Serial : 02.

CH1_EE_B_Control Systems_010618

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CLASS TEST ELECTRICAL

2018-19 ENGINEERING

Subject : Control Systems

Date of test : 01/06/2018

Answer Key

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

2. (c) 8. (b) 14. (b) 20. (c) 26. (a)

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

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

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

6. (b) 12. (b) 18. (b) 24. (c) 30. (b)

 8 Electrical Engineering

Detailed Explanations

1. (d)
From log -magnitude plot,
corner frequency at log ω = –1;
or ω = 0.1;
Hence pole at ω = 0.1,
and gain; log G = 1, G = 10,
10 1
Hence transfer fuction TF = =
(1+ s / 0.1) s + 0.1

2. (c)
TD the delay time, is not a desirable feature. It is the time taken by the system before starting to respond.
Hence. TS/TD cannot be less than 1 as the system is unstable in this case. So the ratio TS /TD should be
made as large as possible to make the sytem controllable.Therefore, the answer at (c) (greater than 10) is
appropriate.

3. (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

4. (c)
∵ y(t ) = AM sin (2t + φ)
1
Where, A = 2, & M =
jω + 2
1
At ω = 2, M =
2 2
−1  ω  −1
and φ = − tan   = − tan (1 / 1)
2
= –45° = –π/4
1
y(t ) = sin(2t − π/4)
2
5. (b)

 −1 −1
Here, A = 1 0
 

s + 1 1
Now, [sI – A] =  −1 s 
 
Now, characteristic equation is
sI − A = 0

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 CT2018 | EE • Control Systems 9

or, s ( s + 1) + 1 = 0
or, s2 + s + 1 = 0
Now, on comparing with standard form we get,
ωn (natural frequency) = 1 rad/sec
and 2ξ ωn = 1

1 1
ξ = =
2 × ωn 2

ξ = 0.5
Here ξ and ωn are respectively 0.5 and 1 rad/sec.

6. (b)
From Bode plot of the given system, we can see that magnitude plot crosses 0 dB axis before the phase
plot crosses the –180° axis. Hence, gain cross over frequency is less than phase cross over frequency,
i.e.
ωgc < ωpc
For ωgc < ωpc, obtained gain margin is positive and phase margin is also positive. Therefore, the system
is stable.

7. (b)
1
sC

R1
Vi(s) R2 V0(s)

This is the circuit of phase lead compensator and its transfer function is given as:

V0 (s) α(1+ Ts)

= ...(i)
Vi (s) (1+ αTs)

R2
Where α = R + R , (α < 1)
1 2

1
R2 2 = 1
Here, α = =
R1 + R2 1 + 1 3
2
and T = time constant = R1C
For given transfer function maximum phase is given by

−1  1 − α 
φm = sin 
 1 + α 

 1− 1  2 
φm = sin−1  3  = sin−1  3
 1 + 1   4 
3 3
= sin–1(1/2)
φm = 30°

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 10 Electrical Engineering

8. (b)
The open loop transfer function is

K (s + 6 )
G(s)H(s) =
(s + 2)(s + 4)
So, we have the open loop poles and zeros as
Poles: s = –2 and s = –4 (P = 2)
Zeros: s = –6 (Z = 1)
Therefore, the number of asymptotes is
P–Z = 2–1=1
So, the characteristic (1) is correct.
Now, we have the characteristic equation for the system given by
1 + G(s) H(s) = 0
or, (s + 2)(s + 4)+ K(s + 6) = 0
or, s2 + (6 + K)s + 8 + 6K = 0
For the characteristic equation, we form the Routh’s array as

s2 1 8 + 6K
1
s 6+K 0
0
s 8 + 6K
Root locus is plotted for K = 0 to ∞. i.e. K > 0.
Here, for K > 0 root locus does not intersect jω axis because s1 row will not be zero. Thus, characteristic
(2) is incorrect.
For the given system, we have two poles and one zero. So, one imaginary zero lies at infinite. Therefore,
the characteristic (4) is incorrect.
Hence, (b) must be a correct option. But, we check further for characteristic (3) as follows. We sketch the
root locus for the given system as shown below.

Img

Re
–6 –4 –2

It has two real axis intersections. So, characteristic (3) is correct.

9. (b)
The overall transfer function is,

C(s) e −sT
= 2
R(s) s + 2s + e −sT
Now, e–sT = 1 – sT [we can approximate]
Hence, the characteristic equation is,
s2 + 2s + (1 – sT) = 0
or, s2+ s(2 – T) + 1 = 0
The Routh array is as shown below.

