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YEAR 2013
Q. 1
ONE MARK
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Assuming zero initial condition, the response y ^ t h of the system given below to a
unit step input u ^ t h is
(A) u ^ t h
(B) tu ^ t h
2
(C) t u ^ t h
2
(D) e-t u ^ t h
YEAR 2013
Q. 3
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
CONTROL SYSTEMS
s+1
5s2 + 6s + 2
(C) 2 s + 1
s + 4s + 2
s+1
s 2 + 6s + 2
(D) 2 1
5s + 6s + 2
(A)
Q. 4
(B)
w ^s h
The open-loop transfer function of a dc motor is given as
= 10 . When
Va ^s h 1 + 10s
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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(A) 1
(C) 10
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(B) 5
(D) 100
Q. 6
(D) 1 - e-t
The system is
(A) controllable but not observable
(B) not controllable but observable
(C) both controllable and observable
(D) both not controllable and not observable
YEAR 2012
Q. 7
TWO MARKS
CONTROL SYSTEMS
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
Q. 8
Q. 9
Q. 10
od
6 rad/s
.n
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YEAR 2011
(D) 1/ 3 rad/s
ONE MARK
The frequency response of a linear system G (jw) is provided in the tubular form
below
G (jw)
w
1.3
+G (jw) - 130c
(A) 6 dB and 30c
(C) - 6 dB and 30c
Q. 12
.
a
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Q. 11
in
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1.2
1.0
0.8
0.5
0.3
- 140c
- 150c
- 160c
- 180c
- 200c
The steady state error of a unity feedback linear system for a unit step input is
0.1. The steady state error of the same system, for a pulse input r (t) having a
magnitude of 10 and a duration of one second, as shown in the figure is
(A) 0
(C) 1
(B) 0.1
(D) 10
Q. 13
CONTROL SYSTEMS
Q. 14
TWO MARKS
The open loop transfer function G (s) of a unity feedback control system is given
as
K bs + 2 l
3
G (s) = 2
s (s + 2)
From the root locus, at can be inferred that when K tends to positive infinity,
(A) Three roots with nearly equal real parts exist on the left half of the s -plane
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(B) One real root is found on the right half of the s -plane
(C) The root loci cross the jw axis for a finite value of K; K ! 0
(D) Three real roots are found on the right half of the s -plane
Q. 15
d
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w
1
plotted in the
s (s + 1) (s + 2)
complex G (jw) plane (for 0 < w < 3) is
The frequency response of G (s) =
TWO MARKS
Q. 17
CONTROL SYSTEMS
Q. 18
in
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d
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The
characteristic
equation
of
a
closed-loop
system
is
s (s + 1) (s + 3) k (s + 2) = 0, k > 0 .Which of the following statements is true ?
(A) Its root are always real
.
w
(B) It cannot have a breakaway point in the range - 1 < Re [s] < 0
(C) Two of its roots tend to infinity along the asymptotes Re [s] =- 1
(D) It may have complex roots in the right half plane.
YEAR 2009
Q. 19
Q. 20
ONE MARK
The measurement system shown in the figure uses three sub-systems in cascade
whose gains are specified as G1, G2, 1/G3 . The relative small errors associated with
each respective subsystem G1, G2 and G3 are e1, e2 and e3 . The error associated
with the output is :
(A) e1 + e2 + 1
e3
(B) e1 e2
e3
(C) e1 + e2 - e3
(D) e1 + e2 + e3
The polar plot of an open loop stable system is shown below. The closed loop
system is
CONTROL SYSTEMS
The first two rows of Rouths tabulation of a third order equation are as follows.
s3 2 2
s2 4 4
This means there are
(A) Two roots at s = ! j and one root in right half s -plane
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(A)
10 (s + 5)
s (s + 2) (s + 25)
(C)
100 (s + 5)
s (s + 2) (s + 25)
YEAR 2009
Q. 23
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1000 (s + 5)
s (s + 2) (s + 25)
80 (s + 5)
(D) 2
s (s + 2) (s + 25)
(B)
TWO MARKS
The unit-step response of a unity feed back system with open loop transfer
function G (s) = K/ ((s + 1) (s + 2)) is shown in the figure. The value of K is
Q. 24
CONTROL SYSTEMS
(A) 0.5
(B) 2
(C) 4
(D) 6
The open loop transfer function of a unity feed back system is given by
G (s) = (e - 0.1s) /s . The gain margin of the is system is
(A) 11.95 dB
(B) 17.67 dB
(C) 21.33 dB
(D) 23.9 dB
Q. 26
.
a
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e
(C) =
- 3t
- 2t
YEAR 2008
Q. 27
+e
G
e - 2t
d
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- 3t
e 3t e - 2t - e - 3t
(D) =
G
0
e - 2t
ONE MARK
(C) et u (t)
YEAR 2008
Q. 28
in
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(D) e - t u (t)
TWO MARK
Q. 29
CONTROL SYSTEMS
Q. 30
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Q. 33
CONTROL SYSTEMS
s
1
(D)
s (s + 2)
(s - 2)
A unity feedback is provided to the above system G (s) to make it a closed loop
system as shown in figure.
