Control System

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Control System
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CONTROL SYSTEM
2013
Q. 1
ONE MARK
The Bode plot of a transfer function G ^s h is shown in the figure below.
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The gain _20 log G ^s h i is 32 dB and - 8 dB at 1 rad/s and 10 rad/s respectively.

The phase is negative for all w. Then G ^s h is
(A) 39.8
(B) 392.8
s
s
32
32
(C)
(D) 2
s
s
2013
Q. 2
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TWO MARKS
Y ^s h
The signal flow graph for a system is given below. The transfer function
for
U ^s h
this system is
s+1
5s2 + 6s + 2
(C) 2 s + 1
s + 4s + 2
(A)
s+1
s 2 + 6s + 2
(D) 2 1
5s + 6s + 2
(B)
Statement for Linked Answer Questions 3 and 4:

The state diagram of a system is shown below. A system is described by the stateo = AX + Bu ; y = CX + Du
variable equations X
CONTROL SYSTEM
Q. 3
The state-variable equations of the system shown in the figure above are
o = >- 1 0 H X + >- 1H u
o = >- 1 0 H X + >- 1H u
X
X
(A)
(B)
-1 -1
1 -1
1
1
y = 61 - 1@ X + u
y = 6- 1 - 1@ X + u
o = >- 1 0 H X + >- 1H u
o = >- 1 - 1H X + >- 1H u
X
X
(C)
(D)
-1 -1
1
0 -1
1
y = 6- 1 - 1@ X - u
y = 61 - 1@ X - u
Q. 4
The state transition matrix eAt of the system shown in the figure above is
e-t 0
e-t
0
(B) >
(A) > -t -tH
H
-t
- te e-t
te e
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e-t 0
(C) > -t -tH
e e
Q. 5
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e-t - te-t
(D) >
H
0 e-t
The open-loop transfer function of a dc motor is given as V ^^shh = 1 +1010s . When

connected in feedback as shown below, the approximate value of Ka that will
reduce the time constant of the closed loop system by one hundred times as
compared to that of the open-loop system is
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(B) 5
(D) 100
2012
ONE MARK
(s2 + 9) (s + 2)
(s + 1) (s + 3) (s + 4)
is excited by sin (wt). The steady-state output of the system is zero at
(A) w = 1 rad/s
(B) w = 2 rad/s
(C) w = 3 rad/s
(D) w = 4 rad/s
A system with transfer function G (s) =
2012
Q. 7
(A) 1
(C) 10
Q. 6
ws
The feedback system shown below oscillates at 2 rad/s when
TWO MARKS
CONTROL SYSTEM
(A) K = 2 and a = 0.75

(C) K = 4 and a = 0.5
Q. 8
(B) K = 3 and a = 0.75

(D) K = 2 and a = 0.5
The state variable description of an LTI system is given by

Jxo1N J 0 a1 0NJx1N J0N
Jx1N
K O K
OK O K O
K O
y = _1 0 0iKx2O
Kxo2O = K 0 0 a2OKx2O + K0O u
Kxo O Ka
Kx 3O
0 0OKx 3O K 1O
3
3
L P L
PL P L P
L P
where y is the output and u is the input. The system is controllable for
(A) a1 ! 0, a2 = 0, a 3 ! 0
(B) a1 = 0, a2 ! 0, a 3 ! 0
(C) a1 = 0, a 3 ! 0, a 3 = 0
(D) a1 ! 0, a2 ! 0, a 3 = 0
2011
Q. 9
ONE MARK
The root locus plot for a system is given below. The open loop transfer function
corresponding to this plot is given by
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s (s + 1)
(s + 2) (s + 3)
(s + 1)
s (s + 2) (s + 3) 2
(s + 1)
1
(C) G ^s h H ^s h = k
(D) G ^s h H ^s h = k
s (s - 1) (s + 2) (s + 3)
s (s + 2) (s + 3)
(A) G ^s h H ^s h = k
Q. 10
(B) G ^s h H ^s h = k
For the transfer function G (jw) = 5 + jw , the corresponding Nyquist plot for
positive frequency has the form
CONTROL SYSTEM
2011
Q. 11
TWO MARKS
The block diagram of a system with one input u and two outputs y1 and y2 is
given below.
A state space model of the above system in terms of the state vector x and the
output vector y = [y1 y2]T is
(A) xo = [2] x + [1] u ; y = [1 2] x
1
(B) xo = [- 2] x + [1] u; y = > H x
2
-2 0
1
(C) xo = >
x + > H u ; y = 81 2B x
0 - 2H
1
2 0
1
1
(D) xo = > H x + > H u ; y = > H x
0 2
1
2
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Common Data For Q. 12 and 13
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100
.
s (s + 10) 2
The plant is placed in a unity negative feedback configuration as shown in the
figure below.
The input-output transfer function of a plant H (s) =
Q. 12
The gain margin of the system under closed loop unity negative feedback is
(A) 0 dB
(B) 20 dB
(C) 26 dB
(D) 46 dB
Q. 13
The signal flow graph that DOES NOT model the plant transfer function H (s) is
CONTROL SYSTEM
2010
Q. 14
ONE MARK
The transfer function Y (s) /R (s) of the system shown is
1
s+1
(D) 2
s+3
(A) 0
(C)
Q. 15
(B)
2
s+1
Y (s)
= s has an output y (t) = cos a2t - p k
3
X (s) s + p
p
for the input signal x (t) = p cos a2t - k. Then, the system parameter p is
2
(B) 2/ 3
(A) 3
A system with transfer function
(C) 1
Q. 16
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(D)
3 /2
For the asymptotic Bode magnitude plot shown below, the system transfer
function can be
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(A) 10s + 1
0.1s + 1
(C) 100s
10s + 1
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(B) 100s + 1
0.1s + 1
(D) 0.1s + 1
10s + 1
2010
Common Data For Q. 17 and 18

The signal flow graph of a system is shown below:
Q. 17
The state variable representation of the system can be

-1 1
0
1 1
0
o
xo = >
x +> Hu
(B)
(A) x = >- 1 0H x + >2H u
- 1 0H
2
yo = 80 0.5B x
yo = [0 0.5] x
TWO MARKS
Q. 18
Q. 19
CONTROL SYSTEM
1 1
0
xo = >
x +> Hu
H
(C)
-1 0
2
o
y = 80.5 0.5B x
The transfer function of the system is
(A) s2+ 1
s +1
(C) 2 s + 1
s +s+1
-1
xo = >
(D)
-1
o
y = 80.5
1
0
x +> Hu
H
0
2
0.5B x
(B) s2- 1
s +1
(D) 2 s - 1
s +s+1
A unity negative feedback closed loop system has a plant with the transfer
function G (s) = s + 21s + 2 and a controller Gc (s) in the feed forward path. For a unit
set input, the transfer function of the controller that gives minimum steady state
error is
(A) Gc (s) = s + 1
(B) Gc (s) = s + 2
s+2
s+1
(s + 1) (s + 4)
(C) Gc (s) =
(D) Gc (s) = 1 + 2 + 3s
s
(s + 2) (s + 3)
2
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2009
Q. 20
ONE MARK
The magnitude plot of a rational transfer function G (s) with real coefficients is
shown below. Which of the following compensators has such a magnitude plot ?
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(A) Lead compensator

(C) PID compensator
Q. 21
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(B) Lag compensator

(D) Lead-lag compensator
Consider the system

dx = Ax + Bu with A = =1 0G and B = =p G
q
0 1
dt
where p and q are arbitrary real numbers. Which of the following statements
about the controllability of the system is true ?
(A) The system is completely state controllable for any nonzero values of p and
q
(B) Only p = 0 and q = 0 result in controllability
(C) The system is uncontrollable for all values of p and q
(D) We cannot conclude about controllability from the given data
2009
Q. 22
TWO MARKS
The feedback configuration and the pole-zero locations of

2
G (s) = s2 - 2s + 2
s + 2s + 2
are shown below. The root locus for negative values of k , i.e. for - 3 < k < 0 , has
CONTROL SYSTEM
breakaway/break-in points and angle of departure at pole P (with respect to the

positive real axis) equal to
Q. 23
(A) ! 2 and 0c
(B) ! 2 and 45c
(C) ! 3 and 0c
(D) ! 3 and 45c
The unit step response of an under-damped second order system has steady state
value of -2. Which one of the following transfer functions has theses properties ?
(A) 2 - 2.24
(B) 2 - 3.82
s + 2.59s + 1.12
s + 1.91s + 1.91
(C)
- 2.24
s2 - 2.59s + 1.12
(D)
- 382
s2 - 1.91s + 1.91
in
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Common Data For Q. 24 and 25 :
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The Nyquist plot of a stable transfer function G (s) is shown in the figure are
interested in the stability of the closed loop system in the feedback configuration
shown.
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Q. 24
Which of the following statements is true ?

(A) G (s) is an all-pass filter
(B) G (s) has a zero in the right-half plane
(C) G (s) is the impedance of a passive network
(D) G (s) is marginally stable
Q. 25
The gain and phase margins of G (s) for closed loop stability are
(A) 6 dB and 180c
(B) 3 dB and 180c
(C) 6 dB and 90c
2008
Q. 26
(D) 3 dB and 90c

ONE MARKS
Step responses of a set of three second-order underdamped systems all have the
same percentage overshoot. Which of the following diagrams represents the poles
of the three systems ?
Q. 27
CONTROL SYSTEM
2008
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(A) Law pass filter

(C) Band filter
Q. 28
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The pole-zero given below correspond to a
(B) High pass filter

(D) Notch filter
A signal flow graph of a system is given below
The set of equalities that corresponds to this signal flow graph is

Jx1N R b - g 0 VJx1N R0 0 V
WK O S W u1
K O S
(A) d Kx2O = S g a 0 WKx2O + S0 1 We o
u2
dt K O S
x3
S- a b 0 WWKx3O SS1 0 WW
L P
L P
Jx1N RT0 a g XVJx1N TR1 0 XV
WK O S W u1
S
K
O
(B) d Kx2O = S0 - a - g WKx2O + S0 1 We o
u2
dt K O S
x3
S0 b - b WWKx3O SS0 0 WW
L P TR
L P
Jx1N - a b 0 VXJx1N RT1 0 VX
W
S
K O
K O S W u1
(C) d Kx2O = S- b - g 0 WKx2O + S0 1 We o
u2
dt K O S
x3
S a g 0 WWKx3O SS0 0 WW
L P TR
L P
Jx1N - a 0 b XVJx1N TR1 0XV
W
S
K O
K O S W u1
(D) d Kx2O = S g 0 a WKx2O + S0 1 We o
u2
dt K O S
x3
S- b 0 - a WWKx3O SS0 0 WW
L P T
XL P T X
TWO MARKS
Q. 29
CONTROL SYSTEM
Group I lists a set of four transfer functions. Group II gives a list of possible step
response y (t). Match the step responses with the corresponding transfer functions.
(A) P - 3, Q - 1, R - 4, S - 2
(B) P - 3, Q - 2, R - 4, S - 1
(C) P - 2, Q - 1, R - 4, S - 2
(D) P - 3, Q - 4, R - 1, S - 2
Q. 30
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A certain system has transfer function

G (s) = 2 s + 8
s + as - 4
where a is a parameter. Consider the standard negative unity feedback
configuration as shown below
Which of the following statements is true?