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 CT2018 | EE • Control Systems 11

s2 1 1
1
s 2–T 0
0
s 1

For stability,
2–T>0
Hence, T < 2 and T (time) should be greater than 0.
Therefore, 0 < T < 2.

10. (b)
For phase lead compensator, zero is nearer to origin than pole.
Hence transfer function 1
– –1
αT T
α(1+ sT )
Gc(s) = α<1
(1+ sαT )

11. (a)
1
G(s) =
sT1 (1 + sT2 )

1
sT1 (1 + sT2 ) 1 1
TF = = = 2
1 sT1 (1 + sT2 ) + 1 s T1T2 + sT1 + 1
1+
sT1 (1 + sT2 )

1
=
 s 1 
T1T2  s 2 + + 
 T2 T1T2 

1
ωn = ;
TT
12

1 T1
ξ =
2 T2
for ξ << 1, ⇒ T1 << T2
12. (b)
From the equations, we have

 −1 0  0 
[A] =   ; [B ] =  
 0 −2   1
[C] = [1 2]
Check for Controllability:
 −1 0   0  0
[AB ] =     =  
 0 −2   1  −2 

0 0 
[B AB ] =  1 −2 
 
whose determinant is zero. Hence the system is not controllable.

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 12 Electrical Engineering

Test for Obser vability:

Observability:
[C ] = [1 2]

1 
CT =  2 
 

 −1 0  1   −1 
AT CT =  0 −2  2  =  −4
     

 1 −1
O = C AT CT  = 
T
Observability 
2 −4 
whose determinant ≠ 0, Hence, observable.

13. (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.

14. (b)
Before the switch is closed the TF,

K
C(s) s(s + a) K K
= = = 2
R(s) 1+
K s(s + a) + K s + as + K
s(s + a)

ωn = K, 2 ζωn = a,

a
ζ =
2 K
Steady state error is

1 1 1
ess = lim s.R(s) = slim s. 2
s→0 1+ G(s)H(s) → 0 s K
1+
s(s + a)

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 CT2018 | EE • Control Systems 13

1 s(s + a) s+a a
= slim s. 2 = lim 2 =
→0 s s(s+ a) + K s → 0 s + as + K K
After the switch is closed,

K
C (s) s(s + a) + K K
TF = = =
R (s) K s (s + a) + K + KKT s
.K s
s(s + a) + K T

K
=
s + s(a + KKT ) + K
2

ωn = K , 2 ζωn = a + KKT ,
a + KKt a K K
ζ = = + T
2 K 2 K 2

KT K
Damping factor is increased by
2
Steady state error
1
1 s×
ess = slim s.R(s) lim s2
→0 1 + G(s)H(s) = s →0 K
1+
s[(s + a) + KT K ]

1 1 1
= slim = slim =
→0  K  →0
s+
K
0+
K
s 1 +  (s + a) + KT K a + KT K
 s[s (s + a) + KT K ] 
a + KT K a
= = + KT
K K
Steady state error will increase by KT .
Hence, both ζ and ess are increased.

15. (c)
As we know,
The characteristic equation of the system becomes.
sI − F = 0

s 0   0 1
= 0 s  −  −2 −3  = 0
   

s −1
= =0
2 s+3

s ( s+ 3) + 2 = 0
s 2 + 3s+ 2 = 0
Here, ωn = 2
and 2ξωn = 3

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 14 Electrical Engineering

1.5
or ξ = = 1.06 (over damped)
2

16. (b)
Equivalent impedance circuit diagram is shown in figure.
Z2

vi(t)
Z1 – v0(t)

1 1  s + 10 
Here, Z1(s) = R1 + = 105 + = 105 
sC1 s × 10 −6  s 

Z2(s) = R2 + 1 1
and = 105 +
sC2 +
1 10 −6 s + 10 −5
R2

 s + 20 
= 105 
 s + 10 

Given op-amp circuit is an inverting amplifier, therefore transfer function is

 s + 20 
105 
V0 (s) Z (s)  s + 10 
= − 2 =−
Vi (s) Z1(s)  s + 10 
105 
 s 

−s(s + 20)
=
(s + 10)2

17. (b)
The characteristic equation is
s3 + bs2 + 3s + 1 + K(s + 1) = 0
or s3 + bs2 + (K + 3)s + (K + 1) = 0
The Routh’s array is
3
s 1 K+3