(C)
Q. 34
For a unit step input r (t), the steady state error in the input will be
(A) 0
(B) 1
(C) 2
(D) 3
YEAR 2007
Q. 35
ONE MARK
in
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(A) Stable
(B) Unstable
d
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Q. 36
YEAR 2007
If x = Re [G (jw)], and y = Im [G (jw)] then for w " 0+ , the Nyquist plot for
G (s) = 1/s (s + 1) (s + 2) is
(A) x = 0
(B) x =- 3/4
(C) x = y - 1/6
Q. 37
TWO MARKS
(D) x = y/ 3
Q. 38
CONTROL SYSTEMS
If the loop gain K of a negative feed back system having a loop transfer function
K (s + 3) / (s + 8) 2 is to be adjusted to induce a sustained oscillation then
(A) The frequency of this oscillation must be 4 3 rad/s
(B) The frequency of this oscillation must be 4 rad/s
(C) The frequency of this oscillation must be 4 or 4 3 rad/s
(D) Such a K does not exist
Q. 39
.
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with
(A) X = c0 s + c1, Y = 1/ (s2 + a0 s + a1), Z = b0 s + b1
Consider the feedback system shown below which is subjected to a unit step
input. The system is stable and has following parameters Kp = 4, Ki = 10, w = 500
and x = 0.7 .The steady state value of Z is
(A) 1
(B) 0.25
(C) 0.1
(D) 0
CONTROL SYSTEMS
Q. 41
Q. 42
(D) 48 %
in
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o
c
ONE MARK
3 (s - 2)
,
4s 2 - 2s + 1
the matrix A in the state space form Xo = AX + Bu is equal to
V
V
R
R
S1 0 0 W
S0 1 0 W
(A) S 0 1 0 W
(B) S 0 0 1 W
SS- 1 2 - 4 WW
SS- 1 2 - 4 WW
XV
TR
RT
V X
S0 1 0 W
S1 0 0 W
(C) S3 - 2 1 W
(D) S 0 0 1 W
SS1 - 2 4 WW
SS- 1 2 - 4 WW
T
X
X
T
For a system with the transfer function H (s) =
o
n
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YEAR 2006
Q. 44
i
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a.
TWO MARKS
CONTROL SYSTEMS
.
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Q. 46
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10 4 (1 + jw)
is
(10 + jw) (100 + jw) 2
CONTROL SYSTEMS
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YEAR 2005
Q. 47
ONE MARK
A system with zero initial conditions has the closed loop transfer function.
s2 + 4
T (s) =
(s + 1) (s + 4)
The system output is zero at the frequency
(A) 0.5 rad/sec
(B) 1 rad/sec
.
w
(C) 2 rad/sec
Q. 48
in
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c
(D) 4 rad/sec
Figure shows the root locus plot (location of poles not given) of a third order
system whose open loop transfer function is
(A) K3
s
(C)
K
s (s2 + 1)
K
s2 (s + 1)
K
(D)
s (s2 - 1)
(B)
Q. 49
CONTROL SYSTEMS
The gain margin of a unity feed back control system with the open loop transfer
(s + 1)
is
function G (s) =
s2
(A) 0
(B) 1
2
(C) 2
(D) 3
YEAR 2005
Q. 50
TWO MARKS
Q. 51
When subject to a unit step input, the closed loop control system shown in the
figure will have a steady state error of
.
a
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(A) - 1.0
(C) 0
Q. 52
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(B) - 0.5
(D) 0.5
In the G (s) H (s)-plane, the Nyquist plot of the loop transfer function
G (s) H (s) = pes passes through the negative real axis at the point
(A) (- 0.25, j0)
(B) (- 0.5, j0)
(C) 0
(D) 0.5
Q. 53
n
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(B) K > 1
(D) K < - 1
- 0.25s
If the compensated system shown in the figure has a phase margin of 60c at the
crossover frequency of 1 rad/sec, then value of the gain K is
(A) 0.366
(C) 1.366
(B) 0.732
(D) 2.738
Q. 54
1
(C) >
0
Q. 55
CONTROL SYSTEMS
(e3 - t - e- 3t)
H
e- 3t
(e- t - e- 3t)
H
e- t
1
(B) >
0
1
3
1
(D) >
0
(1 - e- t)
H
e- t
1 - e-t
(B) X (t) = = - 3t G
3e
t - e 3t
(C) X (t) = = - 3t G
3e
t - e - 3t
(D) X (t) = = - t G
e
YEAR 2004
Q. 56
Q. 57
The Nyquist plot of loop transfer function G (s) H (s) of a closed loop control
system passes through the point (- 1, j 0) in the G (s) H (s)plane. The phase
margin of the system is
(A) 0c
(B) 45c
(C) 90c
(D) 180c
in
.
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c
5
s (s2 + 3s + 2)
where F (s) is the Laplace transform of the of the function f (t). The initial value
of f (t) is equal to
(A) 5
(B) 25
Consider the function, F (s) =
(C)
Q. 58
ONE MARK
od
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5
3
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(D) 0
For a tachometer, if q (t) is the rotor displacement in radians, e (t) is the output
voltage and Kt is the tachometer constant in V/rad/sec, then the transfer function,
E (s)
will be
Q (s)
(A) Kt s2
(C) Kt s
(B) Kt s
(D) Kt
YEAR 2004
Q. 59
For the equation, s3 - 4s2 + s + 6 = 0 the number of roots in the left half of s
-plane will be
(A) Zero
(B) One
(C) Two
Q. 60
TWO MARKS
(D) Three
C (s)
is equal to
R (s)
2
(A) s +2 1
s
2
(B) s + s2 + 1
s
2
(C) s + s + 1
s
(D)
1
s2 + s + 1
CONTROL SYSTEMS
Q. 61
o = AX where
The state variable description of a linear autonomous system is, X
X is the two dimensional state vector and A is the system matrix given by
0 2
A = = G. The roots of the characteristic equation are
2 0
(B) - j2 and + j2
(A) - 2 and + 2
(C) - 2 and - 2
(D) + 2 and + 2
Q. 62
The block diagram of a closed loop control system is given by figure. The values
of K and P such that the system has a damping ratio of 0.7 and an undamped
natural frequency wn of 5 rad/sec, are respectively equal to
.