(A) The closed loop systems is never stable for any value of a
(B) For some positive value of a, the closed loop system is stable, but not for
all positive values.
(C) For all positive values of a, the closed loop system is stable.
(D) The closed loop system stable for all values of a, both positive and
negative.
Q. 31
The number of open right half plane of

10
is
G (s) = 5
4
3
s + 2s + 3 s + 6 s 2 + 5 s + 3
(A) 0
(B) 1
(C) 2
(D) 3
Q. 32
Q. 33
CONTROL SYSTEM
The magnitude of frequency responses of an underdamped second order system

is 5 at 0 rad/sec and peaks to 10 at 5 2 rad/sec. The transfer function of the
3
system is
500
(A) 2
(B) 2 375
s + 10s + 100
s + 5s + 75
720
(C) 2
(D) 2 1125
s + 12s + 144
s + 25s + 225
Group I gives two possible choices for the impedance Z in the diagram. The
circuit elements in Z satisfy the conditions R2 C2 > R1 C1. The transfer functions
V0 represents a kind of controller.
Vi
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Match the impedances in Group I with the type of controllers in Group II
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(A) Q - 1, R - 2
(C) Q - 2, R - 3
2007
Q. 34
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(B) Q - 1, R - 3
(D) Q - 3, R - 2
ONE MARK
s-5
If the closed-loop transfer function of a control system is given as T (s)
(s + 2)( s + 3)
, then It is
(A) an unstable system
(B) an uncontrollable system
(C) a minimum phase system
(D) a non-minimum phase system
2007
Q. 35
TWO MARKS
A control system with PD controller is shown in the figure. If the velocity error
constant KV = 1000 and the damping ratio z = 0.5 , then the value of KP and KD
are
(A) KP = 100, KD = 0.09

(C) KP = 10, KD = 0.09
(B) KP = 100, KD = 0.9

(D) KP = 10, KD = 0.9
Q. 36
CONTROL SYSTEM
5
(s + 5)( s2 + s + 1)
The second-order approximation of T (s) using dominant pole concept is
1
5
(B)
(A)
(s + 5)( s + 1)
(s + 5)( s + 1)
(C) 2 5
(D) 2 1
s +s+1
s +s+1
T (s) =
The transfer function of a plant is
Q. 37
The open-loop transfer function of a plant is given as G (s) = s 1- 1 . If the plant is

operated in a unity feedback configuration, then the lead compensator that an
stabilize this control system is
10 (s - 1)
10 (s + 4)
(A)
(B)
s+2
s+2
10 (s + 2)
2 (s + 2)
(C)
(D)
s + 10
s + 10
Q. 38
A unity feedback control system has an open-loop transfer function

K
G (s) =
2
s (s + 7s + 12)
in
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The gain K for which s = 1 + j1 will lie on the root locus of this system is
(A) 4
(B) 5.5
(C) 6.5
(D) 10
Q. 39
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The asymptotic Bode plot of a transfer function is as shown in the figure. The
transfer function G (s) corresponding to this Bode plot is
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1
(s + 1)( s + 20)
100
(C)
s (s + 1)( s + 20)
(A)
Q. 40
1
s (s + 1)( s + 20)
100
(D)
s (s + 1)( 1 + 0.05s)
(B)
The state space representation of a separately excited DC servo motor dynamics

is given as
dw
dt
dio
dt
-1
1 w
> H = =- 1 - 10G=ia G + =10Gu

where w is the speed of the motor, ia is the armature current and u is the
w (s)
armature voltage. The transfer function
of the motor is
U (s)
1
(B) 2
(A) 2 10
s + 11s + 11
s + 11s + 11
(C) 2 10s + 10
(D) 2 1
s + s + 11
s + 11s + 11
CONTROL SYSTEM
Statement for linked Answer Question 41 and 42 :
Q. 41
Q. 42
Consider a linear system whose state space representation is x (t) = Ax (t). If

1
the initial state vector of the system is x (0) = = G, then the system response is
2
1
e-2x
, then
x (t) = >
-2tH . If the itial state vector of the system changes to x (0) = =
- 2G
- 2e
e-t
the system response becomes x (t) = > -tH
-e
The eigenvalue and eigenvector pairs (li vi) for the system are
1
1
1
1
(A) e- 1 = Go and e- 2 = Go
(B) e- 1, = Go and e2, = Go
-1
-2
-1
-2
1
1
1
1
(C) e- 1, = Go and e- 2, = Go
(D) e- 2 = Go and e1, = Go
-1
-2
-1
-2
The system matrix A is
0 1
(A) =
- 1 1G
2 1
(C) =
- 1 - 1G
2006
Q. 43
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1 1
(B) =
- 1 - 2G
0 1
(D) =
- 2 - 3G
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ONE MARK
The open-loop function of a unity-gain feedback control system is given by

K
G (s) =
(s + 1)( s + 2)
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The gain margin of the system in dB is given by

(A) 0
(B) 1
(C) 20
2006
Q. 44
(D) 3
TWO MARKS
1
and G2 (s) = 2 s
.
s + as + b
s + as + b
The 3-dB bandwidths of their frequency responses are, respectively
(B) a2 + 4b , a2 - 4b
(A) a2 - 4b , a2 + 4b
Consider two transfer functions G1 (s) =
(C)
a2 - 4b , a2 - 4b
(D)
a2 + 4b , a2 + 4b
Q. 45
The Nyquist plot of G (jw) H (jw)for a closed loop control system, passes through
(- 1, j0) point in the GH plane. The gain margin of the system in dB is equal to
(A) infinite
(B) greater than zero
(C) less than zero
(D) zero
Q. 46
The positive values of K and a so that the system shown in the figures below
oscillates at a frequency of 2 rad/sec respectively are
(A) 1, 0.75
(C) 1, 1
(B) 2, 0.75
(D) 2, 2
Q. 47
Q. 48
CONTROL SYSTEM
The transfer function of a phase lead compensator is given by Gc (s) = 1 + 3Ts

1 + Ts
where T > 0 The maximum phase shift provide by
such a compensator is
(A) p
(B) p
2
3
p
(C)
(D) p
4
6
A linear system is described by the following state equation
0 1
Xo (t) = AX (t) + BU (t), A = =
- 1 0G
The state transition matrix of the system is
- cos t sin t
cos t sin t
(B) =
(A) =
- sin t cos t G
- sin t - cos t G
- cos t - sin t
cos t - sin t
(C) =
(D) =
G
- sin t cos t
cos t sin t G
in
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Statement for Linked Answer Questions 49 and 50:
Q. 49
Consider a unity - gain feedback control system whose open - loop transfer
1
function is : G (s) = as +
s2
The value of a so that the system has a phase - margin equal to p is approximately
4
equal to
(A) 2.40
(B) 1.40
od
(C) 0.84
Q. 50
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(D) 0.74
With the value of a set for a phase - margin of p , the value of unit - impulse
4
response of the open - loop system at t = 1 second is equal to
(A) 3.40
(B) 2.40
(C) 1.84
2005
(D) 1.74
ONE MARK
Q. 51
Which one of the following polar diagrams corresponds to a lag network ?
Q. 52
A linear system is equivalently represented by two sets of state equations :

Xo = AX + BU and Wo = CW + DU
CONTROL SYSTEM
The eigenvalues of the representations are also computed as [l] and [m]. Which
one of the following statements is true ?
(A) [l] = [m] and X = W
(B) [l] = [m] and X ! W
(C) [l] ! [m] and X = W
(D) [l] = [m] and X ! W
Q. 53
Despite the presence of negative feedback, control systems still have problems of
instability because the
(A) Components used have non- linearities
(B) Dynamic equations of the subsystem are not known exactly.
(C) Mathematical analysis involves approximations.
(D) System has large negative phase angle at high frequencies.
2005
Q. 54
TWO MARKS
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(A) K < 5 and 1 < K < 1

(B) K < 1 and 1 < K < 5
2
8
8
2
(C) K < 1 and 5 < K
(D) K > 1 and 5 > K
8
8
In the derivation of expression for peak percent overshoot
- px
Mp = exp e
o # 100%
1 - x2
Which one of the following conditions is NOT required ?
(A) System is linear and time invariant
Q. 55
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The polar diagram of a conditionally stable system for open loop gain K = 1 is
shown in the figure. The open loop transfer function of the system is known to be
stable. The closed loop system is stable for
(B) The system transfer function has a pair of complex conjugate poles and no
zeroes.
(C) There is no transportation delay in the system.
(D) The system has zero initial conditions.
Q. 56
Q. 57
A ramp input applied to an unity feedback system results in 5% steady state

error. The type number and zero frequency gain of the system are respectively
(A) 1 and 20
(B) 0 and 20
(D) 1 and 1
(C) 0 and 1
20
20
2
A double integrator plant G (s) = K/s , H (s) = 1 is to be compensated to achieve
the damping ratio z = 0.5 and an undamped natural frequency, wn = 5 rad/sec
Q. 58
CONTROL SYSTEM
which one of the following compensator Ge (s) will be suitable ?

(A) s + 3
(B) s + 99
s + 99
s+3
(C) s - 6
(D) s - 6
s + 8.33
s
K (1 - s)
An unity feedback system is given as G (s) =
. Indicate the correct root
s (s + 3)
locus diagram.
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Statement for Linked Answer Question 59 and 60
Q. 59
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The open loop transfer function of a unity feedback system is given by

-2s
G (s) = 3e
s (s + 2)
The gain and phase crossover frequencies in rad/sec are, respectively
(A) 0.632 and 1.26
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(B) 0.632 and 0.485
(C) 0.485 and 0.632
(D) 1.26 and 0.632

Q. 60
d
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Based on the above results, the gain and phase margins of the system will be
(A) -7.09 dB and 87.5c
(B) 7.09 dB and 87.5c
(C) 7.09 dB and - 87.5c

(D) - 7.09 and - 87.5c
2004
ONE MARK
Q. 61
The gain margin for the system with open-loop transfer function
2 (1 + s)
, is
G (s) H (s) =
s2
(B) 0
(A) 3
(C) 1
(D) - 3
Q. 62
K
Given G (s) H (s) = s (s + 1)(
.The point of intersection of the asymptotes of the
s + 3)
root loci with the real axis is
(B) 1.33
(A) - 4
(C) - 1.33
(D) 4
CONTROL SYSTEM
2004
Q. 63
TWO MARKS
Consider the Bode magnitude plot shown in the fig. The transfer function H (s) is
(A)
(s + 10)
(s + 1)( s + 100)
(B)
10 (s + 1)
(s + 10)( s + 100)
102 (s + 1)
103 (s + 100)
(D)
(s + 10)( s + 100)
(s + 1)( s + 10)
A causal system having the transfer function H (s) = 1/ (s + 2) is excited with
10u (t). The time at which the output reaches 99% of its steady state value is
(A) 2.7 sec
(B) 2.5 sec
(C)
Q. 64
.
a
i
(C) 2.3 sec

Q. 65
Q. 66
(D) 2.1 sec
A system has poles at 0.1 Hz, 1 Hz and 80 Hz; zeros at 5 Hz, 100 Hz and 200 Hz.
The approximate phase of the system response at 20 Hz is
(B) 0c
(A) - 90c
(C) 90c
(D) - 180c
d
o
.n
w
Consider the signal flow graph shown in Fig. The gain x5 is

x1
(A)
1 - (be + cf + dg)
abcd
abcd
1 - (be + cf + dg) + bedg
-2 2
If A = =
, then sin At is
1 - 3G
(C)
Q. 67
n
i
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o
c
bedg
1 - (be + cf + dg)
(D)
abcd
(B)
sin (- 4t) + 2 sin (- t) - 2 sin (- 4t) + 2 sin (- t)

