CLASS TEST

S.No. : 01 CH1_EE_E_120619
Control Systems

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CLASS TEST
2019-2020

ELECTRICAL ENGINEERING
Date of Test : 12/06/2019

ANSWER KEY h Control Systems

1. (d) 7. (b) 13. (c) 19. (b) 25. (a)

2. (b) 8. (b) 14. (b) 20. (b) 26. (d)

3. (c) 9. (b) 15. (b) 21. (d) 27. (a)

4. (d) 10. (b) 16. (b) 22. (b) 28. (a)

5. (d) 11. (b) 17. (b) 23. (d) 29. (c)

6. (b) 12. (d) 18. (d) 24. (d) 30. (a)

 8 Electrical Engineering

D E TA I L E D E X P L A N AT I O N S

1. (d)
(s + 3 + j4) (s + 3 – j4) = 0
(s + 3)2 – (j4)2 = 0; s2 + 6s + 9 + 16 = 0; s2 + 6s + 25 = 0
ωn = 25 ; ωn = 5 rad/sec; 2ζωn = 6

6
ζ = = 0.6
2×5

2. (b)
Since, all the poles of the open loop system lie on the LHS of s-plane hence, the open loop system is
stable. However, the number of encirclement to the critical point is two means two closed loop poles are
located on the RHS of s-plane. Therefore, the closed loop system is unstable.

3. (c)
For given Nyquist plot,
jω
ω=0
We can find that, type of the system = 3
and complete the Nyquist plot as shown in figure
For (–1, 0) point of position A,
N = P–Z
Here, N = –2 and P = 0 B A ω=∞
σ
∴ –2 = –Z,
⇒ Z = 2
Therefore system is unstable at point A.
ω = 0–
For (–1, 0) lying at position B,
N = P–Z
Here, N = 0, P = 0
∴ Z = 0; i.e. stable system.
Therefore, system is stable at point B.

4. (d)
Using Routh Table:
6
s 1 6 10 5
5
s 1 5 5
4
s 1 5 5
3
s 0 0

The Routh table construction procedure breaks down here, since the s3 row has all zeros. The auxiliary
polynomial coefficients are given by the s4 row. Therefore the auxiliary polynomial is,
A(s) = s4 + 5s2 + 5

dA(s)
= 4s3 + 10s
ds

dA(s)
Replacing the s3 row in the Routh table with the coefficients of , we have
ds

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 CT-2019 | EE • Control Systems 9

6
s 1 6 10 5
5
s 1 5 5
4
s 1 5 5
3
s 4 10

2 20 − 10
s = 2 .5 5
4
1 25 − 20
s =2
2.5
0
s 5

Examining the first column of this table we see that there are no sign changes. Hence, there is no root lying
in the RHS of s-plane.

5. (d)
2nd order characteristics equation s2 + 2 ξωn s + ωn2 = 0 have poles at –ξωn ± jωd
On comparing, we have
–1 ± j π
ωd = π
π
⇒ tp = peak time = (first peak)
ωd
π
= = 1sec.
π

6. (b)

x
1 = x1 – 5x2

x
2 = (8 – g1) x1 – g2 x2

 1 −5 
∴ A = 
 8 − g1 −g2 
Characteristic equation = (sI – A) = 0

s 0   1 −5 
=  0 s  −  8 − g −g  = 0
   1 2

 s −1 5 
=  −8 + g s + g  = 0
 1 2

= (s – 1) (s + g2) –5 (g1 – 8) = 0
= s2 + s(g2 – 1) + (–g2 – 5g1 + 40) = 0

⇒ ωn = 40 − 5 g1 − g2 = 2

⇒ +5g1 + g2 = +38
1
and ξ =
2

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 10 Electrical Engineering

1
(g2 – 1) = 2 × 2
2
⇒ g2 = 3 and g1 = 7

7. (b)
Method 1:
H(s) = 1

C(s) G(s) G(s)

= =
R(s) 1 + G(s)H(s) 1 + G(s)

s+4
s+4 s2
+ 6s + 9
=
s 2 + 7s + 13 s+4
1+ 2
s + 6s + 9
s+4
So, G(s) =
s + 6s + 9
2

4
.
(1+ s / 4)
or, G(s) = (In time constant form)
9  6 1 2
 1+ s + s 
9 9
4
Thus, open loop DC gain of given system = .
9
Method 2:
Num
G(s) = = O.L.T.F. (H(s) = 1)
Den − Num
s+4 s+4
= = 2
(s + 7s + 13) − (s + 4)
2
s + 6s + 9