a
i
The unit impulse response of a second order under-damped system starting from
rest is given by c (t) = 12.5e - 6t sin 8t, t $ 0 . The steady-state value of the unit
step response of the system is equal to
(A) 0
(B) 0.25
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(C) 0.5
Q. 64
1 sin (t - 45c)
2
(B)
1 sin (t + 45c)
2
The open loop transfer function of a unity feedback control system is given as
1.
G (s) = as +
s2
The value of a to give a phase margin of 45c is equal to
(A) 0.141
(B) 0.441
(C) 0.841
YEAR 2003
Q. 66
(D) 1.0
In the system shown in figure, the input x (t) = sin t . In the steady-state, the
response y (t) will be
(A)
Q. 65
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(D) 1.141
ONE MARK
Q. 67
CONTROL SYSTEMS
A lead compensator used for a closed loop controller has the following transfer
K (1 + as )
function
For such a lead compensator
(1 + bs )
(A) a < b
(C) a > Kb
Q. 68
(B) b < a
(D) a < Kb
2
A second order system starts with an initial condition of = G without any external
3
e - 2t 0
input. The state transition matrix for the system is given by =
G. The state
0 e-t
of the system at the end of 1 second is given by
0.271
0.135
(A) =
(B) =
G
1.100
0.368G
0.271
(C) =
0.736G
0.135
(D) =
1.100 G
in
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YEAR 2003
Q. 69
TWO MARKS
.
a
i
d2 x + 1 dx + 1 x = 10 + 5e- 4t + 2e- 5t
2 dt
18
dt2
The natural time constant of the response of the system are
(A) 2 sec and 5 sec
(B) 3 sec and 6 sec
(C) 4 sec and 5 sec
Q. 70
(A) 25%
(B) 0.75 %
(C) 6%
(D) 33%
The roots of the closed loop characteristic equation of the system shown above
(Q-5.55)
(A) - 1 and - 15
(C) - 4 and - 15
Q. 72
The block diagram shown in figure gives a unity feedback closed loop control
system. The steady state error in the response of the above system to unit step
input is
Q. 71
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w
d
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(B) 6 and 10
(D)- 6 and - 10
CONTROL SYSTEMS
d2 w + B dw + K2 w = K V
dt
J dt
LJ
LJ a
The above equation may be organized in the state-space form as follows
R 2 V
Sd w W
dw
S dt2 W = P dt + QV
> H
a
S dw W
w
S dt W
Where Tthe PX matrix is given by
K
- B - LJ
- K - BJ
(B) = LJ
(A) = J
G
G
1
0
0
1
2
0
1
(C) =- K - B G
LJ
J
1
0
(D) =- B - K G
J
LJ
Q. 73
Q. 74
The loop gain GH of a closed loop system is given by the following expression
K
The value of K for which the system just becomes unstable is
s (s + 2) (s + 4)
(A) K = 6
(B) K = 8
(C) K = 48
(D) K = 96
The asymptotic Bode plot of the transfer function K/ [1 + (s/a)] is given in figure.
The error in phase angle and dB gain at a frequency of w = 0.5a are respectively
.
a
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(B) 5.7c, 3 dB
(D) 5.7c, 0.97 dB
The block diagram of a control system is shown in figure. The transfer function
G (s) = Y (s) /U (s) of the system is
1
18^1 + 12s h^1 + s3 h
1
(C)
27^1 + 12s h^1 + s9 h
(A)
1
27^1 + s6 h^1 + s9 h
1
(D)
27^1 + s9 h^1 + s3 h
(B)
***********
CONTROL SYSTEMS
SOLUTION
Sol. 1
20 log G2 - 20 log G1
log w2 - log w1
=- 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
or,
k = 10 = 39.8
Hence, the Transfer function is
G ^s h = k2 = 392.8
s
s
in
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c
.
a
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Sol. 2
.
w
d
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n
32
20
^y ^0 h = 0h
Sol. 3
CONTROL SYSTEMS
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,
n
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a
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D = 1 - ^L1 + L2 + L 3 + L 4h
d
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Sol. 4
.n
w
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
=
H ^s h =
1 + G ^s h 1 + 10s + 10Ka
Ka
=
s + ^Ka + 101 h
By 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 = 10
or,
100
ka
or,
ka = 10
a
1
10
Sol. 5
CONTROL SYSTEMS
....(1)
....(2)
So,
^s + 2h X1 = s1
^x1 ^0 h = 0h
1
s ^s + 2h
Now, from Eq. (2) we have
y = x1
Taking Laplace transform both the sides,
Y = XL
1
or,
Y =
s ^s + 2h
or,
Y = 1 ;1 - 1 E
2 s s+2
Taking inverse Laplace transform
y = 1 8u ^ t h - e-2t u ^ t hB
2
1
= - 1 e-2t
2 2
Option (A) is correct.
