Lecture #01 1- An interconnection of components forming a system configuration that will provide a desired response : a) Process b) Control System c) Plant d) Other 2- It is the quantity or condition that is measured and Controlled. Normally it is the output of the control system : a) Controlled variable b) Manipulated variable c) Controller's output d) Other 3- It is the quantity of the condition that is varied by the controller so as to affect the output of the system : a) Controlled variable b) Manipulated variable c) Controller's output d) Other 4- The controlled variable is applied to the system so as to limit the manipulated variable: a) True b) False 5- It is the desired response which is applied as input to the controller: a) Controlled variable b) Manipulated variable c) Set point d) Other 6- It is a signal that tends to adversely affect the value of the system. a) Control Signal b) Actuator Signal c) Disturbance Signal d) Other 7- Which of the following components must be placed in the feedback path : a) Controller b) Actuator c) Sensor d) Other 8- In controlling the liquid level of water tank, which of the following represents the actuator: a) Float b) Valve c) Tank d) Other 9- In controlling the liquid level of water tank, which of the following signals is applied to the pneumatic valve: a) Controlled variable b) Manipulated variable c) Set point d) Other 10- In controlling the liquid level of water tank, which of the following signals is applied to the Float: a) Controlled variable b) Manipulated variable c) Set point d) Other 11- In ……………… the output has no effect on the control action: a) Closed loop control b) Open loop control c) Other 12a) b) c) Washing Machine is a control machine of type : Closed loop control Open loop control Other 13a) b) c) ………………. Is more sensitive to disturbance : Closed loop control Open loop control Other 14- in open loop control systems reference input is not compared with measured output, for each reference input there is fixed operating condition. Therefore, the accuracy of the system depends on calibration. a) True b) False 15- The performance of closed loop system is severely affected by the presence of disturbances. a) True b) False 16- …………………………….Utilizes feedback to compare the actual output to the desired output response. a) Closed loop control b) Open loop control c) Other 17a) b) c) Air conditioner is a control machine of type : Closed loop control Open loop control Other 18- For controlling the liquid level of water tank by using a float to determine the required level of the level inside the tank. This system is type of : a) Closed loop control b) Open loop control c) Other 19- A system that maintains a prescribed relationship between the output and some reference input by comparing them and using the difference as a means of control is called open loop control. a) True b) False 20- A system that maintains a prescribed relationship between the output and some reference input by comparing them and using the difference as a means of control is called ……………………... control a) Open loop b) Positive feedback c) Negative feedback d) Feed-forward 21- The process is commonly placed on the ………..path a) Feed- forward b) Feed-back c) Feed-forward or feed-back 22- It is a component of a machine that is responsible for moving and controlling a mechanism or system. a) Transducer b) Plant c) Actuator d) Other 23- In the unity feedback system, the feedback path contain ……….. a) Sensor b) Float c) Tachometer d) No component 24- It is the component that remove the noise from the manipulated variable or amplify it. a) Actuator b) Configuration c) Regulating d) Signal conditioning 25- Commonly, the operating power of the actuator from ……… a) Controller b) Controlled variable c) External d) Other 26- If the manipulated variable is described as discrete time intervals then the controller of type……………… controller : a) Continuous b) Digital For the following system answer the questions (27 - 30) 27- A/D converter is a ………………. Component a) Actuator b) Sensor c) Signal conditioning d) Other 28- Interface is a ………………. Component a) Sensor b) Signal conditioning c) Actuator d) Process 29- Heater is a ………………. Component a) Sensor b) Signal conditioning c) Actuator d) Process 30- Relay is a …………….. component a) Sensor b) Signal conditioning c) Actuator d) Process 31a) b) c) d) For open control system which of the following statements is incorrect ? Less expensive Recalibration is