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2013
ONE MARK
Q. 1
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TWO MARKS
Y ^s h
The signal flow graph for a system is given below. The transfer function
for
U ^s h
this system is
Q. 2
s+1
5s2 + 6s + 2
(C) 2 s + 1
s + 4s + 2
(A)
s+1
s 2 + 6s + 2
(D) 2 1
5s + 6s + 2
(B)
*Maximum Discount*
Q. 3
Q. 4
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The state transition matrix eAt of the system shown in the figure above is
e-t 0
e-t
0
(B) >
(A) > -t -tH
H
-t
- te e-t
te e
e-t - te-t
(D) >
H
0 e-t
(A) 1
(C) 10
2012
Q. 6
in
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co
The state-variable equations of the system shown in the figure above are
o = >- 1 0 H X + >- 1H u
o = >- 1 0 H X + >- 1H u
X
X
(A)
(B)
-1 -1
1 -1
1
1
y = 61 - 1@ X + u
y = 6- 1 - 1@ X + u
o = >- 1 0 H X + >- 1H u
o = >- 1 - 1H X + >- 1H u
X
X
(C)
(D)
-1 -1
1
0 -1
1
y = 6- 1 - 1@ X - u
y = 61 - 1@ X - u
e-t 0
(C) > -t -tH
e e
Q. 5
CONTROL SYSTEM
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w
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(B) 5
(D) 100
(s2 + 9) (s + 2)
(s + 1) (s + 3) (s + 4)
is excited by sin (wt). The steady-state output of the system is zero at
(A) w = 1 rad/s
(B) w = 2 rad/s
(C) w = 3 rad/s
(D) w = 4 rad/s
A system with transfer function G (s) =
2012
Q. 7
ONE MARK
TWO MARKS
*Maximum Discount*
CONTROL SYSTEM
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2011
Q. 9
.
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ONE MARK
The root locus plot for a system is given below. The open loop transfer function
corresponding to this plot is given by
s (s + 1)
(s + 2) (s + 3)
.
a
in
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(s + 1)
s (s + 2) (s + 3) 2
(s + 1)
1
(C) G ^s h H ^s h = k
(D) G ^s h H ^s h = k
s (s - 1) (s + 2) (s + 3)
s (s + 2) (s + 3)
(A) G ^s h H ^s h = k
Q. 10
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(B) G ^s h H ^s h = k
For the transfer function G (jw) = 5 + jw , the corresponding Nyquist plot for
positive frequency has the form
*Maximum Discount*
CONTROL SYSTEM
2011
Q. 11
TWO MARKS
The block diagram of a system with one input u and two outputs y1 and y2 is
given below.
in
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A state space model of the above system in terms of the state vector x and the
output vector y = [y1 y2]T is
(A) xo = [2] x + [1] u ; y = [1 2] x
1
(B) xo = [- 2] x + [1] u; y = > H x
2
-2 0
1
(C) xo = >
x + > H u ; y = 81 2B x
0 - 2H
1
2 0
1
1
(D) xo = > H x + > H u ; y = > H x
0 2
1
2
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100
.
s (s + 10) 2
The plant is placed in a unity negative feedback configuration as shown in the
figure below.
The input-output transfer function of a plant H (s) =
i
d
.
a
Q. 12
Q. 13
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The gain margin of the system under closed loop unity negative feedback is
(A) 0 dB
(B) 20 dB
(C) 26 dB
(D) 46 dB
The signal flow graph that DOES NOT model the plant transfer function H (s) is
*Maximum Discount*
CONTROL SYSTEM
2010
ONE MARK
Q. 14
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(A) 0
(C)
in
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2
s+1
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w
1
s+1
(D) 2
s+3
(B)
Y (s)
= s has an output y (t) = cos a2t - p k
3
X (s) s + p
p
for the input signal x (t) = p cos a2t - k. Then, the system parameter p is
2
(B) 2/ 3
(A) 3
Q. 15
(C) 1
(D)
3 /2
For the asymptotic Bode magnitude plot shown below, the system transfer
function can be
Q. 16
(A) 10s + 1
0.1s + 1
(C) 100s
10s + 1
2010
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(B) 100s + 1
0.1s + 1
(D) 0.1s + 1
10s + 1
TWO MARKS
Q. 17
*Maximum Discount*
Q. 18
Q. 19
CONTROL SYSTEM
1 1
0
xo = >
x +> Hu
H
(C)
-1 0
2
o
y = 80.5 0.5B x
The transfer function of the system is
(A) s2+ 1
s +1
(C) 2 s + 1
s +s+1
2009
in
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(B) s2- 1
s +1
(D) 2 s - 1
s +s+1
.
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ONE MARK
The magnitude plot of a rational transfer function G (s) with real coefficients is
shown below. Which of the following compensators has such a magnitude plot ?
1
0
x +> Hu
H
0
2
0.5B x
A unity negative feedback closed loop system has a plant with the transfer
function G (s) = s + 21s + 2 and a controller Gc (s) in the feed forward path. For a unit
set input, the transfer function of the controller that gives minimum steady state
error is
(A) Gc (s) = s + 1
(B) Gc (s) = s + 2
s+2
s+1
(s + 1) (s + 4)
(C) Gc (s) =
(D) Gc (s) = 1 + 2 + 3s
s
(s + 2) (s + 3)
2
Q. 20
-1
xo = >
(D)
-1
o
y = 80.5
.
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in
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dx = Ax + Bu with A = =1 0G and B = =p G
q
0 1
dt
where p and q are arbitrary real numbers. Which of the following statements
about the controllability of the system is true ?
(A) The system is completely state controllable for any nonzero values of p and
q
(B) Only p = 0 and q = 0 result in controllability
(C) The system is uncontrollable for all values of p and q
(D) We cannot conclude about controllability from the given data
2009
Q. 22
TWO MARKS
*Maximum Discount*
CONTROL SYSTEM
in
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a
(A) ! 2 and 0c
(C) ! 3 and 0c
i
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The unit step response of an under-damped second order system has steady state
value of -2. Which one of the following transfer functions has theses properties ?
(A) 2 - 2.24
(B) 2 - 3.82
s + 2.59s + 1.12
s + 1.91s + 1.91
Q. 23
(C)
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w
- 2.24
s2 - 2.59s + 1.12
(D)
- 382
s2 - 1.91s + 1.91
.
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Q. 24
Q. 25
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The gain and phase margins of G (s) for closed loop stability are
(A) 6 dB and 180c
(B) 3 dB and 180c
(C) 6 dB and 90c
2008
Q. 26
ONE MARKS
Step responses of a set of three second-order underdamped systems all have the
same percentage overshoot. Which of the following diagrams represents the poles
of the three systems ?
*Maximum Discount*
Q. 27
CONTROL SYSTEM
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2008
Q. 28
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TWO MARKS
*Maximum Discount*
Q. 29
CONTROL SYSTEM
Group I lists a set of four transfer functions. Group II gives a list of possible step
response y (t). Match the step responses with the corresponding transfer functions.
.
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(A) P - 3, Q - 1, R - 4, S - 2
(B) P - 3, Q - 2, R - 4, S - 1
(C) P - 2, Q - 1, R - 4, S - 2
(D) P - 3, Q - 4, R - 1, S - 2
Q. 30
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(D) The closed loop system stable for all values of a, both positive and
negative.