From the given state variable system, we have
-2 0
A =>
0 1H
X1 =
or,
in
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.
a
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Sol. 6
.
w
d
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n
....(3)
^for t > 0h
1
B = > H; C = 61 0@
1
Now, we obtain the controllability matrix
CM = 6B : AB@
and
1 -2
=>
2 1H
and the observability matrix is obtained as
C
1 0
H
OM = > H = >
-2 0
CA
So, we get
Sol. 7
CONTROL SYSTEMS
Sol. 8
.n
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Y (s) =
.
a
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d
o
n
i
.
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c
K (s + 1)
[R (s) - Y (s)]
s + as2 + 2s + 1
3
K (s + 1)
K (s + 1)
R (s)
=
s3 + as2 + 2s + 1E s3 + as2 + 2s + 1
Y (s) [s3 + as2 + s (2 + k) + (1 + k)] = K (s + 1) R (s)
Transfer Function,
Y (s)
K (s + 1)
H (s) =
=
R (s) s3 + as2 + s (2 + k) + (1 + k)
Routh Table :
Y (s) ;1 +
For oscillation,
a (2 + K) - (1 + K)
=0
a
a = K+1
K+2
Auxiliary equation
A (s) = as2 + (k + 1) = 0
s2 =- k + 1
a
k
+ 1 (k + 2) =- (k + 2)
2
s =
(k + 1)
CONTROL SYSTEMS
= j k+2
= j k+2
(Oscillation frequency)
= k+2 = 2
=2
and
a = 2 + 1 = 3 = 0.75
2+2 4
Option (A) is correct.
jw + a
GC (s) = s + a =
s+b
jw + b
Phase lead angle,
f = tan-1 a w k - tan-1 a w k
a
b
s
jw
w
k
Sol. 9
Jw - wN
b O = tan-1 w (b - a)
= tan K a
c ab + w 2 m
2
KK
O
1+ w O
ab P
L
For phase-lead compensation f > 0
-1
b-a > 0
b >a
Note: For phase lead compensator zero is nearer to the origin as compared to
pole, so option (C) can not be true.
Sol. 10
in
.
o
c
.
a
i
f = tan-1 a w k - tan-1 a w k
a
b
1
a
1
b
/
/
df
=
=0
2
2
dw
1 +awk 1 +awk
a
b
2
2
1 + w = 1+1w
a ab2
b b a2
Sol. 11
.
w
d
o
n
1 - 1 = w2 1 - 1
a b
ab b a b l
w = ab = 1 # 2 =
2 rad/ sec
Sol. 12
CONTROL SYSTEMS
So
Sol. 13
1 + G (0) = 10
G (0) = 9
Given input
r (t) = 10 [m (t) - m (t - 1)]
-s
or
R (s) = 10 :1 - 1 e-sD = 10 :1 - e D
s
s s
So steady state error
(1 - e-s)
s # 10
10 (1 - e0)
s
=0
el
=
ss = lim
1+9
s"0
1 + G (s)
Option (B) is correct.
n
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Transfer function having at least one zero or pole in RHS of s -plane is called
non-minimum phase transfer function.
s-1
G (s) =
(s + 2) (s + 3)
In the given transfer function one zero is located at s = 1 (RHS), so this is a
non-minimum phase system.
Poles - 2, - 3 , are in left side of the complex plane, So the system is stable
Sol. 14
d
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.
a
i
K bs + 2 l
3
G (s) = 2
s (s + 2)
Steps for plotting the root-locus
(1) Root loci starts at s = 0, s = 0 and s =- 2
(2) n > m , therefore, number of branches of root locus b = 3
(3) Angle of asymptotes is given by
(2q + 1) 180c
, q = 0, 1
n-m
(2 # 0 + 1) 180c
(I)
= 90c
(3 - 1)
(2 # 1 + 1) 180c
(II)
= 270c
(3 - 1)
(4) The two asymptotes intersect on real axis at centroid
- 2 - b- 2 l
3
Poles - / Zeroes
/
x =
=
=- 2
n-m
3-1
3
(5) Between two open-loop poles s = 0 and s =- 2 there exist a break away point.
s2 (s + 2)
K =2
bs + 3 l
dK = 0
ds
s =0
Root locus is shown in the figure
CONTROL SYSTEMS
Three roots with nearly equal parts exist on the left half of s -plane.
Sol. 15
in
.
o
c
1
s (s + 1 + K )
Y (s)
1
= 2
=
1
R (s) 1 +
s + s (1 + K ) + 1
s (s + 1 + K )
This is a second order system transfer function, characteristic equation is
.
a
i
d
o
n
s2 + s (1 + K) + 1 = 0
Comparing with standard form
.