(A) 1 =
G
3 - sin (- 4t) + sin (- t) 2 sin (- 4t) + sin (- t)
sin (- 2t) sin (2t)
(B) =
sin (t) sin (- 3t)G
sin (4t) + 2 sin (t) 2 sin (- 4t) - 2 sin (- t)
(C) 1 =
2 sin (4t) + sin (t) G
3 sin (- 4t) + sin (t)
cos (- t) + 2 cos (t) 2 cos (- 4t) + 2 cos (- t)
(D) 1 =
G
3 - cos (- 4t) + cos (- t) - 2 cos (- 4t) + cos (t)
Q. 68
The open-loop transfer function of a unity feedback system is

K
G (s) =
s (s2 + s + 2)( s + 3)
The range of K for which the system is stable is
(B) 13 > K > 0
(A) 21 > K > 0
4
Q. 69
CONTROL SYSTEM
(C) 21 < K < 3

(D) - 6 < K < 3
4
For the polynomial P (s) = s2 + s 4 + 2s3 + 2s2 + 3s + 15 the number of roots which
lie in the right half of the s -plane is
(A) 4
(B) 2
(C) 3
Q. 70
(D) 1
The state variable equations of a system are : xo1 =- 3x1 - x2 = u, xo2 = 2x1 and
y = x1 + u . The system is
(A) controllable but not observable
(B) observable but not controllable
(C) neither controllable nor observable
(D) controllable and observable
Q. 71
1 0
Given A = = G, the state transition matrix eAt is given by
0 1
0 e-t
(A) > -t
H
e
0
et 0
(B) = t G
0 e
e-t 0
(C) >
H
0 e-t
0 et
(D) = t G
e 0
2003
Q. 72
in
.
o
c
i
d
a.
ONE MARK
Fig. shows the Nyquist plot of the open-loop transfer function G (s) H (s) of a
system. If G (s) H (s) has one right-hand pole, the closed-loop system is
.
w
o
n
(A) always stable

(B) unstable with one closed-loop right hand pole
(C) unstable with two closed-loop right hand poles
(D) unstable with three closed-loop right hand poles
Q. 73
A PD controller is used to compensate a system. Compared to the uncompensated

system, the compensated system has
(A) a higher type number
(B) reduced damping
(C) higher noise amplification
2003
Q. 74
(D) larger transient overshoot

TWO MARKS
The signal flow graph of a system is shown in Fig. below. The transfer function
C (s)/ R (s) of the system is
(A)
Q. 76
6
s2 + 29s + 6
(B)
s (s + 2)
s + 29s + 6
(D)
n
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c
.
a
i
(s + 0.1) 3
(s + 0.1) 3
7
(A) 10
(B)
10
(s + 10)( s + 100)
(s + 10) 2 (s + 100)
2
(s + 0.1)
(s + 0.1) 3
(C)
(D)
(s + 10) 2 (s + 100)
(s + 10)( s + 100) 2
A second-order system has the transfer function
C (s)
= 2 4
R (s)
s + 4s + 4
With r (t) as the unit-step function, the response c (t) of the system is
represented by
Q. 78
The approximate Bode magnitude plot of a minimum phase system is shown in

Fig. below. The transfer function of the system is
d
o
Q. 77
6s
s2 + 29s + 6
s (s + 27)
s + 29s + 6
K
The root locus of system G (s) H (s) =
has the break-away point
s (s + 2)( s + 3)
located at
(A) (- 0.5, 0)
(B) (- 2.548, 0)
(C) (- 4, 0)
(D) (- 0.784, 0)
(C)
Q. 75
CONTROL SYSTEM
.n
w
The gain margin and the phase margin of feedback system with
8
are
G (s) H (s) =
(s + 100) 3
CONTROL SYSTEM
(A) dB, 0c
(C) 3, 0c
Q. 79
(B) 3, 3
(D) 88.5 dB, 3
The zero-input response of a system given by the state-space equation

x1 (0)
1
1 0 x1
xo1
=xo G = =1 1G=x G and =x (0)G = =0 G is
2
2
2
tet
(A) = G
t
et
(C) = t G
te
et
(B) = G
t
t
(D) = t G
te
2002
Q. 80
Q. 81
Q. 82
Q. 83
ONE MARK
Consider a system with transfer function G (s) = 2s + 6 . Its damping ratio

ks + s + 6
will be 0.5 when the value of k is
(B) 3
(A) 2
6
(C) 1
(D) 6
6
Which of the following points is NOT on the root locus of a system with the openk
loop transfer function G (s) H (s) =
s (s + 1)( s + 3)
(A) s =- j 3
(B) s =- 1.5
(C) s =- 3
(D) s =- 3
in
.
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c
.
a
i
d
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n
The phase margin of a system with the open - loop transfer function
(1 - s)
G (s) H (s) =
(1 + s)( 2 + s)
(A) 0c
(B) 63.4c
(C) 90c
(D) 3
.
w
The transfer function Y (s)/ U (s) of system described by the state equation
xo (t) =- 2x (t) + 2u (t) and y (t) = 0.5x (t) is
1
(B)
(A) 0.5
(s - 2)
(s - 2)
1
(C) 0.5
(D)
(s + 2)
(s + 2)
2002
Q. 84
The system shown in the figure remains stable when

(A) k < - 1
(B) - 1 < k < 3
(C) 1 < k < 3
Q. 85
TWO MARKS
(D) k > 3
The transfer function of a system is G (s) = (s + 1)(100

. For a unit - step input to
s + 100)
the system the approximate settling time for 2% criterion is
(A)100 sec
(B) 4 sec
(C) 1 sec
(D) 0.01 sec
Q. 86
CONTROL SYSTEM
The characteristic polynomial of a system is

q (s) = 2s5 + s 4 + 4s3 + 2s2 + 2s + 1
The system is
(A) stable
(B) marginally stable
(C) unstable
(D) oscillatory
Q. 87
1
The system with the open loop transfer function G (s) H (s) =
has a
2
s
s
s
1
(
+
+
)
gain margin of
(B) 0 db
(A) - 6 db
(C) 35 db
(D) 6 db
n
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o
c
2001
Q. 88
Q. 89
The Nyquist plot for the open-loop transfer function G (s) of a unity negative
feedback system is shown in the figure, if G (s) has no pole in the right-half of s plane, the number of roots of the system characteristic equation in the right-half
of s -plane is
(A) 0
(B) 1
(C) 2
(D) 3
.
a
i
d
o
.n
w
The equivalent of the block diagram in the figure is given is
Q. 90
ONE MARK
The root-locus diagram for a closed-loop feedback system is shown in the figure.
The system is overdamped.
CONTROL SYSTEM
(B) only if 1 < k < 5

(D) if 0 # k < 1 or k > 5
(A) only if 0 # k # 1
(C) only if k > 5
Q. 91
If the characteristic equation of a closed - loop system is s2 + 2s + 2 = 0 , then the

system is
(A) overdamped
(B) critically damped
(C) underdamped
(D) undamped
2001
Q. 92
TWO MARK
An electrical system and its signal-flow graph representations are shown the
figure (A) and (B) respectively. The values of G2 and H , respectively are
.
a
i
Z3 (s)
- Z3 (s)
- Z3 (s)
- Z3 (s)
(B)
,
,
Z1 (s) + Z3 (s) + Z4 (s) Z1 (s) + Z3 (s)
Z2 (s) - Z3 (s) + Z4 (s) Z1 (s) + Z3 (s)
Z3 (s)
Z3 (s)
Z3 (s)
- Z3 (s)
(C)
(D)
,
,
Z2 (s) + Z3 (s) + Z4 (s) Z1 (s) + Z3 (s)
Z2 (s) - Z3 (s) + Z4 (s) Z1 (s) + Z3 (s)
The open-loop DC gain of a unity negative feedback system with closed-loop
transfer function 2 s + 4
is
s + 7s + 13
4
(B) 4
(A)
13
9
(A)
Q. 93
(C) 4
Q. 94
d
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(D) 13
The feedback control system in the figure is stable
(A) for all K $ 0

(C) only if 0 # K < 1
2000
Q. 95
in
.
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c
(B) only if K $ 0
(D) only if 0 # K # 1
ONE MARK
An amplifier with resistive negative feedback has tow left half plane poles in its
open-loop transfer function. The amplifier
(A) will always be unstable at high frequency
(B) will be stable for all frequency
(C) may be unstable, depending on the feedback factor
(D) will oscillate at low frequency.
CONTROL SYSTEM
2000
Q. 96
TWO MARKS
1
A system described by the transfer function H (s) = 3
is stable.
2
s
+
a
s
+ ks + 3
The constraints on a and k are.
(A) a > 0, ak < 3
(B) a > 0, ak > 3
(C) a < 0, ak > 3
(D) a > 0, ak < 3
1999
Q. 97
ONE MARK
For a second order system with the closed-loop transfer function

T (s) = 2 9
s + 4s + 9
the settling time for 2-percent band, in seconds, is
(A) 1.5
(B) 2.0
(C) 3.0
Q. 98
The gain margin (in dB) of a system a having the loop transfer function
G (s) H (s) =
2
is
s (s + 1)
(A) 0
a.
di
(C) 6
Q. 99
n
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(D) 4.0
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(B) 3
(D) 3
The system modeled described by the state equations is

0 1
0
x + > Hu
X =>
2 - 3H
1
Y = 81 1B x
(A) controllable and observable

(C) observable, but not controllable
Q. 100
(B) controllable, but not observable

(D) neither controllable nor observable
The phase margin (in degrees) of a system having the loop transfer function
G (s) H (s) = 2 3 is
s (s + 1)
(B) - 30c
(A) 45c
(C) 60c
(D) 30c
1999
Q. 101
An amplifier is assumed to have a single-pole high-frequency transfer function.

The rise time of its output response to a step function input is 35 n sec . The upper
3 dB frequency (in MHz) for the amplifier to as sinusoidal input is approximately
at
(A) 4.55
(B) 10
(C) 20
Q. 102
TWO MARKS
(D) 28.6
If the closed - loop transfer function T (s) of a unity negative feedback system is
given by
an - 1 s + an
T (s) = n
s + a1 sn - 1 + .... + an - 1 s + an
then the steady state error for a unit ramp input is
CONTROL SYSTEM
(A) an
an - 1
(C) an - 2
an
(B) an
an - 2
(D) zero
Q. 103
Consider the points s1 =- 3 + j4 and s2 =- 3 - j2 in the s-plane. Then, for a

system with the open-loop transfer function
G (s) H (s) = K 4
(s + 1)
(A) s1 is on the root locus, but not s2
(B) s2 is on the root locus, but not s1
(C) both s1 and s2 are on the root locus
(D) neither s1 nor s2 is on the root locus
Q. 104
For the system described by the state equation

R 0 1 0V
R0V
S
W
S W
xo = S 0 0 1W x + S0W u
SS0.5 1 2WW
SS1WW
T
X
T X
If the control signal u is given by u = [- 0.5 - 3 - 5] x + v , then the eigen values
of the closed-loop system will be
(A) 0, - 1, - 2
(B) 0, - 1, - 3
(C) - 1, - 1, - 2
(D) 0, - 1, - 1
.
a
i
1998
Q. 105
d
o
n
ONE MARK
The number of roots of s3 + 5s2 + 7s + 3 = 0 in the left half of the s -plane is

(A) zero
(B) one
.
w
(C) two
Q. 106
in
.
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c
(D) three
The transfer function of a tachometer is of the form

