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Semester-II
OPTIMAL AND ROBUST CONTROL ( CS-201)
Q.1
(A) The tanks A and B shown in fig each have a capacity of 10gal.Both
tanks are filled at t=0, tank A with 60lb of salt dissolved in water, and tank B
with water. Fresh water enters tank A at the rate of 8gal/min, the mixture of
salt and water (assumed uniform)leaves A and enters B at the rate of
8gal/min, and the flow is incompressible. Let q(t) and p(t) be the no. of
pounds of salt contained in tank A and B,
respectively.
(i)Write a set of equations for the system.
(ii)Draw a block diagram (or signal flow graph) for
the system.
(iii)Find the state transition matrix (t).
(iv)Determine q(t) and p(t)for t0.
(B)
Find the minimum length both any two points using Euler Lagrange
equation.
(C)
Q.2
10 x 2 =20
(A)
What is optimization? Define how constrained & unconstrained
problems are involved in the formulation of optimal control?
(B)
(C)
The system
x 1
(t)= x 2(t)
x 2
2
(t)= x 1 ( t ) + [ 1x1 ( t ) ]+u (t)
J=
1/2[2 x 21 ( t ) + x 22 (t)+u2 (t )] dt
0
not bounded.
(ii)
|u(t )| 1.0 .
10 x 2 =20
(a)
Explain Robust control theory ? How Robust control techniques used to
control the dynamics of unknown plants.
(b)
If the condition for the linear time-invariant optimal control law are
satisfied by a linear regular problem, the constant K matrix must be a
solution of the algebraic equations
0=KA At Q+ KB R1 Bt K
Using this result, determine the optimal control laws for:
(i)The first order system x =ax ( t ) +u( t)
J=
[ q x 2 ( t ) +r u2 ( t ) ] dt ,q ,r > 0
0
Show the variation of the pole of the closest loop system for 0<q/r<
(ii)The System
x 1
(t)= x 2(t)
x 2
(t)= 4 x 1 ( t )4 x 2 ( t )+ u(t )
J=
[2 0 x 21 ( t )+ 5 x 22 (t)+u 2( t)]dt
0
Find the location of the poles of the controlled (closed-loop) system and
compare with the pole locations for the open-loop system.
(C)
Consider the system shown in fig. Assuming the control signal to be
u(t) = -kx(t) determine the optimal feedback gain matrix k such that the
Q=
[ ]
1 0
0 u
x = Ax+ Bu
J=
( x T Qx+u 2) dt
0
, where
(u 0) from fig. find that the state equation for the plant is
A=
[ ]
0 1
0 0
, B=
[]
0
1
x2
x1
-k
Q.4
10 x 2 =20
(C)
Q.5
(A)
Show Robust
10 x 2 =20
(B)
Write down the short notes on .
Norm.
(ii)Henkel
(C)
Write short notes on Robust control theory ? How Robust control
techniques used to control the dynamics of unknown plants.
OPTIMAL AND ROBUST CONTROL ( CS-201)
1. Answer any four of the following
[54= 20]
(a) What is optimization? Define how constrained & unconstrained problems are involved in
formulation of optimal control.
(b) Discuss less structured representation of uncertainty.
(c) Give the necessary & sufficient condition for optimal control.
(d) Find the minimum length of any two points (use Eulers Lagrange equation).
t 2 t
(e) Find the curve with the minimum arc length joining the points (0,0) and the line
.
2. Answer any two of the following
[102= 20]
(a)Explain Robust control theory? How Robust control techniques are used to control the
dynamics of unknown plants.
(b) Find the curve with minimum arc length between the point x(0) = 0 and curve
t t 2 10t 24
[102= 20]
J=
[ q x 2 ( t ) +r u2 ( t ) ] dt ,q ,r > 0
0
Show the variation of the pole of the closest loop system for 0<q/r<
x 1
(t)= x 2(t)
x 2
(t)= 4 x 1 ( t )4 x 2 ( t )+ u(t)
[2 0 x 21 ( t )+ 5 x 22 (t)+u 2( t)]dt
0
Find the location of the poles of the controlled (closed-loop) system and compare with the
pole locations for the open-loop system.
4. Answer any two of the following
[102= 20]
(a)Discuss briefly formulation of optimal control problem (minimum time problem,
minimum fuel problem, and minimum energy problem).
(b) Explain Lagrange multiplier method.