w
s2 + 2xwn s + wn2 = 0
x = 1+K
2
We get
Peak overshoot
M p = e- px/
1 - x2
1
s (s + 1) (s + 2)
1
G (jw) =
jw (jw + 1) (jw + 2)
1
G (jw) =
w w2 + 1 w 2 + 4
+G (jw) =- 90c - tan- 1 (w) - tan- 1 (w/2)
G (s) =
In nyquist plot
For
w = 0, G (jw) = 3
+G (jw) =- 90c
For w = 3, G (jw) = 0
CONTROL SYSTEMS
- 3w2 - jw (2 - w2)
1
2 #
- 3w + jw (2 - w ) - 3w2 - jw (2 - w2)
- 3w2 - jw (2 - w2)
=
9w4 + w2 (2 - w2) 2
2
jw (2 - w2)
= 4 -23w
9w + w (2 - w2) 2 9w4 + w2 (2 - w2) 2
At real axis
Im [G (jw)] = 0
w (2 - w2)
So,
=0
4
9w + w2 (2 - w2)
2 - w2 = 0 & w = 2 rad/sec
At w = 2 rad/sec, magnitude response is
1
G (jw) at w = 2 =
=1<3
6 4
2 2+1 2+4
=
Sol. 17
n
i
.
o
c
.
a
i
A - lI = 0
-1 - l 2
-1 2
l 0
=
A - lI = >
0 2H >0 lH > 0
2 - lH
d
o
A - lI = (- 1 - l) (2 - l) - 2 # 0 = 0
&
l1, l2 =- 1, 2
Since eigen values of the system are of opposite signs, so it is unstable
Controllability :
-1 2
0
, B=> H
A =>
1
0 2H
2
AB = > H
2
0 2
[B: AB] = > H
1 2
.n
w
Y 0
6B: AB@ =
So it is controllable.
Sol. 18
s1
4(3 + K) - 2K (1)
4
s0
2K
2K
=
12 + 2K
4
>0
K>0
CONTROL SYSTEMS
There is no sign change in the first column of routh table, so no root is lying in
right half of s -plane.
For plotting root locus, the equation can be written as
K (s + 2)
=0
1+
s (s + 1) (s + 3)
Open loop transfer function
G (s) =
K (s + 2)
s (s + 1) (s + 3)
Breakaway point lies between open loop poles of the system. Here
breakaway point lies in the range - 1 < Re [s] < 0 .
5.
in
.
o
c
n-m
(0 - 1 - 3) - (- 2)
=
3-1
.
a
i
=- 1
As no. of poles is 3, so two root loci branches terminates at infinity along
asymptotes Re (s) =- 1
Sol. 19
Sol. 20
d
o
n
Here
.
w
CONTROL SYSTEMS
P = 0 (` system is stable)
So,
Z = 0 - (- 2)
Z = 2 , System is unstable with 2-poles on RH of s -plane.
Sol. 21
s2
n
i
.
o
c
s =! j
From table we have characteristic equation as
2s3 + 2s + 4s2 + 4 = 0
s3 + s + 2s2 + 2 = 0
s (s2 + 1) + 2 (s2 + 1) = 0
(s + 2) (s2 + 1) = 0
s =- 2 , s = ! j
Sol. 22
.
a
i
d
o
.n
w
Transfer function
K (s + 5)
s2 (s + 2) (s + 25)
Constant term can be obtained as.
T (s) =
T (jw) at w = 0.1 = 80
So,
80 = 20 log
K (5)
(0.1) 2 # 50
K = 1000
therefore, the transfer function is
1000 (s + 5)
T (s) = 2
s (s + 2) (s + 25)
Sol. 23
CONTROL SYSTEMS
s ^ s1 h
1
= lim >
H; R (s) = s (unit step input)
K
s"0 1 +
(s + 1)(s + 2)
1
=
= 2
2+K
1 + K2
ess = 2 = 0.25
2+K
So,
2 = 0.5 + 0.25K
K = 1.5 = 6
0.25
Sol. 24
+G (jwp) =- 180c
180
b- 0.1wp # p l - 90c =- 180c
0.1wp # 180c = 90c
p
0.1wp = 90c # p
180c
in
.
o
c
.
a
i
d
o
n
wp = 15.7 rad/sec
So the gain margin (dB)
Sol. 25
.
w
= 20 log e
1
= 20 log = 11 G
G (jwp) o
^ 15.7 h
y (t) = x1 (t)
Taking Laplace transform on both sides of equations.
sX1 (s) =- 3X1 (s) + X2 (s) + 2U (s)
(s + 3) X1 (s) = X2 (s) + 2U (s)
sX2 (s) =- 2X2 (s) + U (s)
(s + 2) X2 (s) = U (s)
From equation (1) & (2)
U (s)
(s + 3) X1 (s) =
+ 2U (s)
s+2
U (s) 1 + 2 (s + 2)
(2s + 5)
X1 (s) =
E = U (s) (s + 2) (s + 3)
s + 3; s + 2
From output equation,
...(1)
Similarly
Y (s) = X1 (s)
...(2)
CONTROL SYSTEMS
Y (s) = U (s)
So,
Sol. 26
(2s + 5)
(s + 2) (s + 3)
.
a
i
s+2 1
1
> 0 s + 3H
(s + 3) (s + 2)
R
V
1
S 1
W
(s + 3) (s + 3) (s + 2)W
S
-1
F (s) = (sI - A) = S
W
1
S 0
(s + 2) W
T - 3t - 2t
X
e
e - e- 3t
-1
f (t) = L [F (s)] = >
H
0
e- 2t
d
o
(sI - A) - 1 =
So
Sol. 27
n
i
.
o
c
.n
w
sY (s) + Y (s) = 1
(s + 1) Y (s) = 1
Y (s) =
1
s+1
1
s 2 + 3s + 2
r (t) = d (t - 1)
R (s) = L [d (t - 1)] = e- s
Output is given by
Y (s) = R (s) G (s) =
e- s
s + 3s + 2
2
CONTROL SYSTEMS
t"3
Sol. 29
s"0
Sol. 30
in
.
o
c
.
a
i
d
o
n
.
w
s (s + 3) (s + 10) + K = 0
s3 + 13s2 + 30s + K = 0
Applying Rouths stability criteria
s3
30
s2
13
s1
(13 # 30) - K
13
K
s0
CONTROL SYSTEMS
100
s2 + 20s + 100
Characteristic equation of the system is given by
H (s)) =
s2 + 20s + 100 = 0
wn2 = 100 & wn = 10 rad/sec.
