Control Systems Questions and Answers – Differential Equations of Physical Systems and

Dynamics of Robotic Mechanisms

1. Consider a simple mass spring friction system as given in the figure K1, K2 are spring constants f-
friction, M-Mass, F-Force, x-Displacement. The transfer function X(s)/F(s) of the given system will be
:

a) 1/(Ms2+fs+K1.K2)
b) 1/(Ms2+fs+K1+K2)
c) 1/(Ms2+fs+K1.K2/K1+K2)
d) K2/(Ms2+fs+K1)
View Answer
Answer: b
Explanation: Force balance equations are formed where force from both the springs will be balanced
by the mass system.
2. The output of an first order hold between two consecutive sampling instants is:
a) Constant
b) Quadratic Function
c) Ramp Function
d) Exponential Function
View Answer
Answer: c
Explanation: Inverse Laplace of the equation of first order hold gives the ramp function and hence
the output of an first order hold between two consecutive sampling is ramp function.
3. Which of the following is an example of an open loop system?
a) Household Refrigerator
b) Respiratory system of an animal
c) Stabilization of air pressure entering into the mask
d) Execution of program by computer
View Answer
Answer: d
Explanation: Execution of a program by a computer is an example of an open loop system as the
feedback mechanism is not taken by the computer program and set programs are used to get the
set output.
4. A tachometer is added to servomechanism because:
a) It is easily adjustable
b) It can adjust damping
c) It reduces steady state error
d) It converts velocity of the shaft to a proportional Dc voltage
View Answer
Answer: b
Explanation: A tachometer is a device to control the speed and adjust damping and it is used in
servomechanism to adjust damping and mainly is used in AC servomotors.
5. A synchro Transmitter is used with control transformer for:
a) Feedback
b) Amplification
c) Error detection
d) Remote sensing
View Answer
Answer: c
Explanation: Synchro transmitter is used as the error detector to get the desired speed and it is
accompained with the synchro transformer which is used as an amplifier.
6. The below figure represents:

a) Lead network
b) Lag network
c) PI controller
d) PD controller
View Answer
Answer: b
Explanation: The equations of performance are
B1(dX1/dt-dX2/dt)+k1(X1-X0)=k2X0
T=k1(1+B1s/K1)/k1+k2(1+sB1/k1+k2)
X0(s)/X1(s)=1/a(1+aTs/1+Ts).
7. Backlash in a stable control system may cause:
a) Under damping
b) Over damping
c) High level oscillations
d) Low level oscillations
View Answer
Answer: d
Explanation: In a servo system, the gear backlash may cause sustained oscillations or chattering
phenomenon and the system may even turn unstable for large backlash.
8. Tachometer feedback in a D.C. position control system enhances stability?
a) True
b) False
View Answer
Answer: a
Explanation: Tachometer feedback is derivative feedback and hence increases the stability and
speed of response, so tachometer adds zero at origin.
9. For a tachometer, if a(t) is the rotor displacement, e(t) is the output voltage and K is the
tachometer constant, then the transfer function is given by:
a) Ks2
b) K/s
c) Ks
d) K
View Answer
Answer: c
Explanation: e(t)=Kw
E(s)=Ksa(s)
E(s)/a(s)=Ks.
10. Gear train in the motor is used to reduce the gear ratio?
a) True
b) False
View Answer
Answer: b
Explanation: Gear ratio refers to the ratio of the number of teeths in the respective gears and gear
train in the motor is specifically used to increase the gear ratio.
11. Assertion (A): Servomotors have heavier rotors and lower R/X ratio as compared to ordinary
motors of similar ratings.
Reason (R): Servomotor should have smaller electrical and mechanical time constants for faster
response.
a) Both A and R are true and R is the correct explanation of A
b) Both A and R are true but R is not correct explanation of A
c) A is true but R is false
d) A is false but R is true
View Answer
Answer: d
Explanation: Ac servomotors are essentially induction motor with low X/R ratio for the rotor which
has very low inertia.
12. Assertion (A): DC servomotors are more commonly used in armature controlled mode than field
controlled mode.
Reason (R): Armature controlled Dc motors have higher starting torque than fiels controlled motors.
a) Both A and R are true and R is the correct explanation of A
b) Both A and R are true but R is not correct explanation of A
c) A is true but R is false
d) A is false but R is true
View Answer
Answer: a
Explanation: To get higher speed in field controlled dc motor, field current is decreased with
decrease in torque.
13. In case of DC servomotor, the back emf is equivalent to an “electric friction” which tends to:
a) Slowly decrease the stability of the system
b) Improve stability of the system
c) Very rapidly decrease the stability of the system
d) Have no effect of stability
View Answer
Answer: b
Explanation: As Back emf in dc servomotors provides necessary centrifugal force to control the
speed of the motor that increases the stability of the system.
14. The lagrangian is defined as:
a. Sum of kinetic energy and hydraulic energy
b. Mechanical energy
c. Difference of kinetic and potential energy
d. None of these
View Answer
Answer: c
Explanation: By definition lagrangian is defined as difference of kinetic and potential energy.
L=K-P.
15. A gantry robot consists of a manipulator mounted on an overhead system that allows movement
only in ________ plane.
a) Horizontal
b) Inclined
c) Vertical
d) None of the mentioned
View Answer
Answer: a
Explanation: Gantry robot allows motion only in horizontal plane and this is made in this geometry to
fulfill the respective work.
16. An object stationary or moving in a uniform motion w.r.t A will appear to be traveling in a straight
path w.r.t B. This apparent path is attributed to Coriolis acceleration.
a) True
b) False
View Answer
Answer: b
Explanation: An object stationary or moving in a uniform motion w.r.t A will appear to be traveling in
a curved path w.r.t B. This apparent path curvature is attributed to Coriolis acceleration.

