Answer: 1(B); 2(C); 3(A); 4(B); 5(D); 6(D); 7(A); 8(B); 9(B); 10(A); 11(C)

.
1. The open loop transfer function for the system shown below is , .
.
Select the type of the controller from the options given below such that closed loop
transfer function is .

r + y
C(s) G(s)
-

a) Proportional

b) PI

c) PID

Answer: (B)

0.5
G  
s  0.25

2
Closed Loop Transfer Function (CLTF) 
s2

Y s G sC s

GCL  s     
R  s 1 G  sC  s

GCL  s   GCL  s  G  s  C  s   G  s  C  s   

GCL  s   C  s  G  s   GCL  s  G  s    

GCL  s 
C s   
G  s  1  GCL  s  

2
 s2  
0.5  2 
1
s  0.25  s  2 

2
  
0.5
 s  2  2
s  0.25
 4  s  0.25 
  
s

 0.25 
 4 1   
 s 

1
 4  
s

Ans: PI

 .
2. The open loop transfer function for the system shown below is , .
.
Determine the values of KP, KI and KD such that closed loop transfer function is
.

r + y
C(s) G(s)
-

a) KP=1, KI=1, KD=5

b) KP =1, KI =4, KD =0

c) KP =4, KI =1, KD =0

d) KP =5, KI =1, KD =4

Answer: (C)

0.5
G  
s  0.25

2
Closed Loop Transfer Function (CLTF) 
s2

Y s G sC s

GCL  s     
R  s 1 G  s C  s

GCL  s   GCL  s  G  s  C  s   G  s  C  s   

GCL  s   C  s  G  s   GCL  s  G  s    

GCL  s 
C s   
G  s  1  GCL  s  

2
 s2  
0.5  2 
1
s  0.25  s  2 

2
  
0.5
 s  2  2 
s  0.25
 4  s  0.25 
  
s

 0.25 
 4 1   
 s 

1
 4  
s

K P  4, K I  1, K D  0
3. A controller can be designed by optimising an error performance specification.
The choice of the error performance specification criterion used in designing the
optimal controller affects the nature of the error performance for the closed loop
system. Match the types of error specification given in the left column with their
corresponding error performances given in the right column.

A. Integral Square error I. Better for small errors

B. Integral Absolute error II. Strongly suppress large error
C. Integral Time Absolute error III. Suppresses long persistence of errors

a) A: II, B: I, C: III

b) A:I, B:II, C:III

c) A:II, B:III, C:I

Answer: (A)

 If rejection of large errors is critical, ISE is better than IAE because the errors are
squared and thus contribute more to the value of the integral.
 If rejection of small errors is critical, IAE is better than ISE because when we
square small numbers (smaller than one) they become even smaller. IAE gives
equal weight to both positive and negative errors.
 If rejection of errors that persist for long times is critical, the ITAE criterion will
tune the controllers better because the presence of a large ‘t’ amplifies the effect
of even small errors on the value of the integral.
 Different criteria lead to different controller designs.
4. A liquid level proportional control system is shown in the figure below. Outflow
is connected to a pump which has a constant flow at U m3/sec. There is a step
increase in outflow by ΔU m3/sec. Calculate new steady state error (E0) and settling
time (Ts) after which the response remains within 1% of the final value for the level
control system. (S. Bhanot)

Given: U=2 m3/sec

ΔU = 0.1 m3/sec, step increase in outflow
KP= 2 m4/sec
A = 10 m2

m LC

c
U

Fig. Liquid level control system.

a) E0= 0.25, Ts= 5 sec

b) E0= 0.05, Ts= 25 sec

c) E0= 1.05, Ts= 25 sec

d) E0= 0.05, ts= 15 sec

Answer: (B)
N
U(s) -1
As

+ C(s)
V(s) e 1 +
KP
As
G1 G2

1 N s
es  V s  U s  
1  G1G2 1  G1G2
 1
1
  As U  s   
KP K
1 1 P
As As

A 1 A
sV  s   s
KP As K P
  U s  
A A
s 1 s 1
KP KP

A
sV  s 
KP 1 U s
   
A
s 1   A 
s  1 K P
KP  KP 

For a step change in U , i.e., U

U 1
E s    
s  A 
1  s  KP
 KP 

 
lim
Steady State Error  Eo   s  0 SE  s 

U 0.1
     0.05  
KP 2

A
Time constant, T 
KP

As output is 99% of its final value.