2xwn = 20
x = 20 = 1
2 # 10
or
n
i
.
o
c
.
a
i
` Y (s) = CX (s)
Y (s) = C (sI - A) - 1 BU (s)
d
o
So
.n
w
Y (s)
= C (sI - A) - 1 B
T.F =
U (s)
s 0
0 1
s -1
=
(sI - A) = > H - >
0 s
0 - 2H >0 s + 2H
R
V
1 W
S1
1 >s + 2 1H = Ss s (s + 2)W
(sI - A) - 1 =
S0
1 W
s (s + 2) 0 s
S (s + 2) W
T
X
Transfer function
V
V
R
R
1 W
S1
S 1 W
s s (s + 2)W 0
Ss (s + 2)W
G (s) = C [sI - A] - 1 B = 81 0BSS
>1H = 81 0BS 1 W
W
1
S0 (s + 2) W
S (s + 2) W
X
X
T
T
1
=
s (s + 2)
Sol. 34
Here
So,
sR (s)
ess = lim =
G
s " 0 1 + G (s) H (s)
R (s) = L [r (t)] = 1 (Unit step input)
s
1
G (s) =
s (s + 2)
H (s) = 1 (Unity feed back)
s ^ s1 h
s (s + 2)
ess = lim >
H = lim
=
G =0
1
s"0 1 +
s " 0 s (s + 2) + 1
s (s + 2)
Sol. 35
CONTROL SYSTEMS
System response is
(s - 1)
(s - 1)
(s + 2)
=
H1 (s) =
(s - 1) 1
(s + 3)
1+
(s + 2) (s - 1)
Poles of the system is lying at s =- 3 (negative s -plane) so this is stable.
For input u2 the system is (u1 = 0)
in
.
o
c
.
a
i
System response is
1
(s - 1)
(s + 2)
H2 (s) =
=
s
1
(
)
(
s
1) (s + 3)
1+ 1
(s - 1) (s + 2)
d
o
n
.
w
One pole of the system is lying in right half of s -plane, so the system is unstable.
Sol. 36
1
s (s + 1) (s + 2)
1
G (jw) =
jw (1 + jw) (2 + jw)
G (s) =
By simplifying
- jw
1 - jw
2 - jw
1
1
G (jw) = c 1 #
jw - jw mc 1 + jw # 1 - jw mc 2 + jw # 2 - jw m
- jw (2 - w2 - j3w)
jw 1 - jw 2 - jw
=
w2 mc 1 + w2 mc 4 + w2 m
w2 (1 + w2) (4 + w2)
jw (w2 - 2)
- 3w2
= 2
2
2 + 2
w (1 + w ) (4 + w ) w (1 + w2) (4 + w2)
G (jw) = x + iy
x = Re [G (jw)] w " 0 = - 3 =- 3
1#4
4
Option (D) is correct.
Let response of the un-compensated system is
900
H UC (s) =
s (s + 1) (s + 9)
Response of compensated system.
= c-
Sol. 37
HC (s) =
CONTROL SYSTEMS
900
G (s)
s (s + 1) (s + 9) C
wp
9k
J w + wp N
p
9 O
90c = tan KK
2 O
w
K1- p O
9 P
L
w2p
=0
19
-1
wp = 3 rad/sec.
n
i
.
o
c
.
a
i
So,
d
o
.n
w
wg2 + 1 wg2 + 81
=1
GC (jwg) = 3 9 + 1 9 + 81 = 3 # 30 = 1
900
900
10
in dB GC (wg) = 20 log b 1 l
10
=- 20 dB (attenuation)
Sol. 38
CONTROL SYSTEMS
s1
s
64 + 3K
&
Sol. 39
in
.
o
c
.
a
i
(c 0 + c1 s) P
(s + a1 s + a 0) - P (b 0 + sb1)
(c 0 + c1 s) P
2
^s + a1 s + a 0h
=
P (b + sb1)
1- 2 0
s + a1 s + a 0
from the given reduced form transfer function is given by
T.F = XYP
1 - YPZ
by comparing above two we have
=
Sol. 40
d
o
n
.
w
X = (c 0 + c1 s)
1
Y = 2
s + a1 s + a 0
Z = (b 0 + sb1)
So,
CONTROL SYSTEMS
R
V
sb 1 l
S
W
s
Wb Ki l
Z = lim S
2
s"0S
K
w
W s
i
S1 + b s + K p l (s2 + 2xws + w2) W
T
X
Ki
= lim
= Ki = 1
2
s"0
w
>s + (Ki + K p s) 2
H Ki
(s + 2xws + w2)
Sol. 41
n
i
.
o
c
.
a
i
d
o
.n
w
x = 10
2
So peak overshoot is given by
Here
Sol. 42
Sol. 43
% peak overshoot = e
Option ( ) is correct.