Control Systems Questions and Answers – Transfer Functions

1. Which of the following is not the feature of modern control system?

a) Quick response
b) Accuracy
c) Correct power level
d) No oscillation
View Answer
Answer: d
Explanation: For a good control system the speed of response and stability must be high and for the
slow and sluggish response is not used and undesirable.
2. The output of the feedback control system must be a function of:
a) Reference input
b) Reference output
c) Output and feedback signal
d) Input and feedback signal
View Answer
Answer: d
Explanation: Feedback control system has the property of reducing the error and that is by
differencing the output with the desired output and as the equation of the output of the system is
C=GR/1+GH.
3. The principle of homogeneity and superposition are applied to:
a) Linear time invariant systems
b) Nonlinear time invariant systems
c) Linear time variant systems
d) Nonlinear time invariant systems
View Answer
Answer: c
Explanation: Superposition theorem states that for two signals additivity and homogeneity property
must be satisfied and that is applicable for the LTI systems.
4. In continuous data systems:
a) Data may be continuous function of time at all points in the system
b) Data is necessarily a continuous function of time at all points in the system
c) Data is continuous at the inputs and output parts of the system but not necessarily during
intermediate processing of the data
d) Only the reference signal is continuous function of time
View Answer
Answer: b
Explanation: Continuous signals are the signals having values for the continuous time and if impulse
response decays to zero as time approaches infinity, the system is stable.
5. A linear system at rest is subject to an input signal r(t)=1-e-t. The response of the system for t>0 is
given by c(t)=1-e-2t. The transfer function of the system is:
a) (s+2)/(s+1)
b) (s+1)/(s+2)
c) 2(s+1)/(s+2)
d) (s+1)/2(s+2)
View Answer
Answer: c
Explanation: c(t)=1-e-2t
R(s)=1/s-1/s+1
C(s)=1/s-1/s+2
Tf=2(s+1)/(s+2).
6. In regenerating the feedback, the transfer function is given by
a) C(s)/R(s)=G(s)/1+G(s)H(s)
b) C(s)/R(s)=G(s)H(s)/1-G(s)H(s)
c) C(s)/R(s)=G(s)/1+G(s)H(s)
d) C(s)/R(s)=G(s)/1-G(s)H(s)
View Answer
Answer: d
Explanation: Regenerating feedback is positive feedback and it increases the infinitely and hence
the speed of response of the system reduces.
7. A control system whose step response is -0.5(1+e-2t) is cascaded to another control block whose
impulse response is e-t. What is the transfer function of the cascaded combination?
a) 1/(s+2)(s+1)
b) 1/(s+1)s
c) 1/(s+3)
d) 0.5/(s+1)(s+2)
View Answer
Answer: a
Solution: Laplace transform is the transformation that transforms the time domain into frequency
domain and of both the cascaded systems are 1/(s+1)(s+2).
8. A transfer function has two zeroes at infinity. Then the relation between the numerator(N) and the
denominator degree(M) of the transfer function is:
a) N=M+2
b) N=M-2
c) N=M+1
d) N=M-1
View Answer
Answer: b
Explanation: Zeroes at infinity implies two poles at origin hence the type of the system is two and
degree of denominator is M=N+2.
9. When deriving the transfer function of a linear element
a) Both initial conditions and loading are taken into account
b) Initial conditions are taken into account but the element is assumed to be not loaded
c) Initial conditions are assumed to be zero but loading is taken into account
d) Initial conditions are assumed to be zero and the element is assumed to be not loaded
View Answer
Answer: c
Explanation: When deriving the transfer function of a linear element only initial conditions are
assumed to be zero, loading cannot be assumed to be zero.
10. If the initial conditions for a system are inherently zero, what does it physically mean?
a) The system is at rest but stores energy
b) The system is working but does not store energy
c) The system is at rest or no energy is stored in any of its part
d) The system is working with zero reference input
View Answer
Answer: c
Explanation: A system with zero initial condition is said to be at rest since there is no stored energy.

