Singnal and System

Control Systems

Control Systems
Kuestions
Type 1 – Transfer Function .................................................................................................................................... 2
Type 2 – Block Diagram ......................................................................................................................................... 4
Type 3 – Signal Flow Graph .................................................................................................................................. 7
Type 4 – Sensitivity................................................................................................................................................ 11
Type 5 – Steady State Analysis ......................................................................................................................... 14
Type 6 – Transient Analysis ................................................................................................................................ 16
Type 7 – Routh Stability Criterion ................................................................................................................... 19
Type 8 – Root Locus Technique ....................................................................................................................... 21
Type 9 – Properties of Root-Locus.................................................................................................................. 25
Type 10 – Frequency Response ........................................................................................................................ 27
Type 11 – Polar Plot .............................................................................................................................................. 29
Type 12 – Nyquist Plot and Stability Criterion............................................................................................ 33
Type 13 – Gain Margin and Phase Margin ................................................................................................... 36
Type 14 – Bode Plot .............................................................................................................................................. 39
Type 15 – State Variable Analysis................................................................................................................... 42
Type 16 – Controllability and Observability ................................................................................................ 46
Type 17 – Compensators and Controllers .................................................................................................... 48
Solutions ................................................................................................................................................................... 49

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 Control Systems

Kuestions

Type 1 – Transfer Function

For Concept, refer to Control Systems K-Notes, Basics of Control Systems
Pre-requisites: Laplace Transform (Signals and Systems)

Sample Problem

A linear time invariant system initially at rest, when subjected to a unit step input, gives a response y(t) = te− t , t>0 . The
transfer function of the system is
1 1
(A) (B)
(s + 1)2 s(s + 1)2
s 1
(C) (D)
(s + 1)2 s(s + 1)

Solution: (C) is correct option.

Step input =u(t)
Output y(t) = te− t
L[output] L[te− tu(t)]
 TF= =
L[input] L[u(t)]
1
(s + 1)2 s
 TF= =
1 (s + 1)2
s

Problems
V0 (s)
01. For the circuit shown in figure, the initial conditions are zero. Its transfer function H(s) = is?
V(s)
i

1 106
(A) (B)
s + 106 s + 106
2
s2 + 103 s + 106
103 106
(C) (D)
s2 + 103 s + 106 s + 106 s + 106
2

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 Control Systems

K(1 + 0.3s)
02. The transfer function to the given electrical network, shown in figure, is . The values of R1 and R2 are
(1 + 0.17s)
respectively.

(A) 300k and 300k

(B) 300k and 400k

(C) 400k and 300k

(D) 400k and 400k

03 The response y(t) of a linear system to an excitation x(t)=e-3tu(t) is y(t)=(2t+1)e-2tu(t). Poles and zeroes will be at?
(A)-1,-1 and -2,-2 (B)-2,-2 and -3,-4
(C)-3,-3 and -4,-5 (D) None of these

10
04. Given the closed loop transfer function of a unity feedback system as . The open loop dc gain of the system
s + 8s + 20
2

in unity negative feedback configuration is ___________________.

k
05. The order of a system whose open loop transfer function given by G s = () s + 8s2 + 2s
3
is ____________

06. For the electrical network shown below:

The transfer function is

50 150
(A) (B)
s2 + 30s + 150 s2 + 30s + 150
100 50
(C) (D)
s2 + 30s + 100 s2 + 20s + 250

d2 y d2 x
07. Relationship between input x(t) and output y(t) of a system is given as
dt2
= x ( t − 2 ) +
dt2
. The transfer function of

this system is

e−2s e2s
(A) 1 + (B) 1 +
s2 s2
(C) 1 + s e
2 −2s
(D) 1 + s2e2s

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 Control Systems

Type 2 – Block Diagram

For Concept, refer to Control Systems K-Notes, Block Diagram Algebra

Sample Problem

The equivalent of the block diagram in Figure is given in

(A) (B)

(C) (D)

Solution: (D) is correct option

In the given figure
F = E  G1  H
C = E  G1  G2

Only in option (d), output c and f are same

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 Control Systems

Problems

01. Which of the following is not an equivalent representation of following diagram?

(A) (B)

(C) (D)

02. Consider the block diagram shown in fig.

Which of the following is an equivalent graph of above system is

(A) (B)

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 Control Systems

(C) (D)

03. The value of C/R is _____ . (Assume G1 = 1,G2 = 2,G3 = 4,G4 = 8 also H1 = H2 = 2 and H3 = 1 )

04. The block diagram shown in fig.-I and fig.-II are equivalent but opposite in sign, then ‘X’ (in fig-II) is

(A) 2s+3 (B) 2s

(C) 3s+4 + 1 (D) s + 2

05. The transfer function of the system shown in figure?

KRE + KREAT KREATRYX

(A) (B)
1 + KRERYX + KREATRYX 1 + KRERYX + KREAT
KRE + KREAT KRE + KREAT
(C) (D)
1 + KREATRYX 1 + KRERYX − KREATRYX

C
06. Consider the block diagram representation of a system shown in the following figure. The value of is __________.
R

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 Control Systems

Type 3 – Signal Flow Graph

For Concept, refer to Control Systems K-Notes, Signal Flow Graphs

 Common Mistake / Point to remember

• If two touching loops have been counted individually then they must not be counted as part of a single loop
again.
• The input to a signal flow graph cannot be connected to any loops it should have only one outgoing branch.
If no such input is given we have to assume a hypothetical input.

Sample Problem

Y(s)
The signal flow graph for a system is given below. The transfer function for this system is
U(s)
s +1
(A)
5s + 6s + 2
2

s +1
(B)
s + 6s + 2
2

s +1
(C)
s + 4s + 2
2

1
(D)
5s + 6s + 2
2

Solution: (A) is correct option

Forward paths

P1=U-X1-X2-X3-Y=S-2

P2=U-X1-X2-X3-Y=S-1
Loops:

L1=X1-X2-X3-X1=-2S-2

L2=X1-X2-X3-X1=-2S-1
L3=X2-X3-X2=-4S-2

L4=X2-X3-X2=-4

∆1=1, ∆2=1

s −2 + s −1 s +1
T.F. = −2 −1 −1
= 2
1 − (−2s − 2s − 4s − 4) 5s + 6s + 2

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 Control Systems

Problems

01. The transfer function relating E and R for the block diagram given below is
1
(A)
1 + (G1 + G2 )H
1
(B)
1 + G1G2H

G1G2
(C)
1 + (G1 + G2 )
G1G2
(D)
1 + G1G2H

02. The number of forward paths and the number of non-touching loop pairs for the signal flow graph given in the figure
are, respectively,

(A) 1, 3

(B) 3, 2

(C) 3, 1

(D) 2, 4

C(s)
03. Figure shows the signal flow graph of the system. Find the transfer function =?
R(s)
K +1
(A)
s + (K + 1)s + 1
2

s2 + s(K + 1)
(B)
s2 + (K + 2)s + 1
s
(C)
s + (K + 1)s + 1
2

s(K + 1)
(D)
s2 + 2s + 1

G1 + G3 (1 + G1G2 )
04 Three blocks G1, G2 & G3 are connected in some fashion such that overall transfer function is .The
1 + G1G2
blocks are connected in the following manner
(A) G1, G2 with negative feedback and combination in parallel with G3
(B) G1, G3 with negative feedback and G2 in parallel
(C) G1, G2 in cascade & combination in parallel with G3
(D) G1, G3 in cascade & combination in parallel with G2

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 Control Systems

05. Find Y/X

G GH2
(A) (B)
1 + H1 1 + H1
G GH1
(C) (D)
1 + H2 1 + H2

06. The overall transfer function relating C and R for the system whose block diagram as shown in figure is

G1G2 + G1G3
(A)
1 + G2 + G3 + G1G2H1

G1G3 + G2H1
(B)
1 + G2G3H1 + G1G3

G2G3 + G1H1
(C)
1 + G2G1H1 + G3 + G2

G1G3 + G3H1
(D)
1 + G2G1H1 + G3 + G2

07. The no of loops and the pair of three non-touching loops are in the below figure is

(A) 4,1 (B) 5,2

(C) 6,0 (D) none of the above

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 Control Systems

08. The system is shown in figure. Its gain is

2KRASH 2KRASH
(A) (B)
1 − KRASH 1 + KRASH
(C) 2KRASH (D) None of the above

09. A disturbance input d(t) is injected into the unity feedback control loop shown in the figure . Take the reference input
r(t) to be unit step .If the disturbance is measureable ,its effect on the output can be minimized significantly using a feed
forward controller Gff(s). To eliminate the component of the output due to d(t)=sin(t). Gff (j) =1 should be
1 −3
(A) 
2 4
1 
(B) 
2 4

(C) 2
−
(D) 2
4

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 Control Systems

Type 4 – Sensitivity
For Concept, refer to Control Systems K-Notes Basics of Control systems

 Common Mistake / Point to remember

In case of Sensitivity consider only magnitude

Sample Problem

For the given system below, the feedback does not reduce the closed loop sensitivity due to variation of which one of the
following?

(A) K
(B) A
(C) α
(D) β

Solution: (D) is correct option

KA
KA
TF = M = s +  =
KA s +  + KA
1+
s+

Closed loop sensitivity w.r.t. feedback ( )

M
M    KA  
S = M =
M
 = 

  M   s +  + KA  M


−KA  −KA
SM =  KA  = ...............(i)

( s +  + KA )
2
 KA  ( s +  + KA )
 
 s +  + KA 
If KA is high then, SM

 −1
So, sensitivity is not reduced even after introduction of feedback
Closed loop sensitivity w.r.t. feedback (K )
M
S = M =
M M K
 =
  KA  K ( s +  + KA ) A − KA.A . 1
  =
K ( s +  + KA ) A
K
K M K  s +  + KA   KA  2

 
K  s +  + KA  ( s +  + KA )
SM =
( s +  + KA ) A − KA  = ( s +  ) ..............(ii)
2

A ( s +  + KA ) (s +  + KA )
K

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 Control Systems

Closed loop sensitivity w.r.t. feedback ()

  KA   −KA  
SM =  . = . = ............(iii)
  s +  + KA  

KA 
 ( s +  + KA )
2


KA 

( s +  + KA )
 s +  + KA   s +  + KA 
Closed loop sensitivity w.r.t. feedback (A)
SMA =
  KA  A ( s +  + KA) K − KA.K  A
  =
A  s +  + KA   KA ( s +  + KA) KA
2
  
   
 s +  + KA   s +  + KA 

SMA =
(S +  ) ...........(iv)
(S +  + KA)
From (ii), (iii) & (iv) we can see that sensitivity reduces due to introduction of feedback.

Problems

01. For the systems shown in figure below if the G changes by 10% , the % changes in C1 and C2 respectively are?

(A) 10%, 1% (B) 10%, 2%

(C) 5%, 3% (D) 5%, 10%

02. The magnitude of sensitivity of closed loop transfer function with respect to feedback transfer function H(s) at  = 1 is
__________________.
50
Where G(s) = & H(s ) = 1
s ( s + 1)

C (s)
03. Determine sensitivity ‘S’ for overall closed loop transfer function , with respect to forward path transfer function
R (s)
G(s).

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 Control Systems

G(s)
(A) 1 (B)
1 + G ( s )  2 + G ( s ) 
  
G(s) 2
(C) (D)
1 + G (s) 1 + G(s)

04. A feedback control system is shown below:

If the forward path gain is 800 and feedback gain is 0.01. The percentage change in closed loop gain for 5%, change in G is
________________.

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 Control Systems

Type 5 – Steady State Analysis

For Concept, refer to Control Systems K-Notes, Time Response Analysis

 Common Mistake / Point to remember

We do not need to convert a non-unity feedback system to a feedback one to find the steady state error using
error constants.

Sample Problem

1
A unity feedback is provided to the system G(s) = to make it a closed loop system as shown in figure .For a unit
s(s + 2)
step input r(t), the steady state error in the input will be?

(A) 0
(B) 1
(C) 2
(D) 3

Solution: (A) is correct option

1
G(s) = , H(s)=1
s(s + 2)
1
Error to step input =
1 + Kp
Kp = limG(s)H(s) = 
s →0

1
ess = =0
1+

Problems

K
01. The open loop transfer function of a system is . Determine the value of ‘k’ such that steady state error
s (s + 1)(s + 10)
2

due to unit acceleration input is 0.2?