(A) Ks
(B) K
s
K
(C) K
(D)
(s + 1)
s (s + 1)
Q. 107
Consider a unity feedback control system with open-loop transfer function

K .
G (s) =
s (s + 1)
The steady state error of the system due to unit step input is
(A) zero
(B) K
(C) 1/K
(D) infinite
Q. 108
The transfer function of a zero-order-hold system is

(A) (1/s) (1 + e-sT )
(B) (1/s) (1 - e-sT )
(C) 1 - (1/s) e-sT
Q. 109
(D) 1 + (1/s) e-sT
In the Bode-plot of a unity feedback control system, the value of phase of G (jw)
at the gain cross over frequency is - 125c. The phase margin of the system is
(A) - 125c
(B) - 55c
(C) 55c
(D) 125c
Q. 110
CONTROL SYSTEM
Consider a feedback control system with loop transfer function

K (1 + 0.5s)
G (s) H (s) =
s (1 + s) (1 + 2s)
The type of the closed loop system is
(A) zero
(B) one
(C) two
Q. 111
Q. 112
(D) three
The transfer function of a phase lead controller is 1 + 3Ts . The maximum value
1 + Ts
of phase provided by this controller is
(A) 90c
(B) 60c
(C) 45c
(D) 30c
The Nyquist plot of a phase transfer function g (jw) H (jw) of a system encloses the
(1, 0) point. The gain margin of the system is
(A) less than zero
(B) zero
(C) greater than zero
Q. 113
Q. 114
2
The transfer function of a system is 2s + 26s + 5 . The characteristic equation
(s + 1) (s + 2)
of the system is
(B) (s + 1) 2 (s + 2) = 0
(A) 2s2 + 6s + 5 = 0
(C) 2s2 + 6s + 5 + (s + 1) 2 (s + 2) = 0
(D) 2s2 + 6s + 5 - (s + 1) 2 (s + 2) = 0
d
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ONE MARK
In the signal flow graph of the figure is y/x equals
(A) 3
(C) 2
Q. 116
.
a
i
In a synchro error detector, the output voltage is proportional to [w (t)] n, where w (t)
is the rotor velocity and n equals
(A) 2
(B) 1
(C) 1
(D) 2
1997
Q. 115
n
i
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o
c
(D) infinity
(B) 5
2
(D) None of the above
A certain linear time invariant system has the state and the output equations
given below
1 - 1 X1
0
Xo1
> o H = >0 1 H>X H + >1H u
2
X2
(A) 1
(C) 0
dy
y = 81 1B: X1 D, If X1 (0) = 1, X2 (0) =- 1, u (0) = 0, then
X2
dt
(B) 1
(D) None of the above
***********
is
t=0
CONTROL SYSTEM
SOLUTIONS
Sol. 1
Option (B) is correct.

From the given plot, we obtain the slope as
20 log G2 - 20 log G1
Slope =
log w2 - log w1
From the figure
20 log G2
20 log G1
and
w1
w2
So, the slope is
=- 8 dB
= 32 dB
= 1 rad/s
= 10 rad/s
Slope = - 8 - 32
log 10 - log 1
=- 40 dB/decade
Therefore, the transfer function can be given as
G ^s h = k2
S
at w = 1
G ^ jwh = k 2 = k
w
In decibel,
20 log G ^ jwh = 20 log k = 32
in
.
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c
.
a
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Sol. 2
d
o
n
.
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32
or,
k = 10 = 39.8
Hence, the Transfer function is
G ^s h = k2 = 392.8
s
s
Option (A) is correct.
For the given SFG, we have two forward paths
20
Pk1 = ^1 h^s-1h^s-1h^1 h = s-2

Pk2 = ^1 h^s-1h^1 h^1 h = s-1
since, all the loops are touching to the paths Pk1 and Pk2 so,
Dk 1 = Dk 2 = 1
Now, we have
D = 1 - (sum of individual loops)
+ (sum of product of nontouching loops)
Here, the loops are
L1 = ^- 4h^1 h =- 4
L2 = ^- 4h^s-1h = 4s-1
L 3 = ^- 2h^s-1h^s-1h =- 2s-2
L 4 = ^- 2h^s-1h^1 h =- 2s-1
As all the loop L1, L2, L 3 and L 4 are touching to each other so,
D = 1 - ^L1 + L2 + L 3 + L 4h
= 1 - ^- 4 - 4s-1 - 2s-2 - 2s-1h
CONTROL SYSTEM
= 5 + 6s1 + 2s2
From Masons gain formulae
Y ^s h
s-2 + s-1
= SPk Dk =
= 2s+1
D
U ^s h
5s + 6s + 2
5 + 6s-1 + 2s-2
Sol. 3

For the shown state diagram we can denote the states x1 , x2 as below
So, from the state diagram, we obtain

xo1 =- x1 - u
xo2 =- x2 + ^1 h^- 1h^1 h^- 1h u + ^- 1h^1 h^- 1h x1
n
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xo2 =- x2 + x1 + u
and
y = ^- 1h^1 h x2 + ^- 1h^1 h^- 1h x1 + ^1 h^- 1h^1 h^- 1h^1 h u
= x1 - x 2 + u
Hence, in matrix form we can write the state variable equations
- 1 0 x1
-1
xo1
> o H = > 1 - 1H >x H + > 1 H u
x2
2
x1
and
y = 81 - 1B > H + u
x2
.
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which can be written in more general form as

-1 0
-1
X +> H
Xo = >
1 - 1H
1
Sol. 4
y = 81 - 1B X + u

From the obtained state-variable equations
We have
-1 0
A =>
1 - 1H
So,
S+1 0
SI - A = >
- 1 S + 1H
1 >S + 1 0 H
^S + 1h2 1 S + 1
R 1
V
S
0 W
S+1
W
=S 1
1 W
S
S^S + 1h2 S + 1W
T
X
Hence, the state transition matrix is obtained as
eAt = L-1 ^SI - Ah-1
V_
ZR 1
]]S
0 Wbb
-1
0
S+1
W` = >e
= L-1 [S 1
H
-t
1
S
W
te e-t
]S^S + 1h2 S + 1Wb
\T
Xa
and
^SI - Ah-1 =
Sol. 5
CONTROL SYSTEM
Option (C) is correct.

Given, open loop transfer function
G ^s h = 10Ka = Ka 1
1 + 10s s + 10
By taking inverse Laplace transform, we have
g ^ t h = e- t
1
10
Comparing with standard form of transfer function, Ae-t/t , we get the open
loop time constant,
tol = 10
Now, we obtain the closed loop transfer function for the given system as
G ^s h
10Ka
Ka
H ^s h =
=
=
1 + G ^s h 1 + 10s + 10Ka
s + ^Ka + 101 h
Taking inverse Laplace transform, we get
h ^ t h = ka .e-^k + ht
So, the time constant of closed loop system is obtained as
tcl = 1 1
ka + 10
or,
(approximately)
tcl = 1
ka
Now, given that ka reduces open loop time constant by a factor of 100. i.e.,
tcl = tol
100
1
or,
= 10
100
ka
Hence,
ka = 10
a
Sol. 6
1
10
in
.
o
c
.
a
i
d
o
n
(s2 + 9) (s + 2)
(s + 1) (s + 3) (s + 4)
(- w2 + 9) (jw + 2)
=
(jw + 1) (jw + 3) (jw + 4)
The steady state output will be zero if
G (s) =
Sol. 7
.
w
G (jw) = 0
-w 2 + 9 = 0
&
w = 3 rad/s

K (s + 1)
[R (s) - Y (s)]
s + as2 + 2s + 1
K (s + 1)
K (s + 1)
R (s)
Y (s) ;1 + 3
= 3
E
2
s + as2 + 2s + 1
s + as + 2s + 1
Y (s) [s3 + as2 + s (2 + k) + (1 + k)] = K (s + 1) R (s)
Y (s)
K (s + 1)
Transfer Function,
H (s) =
= 3
2
R (s) s + as + s (2 + k) + (1 + k)
Routh Table :
Y (s) =
CONTROL SYSTEM
a (2 + K) - (1 + K)
=0
a
a = K+1
K+2
For oscillation,
A (s) = as2 + (k + 1) = 0
s2 =- k + 1 = - k + 1 (k + 2) =- (k + 2)
a
(k + 1)
Auxiliary equation
s = j k+2
jw = j k + 2
w = k+2 = 2
k =2
a = 2 + 1 = 3 = 0.75
2+2 4
and
Sol. 8
(Oscillation frequency)
n
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c
Option (D) is correct.

General form of state equations are given as
xo = Ax + Bu
.
a
i
yo = Cx + Du
For the given problem
R 0 a 0V
R0V
1
W
S
S W
A = S 0 0 a2W, B = S0W
SSa
SS1WW
0 0WW
3
RT 0 a 0VXR0V R 0VT X
1
WS W S W
S
AB = S 0 0 a2WS0W = Sa2W
SSa
0 0WWSS1WW SS 0WW
3
RT 0
0XT aX1 a2VWTRS0XVW RSa1 a2VW
S
A2 B = Sa2 a 3
0
0WS0W = S 0W
SS 0 a a
0WWSS1WW SS 0WW
3 1
X
XT X T
T
For controllability it is necessary that following matrix has a tank of n = 3 .
R0 0 a a V
1 2W
S
0W
U = 6B : AB : A2 B@ = S0 a2
SS1 0
0WW
So,
a2 ! 0
X
T
a1 a 2 ! 0 & a1 ! 0
a 3 may be zero or not.
d
o
Sol. 9
.n
w

For given plot root locus exists from - 3 to 3, So there must be odd number of
poles and zeros. There is a double pole at s =- 3
Now
poles = 0, - 2, - 3, - 3
zeros =- 1
Thus transfer function
G (s) H (s) =
k (s + 1)
s (s + 2) (s + 3) 2
Sol. 10

We have
G (jw) = 5 + jw
Here s = 5 . Thus G (jw) is a straight line parallel to jw axis.
Sol. 11

Here
dy
x = y1 and xo = 1
dx
CONTROL SYSTEM
1
y1
x
y = > H = > H = > Hx
2
y2
2x
y1 = 1 u
s+2
Now
y1 (s + 2) = u
yo1 + 2y1 = u
xo + 2x = u
xo =- 2x + u
xo = [- 2] x + [1] u
Drawing SFG as shown below
xo1 = [- 2] x1 + [1] u
y1 = x1 ; y2 = 2x1
Thus
y1
1
y = > H = > H x1
y2
2
Sol. 12
.
a
i
x1 = x
Here
in
.
o
c
d
o
n
100
s (s + 10) 2
100
Now
G (jw) H (jw) =
jw (jw + 10) 2
If wp is phase cross over frequency +G (jw) H (jw) = 180c
G (s) H (s) =
We have
Thus
or
or
or
or
Now
.
w
- 180c = 100 tan-1 0 - tan-1 3 - 2 tan-1 a

- 180c =- 90 - 2 tan-1 (0.1wp)
45c = tan-1 (0.1wp)

tan 45c 0.1wp = 1
wp = 10 rad/se
100
G (jw) H (jw) =
w (w2 + 100)
At w = wp
G (jw) H (jw) =
100
= 1
10 (100 + 100) 20
Gain Margin =- 20 log 10 G (jw) H (jw)

=- 20 log 10 b 1 l
20
= 26 dB
Sol. 13

From option (D)
TF = H (s)
100
100
=
!
s (s2 + 100)
s (s + 10) 2
wp
10 k
Sol. 14
CONTROL SYSTEM

