Branch: EC/EE/IN Subject: Control Systems

Solutions

01. Ans: (a) 04. Ans: (a)

Sol: The given circuit can be redrawn as Sol: C.E= s(s+2)(s+4)+k = 0
s3 + 6s2 + 8s + k = 0
d(s) + 2
` s3 1 8
3S  1
y(s)
 s2 6 k
1
48  k
s 0
3 6
s0 k
ys  2 2
   For system to be marginally stable
ds  3s  1 3s  7 48  k
2 0
1 3 6
3s  1  k = 48

02. Ans: (b)

Sol: 05. Ans: (c)
Gain = GH Sol: Block diagrams are used for both linear &
non linear systems where as signal flow
+ G graphs are valid for only linear systems
-

06. Ans: (a)

H
Sol: Magnitude of polar plot = a
Return difference = 1  Gain at A 1 1
Gain margin = =
= 1(GH)
= 1 + GH
G( j  pc
a

03. Ans: (c) 07. Ans: (c)

Sol: kp = lt G(s)  
s0 08. Ans: (c)
5 2 4s  5 5  5
kv = lt sG(s)  2 Sol: = 4 = 41  
s 0 1 5 s s  4s 
ka = lt s 2 G(s)  0  
s0
 1 
 4 1 
4 
 s
 5 
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 :2: Control Systems

 1  12. Ans: (b)

= 4 1 
 0.8s  1
R 1.
 sC1 R1
1  Sol: z1  
= 4 1   1 R 1C1s  1
 TIs  R1 
sC1
 TI = reset time = 0.8 sec
1 R C s 1
z2  R 2   2 2
09. Ans: (c) sC 2 sC 2
Sol: Given system is in controllable canonical V (s) z 2 (s)
form T.F  0 
V1 (s) z1 (s)  z 2 (s)
C(s) b (c1 s  c 0 )

T.F 
1  R 1C1s1  R 2 C 2s
R (s) s 2  a 1s  a 0
1  R 1C1s (1  R 2 C 2s)  R 1C 2s
 0 1  a 
A  B   C  c 0 c1  Substitute R1=2M = 2106;
 a 0  a 1  b R2 = 3106; C1 = 110–6 F;
C(s) 1(s  4) C2 = 110–6 F then
  2
R (s) s  2s  3 (1  2s) (1  3s) 6s 2  5s  1
 = 2
0 1 0 (1  2s) (1  3s)  2s 6s  7s  1
 A  B   C 4 1
 3  2 1
13. Ans: (c)
10. Ans: (b) Sol: Loops
Sol: Asymptotes meet at the centroid. Loop1  x2–x3 –x2
 5  6  1  1  (3)  10 Loop2  x2 –x3–x4 –x2
   2.5
4 4 Loop3  x4 – x4
Loop4 x2 –x3 –x4–x5 –x2
11. Ans: (c) Loop5 x2 –x3–x5 –x2
C(s)
Sol: Given T.F  Two non touching loops
R (s) L1L3 and L3L5
s s
  for Ramp
s  12s  32 (s  4)(s  8)
2 14. Ans: (a)
1   2 3   2  3 
R (s)  2 11        
s E ( s)   3 2   3 2 
Sol: 
s 1 R( s)  2 3   2  3
C(s)   R (s)  1     3    
(s  4)(s  8) s(s  4)(s  8) 3 2  3 2 
C(s) 
1

1

1  2 3 1 1
11    2  3   
32  s 16(s  4) 32(s  8)
 
3 2 2 3
1 1 1 2 3 1 1
c(t )   e4 t  e8 t 1   3  2  3 
32 16 32 3 2 2 3

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 :3: Classroom Test

5 d
1  1 AE2 = 4s
 6 ds
5 3 sign changes in the first column
1   3 1
6 AE1 = –2s4 + 4s2 – 2 = 0
E(s) 5 s4–2s2+1= 0
 (s2–1)2 = 0
R (s) 23

15. Ans: (c)

–1 +1
C( t p )  C (  )
Sol: %MP =  100
C(  )
 