(A) 50 (B) 0.1
(C) 100 (D) 0.2

02 The Bode plot of an OLTF is given below. The steady state error for unit ramp input is

(A) 10

(B) 0.1

(C) 0.01

(D) 0.001

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 Control Systems

1 1
03. Steady state error to both input R(s) = and disturbance D(s) = acting simultaneously is?
s s
11
(A)
K
1
(B)
K
10
(C)
K
(D) 0

04. Nyquist plot a certain stable system is given below. The acceleration error coefficient is

(A) 0

(B) 

(C) − 

(D) 102

05. When subject to a unit step input, the closed loop control system shown in the figure will have a steady state error of

(A) -1.0

(B) -0.5

(C) 0

(D) 0.5

06. The position error coefficient of a system is 10, now the type of system is increased by one, then the steady state error
to a ramp input is

(A) 0 (B) 0.1

(C) 20 (D) none

07. The unit step response of unity feedback system open loop transfer function G ( S ) = k is shown in fig. the
( s + 1)( s + 2)
value of K =________________

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 Control Systems

Type 6 – Transient Analysis

For Concept, refer to Control Systems K-Notes, Time Response Analysis

Sample Problem

For the system shown in figure, with a damping ratio  of .7 and an un-damped natural frequency 0 of 4 rad/sec, the
values of ‘K’ and ‘a’ are

(A)K=4,a=.35

(B)K=8,a=.455

(C)K=16,a=.225

(D)K=64,a=.9

Solution: (C) is correct option

Characteristic equation 1 + G(s)H(s) = 0
K(1 + as)
1+ =0
(s + 2)
S2 + 2s + Kas + K = 0
S2 + s(Ka + 2) + K = 0
Compare with s tandard equation
S2 + 2ns + n2 = 0
n2 = K = 42 = 16 => K = 16
Ka + 2 = 2n = 2(.7)(4)
2(.7)(4) − 2
a= = .225
16

Problems

01. A controller of the form Gc (s) =

K(s + a) is designed for a plant with transfer function 1 such that the un-
G(s) =
(s + b) s(s + 3)
damped natural frequency and the damping ratio of the closed loop 2nd order system are 2 rad/sec and 0.5 respectively.
When the steady state error to a unit step input is zero, then the controller parameters are

(A) k = 4, a = 3, b = 2 (B) k = 1, a = 3, b = 2
(C) k = 4, a = 2, b = 3 (D) k = 1, a = 2, b = 3

02. A feedback system has un-damped frequency of 10 rad/sec and the damping ratio is 0.4 the transfer function is?
100 10
(A) (B)
(s2 + 8s + 100) (s2 + 8s + 10)
100 10
(C) (D)
(s2 + 4s + 100) (s2 + 8s + 100)

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 Control Systems

03. A system is required to have a peak overshoot of 4.32 % and a natural frequency of 5 rad/sec. The required location of
the dominant pole is:

(A) – 3.535 + j 5.535 (B) – 2.535 + j 2.525

(C) – 2.535 + j 3.535 (D) – 3.535 + j 3.535

04. Match List – I (Location of roots) with List – II (Step response) and select the correct answer using the codes given below
the lists:

P Q R S
(A) 4 1 2 3
(B) 5 1 2 3
(C) 4 2 1 3
(D) 5 2 3 4

100
05. The open loop transfer function of a system is G(s) = for a unit step input to the system, the approximate
(s + 1)(s + 100)
settling time for 2% criterion is
(A) 100 sec (B) 4 sec
(C) 1 sec (D) none

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 Control Systems

06. Consider the R-L-C circuit shown in figure, For a step-input ei, the overshoot in the output eo will be

(A) 0

(B) 5 %

(C) 16 %

(D) 48 %

07. Consider the block diagram of the control system shown in the figure below. The peak overshoot of the system is 9.49%.
The value of the constant k and the steady state error for a unit ramp input are

(A) 0.18 and 0.20 (B) 0.36 and 0.36

(C) 0.52 and 0.18 (D) 0.52 and 2.14

08. The pole location of one of the two closed loop poles of a second order control system with unity negative feedback is
shown below. The value of peak overshoot (M ) is ____________ %.
P

09. The block diagram of a unity feedback control system is shown:

The time period of oscillation before reaching the steady state is

(A) 0.6 sec (B) 0.78 sec
(C) 1.56 sec (D) 1.84 sec

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 Control Systems

Type 7 – Routh Stability Criterion

For Concept, refer to Control Systems K-Notes Control System Stability

 Common Mistake / Point to remember

A row of zeroes does not guarantee the existence of poles on jω axis, we must first calculate the roots of
auxiliary polynomial and then decide.

Sample Problem

Figure shows a feedback system where K > 0, the range of K for which the system is stable will be given by
(A) 0 < K < 30

(B) 0 < K < 39

(C) 0 < K < 390

(D) K > 390

Solution: (C) is correct option.

Characteristic equation for the system
K
1+ =0
s(s + 3)(s + 10)
s(s + 3)(s + 10) + K = 0
s3 + 13s2 + 30s + K = 0
Applying Routh’s stability criteria.

S3 1 30
S2 13 K
S1 (13  30) − K
13
S0 K

For stability there should be no sign change in first column

So,
390 − K > & K > 0
 0< K < 390

Problems

K(s + 4)
01 The open loop transfer function of a system is G(s)H(s) = , the root locus will intersect the imaginary axis
s(s2 + 2s + 2)
at
(A) j2 (B) j√2
(C)  j√10 (D)  j√102

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 Control Systems

02. The Routh–Hurwitz array is given for a third order characteristic equation as follows

S3 a b 0
S2 c d 0
S1 10 − k 0
2
S0 k

The values of a, b, c, d are respectively, for which the system should be marginally stable

(A) 1 5 2 10 (B) 2 10 1 5
(C) 10 1 2 5 (D) 1 2 5 10

s2 + 7s + 10
03. The no of right hand, left hand, and jω axis poles are respectively T(s) =
s6 + 2s4 − s2 − 2
(A) 3,1,2 (B) 2,1,2
(C) 4,0,2 (D) 1,1,4

04. Consider the characteristic equation D(s) = s5 + S4 + 3s3 + 3s2 + 6s + 4 .Then system is stable or unstable and if unstable,
then how many poles lie in the right half of s-plane.
(A) Unstable, 3 poles lie in the right half of s plane
(B) Stable, 0 poles lie in the right half of s plane
(C) Unstable, 2 poles lie in the right half of s plane
(D) None of these

k (s + a )
05. OLTFG(s)H(s) = If the system oscillates with a fixed frequency of 2rad/sec. Then value of k and a for
s(s + 1)(s + 2)
the above system is?

(A) 2,6 (B) 3,4

(C) 3,3 (D) 5,2

06. The system is stable for k value

14 14
(A) k 0 (B) 0  k 
9 9
14 14
(C) k (D) k =
9 9

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 Control Systems

Type 8 – Root Locus Technique

For Concept, refer to Control Systems K-Notes, Root Locus Technique

 Common Mistake / Point to remember

For positive feedback the properties of root-locus are reversed.

For positive feedback the properties of root-locus are reversed.

Sample Problem

A closed-loop system has the characteristic function (s2− 4) (s + 1) + K(s - 1)=0. Its root locus plot against K is

(A) (B)

(C) (D)

Solution: (B) is correct option

Closed loop transfer function of the given system is,
s −1
T(s) =
(s + 1)(s2 − 4)
Poles=+2,-2,-1 and zeroes=1
Between the two consecutive poles at s=-1 and s=-2 there will be breakaway point. Since, number of poles and zeroes lying
to the right of real section of root locus must be odd so the real axis between s=1 and s=2 must lie on root locus.
Also, section between s=-2 and s=-1 must lie on real axis.

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 Control Systems

Problems

K(s + 1.5)
01. Which one of the following is the root locus of an open loop transfer function of G(s)H(s) =
s(s + 1)(s + 5)

(A) (B)

(C) (D)

K(s2 + 10)
02. OLTF of an unity feedback system is . The RLD is
s(s2 + 4)

(A) (B)

(C) (D) None of these

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 Control Systems

2
03. The root locus plot for a system, with transfer function , is shown in Figure. A unity feedback proportional
s(s + 1)(s + 2)
control system is built using this system. The maximum possible controller gain, for which the unity feedback system is stable,
is approximately

(A) 6.0

(B) 3.0

(C) 0.4

(D) 0.2

04. A unity feedback system is shown in Fig. below. The root-locus of its characteristic equation is shown in Fig. below

If P (-5, 0) is a point on the root-locus, the variable parameter K of the system at P is?
(A) 10 (B) 12
(C) 6 (D) 3

05. Figure shows the root locus plot (location of poles not given) of a third order system whose open loop transfer function
is

K
(A)
s3
K
(B)
s (s + 1)
2

K
(C)
s(s + 1)
2

K
(D)
s(s − 1)
2

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 Control Systems

K(1 − s)
06. RLD of the system with loop TF= , when K is varied from 0 to ∞ is
s(s + 2)

(A) (B)

(C) (D) None of these

K(s + 10)
07. The open loop transfer function of a control system is given by .The smallest possible value of “” for
s(s + 2)(s + )
which this system is stable in the closed-loop for all positive values of k is
(A) 0 (B) 8
(C) 10 (D) 12

K
08. The root locus diagram of a unity negative feedback control system with loop transfer function as G s = () s (s + 2)
is

intersecting the line ξ = 0.5 which is shown in figure. The value of ‘K’ at intersection of ξ = 0.5 line and root locus is ________.

09. Consider the root locus diagram of a unity negative feedback system shown below. The corresponding open loop transfer
function will be

K K ( s + 3)
(A) (B)
s ( s + 1)( s + 3 ) s ( s + 1)
K ( s + 1) Ks
(C) (D)
s ( s + 3) ( s + 1)( s + 3)

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 Control Systems

Type 9 – Properties of Root-Locus

For Concept, refer to Control Systems K-Notes, Root Locus Technique

 Common Mistake / Point to remember

Try to remember clearly how to distinguish between Breakaway and Break-in points..

Sample Problem

K(s2 − 2s + 2)
The transfer function of this system is G(s) = .The break point is
(s + 2)(s + 3)
(A) Break-away at s =- 1.29
(B) Break-in at s =- 2.43
(C) Break-away at s =- 2.43
(D) Break-in at s =- 1.29

Solution: (C) is correct option

The point, at which multiple roots are present, are known as break point. These are obtained from:
dK
=0
ds
Here, characteristic equation is
1 + G(s)H(s) = 0
K(s2 − 2s + 2) −(s + 2)(s + 3) −(s2 + 5s + 6)
1+ =0 K = 2 = 2
(s + 2)(s + 3) (s − 2s + 2) (s − 2s + 2)
Now, differentiating eq(1) w.r.t s and equating zero we have
dK −(s2 − 2s + 2)(2s + 5) + (s2 + 5s + 6)(2s − 2)
= =0
ds (s2 − 2s + 2)2
7s2 + 8s − 22 = 0
which gives s=+1.29 and s=-2.43 out of which
d2k
 0 at s=-2.43, so it is a break-away point
ds2

Problems

K
01. The open loop transfer function of a system is G(s) = the value of k at (s = -2) in the root locus is
s(s + 4)(s2 + 4s + 8)
(A) 4 (B) 8
(C) 16 (D) 32
K
02. The OLTF of a unity feedback control system is G(s) = .The angle of departure at the pole (−2 − j1)
(s + 1)(s + 4s + 5)
2

is
(A) + 600 (B) − 600
(C) + 450 (D) − 450

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 Control Systems

03. A unity feedback system has open loop poles at s = −2  j2, s = −1, and s = 0; and a zero at s = −3. The angle made by
the root locus asymptotes with the real and the point of Intersection of the asymptotes are
(A) (600, − 600, 1800) and − 3 / 2 (B) (600, − 600, 1800) and − 2 / 3
(C) (450, − 450, 1800) and − 2 / 3 (D) (450, − 450, 1800) and − 4 / 3

04. Consider the points S1 = -3 + j4 and S2 = - 3 -j2 in the S – plane, then for a system with the open loop transfer function
K
G(s)H(s) =
(s + 1)4
(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

05. Figure shows the asymptote, root locus on real axis and location of poles and centroid. Break-in point of the root locus
is

(A) -3

(B) -2

(C) -1.18

(D) -2.82

K(s + 1)
06. OLTF of an unity feedback system is . For complex roots, the RLD is circle of center, whose coordinates are
s(s − 1)
(A) – 0.5, 0 (B) 1, 0
(C) − 1.5, 0 (D) − 1, 0

k ( s + 10 )
07. The break in point for the root locus of open loop transfer function G s H s = () () is located at s =
( s + 2)( s + 8 )
_____________________.

k (s + 2)
08. The transfer function of a unity feedback system is G S =( ) s (s + 4 )
, The centroid and break points respectively are

(A) −1, −2  2j (B) −2, −2  2 j

(C) −2, −1  1j (D) 0, -1

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 Control Systems

Type 10 – Frequency Response

For Concept, refer to Control Systems K-Notes, Frequency domain analysis

 Common Mistake / Point to remember

Try to remember the effect of adding poles and zeros in to forward transfer function.