not required for maintaining the required quality of the output Construction is simple and maintenance easy Errors are caused by disturbances 32- A control system in which the control action is somehow dependent on the output is known as a) Closed loop system b) Semi-closed loop system c) Open system d) None of the above 33a) b) c) d) In open loop system, the control action depends on the size of the system depends on system variables depends on the input signal independent of the output 34a) b) c) d) A good control system has all the following features except good stability slow response good accuracy sufficient power handling capacity Lecture #03 1- The mathematical modeling of input-output behavior of a system is described as ……….. a) Differential equation b) Linear equation c) Stochastic equation d) Other 2- For translational spring, the force is proportional to …………. a) Displacement b) Speed of movement c) Acceleration of movement d) Other 3- For translational damper, the force is proportional to …………. a) Displacement b) Speed of movement c) Acceleration of movement d) Other 4- The transfer function (x(S) / F(S)) of the following system is : a) b) c) d) (1 / (M S2 + K1 + K2)) (1 / (M S2 + K1 - K2)) (1 / (M S2 + K1 S + K2)) Other 5- The transfer function (Y(S) / F(S)) of the following system is : a) b) c) d) (1 / (m S + f + k)) (1 / (m S2 + f S + k)) (1 / (m S2 + f + k S)) Other 6- The transfer function (Y(S) / F(S)) of the following system is : a) (1 / (M S + f + k)) b) (1 / (M S2 + f + k S)) c) (1 / (M S2 + f S + k)) d) Other 7- The transfer function (Uc(S) / Ur(S)) of the following system is : a) b) c) d) (1 / (LC S + RC+1)) (1 / (LC S2 + RC+1)) (1 / (LC S2 + RC S+1)) Other 8- The transfer function of the following system is : a) b) c) d) (1 / (RC S2 + 1)) (1 / (RC S + 1)) (1 / (RC S2 + C S)) Other 9- The transfer function of the following system is : a) b) c) d) (1 / ((R1 + R2)C S + 1)) (R1C S / ((R1 + R2)C S + 1)) (R2C S / ((R1 + R2)C S + 1)) Other 10- …………………………. is the ratio of Laplace transform of the output to the Laplace transform of the input. a) Mathematical modeling b) Transfer function c) State space representation d) Other 11- When the order of denominator polynomial is greater than the numerator polynomial, the transfer function is said to be ………………… a) Improper b) Proper c) Strictly proper d) Other 12- When the order of denominator polynomial is smaller than the numerator polynomial, the transfer function is said to be ………………… a) Improper b) Proper c) Strictly proper d) Other 13- When the order of denominator polynomial is equal to the numerator polynomial, the transfer function is said to be ………………… a) Improper b) Proper c) Strictly proper d) Other 14- Roots of denominator polynomial of a transfer function are called ………………. a) Poles b) Zeros c) Controlled variables d) Other 15- Roots of numerator polynomial of a transfer function are called ………………. a) Poles b) Zeros c) Controlled variables d) Other 16a) b) c) d) Which of the following determine the system order : Poles Zeros Controlled variables Other 17a) b) c) d) It is the frequency at which system becomes infinite: Poles Zeros Controlled variables Other 18- For any bounded input the output of the system is also bounded (BIBO) the system is said to be ……………… a) Stable b) Un-stable c) Other 19a) b) c) d) Which of the following determines the stability of the system: Poles Zeros Controlled variables Other 20- If all the poles of the system lie in left half plane the system is said to be ………….. a) Asymptotically stable b) Unstable c) Marginally stable d) Other 21a) b) c) d) If any of the poles lie in right half plane the system is said to be …………………. Asymptotically stable Unstable Marginally stable Other 22a) b) c) d) If pole(s) lie on imaginary axis the system is said to be …………….. Asymptotically stable Unstable Marginally stable Other 23- If poles lie on the imaginary axis, the system steady at certain level at the infinity. a) True b) False 24- For a closed loop system contain a process (G(s)) and a sensor (H(s)) in the feedback, the closed loop transfer function is given by: a) G(s)/1+G(s)H(s) b) G(s)H(s)/1-G(s)H(s) c) G(s)/1+G(s)H(s) d) G(s)/1-G(s)H(s) 25a) b) c) d) The overall transfer function from block diagram reduction for cascaded blocks is : Sum of individual gain Product of individual gain Difference of individual gain Division of individual gain 26- Transfer function of the system is defined as the ratio of Laplace output