–1 +1
%MP = e 1 100
2

= 16.3%   There are 2 symmetric poles are

x2 located in RHP
100 16.3
2  1 non symmetric pole in RHP.
(x–2) = 0.32 Total 3 poles in RHP
x = 2.32
18. Ans: (a)
Sol: 1+KG = 0
16. Ans: (b)
K(s  2)
C(s)
 2
k 1+ 3 0
Sol:
R (s) s  4s  k s  8s2  19s  12
K (s  2)
n = k 1+ 0
(s  1)(s  3)(s  4)
2n = 4
(s  2)
2[0.5] k  4 G(s) =
(s  1)(s  3)(s  4)
k = 16
The system is stable.
17. Ans: (d)
19. Ans: (b)
Sol: C.E= s5–2s4–2s3+4s2+s–2=0
(10s  )
Sol: G (s)  2 ; H(s)  1
+s5 1 –2 1 s (s  6)
–s4 –2 4 –2 G(s) is not in standard form.
–s3 0(–1) 0(1) 0 CE is 1+G(s) = 0
+s2 +2 –2 0 CE is s3+6s2+10s+=0
+s1 0(4) 0 0 
–s0 –2 G (s)  2 , H(s)  1
s(s  6s  10)
d
AE1 = –2s4 + 4s2 – 2 = 0 Break points: 0
d ds
AE1 =–8s3+8s  take 8 common  –1, 1 d 1 
ds   3 0
AE2 = 2s2–2 = 0 ds  s  6s  10s 
2

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 :4: Control Systems

 0– (3s2+12s+10) = 0 22. Ans: (d)

3s2 +12s+10= 0 Sol: From Nodal analysis
s1, s2 = –1.18, –2.81 v 0  vi v 0 v
  0 0
1 1 1 / 2s
20. Ans: (d) v0 [2 + 2s] = vi
1 s v0 1
Sol: G(s)  
1  4s vi 2(1  s)
1  j
G ( j) 
1  j 4 23. Ans: (b)
1  2 Sol: Transfer function = C (sI – A)–1 B + 0
| G ( j) |  [4 0] s  4 0  1
1  162 
(s  2) (s  4)  0 s  2 1
and Gj() = Tan–1  – Tan–1 4
If  = 0  |G(j)| = 1 and G (j) = 0 4 (s  4) 0  
1 1
=
If  =   |G(j)| = 0.25 and G (j) = 0 (s  2) (s  4) 1
Only option (d) satisfying this one. 4 (s  4)
21. Ans: (a) (s  2) (s  4)
k C(s) 4
Sol: G (s)  
s (s  2) (s  10) R (s) s  2
  C(s) 
4
G(j) = – 90 – Tan–1 – Tan–1 (∵ R(s) unit impulse)
2 10 s2
1
 p c Tan pc C(t) = 4e2t
– 180 = – 90 – Tan–1 –
2 10 24. Ans: (d)
1
pc 1
pc Sol:
Tan  Tan  90
2 10
pc pc
 4
2 10   2
pc pc
1 .
2 10 Fig: RLD diagram
pc  20
k 25. Ans: (c)
 | G ( j) |  y
 2  2 2 2  10 2 Sol: For 5 simply write forward path gains of
y3
1
Gain margin = 20 log numerator and denominator
G( j) y5 G1G2G3{1  ( H 4 )}

20 20  4 20  100 y3 G1{1  (G3 H 2  H 4 )  G3 H 2 H 4 }
G  20 log
k G2G3{1  H 4 }
 k = 120 
1  G3 H 2  H 4  G3 H 2 H 4
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 :5: Classroom Test

26. Ans: (b) For oscillation of system

Sol: Given I.R = t e–6t u(t) k = ab(a+b)
C(s) 1 k
T.F  L.T{I.R}   AE = (a+b)s2+k = 0  s=  j
R (s) (s  6) 2 ab
Given response  s   j ab
2
c( t )  t 2 e 6 t u ( t )  C(s)  n = ab rad/sec
(s  6) 3
C(s) 2 2 29. Ans: 1
R (s)    (s  6) 2 
T.F (s  6) 3
s6 4
Sol: T.F =
1 6 t
r(t )  L {R (s)}  2 e u(t ) s  4s  4
2

n = 2
27. Ans: (c) 2n = 4
Sol: To select the answer, verify angle of arrival. =1
Angle of arrival
(s  j2)(s  j2) 30. Ans: (b)
GH (s) |s j2 
s 2 (s  4) Sol: State transition matrix (t) = eAt
j40 = L–1 (sI - A)–1
 s  1 1 
1
  4( j2  4) 1
(sI  A)   
= 0+ 90 – (+180+26.56)  0 s  2
= –116.56 1  s2 1 
=  
a = 180 – GH = 180+116.56 = 296.56 (s  1) (s  2)  0 s  1
(or) –63.44 eAt = L–1(sI – A)–1
a =  296.56 (or) ∓63.44  e  t e  t  e 2 t 
=  
 0 e 2 t 
28. Ans: (b)
Sol: C.E = s3 + (a+b)s2 + abs + k = 0

s3 1 ab
s2 a+b k
ab(a  b)  k
s1 0
ab
s0 k

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