Sample Problem

10
The magnitude of frequency response of an under-damped second order system is 5 at 0 rad/sec and peaks to at
3
5 2 rad/sec. The transfer function of the system is
500 375
(A) (B)
s2 + 10s + 100 s2 + 5s + 75
720 1125
(C) 2 (D) 2
s + 12s + 144 s + 25s + 225

Solution: (A) is correct option

Let the transfer function be
k
T.F. =
s + 2ns + n2
2

At ω=0, T.F. = 5
k
= 5 ………….(i)
n2
5n2
T.F. =
s2 + 2ns + n2
10 5
Maximum peak =
3 2 1 − 2
164 − 162 + 3 = 0
 = 0.866, 0.5
1
Since maximum occurs only for  
2
 = 0.5
And maximum peak value occurs at 5 2 rad/sec

5 2 = n 1 − 22
n = 10
From eq. (i)
K=500
500
 T.F. =
s + 10s + 100
2

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 Control Systems

Problems

C (s) 8
01. The magnitude of the frequency response of a second order closed loop system with transfer function =
R (s) s +s+4
2

is shown,

The resonant frequency 0 and the resonant peak M0 are

(A) 0 = 0.66rad sec ,M0 = 6.30dB
(B) 0 = 0.66rad sec ,M0 = 12.30dB
(C) 0 = 1.87rad sec ,M0 = 12.30dB
(D) 0 = 1.87rad sec ,M0 = 6.30dB

02. With reference to the frequency response of a standard second order system, the resonance peak occurs only if the
damping ratio (ξ) ≤ _______.

03. Which of the below systems doesn’t undergo resonance

100 40
(A) 2
(B) 2
s + 4s + 100 s + 8s + 40
40 1
(C) (D)
s2 + 10s + 40 s2 + s + 1

kn2
04. An underdamped second order system having a transfer function of the form M s = () s2 + 2ns + n2
has frequency

response plot shown in figure. Then the system gain K is _______________ and the damping factor is approximately
___________________.

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 Control Systems

Type 11 – Polar Plot

For Concept, refer to Control Systems K-Notes, Frequency Response Analysis

 Common Mistake / Point to remember

Remember the direct polar plot but also remember how to calculate the intersection with real axis as you may
be given two options with same shape of polar plot but different intersection point.

Sample Problem

1
The frequency response of G(s) = plotted in the complex G(jω) plane (for 0<ω<3) is
s(s + 1)(s + 2)

Solution: (A) is correct option

1 1
Given G(s) = =
s(s + 1)(s + 2) j(j + 1)(j + 2)
1
G(j) =
  + 1 2 + 4
2


G(j) = −900 − tan−1 () − tan−1 ( )
2
In Nyquist plot
For = G(j) = 0
For =0 G(j) = 
G(j) = −900 − 900 − 900 = −2700
G(j) = −90 0

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 Control Systems

Intersection at real axis

1 1 −32 j(2 − 2 )
G(s) = = = −
j(j + 1)(j + 2) j(−2 + 3j + 2) 94 + 2 (2 − 2 )2 94 + 2 (2 − 2 )2
At real axis
ImG(j) = 0
(2 − 2 )
So, =0
9 + 2 (2 − 2 )2
4

(2 − 2 ) = 0   = 2 rad/sec
At = 2 rad / sec,magnitude response is
1 1 3
G(j) at = 2 = = 
2 2+1 2 + 4 6 4

Problems

01. The polar plot for a transfer function is shown below:

An addition of a zero will change the plot as

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 Control Systems

02. Fig. shows the polar plot of a system. The transfer function of the system is (Incorrect Polar Plot)

(A) 5(1 + 0.1s)

(B) (1 + 0.5s)

(C) 5(1 + 10s)

(D) 5(1 + s)

03. The magnitude plot for minimum phase system is shown in figure

The polar plot of the above system is

(A) (B)

(C) (D) None

04. The polar plot of G(s)H(s) for K=10 is given below . The range of ‘K’ for stability is?

(A) 0 < K < 10

(B) 0 < K < 103

(C) 0 < K < 102

(D) 0 < K < 1

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 Control Systems

05. The polar plot of frequency response of a linear damped second order closed loop system is shown in the figure given.
What is the transfer function of this system?

8
(A)
s + 10s + 1
2

8
(B)
s + 8.48s + 10
2

100
(C)
s + 8.48s + 100
2

100
(D)
s + 10s + 8.48
2

06. The Polar plot of an open loop transfer function is shown below, the type of the system is __________.

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 Control Systems

Type 12 – Nyquist Plot and Stability Criterion

For Concept, refer to Control Systems K-Notes, Frequency Response Analysis

 Common Mistake / Point to remember

N = P – Z, we often confuse between the terms P and Z so try to remember them clearly.

Sample Problem

Consider the following Nyquist plots of loop transfer functions over ω = 0 to ω = 3. Which of these plots represent a stable
closed loop system?

(A) (a) only (B) all, except (a)

(C) all, except (c) (D) (a) and (b) only

Solution: (A) is correct option

In the given options only in option (a) the polar plot does not enclose the (− 1, j0), So this is stable.

Problems

01. The nyquist plot of a closed loop system is shown in the given figure. The plot indicates that the

(A) System is unstable

(B) System is stable

(C) System is critically stable

(D) Stability of the system can’t be determined

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 Control Systems

02. The Nyquist plot of G(s) H(s) which is given below. The corresponding closed loop system is unstable with two right hand
poles. The number of open loop right hand poles are?

(A) 1

(B) 2

(C) 3

(D) 0

03. Suppose the Nyquist plot of the loop transfer function G(jω)H(jω) for ω=0 and ω=∞ for a single loop feedback control
system is shown in the figure . The gain K appears as a multiplying factor in G(s)H(s). One pole of G(s)H(s) lies in the right
half of the s-plane and no pole is on the jω axis .Which of the following statements is true in the case of closed loop stability.

(A) The closed loop system is stable for 0.25<K<0.5

(B) The closed loop system is stable for K>0.5

(C) The closed loop system is unstable for all values of K

(D) The closed loop system is stable for K=0.25

04. The Nyquist plot of G(s)H(s) which has no RHP on given below, the corresponding closed loop to be stable (-1, j0) should
lie in the region

(A) 1

(B) 2

(C) 3

(D) 4

05. The Nyquist plot shown in the figure below, what is the type of the system?

(A) 1

(B) 2

(C) 3

(D) 4

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 Control Systems

06. The Nyquist plot for a control system is shown below. The type of the system is

(A) 0

(B) 1

(C) 2

(D) 3

07. The Nyquist plot given in figure corresponds to the system whose transfer function is

1
(A)
( s + 1)
3

1
(B)
( s + 1)
2

1
(C)
s2 + 2s + 2
1
(D)
( s + 1)

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 Control Systems

Type 13 – Gain Margin and Phase Margin

For Concept, refer to Control System K-Notes, Frequency Response Analysis

Sample Problem

The frequency response of a linear system G (jω) is provided in the tubular form below

G(j) 1.3 1.2 1.0 .8 .5 .3

G(j) -1300 -1400 -1500 -1600 -1800 -2000

Gain Margin and phase margin are

(A) 6 dB and 300 (B) 6 dB and −300
(C) −6 dB and 300 (D) −6 dB and −300

Solution: (A) is correct option

Gain margin is simply equal to the gain at phase cross over frequency (ωp). Phase cross over frequency is the frequency at
which phase angle is equal to −1800. From the table we can see that +G (jωp) =− 1800, at which gain is 0.5.
 1   1 
GM = 20log10   = 20log10   = 6dB
 G(jp )   0.5 
 
Phase Margin is equal to 1800 plus the phase angle φg at the gain cross over frequency (ωg). Gain cross over frequency is
the frequency at which gain is unity. From the table it is clear that G(jω g) = 1, at which phase angle is −1500
φPM = 1800 + G(jg ) = 1800 – 1500 = 300

Problems
K
01. The open loop transfer function of a system is . Determine the value of ‘k’ such that the phase
s(1 + 0.2s)(1 + 0.05s)
margin is 600?

(A) 2.4 (B) 3.3

(C) 3.2 (D) 5.2

02 The Bode plot of a unity feedback system is shown. The system has

(A) +ve P.M. and −ve G.M

(B) +ve P.M. and +ve G.M

(C) −ve P.M. and −ve G.M

(D) +ve P.M. and +ve G.M

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 Control Systems

03. A unity feedback system has OLTF G(s). Polar plot is shown in the figure. The gain margin and phase margin are

(A) GM = − 0.3, PM = 112.330

(B) GM = 0.3, PM = 112.330

(C) GM = 3.33, PM = 67.670

(D) None of the above

1
04. The open loop transfer function of a unity feedback control system is given as G(s)= .The phase
s(1 + sT1 )(1 + sT2 )
crossover frequency and the gain margin are, respectively.

1 T +T 1 T +T
(A) and 1 2 (B) and 1 2
T1 T2 T1 T2 T1 + T2 T1 T2
1 TT 1 TT
(C) and 1 2 (D) and 1 2
T1 T2 T1 + T2 T1 + T2 T1 + T2

e−0.25s
05 In the G(s)H(s)-plane, the Nyquist plot of the loop transfer function G(s)H(s) = passes through the negative real
s
axis at the point

(A) (− 0.25, j0) (B) (− 0.5, j0)

(C) 0 (D) 0.5

200
06. The open loop transfer function of type 1 system is given by G(s) = neutralize pole at s = −20
s ( s + 1)( s + 2 )( s + 20 )
using dominant pole technique. The polar plot of the new system is shown in fig below. Determine the value M and phase
cross over frequency

(A) M = 1.67, p = 1.414rad / s

(B) M = 2.67, p = 1.414rad / s

(C) M = 1.67, p = 2.414rad / s

(D) M = 1.67, p = 1.67rad / s

k
07. Given a transfer function G ( s ) H( s ) = and gain margin = 6 db. The values of k and phase margin (for
(
s s + 2s + 5
2
)
some value of k obtained) are

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 Control Systems

(A) 5, −1220 (B) 10, −1220

(C) 5,57.8 0
(D) 10,57.80

08. A system has forward path transfer function G(s) and feedback transfer function H(s) given by
−4s
5e 7
G(s) = ,H( s ) = 1
s +1
The gain margin of the system is (Assume tan =  )
(A) –8 dB (B) 7 dB
(C) –7 dB (D) 8 dB

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 Control Systems

Type 14 – Bode Plot

For Concept refer to Control System K-Notes, Bode Plots

 Common Mistake / Point to remember

Remember the x-axis is always in terms of logω and not in terms of ω, this is a common mistake while
calculating slope.

Sample Problem

The asymptotic approximation of the log-magnitude v/s frequency plot of a system containing only real poles and zeros is
shown. Its transfer function is

10(s + 5)
(A)
s(s + 25)(s + 2)
1000(s + 5)
(B) 2
s (s + 25)(s + 2)
100(s + 5)
(C)
s(s + 25)(s + 2)
80(s + 5)
(D) 2
s (s + 25)(s + 2)

Solution: (B) is correct option

Since initial slope of the bode plot is −40 dB/decade, so no. of poles at origin is 2.
Transfer function can be written in following steps:
• Slope changes from −40 dB/dec. to −60 dB/dec. at ω1 = 2 rad/sec., so at ω1 there is a pole in the transfer function.
• Slope changes from −60 dB/dec to −40 dB/dec at ω2 = 5 rad/sec., so at this frequency there is a zero lying in the system
function.
• The slope changes from −40 dB/dec to −60 dB/dec at ω3 = 25 rad/sec, so there is a pole in the system at this frequency.
K(s + 5)
Transfer Function T(s) =
s (s + 25)(s + 2)
2

Constant term can be obained as : T(j) at =.1 = 80

1000(s + 5)
 K(5)  Therefore the Transfer Function is T(s) =
80 = 20log  2 s (s + 25)(s + 2)
2
So,  => K = 1000
 (.1)  50 

Problems

01. The Bode plot of a system is given its transfer function is

(1 + 0.1s)(1 + 0.01s)
(A)
(1 + s)(1 + 0.001s)
(1 + 0.1s)(1 + s)
(B)
(1 + 0.01s)(1 + 0.001s)

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 Control Systems

(1 + 10s)(1 + s)
(C)
(1 + 0.1s)(1 + 0.001s)
(1 + 0.001s)(1 + s)
(D)
s(1 + 10s)

02. What is the transfer function for given bode plot shown in the figure
4(s + 0.5)2
(A)
(s + 10)3
16000(s + 0.5)2
(B)
(s + 10)3
160(s + 0.5)2
(C)
(s + 10)3
1600(s + 0.5)2
(D)
(s + 10)3

03. The asymptotic Bode plot of the transfer function

K is given in figure. The error in phase angle and dB gain
T(s) =
s
(1 + )
a
at a frequency of ω = 0.5a are respectively

(A) 4.90, 0.97 dB (B) 5.70, 3 dB

(C) 4.90, 3 dB (D) 5.70, 0.97 dB

04. The asymptotic magnitude Bode plot of an open loop system G(s) with K>0 and all poles and zeroes on the s-plane is
shown in the figure. It is completely symmetric about ωc. The minimum absolute phase angle contribution by G(s) is given
by

(A) 78.60

(B) 900

(C) 101.40

(D) 1800

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 Control Systems

05. The open loop transfer function of a system is given by G(s)H(s) = 100(s + 100) in the straight–line approximation of the
s(s + 10)
Bode plot G(j)H(j) and G(j) at =100 rad/sec are
−3 
(A) 0 dB and rad (B) 0 dB and rad
4 4
−3 
(C) 20 dB and rad (D) 20 dB and rad
4 4

06. For the bode plot shown in the below figure. The transfer function is __________________.

1− s 1
(A) (B)
1+ s
( s + 1)
2

1 1
(C) (D)
1+ s
( )
2
s s +1

07. The asymptotic Bode magnitude plot for open loop transfer function of a unity negative feedback system is shown in
t2
figure. If the input is u ( t ) , then the steady state error will be _________.
2

08. The Bode plot of a transfer function G(s) is shown

The gain 20log10 G ( s )  is 18dB and –2dB at 1rad/sec and 10rad/sec respectively. The value of gain at ω=5rad/sec is
 
_________ dB.

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 Control Systems

Type 15 – State Variable Analysis

For Concept, refer to Control Systems K-Notes, State Variable Analysis

 Common Mistake / Point to remember

While writing equation from signal flow graph take care of the total incoming branches at the node terminal.