to Laplace input considering initial conditions________ a) 1 b) 2 c) 0 d) infinite 27- The advantage of block diagram representation is that it is possible to evaluate the contribution of each component to the overall performance of the system. a) True b) False Lecture #04 1- Transfer functions are used to model dynamic systems in …………………… a) Frequency domain b) Time domain c) Can be frequency or time domain d) Other 2- state space representation is a way of modeling systems in ………………….. a) Frequency domain b) Time domain c) Can be frequency or time domain d) Other 3- Using state space representation, differential equations with order n can be decomposed into ……………… first order equations. a) Log n b) n2 c) n d) Other 4- In state space representation, what is the output of the following equation : C (s I - A)-1 B + D a) The controlled variable b) The manipulated variable c) The transfer function d) Other 5- The Unforced Response can be estimated by applying u(t) as input signal. a) True b) False 6- In state space representation, the output of ɸ (0) is ……………. a) [0 1 ; 1 0] b) [1 0 ; 0 1] c) [0 0 ; 0 0] d) Other 7- For the following function : a) b) c) d) The name of the function is ……………….. and Laplace transform is …………. Step , (A/S) Impulse , (A) Ramp , (A/S2) Other 8- The…………….function is first integral of the …………….. function a) Ramp , Impulse b) Step , Ramp c) Ramp , Step d) Other 9- The…………….function is first derivative of the …………….. function a) Ramp , Impulse b) Impulse , Step c) Ramp , Step d) Other 10- In state space representation, ɸ (t) is estimated using the Laplace transform of which function: a) (s I -A) b) (s - A) c) (s I – A)-1 d) Other 11- The transfer function for the state representation of the continuous time LTI system: dq(t)/dt=A q(t)+B x(t) Y(t)=C q(t)+D x(t) is given by: a) b) c) d) D(s I-A)-1 B+C C(s B(s C(s I-A)-1 I-A)-1 I-A)-1 B+D B+D B+A 12- State space analysis is applicable for non-linear systems and for multiple input and output systems. a) True b) False 13- Assertion (A): Transfer function approach has limitation that it reveals only the system output for a input and provides no information regarding the internal state of the system. Reason (R): There may be situations where the output of a system is stable and yet some of the system elements may have a tendency to exceed their specified ratings. a) Both A and R are true but R is not correct explanation of A b) Both A and R are true and R is correct explanation of A c) A is true but R is False d) A is False but R is True 14a) b) c) d) Which among the following is a unique model of a system? Transfer function State variable Block diagram Other 15- Which among the following plays a crucial role in determining the state of dynamic system? a) State variables b) State vector c) State space d) State scalar 16a) b) c) d) State space analysis is applicable even if the initial conditions are _____ Zero Non-zero (a) and (b) Other 17- The closed loop transfer function of a unity negative feedback system is 100/(s2+8s+100). Its open loop transfer function is: a) 100/s+8 b) 1/s2+8 s c) 100/s2-8 s d) 100/s2+8 s 18- The large number of differential equations are complex to be analyzed using state space representation. a) True b) False 19- The poles can be estimated from state space representation using which equation: a) (s I - A) b) (s I - A)-1 c) (s - A) d) Other 20- Consider state space representation of a system where : A = [0 1 0; 0 0 1; -6 -11 -6] The poles of the system are : a) 1, 2 and 3 b) -1, -2 and -3 c) -1, -2 and 3 d) Other A state space description of a spring-mass-damper system is given by the following matrices: Answer questions (21-25) 21- The item at index (0,0) of the state transition matrix in S-domain is : a) 1 / (S2 + 2 S + 4) b) (S+2) / (S2 + 2 S + 4) c) S / (S2 + 2 S + 4) d) -4 / (S2 + 2 S + 4) 22- The item at index (2 , 2) of the state transition matrix in S-domain is : a) 1 / (S2 + 2 S + 4) b) (S+2) / (S2 + 2 S + 4) c) S / (S2 + 2 S + 4) d) -4 / (S2 + 2 S + 4) 23- The transfer function of this system is : a) 1 / (S2 + 2 S + 4) b) (S+2) / (S2 + 2 S + 4) c) S / (S2 + 2 S + 4) d) -4 / (S2 + 2 S + 4) 24- The roots of this system are : a) -2 and -2 b) 1+2j and 1-2j c) 1+1.73j and 1-1.73j d) Other 25- This system is ……………… a) Asymptotically stable b) Un-stable c) Marginally stable d) Other A state space description of system as follow: Answer questions (26 - 30) 26- The item at index (0,0) of the state transition