction expansion
When the system matrix is diagonal, what quantities lie along the diagonal
Give two reasons for wanting to represent a system by alternative forms

State variables can be identified with physical parameters; ease of solution of some representations
What is the definition of an eigenvector and what is the definition of an eigenvalue

eigenvector -the length of the vector has changed, but not its angle. An eigenvalue is that multiple of the original vector that is the
transformed vector
What is the significance of using eigenvectors as basis vectors for a system transformation
Resulting system matrix is diagonal
What part of the output response is responsible for determining the stability of a linear system
Natural response
What does the Routh-Hurwitz criterion tell us? What does this mean about the system's stability
The number of poles of the closed-loop transfer function that are in the left-half-plane, the right-halfplane,
and on the jω axis
What causes an entire row of zeros to show up in the Routh table

The presence of an even polynomial that is a factor of the original polynomial
Why do we sometimes multiply a row of a Routh table by a positive constant

For the ease of finding coefficients below that row
How do we find the eigenvalues from the state space representation

Det (sI-A) = 0
Name two sources of steady-state errors

Nonlinear, system configuration
How many integrations in the forward path are required in order for there to be zero steady-state error for a ramp input
Step(position)-1, ramp(velocity)-2, parabola(acceleration)-3
Increasing system gain has what effect upon the steady-state error
Decreases the steady-state error
Define system type. Show it using a transfer function and a block diagram with feedback
The number of pure integrations in the forward path
What effect does feedback have upon disturbances

Minimizes their effect
For a step input disturbance at the input to the plant, describe the effect of controller gain upon minimizing the effect of the
disturbance. Also consider the effect of plant gain
If each transfer function has no pure integrations, then the disturbance is minimized by decreasing the
plant gain and increasing the controller gain. If any function has an integration then there is no control over
its effect through gain adjustment
Define, in words, sensitivity and describe the goal of feedback-control-system engineering as it applies to sensitivity
The fractional change in a function caused by a fractional change in a parameter
What is a root locus

The plot of a system's closed-loop poles as a function of gain
Do the zeros of a system change with a change in gain? Why or why not
No
What are two ways to find where the root locus crosses the imaginary axis
(1) Apply Routh-Hurwitz to the closed-loop transfer function's denominator. (2) Search along the
imaginary axis for 180 degrees
How can you tell from the root locus if a system is unstable
If any branch of the root locus is in the rhp, the system is unstable
How can you tell from the root locus if the settling time does not change over a region of gain
If the branch of the root locus is vertical, the settling time remains constant for that range of gain on the
vertical section
How can you tell from the root locus that the natural frequency does not change over a region of gain
If the root locus is circular with origin at the center
How would you determine whether or not a root locus plot crossed the real axis
Determine if there are any break-in or breakaway points
Briefly describe how the zeros of the open-loop system affect the root locus and the transient response
The zeros of the open loop system help determine the root locus. The root locus ends at the zeros. Thus,
the zeros are the closed-loop poles for high gain