Control Systems Questions and Answers – Block diagram Algebra

1. Consider the block diagram shown below:

If the transfer function of the system is given by T(s)=G1G2+G2G3/1+X. Then X is:

a) G2G3G4
b) G2G4
c) G1G2G4
d) G3G4
View Answer
Answer: b
Explanation: Use the technique of making two different block diagram by dividing two summers and
use the approaches of shifting take off point and blocks.
2. For the block diagram given in the following figure, the expression of C/R is:

a) G1G2G3/1-G2G1
b) G1G2/1-G1G2G3
c) G1G2G3/1-G1G2G3
d) G1G2/G3(1-G1G2)
View Answer
Answer: a
Explanation: Block diagram is being converted into signal flow graphs by considering each take off
point as a node and each forward transfer function as forward gain.
3. The transfer function from D(s) to Y(s) is :

a) 2/3s+7
b) 2/3s+1
c) 6/3s+7
d) 2/3s+6
View Answer
Answer: a
Explanation: Y(s)/D(s)=2/3s+1/1+3*(2/3s+1)=2/3s+7.
4. The closed loop gain of the system shown in the given figure is :

a) -9/5
b) -6/5
c) 6/5
d) 9/5
View Answer
Answer: b
Explanation: C(s)/R(s)=-3/1+3/2=-6/5.
5. The advantage of block diagram representation is that it is possible to evaluate the contribution of
each component to the overall performance of the system.
a) True
b) False
View Answer
Answer: a
Explanation: The advantage of the block diagram is that it is possible to get the contribution of each
block to the overall performance of the system.
6. The overall transfer function from block diagram reduction for cascaded blocks is :
a) Sum of individual gain
b) Product of individual gain
c) Difference of individual gain
d) Division of individual gain
View Answer
Answer: b
Explanation: Gain of block get multiplied when they are cascaded where cascaded means that the
blocks are in series combination with no summer in between.
7. The overall transfer function of two blocks in parallel are :
a) Sum of individual gain
b) Product of individual gain
c) Difference of individual gain
d) Division of individual gain
View Answer
Answer: a
Explanation: The gains get added as the blocks are connected in parallel with the summer in
between and they are connected with the same sign.
8. Transfer function of the system is defined as the ratio of Laplace output to Laplace input
considering initial conditions________
a) 1
b) 2
c) 0
d) infinite
View Answer
Answer: c
Explanation: By definition transfer function is the ratio of the laplace output to the input but the initial
conditions mainly the stored energy is zero.
9. In the following block diagram, G1=10/s G2=10/s+1 H1=s+3, H2=1. The overall transfer function
is given by :