Sample Problem

A system is described by the following state and output equations

dx1 (t)
= −3x1 (t) + x 2 (t) + 2u(t)
dt
dx2 (t)
= −2x2 (t) + u(t) , y(t)=x1 (t)
dt

when u(t) is the input and y(t) is the output. The system transfer function and the state-transition matrix of the above system
is

(s + 2) e−3t 0  (s + 3) e−3t e−2t + e−3t 

(A) ,  −3t  (B) ,  
(s + 5s − 6) e + e
2 −2t
e−2t  (s2 + 5s + 6) 0 e−2t 

(2s + 5) e−3t e−2t − e−3t  (2s − 5) e3t e−2t − e−3t 

(C) ,   (D) ,  
(s2 + 5s + 6) 0 e−2t  (s2 + 5s − 6) 0 e−2t 

Solution: (C) is correct option

T.F. = C sI − A  B + D
−1

where
 −3 1 2
A=  , B=   , C= 1 0
 0 − 2 1 

s + 3 −1 
sI − A  =  s + 2
 0
s + 2 1 
 0 s + 3

 
−1
sI − A =
(s + 3)(s + 2)
s + 2 1  2
1 0 
s + 3 1
T.F. = C sI − A  B =
−1  0
(s + 3)(s + 2)

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 Control Systems

(2s + 5)
T.F. =
(s + 5s + 6)
2

State-transition matrix


eAt = L−1 sI − A 
−1

 1 1 
s + 3 (s + 3)(s + 2) 
eAt = L−1  ,
 0 1 
 s + 2 
e−3t e−2t − e−3t 
eAt =  
0 e−2t 

Problems

0 0 -20  3 
01. Given the system X = 1 0 -24 X + 1  u and y = 0
  1 0  . The characteristic equation of the system is
   
0 1 -9  0 

(A) s 3 + 20 s 2 + 24 s + 9 = 0 (B) s 3 + 9 s 2 + 24 s + 20 = 0
(C) s 3 + 24 s 2 + 9 s + 20 = 0 (D) None of these

 e−2t   1 
02. For a system represented by state equation x ( t ) = Ax ( t ) , response is x(t) =   When x(0) =  
−2t
-2e   -2 
 e− t  1 
and x(t) =  − t  When x(0) =   , system matrix ‘A’ is
-e  -1 

 1 0  0 1
(A) -3 -2  (B) -3 -5 
   
 0 1  1 0
(C) -2 -3  (D) -5 -3 
   

03 The system is represented by state equations as follows.

X1 = −4x1 − x 2 + 3u
X2 = 2x1 − 3x 2 + 5u
Y = x1 + 2x 2
The poles and zeros locations are

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 Control Systems

(A) (B)

(C) (D) None

d2
04. The dynamic model of a pendulum is given by + 4 = T , where ϴ is the displacement in rad/sec and T is the
dt2
applied torque in N-m. Its representation in the time scale state variable form X = X + u can have the constants?

 0 1 0   0 1 1 
(A) =  , =   (B) =  , =  
-4 0  1  -4 0  0 
 0 0 0   0 0 1 
(C) =  , =   (D) =  , =  
 4 1 1  -4 1 0 

05. Obtain the response y(t) of the following system for a unit step input

X1  -1 -0.5 X1  0.5 X1 (0) 0 X 

 =    +  u , X (0) = 0  and y=[1 0]  1 
X2   1 0   X2   0   2    X2 

(A) e−0.5t cos(0.5t) (B) e−2t cos(0.5t)

(C) e−0.5t sin(0.5t) (D) e−2t sin(0.5t)

06. The State space representation system is

dX( t ) − 1 0  b 
=  X( t ) +  1  U( t ) and Y(t) = [1 1]X (t). Then state transition
dt  0 − 2 b 2 
matrix is

e − t 0  e t 0 
(A)  (B)  
− 2t  −2 t
0 e  0 e 
e t 0 e − t 0
(C)   (D)  
0 e 2t  0 e 2t 

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 Control Systems

dx1 dx 2
07. = x1 − 3x 2 , = 8x1 − k1 x1 − k 2 x 2 . Determine the values of k1 ,k2 if n = 2 rad/sec and  = 0.707
dt dt
19 19
(A) k 1 = ,k = 3 (B) k 1 = 3,k 2 =
3 2 3
19 19
(C) k 1 = ,k = 3 (D) k 1 = 6,k 2 =
6 2 3

08. Consider the closed loop system shown below.

he state model of the system is

 x1   1 0   x1  0   x1 
(A)  =    +   U ; y = 1 0   
 x2   − −   x2   1  x2 
 x1  0 1   x1  0   x1 
(B)  =    +   U ; y = 1 0   
 x2      x2   1  x2 
 x1   0 1   x1  0   x1 
(C)  =    +   U ; y = 1 0   
 x2   − −   x2   1  x2 
(D) None of these

09. For a given state space representation, the state matrix is defined as A = 2 0  , if 
 
( t ) represents the state transition
0 3 

matrix of the system, then the matrix 2 ( t ) is given by

 −2t 0   4t 0 
(A) e  (B) e
6t 
 0 e−3t  0 e 
 −3t 0   −6t 0 
(C) e  (D) e
−4t 
 0 e−2t   0 e 

10. For the electrical network shown in figure, the state equations are given as

X = AX + Bu
Y = CX
Consider i1 and VC1 as state variable X1 and X 2 respectively, then det  A  is___?,
where det is determinant

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 Control Systems

Type 16 – Controllability and Observability

For Concept, refer to Control Systems K-Notes, State Variable Analysis

Sample Problem

dx
The second order dynamic system = PX + Qu , Y=RX has the matrices P, Q and R as follows:
dt
 −1 1 0 
P=  , Q =   , R=[0 1]
 0 − 3 1 
The system has the following controllability and observability properties:
(A) Controllable and observable
(B) Not controllable but observable
(C) Controllable but not observable
(D) Not controllable and not observable

Solution: (C) is correct option

Controllability Matrix:
C = [Q PQ]
0   −1 1 0   1 
Q =   ; PQ =    =  
1   0 − 3 1   −3
 0 1
C= 
1 − 3 
det (C) = 3 × 0 – 1 = – 1 ≠ 0 hence controllable
Observability Matrix
R 
O= 
RP 
 −1 1
R=[0 1] : RP = [0 1]   = Q 0 -3
 0 − 3
0 1
O= 
 0 − 3
det (O) = 0 not observable

Problems

 X1   1 1   X 1   0 
01. A state variable model of a system is given by  =    +  u , and
X2   −2 − 1 X2  1 
X 
y=[1 0]  1  . The system is?
X2 
(A) Controllable and observable (B) Controllable but unobservable
(C) Observable and uncontrollable (D) Uncontrollable and unobservable

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 Control Systems

dx 1 0 p 
02. Consider the system = AX + Bu with A=   and B=   where p and q are arbitrary real numbers.
dt 0 0 q 
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.

03. The state variable description of an LTI system is given by

X1  0 a1 0  X1  0   X1 
         
X2  = 0 0 a2  X2  + 0  u , y=[1 0 0]  X2 
X  a3 0 0  X 3  1   X 3 
 3
where y is the output and u is the input. The system is controllable for
(A) a1  0,a2 = 0,a3  0 (B) a1 = 0,a2  0,a3  0
(C) a1 = 0,a2  0,a3 = 0 (D) a1  0,a2  0,a3 = 0

04. The state diagram of a system is shown in the given figure:

The system is
(A) Controllable and observable (B) Controllable but not observable
(C) Not Controllable but observable (D) Neither Controllable nor observable

 X 1   0 1 0   X1   0   X1 
         
05. Consider the system defined by
X2  =  0 0 1   X2  +  0  u , y=[C1 C2 C3 ]  X2 
X  -6 -11 -6  X 3  1   X 3 
 3
except for an obvious solution choice C1=C2=C3=0 , find an example of a set of C1,C2,C3 that will make the system
unobservable
(A) C=[1 1 1] (B) C=[0 1 1]
(C) C=[0 1 0] (D) C=[1 1 0]

06. The state equation of a system are given below

X1 = pX1 + X2 + u
X 2 = −3X1 + u
If the system is found to be uncontrollable then value of p is _________.

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 Control Systems

Type 17 – Compensators and Controllers

For Concept, refer to Control System K-Notes, Design of Control Systems

 Common Mistake / Point to remember

Memorize the formulas for maximum phase shift and frequency corresponding to maximum phase shift.

Sample Problem

The transfer functions of two compensators are given below:

10(s + 1) (s + 10)
C1 = , C2 =
(s + 10) 10(s + 1)
Which one of the following statements is correct?
(A) C1 is lead compensator and C2 is a lag compensator
(B) C1 is a lag compensator and C2 is a lead compensator
(C) Both C1 and C2 are lead compensator
(D) Both C1 and C2 are lag compensator

Solution: (A) is correct option

For C1 Phase is given by

C1 =tan−1 () − tan−1 ( )
10
 
 − 
C1 =tan−1  10  = tan−1  9   0 (Phase lead)
 10 + 2 
1+  
2

 10 
Similarly for C2 , phase is

C2 =tan−1 ( ) − tan−1 ()
10
 
 − 
 −9 
C2 =tan−1  10 2  = tan−1   0 (Phase lag)
1+    10 +  
2

 10 

Problems

01. Which of the following in the transfer function of a lead compensation network.

(s + 5) (s + 8)
(A) (B)
(s + 8) (s + 5)
s(s + 5) (s + 8)
(C) (D)
(s + 8) s(s + 5)

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 Control Systems

(0.5s + 1)
02. Maximum phase lead of the compensator D(s) = is
(0.05s + 1)
(A) 52 at 4 rad/sec (B) 52 at 10 rad/sec
(C) 55 at 12 rad/sec (D) None of the above

03. Which one of the polar diagram corresponds to a lag network?

04. The frequency response of controller is given below. The controller is

(A) Lead
(B) Lag
(C) Lead-lag
(D) Lag-lead

s+a
05. G(s) = is a lead controller to obtain maximum phase lead of 300 . The values of ‘a’ and ‘b’ respectively are
s+b
(A) a= 2, b=6 (B) a= 1, b=3
(C) a= 0.1, b=0.3 (D) All the above

06. If the maximum phase (  ) provided by the compensator is 30° and this is achieved at
m 3 rad/sec. The transfer function
of the compensator is
1+ s 1 + 3s
(A) (B)
1 + 3s 1+ s
s +1 s+3
(C) (D)
s+3 s +1

07. The lead compensator has pole at s = −4 and a zero at s = −2. Then the maximum phase lead m and the corresponding
frequency m is

(A) m = 20o , m = 2 (B) m = 30o , m = 8

(C) m = 20o , m = 8 (D) m = 30o , m = 2

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 Control Systems

Solutions
Type 1 – Transfer Function
01. Ans: (D)
Solution:
Converting to S-domain
sL = s  10  10−3 = 10−2 s

1 1 104
= =
sC s  100  10−6 s
V0 ( s ) 1
sC
Now, =
Vi ( s ) R + sL + 1
( Voltage division formula)
sC

V0 ( s ) 10 4
s 10 4 106
= = =
Vi ( s ) 10  103 + 10 −2 s + 10
4
s10 4 + 10 −2 s2 + 10 4 s2 + 106 s + 106
s

02. Ans: (B)

Solution:
1
R1  R1
Z1 = sC =
1 R1sC + 1
R1 +
sC
V0 (S ) R2 R2 R 2 (1 + R1sC ) K (1 + 0.3S )
Now, =
Vi (S ) R 2 + Z1
= = = (Given)
R2 +
R1  R R sC 
(R2 + R1 )  1 + R 1 +2R  (1 + 0.17S )
R1sC + 1  1 2 