(c)If the condition for the linear time-invariant optimal control law are satisfied by a linear
regular problem, the constant K matrix must be a solution of the algebraic equations
0=KA At Q+ KB R1 Bt K
Using this result, determine the optimal control laws for:
The first order system x =ax ( t ) +u( t)
J=
[ q x 2 ( t ) +r u2 ( t ) ] dt ,q ,r > 0
0
Show the variation of the pole of the closest loop system for 0<q/r<
(b) Write down the short notes on . (i)Gain phase margin. (ii)Henkel Norm.
(c) Write short notes on level of performance that can be achieved in feedback design.
1.
Answer any four of the following
[54= 20]
(a) Define the following term
(i)
State variables
(ii)
State
(iii)
State Vector
(iv)
State space
(b) Find the inverse Z- transform of
z (2 z 211 z +12)
X ( z )=
( z1 )( z2)3
(c ) Explain Jury stability criteria. Determine the stability of the sytems described
by following characteristics equation:(z) = 4z4 + 2z3 + z2 + 2z
(d) Find the response of y(n) + y(n-1)-2y(n-2) = u(n-1) + 2u(n-2)
Due to y(-1) = 0.5 . y(-2) = 0.25
(e) With help of a neat sketch explain the working of a weighted resistor type DAC.
Acquisition Time
Aperture Time
[10
(iii)
Droop Rate
3. Answer any two of the following
x 2 =20]
[10
(a) Explain Pulse Transfer Fuction of Zero Order Hold and derive the relation
between G(s) and G(z).
(b)A system with Sample and Hold is shown in fig (1)
h(t)
r(t)
ZOH
R(s)
c(t)
G(s)
R*(s)
H(s))
C(s)
C*(t)
C*(s)
A
s ( s b)
Given G (s)=
lim
T
= G(s)
0
(c ) Derive the z- transfer function of the closed loop system in which error signal
being sampled.
[10
X(k+1) =
0
1
0.16 1
y(k) =
1 0
X(k) +
1
1
u(k)
X(k)
[10
(a) Describe the digital quantization .How does it affect the operation of a digital
control system ? Discuss.
(b) Decompose the following transfer function by parallel decomposition. Also draw
the state diagram and write the discrete state equations in vector matrix form:
C ( z)
z 0.1
R( z ) ( z 0.5) ( z 0.8)
1.
Answer any four of the following
[54= 20]
(a)Find the Z-transform X(z) and sketch pole zero plot with the ROC for following
sequence
3 u(n) 1 2 u(n 1)
X ( n) 1
x( z )
2 z (3 z 17)
( z 1) ( z 2 6 z 25)
r(t)
ZOH
R(s)
R*(s)
c(t)
G(s)
H(s))
C(s)
A
s ( s b)
Given G (s)=
C*(t)
C*(s)
lim
T
= G(s)
0
(b) Write the statement of Caley Hamilton Theorem also compute state transition
matrix and matrix experiential.
(c) Explain Jury stability criteria. Determine the stability of the sytems described
by following characteristics equation:(z) = 4z4 + 2z3 + z2 + 2z
0 0 0
F 1 0 3
0 1 4
40
G 10
0
C 0 0 1
(b) Describe the full order state observer with a neat diagram.
(c) What do you understand by similarity transformations? Describe its usage.
5. Attempt any two questions:10x2 =20
(a)How can you signify that quantization effect and sampling effect in digital
control system.
(b) Decompose the following transfer function by parallel decomposition. Also
draw the state diagram and write the discrete state equations in vector matrix form:
C ( z)
z 0.1
R( z ) ( z 0.5) ( z 0.8)
(v)
(vi)
Properties of z-transform
Design of Digital Controller
Medical Imaging Technique ( CS-026)
[54= 20]
f ' ( x )= [ 1+ f ( x ) ] [1f ( x ) ]
'
respectively.
2
f ( x )=f ( x ) and
8. Answer any two of the following
[102= 20]
(a) Design neural network with only one McCulloch-Pitts neuron that implements the three basic
logic operations:
(i)
NOT (x1) ;
(ii)
OR (x1 , x2) ;
(iii)
NAND (x ,x ) , where x and x {0,1}
1
(b) For the network shown in figure, calculate the net input to the output neuron. X1
0.3
X1
0.2
0.5
X2
0.1
Y1
-0.3
0.6
X3
f ' ( x )= [ 1+ f ( x ) ] [1f ( x ) ]
'
and
respectively.
2
f ( x )=f ( x )
(i) Implement XOR function using McCulloch-Pitts neuron (consider binary data).