- px
1 - x2
# 100 = e
- p # 0.5
1 - (0.5) 2
# 100 = 16%
Sol. 44
4s2 - 2s + 1 = 0
So, a2 = 4, a1 =- 2, a 0 = 1
R 0
1
0 VW RS 0 1 0 VW
S
0
1 W=S 0 0 1 W
A =S 0
SS- a - a - a WW SS- 1 2 - 4WW
0
1
2
X
X T
Option (A) is correct. T
In the given options only in option (A) the nyquist plot does not enclose the unit
circle (- 1, j0), So this is stable.
Sol. 45
CONTROL SYSTEMS
0.1 (1 + jw)
w
w 2
a1 + j 10 ka1 + j 100 k
The system is type 0, So, initial slope of the bode plot is 0 dB/decade.
Corner frequencies are
w1 = 1 rad/sec
w 2 = 10 rad/sec
w 3 = 100 rad/sec
As the initial slope of bode plot is 0 dB/decade and corner frequency w1 = 1 rad/
sec, the Slope after w = 1 rad/sec or log w = 0 is(0 + 20) =+ 20 dB/dec.
After corner frequency w2 = 10 rad/sec or log w2 = 1, the Slope is (+ 20 - 20) = 0
dB/dec.
Similarly after w3 = 100 rad/sec or log w = 2 , the slope of plot is (0 - 20 # 2) =- 40
dB/dec.
Hence (A) is correct option.
Sol. 46
.
a
i
d
o
n
in
.
o
c
.
w
(s2 - 4) (s + 1) + K (s - 1) = 0
K (s - 1)
or
=0
1+ 2
(s - 4) (s + 1)
So, the open loop transfer function for the system.
K (s - 1)
,
no. of poles n = 3
G (s) =
(s - 2) (s + 2) (s + 1)
no of zeroes m = 1
Steps for plotting the root-locus
(1) Root loci starts at s = 2, s =- 1, s =- 2
(2) n > m , therefore, number of branches of root locus b = 3
(3) Angle of asymptotes is given by
(2q + 1) 180c
, q = 0, 1
n-m
(I)
(2 # 0 + 1) 180c
= 90c
(3 - 1)
(II)
(2 # 1 + 1) 180c
= 270c
(3 - 1)
CONTROL SYSTEMS
K =-
(s2 - 4) (s + 1)
(s - 1)
dK = 0
ds
s =- 1.5
Sol. 47
(jw) 2 + 4
(jw + 1) (jw + 4)
4 - w2 = 0
w2 = 4
& w = 2 rad/sec
Sol. 48
Sol. 49
n
i
.
o
c
4 - w2
=0
^ jw + 1h (jw + 4)
.
a
i
d
o
.n
w
+G (jwp) =- 180c
tan- 1 (wp) =- 180c
wp = 0
Gain margin of the system is.
G.M =
Sol. 50
1
G (jwp)
1
=
2
wp + 1
w2p
w2p
=0
w2p + 1
CONTROL SYSTEMS
s (1 - K) + (1 + K) = 0
For the system to be stable, coefficient of characteristic equation should be of
same sign.
1 - K > 0, K + 1 > 0
K < 1, K > - 1
-1 < K < 1
K <1
Sol. 51
in
.
o
c
s"0
.
a
i
= R (s) ; 6
- 2 - Y (s) ; 6 E
s (s + 2) s + 2 E
s (s + 2)
6
Y (s) ;1 +
= R (s) ; 6 - 2s E
s (s + 2)E
s (s + 2)
(6 - 2s)
Y (s) = R (s) 2
(s + 2s + 6)
(6 - 2s)
E (s) = R (s) - 2
R (s)
(s + 2s + 6)
So,
.
w
d
o
n
2
= R (s) ; 2 s + 4s E
s + 2s + 6
1
For unit step input R (s) =
s
(s2 + 4s)
ess = lim =s 1 2
=0
s (s + 2s + 6)G
s"0
Sol. 52
CONTROL SYSTEMS
s = jw = 2p
Put s = 2p in given open loop transfer function we get
- 0.25 # 2p
G (s) H (s) s = 2p = pe
=- 0.5
2p
So it passes through (- 0.5, j0)
Sol. 53
K + j0.366w
jw (jw + 1)
n
i
.
o
c
.
a
i
d
o
.n
w
Sol. 54
Here
o (t) = >0
X
0
0
A =>
0
1
1
X (t) + > H u (t)
- 3H
0
1
1
,B = > H
H
-3
0
1
3
(1 - e-3t)
H
e-3t
Sol. 55
CONTROL SYSTEMS
in
.
o
c
.
a
i
d
o
n
.
w
- 3t
t-e
X (t) = > - 3t H
3e
Sol. 56
Sol. 57
Option () is correct
Phase margin of a system is the amount of additional phase lag required to bring
the system to the point of instability or (- 1, j0)
So here phase margin = 0c
5
s (s2 + 3s + 2)
F (s) =
5
s (s + 1) (s + 2)
Sol. 58
CONTROL SYSTEMS
dq (t)
dt
Sol. 59
E (s) = Kt sq (s)
So transfer function
E (s)
T.F =
= ^Kt h s
q (s)
Option (B) is correct.