0.3 0.3
So R1C = 0.3  R1 = = = 0.3  106 = 300K
C 10−6
R1R 2C 0.3  R 2
= 0.17  = 0.17
R1 + R 2 0.3  106 + R 2

0.17  0.3  106 51  103

R2 = =  4  105  400K
0.13 13  10 −2

03. Ans: (B)

Solution:
Y (S ) L.T ( 2t + 1 ) e−2tu ( t ) 
T.F = =
X (S ) L.T e−3tu ( t ) 

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 Control Systems

 
 2 +
1  2+S+2
 S + 2 2 (S + 2) 
 ( )  ( S + 2)
2
(S + 4 )(S + 3) → Zeros
TF = = =
 1   1  ( S + 2 ) → Poles
2

   
S +3 S +3
Zeros = −4,3 and Poles = −2, −2

04. Ans: 1
Solution:
10
CLTF = for unity feedback system
s2 + 8s + 20
G 10
= 2
1 + G s + 8s + 20
(
G s2 + 8s + 20 = 10 + 10G)
10
G= dc gain (  = 0 )
s2 + 8s + 10
10 10
| G |= = =1
10
(10 − 0 ) + ( 64  0 )
2 2

05. Ans: 3
Solution:
The given system is
k
G(s) =
(
s s + 8s + 2
2
)
 Type= 1
Order =3

06. Ans: (A)

Solution:
Here z1 = 10 + s; z2 = 10; z3 = 2s, z4 = 10
z 2 ( z3 + z 4 ) 10 ( 2s + 10 )
z2 || ( z3 + z 4 ) = =
z 2 + z3 + z 4 2s + 20
10 ( 2s + 10 )
v i z 2 || ( z3 + z 4 ) 2s + 20
and v x = = vi 
z1 + z 2 || ( z3 + z 4 ) 10 ( 2s + 10 )
10 + s +
2s + 20

v x = vi 
(
10 2s + 10 ) .........(1)
(10 + s)(2s + 20 ) + 10 (2s + 10 )
v (z )x 4  10 
and v 0 = = v  
( z + z 3)  2s + 10 
4
x

From (1)

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 Control Systems

(
10 2s + 10 ) 10
()
V0 s = Vi s  () 
(10 + s)( 2s + 20 ) + 10 ( 2s + 10 ) 2s + 10

 TF =
()=
V0 s 100
=
50
V (s)
i
2s 2
+ 60s + 300 2
s + 30s + 150

07. Ans: (A)

Solution:
d2 y d2 x
= x ( t − 2) + 2
dt 2
dt
Taking Laplace transform both sides, assuming zero initial conditions
s2 Y ( s ) = e−2s X ( s ) + s2 X ( s ) = ( e−2s + s2 ) X ( s )
Y (s) e−2s + s2 e−2s
 = = 1 +
X (s) s2 s2

Type 2: Block Diagram

01. Ans : (D)
Solution:
Z = ( G1G3 ) y + ( G1G2 ) x

(
Option (D) Z = G1G2 / G3 y + G1G2 x
2
) ( )
Except (d) all options satisfies Z

02. Ans: (C)

Solution:
Given block diagram
()
c s = x1  x2

From option (A) C ( s ) = x1 x2

From option (B) C ( s ) = x2  x1

From option (C) C ( s ) = x1  x2

From option (D) ()

C s = −x1  x2
Hence only option (C) is correct

03. Ans: -0.25477

Solution:

Using block reduction technique

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 Control Systems

For positive feedback

C G = (G G
1 2
+ G4 ) G3
=
(G G
1 2
+ G4 ) G3
 =
R 1 − GH  G1H2H3  1 − G1G2G3H1H2 − G3G4H1H2 + G1H2H3
1 − ( G1G2 + G4 ) G31  H1H2 − 

 ( G1
G 2
+ G4 ) G3


Given G1 = 1,G2 = 2,G3 = 4,G4 = 8 also H1 = H2 = 2 and H3 = 1


C
=
(1 2 + 8 ) 4 =−
40
= −0.25477
R 1 − 1 2  4  2  2 − 4  8  2  2 + 1 2  1 157

04. Ans: (A)

Solution:
C (s) s+2
From figure (I) TF1 = = …….…(1)
R (s) s +1

C (s) −X s + 1− X
From figure (II) TF2 = = +1= …….…(2)
R (s) s +1 s +1
Given TF1 = −TF2
s+2 s + 1− X
=−
s +1 s +1
X = 2s + 3

05. Ans: (A)

Solution:
Using Block reduction technique

For negative feedback system

C (s) G(s) KRE (1 + AT ) KRE + KREAT
= = =
R (s) 1 + G (s )H(s ) 1 + KRE (1 + AT ) RYX 1 + KRERYX + KREATRYX

06. Ans: 0.0246

Solution:

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 Control Systems

2
C 17 2
= = 0.0246
R 2 81
1 + 32 
17

Type 3 – Signal Flow Graph

01. Ans: (A)
Solution:
From Mason’s gain formula:-
Forward path =1
Feedback loops =-G1H, -G2H
E 1 1
= =
R 1 + G1H + G2H 1 + ( G1 + G2 ) H

02. Ans: (C)

Solution:
(
Non touching loops → b & fg → 1 )
Forward path → adf, aef, ah → 3

03. Ans: (B)

Solution: Feedback loops= −s , −s−1 , −ks−1
−1

Non touching loops= s

−2

Forward path=1, loops not touching forward path= −s , −Ks−1

−1

Mason’s gain formula=

C(s)
=
1 1 + s−1 + Ks−1( =
)
s2 + (K + 1 ) s
( )
R(s) 1 − −s−1 − s−1 − Ks−1 + s−2 1 + (K + 2 ) s + s2
04. Ans: (A)
Solution:
G1 + G3 (1 + G1G2 )
1 + G1G2
1 + G1G2 =It is indicating a loop, G1 & G2 with –Ve feedback
G1 =It is a forward path
G3 (1 + G1G2 ) =It is another forward path which is not touching the loop.

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 Control Systems

05. Ans: (C)

Solution:
Here GX − YH2 = Y
Y G
=
X 1 + H2

Alternate method:-
Introduce a source.
Y
Here = mason’s gain formula cannot be applied as there is no source from where only outgoing branches go.
X
So, we introduce another node m as an input then apply mason’s gain formula,
Y G
Y m 1 + H1 + H2 + H1H2 G
= = =
X X 1 (1 + H2 ) 1 + H2
m 1+H +H +H H
1 2 1 2

06. Ans: (A)

Solution:
Converting to signal flow graph

If take-off point is after summing point, one node is taken

C G1G2 + G1G3
=
R 1 + G1G2H1 + G2 + G3

07. Ans: (C)

Solution:
Loops G1H3, G2H4, G3H2, G4H1, G1H2G2H4, H3H1H4G3
And there are no three non-touching loops

08. Ans: (A)

Solution:
Forward paths = 2  KRASH, KRASH
Loops = 3  −KRASH, KRASH,KRASH
All are touching loops and touching to both forward paths also.
From Mason’s gain formula
KRASH (1) + KRASH (1) 2KRASH
T (s) = =
1 − ( −KRASH + KRASH + KRASH) 1 − KRASH

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 Control Systems

09. Ans: (D)

Solution:
From Mason’s gain formula
1
1 + Gff ( s ) 
y (s) s (s + 1) s2 + s + Gff ( s )
= =
D (s) 1 s2 + s + 1
1+
s (s + 1)

Y (S )
For the effect of disturbance on O/P to be zero, =0
D (S )
=1

s + s + Gff ( s )
2

=0
s2 + s + 1
=1

( j )
2
+ j + Gff = 0

2 + j + Gff =0
=1

−1 + j + Gff = 0 => Gff = 1 − j

 
Gff = 2  − 
 4

Type 4 – Sensitivity
01. Ans: (A)
Solution:
Here C1 = R  10
C1 %C1
=G G
R %R
Now, G  10%  G = 11

C1 = R  11

So G changes by 10%, C1 also changes by 10%

C2 G
Here M = =
R2 1 + G

SMG = Closed loop sensitivity gain= %M

%G

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 Control Systems

M
M= 1
G 1+G
G
M 1 G 1
=  =  10%  1%
M 1 + G G 1 + 10
C2 = M  R 2
 C2 Will change by 1%

02. Ans: 1.02

Solution:
G
T=
1 + GH
 dT   
d  G   H  H(1 + GH)  (1 + GH) .0 − GG 
   
 T  dT H GH
SH =
T
=  =   = =−
 
 (1 + GH)
dH dH T dH  1 + GH  G  G 2
1 + GH
  
H  1 + GH 
−50

SHT =
s ( s + 1) = −50 = −50
50 s2 + s + 50 50 − 2 + j
1+
s ( s + 1)
Put s=j
−50
SHT =
50 − 2 + j
50
(S )
T
H
= = 1.02
(50 −  ) + (1)
=1 2 2
2

03. Ans: (b)

Solution:
Given block diagram can be redrawn as

C (s) G(s) + 1 1 + G(s)

T (s) = = =
R (s) 1 + 1 + G ( s ) .1 2 + G(s)
 
T
()
T G = 2 + G s − 1 − G s  G s  2 + G s = () Gs () ()
S = T =
T
 ()
G
G G T 2 + G s 
 
2
1+G s ()   ()
1 + G s  2 + G s 
 () ()
G

04. Ans: 0.556

Solution:
Transfer function for negative feedback system

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 Control Systems

G 800
T= =
1 + GH 9
G
= 5% = 0.05
G
T G 1
also SGT =  = for closed loop system
T G 1 + GH
T 1
=  0.05  100%= 0.556%
T 9

Type 5 – Steady State Analysis

01. Ans: (A)
Solution:
K
OLFT =
s ( s + 1 )( s + 10 )
2

K K
Here K a = lim s2  =
s →0 s ( s + 1 )( s + 10 ) 10
2

Now error for unit acceleration

1 10
= = 0.2
Ka K

10
K = = 50
0.2

02. Ans: (C)

Solution: Initial slope=-20dB/dec
At  = 10 , slope changed to horizontal
So at = 10 is a zero,
K ( s + 10 )
So OLFT =
s
At  = 1 , Gain=40dB  20log (k ) = 40
Gain=100
10 ( s + 10 )
So G s =() s
Now K V = lim sG ( s ) = 100
s →0

1 1
Error = = = 0.01
K V 100

03. Ans: (B)

Solution:
E (s) 1 10s
= =
R (s) K 10s + K
1+
10s

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 Control Systems

10s 10s 1 10
E (s) =  R (s) =  = Due to R ( s ) 
10s + K 10s + K s 10s + K  
1
E (S ) −
−1
Now = 10s =
D (S ) K K + 10s
1+
10s
−1
E (s) = Due to D ( s ) 
s (K + 10s )  

10 1 10s − 1
So E ( s ) = − =
K + 10s s (K + 10s ) s (K + 10s )

1 1
Steady state error = lim as = lim s E S  =
t → S →0  ( ) =
K K

04. Ans: (D)

Solution:
Here it is a type 2 system

As starting point is at -1800

So it is having definite error Co-efficient [not 0 or ]
Only option (D)

05. Ans: (C)

Solution:
2 s+2−2
E (s) s
1−
+ 2 s + 2 s2
Here = = =
R (s) 6 s2 + 2s + 6 s2 + 2s + 6
1+
s (s + 2) s (s + 2)

1
Here R (s) = [Unit step input]
s
s2 1
So E ( s ) = 
s + 2s + 6 s
2

s2
Now steady state error= lim ess = lim sE ( s ) = lim =0
t → s →0 s →0 s2 + 2s + 6

06. Ans: (B)

Solution:
10
If OLTF = & H(s) = 1
(s + 1)
K p = lim G ( s ) = 10
s →0

If the type is increased by one

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 Control Systems

10
OLTF = & H (1) = 1
s(s + 1)
K V = lim sG ( s ) = 10
s →0

1
Error = = 0.1
10

07. Ans: 6
Solution:
ess ( steady state error ) = 1 − 0.75 = 0.25
For unit step
K
Position error constant K p = limG S =
s →0
( ) 2
1 1 1
es = = =
1 + kp 4 k
1+
2
K
+1 = 4
2
k =6

Type 6– Transient Analysis

01. Ans: (A)
Solution:
K ( s + a) 1
GC ( s ) = and G ( s ) =
(s + b) s ( s + 3)

K ( s + a)
So overall OLTF=
s ( s + b )( s + 3 )
As it is a second order system. So taking a=3
(a=b not in the option, so not taken & s=3 cannot be an open loop pole also)
Now un-damped natural frequency
A = 2
Damping factor=  = 0.5

2A 4 4
Now second order OLTF= = =
s ( s + 2A ) s ( s + 2  0.5  2 ) S ( S + 2 )
So K=4, b=2, a=3