4
Put s = 0, G(0) =
9
8. (b)
Error = 20 log (2ξ)
Error = 20 log (2 × 1.4)
Error = 8.94 dB

9. (b)
6
G(s) =
(s + 2s + 6)
2

Comparing with the standard form

ωn = 6 and 2 ξωn = 2
∴ ξ = 0.408

−πξ −π × 0.408
1− ξ2 1− 0.4082
Mp = e × 100 = e × 100

= 24.56% ≈ 24.6%

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 CT-2019 | EE • Control Systems 11
10. (b)

. .
x2 x2 x1 x1
Y
U 1 6 1 1 1 1 1
s s
–5

–6

Here x
1 = 6 U + x 2 – 5 x 1

x
2 = 6 U – 6 x 1

and Y = x1

 −5 1
∴ A =  
 −6 0 

11. (b)

d
Impulse response = [step response]
dt
Now, as we know at t = 0; c(t) ≠ 0
Here, we can write c(t) = (1 – e t + 3e–t) u(t)
–3

Now, t = 0; c(t) = 0
d
Hence, h(t) = [c(t )]
dt
h(t) = δ(t) – e–3t δ(t) + 3e–3t u(t) + 3e– t ∗ δ(t) – 3e–t. u(t)
= δ(t) – δ(t) + 3δ(t) + (3e–3t – 3e–t)u(t)
h(t) = 3δ(t) + (3e–3t – 3e–t) u(t)

3 3 3(s 2 + 4s + 3) + 3(s + 1) − 3(s + 3)

H(s) = 3 + − =
s + 3 (s + 1) (s + 3)(s + 1)

3(s 2 + 4s + 3) − 6 3(s 2 + 4s + 1)
= =
(s + 3)(s + 1)  s
3  1 +  (1 + s)
 3
Thus, Gain = 1

12. (d)
The transfer function

K(s + 2)(s + 3)
G (s ) H (s ) =
s(s + 1)
Im

Re
–3 –2 –1 0

The break points can be calculated as

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 12 Electrical Engineering

dK
= 0
ds
∴ 1 + G (s) = 0

K(s + 2)(s + 3)
or, 1+ = 0
s(1+ s)

−(s 2 + s)
K =
s 2 + 5s + 6

dK (s 2 + 5s + 6)(2s +1) − (s 2 + s )(2s + 5)

= =0
ds s 2 + 5s + 6
= – 2.37 and – 0.634
Here break in point is –2.37 and break away point is –0.634.

13. (c)
Assuming C1 = 0 and R2 = 0.
1 G1
R1

H1 G3 G4 H2

C2
G2

Here, forward path P1 = G3 ; ∆1 = (1 – G4H2)

P2 = G1G2H2 ; ∆2 = 1
LOOPs
L1 = G3H1, L2 = G4H2, L3 = G1G2H1H2
and L4 = G3G4H1H2 (Non touching loops)

C2 G 3 (1– G 4H 2 ) + G1G 2H 2
∴ =
R1 1– G 3H 1 – G 4H 2 – G1G 2H 1H 2 + G 3G 4H 1H 2

G 3 + H 2 (G1G 2 – G 3G 4 )
=
1– G 3H 1 – G 4H 2 + H 1H 2 (G 3G 4 – G1G 2 )

14. (b)
40
G(s) =
s (s + 18)
2

ess due to parabolic input

A
ess =
Ka
40 40
s2G(s) = lim s × =
2
where Ka = lim
s→0 s →0 s 2 (s + 18 ) 18

3×2
ess = = 2.7
40 /18

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 CT-2019 | EE • Control Systems 13
15. (b)

d 2y dy
2
+3 + 2y = x(t)
dt dt

s2 Y(s) + 3s Y(s) + 2 Y(s) = X(s)

x(t) = 2 u(t)
2
X(s) =
s
2
∴ (s2 + 3s + 2) Y(s) =
s
2 A B C
Y(s) = = + +
s (s + 2) (s + 1) s s + 2 s +1
2 = A(s + 2) (s + 1) + B(s) (s + 1) + C s(s + 2)
s = 0; 2 = A2
A = 1
s = –1; 2 = –C
C = –2
s = –2; 2 = 2B
B = 1

1 1 2
Y(s) = + −
s s + 2 s +1
y (t) = [1 + e–2t – 2e–t] u(t)

16. (b)
φd = 180° – φ
Im

–3+j
x

x x Re
–4 0

x
–3–j

φ = 90° + 45° + 161.565°= 296.56°

∴ φd = 180° – 296.5650 = ∓ 116.56°

17. (b)
The transfer function can be

 s
K  1+  4  1+ s 
 2  2
G (s) H (s) = =
s s
or, K = 4
With starting slope of –20 dB/dec, at ω = 2 rad/sec
– 20 log10 (2) + 20 log10 (4) = 6 dB

