“Parameter Optimization: Servomechanims”

1. Any externally introduced signal affecting the controlled output is called a

a) Feedback
b) Stimulus
c) Signal
d) Gain control

2. A closed loop system is distinguished from open loop system by which of the following?
a) Servomechanism
b) Feedback
c) Output pattern
d) Input pattern

3. ______________ is a part of the human temperature control system.

a) Digestive system
b) Perspiration system
c) Ear
d) Leg movement

Answer: b
Explanation: Perspiration system is a system that is controlling the body temperature of the human body.

4. By which of the following the control action is determined when a man walks along a path?
a) Brain
b) Hands
c) Legs
d) Eyes

Answer: d
Explanation: Control action is the action which is the generated by the system performance and
determined by eyes when man walks along the path.

5. _______________ is a closed loop system.

a) Auto-pilot for an aircraft
b) Direct current generator
c) Car starter
d) Electric switch

Answer: a
Explanation: Auto-pilot for an aircraft is an example of the closed loop system as the output is the desired
destination without the use of any pilot.

6. Which of the following devices are commonly used as error detectors in instruments?
a) Vern stats
b) Microsyn
c) Resolvers
d) All of the mentioned

Answer: d
Explanation: All of the mentioned can be used as an error detectors as they can give the difference
between the current output and desired output.
7. Which of the following should be done to make an unstable system stable?
a) The gain of the system should be decreased
b) The gain of the system should be increased
c) The number of poles to the loop transfer function should be increased
d) The number of zeros to the loop transfer function should be increased

Answer: b
Explanation: The gain of the system should be increased to make an unstable system stable and for
positive feedback of the system the gain is more and for the negative feedback the gain is reduced for
which the stable system can become unstable.

8. __________increases the steady state accuracy.

a) Integrator
b) Differentiator
c) Phase lead
d) Phase lag

Answer: a
Explanation: Integrator that is also the low pass filter reduces or eliminates the steady state error but is
causes the slow and sluggish response but tries to eliminate the error.

9. A.C. servomotor resembles

a) Two phase induction motor
b) Three phase induction motor
c) Direct current series motor
d) Universal motor

Answer: a
Explanation: AC servomotor is a type of the two phase induction motor.

10. As a result of introduction of negative feedback which of the following will not decrease?
a) Band width
b) Overall gain
c) Distortion
d) Instability

Answer: b
Explanation: Overall gain reduces due to negative feedback and due to this reduction in gain the stable
system can become unstable but excess increase in the gain causes oscillations to increase.

“Optimal Control Problems”.

1. The output of the system is considered near :
a) 1
b) 2
c) 3
d) 0

Answer: d
Explanation: Our main objective in the optimal control problem is to reduce the performance index of the
system as minimize the output and make it near equal to zero.

2. A performance index written in terms of :

a) 1 variable
b) 2 variable
c) 3 variable
d) 5 variable

Answer: Generally the performance index be of any variables but in standard form we consider the
performance index to be in 2 variable only.

3. Matrix Q is :
a) Positive semi definite symmetric matrix
b) Positive definite non-symmetric matrix
c) Negative definite symmetric matrix
d) Negative definite non-symmetric matrix

Answer: a
Explanation: Matrix Q defines positive definite or non-definite symmetric matrix which is used in the
performance index so as to give equal weightage to each element.

4. Matrix R is :
a) Positive semi definite symmetric matrix
b) Positive definite non-symmetric matrix
c) Negative definite symmetric matrix
d) Negative definite non-symmetric matrix

Answer: a
Explanation: Matrix R defines positive definite or non-definite symmetric matrix which is used in the
performance index so as to give equal weightage to each element.

5. The major requirement of making the output of the system small in output regulator problem is :
a) The system must be controllable
b) The system must be stable
c) The system must be observable
d) The system must be LTI

Answer: c
Explanation: We are concerned with making the output of the output regulator problem small this is
achieved when the system is observable.