Q. 31
*Maximum Discount*
Q. 32
Q. 33
CONTROL SYSTEM
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(B) Q - 1, R - 3
(C) Q - 2, R - 3
(D) Q - 3, R - 2
.
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2007
Q. 34
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(A) Q - 1, R - 2
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ONE MARK
s-5
If the closed-loop transfer function of a control system is given as T (s)
(s + 2)( s + 3)
, then It is
(A) an unstable system
(B) an uncontrollable system
(C) a minimum phase system
(D) a non-minimum phase system
2007
Q. 35
TWO MARKS
A control system with PD controller is shown in the figure. If the velocity error
constant KV = 1000 and the damping ratio z = 0.5 , then the value of KP and KD
are
*Maximum Discount*
Q. 36
Q. 37
Q. 38
CONTROL SYSTEM
5
(s + 5)( s2 + s + 1)
The second-order approximation of T (s) using dominant pole concept is
1
5
(B)
(A)
(s + 5)( s + 1)
(s + 5)( s + 1)
(C) 2 5
(D) 2 1
s +s+1
s +s+1
T (s) =
in
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The gain K for which s = 1 + j1 will lie on the root locus of this system is
(A) 4
(B) 5.5
(C) 6.5
(D) 10
Q. 39
The asymptotic Bode plot of a transfer function is as shown in the figure. The
transfer function G (s) corresponding to this Bode plot is
.
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1
(A)
(s + 1)( s + 20)
100
(C)
s (s + 1)( s + 20)
Q. 40
1
s (s + 1)( s + 20)
100
(D)
s (s + 1)( 1 + 0.05s)
(B)
in
.
co
dw
dt
dio
dt
-1
1 w
where w is the speed of the motor, ia is the armature current and u is the
w (s)
armature voltage. The transfer function
of the motor is
U (s)
1
(B) 2
(A) 2 10
s + 11s + 11
s + 11s + 11
(C) 2 10s + 10
(D) 2 1
s + s + 11
s + 11s + 11
*Maximum Discount*
CONTROL SYSTEM
Q. 41
Q. 42
2006
Q. 43
.
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in
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1 1
(B) =
- 1 - 2G
0 1
(D) =
- 2 - 3G
ONE MARK
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2006
Q. 44
a2 - 4b , a2 - 4b
(D)
a2 + 4b , a2 + 4b
The Nyquist plot of G (jw) H (jw)for a closed loop control system, passes through
(- 1, j0) point in the GH plane. The gain margin of the system in dB is equal to
(A) infinite
(B) greater than zero
(C) less than zero
(D) zero
Q. 46
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TWO MARKS
1
and G2 (s) = 2 s
.
s + as + b
s + as + b
The 3-dB bandwidths of their frequency responses are, respectively
(B) a2 + 4b , a2 - 4b
(A) a2 - 4b , a2 + 4b
Consider two transfer functions G1 (s) =
(C)
Q. 45
.
a
(D) 3
The positive values of K and a so that the system shown in the figures below
oscillates at a frequency of 2 rad/sec respectively are
(A) 1, 0.75
(C) 1, 1
(B) 2, 0.75
(D) 2, 2
*Maximum Discount*
CONTROL SYSTEM
Q. 47
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Q. 48
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Q. 49
Consider a unity - gain feedback control system whose open - loop transfer
1
function is : G (s) = as +
s2
The value of a so that the system has a phase - margin equal to p is approximately
4
equal to
(A) 2.40
(B) 1.40
(C) 0.84
Q. 50
With the value of a set for a phase - margin of p , the value of unit - impulse
4
response of the open - loop system at t = 1 second is equal to
(A) 3.40
(B) 2.40
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(C) 1.84
2005
Q. 51
(D) 1.74
ONE MARK
Q. 52
.
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(D) 0.74
*Maximum Discount*
CONTROL SYSTEM
The eigenvalues of the representations are also computed as [l] and [m]. Which
one of the following statements is true ?
(A) [l] = [m] and X = W
(B) [l] = [m] and X ! W
(C) [l] ! [m] and X = W
(D) [l] = [m] and X ! W
Q. 53
.
a
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2005
Q. 54
in
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Despite the presence of negative feedback, control systems still have problems of
instability because the
(A) Components used have non- linearities
(B) Dynamic equations of the subsystem are not known exactly.
(C) Mathematical analysis involves approximations.
(D) System has large negative phase angle at high frequencies.
.
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TWO MARKS
The polar diagram of a conditionally stable system for open loop gain K = 1 is
shown in the figure. The open loop transfer function of the system is known to be
stable. The closed loop system is stable for
.
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Q. 55
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(B) The system transfer function has a pair of complex conjugate poles and no
zeroes.
(C) There is no transportation delay in the system.
(D) The system has zero initial conditions.
Q. 56
Q. 57
*Maximum Discount*
CONTROL SYSTEM
Q. 58
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Q. 59
Q. 60
.
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Based on the above results, the gain and phase margins of the system will be
(A) -7.09 dB and 87.5c
(B) 7.09 dB and 87.5c
2004
ONE MARK
Q. 61
The gain margin for the system with open-loop transfer function
2 (1 + s)
, is
G (s) H (s) =
s2
(B) 0
(A) 3
(C) 1
(D) - 3
Q. 62
K
Given G (s) H (s) = s (s + 1)(
.The point of intersection of the asymptotes of the
s + 3)
root loci with the real axis is
(B) 1.33
(A) - 4
(C) - 1.33
(D) 4
*Maximum Discount*
CONTROL SYSTEM
2004
Q. 63
Consider the Bode magnitude plot shown in the fig. The transfer function H (s) is
(A)
Q. 64
TWO MARKS
(s + 10)
(s + 1)( s + 100)
Q. 66
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10 (s + 1)
(s + 10)( s + 100)
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w
A system has poles at 0.1 Hz, 1 Hz and 80 Hz; zeros at 5 Hz, 100 Hz and 200 Hz.
The approximate phase of the system response at 20 Hz is
(B) 0c
(A) - 90c
(C) 90c
(D) - 180c
in
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(A)
1 - (be + cf + dg)
abcd
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abcd
1 - (be + cf + dg) + bedg
-2 2
If A = =
, then sin At is
1 - 3G
(C)
Q. 67
.
a
(B)
102 (s + 1)
103 (s + 100)
(C)
(D)
(s + 10)( s + 100)
(s + 1)( s + 10)
A causal system having the transfer function H (s) = 1/ (s + 2) is excited with
10u (t). The time at which the output reaches 99% of its steady state value is
(A) 2.7 sec
(B) 2.5 sec
(C) 2.3 sec
Q. 65
in
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bedg
1 - (be + cf + dg)
1 - (be + cf + dg) + bedg
(D)
abcd
(B)
Q. 68
*Maximum Discount*
Q. 69
CONTROL SYSTEM
in
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(C) 3
Q. 70
(D) 1
The state variable equations of a system are : xo1 =- 3x1 - x2 = u, xo2 = 2x1 and
y = x1 + u . The system is
(A) controllable but not observable
.