matrix in time domain is : a) e-t - e-2t b) 2e-t - e-2t c) - e-t + 2e-2t d) -2e-t + 2e-2t 27- The item at index (1,0) of the state transition matrix in time domain is : a) e-t - e-2t b) 2e-t - e-2t c) - e-t+2e-2t d) -2e-t+2e-2t 28- The roots of this system are : a) 1 and 2 b) -1 and -2 c) -1 and 2 d) Other 29- This system is ……………… a) Asymptotically stable b) Un-stable c) Marginally stable d) Other 30- If a step input signal is applied with zero initial condition what is the output of the system in time domain y(t) is : a) 0.5 - e-t - 0.5 e-2t b) 1+ 2e-t - e-2t c) 2 - e-t+e-2t d) 0.5 - 2e-t + 0.5e-2t Lecture #05 1- In time-domain analysis the response of a dynamic system to an input is expressed as a function of ……………… a) Frequency b) S-domain c) Time d) Other 2- It is possible to compute the time response of a system based on …………… a) Input signal b) Mathematical model of the system c) (a) and (b) together d) Other 3- The dynamic behavior of a system is therefore judged based on mathematical model only without need to input signal. a) True b) False 4- The time response of any system has component (s) such as ………. a) Transient response b) Steady-state response c) (a) and (b) d) Other 5- ………………..is the response of the system is changed from rest or equilibrium it takes some time to settle down. a) Transient response b) Steady-state response c) Equilibrium response d) Other 6- Transient response dependents upon ………………….. a) System's poles b) System's zeros c) Input signal d) Other 7- The steady-state response depends on ……………….. a) System dynamics b) Input quantity c) (a) and (b) d) Other 8- For a system has a transfer function G(s) = K / (S+1), if an impulse input is applied to it without feedback the time response of this system is …………………. a) e-Kt b) e-t c) K e-t d) Other 9- For a system has a transfer function G(s) = K / (S+1), if a step input is applied to it without feedback the time response of this system is …………………. a) (1 - e-Kt) b) (1 - e-t) c) K (1-e-t) d) Other 10- For first order system, the time of the step response to achieve its final value increase with increasing ……………………. a) D.C gain b) Time constant c) Frequency of system d) Other 11- The impulse response is the differentiation of the ………………… response a) Ramp b) Step c) Linear d) Other 12- Changing the parameters of a second-order system can change oscillation of the system. a) True b) False 13- …………………… is a measure of the degree of resistance to change in the system output. a) un-damped natural frequency b) Time constant c) Damping ratio d) Other 14- ………………………..is the speed of oscillation of the system without damping. a) un-damped natural frequency b) Time constant c) Damping ratio d) Other 15- For a closed loop second order system, when (ξ > 1) the system response is ……………. a) Critical damping b) Over damping c) Under damping d) Oscillation 16- For a closed loop second order system, when (ξ = 1) the system response is ……………. a) Critical damping b) Over damping c) Under damping d) Oscillation 17- For a closed loop second order system, when ( 0 < ξ < 1) the system response is ……………. a) Critical damping b) Over damping c) Under damping d) Oscillation 18- For a closed loop second order system, when (ξ =0) the system response ……………. a) Critical damping b) Over damping c) Under damping d) Oscillation 19- For a closed loop second order system, if the poles of the system are (-1- 5 j and -1 +5 j) then the system response is ……………. a) Critical damping b) Over damping c) Under damping d) Oscillation 20- For a closed loop second order system, if the poles of the system are (- 5 j and +5 j) then the system response is ……………. a) Critical damping b) Over damping c) Under damping d) Oscillation 21- For a closed loop second order system, if the poles of the system are two different real then the system response is ……………. a) Critical damping b) Over damping c) Under damping d) Oscillation 22- For a closed loop second order system, if the poles of the system are two equal imaginary without real part then the system response is ……………. a) Critical damping b) Over damping c) Under damping d) Oscillation 23a) b) c) d) The system response that has overshoot is a ……………………. Critical damping Over damping Under damping Other 24- Natural Un-damped Frequency has unit of …………… a) rad b) second c) rad / second d) Other 25- Distance from the origin of S-plane to pole is ……………….. a) Time constant b) Damping ratio c) Un-damped Frequency d) Other 26- Cosine of the angle