Name :

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Time Allotted : 3 Hours 1. i) a) c) XTQ X>0 XTQ X 0 ii) x a) c) is f x

Roll No. : ... Invigilator's Signature : .

CS/B.Tech-(ICE-NEW)/SEM-6/IC-602/2013

2013 ADVANCED CONTROL SYSTEM

Full Marks : 70

The figures in the margin indicate full marks.

Candidates are required to give their answers in their own words as far as practicable.

( Multiple Choice Type Questions ) Choose the correct alternatives for any ten of the following : 10 1 = 10 A matrix is said to be positive semidefinite for all X, if b) d) XTQ X X Q XT 0 0.

The sufficient conditions for a relative minimum of a

twice differentiable function f ( x ) at an interior point

| x2 x

2f

pap
|x
>0 0

GROUP A

wb er.
b) d) f x

in a c. ut .
|x
=0
2f

x2

|x

> 0.

6242

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CS/B.Tech-(ICE-NEW)/SEM-6/IC-602/2013 iii) In the minimum time problem, if the final state is fired, then the target set is a a) c) straight line parabola b) d) ellipse hyperbola.

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iv)
1

The variation, v of the given functional

v=

( 2 x 2 + x ) d t is

pap
( 4x + 1 ) x d t

a)
0

wb er. in a c. ut .
=0 b) d) L

b)
0 1

2 ( x + 1 ) x dt

c)
0

4x x d t

d) v) If x

zero.

is a constrained extremum for a Lagrangian ), then the condition for optimality is

(x , a) c)

L x x

|x

=0

both (a) and (b)

2L

x2

|x

= 0.

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CS/B.Tech-(ICE-NEW)/SEM-6/IC-602/2013 vi) The performance index ( PI ) for the minimization of the total expended energy is
tf m

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a) PI =
to i=1 tf m

| ( u i2 t ) |2

dt

b)

PI =

u i2 t d t

to

i=1

tf

pap
m

c)

PI =

u i2 d t

to

i=1

tf

d)

PI =

u it 2 d t.

to

i=1

wb er.
b) d) e d . dt 3

vii)

Which of the following terms is for sensitivity derivative d e of the system in the MIT rule described as = e ? dt a) c) e

viii) The basic objective of the adaptive control system is monitoring of the ................. of the control system for .................... parametres. a) b) c) d) 6242

performance index, unknown and varying controlled variable, unknown and varying controlled variable, constant and known

performance index, constant and unknown.

in a c. ut .
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CS/B.Tech-(ICE-NEW)/SEM-6/IC-602/2013 ix) In sliding phase, which type of stability is measured ? a) Globally finite stability Relative stability Asymptotic stability Conditional stability.
tf

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b) c) d) x) u ( t ) represents a) b) c) d) xi) all of these. sign ( a) c) xii) >0 0 a) c) 6242 nr n

The minimisation of PI =
to

| u t | dt for

a control input

minimum fuel problem minimum time problem minimum energy problem

In sliding mode control, if

In input/output linearization technique, the number of internal dynamies is

pap
4

( x ) ), then the control gain ( b) d)

wb er.
<0 0. b) d) n+r r.

( x ) > 0, for the function ) would be

in a c. ut .

CS/B.Tech-(ICE-NEW)/SEM-6/IC-602/2013 xiii) Minimum degree pole placement algorithm is applicable

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for a) c) 2. expansion method. 3.
tf

Gain scheduling Dual control

b) d)

Self tuning regulator none of these.

GROUP B ( Short Answer Type Questions ) Answer any three of the following.

5 = 15

If a scalar valued function, f ( x ) = f ( x 1 x 2 ............. x n ) is continuous for all x

minimization of the function f ( x ) applying Taylor series

Find the equation of the curve that is an extremal for the

functional J =
0

subject to the boundary conditions x ( 0 ) = 1, t f = 2, and

x ( 2 ) = 10. 4.

Let a function f ( x ) = x 1 x 2 and g ( x ) = x 1 + x 2 1. Applying Lagrange multiplier method show that the points 1 1 1 1 and provide the minima of f ( x ) 2 2 2 2 subject to the constraint given by g ( x ) = 0.

pap
(
1 2

R n , find out the condition for

wb er.
. . x 2 tx + 2x 2 dt

in a c. ut .
2 2

6242

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CS/B.Tech-(ICE-NEW)/SEM-6/IC-602/2013 5. Draw the block diagram of self tuning regulator. Describe the MIT rule. 3+2

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6. given system . x1 . x2
3

What is internal dynamics in input/output linearization method ? Find out the internal dynamic equation for the

x2 + u u

; y = x1

where variables x, u and y have their usual significances. 2+3

( Long Answer Type Questions )

Answer any three of the following. 7. a)

Describe the Euler-Lagrange equation for both end points fixed problems.

pap
3

wb er.
GROUP C 6

15 = 45

in a c. ut .

b)

Optimize the following functional

L=
0

( x.

. ( t ) + 2x ( t ) x ( t ) + 2x 2 ( t )

) dt

such that x ( 0 ) = 1 and x ( 3 ) is free.

7+8

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CS/B.Tech-(ICE-NEW)/SEM-6/IC-602/2013 8. a) Derive the Pontryagin's optimal principle to solve optimal control problems. The performance index of the system is given by
2

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b) J=
0

2 ( t ) dt . [ x2 ] 1 ( t ) + u

. The system is decribed by the equation, x 1 = u x 1 with initial conditions x 1 ( 0 ) = 1 and x 1 ( 2 ) = 0. Find u ( t ) to minimize the system considering the above two-point boundary value problem applying Pontryagin's optimal principle. 5 + 10

pap
7

9.

a)

Design the control law by input/output linearization method for the system . x 1 = sin x 2 + . 5 x2 = x1 + x3 . 2 x3 = x1 + u y = x1 .

wb er.
(x2 +1)x3

in a c. ut .

b)

What is reaching phase in sliding mode control ? Find

the general value of reaching time from a Lyapunov function V ( x ) and the switching variable ( x ).

9+(2+4) [ Turn over

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CS/B.Tech-(ICE-NEW)/SEM-6/IC-602/2013 10. a) Why feedback linearization is important over Jacobian linearization ?

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b) . x1 = x2 . x2 = C1 i) form". ii) a) b) c) d) e) Gain scheduling 6242

Consider an non-linear system with state equations

( 1 x2 1 ) x2 C2 x1 + u

and the output equation is y = x 1 , where C 1 = 05 and C 2 = 1 are constants.

Represent this non-linear system into

Obtain a state feedback control law employing feedback linearization method.

11. Write short notes on any three of the following : Lagrange, Mayer and Bolza problems State regulator ( LQR ) problem Principle of optimality

Switching surface.

pap
8

"affine

wb er.

1 + ( 2 + 12 ) 3 5

in a c. ut .