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1 0
Given A = = G, the state transition matrix eAt is given by
0 1
0 e-t
(A) > -t
H
e
0
et 0
(B) = t G
0 e
e-t 0
(C) >
H
0 e-t
0 et
(D) = t G
e 0
in
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co
2003
Q. 72
ONE MARK
Fig. shows the Nyquist plot of the open-loop transfer function G (s) H (s) of a
system. If G (s) H (s) has one right-hand pole, the closed-loop system is
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2003
Q. 74
TWO MARKS
The signal flow graph of a system is shown in Fig. below. The transfer function
C (s)/ R (s) of the system is
*Maximum Discount*
(A)
Q. 76
6
s2 + 29s + 6
(B)
s (s + 2)
s + 29s + 6
(D)
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(s + 0.1) 3
(s + 0.1) 3
7
(A) 10
(B)
10
(s + 10)( s + 100)
(s + 10) 2 (s + 100)
2
(s + 0.1)
(s + 0.1) 3
(C)
(D)
(s + 10) 2 (s + 100)
(s + 10)( s + 100) 2
A second-order system has the transfer function
C (s)
= 2 4
R (s)
s + 4s + 4
With r (t) as the unit-step function, the response c (t) of the system is
represented by
o
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Q. 78
Q. 77
6s
s2 + 29s + 6
s (s + 27)
s + 29s + 6
K
The root locus of system G (s) H (s) =
has the break-away point
s (s + 2)( s + 3)
located at
(A) (- 0.5, 0)
(B) (- 2.548, 0)
(C) (- 4, 0)
(D) (- 0.784, 0)
(C)
Q. 75
CONTROL SYSTEM
The gain margin and the phase margin of feedback system with
8
are
G (s) H (s) =
(s + 100) 3
*Maximum Discount*
CONTROL SYSTEM
(A) dB, 0c
(C) 3, 0c
Q. 79
(B) 3, 3
(D) 88.5 dB, 3
Q. 81
Q. 82
Q. 83
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ONE MARK
in
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The phase margin of a system with the open - loop transfer function
(1 - s)
G (s) H (s) =
(1 + s)( 2 + s)
(A) 0c
(B) 63.4c
(C) 90c
(D) 3
.
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The transfer function Y (s)/ U (s) of system described by the state equation
xo (t) =- 2x (t) + 2u (t) and y (t) = 0.5x (t) is
1
(B)
(A) 0.5
(s - 2)
(s - 2)
1
(C) 0.5
(D)
(s + 2)
(s + 2)
TWO MARKS
Q. 85
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2002
Q. 84
.
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2002
Q. 80
in
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et
(B) = G
t
t
(D) = t G
te
(D) k > 3
(A)100 sec
(B) 4 sec
(C) 1 sec
*Maximum Discount*
Q. 86
CONTROL SYSTEM
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(D) 6 db
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2001
ONE MARK
The Nyquist plot for the open-loop transfer function G (s) of a unity negative
feedback system is shown in the figure, if G (s) has no pole in the right-half of s plane, the number of roots of the system characteristic equation in the right-half
of s -plane is
(A) 0
(B) 1
(C) 2
(D) 3
Q. 89
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(C) 35 db
Q. 88
.
a
1
The system with the open loop transfer function G (s) H (s) =
has a
2
s
s
s
1
(
+
+
)
gain margin of
(B) 0 db
(A) - 6 db
.
a
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Q. 90
in
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The root-locus diagram for a closed-loop feedback system is shown in the figure.
The system is overdamped.
*Maximum Discount*
CONTROL SYSTEM
(A) only if 0 # k # 1
(C) only if k > 5
Q. 91
.
a
2001
Q. 92
in
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An electrical system and its signal-flow graph representations are shown the
figure (A) and (B) respectively. The values of G2 and H , respectively are
o
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in
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Z3 (s)
- Z3 (s)
- Z3 (s)
- Z3 (s)
(B)
,
,
Z1 (s) + Z3 (s) + Z4 (s) Z1 (s) + Z3 (s)
Z2 (s) - Z3 (s) + Z4 (s) Z1 (s) + Z3 (s)
Z3 (s)
Z3 (s)
Z3 (s)
- Z3 (s)
(C)
(D)
,
,
Z2 (s) + Z3 (s) + Z4 (s) Z1 (s) + Z3 (s)
Z2 (s) - Z3 (s) + Z4 (s) Z1 (s) + Z3 (s)
The open-loop DC gain of a unity negative feedback system with closed-loop
transfer function 2 s + 4
is
s + 7s + 13
4
(B) 4
(A)
13
9
(A)
Q. 93
.
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(C) 4
Q. 94
(D) 13
(B) only if K $ 0
(D) only if 0 # K # 1
2000
Q. 95
TWO MARK
ONE MARK
An amplifier with resistive negative feedback has tow left half plane poles in its
open-loop transfer function. The amplifier
(A) will always be unstable at high frequency
(B) will be stable for all frequency
(C) may be unstable, depending on the feedback factor
(D) will oscillate at low frequency.
*Maximum Discount*
CONTROL SYSTEM
2000
Q. 96
TWO MARKS
1
A system described by the transfer function H (s) = 3
is stable.
2
s
+
a
s
+ ks + 3
The constraints on a and k are.
(A) a > 0, ak < 3
(B) a > 0, ak > 3
(C) a < 0, ak > 3
(D) a > 0, ak < 3
1999
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Q. 97
.
w
(D) 4.0
The gain margin (in dB) of a system a having the loop transfer function
2
is
s (s + 1)
G (s) H (s) =
(A) 0
(C) 6
Q. 99
i
d
o
n
(C) 3.0
Q. 98
.
a
(B) 3
(D) 3
Q. 100
TWO MARKS
Q. 102
.
a
i
d
o
n
.
w
in
.
co
The phase margin (in degrees) of a system having the loop transfer function
G (s) H (s) = 2 3 is
s (s + 1)
(B) - 30c
(A) 45c
(C) 60c
(D) 30c
1999
Q. 101
ONE MARK
(D) 28.6
If the closed - loop transfer function T (s) of a unity negative feedback system is
given by
an - 1 s + an
T (s) = n
s + a1 sn - 1 + .... + an - 1 s + an
then the steady state error for a unit ramp input is
*Maximum Discount*
CONTROL SYSTEM
(A) an
an - 1
(C) an - 2
an
Q. 103
Q. 104
(B) an
an - 2
(D) zero
in
.
co
.
a
i
d
o
n
.
w
in
.
co
1998
Q. 105
ONE MARK
i
d
.
a
(D) three
Q. 106
Q. 107
Q. 108
o
n
.
w
Q. 109
In the Bode-plot of a unity feedback control system, the value of phase of G (jw)
at the gain cross over frequency is - 125c. The phase margin of the system is
(A) - 125c
(B) - 55c
(C) 55c
(D) 125c
*Maximum Discount*
Q. 110
CONTROL SYSTEM
Q. 111
Q. 112
The transfer function of a phase lead controller is 1 + 3Ts . The maximum value
1 + Ts
of phase provided by this controller is
(A) 90c
(B) 60c
(C) 45c
(D) 30c
Q. 114
.
a
i
d
o
n
The Nyquist plot of a phase transfer function g (jw) H (jw) of a system encloses the
(1, 0) point. The gain margin of the system is
(A) less than zero
(B) zero
.
w
(D) infinity
2
The transfer function of a system is 2s + 26s + 5 . The characteristic equation
(s + 1) (s + 2)
of the system is
(B) (s + 1) 2 (s + 2) = 0
(A) 2s2 + 6s + 5 = 0
(C) 2s2 + 6s + 5 + (s + 1) 2 (s + 2) = 0
(D) 2s2 + 6s + 5 - (s + 1) 2 (s + 2) = 0
.
