Control of Robotic Systems — Summer 2025

Define transfer function and its significance in control systems.

Describe the purpose of Bode plots in frequency response analysis.

Aunity feedback control system has an open-loop transfer function: G(s)=K / s (s+2)(s+4) Determine the value of gain Kat which the system just becomes marginally stable.

Explain the Routh-Hurwitz criterion for stability.

Define controllability and observability.

Illustrate the control law partitioning approach in robotic systems.

Design a PID controller for a robotic joint and explain its tuning process.

What is a phase-plane method in non-linear control?

Use the describing function method to analyze a simple nonlinear system.

Analyze a manipulator control problem using non-linear stability techniques.

Define Lyapunov’s stability criterion.

Explain the role of Liapunov's function in assessing system stability.

Evaluate system stability through phase plane trajectories with graphical illustration.

Differentiate between Point-to-Point and Continuous Path Control.

Explain hybrid position/force control with an example.

Examine the stability of the system whose characteristic equation is: S4 + 2S3 + 3S2 + 4S + 5 = 0

Construct the Routh array.

Determine the number of roots lying in the right-half of the s-plane.

Comment on system stability based on your findings.

Define Cartesian control in robotic systems.

Explain system analysis by phase plane method.

Explain pole placement by state feedback.

Describe any two physical non-linear systems and their characteristics.

Explain phase plane method for non-linear control system.

Explain the difference between P, PI, and PID controllers.

Explain Lag – Lead Compensation of Time response.

With neat sketch explain the working of Hydraulic PI controller and derive the transfer function.