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 14 Electrical Engineering

18. (d)
The loop equations considering the Laplace transform of the network is
s I1(s) + I1(s) – I2(s) = Vi(s)
(s + 1) I1(s) – I2(s) = Vi(s) ...(i)
andI2(s) – I1(s) + I2(s) + s I2(s)= 0
I1(s) = (s + 2) I2(s) ...(ii)
Substituting equation (ii) in equation (i),
(s + 1) (s + 2) I2(s) – I2(s) = Vi(s)

Vi (s)
I2(s) =
s + 3s + 1
2

also, V0(s) = s I2(s)

sVi (s)
V0(s) =
s + 3s + 1
2

V0 (s) s
= 2
Vi (s) s + 3s + 1

19. (b)
Characteristic equation
1 + G(s) H(s) = 0

11β
⇒ 1+ = 0
s + 4s 2 + 3s + 1
3

or, s3 + 4s2 + 3s + 1 + 11 β = 0
Routh array
3
S 1 3

2
S 4 (11β + 1)

1 12–(11β + 1) 0
S
4
0
S (11β + 1)

for stability,

12 − (11β + 1)
≥ 0
4
or 12 ≥ (11 β + 1)
or β ≤ 1

20. (b)
Comparing with standard transfer function
K(1+ sT )
G(s) =
(1+ αsT )
21
T =
97

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 CT-2019 | EE • Control Systems 15

1
αT =
33
97
or, α = = 0.1399
33 × 21
∵ α < 1 lead compensator
 1− α 
φ = sin−1 
 1+ α 

 1− 0.1399
= sin−1 
 1+ 0.1399
= 48.97°

21. (d)
64
Transfer function =
s + 14s + 64
2

Where, ωn2 = 64
2 ξωn = 14
14
or, ξ = = 0.875 (underdamped)
2×8

4 4
τsett = = = 0.571 sec
ξωn 7

22. (b)
Let K = 4 then,
K
G(s)H(s) =
(s + 2)2
Characteristic equation = 1+ G(s) H(s) = s2 + 4s + (4 + K) = 0
Routh array s2 1 (4 + K)
1
s 4 0
0
s 4+K
For stability K > – 4
now, calculating ωpc
–180° = 2 tan –1 ωpc
or ωpc = ∞
Hence GM = 0 dB = ∞
4
and  G (ω) H(ω) = =1
( (j ω )
2
2
gc ) +2
2

4
( )
= 1
ωgc
2
+4

or ωgc
2
= 0
ωgc = 0
−1 ωgc ωgc
PM = 180° − tan − tan−1
2 2
= 180°

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 16 Electrical Engineering

23. (d)
1 pole at origin (ω = 0)

↓ −20 dB/dec
2 poles at ω = 2 rad/s

↓ −60 dB/dec
2 poles at ω = 4 rad/s

↓ −100 dB/dec
1 zero at ω = 10 rad/s

↓ −80 dB/dec

∴ The slope of the line between frequency of 4 rad/s and 10 rad/sec is –100 dB/decade.

24. (d)
Check for controllability -
QC = [B : AB]
0 0 
=  
 1 −4 
∵ ρ(A) ≠ ρ(QC)
and QC = 0
∴ System is uncontrollable.
Check for observably -
Qo = [CT : ATCT ]

1   −2 0  1   1 −2 
=  :    =  
 0   0 −4   0  0 0 
∵ ρ(A) ≠ ρ(Qo)
Also Qo = 0
∴ System is unobservable.

25. (a)

1
Given, G( s) H ( s) = 2
s ( s − a) ( s − b ) ( s − c )

1
Put s = jω, G(jω) H(jω) = 2
( jω) ( jω − a) ( jω − b ) ( jω − c )

1
G( jω) H ( jω) =
ω2 ω2 + a2 ⋅ ω2 + b 2 ⋅ ω2 + c 2
when, ω=0 Magnitude = ∞; Phase = 0°
ω=∞ Magnitude = 0; Phase = 270°

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 CT-2019 | EE • Control Systems 17

 
−1  ω +  −1  ω    −1  ω   
∠G(jω) H(jω) = − 180° +  180° − tan     180° − tan    +  180° − tan    
   a    b    c  

−1  ω −1  ω  −1  ω 
φ = tan   + tan   + tan  
a b c
Note: Since a, b and c are positive values, for ω = 1, phase of G(jω) H(jω) will be a positive quantity. So,
the polar plot will start into the first quadrant.