02. Ans: (A)

Solution:

Given n = 10 rad / sec  = 0.4

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 Control Systems

n2
TF = (Standard form)
s2 + 2ns + n2
100 100
TF= = 2
s + 0.8  10s + 100 s + 8s + 100
2

03. Ans: (D)

Solution:
%MP = 4.32% = 0.0432 , n = 5rad / sec

(ln M )
2 −
 − tan   1 −2
=
p
=(Delivered from the %M = e =e formula)
P
 
(ln M ) + 
2
2
p
 
 = 0.707
So pole location= −n  jn 1 − 
2
= −3.535  j3.535

04. Ans: (B)

Solution:
(P) So CE= S +  = 0
One pole system

(Q) Left hand poles & conjugate poles

Poles → under damped system

(R) Marginally stable system

(S) Right hand poles

Unstable system

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 Control Systems

05. Ans: (D)

Solution:
100 OLTF
OLTF= so CLTF=
(S + 1)(S + 100 ) 1 + OLTF
So CE=1+OLTF=(S+1)(S+100)= s2 + 101s + 200
Comparing with S + 2n + n
2 2

We get n = 101 = 50.5

2
4 4
For 2% criterion, = = not in the answer
n 50.5

06. Ans: (C)

Solution:
1 1
R sC LC
Here TF = 0 = = [Converting to standard from]
Ri 1 R 1
R + sL + s + s+
2

sC L LC
R C 10 10  10−6 1
For RLC circuit  = = = 5 = 0.5
2 L 2 1  10 −3
10
1 1
n = = = 108 = 10 4
LC 10  10  10
−3 −6

−
1 −2
Now peak overshoot= e =0.1630=16.3%

07. Ans: (A)

Solution:

G(s) =
(1 + sk )10
s (s + 2)
For unity negative feedback system
10 + 10sk
T (s) =
s + s ( 2 + 10k ) + 10
2

Compare with standard second order transfer function

 n = 10 = 3.16rad sec
2n = 2 + 10k
2n − 2
k=
10
−
1−2
Now, MP % = 9.49% = e
 = 0.6
Thus, k = 0.18
For Type one system

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 Control Systems

10
Velocity error constant k V = limsG s =
s →0
() 2
=5

1
 ess = = 0.2
kV

08. Ans: 13.53

Solution:
The standard transfer function of second order system
C (s) n2
=
R (s) s2 + 2n + n2

s = −n  n 1 − 2
Here, n = 2

n 1 − 2 = 
 2
=
1−  2 

− 2
−
1−2
%MP = e  100% = e 
 100% = e−2  100% = 13.53%

09. Ans: (C)

Solution:
20
G(s) =
(s + 1)(s + 5)
G(s) 20
For unity negative feedback system T s = () 1 + G(s)
=
s + 6s + 25
2

Compare it with general second order system T ( s ) = k

 k = k1n2 
s2 + 2ns + n2  

By comparison,
n2 = 25  n = 5rad / sec
3
2n = 6   = = 0.6.
5
9
d = n 1 − 2 = 5 1 − = 4 rad / sec.
25
 
Time period of oscillation = 2 . = 2   = = 1.56 sec
d 4 2

Type 7 – Routh Stability Criterion

01. Ans: (A)
Solution:
K (s + 4 )
() ()
OLTF G s H s =
(
s s2 + 2s + 2 )
So characteristic equation=1+G(s)H(s)

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 Control Systems

ss33 +
+ 2s
2
2s2 + + 2s
2s ++ ks + 4K
ks + 4K = 0
=0
ss3 +
3
2s 2 + 2s
2
+ 2s + 2s
ss33 +
+ 2s + (2 K ) ss +
+K + 4K =0
2
2s2 + 2+ 4K = 0
So RH criteria
S3 1 2 +K
S2 2 4K
S1 2 + K − 2K
S0 4K
For intersecting j axis
2 + K − 2K = 0  K = 2
Now Auxiliary equation is
2S2 + 4K = 0

S2 = −4  S =  j2

02. Ans: (A)

Solution:
Routh array
S3 a b 0
S2 c d 0
10 − K
S1 0
2
S0 k
 10 − K 
  d
2
K=  =d
10 − K
2
10 − K
Now for marginal system = 0  K = d = 10
2
Auxiliary equation
Cs2 + d = 0 or Cs2 + K = 0 or Cs2 + 10 = 0
10 − K cb − ad
Also = =0
2 c
ad
b− = 0 => bc = ad
c
10 − K bc − ad
& S row →
1
=
2 c
Comparing
C=2
ad = K  a  K = K  a = 1
bc = 10  b = 5

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 Control Systems

03. Ans: (D)

Solution:
CE = S6 + 2S4 − S2 − 2 = 0
Routh array

S6 1 2 −1 −2
S5 6 (3) 8 (4) −2 ( −1 )
S4 0.67 −0.67 −2
0.67  3
S3 4+ = 7 −1 + 8.95 = 7.95 0
0.67
S2 −1.43 −2
S1 −1.84
S0 −2

Auxiliary equation is S6 + 2S4 − S2 − 2 = 0 and  Symmetrical roots

Derivative of AE= 6S + 8S3 − 2s = 0
5

One sign change after the auxiliary equation

1 RHP=1 LHP
 − 2 = 4 j Poles

04. Ans: (C)

Solution:
CE== s5 + s4 + 3s3 + 3s2 + 6s + 4
Routh array
S5 1 3 6
S4 1 3 4
S3 0 () 2

S2
(3 − 2) 4
[  = Small +Ve value [let take  = 0.02]]

S1
2
S0 4
2
3 − = −Ve

Two sign changes in routh array then two right hand poles and system is unstable

05. Ans: (A)

Solution:
Characteristics equation is
K (s + a)
1+ =0
s(s + 1)(s + 2)
(s2 + s) (s+ 2) + k s + a k = 0
s3 + s2 + 2s2 + 2s + ks + ak = 0
s3 + 3s2 + (k + 2)s + ak = 0
Routh array

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 Control Systems

S3 1 k+2
S2 3 ak
S1 3 (k + 2 ) − ak
3
S0 ak
For oscillations S1 row = 0
3 (k + 2 ) − ak
=0
3
3k + 6 – ak = 0
3k + 6
a= –––––– (1)
k
AE = 3s2 + ak = 0 –––– (2)
Using equation (1) in (2)
3s2 + 3k + 6 = 0
3s2 = – (3k + 6)
 3k + 6 
s2 = –   = – (k + 2)
 3 
s=  j k +2 (
= n = 2rad / sec )
ωn = k+2 =2

k=2
3k + 6
And a =
k k =2
a=6

06. Ans: (A)

Solution:
Characteristic equation
CE = s4 + 3s3 + 3s2 + 2s + k = 0
Routh array

s4 1 3 k
s3 3 2 0
s2 7 k
3
s1 9 0
2–
7k
s0 k
For the system to be stable, No sign change in the first column of the Routh array
9 14
k 0 & 2−  0 => k
7k 9
14
0  k 
9

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 Control Systems

Type 8 – Root Locus Technique

01. Ans: (C)
Solution:
K ( s + 1.5 )
G (S ) H (S ) =
s ( s + 1 )( s + 5 )
Poles=0, -1, -5 and zeroes=-1.5
−1 − 5 + 1.5 −4.5
= = = −2.25
3 −1 2
 2q + 1 
 180 = 90
0 0
Angle of asymptotes=  
 P − Z 

02. Ans: (B)

Solution:

OLTF=
(
K S2 + 10 )
S (S 2
+ 4)
Poles=  j2

Zeros=  j 10 (Stability check)

CE= S + 4S + KS2 + 10K
2

S3 1 4
S2 K 10K
S1 4 − 10 = −6
S0 4
System is unstable
Only option (B) as some part of RLD is on RHS of S-plane

03. Ans: (B)

Solution:
2K
OLTF (with gain K) =
s ( s + 1 )( s + 2 )
Last Stable point is the intersection of root locus with imaginary
Axis as after that root locus enters right half plane.
So at last stable point max DC gain=
Distance from poles
2K S = =
2j Dis tance from zeros
 2  2
2K = 2   2 + 12   2 + 22 = 2  3  6 = 6
 
K =3

04. Ans: (C)

Solution:
From RLD
Poles=-2, -1 and Zeros=-3

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 Control Systems

K ( s + 3)
OLTF=
( s + 1)( s + 2)
43
P (-5, 0) is on the root locus, Now K S =−5 = =6
2

05. Ans: (A)

Solution:
tan  = 3   = 600
Here root locus is straight line i.e it is coinciding with asymptotes and angle of asymptote is 600 and -600
So there are three poles
K
So is the right answer (Option A)
S3
K , K , K
S2 ( S + 1 ) (
S S2 + 1 ) (
S S2 − 1 )
will not have RLD as straight line.

06. Ans: (A)

Solution:
K (1 − S )
OLTF= poles=0, -2 Zero=1
S (S + 2)
K (S − 1 )
For this, we have to draw complementary RLD of
S (S + 2)
Using properties of complementary RLD
Because an additional angle  is added to the system [Option A]

07. Ans: (B)

Solution:
K ( s + 10 )
OLTF=
s ( s + 2 )( s +  )
Drawing root locus diagram
Here angle of asymptotes are +900

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 Control Systems

So the centroid should be in the –Ve real axis for the closed loop system to be stable
−2 −  + 10
= =0
2
8− =0 =8

08. Ans: 4
Solution:
The root locus can be drawn
cos = 
 = cos−1 ( 0.5 ) = 600
−2 − 0
Centroid  = = −1
2−0

Angle of asymptote = = 
( 2q + 1) 180 0
= ( 2q + 1) 900
P−Z
Hence Point ‘ s1 ’ intersection is given as s1 = −1 + j 3
Point ‘ s1 ’ lies on root locus

( )
Hence, G s1 = 1

As H(s) = 1
K = s s+2
K = −1 + j 3 1 + j 3

K=4
09. Ans: (B)
Solution:
The root loci starts from s= -1 and 0 and ends at -3 and 
Hence poles are at -1, 0 and zeros are at −3,  .
K ( s + 3)
Thus, the transfer function will be
s ( s + 1)

Type 9 – Properties of Root-Locus

01. Ans: (C)
Solution:
K
()
OLTF= G s =
(
s ( s + 4 ) s2 + 4s + 8 )
On RLD

K
OLTF = G ( s ) = =1
(
s ( s + 4 ) s2 + 4s + 8 )
(
K = s ( s + 4 ) s2 + 4s + 8 ) s =−2
= −2  2  ( 4 − 8 + 8 ) = 16

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 Control Systems

02. Ans: (C)

Solution:
Poles=-1, -2-j1, -2+j1
Angle of departure=1800-  and  =zeroes-poles at -2-j1
Here is
1
= = 900 + 450 = 1350
 ( −2 − j1 + 1 )  ( −2 − j1 + 2 − j1 )

So angle of departure
−2 − j1
= 1800 − 1350 = 450

03. Ans: (B)

Solution:
Open loop poles=-2+j2, -2-j2, -1, 0 and Open loop zeros= S=-3
P=4 and Z=1
−2 − 2 − 1 − ( −3) 5+3 2
Now centroid=interaction of asymptotes= = =−
4 −1 3 3

Angle=
( 2q + 1) 1800 where q=0,1,2
(P − Z )
Angle = 600 ,1800 ,3000 or 600 ,1800 , −600

04. Ans: (B)

Solution:
For lying on the root locus point should follow these two conditions
( ( ) ( ) ) = (2q + 1) 180
1.  G s H s
0

2. (G (s)H(s)) = 1
K
G (s) H(s) =
( s + 1)
4

For s=-3+j4
( ) (
 G ( s ) H ( s ) = −4 ( −3 + 4 j + 1 ) = −4 1800 − 63.430 = −466.26 0 )
For s=-3-j2
( )
 G ( s ) H ( s ) = −4 ( −3 − 2 j + 1 ) = 5400 = ( 2q + 1 ) 1800
S 2 is ON the RLD
S 1 is not on the RLD

05. Ans: (C)

Solution:
Poles 0, -3+j1, -3-j1
 −3 − 3 
Centroid= −2 =  
 3 
So no zeros

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 Control Systems

K K
Now OLTF = =
(
s s + 6s + 9 + 1
2
) s (s 2
+ 6s + 10 )
For break in point
CE = s3 + 6s2 + 10s + K = 0
dK d 3
ds
=0−
ds
(
s + 6s2 + 10s = 0 )
3s2 + 12s + 10 = 0
s = −1.18, −2.81
d2K
For break in points  0 = 6s + 12
ds2
d2K
= 6s + 12
ds2
Hence -1.18 is a break in point

06. Ans: (D)

Solution:
K (s + 1)
OLTF =
s (s − 1)
Poles = 0 & 1
Zeros = −1
RLD of this system
Break in/away points
dK d  s2 − s 
=0−  =0
ds ds  s + 1 
s=0.414 , -2.414
center of the circle on the real axis (b,0)
b= = −1 from the diagram