a
i
d
o
n
.
w
ONE MARK
(A) 3
(C) 2
Q. 116
in
.
co
In a synchro error detector, the output voltage is proportional to [w (t)] n, where w (t)
is the rotor velocity and n equals
(A) 2
(B) 1
(C) 1
(D) 2
1997
Q. 115
in
.
co
(D) three
(B) 5
2
(D) None of the above
A certain linear time invariant system has the state and the output equations
given below
1 - 1 X1
0
Xo1
> o H = >0 1 H>X H + >1H u
2
X2
(A) 1
(C) 0
dy
y = 81 1B: X1 D, If X1 (0) = 1, X2 (0) =- 1, u (0) = 0, then
X2
dt
(B) 1
is
t=0
***********
*Maximum Discount*
CONTROL SYSTEM
SOLUTIONS
Sol. 1
in
.
co
i
d
o
n
=- 8 dB
= 32 dB
= 1 rad/s
= 10 rad/s
.
w
.
a
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
32
Sol. 2
in
.
co
.
a
or,
k = 10 = 39.8
Hence, the Transfer function is
G ^s h = k2 = 392.8
s
s
Option (A) is correct.
For the given SFG, we have two forward paths
20
i
d
o
n
.
w
Dk 1 = Dk 2 = 1
Now, we have
D = 1 - (sum of individual loops)
+ (sum of product of nontouching loops)
Here, the loops are
L1 = ^- 4h^1 h =- 4
L2 = ^- 4h^s-1h = 4s-1
L 3 = ^- 2h^s-1h^s-1h =- 2s-2
L 4 = ^- 2h^s-1h^1 h =- 2s-1
As all the loop L1, L2, L 3 and L 4 are touching to each other so,
D = 1 - ^L1 + L2 + L 3 + L 4h
*Maximum Discount*
CONTROL SYSTEM
= 5 + 6s1 + 2s2
From Masons gain formulae
Y ^s h
s-2 + s-1
= SPk Dk =
= 2s+1
D
U ^s h
5s + 6s + 2
5 + 6s-1 + 2s-2
Sol. 3
in
.
co
.
a
i
d
o
n
.
w
xo2 =- x2 + x1 + u
and
y = ^- 1h^1 h x2 + ^- 1h^1 h^- 1h x1 + ^1 h^- 1h^1 h^- 1h^1 h u
= x1 - x 2 + u
Hence, in matrix form we can write the state variable equations
- 1 0 x1
-1
xo1
> o H = > 1 - 1H >x H + > 1 H u
x2
2
x1
and
y = 81 - 1B > H + u
x2
.
a
i
d
o
n
.
w
in
.
co
S+1 0
SI - A = >
- 1 S + 1H
1 >S + 1 0 H
^S + 1h2 1 S + 1
R 1
V
S
0 W
S+1
W
=S 1
1 W
S
S^S + 1h2 S + 1W
T
X
Hence, the state transition matrix is obtained as
eAt = L-1 ^SI - Ah-1
V_
ZR 1
]]S
0 Wbb
-1
0
S+1
W` = >e
= L-1 [S 1
H
-t
1
S
W
te e-t
]S^S + 1h2 S + 1Wb
\T
Xa
and
^SI - Ah-1 =
*Maximum Discount*
Sol. 5
CONTROL SYSTEM
in
.
co
1
10
Comparing with standard form of transfer function, Ae-t/t , we get the open
loop time constant,
tol = 10
Now, we obtain the closed loop transfer function for the given system as
G ^s h
10Ka
Ka
H ^s h =
=
=
1 + G ^s h 1 + 10s + 10Ka
s + ^Ka + 101 h
Taking inverse Laplace transform, we get
h ^ t h = ka .e-^k + ht
So, the time constant of closed loop system is obtained as
tcl = 1 1
ka + 10
or,
(approximately)
tcl = 1
ka
Now, given that ka reduces open loop time constant by a factor of 100. i.e.,
tcl = tol
100
1
or,
= 10
100
ka
Hence,
ka = 10
Sol. 6
.
a
i
d
o
n
.
w
1
10
in
.
co
(s2 + 9) (s + 2)
(s + 1) (s + 3) (s + 4)
(- w2 + 9) (jw + 2)
=
(jw + 1) (jw + 3) (jw + 4)
The steady state output will be zero if
.
a
G (s) =
o
n
.
w
G (jw) = 0
-w 2 + 9 = 0
Sol. 7
i
d
&
w = 3 rad/s
K (s + 1)
[R (s) - Y (s)]
s + as2 + 2s + 1
K (s + 1)
K (s + 1)
R (s)
Y (s) ;1 + 3
= 3
E
2
s + as2 + 2s + 1
s + as + 2s + 1
Y (s) [s3 + as2 + s (2 + k) + (1 + k)] = K (s + 1) R (s)
Y (s)
K (s + 1)
Transfer Function,
H (s) =
= 3
2
R (s) s + as + s (2 + k) + (1 + k)
Routh Table :
Y (s) =
*Maximum Discount*
CONTROL SYSTEM
a (2 + K) - (1 + K)
=0
a
a = K+1
K+2
For oscillation,
in
.
co
A (s) = as2 + (k + 1) = 0
s2 =- k + 1 = - k + 1 (k + 2) =- (k + 2)
a
(k + 1)
Auxiliary equation
s = j k+2
.
a
jw = j k + 2
o
n
and
Sol. 8
i
d
w = k+2 = 2
k =2
a = 2 + 1 = 3 = 0.75
2+2 4
.
w
(Oscillation frequency)
yo = Cx + Du
For the given problem
R 0 a 0V
R0V
1
W
S
S W
A = S 0 0 a2W, B = S0W
SSa
SS1WW
0 0WW
3
RT 0 a 0VXR0V R 0VT X
1
WS W S W
S
AB = S 0 0 a2WS0W = Sa2W
SSa
0 0WWSS1WW SS 0WW
3
RT 0
0XT aX1 a2VWTRS0XVW RSa1 a2VW
S
A2 B = Sa2 a 3
0
0WS0W = S 0W
SS 0 a a
0WWSS1WW SS 0WW
3 1
X
XT X T
T
For controllability it is necessary that following matrix has a tank of n = 3 .