90°

ω= 0
180° 0°
ω= ∞

270°

26. (d)
C(s) 50
T(s) = = 2
R(s) (s T + s)(1 + 0.5s) + 50
Characteristic equation
Ts3 + (1 + 2T) s2 + 2s + 100 = 0
Using Routh array s3 T 2
s 2
(1 + 2T ) 100
2(1 + 2T ) − 100T
s1 0
(1 + 2T )
s0 100
1
∴ T > 0 and T > −
2
Also 2 – 96 T > 0
1
or, T <
48
The system becomes unstable for
1
T =
48
27. (a)
The open loop transfer function is
K
G(s) =
s(s + 1)(s + 2)
(a) Finite poles are at s = 0, –1, –2, (P = 3)
Finite zeros are nil (z = 0)
(b) Number of asymptotes = P – Z = 3
The centroid σ (or the meeting point of the asympotes) is at

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 18 Electrical Engineering

0 − 1− 2
σ = = −1
3
The angles of the asymptotes are given by

(2K + 1)π
θK = , K = 0,1 ...., (| P – Z | – 1)
P −Z
(2K + 1)π
= ,K = 0,1, 2 = 60°, 180°, 300° (–60°)
3
(c) The breakaway points are given by

dK dK d
= 0 or = [−s(s + 1)(s + 2)] = 0
ds ds ds
or –(3s2 + 6s + 2) = 0

−6 ± 36 − 24
or s = = –0.42, – 1.577 (invalid)
6
Thus, s = –0.42 is only valid break away point
(d) The number of branches of the root loci is the greater of P and Z, viz, 3. Using all the above information,
we plot the root loci,
jω
s-plane

60°
σ
–2 –1 0
–0.42

Hence choice (a) is correct.

28. (a)
Zeros s = –2
Poles: s = –1 + j 2, –1 – j 2
The transfer function is

K(s + 2)
G(s) =
(s + 1 − j 2)(s + 1+ j 2)
multiplication of vector lengths drawn from all poles
where K =
multiplication of vector lengths drawn from all zeros

10 × 2
= =2
5

2(j1 + 2) 2(2 + j1)

G(s = j1) = =
(j1 + 1 − j 2)(j1+ 1+ j 2) (1 − j1)(1+ j 3)
2 × 2.236 ∠26.6°
= = 1∠0°
1.4142 ∠ − 45° × 3.162 ∠71.57°
Hence choice (a) is correct.

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 CT-2019 | EE • Control Systems 19
29. (c)

10
G ( s) =
s(s + 1)2

Putting s = jω,

10 10 10
G( jω) = = =
j ω( j ω + 1) 2
j ω(−ω + 2 j ω + 1)
2
−2ω + j (ω − ω 3 )
2

This can be divided into the real and imaginary parts as shown below

G(jω) =
{
10 −2ω 2 − j (ω − ω3 ) }
{−2ω 2
+ j (ω − ω ) 3
}{−2ω 2
− j (ω − ω 3 )}
−20ω2 10j (ω − ω3)
= −
4ω 4 + (ω − ω3)2 4ω 4 + (ω − ω3)2
In the real axis at ω = ω0 ,
the imaginary portion goes to zero.

ω 0 − ω 30
Hence = 0
4ω 04 + (ω 0 − ω 03 )2

or ω 0 − ω30 = 0

or ω0(1 − ω20) = 0

which gives the possible solution

ω0 = 0, 1
At ω0 = 0,

−20ω 20
Real part of G(j ω) = ;
( )
2
4ω 04 + ω 0 − ω 30

Re{G ( j ω)} = ∞
Similarly at ω0 = 1,

−20
Re{G(j ω)} = = −5
4+0

Hence the real part and ω0 are –5, 1 respectively.

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 20 Electrical Engineering

30. (a)
The equations of performance for the system are.

−X
B1(X
) + K (X − X ) = K X
1 0 1 1 0 2 0

or (sB1 + K1)X1(s) – (sB1 + K1) X0(s) = K2X0(s)

X 0 (s) sB1 + K1
=
X1(s) sB1 + K1 + K 2

 B1s 
K1  1 +
 k1 
T =
 sB1 
(K1 + K2)  1 +
 K1 + K2 

K1 + K 2
Let = a
K1

where a > 1

B1
and = T;
K1 + K 2

X 0 (s) 1  1 + aTs 
Then, =  
X1(s) a  1 + Ts 
Therefore zero is nearer to origin than pole i.e. Lead network.

„„„„

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