6. Minimum principle was given by:

a) Pontryagin
b) Hamiltonian
c) Bellman
d) Jacobi

Answer: a
Explanation: The minimum principle to minimize the performance index is given by Pontryagin.

7. Dynamic programming is developed by:

a) Pontryagin
b) Hamiltonian
c) Bellman
d) Jacobi

Answer: c
Explanation: Dynamic programming for minimizing the performance index is given by Bellman.
8. The performance index is reduced by:
a) State variable constraint
b) Input constraint
c) Control function minimization
d) Control function constraint

Answer: c
Explanation: Once the performance index is calculated the next task is to find the control function which is
used to minimize the performance index.

9. Minimum principle is based on :

a) Concepts of calculus of variations
b) Principle of calculus
c) Principle of invariant imbedding
d) Principle of optimality

Answer: a
Explanation: Minimum principle of Pontryagin is based on the concept of calculus of variations.

10. Dynamic programming is based on :

a) Principle of calculus
b) Principle of invariant imbedding
c) Principle of optimality
d) All of the mentioned

Answer: d
Explanation: Dynamic programming is based on principle of calculus, invariant imbedding and optimality
and these are the basic laws of the nature and does not need complex mathematical development to
explain its validity.

“Optimal Control Problems-2”

1. The main step for solving the optimal control problem:
a) Transfer function of system which is optimal with respect to the given performance criterion
b) Compensators for the system
c) Minimizing the quadratic function
d) All of the mentioned

Answer: d
Explanation: For solving the problem using optimal control problem various steps are required as first is to
form the transfer function and then to compute the compensators and the major requirement is to
minimize the quadratic function.

2. For minimizing the transfer function the condition is :

a) Second differentiation of the function must be zero
b) Second differentiation of the function must be positive
c) Second differentiation of the function must be negative
d) Second differentiation of the function must be complex

Answer: c
Explanation: In optimal control problems the main objective is to reduce the performance criterion which is
used only when the second differentiation of the function must be negative.
3. For the stability in optimal control poles of the transfer function must be :
a) Located on the right half of s plane
b) Left half of s plane
c) On the s plane
d) None of the mentioned

Answer: b
Explanation: For the stability point of view the basic definition continues that the poles must be located on
the left half of s plane.

4. The method of choosing compensator is the configuration must be:

a) Forward path
b) Cascade and feedback compensation
c) Feed forward configuration
d) All of the mentioned

Answer: d
Explanation: The above mentioned are the various configurations of choosing a compensator.

5. When some of the states are inaccessible, then we may set the feedback coefficients equal to zero.
a) True
b) False

Answer: a
Explanation: This is done to adjust coefficients to realize the transfer function and if it is not possible then
reconstruction of signals can be done.

6. Z-transform is used in:

a) Continuous optimal control problem
b) Discrete optimal problem
c) Control systems
d) None of the mentioned

Answer: b
Explanation: Z-transform by definition can is used in discrete case only both in optimal and normal control
functions.

7. For the stable system in discrete optimal control systems:

a) Poles must lie outside the unit circle
b) Poles must lie within the unit circle
c) Poles must be on the unit circle
d) Pole must be in infinity

Answer: b
Explanation: Poles in discrete system must be inside the unit circle and for causal system it must be
outside the circle but no including the infinity.

8. The special case of the tracking problem with input equal to zero:
a) Free response
b) Regulator problem
c) Forced response
d) Output regulator problem
Answer: d
Explanation: For zero input output is zero if all the initial conditions are zero the response are due to non-
initial conditions which are caused due to disturbances.

9. The primary objective of the output regulator problem is to damp out:

a) Initial conditions quickly
b) Reducing the effect of excessive oscillations
c) Reducing the effect of excessive overshoot
d) All of the mentioned

Answer: d
Explanation: The primary objective of the output regulator problem is to damp out the initial conditions
quickly and also reduce the effect of excessive oscillations and overshoot.