From the given block diagram
H (s) = Y (s) - E (s) $
1
s+1
E (s) = R (s) - H (s)

= R (s) - Y (s) +
1
= R (s) - Y (s)
s + 1D
sE (s)
= R (s) - Y (s)
(s + 1)
E (s)
Y (s) =
s+1
n
i
.
o
c
E (s) :1 -
From (1) and (2)
Sol. 15
.
a
i
d
o
sY (s) = R (s) - Y (s)

(s + 1) Y (s) = R (s)
.n
w
Transfer function
E (s)
(s + 1)
Y (s)
= 1
R (s) s + 1

Transfer function is given as
Y (s)
= s
X (s) s + p
jw
H (jw) =
jw + p
H (s) =
Amplitude Response
H (jw) =
Phase Response
Input
Output
or
or
w
w +p2
2
qh (w) = 90c - tan-1 a w k

p
x (t) = p cos a2t - p k
2
y (t) = H (jw) x (t - qh) = cos a2t - p k
3
w
H (jw) = p =
2
w +p2
2
1 =
,
(w = 2 rad/ sec)
p
4+p2
4p 2 = 4 + p 2 & 3p 2 = 4
p = 2/ 3
Alternative :
qh = 9- p - a- p kC = p
3
2
6
...(1)
...(2)
CONTROL SYSTEM
p
6
tan-1 a w k
p
w
p
2
p
So,
Sol. 17

Initial slope is zero, so K = 1
At corner frequency w 1 = 0.5 rad/ sec , slope increases by + 20 dB/decade, so
there is a zero in the transfer function at w 1
At corner frequency w 2 = 10 rad/ sec , slope decreases by - 20 dB/decade and
becomes zero, so there is a pole in transfer function at w 2
K a1 + s k
w1
Transfer function
H (s) =
s
a1 + w 2 k
1 a1 + s k (1 + 10s)
0.1
=
=
s
(1 + 0.1s)
a1 + 0.1 k
Assign output of each integrator by a state variable
in
.
o
c
.
a
i
.
w
d
o
n
xo1 =- x1 + x2
xo2 =- x1 + 2u
y = 0.5x1 + 0.5x2
State variable representation
-1 1
0
x + > Hu
xo = >
H
-1 0
2
yo = [0.5 0.5] x
Sol. 18
(w = 2 rad/ sec)
3,
p = 2/ 3
or
Sol. 16
= p - tan-1 a w k
2
p
=p-p =p
2 6
3
= tan a p k = 3
3

By massons gain formula
Transfer function
Y (s)
H (s) =
=
U (s)
/ PK DK
D
CONTROL SYSTEM
Forward path given

P1 (abcdef ) = 2 # 1 # 1 # 0.5 = 12
s
s
s
1
P2 (abcdef ) = 2 # # 1 # 0.5
3
Loop gain
L1 (cdc) =- 1
s
L2 (bcdb) = 1 # 1 # - 1 = -21
s
s
s
D = 1 - [L1 + L2] = 1 - :- 1 - 12 D = 1 + 1 + 12
s s
s s
D1 = 1, D2 = 2
Y (s)
H (s) =
= P1 D 1 + P2 D 2
D
U (s)
1 :1+1:1
2
(1 + s)
s
s
= 2
=
1
1
+ s + 1)
(
s
1+ + 2
s s
So,
Sol. 19
n
i
.
o
c
.
a
i

Steady state error is given as
d
o
sR (s)
eSS = lim
s " 0 1 + G (s) GC (s)
R (s) = 1
s
1
eSS = lim
s " 0 1 + G (s) GC (s)
1
= lim
s"0
GC (s)
1+ 2
s + 2s + 2
eSS will be minimum if lim GC (s) is maximum
s"0
In option (D)
lim GC (s) = lim 1 + 2 + 3s = 3
s
s"0
s"0
So,
eSS = lim 1 = 0 (minimum)
s"0 3
.n
w
(unit step unit)
Sol. 20

This compensator is roughly equivalent to combining lead and lad compensators
in the same design and it is referred also as PID compensator.
Sol. 21

Here
p
0
and B = = G
G
q
1
0 p
p
=
1G=q G =q G
p q
S = 8B AB B = =
q pG
1
A ==
0
1
AB = =
0
S = pq - pq = 0
Since S is singular, system is completely uncontrollable for all values of p and q .
Sol. 22
CONTROL SYSTEM

The characteristic equation is
1 + G (s) H (s) = 0
K (s2 - 2s + 2)
=0
1+
s2 + 2s + 2
s2 + 2s + 2 + K (s2 - 2s + 2) = 0
or
or
K =- s2 + 2s + 2
s - 2s + 2
For break away & break in point differentiating above w.r.t. s we have
2
2
dK =- (s - 2s + 2)( 2s + 2) - (s + 2s + 2)( 2s - 2) = 0
ds
(s2 - 2s + 2) 2
Thus (s2 - 2s + 2)( 2s + 2) - (s2 + 2s + 2)( 2s - 2) = 0
or
s =! 2
Let qd be the angle of departure at pole P , then
or
in
.
o
c
.
a
i
- qd - qp1 + qz1 + qz2 = 180c

- qd = 180c - (- qp1 + qz1 + q2)
= 180c - (90c + 180 - 45c) =- 45c
Sol. 23
d
o
n
.
w

For under-damped second order response
kwn2
s + 2xwn s + wn2
Thus (A) or (B) may be correct
For option (A)
wn = 1.12 and 2xwn = 2.59 " x = 1.12
For option (B)
wn = 1.91 and 2xwn = 1.51 " x = 0.69
T (s) =
where x < 1
Sol. 24

The plot has one encirclement of origin in clockwise direction. Thus G (s) has a
zero is in RHP.
Sol. 25

The Nyzuist plot intersect the real axis ate - 0.5. Thus
G. M. =- 20 log x =- 20 log 0.5 = 6.020 dB
And its phase margin is 90c.
Sol. 26

Transfer function for the given pole zero plot is:
(s + Z1)( s + Z2)
(s + P1)( s + P2)
From the plot Re (P1 and P2 )>(Z1 and Z2 )
So, these are two lead compensator.
Hence both high pass filters and the system is high pass filter.
Sol. 27
CONTROL SYSTEM

Percent overshoot depends only on damping ratio, x .
2
Mp = e- xp 1 - x
If Mp is same then x is also same and we get
x = cos q
Thus
q = constant
The option (C) only have same angle.
Sol. 28

We labeled the given SFG as below :
From this SFG we have

xo1 =- gx1 + bx3 + m1
xo2 = gx1 + ax3
xo3 =- bx1 - ax3 + u2
R V R
VR V R V
Sx1 W S- g 0 b WSx1 W S0 1 W u1
Sx2 W = S g 0 a WSx2 W + S0 0 We o
Thus
SSx WW SS- b 0 - a WWSSx WW SS1 0 WW u2
3
3
T X T
XT X T X
2xwn = 0, x = 0 " Undamped
P = 2 25
s + 25
.
a
i
d
o
Sol. 29
.n
w
Graph 3
Q=
62
s + 20s + 62
2xwn = 20, x > 1 " Overdamped
Graph 4
R=
62
s + 12s + 62
2xwn = 12, x = 1 " Critically
Graph 1
S=
72
s2 + 7s + 72
2xwn = 7, x < 1 " underdamped
Graph 2
Sol. 30
n
i
.
o
c

The characteristic equation of closed lop transfer function is
1 + G (s) H (s) = 0
=0
1+ 2 s+8
s + as - 4
or
s 2 + as - 4 + s + 8 = 0
or
s2 + (a + 1) s + 4 = 0
This will be stable if (a + 1) > 0 " a > - 1. Thus system is stable for all
positive value of a.
Sol. 31

The characteristic equation is
1 + G (s) = 0
CONTROL SYSTEM
or
s5 + 2s 4 + 3s3 + 6s2 + 5s + 3 = 0
Substituting s = z1 we have
3z5 + 5z 4 + 6z3 + 3z2 + 2z + 1 = 0
The routh table is shown below. As there are two sign change in first column,
there are two RHS poles.
z5
z3
21
5
7
5
z2
4
3
z1
- 74
z0
Sol. 32

For underdamped second order system the transfer function is
in
.
o
c
Kwn2
s + 2xwn s + wn2
It peaks at resonant frequency. Therefore
T (s) =
wr = wn 1 - 2x2
Resonant frequency
and peak at this frequency
mr =
.
a
i
5
2x 1 - x2
d
o
n
We have wr = 5 2 , and mr = 10 . Only options (A) satisfy these values.

3
1
wn = 10, x =
2
where
wr = 10 1 - 2` 1 j = 5 2
4
5
and
Hence satisfied
mr = 1
= 10
1
22 1- 4
3
Sol. 33
.
w

The given circuit is a inverting amplifier and transfer function is
Vo = - Z = - Z (sC1 R1 + 1)
R
Vi
R1
sC R + 1
1
For Q ,
(sC2 R2 + 1)
sC2
(sC2 R2 + 1) (sC1 R1 + 1)
=#
sC2
R1
R
2
=
(sC2 R2 + 1)
(sC1 R1 + 1)
R2
=#
(sC2 R2 + 1)
R1
Z =
Vo
Vi
For R,
Z
Vo
Vi
PID Controller
Since R2 C2 > R1 C1, it is lag compensator.

Sol. 34

In a minimum phase system, all the poles as well as zeros are on the left half of
CONTROL SYSTEM
the s -plane. In given system as there is right half zero (s = 5), the system is a
non-minimum phase system.
Sol. 35

Kv = lim sG (s) H (s)
We have
s"0
1000 = lim s
or
s"0
(Kp + KD s) 100
= Kp
s (s + 100)
Now characteristics equations is

1 + G (s) H (s) = 0
1000 = lims " 0 s
(Kp + KD s) 100
= Kp
s (s + 100)
Now characteristics equation is

or
2xwn = 10 + 100KD
d
o
KD = 0.9
or
.n
w
5
(s + 5)( s2 + s + 1)
5
=
= 2 1
5`1 + s j (s2 + s + 1)
s +s+1
5
T (s) =
We have
Kp = 100
.
a
i
or
s2 + (10 + 100KD) s + 10 4 = 0
Comparing with s2 + 2xwn + wn2 = 0 we get
Sol. 36
n
i
.
o
c
1 + G (s) H (s) = 0
(100 + KD s) 100
=0
1+
s (s + 10)
In given transfer function denominator is (s + 5)[( s + 0.5) 2 + 43 ]. We can see
easily that pole at s =- 0.5 ! j

have approximated it.
Sol. 37
3
2
is dominant then pole at s =- 5 . Thus we

G (s) =
1 =
1
s2 - 1 (s + 1)( s - 1)
The lead compensator C (s) should first stabilize the plant i.e. remove
term. From only options (A), C (s) can remove this term
Thus
Sol. 38
1
(s - 1)
10 (s - 1)
1
#
(s + 1)( s - 1)
(s + 2)
10
Only option (A) satisfies.
=
(s + 1)( s + 2)
G (s) C (s) =

For ufb system the characteristics equation is
1 + G (s) = 0
K
or
=0
1+
s (s2 + 7s + 12)
or
s (s2 + 7s + 12) + K = 0
Point s =- 1 + j lie on root locus if it satisfy above equation i.e
(- 1 + j)[( - 1 + j) 2 + 7 (- 1 + j) + 12) + K] = 0
CONTROL SYSTEM
K =+ 10
or
Sol. 39