R0 0 a a V
1 2W
S
0W
U = 6B : AB : A2 B@ = S0 a2
SS1 0
0WW
So,
a2 ! 0
X
T
a1 a 2 ! 0 & a1 ! 0
a 3 may be zero or not.
in
.
co
.
a
i
d
Sol. 9
o
n
.
w
poles = 0, - 2, - 3, - 3
zeros =- 1
G (s) H (s) =
k (s + 1)
s (s + 2) (s + 3) 2
Sol. 10
Sol. 11
dy
x = y1 and xo = 1
dx
*Maximum Discount*
CONTROL SYSTEM
1
y1
x
y = > H = > H = > Hx
2
y2
2x
y1 = 1 u
s+2
Now
in
.
co
y1 (s + 2) = u
yo1 + 2y1 = u
xo + 2x = u
xo =- 2x + u
.
a
xo = [- 2] x + [1] u
Drawing SFG as shown below
Thus
o
n
.
w
xo1 = [- 2] x1 + [1] u
y1 = x1 ; y2 = 2x1
y1
1
y = > H = > H x1
y2
2
x1 = x
Here
Sol. 12
i
d
in
.
co
100
s (s + 10) 2
100
Now
G (jw) H (jw) =
jw (jw + 10) 2
If wp is phase cross over frequency +G (jw) H (jw) = 180c
G (s) H (s) =
We have
i
d
o
n
.
w
Thus
wp
10 k
or
or
or
or
Now
.
a
At w = wp
G (jw) H (jw) =
100
= 1
10 (100 + 100) 20
*Maximum Discount*
Sol. 14
CONTROL SYSTEM
in
.
co
.
a
i
d
o
n
1
s+1
.
w
= R (s) - Y (s) +
1
= R (s) - Y (s)
s + 1D
sE (s)
= R (s) - Y (s)
(s + 1)
E (s)
Y (s) =
s+1
E (s) :1 -
E (s)
(s + 1)
...(1)
...(2)
in
.
co
Transfer function
Y (s)
= 1
R (s) s + 1
Sol. 15
.
a
i
d
Y (s)
H (s) =
= s
X (s) s + p
jw
H (jw) =
jw + p
o
n
.
w
Amplitude Response
H (jw) =
Phase Response
Input
Output
or
w
w +p2
2
or
Alternative :
qh = 9- p - a- p kC = p
3
2
6
*Maximum Discount*
CONTROL SYSTEM
p
6
tan-1 a w k
p
w
p
2
p
So,
(w = 2 rad/ sec)
3,
.
a
i
d
Sol. 17
in
.
co
p = 2/ 3
or
Sol. 16
= p - tan-1 a w k
2
p
=p-p =p
2 6
3
= tan a p k = 3
3
o
n
.
w
.
a
i
d
o
n
.
w
in
.
co
xo1 =- x1 + x2
xo2 =- x1 + 2u
y = 0.5x1 + 0.5x2
State variable representation
-1 1
0
x + > Hu
xo = >
H
-1 0
2
yo = [0.5 0.5] x
Sol. 18
Transfer function
Y (s)
H (s) =
=
U (s)
/ PK DK
D
*Maximum Discount*
CONTROL SYSTEM
in
.
co
.
a
D = 1 - [L1 + L2] = 1 - :- 1 - 12 D = 1 + 1 + 12
s s
s s
So,
Sol. 19
i
d
D1 = 1, D2 = 2
Y (s)
H (s) =
= P1 D 1 + P2 D 2
D
U (s)
1 :1+1:1
2
(1 + s)
s
s
= 2
=
1
1
+ s + 1)
(
s
1+ + 2
s s
o
n
.
w
eSS = lim
s"0
sR (s)
1 + G (s) GC (s)
R (s) = 1
s
1
1 + G (s) GC (s)
1
= lim
s"0
GC (s)
1+ 2
s + 2s + 2
eSS will be minimum if lim GC (s) is maximum
s"0
In option (D)
lim GC (s) = lim 1 + 2 + 3s = 3
s
s"0
s"0
So,
eSS = lim 1 = 0 (minimum)
s"0 3
in
.
co
eSS = lim
s"0
.
a
i
d
o
n
.
w
Sol. 20
Sol. 21
Here
p
0
and B = = G
G
q
1
0 p
p
=
1G=q G =q G
p q
S = 8B AB B = =
q pG
1
A ==
0
1
AB = =
0
S = pq - pq = 0
Since S is singular, system is completely uncontrollable for all values of p and q .
*Maximum Discount*
Sol. 22
CONTROL SYSTEM
or
or
in
.
co
2
or
K =- s2 + 2s + 2
s - 2s + 2
For break away & break in point differentiating above w.r.t. s we have
2
2
dK =- (s - 2s + 2)( 2s + 2) - (s + 2s + 2)( 2s - 2) = 0
ds
(s2 - 2s + 2) 2
Thus (s2 - 2s + 2)( 2s + 2) - (s2 + 2s + 2)( 2s - 2) = 0
.
a
i
d
o
n
.
w
s =! 2
Let qd be the angle of departure at pole P , then
or
in
.
co
.
a
i
d
kwn2
T (s) = 2
s + 2xwn s + wn2
Thus (A) or (B) may be correct
For option (A)
wn = 1.12 and 2xwn = 2.59 " x = 1.12
For option (B)
wn = 1.91 and 2xwn = 1.51 " x = 0.69
o
n
.
w
where x < 1
Sol. 24
Sol. 25
*Maximum Discount*
Sol. 27
CONTROL SYSTEM
Mp = e- xp 1 - x
If Mp is same then x is also same and we get
x = cos q
Thus
q = constant
The option (C) only have same angle.
Sol. 28
i
d
o
n
.
w
62
Q= 2
s + 20s + 62
Sol. 30
.
a
Sol. 29
in
.
co
in
.
co
i
d
.
a
no
Graph 3
Graph 4
R=
62
s + 12s + 62
Graph 1
S=
72
s2 + 7s + 72
Graph 2
.
w
1 + G (s) H (s) = 0
=0
1+ 2 s+8
s + as - 4
or
s 2 + as - 4 + s + 8 = 0
or
s2 + (a + 1) s + 4 = 0
This will be stable if (a + 1) > 0 " a > - 1. Thus system is stable for all
positive value of a.
Sol. 31
*Maximum Discount*
CONTROL SYSTEM
or
s5 + 2s 4 + 3s3 + 6s2 + 5s + 3 = 0
Substituting s = z1 we have
3z5 + 5z 4 + 6z3 + 3z2 + 2z + 1 = 0
The routh table is shown below. As there are two sign change in first column,
in
.
co
z4
z3
21
5
7
5
4
3
z
z
Sol. 32
.
a
i
d
o
n
7
4
.
w
Kwn2
s + 2xwn s + wn2
It peaks at resonant frequency. Therefore
T (s) =
wr = wn 1 - 2x2
Resonant frequency
and peak at this frequency
mr =
in
.
co
5
2x 1 - x2
i
d
.
a
Sol. 33
o
n
.
w
For Q ,
For R,
(sC2 R2 + 1)
sC2
(sC2 R2 + 1) (sC1 R1 + 1)
=#
sC2
R1
R
2
=
(sC2 R2 + 1)
(sC1 R1 + 1)
R2
=#
(sC2 R2 + 1)
R1
Z =
Vo
Vi
Z
Vo
Vi
PID Controller
*Maximum Discount*
CONTROL SYSTEM
the s -plane. In given system as there is right half zero (s = 5), the system is a
non-minimum phase system.
Sol. 35
s"0
1000 = lim s
or
in
.
co
(Kp + KD s) 100
= Kp
s (s + 100)
.
a
i
d
1 + G (s) H (s) = 0
1000 = lims " 0 s
(Kp + KD s) 100
= Kp
s (s + 100)
o
n
.
w
1 + G (s) H (s) = 0
(100 + KD s) 100
=0
1+
s (s + 10)
or
Kp = 100
or
s2 + (10 + 100KD) s + 10 4 = 0
Comparing with s2 + 2xwn + wn2 = 0 we get
or
Sol. 36
2xwn = 10 + 100KD
KD = 0.9
in
.
co
5
(s + 5)( s2 + s + 1)
5
=
= 2 1
5`1 + s j (s2 + s + 1)
s +s+1
5
T (s) =
.
a
i
d
o
n
.
w
3
2
1 =
1
s2 - 1 (s + 1)( s - 1)
The lead compensator C (s) should first stabilize the plant i.e. remove
term. From only options (A), C (s) can remove this term
Thus
Sol. 38
1
(s - 1)
10 (s - 1)
1
#
(s + 1)( s - 1)
(s + 2)
10
Only option (A) satisfies.