10. The limitation of the transfer function approach are:

a) The spectral factorization becomes quite complex
b) It is restricted to the systems with all performance index
c) Multi input and multi output systems are not obvious
d) It is useful for time varying and linear systems

Answer: a
Explanation: The limitation of transfer function approach is that is it useful only for quadratic performance
index and multi input and multi output systems are obvious and also it is ineffective for time varying and
non-linear systems

“The State Regulator Problem”

1. The optimization method based on dynamic programming views :
a) Control problem as the multistage decision problem
b) Control input as a time sequence of decisions
c) A sampled data system gives rise to sequence of transformations of the original state vector
d) All of the mentioned

Answer: d
Explanation: The optimization method is based on dynamic programming views control problem as the
multistage decision problem and control input as time sequence of decisions.

2. The choice of control vector is considered decision of interest in :

a) Multistage process of N stages
b) Minimizing the performance index
c) Optimal policy or sequence
d) All of the mentioned

Answer: d
Explanation: The choice of control vector is considered decision of interest as it the part of multistage
process of N stages and this is optimal policy or sequence and this minimizes the performance criteria.

3. The principle of invariant imbedding is :

a) The optimal control sequence is function of initial state
b) The optimal control sequence is function of number of stages N
c) Control problem is imbedded with the family of problems with fixed initial value and final state
d) The optimal control sequence is function of final state
Answer: c
Explanation: In principle of invariant imbedding we do not regard the control problem as an isolated
problem with fixed initial value and N but rather imbed it with the family of problems.

4. The principle of optimality :

a) The optimal control sequence is function of initial state
b) The optimal control sequence is function of number of stages N
c) The principle maintains the N-stage decision process
d) Find one control value at a time until optimal policy is determined

Answer: The principle of optimality reduces the N-stage decision process into N-stage single state
process, which state that an optimal control policy has the property that whatever the initial state and
conditions are final state must follow the optimal policy.

5. The calculation in multistage process must always start from the first stage :
a) True
b) False

Answer: b
Explanation: It is permissible to find the last decision as the initial calculation step in multi stage decision
process.

6. The optimal control at each state is ________ combination of states.

a) Linear
b) Non-linear
c) Time variant
d) Time invariant

Answer: a
Explanation: The optimal control at each state is linear combination of states and thus giving the linear
state variable feedback control policy.

7. Feedback is :
a) Linear
b) Non-linear
c) Time variant
d) Time invariant

Answer: c
Explanation: Feedback is time varying all the optimal policy converts a linear time invariant plant with time
invariant quadratic performance index into a linear time varying feedback system.

8. Realization of the optimal control policy :

a) Feedback of the state variables
b) Feedback of the control variables
c) Control constraint
d) Control function

Answer: a
Explanation: Once the optimal control policy has been determined, its realization is the second phase of
the optimal control problem its realization seeks feedback of the state variables.

9. If the plant states are not variable for measurement, then it is possible to construct physical device
state observer if :
a) Produces output at its plant states
b) Plants equations must satisfy the conditions of observability
c) Both a and b
d) Input must be present

Answer: c
Explanation: It produces at it output the plant states, when driven by the both the plant input and output.

10. Value of the performance index must be finite if :

a) System is controllable
b) System is observable
c) System is stable
d) System is unstable

Answer: d
Explanation: The contribution of uncontrollable and unstable states is always finite provided the control
interval is always finite.

“The Infinite Time Regulator Problem”

1. In infinite time regulator for the final time is:
a) t1
b) t0
c) Infinite
d) Zero

Answer: c
Explanation: In infinite time regulator is the extended version of the state regulator and the final time for
the infinite time regulator is infinite in this case.