 Settling time, Ts  5  T
A
 5  
KP
10
 5  
2
 25sec.  
 
Eo  0.05;   Ts  25sec.
5. Open loop transfer function of a system is, . Compute the values of
Proportional Band (PB) and Integral Gain (KI) of a PI controller by Ziegler Nichols
method of tuning.

a) PB=94.07, KI =1.405

b) PB=34, KI =0.405

c) PB=50.55, KI =0.12

d) PB=74.07, KI =0.405

Answer: (D)

2e  s
G s   
1  3s

K  2;    T  3;     td  1 .  

K=2

K
M= T

td = 1

According to Ziegler‐Nichols PI Tuning method

0.9
KP   
Mtd

Ti  3.33 td .  

0.9
KP   1.35  
2
1
3

PB  74.07 .  

Ti  3.33 1  3.33  

KP
KI   0.405 . 
Ti
6. Which of the following statement is correct with respect of Feed-forward control?

I. Control action starts immediately for set point change but not for changes in load
disturbance.

II. Control action starts immediately for changes in load disturbance.

III. The sensitivity of the performance is high with respect to the accuracy of the
open loop process model.

a) Only I

b) Only II

c) I, II

d) II, III

Answer: (D)
7. Why a command pre-filter is needed in dynamic reference feed forward
controller?

a) To avoid the effect of step change in set-point

b) To avoid the effect of noise

c) To avoid the effect of step change in load disturbance

Answer: (A)
8. How to overcome the effect of model inaccuracy in a feed-forward controller?

a) By using Command pre-filter

b) By using Feedback Controller

c) By using a ratio controller

Answer: (B)
 9. Two ratio control configuration is shown in the figures below. Which of these
configurations has a feedback loop incorporated within the ratio control system?
Configuration I Configuration II
Wild Stream Wild Stream

FT FT

Ratio Desired Set pt.

÷ Desired ×
controller Ratio
Ratio Ratio
controller

FT FT

Controller Stream Controlled Stream

a) Configuration I

b) Configuration II

c) Configuration I and II

Answer: (B)
10. Two PID controller configurations are shown in the figure below. Which one of
the following configurations would be better immune to actuator saturation in the
event of a step change in the reference input. [r: Reference input, e: Error, c:
Measured output, u: Controller output]

r  +  e  +  +  u 
P 
‐  ‐  + 
(A) 
D    I 
c  c 

I 

+  + 
P  +  u 
r  ‐ 
(B)  + 
c 
D 
 

a) Configuration A

b) Configuration B

c) Configuration A and B both.

d) Neither Configuration A or B

Answer: (A)
11. The figure shown below refers to an electronic controller, where y refers to the
voltage corresponding to the output and r refers to the voltage corresponding to the
set point. Relate the output voltage V2(s) with y(s) and r(s)?
20KΩ 
1uF 
10KΩ  20KΩ 
‐ 
+  e2 

+ 
v2 
‐ 
10KΩ  10KΩ 
y 
10KΩ 
+ 
‐  e1  20KΩ 
r  10KΩ 

10KΩ 
 

a) V2(s)=2[y(s) - r(s) (1+4.02*s)]

b) V2(s)=1.23[r(s)-3* y(s) (1+0.02*s)]

c) V2(s)=2[r(s)- y(s) (1+0.02*s)]

d) V2(s)=4[y(s) - r(s) (1+0.04*s)]

Answer: (C)

e1  s   y  s   r  s   

y s e  s 
 2  
1 20k
1  s
e2  s 
1  s  y  s    
20k
e2  s   20 K 1  y  s   s  

20k 
V2  s    r  s   y  s 1  0.02s    
10k  
V2  s   2  r  s   y  s 1  0.02 s  