=
(s + 1)( s + 2)
G (s) C (s) =
*Maximum Discount*
CONTROL SYSTEM
K =+ 10
or
Sol. 39
in
.
co
100
s (s + 1)( 1 + .05s)
.
w
-1
dw
dt
We have
and
i
d
G (s) =
or
.
a
K =5
Thus
o
n
1 w
dw =- w + i
n
dt
dia =- w - 10i + 10u
a
dt
...(1)
...(2)
in
.
co
or
(s + 1) w (s) = Ia (s)
Taking Laplace transform (ii) we get
or
or
or
i
d
o
n
.
w
From (3)
or
Sol. 41
.
a
...(3)
1
e-2t
For initial state vector x (0) = = G the system response is x (t) = >
H
-2
- 2e-2t
Thus
d
dt
e-2t
> d (- 2e-2t)H
dt
t=0
- 2e-2 (0)
p q
p q 1
==
r s G=- 2G
1
or
-2
p - 2q
= 4 G = =r - 2s G
We get
p - 2q =- 2 and r - 2s = 4
...(i)
*Maximum Discount*
CONTROL SYSTEM
1
e-t
For initial state vector x (0) = = G the system response is x (t) = > -tH
-1
-e
e-t
> d (- e-t)H
dt
d
dt
Thus
t=0
-e
- (0)
p q 1
==
r s G=- 1G
p q
in
.
co
.
a
-1
p-q
= 1 G = =r - s G
i
d
p - q =- 1 and r - s = 1
Solving (1) and (2) set of equations we get
p q
0 1
=r s G = =- 2 - 3G
We get
.
w
o
n
lI - A = 0
l -1
=0
2 l+3
l (l + 3) + 2 = 0
l =- 1, - 2
Thus Eigen values are - 1 and - 2
Eigen vectors for l1 =- 1
or
or
in
.
co
(l1 I - A) X1 = 0
l1 - 1 x11
= 2 l + 3G=x G = 0
1
21
- 1 - 1 x11
= 2 2 G=x G = 0
21
or
...(2)
i
d
.
a
o
n
.
w
or
- x11 - x21 = 0
or
x11 + x21 = 0
We have only one independent equation x11 =- x21.
Let x11 = K , then x21 =- K , the Eigen vector will be
x11
K
1
=x G = =- K G = K =- 1G
21
*Maximum Discount*
CONTROL SYSTEM
Sol. 42
Sol. 43
Sol. 44
Sol. 45
in
.
co
.
a
i
d
o
n
.
w
GM =- 20 log 1
= 0 dB
Sol. 46
w
1+
1 + G (s) H (s) = 0
K (s + 1)
=0
s + as2 + 2s + 1
3
in
.
co
s3 + as2 + (2 + K) s + K + 1 = 0
The Routh Table is shown below. For system to be oscillatory stable
a (2 + K) - (K + 1)
=0
a
or
a = K+1
K+2
i
d
.
a
Then we have
o
n
.
w
as2 + K + 1 = 0
At 2 rad/sec we have
s = jw " s2 =- w2 =- 4 ,
Thus
- 4a + K + 1 = 0
Solving (i) and (ii) we get K = 2 and a = 0.75 .
s
Sol. 47
2+K
1+K
s1
(1 + K) a - (1 + K)
a
s0
1+K
...(1)
...(2)
T>0
*Maximum Discount*
or
Sol. 48
CONTROL SYSTEM
in
.
co
s 0
0 1
s -1
==
(sI - A) = = G - =
G
0 s
-1 0
1 sG
s
1 =s - 1G = >s + 1
-1
s2 + 1 1 s
s +1
2
i
d
-1
At
o
n
.
w
1
s2 + 1
s
s2 + 1
.
a
(sI - A) -1 =
-1
cos t sin t
==
- sin t cos t G
1
G (s) = as +
2
s
+G (jw) = tan-1 (wa) - p
Since PM is p i.e. 45c, thus
4
p = p + +G (jw ) w " Gain cross over Frequency
g
g
4
p = p + tan-1 (w a) - p
or
g
4
p = tan-1 (w a)
or
g
4
We have
or
awg = 1
At gain crossover frequency G (jwg) = 1
1 + a2 wg2
=1
wg2
Thus
1 + 1 = wg2
or
Sol. 50
.
a
i
d
o
n
.
w
wg = (2)
or
1
4
in
.
co
(as awg = 1)
G (s) = 0.84s2 + 1
s
Due to ufb system H (s) = 1 and due to unit impulse response R (s) = 1, thus
b > 1; T > 0
1 + w2 T2
1 + w2 b2 T2
*Maximum Discount*
and
At w = 0 ,
At w = 0 ,
At w = 3 ,
in
.
co
+T (jw) = 0
At w = 3 ,
Sol. 52
CONTROL SYSTEM
.
a
o
n
.
w
i.e.
Sol. 53
i
d
X = W but l ! m
Sol. 54
Sol. 55
T (s) =
in
.
co
.
a
s2 + 2xwn s + wn2
Transfer function has a pair of complex conjugate poles and zeroes.
Sol. 56
i
d
o
n
.
w
or
But
R (s)
1
= lim
1 + G (s) s " 0 s + sG (s)
ess = lim 1 = 5% = 1
s " 0 sG (s)
20
kv = 1 = lim sG (s) = 20
s"0
ess
= lim s
s"0
Finite
Sol. 58
1+
K (1 - s)
=0
s (s + 3)
*Maximum Discount*
CONTROL SYSTEM
2
K = s + 3s
1-s
or
in
.
co
- s2 + 2s + 3 = 0
which gives s = 3 , - 1
Here - 1 must be the break away point and 3 must be the break in point.
or
Sol. 59
.
a
i
d
-2s
G (s) = 3e
s (s + 2)
-2jw
or
G (jw) = 3e
jw (jw + 2)
3
G (jw) =
w w2 + 4
Let at frequency wg the gain is 1. Thus
3
=1
wg (wg2 + 4)
or
or
wg4 +
or
Now
o
n
.
w
4wg2 - 9 = 0
wg2 = 1.606
wg = 1.26 rad/sec
+G (jw) =- 2w - p - tan-1 w
2
2
.
a
i
d
5wf wf3
=p
2
2
24
5wf
.p
2
2
or
or
Sol. 60
o
n
.
w
in
.
co
wf = 0.63 rad
1
2
*Maximum Discount*
CONTROL SYSTEM
or
Sol. 61
in
.
co
.
a
i
d
o
n
.
w
frequency.
...(1)
Thus
or
Sol. 62
Sol. 63
w2 = 3
G (jw) H (jw) = 2 1 +
2
w
1
Thus gain margin is =
= 0 and in dB this is - 3 .
3
Option (C) is correct.
Centroid is the point where all asymptotes intersects.