2. When time and the state variables tend to infinity then the system becomes:
a) Unstable
b) Stable
c) Marginally stable
d) Conditionally stable

Answer: b
Explanation: The terminal penalty term has no significance and it does not appear in the performance
index and terminal time if tends to infinity then the system becomes stable.

3. In finite time regulator:

a) There is no restriction on the controllability of the plant
b) Performance index is infinite
c) Instability imposes problem in finite-interval control
d) No restriction on controllability and performance index

Answer: a
Explanation: In finite time regulator there is no restriction on the controllability of the plant. This is because
is always finite and instability does not impose any problems in finite-time control.

4. Performance index can become infinite if:

a) One or more state are uncontrollable
b) The uncontrollable states are uncontrollable
c) The unstable states are reflected in system performance index
d) All of the mentioned
Answer: d
Explanation: Performance index can become infinite if one or more states are uncontrollable and unstable
states are reflected in system performance index.

5. In Infinite regulator the optimal control cannot be differentiated from other controls.
a) True
b) False

Answer: a
Explanation: In infinite regulator the optimal control may have same output for all the controls as the same
solution for the infinite regulators will exist.

6. The differential term in the riccati equation in infinite regulator is:

a) Finite
b) Positive
c) Infinite
d) Zero

Answer: d
Explanation: As the final time is not defined hence the differential term of the riccati equation becomes
zero and the equation we get is the modified riccati equation.

7. The solution of the modified riccati equation may be:

a) Independent
b) Dependent
c) Unique
d) Non-unique

Answer: d
Explanation: The solution of the modified Riccati equation may not be unique as the solution depends
upon the requirement that P must be positive and definite.

8. If Q is positive semi- definite:

a) The optimal closed loop system is asymptotically stable
b) The asymptotic stability is not guaranteed
c) The system is stable
d) The system is unstable

Answer: b
Explanation: If the plant is controllable and bounded and in infinite state regulators the asymptotic stability
is not guaranteed even if the Q is positive and semi-definite.

9. Tracking problem can be in:

a) Infinite state regulators
b) Finite state regulator
c) Sub-optimal state regulators
d) Non-linear regulators

Answer: c
Explanation: The application of the optimal regulators is that the minimum time, energy, fuel and tracking
problems are designed.

10. The regulators that convert the non-linear stability into linear stability:
a) Linear
b) Sub-optimal
c) Finite
d) Infinite

Answer: d
Explanation: In infinite state regulators stability is not guaranteed and hence the nonlinear stability is
converted into to the linear stability.

“Output Regulator and Tracking Problem”

1. For output regulator problem in performance index the parameter which is set to zero:
a) Input vector
b) Output vector
c) Control vector
d) State vector

Answer: b
Explanation: As the problem is to minimize the performance index involving output vector then the output
vector must be close to zero.

2. In tracking problem the parameter reduced is :

a) Error
b) Output
c) Input
d) State

Answer: a
Explanation: In tracking problem the main objective is to reduce error and this is the main concern so as
to reduce error.

3. Riccati equation is formed by using:

a) Output regulator problem
b) Finite state regulator problem
c) Infinite state regulator problem
d) Tracking problem

Answer: d
Explanation: Riccati equation can be formed using the results of the tracking problem as it is mainly
applied in the cases where the errors are reduced to the minimum.

4. The value of K must further follow the following constraint that the closed loop system must be:
a) Asymptotically stable
b) Stable
c) Marginally stable
d) Conditionally stable

Answer: a
Explanation: The value of Ki must further follow the following constraint that the closed loop system must
be asymptotically stable and this is due to the fact that the value of k matrix can be varied.

5. For suboptimal control the value of R is assumed to be:

a) Positive definite
b) Non-positive definite
c) Negative
d) Complex
Answer: b
Explanation: For suboptimal control the value of R is not assumed to be positive definite but it can also be
assumed to be zero.