At every corner frequency there is change of -20 db/decade in slope which indicate
pole at every corner frequency. Thus
K
G (s) =
s (1 + s)`1 + s j
20
Bode plot is in (1 + sT) form
= 60 dB = 1000
20 log K
w w = 0. 1
K =5
Thus
G (s) =
Hence
Sol. 40
100
s (s + 1)( 1 + .05s)

dw
dt
-1
1 w
> di H = =- 1 - 10G=in G + =10Gu

dt
We have
dw =- w + i
n
dt
dia =- w - 10i + 10u
a
dt
or
and
Taking Laplace transform (i) we get
...(1)
in
.
o
c
...(2)
.
a
i
sw (s) =- w (s) = Ia (s)

or
(s + 1) w (s) = Ia (s)
Taking Laplace transform (ii) we get
or
or
or
or
Sol. 41
d
o
n
sIa (s) =- w (s) - 10Ia (s) + 10U (s)

w (s) = (- 10 - s) Ia (s) + 10U (s)
= (- 10 - s)( s + 1) w (s) + 10U (s)
w (s) =- [s2 + 11s + 10] w (s) + 10U (s)
.
w
...(3)
From (3)
(s2 + 11s + 11) w (s) = 10U (s)

w (s)
= 2 10
U (s)
(s + 11s + 11)

We have
xo (t) = Ax (t)
p q
Let
A ==
r sG
1
e-2t
For initial state vector x (0) = = G the system response is x (t) = >
H
-2
- 2e-2t
Thus
d
dt
e-2t
> d (- 2e-2t)H
dt
t=0
or
- 2e-2 (0)
p q
p q 1
==
r s G=- 2G
1
> 4e-2 (0) H = =r s G=- 2G

-2
p - 2q
= 4 G = =r - 2s G
We get
p - 2q =- 2 and r - 2s = 4
...(i)
CONTROL SYSTEM
1
e-t
For initial state vector x (0) = = G the system response is x (t) = > -tH
-1
-e
e-t
> d (- e-t)H
dt
d
dt
Thus
t=0
-e
- (0)
p q 1
==
r s G=- 1G
p q
> e- (0) H = =r s G=- 1G

-1
p-q
= 1 G = =r - s G
p - q =- 1 and r - s = 1
Solving (1) and (2) set of equations we get
p q
0 1
=r s G = =- 2 - 3G
We get
...(2)
n
i
.
o
c
The characteristic equation

lI - A = 0
.
a
i
l -1
=0
2 l+3
l (l + 3) + 2 = 0
l =- 1, - 2
Thus Eigen values are - 1 and - 2
Eigen vectors for l1 =- 1
or
or
d
o
or
.n
w
(l1 I - A) X1 = 0
l1 - 1 x11
= 2 l + 3G=x G = 0
1
21
- 1 - 1 x11
= 2 2 G=x G = 0
21
or
- x11 - x21 = 0
or
x11 + x21 = 0
We have only one independent equation x11 =- x21.
Let x11 = K , then x21 =- K , the Eigen vector will be
x11
K
1
=x G = =- K G = K =- 1G
21
Now Eigen vector for l2 =- 2
(l2 I - A) X2 = 0
l2 - 1 x12
or
= 2 l + 3G=x G = 0
2
22
- 2 - 1 x11
or
= 2 1 G=x G = 0
21
- x11 - x21 = 0
x11 + x21 = 0
Let x11 = K, then x21 =- K , the Eigen vector will be
x12
K
1
=x G = =- 2K G = K =- 2G
22
or
or
CONTROL SYSTEM
Sol. 42

As shown in previous solution the system matrix is
0 1
A ==
- 2 - 3G
Sol. 43

Given system is 2nd order and for 2nd order system G.M. is infinite.
Sol. 44
Sol. 45

If the Nyquist polt of G (jw) H (jw) for a closed loop system pass through (- 1, j0)
point, the gain margin is 1 and in dB
GM =- 20 log 1
= 0 dB
Sol. 46

The characteristics equation is
in
.
o
c
1 + G (s) H (s) = 0
1+
K (s + 1)
=0
3
s + as2 + 2s + 1
.
a
i
s3 + as2 + (2 + K) s + K + 1 = 0
The Routh Table is shown below. For system to be oscillatory stable
a (2 + K) - (K + 1)
=0
a
or
a = K+1
K+2
Then we have
d
o
n
.
w
...(1)
as2 + K + 1 = 0
At 2 rad/sec we have
s = jw " s2 =- w2 =- 4 ,
Thus
- 4a + K + 1 = 0
Solving (i) and (ii) we get K = 2 and a = 0.75 .
s3
2+K
1+K
Sol. 47
s1
(1 + K) a - (1 + K)
a
s0
1+K

The transfer function of given compensator is
Gc (s) = 1 + 3Ts
1 + Ts
Comparing with
Gc (s) = 1 + aTs we get a = 3
1 + Ts
The maximum phase sift is
...(2)
T>0
fmax = tan-1 a - 1 = tan-1 3 - 1 = tan-1 1

2 a
2 3
3
fmax = p
6
or
Sol. 48
CONTROL SYSTEM

s 0
0 1
s -1
==
(sI - A) = = G - =
G
0 s
-1 0
1 sG
(sI - A) -1 =
s
1 =s - 1G = >s + 1
-1
s2 + 1 1 s
s +1
2
1
s2 + 1
s
s2 + 1
cos t sin t
f (t) = eAt = L-1 [(sI - A)] -1 = =
- sin t cos t G
Sol. 49
1
G (s) = as +
2
s
+G (jw) = tan-1 (wa) - p
Since PM is p i.e. 45c, thus
4
p = p + +G (jw ) w " Gain cross over Frequency
g
g
4
p = p + tan-1 (w a) - p
or
g
4
p = tan-1 (w a)
or
g
4
n
i
.
o
c
We have
.
a
i
d
o
.n
w
or
awg = 1
At gain crossover frequency G (jwg) = 1
Thus
or
or
Sol. 50
1 + a2 wg2
=1
wg2
1 + 1 = wg2
(as awg = 1)
wg = (2)
1
4

For a = 0.84 we have
G (s) = 0.84s2 + 1
s
Due to ufb system H (s) = 1 and due to unit impulse response R (s) = 1, thus
C (s) = G (s) R (s) = G (s)
= 0.84s2 + 1 = 12 + 0.84
s
s
s
Taking inverse Laplace transform
At t = 1,
Sol. 51
c (t) = (t + 0.84) u (t)

c (1 sec) = 1 + 0.84 = 1.84

The transfer function of a lag network is
T (s) = 1 + sT
1 + sbT
T (jw) =
1 + w2 T2
1 + w2 b2 T2
b > 1; T > 0
and
At w = 0 ,
At w = 0 ,
At w = 3 ,
CONTROL SYSTEM
+T (jw) = tan-1 (wT) - tan-1 (wbT)

T (jw) = 1
+T (jw) =- tan-1 0 = 0
T (jw) = 1
b
+T (jw) = 0
At w = 3 ,
Sol. 52

We have
Xo = AX + BU
and
Wo = CW + DU
where l is set of Eigen values

where m is set of Eigen values
If a liner system is equivalently represented by two sets of state equations, then
for both sets, states will be same but their sets of Eigne values will not be same
i.e.
X = W but l ! m
Sol. 53

Despite the presence of negative feedback, control systems still have problems of
instability because components used have nonlinearity. There are always some
variation as compared to ideal characteristics.
in
.
o
c
Sol. 54
Sol. 55

The peak percent overshoot is determined for LTI second order closed loop system
with zero initial condition. Its transfer function is
.
a
i
d
o
n
wn2
s2 + 2xwn s + wn2
Transfer function has a pair of complex conjugate poles and zeroes.
T (s) =
Sol. 56
.
w
For ramp input we have R (s) = 12

s
Now
ess = lim sE (s)
or
But
s"0
R (s)
1
= lim
1 + G (s) s " 0 s + sG (s)
ess = lim 1 = 5% = 1
s " 0 sG (s)
20
kv = 1 = lim sG (s) = 20
s"0
ess
= lim s
s"0
Finite
kv is finite for type 1 system having ramp input.

Sol. 57
Sol. 58

Any point on real axis of s - is part of root locus if number of OL poles and zeros
to right of that point is even. Thus (B) and (C) are possible option.
1 + G (s) H (s) = 0
or
1+
K (1 - s)
=0
s (s + 3)
CONTROL SYSTEM
2
K = s + 3s
1-s
or
For break away & break in point

dK = (1 - s)( 2s + 3) + s2 + 3s = 0
ds
- s2 + 2s + 3 = 0
which gives s = 3 , - 1
Here - 1 must be the break away point and 3 must be the break in point.
or
Sol. 59

-2s
G (s) = 3e
s (s + 2)
-2jw
or
G (jw) = 3e
jw (jw + 2)
3
G (jw) =
w w2 + 4
Let at frequency wg the gain is 1. Thus
3
=1
wg (wg2 + 4)
or
or
or
Now
.
a
i
d
o
wg4 + 4wg2 - 9 = 0
wg2 = 1.606
wg = 1.26 rad/sec
+G (jw) =- 2w - p - tan-1 w
2
2
.n
w
n
i
.
o
c
Let at frequency wf we have +GH =- 180c

w
- p =- 2wf - p - tan-1 f
2
2
w
or
2wf + tan-1 f = p
2
2
w
w 3
or
2wf + c f - 1 ` f j m = p
2
2
3 2
or
or
Sol. 60
5wf wf3
=p
2
2
24
5wf
.p
2
2
wf = 0.63 rad

The gain at phase crossover frequency wf is
3
3
=
G (jwg) =
wf (wf2 + 4)
0.63 (0.632 + 4)
or
G (jwg) = 2.27
G.M. =- 20 log G (jwg)
- 20 log 2.26 =- 7.08 dB
Since G.M. is negative system is unstable.
The phase at gain cross over frequency is
w
+G (jwg) =- 2wg - p - tan-1 g
2
2
1
2
CONTROL SYSTEM
=- 2 # 1.26 - p - tan-1 1.26

2
2
=- 4.65 rad or - 266.5c
PM = 180c + +G (jwg) = 180c - 266.5c =- 86.5c
or
Sol. 61

The open loop transfer function is
2 (1 + s)
G (s) H (s) =
s2
Substituting s = jw we have
2 (1 + jw)
G (jw) H (jw) =
- w2
+G (jw) H (jw) =- 180c + tan-1 w
The frequency at which phase becomes - 180c, is called phase crossover
frequency.
- 180 =- 180c + tan-1 wf
tan-1 wf = 0
or
wf = 0
The gain at wf = 0 is
Thus
or
Sol. 62
Sol. 63
in
.
o
c
w =3
G (jw) H (jw) = 2 1 +
w2
Thus gain margin is = 1 = 0 and in dB this is - 3 .
3
Centroid is the point where all asymptotes intersects.
SReal of Open Loop Pole - SReal Part of Open Loop Pole
s =
SNo.of Open Loop Pole - SNo.of Open Loop zero
= - 1 - 3 =- 1.33
3
d
o
n
.
a
i
.
w

The given bode plot is shown below
At w = 1 change in slope is +20 dB " 1 zero at w = 1

At w = 10 change in slope is - 20 dB " 1 poles at w = 10
K (s + 1)
Thus
T (s) = s
s
+ 1)
( 10 + 1)( 100
Now
20 log10 K =- 20 " K = 0.1
0.1 (s + 1)
100 (s + 1)
Thus
T (s) = s
=
s
( 10 + 1)( 100 + 1) (s + 10)( s + 100)
Sol. 64
...(1)
CONTROL SYSTEM
r (t) = 10u (t)