2
s b K+1

1 (K + 1)
s (K + 3) –
b
0
s K+1

The system will have sustained oscillations if row s1 is zero

b(K + 3) − (K + 1)
i.e. = 0
b

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 CT2018 | EE • Control Systems 15

K +1
i.e. b = ...(i)
K +3
The auxiliary equation of row s2 is
bs2 + (K + 1) = 0
∴ s2 = –4
or (jω)2 = (j 2)2 (because ω = 2 rad/sec)

K +1
∴ b =
4

K +1
Putting b = , in equation (i), we get
4

K +1 K +1
=
4 K +3
or K+3 = 4
or K = 1

K + 1 1+ 1 1
Also, b = = = = 0.5
4 4 2

18. (b)
Corner frequencies are, ω1 = 2.5; ω 2 = 10; ω 3 = 25
Change in magnitude in db = Slope × (Number of decades between two frequencies)
= –20 (log 2.5 – log 1) = –20 log 2.5 = –7.95 db
Magnitude (in db) = –12 + 7.95 db = –4.05 db (Magnitude at ω = 1 rad/sec)
From initial line equation,
20 log K = –4.05
or K ≈ 0.63
Since initial line has a slope of –20 db/sec and starts from a point –4.05 db at ω = 1 rad/sec, the factor
contributing is

K 0.63
= =
s s
Plot between ω = 2.5 and ω = 10 is having a slope of 0 db/dec. At ω = 2.5 the slope has changed from
–20 db/dec to 0 db/dec and this can only happen due to a factor in the numerator and is

 s 
=  + 1 = (1 + 0.4s)
 2.5 

At ω = 10, the slope has changed from 0 db/dec to +20 db/dec and is due to a factor in the numerator and
is

 s 
=  + 1 = (1 + 0.1s)
 10 

At ω = 25, the slope has changed from +20 db/dec to 0 db/dec and is due to a factor in the denominator
and is

 s 
=  + 1 = (1 + 0.04 s)
25 

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 16 Electrical Engineering

The open-loop transfer function is thus given by

0.63(1 + 0.4s)(1 + 0.1s) 0.63(s + 2.5)(s + 10)

G(s) = =
s(1 + 0.04s) s(s + 25)

19. (d)

K (1 + sTd )
OLTF is given by G(s) =
s 2 (1 + sT1)

putting s = j ω

K (1 + j ωTd )
G(jω) =
−ω 2 (1 + j ωT1)

K 1 + ( ωTd )
2
Magnitude, G(j ω) =
ω2 1 + ( ωT1)
2

Phase angle ∠G(jω) = –180 + tan–1 (ωTd) – tan–1 (ωT1).

∠G( j ω) ω = 0 = –180° ...(a)

∠G( j ω) ω = ∞ = –180° ...(b)

Since at ω = ∞,
∠G(jω) = –90°, which is possible only if tan–1 (ωTd) – tan–1 (ωT1) > 0
or, tan–1 (ωTd) > tan–1(ωT1)
⇒ Td > T1

20. (c)
Forward path transfer function of the given system is:
K (s + α )(s + 3)
;K = 10 and α > 0
( )
G(s) =
s s2 − 1
So, the characteristic equation of the system is obtained as
1 + G(s) H(s) = 0

10 (s + α )(s + 3)
1+
( )
or, = 0
s s2 − 1

or, s3 – s+ 10[s2 + (α + 3)s + 3α] = 0 ...(1)

or, s(s2 + 10s + 29) + α10 (s + 3) = 0
α10(s + 3)
or, 1+ = 0 ...(2)
(
s s2 + 10s + 29 )
So, we have the open loop gain as α is varied given by
α10 (s + 3)
( )
G(s)H(s) = ...(3)
s s2 + 10s + 29
Therefore, the number of asymptotes are
P–Z = 3–1=2

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 CT2018 | EE • Control Systems 17

So, two root branches will go to infinite along asymptotes as α → ∞. Now, from equation (1), we have:
s3 + 10s2 + (29 + 10α)s + 30α = 0
So, we form the Routh’s array as

s3 1 29 + 10α
s 2
10 30α
s 1
29 + 7α
s 0
30α

For α > 0, s1 row can not be zero. Hence, root locus does not intersect jω axis for α > 0. Only option (c)
satisfies these conditions.
21. (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
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.