07. Ans: -14

Solution:
By drawing Root Locus,
Poles = −2,8 and Zero = −10
Characteristic equation 1 + G s H s = 0() ()
k ( s + 10 )
1+ =0
( s + 2)( s + 8 )
k=−
( s + 2)( s + 8 )
( s + 10 )
dk
For break points =0
ds

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 Control Systems

d  ( s + 2 )( s + 8 ) 
 =0
ds  ( s + 10 ) 
 
( s + 10 )( 2s + 10 ) − ( s + 2)(s + 8 ) = 0
( s + 10 )
2

2s2 + 30s + 100 − s2 − 10s − 16 = 0

s2 + 20s + 84 = 0
s = −6, −14
d2k 168
=−
ds ( s + 10 )
2 3

d2k
At s=-6  0 , so it is break away point
ds2
d2k
At s=-14  0 , so it is break in point
ds2

08. Ans : (B)

Solution:
Centroid,

=
 pole −  zeros 0 − 4  −  −2
= = −2
P−Z 2 −1
Break point,
Characteristic equation s
2
+ 4s + k ( s + 2 ) = 0

k=−
(s 2
+ 4s )
(s + 2)
dk ( s + 2 )( 2s + 4 ) − s + 4s
=
2

=0
( )
ds ( s + 2)
2

s = −2  2j

Type 10 – Frequency Response

01. Ans: (C)
Solution:
0 = Resonant frequency

M0 = Resonant peak

0 = r = n 1 − 22

1
M0 = Mr =
2 1 − 2

C (s) 2 4  4 
Transfer function = = = 2 2 
R (s) s +s+4
2
s +s+ 4

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 Control Systems

2n = 1 & n = 2
 = 0.25
1
0 = 2 1 − 2 
16
7
0 = 2 = 1.87rad sec
8
1 1 1 8
M0 = = = =
1 1 1 15 15 15
2 1−
4 16 2 16 8
 8 
M0 = 20log10   = 6.30dB
 15 

02. Ans: 0.707

Solution:

r = n 1 − 22

This expression holds good for

1 − 22  0

1
 2
2
1
 = 0.707
2
03. Ans: (C)
Solution:
1
When   system doesn’t undergo resonance.
2
1
From the options only option (c) has  
2

04. Ans: 1 , 0.2

Solution:
From the frequency response
(
DC gain= Gain  = 0 = 1 )
kn2
M(  = 0 ) = =1
n2
Hence, k = 1
1
Resonant peak = 2.5 =
2 1 − 2

2 1 − 2 = 0.4

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 Control Systems

( )
2 1 − 2 = 0.04

4 − 2 + 0.04 = 0
Approximately,  = 0.2

Type 11 – Polar Plot

01. Ans: (B)
Solution:
Addition of a zero will not change the type of the system, So starting point won’t be change. But an additional + phase
2
will be added to the system. So ending point will be decreased by 
2

=>

02. Ans: (A)

Solution:
At  = 0 , gain=5 [  = 0 represents DC gain value]

At  = 10 point the angle is 450

So let TF = 5 (1 + sT ) = 5 (1 + jT )

Angle is tan−1 t = 450

=10

T =10 = 1  10  T = 1  T = 0.1

So TF=5(1+0.1s)

03. Ans: (C)

Solution:
k (s + 2)
TF=
s2 ( s + 20 )
Phase cross over frequency
TF = −1800
 
TF = −180 − tan−1 + tan−1 = −180
20 2

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=0
So, there is no intersection with negative real axis
Type=2
 Total angle= −1800
Angle of head=-180+90-90= −180
0

04. Ans: (C)

Solution:
This is the graph for K=10
The intersection point is Ka = 0.10 = a = 0.01
For stability intersection point,
Ka< 1 =>K=100
Hence range for stability
0<K<100

05. Ans: (C)

Solution:
At  = 0 , the value is 1
So DC gain=1 & it is intersecting the imaginary axis at -1.18
100
T ( j ) =
100 − 2 + j8.48

 8.48 
T ( j) = − tan−1  2 
 100 −  
For intersection with imaginary axis
 8.48 
T ( j) = − tan−1  2 
= −900
 100 −  
 = 10rad / sec
At ω=10 rad/s
100
T ( j ) = = − j1.18
100 − 10 + j8.48  10
2

option (C) is correct

06. Ans: 1
Solution:
The polar plot starts from −900
and terminates at 00 .
Thus only one pole exists at the origin
and hence it represents a type-1 system

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Type 12 – Nyquist Plot and Stability Criterion

01. Ans: (A)
Solution:
For stability (-1, 0) should not be on closed by the plot. Enclosed means right side of the graph when you are going in the
direction of graph
Hence (-1, 0) is enclosed → unstable

02. Ans: (D)

Solution:
Clock wise encirclement of the point (-1, 0) = N=-2
RHP of CLTF=Z=2 (given)
So N=P-Z
Open loop or Right hand poles P=0

03. Ans: (B)

Solution:
For stability (-1, 0) should not be enclosed
So 2K>1 => K>0.5

04. Ans: (B)

Solution:
Given RHP=0
For stability Z=0
So N=P-Z => N=P
So no of encirclement should be zero,
That is possible only in region 2.

05. Ans: (C)

Solution:
Number of clock wise '  ' semicircle = Type of the system
Hence number of clockwise '  ' semicircle=3
 Type=3

06. Ans: (A)

Solution:

Type of the system = Number of infinite large semicircle (oriented clockwise)

The above plot not having any infinite radius circle. It means system is Type-0 system.

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07. Ans: (A)

Solution:
Nyquist plot

Type of the system = Number of infinite large semicircle (oriented clockwise)

Here no infinite semicircle hence type will be zero.
The polar plot starts at 0° and ends at – 270° So 3 poles are there in OLTF
1
G(s) =
( s + 1)
3

Type 13 – Gain Margin and Phase Margin

01. Ans: (A)
Solution:
K K 100K
OLTF = = =
s (1 + 0.2s )(1 + 0.05s ) 0.2  0.05s (s + 5 )(s + 20 ) s ( s + 5 )( s + 20 )

PM = 1800 +  Where  =  G j ( ) =gc

60 = 180 + 
0 0

 = −1200 = G ( j)
=gc

gc gc  2
 = − tan−1 − tan−1 − =−
5 20 2 3
gc gc
gc gc +

tan−1 + tan−1 = = 5 20 = 0.5773
5 20 6 2
 gc
1−
100

 = 2.2
Now at  = gc => G ( j) = 1

100K
=1
  + 25 2 + 400
2
= 2

K=2.41

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 Control Systems

02. Ans: (C)

Solution:
At pc gain is positive

1
GM = 20log = −20logG ( s )
G (s)
So G.M is –Ve
Now,

At gc , Angle ( 0
)
 which is < −180 (Like −190 , −200 )
0 0

So PM = 1800 +  =-ve

03. Ans: (C)

Solution:
At pc gain=0.3

1
So GM = = 3.33
0.3
At gc  = −112.330

So  = 1800 − 112.330 = 67.670

04. Ans: (A)

Solution:
1
G (s) =
s (1 + sT1 )(1 + sT2 )

At phase cross over frequency ( )

G jpc = −1800

−900 − tan−1 pc T1 − tan−1 pc T2 = −1800

1
pc =
T1 T2

1 T1 + T2
& Gain margin=
G ( j )
( )( )
= jpc 1 + jpc T1 1 + jpc T2 = pc 1 + pc T1 1 + pc T2 =
2 2 2 2

T1 T2
=pc

05. Ans: (B)

Solution:
Passes through negative real axis means angle =-1800
So we have to find out gain at phase cross over frequency
For pc

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
G ( j) = −0.25 − = −
2

= = 2
2  0.25
e−0.25s 
 G(s)H(s) = = = 0.5
s pc
Hence point is (-0.5, j0)

06. Ans : (A)

Solution:
s=0 Dominant pole
200 10
G(s) = =
s ( s + 1)( s + 2 )( 20 ) s ( s + 1)( s + 2 )
For Phase crossover frequency
( )
G p = −1800

−900 − tan−1  − tan−1 = −1800
2

tan−1  + tan−1 = 90
2

+
2 =1
2 0
1−
2
= 2 = 1.41rad / s
10 10 10
| G ( ) |= = = = 1.67
2 2 +1 4 + 2 2 3 6 6
M = 1.67
p = 1.414rad / s

07. Ans: (C)

Solution:
k
G (s )H (s ) =
(
s s + 2s + 5
2
)
GM = 6dB
GM occurs at phase crossover frequency pc
Hence pcf should be determined

G ( s ) H ( s ) = −1800
 2 
−90 − tan−1  2 
= −180
5− 

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2 = 5 or
pc = 5 = 2.23 rad/s
k
GM = −20log = 6dB
(5 −  )
2
 2
+ 4 2
=pc

k = 0.501 10 = 5.01

PM  Gain cross over frequency to be determined

G (s)H(s) = 1

(
2  5 − 2 ) + 42  = 25
2

 
2  4 − 102 + 25 + 42  − 25 = 0
6 − 64 + 252 − 25 = 0
2gc = 1.33
gc = 1.153
PM = 1800 + G ( s ) H ( s ) =1.153
 2 
= 180 − 90 − tan−1  2 
= 57.890
5− 

08. Ans: (C)

Solution:
−4 j
5e 7
G ( j ) H ( j ) =
s +1
Calculating phase crossover frequency
G ( j) H ( j) = −
4
− − tan−1 ( ) = −
7
Given tan = 
4
− −  = −
7
7 7 22
pc = =  = 2 rad / s
11 11 7
−4 j
5e 7 5
G ( j ) H ( j  ) = = = 5
s +1 2 + 1

( ) ( )
Gain margin = = −20log G j H j = −20log 5 = −6.989dB

Type 14 – Bode Plot

01. Ans: (A)
Solution:
Between 1 and ω1, the change in magnitude is 20dB and since slope is 20dB/dec so between 1 and ω 1 there should be a
decade.

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Similarly, 1000 and ω2 there should be a decade.

So log1000 − log 2 should be a decade, so 2 = 100 &
1 = 10 as there is a decade between 1 & 1

So s=1 pole
s = 10 = 1 zero
s = 100 = 2 zero
s=1000 pole
 s  s 
1 +  1 +  (1 + 0.1s )(1 + 0.01s )
 10  100 =
So TF =
 s
(1 + s )  1 + 1000 

(1 + s )(1 + 0.001s )
 

02. Ans: (B)

Solution:
At  = 0.5 slop changes from 0dB to +40dB/dec
So s=0.5 = two zeros
At  = 10 , slop +40dB → -20dB
So s=10=three poles
K ( s + 0.5)
2

TF =
(s + 10 )
3

At = 2 , Gain = 36dB

 K  22 
36 = 20log  3 
 10 
k  16000

03. Ans: (A)

Solution:
K K
T (s) =  T ( j ) =
 s  j 
1 +  1 + 
 a  a 
Now at  = 0.5a , gain = 20logK − 20log 1 + 0.5
2 2

= 20logK − 0.97dB
So error=0.97dB in gain
At  = 0.5a , phase= − tan 0.5 = −26.560
−1

Now from the plot at  = 0.5a

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x0
Let phase is
x0
So = −450
log0.5a − log0.1a
x = 450  log5 = −31.450
So error=31.45-26.56=4.90

04. Ans: (A)

Solution: At it is symmetrical about C
So C =10
The initial slope of bode plot is -40dB/decade which indicates there are two poles present at origin
The change of slope at 1 is 20dB/decade so there is a zero of order 1 and change of slope at 100 is
-20dB/decade so there is a pole of order 1

s +1
So TF =
s ( s + 100 )
2

s +1
Now G(s) =
( s + 100 )
(1 + s) = 0.01 (1 + 100  0.01s ) = K  1 + aTs  is a lag network
 
100 (1 + 0.01s ) (1 + 0.01s )  1 + Ts 
 a −1
Here minimum phase angle = sin   = 78.6
−1 0

 a + 1 

05. Ans: (A)

Solution:
100 ( s + 100 ) 100  100 (1 + 0.01s ) 1000 (1 + 0.01s )
G (s)H(s) = = =
s ( s + 10 ) 10s (1 + 0.15 ) s (1 + 0.1s )
Initial slope=-20dB/dec

Corner frequencies=100(zero), 10(pole)

Drawing the bode plot

At  = 1 Gain=DC gain= G ( s ) H ( s ) = 1000

=1

So 20log1000 = 60dB

100  100
At  = 100 , gain= =1
s2 =100

So 20log1=0 dB

    
G ( j) = tan−1 − tan−1 − = − tan−1 10 − = −2.256  −3
100 10 2 4 2 4

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06. Ans: (A)