R (s) = 10
s
H (s) = 1
s+2
We have
or
Now
C (s) = H (s) $ R (s) =
1 $ 10 10
s + 2 s s (s + 2)
C (s) = 5 - 5
s s+2
or
c (t) = 5 [1 - e-2t]
The steady state value of c (t) is 5. It will reach 99% of steady state value
reaches at t , where
5 [1 - e-2t] = 0.99 # 5
or
1 - e-2t = 0.99
e-2t = 0.1
or
- 2t = ln 0.1
or
t = 2.3 sec
Sol. 65
.
a
i

Approximate (comparable to 90c) phase shift are
Due to pole at 0.01 Hz " - 90c
Due to pole at 80 Hz " - 90c
Due to pole at 80 Hz " 0
Due to zero at 5 Hz " 90c
Due to zero at 100 Hz " 0
Due to zero at 200 Hz " 0
Thus approximate total - 90c phase shift is provided.
d
o
Sol. 66
n
i
.
o
c
.n
w

Mason Gain Formula
T (s) =
Spk 3 k
3
In given SFG there is only one forward path and 3 possible loop.
p1 = abcd
31 = 1
3= 1 - (sum of indivudual loops) - (Sum of two non touching loops)
= 1 - (L1 + L2 + L3) + (L1 L3)
Non touching loop are L1 and L3 where
L1 L2 = bedg
Thus
Sol. 67
C (s)
p1 3 1
=
R (s)
abcd
=

We have
-2 2
A ==
1 - 3G
Characteristic equation is
CONTROL SYSTEM
[lI - A] = 0
l + 2 -2
=0
-1 l + 3
or
(l + 2)( l + 3) - 2 = 0
or
l2 + 5l + 4 = 0
Thus
l1 =- 4 and l2 =- 1
Eigen values are - 4 and - 1.
or
Eigen vectors for l1 =- 4

(l1 I - A) X1 = 0
l1 + 2 - 2 x11
= 1 l + 3G=x G = 0
1
21
- 2 - 2 x11
=- 1 - 1G=x G = 0
21
or
- 2x11 - 2x21 = 0
or
x11 + x21 = 0
Let x21 = K , then x11 =- K , the Eigen vector will be
x11
-K
-1
=x G = = K G = K = 1 G
21
or
in
.
o
c
.
a
i
Now Eigen vector for l2 =- 1

(l2 I - A) X2 = 0
l2 + 2 - 2 x12
or
= - 1 l + 3G=x G = 0
2
22
1 - 2 x12
or
=- 1 2 G=x G = 0
22
d
o
n
.
w
We have only one independent equation x12 = 2x22

Let x22 = K , then x12 = 2K . Thus Eigen vector will be
2
x12
2K
=x G = = K G = K =1 G
22
Digonalizing matrix
Now
-1 2
x11 x12
=
M ==
x21 x22 G = 1 1G
1 -2
M-1 = ` - 1 j=
1 - 1G
3
Now Diagonal matrix of sin At is D where

0
0
sin (l1 t)
sin (- 4t)
D ==
==
G
0
0
sin (l2 t)
sin (l2 t)G
Now matrix
B = sin At = MDM-1
- 1 2 sin (- 4t)
0
1 -2
=-` 1 j=
G
G
=
=
1 1
0
sin (- t) - 1 - 1G
3
- sin (- 4t) - 2 sin (- t) 2 sin (- 4t) - 2 sin (- t)
=-` 1 j=
sin (- 4t) + 2 sin (t) - 2 sin (- 4t) - sin (- t)G
3
- sin (- 4t) - 2 sin (- t) 2 sin (- 4t) - 2 sin (- t)
=-` 1 j=
sin (- 4t) - sin (- t) - 2 sin (- 4t) + 2 sin (- t)G
3
CONTROL SYSTEM
sin (- 4t) + 2 sin (- t) - 2 sin (- 4t) + 2 sin (- t)

= ` 1 j=
Gs
3 - sin (- 4t + sin (- t) 2 sin (- 4t) + sin (- t)
Sol. 68

For ufb system the characteristic equation is
1 + G (s) = 0
1 + G (s)
K
=0
s (s2 + 2s + 2)( s + 3)
s 4 + 4s3 + 5s2 + 6s + K = 0
The routh table is shown below. For system to be stable,
(21 - 4K)
0 < K and 0 <
2/7
21
This gives
0<K<
4
1+
s4
s3
7
2
s1
21 - 4K
7/2
s0
Sol. 69
n
i
.
o
c
.
a
i
d
o
.n
w

We have
P (s) = s5 + s 4 + 2s3 + 3s + 15
The routh table is shown below.
If e " 0+ then 2e +e 12 is positive and -15e2-e +2412e - 144 is negative. Thus there are two
sign change in first column. Hence system has 2 root on RHS of plane.
s4
15
s3
- 12
s2
2e + 12
e
15
s1
-15e - 24e - 144

2e + 12
s0
Sol. 70

- 3 - 1 x1
x1
1
=x G = = 2 0 G=x G + =0 Gu
2
2
x1
1
and
Y = [1 0]= G + = Gu
x2
2
-3 -1
1
Here
, B = = G and C = [1 0]
A ==
2 0G
0
The controllability matrix is
QC = [B AB ]
1 -3
==
0 2G
We have
CONTROL SYSTEM
Thus controllable
det QC ! 0
The observability matrix is
Q0 = [CT AT CT ]
1 -3
==
!0
0 - 1G
Thus observable
det Q0 ! 0
Sol. 71

s 0
1 0
s-1 0
(sI - A) = = G - = G = =
0 s
0 1
0 s - 1G
(sI - A) -1 =
1
0
(s - 1)
s-1
1
=
G
=
>
0
(s - 1)
0
(s - 1) 2
0
1
s-1
eAt = L-1 [(sI - A)] -1

et 0
= = tG
0 e
Sol. 72
in
.
o
c
Z = P-N
N " Net encirclement of (- 1 + j0) by Nyquist plot,
P " Number of open loop poles in right hand side of s - plane
Z " Number of closed loop poles in right hand side of s - plane
Here N = 1 and P = 1
Thus
Z =0
.
a
i
d
o
n
Hence there are no roots on RH of s -plane and system is always stable.
.
w
Sol. 73

PD Controller may accentuate noise at higher frequency. It does not effect the type
of system and it increases the damping. It also reduce the maximum overshoot.
Sol. 74

Mason Gain Formula
T (s) =
Spk 3 k
3
In given SFG there is only forward path and 3 possible loop.

p1 = 1
31 = 1 + 3 + 24 = s + 27
s
s
s
L1 = - 2 , L2 = - 24 and L3 = - 3
s
s
s
where L1 and L3 are non-touching
C (s)
p1 3 1
This
=
1 - (loop gain) + pair of non - touching loops
R (s)
^ s +s27 h
=
1 - ^ -s3 - 24s - s2 h + -s2 . -s3
s (s + 27)
= 2
s + 29s + 6
We have
=
Sol. 75
s + 27
s
1 + 29s + s62
CONTROL SYSTEM
1 + G (s) H (s) = 0
K
=0
1+
s (s + 2)( s + 3)
or
K =- s (s2 + 5s2 + 6s)

dK =- (3s2 + 10s + 6) = 0
ds
or
s = - 10 ! 100 - 72 =- 0.784, - 2.548

6
which gives
The location of poles on s - plane is
n
i
.
o
c
Since breakpoint must lie on root locus so s =- 0.748 is possible.

Sol. 76

The given bode plot is shown below
.
a
i
d
o
.n
w
At w = 0.1 change in slope is + 60 dB " 3 zeroes at w = 0.1

K ( 0s.1 + 1) 3
Thus
T (s) = s
s
( 10 + 1) 2 ( 100
+ 1)
Now
20 log10 K = 20
or
K = 10
Thus
Sol. 77
T (s) =
10 ( 0s.1 + 1) 3
108 (s + 0.1) 3
=
s
+ 1)
( 10s + 1) 2 ( 100
(s + 10) 2 (s + 100)

s2 + 4s + 4 = 0
Comparing with
s2 + 2xwn + wn2 = 0
we get
2xwn = 4 and wn2 = 4
Thus
x =1
ts = 4 = 4 = 2
1#2
xwn
Sol. 78
Sol. 79

We have
Critically damped
CONTROL SYSTEM
1
xo1
=xo G = =1
2
1
A ==
1
s
(sI - A) = =
0
x1 (0)
1
0 x1
and =
=
x2 (0)G =0 G
1G=x2 G
0
1G
0
1 0
s-1 0
-= G= =
G
s
1 1
- 1 s - 1G
1
0
s-1
1 >(s - 1)
=
H
>
1
+
(s - 1) 2 + 1 (s - 1)
(s - 1)
et 0
L-1 [(sI - A) -1] = eAt = = t t G
te e
et 0 1
et
x (t) = eAt # [x (t0)] = = t t G= G = = t G
te e 0
te
(sI - A) -1 =
Sol. 80
1
s-1

ks2 + s + 6 = 0
s2 + 1 s + 6 = 0
K
K
or
in
.
o
c
Comparing with s2 + 2xwn s + wn2 = 0 we have

we get
K
K
or
2 # 0.5 # 6 Kw = 1
K
6
1
or
= 2 & K =1
K
6
K
a.
i
d
o
n
Given x = 0.5
Sol. 81

Any point on real axis lies on the root locus if total number of poles and zeros
to the right of that point is odd. Here s =- 1.5 does not lie on real axis because
there are total two poles and zeros (0 and - 1) to the right of s =- 1.5 .
Sol. 82

From the expression of OLTF it may be easily see that the maximum magnitude
is 0.5 and does not become 1 at any frequency. Thus gain cross over frequency
does not exist. When gain cross over frequency does not exist, the phase margin
is infinite.
Sol. 83
.
w

We have
xo (t) =- 2x (t) + 2u (t)
Taking Laplace transform we get
sX (s) =- 2X (s) + 2U (s)
or
or
Now
or
or
(s + 2) X (s) = 2U (s)
2U (s)
X (s) =
(s + 2)
y (t) = 0.5x (t)
Y (s) = 0.5X (s)
0.5 # 2U (s)
Y (s) =
s+2
Y (s)
1
=
(s + 2)
U (s)
...(i)
CONTROL SYSTEM
Sol. 84

From Mason gain formula we can write transfer function as
K
Y (s)
K
s
=
=
3
R (s)
1 - ( s + -sK ) s - 3 (3 - K)
For system to be stable (3 - K) < 0 i.e. K > 3
Sol. 85

(s + 1)( s + 100) = 0
s2 + 101s + 100 = 0
2xwn = 101 and wn2 = 100
Thus
x = 101
20
n
i
.
o
c
Overdamped
For overdamped system settling time can be determined by the dominant pole
of the closed loop system. In given system dominant pole consideration is at
s =- 1. Thus
Sol. 86
.
a
i
and Ts = 4 = 4 sec
T
1 =1
T
d
o

Routh table is shown below. Here all element in 3rd row are zero, so system is
marginal stable.
2
s4
.n
w
s5
s3
s2
s1
w
0
2
0
2
1
0
s0
Sol. 87