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 18 Electrical Engineering

22. (c)
Approximated root locus for the given transfer function
Im

x x Re
–4 –2 0

Intersection with imaginary axis:

characteristic equation
s3 + 6s2+ 8s + K = 0
or K = 48
Auxiliary equation
6s2 + K = 0
or ω = 8j = ± 2.8j

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

ess due to parabolic input = A / K a

where Ka = l im s2 G(s) H(s) = l im s2 ⋅ 40

s→ 0 s → 0 s2 (s + 18)

40
=
18
3×2
ess =
40 / 18
= 2.7

24. (c)
Calculating ωpc
–180° = –90° – tan–1 (0.2 ωpc) – tan–1 (0.01 ωpc)

−1
 0.2 ω pc + 0.01ω pc 
90° = tan  2 
 1− (0.2 × 0.01)ω pc 
or, 1 – (0.00 2 ω2pc) = 0

1
ω pc2 =
2 × 10 −3
or, ωpc = 22.36 rad/sec
 10 
GM = −20log
(
 22.36 1+ (0.2 × ωpc )
2
)( 2 
1+ (0.01ωpc ) 
)

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 CT2018 | EE • Control Systems 19

= 20.42 dB.

25. (c)

 1 jω   2 j ω + 1 + ( j ω)2  1 − ω2 2 j ω 
G ( j ω) = 4 1 + +  = 4  = 4 + 
 2 jω 2   2j ω   2j ω 2j ω 

Separating real and imaginary part, we get

 (1 − ω 2 ) 
G ( j ω) = 4 1 − j  ...(i)
 2ω 

(1 − ω2 )2 1 ω4 2ω 2
G(j ω) = 4 1 + = 4 1 + + −
4 ω2 4ω 2 4ω 2 4ω 2
as, ω→0

G(j ω) = 4 1 +  + 0 −  = 4 1+ ∞ = ∞
1 1
0 2
and from equation (i)
 1 − ω2 
∠G (j ω) = 180° − tan−1  
 2ω 
as, ω→0
∠G ( j ω) = 180° – tan–1∞
= 180° – 90° = +90°

26. (a)
All finite poles has positive real part means
1
G(s) H(s) =
s (s − a)(s − b)(s − c)
2

at ω = 0 ⇒ ∞ −180° − 360° − 180° = 0°

ω = ∞ ⇒ 0 −180° − 180° + 90° − 180 + 90° − 180 + 90° = –450 = – 90°

27. (d)
x
1 = – x1 + u1
x
2 = – x2 + u2
 x
1   +1 0   x1  u1 
∴ 
 =   +  
x
 2  0 +1  x2  u2 
x 
y = [1 1]  1 
 x2 
Observability
1 1 1 1
Qo = C : A C  =     = 
T T T

1 1 1 1
∵  Qo = 0 Unobservable
s −1 0
Also  sI – A = = (s – 1) (s – 1) – 0 = 0
0 s −1

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 20 Electrical Engineering

∵ Poles lies on RHS of s -plane hence unstable.

28. (d)
Characteristic matrix

 1 1
− 
 1 0  s + 1 s  1 0
I + G (s) H(s) =  +  0 1
0 1  2 1   
 s + 2 

 1 1 s + 2 1 
−  s +1 −
 1 0  s + 1 s s 
=  +  =  
0 1  2 1   2 (s + 3) 
 s + 2   (s + 2) 

G(s)
∴ T (s) = –1
1 + G(s) H(s) = G (s) × [1 + G(s) H (s)]

 1 1 s + 3 1 
−
1 s + 1 s  s +1 s 
=   
∆ 1   −2 s + 2 
 2 s + 2   s + 1

s 2 + 5s + 2
Here, ∆ =
s(s + 1)

 3s2 + 9s + 4 
1  −(s + 1)
∴ T (s) = 2 (s + 2)
s + 5s + 2  

 2s (s + 1) 3 s + 2

29. (c)
Using Routh’s table for openloop system

s3 1 1

s2 1.5 –1

5
s1 0
3

s0 –1

∵ The number of sign change in the first column is 1.

∴ One pole located at RHS, hence unstable.
Now, for closed loop system
1 + G (s ) H (s ) = 0

1
1+ × (s + 2) = 0
s 3 + 1.5 s 2 + s − 1
s 3 + 1.5 s2 + 2s + 1 = 0

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 CT2018 | EE • Control Systems 21

Using Routh’s table

s3 1 2

s2 1.5 1

2
s1 0
1.5

s0 1

∵ The number of sign change in the first column of Routh’s table is zero
Hence, the closed loop system is stable.

30. (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–3t + 3e–t) u(t)
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

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