between vector connecting origin and pole and –ve real axis is ………….. a) Time constant b) Damping ratio c) Un-damped Frequency d) Other 27- ……………… is the time required for the response to reach half the final value the very first time. a) Rise time b) Delay time c) Peak time d) Settling time 28- …………………..is the time required for the response to rise from 10% to 90 of its final value. a) Rise time b) Delay time c) Peak time d) Settling time 29- …………………… is the time required for the response to reach the first peak of the overshoot. a) Rise time b) Delay time c) Peak time d) Settling time 30- ………………….is the time required for the response curve to reach and stay within a range about the final value of size specified by absolute percentage of the final value. a) Rise time b) Delay time c) Peak time d) Settling time 31- …………………….is the maximum peak value of the response curve measured from unity. a) Steady state output b) Transient output c) Maximum overshoot d) Other 32- The amount of the maximum (percent) overshoot directly indicates the relative stability of the system. a) True b) False A closed loop control system has two system as follow: Forward path system: Backward path : ( ) ( ) ( ) It is desired to design the system so that the damping ratio (ξ) is 0.5 and the rise time (tr) is 0.6045 sec. Answer questions (33 - 39) based on these information. 33- The value of un-damped frequency (ωn) is…………………… a) 2 b) 4 c) 6 d) Other 34- To achieve the desired response, the value of (k) is ……………. a) 4 b) 8 c) 16 d) Other 35- To achieve the desired response, the value of (z) is ……………. a) 0.125 b) 0.25 c) 0.5 d) Other 36- The delay time (td) is ………….. a) 0.15 b) 0.27 c) 0.45 d) Other 37- The maximum overshoot is …………….. a) 0.16 b) 0.24 c) 0.48 d) Other 38- The peak time is …………. a) 0.3 b) 0.6 c) 0.9 d) Other 39- The settling time (5%) criterion is……………. a) 0.5 b) 1 c) 1.5 d) Other Lecture #06 1- System must suffer from steady state error for any type of input. a) True b) False 2- A system may have no steady-state error to a step input, but the same system may exhibit nonzero steady-state error to a ramp input. a) True b) False 3- steady-state error is existed based on ……….. a) Input type b) Open loop transfer function of system c) (a) and (b) d) Other 4- For the system : G(s) = (s+1) (s+2) / s3 (s+3)(s+4), this system has type ……….. a) 2 b) 3 c) 4 d) Other 5- ………………… error constant is the value of the transfer function in s-domain for s=0 a) static velocity b) static acceleration c) static position d) Other 6- The higher static position error constant as the higher steady state error for step input. a) True b) False 7- ………………… error constant is the first differential transfer function in s-domain for s=0. a) static velocity b) static acceleration c) static position d) Other 8- For system of type 0 and step input the steady state error is ……. a) Constant b) Infinity c) Zero d) Other 9- For system of type 1 and acceleration input the steady state error is ……. a) Constant b) Infinity c) Zero d) Other 10- For system of type 2 and ramp input the steady state error is ……. a) Constant b) Infinity c) Zero d) Other For a system : G(s) = 100 (s+2) / s (s+8) answer questions (11- 15) 11- The type of system is ………… a) 0 b) 1 c) 2 d) Other 12- The static position constant error is ………………. a) Constant b) Infinity c) Zero d) Other 13- The static velocity constant error is ………………. a) Constant b) Infinity c) Zero d) Other 14- For step input, the steady state error is …………….. a) Constant b) Infinity c) Zero d) Other 15- For step input, the steady state error is …………….. a) Constant b) Infinity c) Zero d) Other 16- Routh-Hurwitz Stability Criterion is used to estimate …………… a) Steady state error b) Stability c) Overshoot d) Other 17- The Routh-Hurwitz criterion states that “the number of roots of the characteristic equation with positive real parts is equal to the number of parameters in the first column of the Routh array. a) True b) False 18- Routh-Hurwitz criterion test the stability of the system by estimating the closed loop poles. a) True b) False 19- For the system shown below : According to Routh-Hurwitz criterion what is the range of K to make the closed loop system is stable. a) K>0 b) 0 < k < 7.5 c) K > 7.5 d) Other 20- For the closed loop characteristics equation : s 3 3s 2 3s 1 K = 0 a) b) c) d) According to Routh-Hurwitz criterion what is the range of K to make the closed loop system is stable. K > -1 -1 < k < 8 K>8 Other