What kind of compensation improves both steady-state error and transient response
Cascade compensation to improve the steady-state error is based upon what pole- zero placement of the compensator? Also, state
the reasons for this placement
A pole is placed on or near the origin to increase or nearly increase the system type, and the zero is
placed near the pole in order not to change the transient response
Further out along the same radial line drawn from the origin to the uncompensated poles
Name two different frequency response characteristics that can be used to determine a system's transient response.
Transient response can be obtained from (1) the closed-loop frequency response peak, (2) phase margin
Why is there more improvement in steady-state error if a PI controller is used instead of a lag network?
The PI controller places a pole right at the origin, thus increasing the system type and driving the error
to zero. A lag network places the pole only close to the origin yielding improvement but no zero error
Q. Universe is a large system having infinite small systems.
Answer
True
Q. Simultaneous equations can be solved by using signal flow graph technique.
Answer
True
Q. An open loop control system is one in which the control action is not
independent of the output.
Answer
False
Q. All control systems operated by present timing mechanism are open loop.
Answer
True
Q. In the presence of non-linearities the closed-loop control system operates
better in comparison to an open loop control system.
Answer
True
Q. In open-loop control system stability cannot be ensured.
Answer
False
Q. Each system may have a large number of subsystems.
Answer
True
Q. Closed-loop control systems are generally troubled with problems of
instability.
Answer
False
Q. In a closed loop control system feedback signal is usually negative.
Answer
True
Q. A positive feedback signal improves the performance of an automatic control
system.
Answer
False
Q. In open loop control system, the control action depends upon the desired
output.
Answer
False
Q. A linear system obeys superposition theorem.
Answer
True
Q. The transfer function equation determines the system dynamics.
Answer
True
Q. A Temperature control system is process control system.
Answer
True
Q. Negative feedback reduces the gain of the system.
Answer
True
Q. Mason’s gain formula is used to determine the overall gain of the system.
Answer
True
Q. For a system having damping factor zero, the magnitude of the output will be
infinite.
Answer
True
Q. A high damping ratio will give a high overshoot.
Answer
False
Q. Two systems having same damping ratio but different ωn will have same
overshoot.
Answer
True
Q. Type of the system and order of the system are one and the same thing.
Answer
False
Q. The resonance peak of the system will occur when the system gain is at the
critical damping.
Answer
False
Q. Velocity feedback increases the damping ratio without affecting undamped
natural frequency of the system.
Answer
False
Q. For a second order system there is a correlation between frequency and
transient response.
Answer
True
Q. From the state variable representation of plant, transfer function cannot be
determined.
Answer
False
Q. Damping due to back emf is observed in armature controlled dc motor.
Answer
True
Q. Transfer function of a control system depends on initial conditions of input
and output.
Answer
False
Q. Transfer function of control system depends on the system parameters alone.
Answer
True
Q. The capacitance is not used to fabricate a lag network.
Answer
False
Q. The range of frequencies ω2 = 10ω1 is called the decade.
Answer
True
Q. The range of frequencies ω2 = 2ω1 is called the octave.
Answer
True
Q. Bode plot and Nyquist plot have some relation.
Answer
True
Q. From Bode plot static error coefficient cannot be determined.
Answer
False
Q. The Bode plot of gain constant is a straight line parallel to the frequency axis
with phase angle 0° for positive value and 180° for negative value of gain
constant.
Answer
True
Q. The polar plot and Nicholas plot can be had from Bode plot and vice versa.
Answer
True
Q. The Bode plot is a plot relating log w with magnitude in decibel and phase
angle.
Answer
True
Q. The closed loop frequency response can be had from open loop frequency
plot.
Answer
True
Q. The bandwidth of a system is the range of frequencies (of the output) over
which the system will respond satisfactorily.
Answer
True
Q. Roots of the closed loop control system can be had from Bode plot.
Answer
False
Q. The root locus originates at the zeros of the characteristic equation.
Answer
False
Q. The polar plot relates the magnitude in decibel with phase angle.
Answer
False
Q. According to the Shanon’s sampling theorem, the lowest sampling frequency
is double the bandwidth.
Answer
True
Q. A system is stable if its closed-loop poles are on the RHS of the s-plane.
Answer
False
Q. For a system it is possible that open loop to be unstable but closed loop
stable.
Answer
True
Q. Active devices cannot be employed for stabilization.
Answer
False
Q. A system is absolutely stable if its oscillations are not strong enough to change
the parameters of the system.
Answer
False
Q. Routh-Hartwiz criterion suggests the way to improve the system stability.
Answer
False
Q. Nyquist criteria gives direct value of corner frequency.
Answer
False
Q. The root locus terminates at the poles of the characteristic equation.
Answer
False
Q. In an unstable system, it is possible to achieve initial equilibrium state.
Answer
False
Q. When transient response is satisfactory and steady state characteristics are not
satisfactory, normally lag compensation is employed.
Answer
True
Q. Phase lag network is employed for increasing system stability as well as
bandwidth.
Answer
False
Q. Phase lag network is used to increase system stability and maintain velocity
gain constant.
Answer
True
Q. The friction coefficient in a system is a kept low to increase velocity lag error.
Answer
Q. A servo with better frequency response need not be stable.

Answer
True
Q. Some servos do not need to be stable, since they are intended for use with
steady signals.
Answer
False
Q. A tachogenerator is a speed sensor.
Answer
True
Q. Integral control action reduces steady state error.
Answer
True
Q. A phase lead controller affects the steady-state error.
Answer
False.

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Short Answer (Chapter 1)

Name three applications for feedback control systems

Name two advantages of having a computer in the loop

Name the three major design criteria for control systems

Name the two parts of a system's response.

Physically, what happens to a system that is unstable?

Instability is attributable to what part of the total response?

Describe a typical control system analysis task

Describe a typical control system design task

Name three approaches to the mathematical modeling of control systems

Short Answer (Chapter 2)

What mathematical model permits easy interconnection of physical systems?

To what classification of systems can the transfer function be best applied?

Summarize the steps taken to linearize a nonlinear system

Short Answer (Chapter 3)

Give two reasons for modeling systems in state space

What is meant by linear independence?

What factors influence the choice of state variables in any system?

What is a convenient choice of state variables for electrical networks?

What is meant by the phase-variable form of the state-equation?

Short Answer (Chapter 4)

Name the performance specification for first-order systems.

The imaginary part of a pole generates what part of a response?

The real part of a pole generates what part of a response?

List five specifications for a second order underdamped system.

Name four of the five representations of systems in state-space.

Give two reasons for wanting to represent a system by alternative forms.

What is the definition of an eigenvector and what is the definition of an eigenvalue?

What causes an entire row of zeros to show up in the Routh table?

Why do we sometimes multiply a row of a Routh table by a positive constant?

How do we find the eigenvalues from the state-space representation?

Name two sources of steady-state errors.

What effect does feedback have upon disturbances?

What is a root locus?

What kind of compensation improves the steady-state error?

Name the two components of a signal-flow graph.

How are summing junctions shown on a signal-flow graph?

What is the definition of an eigenvector?

Based upon your definition of an eigenvector, what is an eigenvalue?

Name the performance specification for first-order systems.

The imaginary part of a pole generates what part of a response?

The real part of a pole generates what part of a response?

List five specifications for a second order underdamped system.

How can you justify pole-zero cancellation?

Exam 3 Short Answers

What is a root locus

What kind of compensation improves the steady-state error?

Name three applications for feedback control systems

Name two advantages of having a computer in the loop

Name the three major design criteria for control systems

Name the two parts of a system's response

Physically, what happens to a system that is unstable?

Instability is attributable to what part of the total response?

Describe a typical control system analysis task.

Determine the transient response performance of the system.

Describe a typical control system design task.

Name three approaches to the mathematical modeling of control systems.