Given characteristic equation,
n
i
.
o
c
s3 - 4s2 + s + 6 = 0
Applying Rouths method,
s3
s
s1
1
-4
.
a
i
- 4 - 6 = 2.5
-4
d
o
.n
w
s0
6
There are two sign changes in the first column, so no. of right half poles is 2.
No. of roots in left half of s -plane
Sol. 60
= (3 - 2) = 1
Sol. 62
CONTROL SYSTEMS
Sol. 63
in
.
o
c
.
a
i
100
s2 + 12s + 100
Steady state value of output for unit step input,
H (s) =
od
t"3
Sol. 64
s"0
.n
w
s"0
100
1 = 1.0
= lim s ; 2
s"0
s + 12s + 100 E s
Option (A) is correct.
System response is.
H (s) = s
s+1
jw
H (jw) =
jw + 1
Amplitude response
w
w+1
Given input frequency w = 1 rad/sec.
1
So
H (jw) w = 1 rad/sec =
= 1
1+1
2
Phase response
Sol. 65
H (jw) =
CONTROL SYSTEMS
Sol. 66
...(1)
n
i
.
o
c
.
a
i
d
o
.n
w
(s2 + 6s + 5) X (s) = 12 ; 2 E
s (s + 2)
X (s) =
24
s (s + 2) (s + 5) (s + 1)
s"0
24
= lim s ;
s"0
s (s + 2) (s + 5) (s + 1)E
=
Sol. 67
24 = 2.4
2#5
(2)
CONTROL SYSTEMS
Jw - wN
w (b - a)
= tan K a b2 O = tan- 1 ;
KK
O
ab + w2 E
1+ w O
ab P
L
qh should be positive for phase lead compensation
w (b - a)
So,
>0
qh (w) = tan- 1 ;
ab + w2 E
-1
b >a
Sol. 68
in
.
o
c
2e- 2t
x (t) = > - t H
3e
At t = 1, state of the system
0.271
2e- 2
x (t) t = 1 = > - 1H = >
1.100H
2e
Sol. 69
.
a
i
d
o
n
.
w
10 (s + 4) (s + 5) + 5s (s + 5) + 2s (s + 4)
(s2 + 1 s + 1 ) X (s) =
2
18
s (s + 4) (s + 5)
System response is,
10 (s + 4) (s + 5) + 5s (s + 5) + 2s (s + 4)
X (s) =
s (s + 4) (s + 5) bs2 + 1 s + 1 l
2
18
10 (s + 4) (s + 5) + 5s (s + 5) + 2s (s + 4)
s (s + 4) (s + 5) bs + 1 lbs + 1 l
3
6
We know that for a system having many poles, nearness of the poles towards
imaginary axis in s -plane dominates the nature of time response. So here time
constant given by two poles which are nearest to imaginary axis.
Poles nearest to imaginary axis
s1 =- 1 , s2 =- 1
6
3
So, time constants )
t1 = 3 sec
t2 = 6 sec
Sol. 70
CONTROL SYSTEMS
(unity feedback)
sb 1 l
s
= 15
ess = lim
= 15
60
+
15
45
45
s"0
1+
(s + 15) (s + 1)
So
Sol. 71
Here
n
i
.
o
c
.
a
i
(unity feedback)
G (s) = b 3 lb 15 l
s + 15 s + 1
1 + b 3 lb 15 l = 0
s + 15 s + 1
d
o
So,
.n
w
(s + 15) (s + 1) + 45 = 0
s2 + 16s + 60 = 0
(s + 6) (s + 10) = 0
s =- 6, - 10
Sol. 72
w = x2
So state equation is
In matrix form
So matrix P is
2
xo1 =- B x1 - K x2 + K Va
J
LJ
LJ
dw
xo2 =
= x1
dt
K/LJ
xo1
- B/J - K 2 /LJ x1
>o H = >
>x H + > 0 H Va
H
x2
1
0
2
R 2 V
Sd w
W
S dt2 W = P >dwH + QVa
dt
S dw W
S dt W
T
X
CONTROL SYSTEMS
- B/J - K 2 /LJ
> 1
H
0
Sol. 73
8
K
s1
6
K - 48
6
s0
Sol. 74
in
.
o
c
.
a
i
d
o
n
1 + w2
a
(0.5a) 2 1/2
= 20 log K - 20 log ;1 +
E
a2
= 20 log K - 0.96
Gain(dB) calculated from asymptotic plot at w = 0.5a is
gain(dB) w = 0.5a = 20 log K - 20 log
.
w
= 20 log K
Error in gain (dB)
= 20 log K - (20 log K - 0.96) dB = 0.96 dB
Similarly exact phase angle at w = 0.5a is.
qh (w) w = 0.5a =- tan- 1 a w k =- tan- 1 b 0.5a l =- 26.56c
a
a
CONTROL SYSTEMS
^ s1 h
= 1
s+3
1 + ^ s1 h3
1
bs l
G2 =
= 1
1
s + 12
1 + b l 12
s
Further reducing the block diagram.
G1 =
Where
n
i
.
o
c
2G1 G2
1 + (2G1 G2) 9
(2) b 1 lb 1 l
s + 3 s + 12
=
1 + (2) b 1 lb 1 l (9)
s + 3 s + 12
Y (s) =
.
a
i
d
o
2
2
= 2
(s + 3) (s + 12) + 18
s + 15s + 54
2
1
=
=
s
(s + 9) (s + 6)
27 a1 + ka1 + s k
9
6
=
.n
w
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