SReal of Open Loop Pole - SReal Part of Open Loop Pole
s =
SNo.of Open Loop Pole - SNo.of Open Loop zero
= - 1 - 3 =- 1.33
3
.
a
i
d
o
n
.
w
in
.
co
*Maximum Discount*
We have
or
Now
CONTROL SYSTEM
in
.
co
1 $ 10 10
s + 2 s s (s + 2)
C (s) = 5 - 5
s s+2
or
.
a
c (t) = 5 [1 - e-2t]
The steady state value of c (t) is 5. It will reach 99% of steady state value
i
d
o
n
reaches at t , where
5 [1 - e-2t] = 0.99 # 5
or
1 - e-2t = 0.99
e-2t = 0.1
or
- 2t = ln 0.1
or
t = 2.3 sec
Sol. 65
Sol. 66
.
w
Spk 3 k
3
.
a
i
d
o
n
.
w
T (s) =
in
.
co
In given SFG there is only one forward path and 3 possible loop.
p1 = abcd
31 = 1
3= 1 - (sum of indivudual loops) - (Sum of two non touching loops)
Thus
Sol. 67
-2 2
A ==
1 - 3G
Characteristic equation is
*Maximum Discount*
CONTROL SYSTEM
[lI - A] = 0
l + 2 -2
=0
-1 l + 3
or
(l + 2)( l + 3) - 2 = 0
or
l2 + 5l + 4 = 0
Thus
l1 =- 4 and l2 =- 1
Eigen values are - 4 and - 1.
or
in
.
co
.
a
i
d
(l1 I - A) X1 = 0
l1 + 2 - 2 x11
= 1 l + 3G=x G = 0
1
21
- 2 - 2 x11
=- 1 - 1G=x G = 0
21
or
o
n
.
w
- 2x11 - 2x21 = 0
or
x11 + x21 = 0
We have only one independent equation x11 =- x21.
Let x21 = K , then x11 =- K , the Eigen vector will be
x11
-K
-1
=x G = = K G = K = 1 G
21
or
in
.
co
i
d
.
a
o
n
.
w
Digonalizing matrix
Now
-1 2
x11 x12
=
M ==
x21 x22 G = 1 1G
1 -2
M-1 = ` - 1 j=
1 - 1G
3
B = sin At = MDM-1
- 1 2 sin (- 4t)
0
1 -2
=-` 1 j=
G
G
=
=
1 1
0
sin (- t) - 1 - 1G
3
- sin (- 4t) - 2 sin (- t) 2 sin (- 4t) - 2 sin (- t)
=-` 1 j=
sin (- 4t) + 2 sin (t) - 2 sin (- 4t) - sin (- t)G
3
- sin (- 4t) - 2 sin (- t) 2 sin (- 4t) - 2 sin (- t)
=-` 1 j=
sin (- 4t) - sin (- t) - 2 sin (- 4t) + 2 sin (- t)G
3
*Maximum Discount*
CONTROL SYSTEM
in
.
co
1 + G (s) = 0
1 + G (s)
K
=0
s (s2 + 2s + 2)( s + 3)
s 4 + 4s3 + 5s2 + 6s + K = 0
The routh table is shown below. For system to be stable,
(21 - 4K)
0 < K and 0 <
2/7
21
This gives
0<K<
4
1+
s3
7
2
s
s
s1
s
Sol. 69
i
d
o
n
.
w
.
a
21 - 4K
7/2
in
.
co
.
a
If e " 0+ then 2e +e 12 is positive and -15e2-e +2412e - 144 is negative. Thus there are two
sign change in first column. Hence system has 2 root on RHS of plane.
2
s4
s3
s2
2e + 12
e
.
w
s1
s
Sol. 70
w
2
i
d
no
s5
15
- 12
15
*Maximum Discount*
CONTROL SYSTEM
Thus controllable
det QC ! 0
The observability matrix is
Q0 = [CT AT CT ]
1 -3
==
!0
0 - 1G
in
.
co
det Q0 ! 0
Sol. 71
Thus observable
.
a
s 0
1 0
s-1 0
(sI - A) = = G - = G = =
0 s
0 1
0 s - 1G
(sI - A) -1 =
Sol. 72
i
d
1
0
(s - 1)
s-1
1
=
G
=
>
0
(s - 1)
0
(s - 1) 2
o
n
.
w
0
1
s-1
Z = P-N
N " Net encirclement of (- 1 + j0) by Nyquist plot,
P " Number of open loop poles in right hand side of s - plane
Z " Number of closed loop poles in right hand side of s - plane
Here N = 1 and P = 1
Thus
Z =0
in
.
co
.
a
Sol. 73
Sol. 74
i
d
o
n
.
w
T (s) =
Spk 3 k
3
p1 = 1
31 = 1 + 3 + 24 = s + 27
s
s
s
L1 = - 2 , L2 = - 24 and L3 = - 3
s
s
s
^ s +s27 h
=
1 - ^ -s3 - 24s - s2 h + -s2 . -s3
s (s + 27)
= 2
s + 29s + 6
Option (D) is correct.
We have
=
Sol. 75
s + 27
s
1 + 29s + s62
*Maximum Discount*
or
CONTROL SYSTEM
1 + G (s) H (s) = 0
K
=0
1+
s (s + 2)( s + 3)
K =- s (s2 + 5s2 + 6s)
dK =- (3s2 + 10s + 6) = 0
ds
or
in
.
co
which gives
.
a
i
d
o
n
.
w
in
.
co
.
a
i
d
Sol. 77
T (s) =
Thus
o
n
.
w
10 ( 0s.1 + 1) 3
108 (s + 0.1) 3
=
s
+ 1)
( 10s + 1) 2 ( 100
(s + 10) 2 (s + 100)
s + 4s + 4 = 0
Comparing with
s2 + 2xwn + wn2 = 0
we get
2xwn = 4 and wn2 = 4
Thus
x =1
ts = 4 = 4 = 2
1#2
xwn
Sol. 78
Sol. 79
Critically damped
*Maximum Discount*
CONTROL SYSTEM
1
xo1
=xo G = =1
2
1
A ==
1
s
(sI - A) = =
0
x1 (0)
1
0 x1
and =
=
x2 (0)G =0 G
1G=x2 G
0
1G
0
1 0
s-1 0
-= G= =
G
s
1 1
- 1 s - 1G
in
.
co
1
0
s-1
1 >(s - 1)
=
(sI - A) -1 =
H
>
1
+
(s - 1) 2 + 1 (s - 1)
(s - 1)
et 0
L-1 [(sI - A) -1] = eAt = = t t G
te e
et 0 1
et
x (t) = eAt # [x (t0)] = = t t G= G = = t G
te e 0
te
Sol. 80
.
a
i
d
o
n
.
w
0
2
1
s-1
ks2 + s + 6 = 0
s2 + 1 s + 6 = 0
K
K
Sol. 81
in
.
co
Given x = 0.5
.
a
i
d
o
n
.
w
Sol. 82
Sol. 83
...(i)
*Maximum Discount*
CONTROL SYSTEM
Sol. 84
Sol. 85
in
.
co
.
a
(s + 1)( s + 100) = 0
s2 + 101s + 100 = 0
Comparing with s2 + 2xwn + wn2 = 0 we get
2xwn = 101 and wn2 = 100
Thus
x = 101
20
i
d
o
n
.
w
Overdamped
For overdamped system settling time can be determined by the dominant pole
Sol. 86
and Ts = 4 = 4 sec
T
1 =1
T
s4
s3
o
n
.