The open loop transfer function is
1
G (s) H (s) =
2
s (s + s + 1)
Substituting s = jw we have
1
G (jw) H (jw) =
jw (- w2 + jw + 1)
+G (jw) H (jw) =- p - tan-1 w 2
2
(1 - w )
The frequency at which phase becomes - 180c, is called phase crossover
frequency.
wf
Thus
- 180 =- 90 - tan-1
1 - wf2
wf
or
- 90 =- tan-1
1 - wf2
or
1 - w2f = 0
CONTROL SYSTEM
wf = 1 rad/sec
The gain margin at this frequency wf = 1 is
GM =- 20 log10 G (jwf) H (jwf)
= 20 log10 (wf (1 - w2f) 2 + w2f =- 20 log 1 = 0
Sol. 88

Z = P-N
N " Net encirclement of (- 1 + j0) by Nyquist plot,
P " Number of open loop poles in right had side of s - plane
Z " Number of closed loop poles in right hand side of s - plane
Here N = 0 (1 encirclement in CW direction and other in CCW)
and P = 0
Thus Z = 0
Hence there are no roots on RH of s - plane.
Sol. 89
Sol. 90
Sol. 91

Take off point is moved after G2 as shown below
in
.
o
c
.
a
i

If roots of characteristics equation lie on negative axis at different positions (i.e.
unequal), then system response is over damped.
From the root locus diagram we see that for 0 < K < 1, the roots are on imaginary
axis and for 1 < K < 5 roots are on complex plain. For K > 5 roots are again on
imaginary axis.
Thus system is over damped for 0 # K < 1 and K > 5 .
.
w
d
o
n

s2 + 2s + 2 = 0
wn =
2
and
x = 1
2
Since x < 1 thus system is under damped
Sol. 92

From SFG we have
I1 (s) = G1 Vi (s) + HI2 (s)
I2 (s) = G2 I1 (s)
V0 (s) = G3 I2 (s)
Now applying KVL in given block diagram we have
Vi (s) = I1 (s) Z1 (s) + [I1 (s) - I2 (s)] Z3 (s)
...(1)
...(2)
...(3)
...(4)
CONTROL SYSTEM
0 = [I2 (s) - I1 (s)] Z3 (s) + I2 (s) Z2 (s) + I2 (s) Z4 (s)

From (4) we have
or
Vi (s) = I1 (s)[ Z1 (s) + Z3 (S)] - I2 (s) Z3 (S)
Z3 (s)
1
or
I1 (s) = Vi
+ I2
Z1 (s) + Z3 (s)
Z1 (s) + Z3 (s)
...(5)
...(6)
From (5) we have

I1 (s) Z3 (S) = I2 (s)[ Z2 (s) + Z3 (s) + Z4 (s)]
I1 (s) Z3 (s)
Is (s) =
Z3 (s) + Z2 (s) + Z4 (s)
or
...(7)
Comparing (2) and (7) we have

Z3 (s)
G2 =
Z3 (s) + Z2 (s) + Z4 (s)
Comparing (1) and (6) we have
Z3 (s)
H =
Z1 (s) + Z3 (s)
Sol. 93
n
i
.
o
c

For unity negative feedback system the closed loop transfer function is
G (s)
s+4
,
CLTF =
G (s) " OL Gain
=
1 + G (s) s2 + 7s + 13
2
1 + G (s)
or
= s + 7s + 13
G (s)
s+4
d
o
.
a
i
.n
w
1 = s2 + 7s + 13 - 1 = s2 + 6s + 9
G (s)
s+4
s+4
s
4
+
or
G (s) = 2
s + 6s + 9
For DC gain s = 0 , thus
Thus
G (0) = 4
9
or
Sol. 94

From the Block diagram transfer function is
G (s)
T (s) =
1 + G (s) H (s)
K (s - 2)
Where
G (s) =
(s + 2)
and
H (s) = (s - 2)
The Characteristic equation is
1 + G (s) H (s) = 0
K (s - 2)
1+
(s - 2) = 0
(s + 2) 2
or
(s + 2) 2 + K (s - 2) 2 = 0
or
(1 + K) s2 + 4 (1 - K) s + 4K + 4 = 0
Routh Table is shown below. For System to be stable 1 + k > 0 , and 4 + 4k > 0
and 4 - 4k > 0 . This gives - 1 < K < 1
As per question for 0 # K < 1
CONTROL SYSTEM
s2
1+k
4 + 4k
s1
4 - 4k
s0
4 + 4k
Sol. 95

It is stable at all frequencies because for resistive network feedback factor is
always less than unity. Hence overall gain decreases.
Sol. 96

The characteristics equation is s2 + as2 + ks + 3 = 0
The Routh Table is shown below
For system to be stable a > 0 and aK - 3 > 0
a
Thus a > 0 and aK > 3
Sol. 97
s3
s2
s1
aK - 3
a
s0
in
.
o
c
.
a
i

Closed loop transfer function is given as
T (s) = 2 9
s + 4s + 9
by comparing with standard form we get natural freq.
.
w
wA2 = 9
wn = 3
2xwn = 4
d
o
n
4 = 2/3
2#3
For second order system the setting time for 2-percent band is given by
4
ts = 4 =
=4 =2
xwn
3 # 2/3 2
Damping factor
Sol. 98
x =

Given loop transfer function is
G (s) H (s) =
2
s (s + 1)
2
jw (jw + 1)
Phase cross over frequency can be calculated as
G (jw) H (jw) =
So here
f (w) at w = w =- 180c
f (w) =- 90c - tan-1 (w)
- 90c - tan-1 (wp) =- 180c
tan-1 (wp) = 90c
p
wp = 3
CONTROL SYSTEM
Gain margin
20 log 10 =
1
at w = wp
G (jw) H (jw) G
G.M. = 20 log 10 e
2
=0
w2p + 1
G.M. = 20 log 10 b 1 l = 3
0
G (jwp) H (jwp) =
so
Sol. 99
1
G (jw) H (jwp) o
wp

0
1
0
, B = = G and C = [1 1]
A ==
G
2 -3
1
Here
The controllability matrix is
n
i
.
o
c
0 1
QC = [B AB ] = =
1 - 3G
det QC ! 0
The observability matrix is
.
a
i
Thus controllable
1 2
!0
Q0 = [CT AT CT ] = =
1 - 2G
d
o
det Q0 ! 0
Sol. 100
.n
w
G (s) H (s) = 2 3
s (s + 1)
we have
G (jw) H (jw) =
or
2 3
jw (jw + 1)
Gain cross over frequency
or
G (jw) H (jw) at w = w = 1
g
2 3
=1
w w2 + 1
12 = w2 (w2 + 1)
w4 + w2 - 12 = 0
(w2 + 4) (w2 - 3) = 0
w2 = 3 and w2 =- 4
w1, w2 = ! 3
which gives
wg =
3
f (w) at w = w =- 90 - tan-1 (wg)
g
=- 90 - tan-1 3
=- 90 - 60 =- 150
Phase margin = 180 + f (w) at w = w
g
= 180 - 150 = 30c
Sol. 101
Sol. 102

Closed-loop transfer function is given by
an - 1 s + an
T (s) = n
s + a1 sn - 1 + ... + an - 1 s + an
Thus observable
CONTROL SYSTEM
an - 1 s + an
n
n-1
s
a
+
+ ...an - 2 s2
1s
=
a
n - 1 s + an
1+ n
s + a1 sn - 1 + ...an - 2 s2
G (s) H (s) =
Thus
an - 1 s + an
sn + a1 sn - 1 + ....an - 2 s2
For unity feed back H (s) = 1

an - 1 s + an
sn + a1 sn - 1 + ....an - 2 s2
Steady state error is given by
1
E (s) = lim R (s)
s"0
1 + G (s) H (s)
for unity feed back H (s) = 1
Here input
R (s) = 12 (unit Ramp)
s
1
so
E (s) = lim 12
s " 0 s 1 + G (s)
n
a1 sn - 1 + .... + an - 2 s2
= lim 12 s +
n
s"0 s
s + a1 sn - 1 + .... + an
= an - 2
an
G (s) =
Thus
Sol. 103
Sol. 104
Sol. 105

Applying Rouths criteria
3
.
a
i
d
o
n
.
w
in
.
o
c
s + 5s + 7s + 3 = 0
s3
s2
1
s0
7#5-3
5
32
5
7
3
There is no sign change in the first column. Thus there is no root lying in the
left-half plane.
Sol. 106

Techometer acts like a differentiator so its transfer function is of the form ks .
Sol. 107

Open loop transfer function is
K
G (s) =
s (s + 1)
Steady state error
sR (s)
E (s) = lim
s " 0 1 + G (s) H (s)
R (s) = input
Where
R (s) = 1
s
H (s) = 1 (unity feedback)
Sol. 108
CONTROL SYSTEM
s1
s (s + 1)
s
so
E (s) = lim
= lim 2
=0
K
s"0
s"0 s + s + K
1+
s (s + 1)
Fig given below shows a unit impulse input given to a zero-order hold circuit
which holds the input signal for a duration T & therefore, the output is a unit
step function till duration T .
h (t) = u (t) - u (t - T)
Taking Laplace transform we have
H (s) = 1 - 1 e-sT = 1 61 - e-sT @
s s
s
Sol. 109
n
i
.
o
c
.
a
i
d
o
Phase margin = 180c + qg where qg = value of phase at gain crossover

frequency.
Here
so
Sol. 110
.n
w
qg =- 125c
P.M = 180c - 125c = 55c

Open loop transfer function is given by
K (1 + 0.5s)
G (s) H (s) =
s (1 + s) (1 + 2s)
Close looped system is of type 1.
It must be noted that type of the system is defined as no. of poles lies at origin
lying
in OLTF.
Sol. 111

Transfer function of the phase lead controller is
1 + (3Tw) j
T.F = 1 + 3Ts =
1+s
1 + (Tw) j
Phase is
f (w) = tan-1 (3Tw) - tan-1 (Tw)
w
f (w) = tan-1 ; 3Tw - T
2 2E
1 + 3T w
-1
f (w) = tan ; 2Tw2 2 E
1 + 3T w
For maximum value of phase
df (w)
=0
dw
or
1 = 3T 2 w2
Tw = 1
3
CONTROL SYSTEM
So maximum phase is
fmax = tan-1 ; 2Tw2 2 E at Tw = 1
1 + 3T w
3
1
2 3
1 = 30c
-1
= tan-1 >
H = tan ;
1 + 3 # 13
3E
Sol. 112

G (jw) H (jw) enclose the (- 1, 0) point so here G (jwp) H (jwp) > 1
wp = Phase cross over frequency
1
Gain Margin = 20 log 10
G (jwp) H (jwp)
so gain margin will be less than zero.
Sol. 113

The denominator of Transfer function is called the characteristic equation of the
system. so here characteristic equation is
(s + 1) 2 (s + 2) = 0
Sol. 114

In synchro error detector, output voltage is proportional to [w (t)], where w (t) is
the rotor velocity so here n = 1
Sol. 115

By massons gain formulae
/ Dk Pk
y
=
x
D
d
o
n
P1 = 5 # 2 # 1 = 10
D = 1 - (2 # - 2) = 1 + 4 = 5
Forward path gain
.
w
D1 = 1
y
= 10 # 1 = 2
x
5
so gain
Sol. 116
.
a
i

By given matrix equations we can have
Xo1 = dx1 = x1 - x2 + 0
dt
Xo2 = dx2 = 0 + x2 + m
dt
x1
y = [1 1] > H = x1 + x2
x2
dy
= dx1 + dx2
dt
dt
dt
dy
= x1 + m
dt
dy
= x1 (0) + m (0)
dt t = 0
in
.
o
c
= 1+0 = 0
***********

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