Solution:
By observing magnitude plot gain = 0 dB
i.e. magnitude = 1
It is possible only in all pass filter.
Hence option (A) is correct

07. Ans: 10
Solution:
Here p1 ( 20dB,0.1) and p2 ( 20dB,1 )

y 2 − y1 20 − 0
−40 = =
x2 − x1 log10 0.1 − log10 1
1
log10 ( 0.1) − log10 1 = −
2
1 1
−1 + log10 =−
1 2
1 1
log10 =
1 2
1
1
= 10 2
1
1
1 =
10
The initial slope of bode plot is -40dB/decade which indicates there are two poles present at origin
K 1
G(s) = =
s 2
10s2
1
At 1 =
10
K
20log G ( s ) = 20log = 0dB
12
1
K=
10
Error for standard parabolic input ess = 1
Ka
1
K a = lims2G ( s ) =
s →0 10
1
ess = = 10
Ka

08. Ans: 4.02

Solution:
18 − ( −2 )
Slope = = −20dB / dec
log1 − log10

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 The transfer function is

The initial slope of bode plot is -20dB/decade which indicates there are one pole present at origin
K
G(s) =
s
K K
G(s) = =
j 

20log10 G ( s ) = 20log10 K − 20log10 

At  = 1
18 = 20log10 K
18
K = 10 20
At  = 5
18
20log10 G ( s ) = 20log10 10 20
− 20log10 5 = 18 − 20log10 5 = 4.02dB

Type 15 – State Variable Analysis

01. Ans: (B)
Solution:
A B
 0 0 −20  3 
   
X =  1 0 −24  X +  1  u and Y = 0 1 0 
 0 1 −9  0
   
CE = sI − A  = 0

 1 0 0   0 0 −20   s 0 +20 
     
s  0 1 0  −  1 0 −24  =  −1 s +24  = 0
 0 0 1   0 1 −9   0 −1 s + 9 
     
( )
s s2 + 9s + 24 + 1 ( 20 ) = 0

s3 + 9s2 + 24s + 20 = 0

02. Ans: (C)

Solution:
e−2t   −2e−2t 
Given x (t) =   So x ( t ) =  −2t 
 −2e   4e
−2t


e− t   −e− t 
& x ( t ) =  −t  x ( t ) =  −t 
 −e  e 

a b
Let say A=  so x ( t ) = Ax ( t )
 c d

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 −2e−2t   a b  e−2t 
 −2t  =   
 4e   c d   −2e 
−2t

−2e−2t = ae−2t − 2be−2t => a − 2b = −2...............(i)

4e−2t = ce−2t − 2de−2t => 4 = c − 2d...................(ii)

 −e− t   a b  e− t 
&  −t  =    −t 
e   c d   −e 

−e− t = ae− t − be− t => a − b = −1.................(iii)

e− t = ce− t − de− t => c − d = 1....................(iv)

Solving (i), (ii), (iii) & (iv)

b=1, a=0, c = −2 , d=-3

03. Ans: (B)

Solution:
A B
 X1   −4 −1   X1  3 C
X 
   =     + u and y = 
1 2  1 
 X 2   2 −3   X 2  5   X 2 
−1 −1
−1  s 0   −4 −1  3 s + 4 1  3
TF = C sI − A  B = 1 2  −    = 1 2    
 0 s   2 −3  5   −2 s + 3  5 
1 s + 3 −1   3 
TF = 1 2  
( s + 4 )(s + 3) + 2  2 s + 4   5 
1 3s + 9 − 5  13s + 56
TF = 1 2  = 2
s + 7s + 14 6 + 5s + 20  s + 7s + 14
2

Zero=-4.3 and Poles=-3.5+j1.32

04. Ans: (A)

Solution:
Let  = X1 & T=4
d
= X 2 = X1
dt
d2 
So = X 2 = T − 4 = 4 − 4X1
dt2
So X1 = X 2

X 2 = 4 − 4X1 = −4X1 + 4

 X   0 1   X1   0 
 1  =     +   u
 X 2   −4 0   X 2   1 

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05. Ans: (C)

Solution:
−1
TF = C sI − A  B + D
−1
 s 0   −1 −0.5    0.5 
TF = 1 0   −   
 0 s   1 0    0 
−1
 s + 1 0.5   0.5  1  s −0.5   0.5 
TF = 1 0      = 1 0    
 −1 s  0  s ( s + 1 ) + 0.5  1 s + 1   0 

1  0.5  0.5s 0.5

TF = s − 0.5   = 2 =
s + s + 0.5  0  s + s + 0.5 ( s + 0.5 ) + 0.25
2 2

y (s) 0.5
= [v(t)=u(t)]
v (s) ( s + 0.5)
2
+ 0.25

0.5
y (s) = = e−0.5t sin ( 0.5t )
( s + 0.5)
2
+ 0.25

06. Ans: (A)

Solution:

− 1 0  s + 1 0 
A=  0 − 2 and (sI-A) =  
   0 s + 2

 1 
0 
(sI-A)-1 = S + 1
 1 
 0 
 S + 2
 1 
0  e 0 
−t

State transition matrix = eAt = L-1[(sI-A)-1]= L-1 S + 1 =  
 1   0 e −2 t 
 0 
 S + 2
07. Ans: (A)
Solution:
x1 ( t ) = x1 − 3x2
x2 ( t ) = 8x1 − k1x1 − k 2 x 2
 x1 ( t )   1 −3   x1 
 =    + 0  u
 x2 ( t )  8 − k1 −k 2   x2   

 1 −3 
A= 
8 − k1 −k 2 
CE =| sI − A |= 0
 s −1 3 
 =0
k1 − 8 s + k 2 

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(s − 1)(s + k ) − 3 (k − 8 ) = 0
2 1

s + (k − 1 ) s − k − 3k + 24 = 0
2
2 2 1

Compare with standard characteristic equation

2n = (k 2 − 1)
1
2 2 = (k 2 − 1)
2
k2 = 3

And n2 = 2 = −k2 − 3k1 + 24

19
= k1
3

08. Ans: (C)

Solution:

x2 = u − x1 − x2
x1 = x2
y = x1
Hence state model of the given system
 x1   0 1   x1  0   x1 
 =    +   U ; y = 1 0   
 x2   − −   x2   1  x2 

09. Ans: (B)

Solution:
The state transition matrix
 ( t ) = L−1 sI − A 
−1

Here
s 0  2 0  s − 2 0 
( sI − A ) = 0 −
s  0
=
3  0

s − 3

 1 
0
Adj ( sI − A ) 1 s − 3 0   ( s − 2 ) 
( sI − A ) 
−1
= =
( s − 2)(s − 3)  0 s − 2  0
=
sI − A 1 

 ( s − 3) 
 1 
 0 
−1 
  (t) = L 
(s − 2) 
1 
 0 
 ( s − 3) 

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 Control Systems

e2t 0
 ( t ) = eAt =  
0 e3t 
 ( t )  = eAkt
k

 
   ( t )  = e2At
2

e4t 0
2 ( t ) =  
0 e6t 

10. Ans: 0.5

Solution:
Writing equations

e1 − VC1 = −R i1 − CVC1 ( )
Ldi1
e2 − VC1 =
dt
On rearrangement

dVC1
e1 − VC1 + Ri1 = RC
dt

e1 VC1 i1 dVC1
− + =
RC RC C dt
di1
And e2 − VC1 = L
dt

e2 VC1 di1
− =
L L dt
i1 = X1 and VC1 = X2


 X1   0 − 1  X 
L  1
 =  X 
X
 2  1 − 1  2
 C RC 

−1  −1 1  1 1
Determine  A  = 0  −   = = = 0.5
RC  L C  LC 2  1

Type 16 – Controllability and Observability

01. Ans: (A)
Solution:
1 1 0
A=  B=  C = (1 0 )
 −2 −1  1 

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0  1 1  0   0 1 
C = B AB  =      =  
1  −2 −1 1   1 −1

C  0  Controllable

1 0 
C    1 0 
O= =  1 1  =  
CA   1 0   −2 −1  1 1 
 
  
O  0 Observable

02. Ans: (A)

Solution:
For controllability C = B AB   0

p 1 0  p  p p 
C=    =  0
q  0 0   q  q 0 

−pq  0
System is completely state controllable for non-zero values of p & q

03. Ans: (D)

Solution:
0   0 a1 0 0 0 
      
B = 0  and AB =  0 0 a2   0  =  a2 
1  a 0 0   1   0 
   3
0 a1 0   0  a1a2 
    
A B = A : AB =  0
2
0 a2   a2  = 0 
a 0 0   0  0 
 3

For controllability
0 0 a1a2 
 
C = B AB A B   0 => C = 0 a2
2
0 0
1 0 0 

(a a a )  0
1 2 2

a1a22  0

a1  a2  0

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 Control Systems

04. Ans: (A)

Solution:
Here x1 = −2x1 + u and x2 = x1 − 3x2
 −2 0  1 
A=  , B=  
 1 −3 0 

C ( s ) = y = 2x 2 + ( x1 − 3x 2 ) = x1 − x 2

x 
y = 1 −1   1 
 x 2 
 1 −2  C   1 −1 
C = B AB  =    0  Controllable and   =    0  Observable
0 1  CA   −3 3 

05. Ans: (D)

Solution:
C 
For unobservable O= CA  = 0
 
CA2 
 

0 1 0
 
CA = C1 C2 C3   0 0 1  =  −6C3 C1 − 11C3 C2 − 6C3 
 −6 −11 −6 
 
0 1 0
 
CA =  −6C3
2
C1 − 11C3 C2 − 6C3   0 0 1
 −6 −11 −6 
 
CA 2 =  −6C2 + 36C3 −6C3 − 11C2 + 66C3 C1 − 11C3 − 6C2 + 36C3 

CA 2 =  −6C2 + 36C3 60C3 − 11C2 C1 − 6C2 + 25C3 

 C1 C2 C3 
 
Now for  −6C3 C1 − 11C3 C2 − 6C3 =0
 −6C + 36C 60C3 − 11C2 C1 − 6C2 + 25C3 
 2 3

For option (D) this det[O] =0

06. Ans: -4
Solution:
 X1   p 1  X1  1
 =    +  u
 X 2   −3 0   X2  1
 p 1 1
A=  and B =  
 −3 0  1
For controllability C  = B : AB 

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 Control Systems

1 p + 1
C  =  
1 −3 
1 p +1
As the system is uncontrollable i.e. C= =0
1 −3
Hence p = −4

Type 17 – Compensators and Controllers

01. Ans: (A)
Solution:
Lead compensation network,
K ( as + 1 )
T.F =
( s + 1)
For lead compensation a>0
Only option (A) is satisfying
1 1
a = and = => a=1.3
5 8
Option (C) is not a standard compensating network

02. Ans: (D)

Solution:

D (s) =
(1 + 0.5s ) = 1 + as  a = 10
(1 + 0.05s ) 1 + s
a>0, lead compensator
 a −1 −1 9
Maximum phase lead= m = sin−1   = sin
 a + 1  10
1 1 20
& frequency is n = = =
 a 0.05 10 10

03. Ans: (D)

Solution:
1 + as
GC ( s ) = It is lag if a<1
1 + s
GC ( s ) = tan−1 ( a) − tan−1 ( )

So with   , GC ( s ) will decrease, [Option (B) & [A] eliminated]

Now as lag network with   , angle should be decrease [Option (C) eliminated]
Ans is Option (D)
[Mag is decreasing & phase also]

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 Control Systems

04. Ans: (C)

Solution:
4  3  2  1

1 1 1 1
  
4 3 2 1

T4  T3  T2  T1

So TF=
(1 + T s )(1 + T s )
2 3

(1 + T s)(1 + T s )
1 4

So it is a band pass filter

Hence it is a lead-lag network [dominant pole concept]

05. Ans: (D)

Solution:
s
1+
s+a b a
G(s)= = 
s+b a s
1+
b
 1 + as  1 1 b
Comparing with k   , We get  = and a= =>a=
 1 + s  b a a
a − 1 b−a 1
Maximum phase lead = sin−1 = 300 => = => b=3a
a + 1 b+a 2
All the option are satisfy this equation.

06. Ans: (C)

Solution:
 1 + as  1
For standard transfer function k   where k = a
 1 + s 
 a − 1 
m = sin−1   = 30
0

 a + 1 

a = 3 >1 Hence compensator is lead compensator

1
Also, m = = 3
 a

1
= 3
 3

1
=
3

 
1  1+ s  s + 1
Hence transfer function =  =
3 s  s +3
 1+ 
 3

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 Control Systems

07. Ans: (B)

Solution:
 1 + as  1
Transfer function of lead compensator k   where k = 
 1 + s  a

And from given data s + 2 = 1  1 + 0.5s 

s+4 2  1 + 0.25s 
After comparing
a = 2 and  = 0.25
 a − 1   1
m = sin−1   = sin−1   = 300
 a + 1  2
1 4
And m = = =2 2 = 8
 a 2

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Singnal and System