w
s1
s0
Sol. 87
.
a
i
d
s2
in
.
co
*Maximum Discount*
CONTROL SYSTEM
wf = 1 rad/sec
The gain margin at this frequency wf = 1 is
GM =- 20 log10 G (jwf) H (jwf)
= 20 log10 (wf (1 - w2f) 2 + w2f =- 20 log 1 = 0
Sol. 88
in
.
co
Z = P-N
N " Net encirclement of (- 1 + j0) by Nyquist plot,
P " Number of open loop poles in right had side of s - plane
Z " Number of closed loop poles in right hand side of s - plane
.
a
i
d
o
n
.
w
Sol. 90
Sol. 91
in
.
co
i
d
.
a
o
n
.
w
s2 + 2s + 2 = 0
Comparing with s2 + 2xwn + wn2 = 0 we get
2xwn = 2 and wn2 = 2
wn =
2
and
x = 1
2
Since x < 1 thus system is under damped
Sol. 92
...(1)
...(2)
...(3)
...(4)
*Maximum Discount*
CONTROL SYSTEM
in
.
co
.
a
i
d
o
n
.
w
...(6)
...(7)
1 = s2 + 7s + 13 - 1 = s2 + 6s + 9
G (s)
s+4
s+4
s
4
+
or
G (s) = 2
s + 6s + 9
For DC gain s = 0 , thus
Thus
G (0) = 4
9
in
.
co
or
Sol. 94
...(5)
i
d
.
a
o
n
.
w
and
H (s) = (s - 2)
The Characteristic equation is
1 + G (s) H (s) = 0
K (s - 2)
1+
(s - 2) = 0
(s + 2) 2
or
(s + 2) 2 + K (s - 2) 2 = 0
or
(1 + K) s2 + 4 (1 - K) s + 4K + 4 = 0
Routh Table is shown below. For System to be stable 1 + k > 0 , and 4 + 4k > 0
and 4 - 4k > 0 . This gives - 1 < K < 1
As per question for 0 # K < 1
*Maximum Discount*
CONTROL SYSTEM
s2
1+k
4 + 4k
s1
4 - 4k
s0
4 + 4k
in
.
co
Sol. 95
Sol. 96
.
a
i
d
o
n
.
w
s3
s1
aK - 3
a
s0
s2
Sol. 97
in
.
co
.
a
i
d
o
n
.
w
4 = 2/3
2#3
For second order system the setting time for 2-percent band is given by
4
ts = 4 =
=4 =2
xwn
3 # 2/3 2
Damping factor
Sol. 98
x =
G (s) H (s) =
2
s (s + 1)
2
jw (jw + 1)
Phase cross over frequency can be calculated as
G (jw) H (jw) =
So here
f (w) at w = w =- 180c
f (w) =- 90c - tan-1 (w)
- 90c - tan-1 (wp) =- 180c
tan-1 (wp) = 90c
p
wp = 3
*Maximum Discount*
CONTROL SYSTEM
Gain margin
20 log 10 =
1
at w = wp
G (jw) H (jw) G
G.M. = 20 log 10 e
in
.
co
2
=0
w2p + 1
G.M. = 20 log 10 b 1 l = 3
0
G (jwp) H (jwp) =
so
Sol. 99
1
G (jw) H (jwp) o
wp
.
a
i
d
0
1
0
, B = = G and C = [1 1]
A ==
G
2 -3
1
Here
o
n
.
w
0 1
QC = [B AB ] = =
1 - 3G
Thus controllable
det QC ! 0
The observability matrix is
Sol. 100
1 2
!0
Q0 = [CT AT CT ] = =
1 - 2G
Thus observable
det Q0 ! 0
in
.
co
we have
G (jw) H (jw) =
or
2 3
jw (jw + 1)
G (jw) H (jw) at w = w = 1
o
n
.
w
g
.
a
i
d
2 3
=1
w w2 + 1
12 = w2 (w2 + 1)
w4 + w2 - 12 = 0
or
(w2 + 4) (w2 - 3) = 0
w2 = 3 and w2 =- 4
which gives
wg =
w1, w2 = ! 3
3
f (w) at w = w =- 90 - tan-1 (wg)
g
=- 90 - tan-1 3
=- 90 - 60 =- 150
Phase margin = 180 + f (w) at w = w
g
Sol. 101
Sol. 102
*Shipping Free*
*Maximum Discount*
CONTROL SYSTEM
an - 1 s + an
n
n-1
s
a
+
+ ...an - 2 s2
1s
=
a
n - 1 s + an
1+ n
s + a1 sn - 1 + ...an - 2 s2
G (s) H (s) =
Thus
in
.
co
an - 1 s + an
sn + a1 sn - 1 + ....an - 2 s2
.
a
an - 1 s + an
sn + a1 sn - 1 + ....an - 2 s2
Steady state error is given by
1
E (s) = lim R (s)
s"0
1 + G (s) H (s)
for unity feed back H (s) = 1
Here input
R (s) = 12 (unit Ramp)
s
1
so
E (s) = lim 12
s " 0 s 1 + G (s)
n
a1 sn - 1 + .... + an - 2 s2
= lim 12 s +
n
s"0 s
s + a1 sn - 1 + .... + an
= an - 2
an
G (s) =
Thus
i
d
o
n
.
w
Sol. 103
Sol. 104
Sol. 105
s2
s1
7#5-3
5
s0
.
w
=
32
5
.
a
i
d
no
3
in
.
co
There is no sign change in the first column. Thus there is no root lying in the
left-half plane.
Sol. 106
Sol. 107
R (s) = input
Where
R (s) = 1
s
*Maximum Discount*
Sol. 108
CONTROL SYSTEM
s1
s (s + 1)
s
so
E (s) = lim
= lim 2
=0
K
s"0
s"0 s + s + K
1+
s (s + 1)
Option (B) is correct.
Fig given below shows a unit impulse input given to a zero-order hold circuit
which holds the input signal for a duration T & therefore, the output is a unit
step function till duration T .
in
.
co
.
a
i
d
o
n
.
w
h (t) = u (t) - u (t - T)
Taking Laplace transform we have
H (s) = 1 - 1 e-sT = 1 61 - e-sT @
s s
s
Sol. 109
Sol. 110
in
.
co
qg =- 125c
P.M = 180c - 125c = 55c
i
d
.
a
o
n
.
w
It must be noted that type of the system is defined as no. of poles lies at origin
lying
in OLTF.
Sol. 111
1 = 3T 2 w2
Tw = 1
3
*Maximum Discount*
CONTROL SYSTEM
So maximum phase is
fmax = tan-1 ; 2Tw2 2 E at Tw = 1
1 + 3T w
3
1
2 3
1 = 30c
-1
= tan-1 >
H = tan ;
1 + 3 # 13
3E
Sol. 112
Sol. 113
in
.
co
.
a
i
d
o
n
.
w
(s + 1) 2 (s + 2) = 0
Sol. 114
Sol. 115
Sol. 116
.
a
D1 = 1
y
= 10 # 1 = 2
x
5
i
d
so gain
in
.
co
P1 = 5 # 2 # 1 = 10
D = 1 - (2 # - 2) = 1 + 4 = 5
o
n
.
w
= 1+0 = 0
***********
*Maximum Discount*