6. Which one of the following compensation is required for improving the transient response of the
system?
a) Phase lead compensation
b) Phase lag compensation
c) Gain compensation
d) Both phase lag compensation and gain compensation

Answer: a
Explanation: For increasing or improving the transient response derivative controller is used and which is
the phase lead compensation.

7. Pneumatic controller
a) Flexible operation
b) High torque high speed operation
c) Fire and explosion proof operation
d) No leakage

Answer: c
Explanation: Pneumatic controllers are fire and explosion proof operation as they require air and gas fuel
for its operation.

8. Hydraulic controller:
a) Flexible operation
b) High torque high speed operation
c) Fire and explosion proof operation
d) No leakage

Answer: b
Explanation: Hydraulic controller must have no leakage and also it requires high torque and high speed
operation due to high density of the controller.

9. Electronic Controller:
a) Flexible operation
b) High torque high speed operation
c) Fire and explosion proof operation
d) No leakage

Answer: a
Explanation: Flexible in all sense as it does not require heavy components or extra torque or high speed
operations.

10. Which one of the following statement is correct?

A plant controlled by a proportional controller. If a time delay element is introduced in the loop its:
a) Phase margin remains the same
b) Phase margin increases
c) Phase margin decreases
d) Gain margin increases

Answer: c
Explanation: The introduction of a time delay element decreases both the phase and gain margin
 “Parameter Optimization”
1. A conditionally stable system exhibits poor stability at :
a) Low frequencies
b) Reduced values of open loop gain
c) Increased values of open loop gain
d) High frequencies

Answer: b
Explanation: A conditionally stable system is the system which is stable only for certain values of K and
exhibits poor stability at the reduced values of open loop gain.

2. The type 0 system has ______ at the origin.

a) No pole
b) Net pole
c) Simple pole
d) Two poles

Answer: a
Explanation: The type of the system is defined as the property of the system which has pole at the origin.

3. The type 1 system has ______ at the origin.

a) No pole
b) Net pole
c) Simple pole
d) Two poles

Answer: c
Explanation: The type of the system is defined as the pole at the zero and type 1 is defined as the 1 pole
at the origin.

4. The type 2 system has at the origin.

a) No net pole
b) Net pole
c) Simple pole
d) Two poles

Answer: d
Explanation: Type of the system is defined as the number of pole at origin and type 2 is the 2 poles at the
origin.

5. The position and velocity errors of a type-2 system are :

a) Constant, constant
b) Constant, infinity
c) Zero, constant
d) Zero, zero

Answer: c
Explanation: The position and velocity error of the type 2 system is zero and a constant value as for type
2 system velocity error is finite while acceleration error is infinite.
6. Velocity error constant of a system is measured when the input to the system is unit _______ function.
a) Parabolic
b) Ramp
c) Impulse
d) Step

Answer: b
Explanation: Velocity error constant of a system is measured when the input to the system is unit ramp
function then only velocity error is finite but error due to other inputs are not defined.

7. In case of type-1 system steady state acceleration is :

a) Unity
b) Infinity
c) Zero
d) 10

Answer: b
Explanation: In case of type-1 system steady state acceleration is infinity as for the type less than 3
acceleration is not defined it is infinity.

8. If a step function is applied to the input of a system and the output remains below a certain level for all
the time, the system is :
a) Not necessarily stable
b) Stable
c) Unstable
d) Always unstable

Answer: a
Explanation: If the input is bounded and output is also bounded then the system is always stable and step
input is bounded and the output is always under certain li its then the system is stable.

9. Which of the following is the best method for determining the stability and transient response?
a) Root locus
b) Bode plot
c) Nyquist plot
d) None of the mentioned

Answer: a
Explanation: Root locus is the best method for determining stability of the transient response as it gives
the exact pole zero location and also their effect on the response.

10. Phase margin of a system is used to specify which of the following?

a) Frequency response
b) Absolute stability
c) Relative
d) Conditional stability

Answer: b:
Explanation: Phase margin of the system can be used for determining the absolute stability of the system.