a) 10/11s2+31s+10
b) 100/11s2+31s+100
c) 100/11s2+31s+10
d) 100/11s2+31s
View Answer
Answer: b
Explanation: C/R=G2G1/1+G2H2+G1G2H2
C/R=100/11s2+31s+100.
10. Oscillations in output response is due to :
a) Positive feedback
b) Negative feedback
c) No feedback
d) None of the mentioned
View Answer
Answer: a
Explanation: Oscillations are the unwanted sinuoidal signals with high gain in positive feedback and
s the damping factor is absent in the positive feedback system entirely oscillations are present.

Control Systems Questions and Answers – Signal Flow Graphs

1. A signal flow graph is the graphical representation of the relationships between the variables of
set linear algebraic equations.
a) True
b) False
View Answer
Answer: a
Explanation: By definition signal flow graphs are the graphical representation of the relationships
between the variables of set linear algebraic equations.
2. A node having only outgoing branches.
a) Input node
b) Output node
c) Incoming node
d) Outgoing node
View Answer
Answer: a
Explanation: Nodes are the point by which the branches are outgoing or ingoing and this can be
input or output node and input node is the node having only outgoing branches.
3. Use mason’s gain formula to find the transfer function of the given signal flow graph:

a) abd/1-(ac)
b) abdeg/1-(bc+ef)+bcef
c) abd/1-(bc+ef)+bcef
d) adcdef/1-(bc+ef)+bcef
View Answer
Answer: b
Explanation: Using mason’s gain formula transfer function from signal flow graph can be calculated
which relates the forward path gain to the various paths and loops.
4. Use mason’s gain formula to find the transfer function of the following signal flow graph:

a) abcd+efg/1-cd-fg-cdfg
b) acdfg+bcefg/1-cd-fg-cdfg
c) abef+bcd/1-cd-fg-cdfg
d) adcdefg/1-cd-fg-cdfg
View Answer
Answer: b
Explanation: Using mason’s gain formula transfer function from signal flow graph can be calculated
which relates the forward path gain to the various paths and loops.
5. Loop which do not possess any common node are said to be ___________ loops.
a) Forward gain
b) Touching loops
c) Non touching loops
d) Feedback gain
View Answer
Answer: c
Explanation: Loop is the part of the network in which the branch starts from the node and comes
back to the same node and non touching loop must not have any node in common.
6. Signal flow graphs:
a) They apply to linear systems
b) The equation obtained may or may not be in the form of cause or effect
c) Arrows are not important in the graph
d) They cannot be converted back to block diagram
View Answer
Answer: a
Explanation: Signal flow graphs are used to find the transfer function of control system by converting
the block diagrams into signal flow graphs or directly but cannot be used for nonlinear systems.
7. Signal flow graphs are reliable to find transfer function than block diagram reduction technique.
a) True
b) False
View Answer
Answer: a
Explanation: As one set technique and formula is used here but in block diagram technique various
methods are involved which increases complexity.
8. The relationship between an input and output variable of a signal flow graph is given by the net
gain between the input and output node is known as the overall______________
a) Overall gain of the system
b) Stability
c) Bandwidth
d) Speed
View Answer
Answer: a
Explanation: The relationship between input and output variable of a signal flow graph is the overall
gain of the system.
9. Use mason’s gain formula to calculate the transfer function of given figure:

a) G1/1+G2H
b) G1+G2/1+G1H
c) G2/1+G1H
d) None of the mentioned
View Answer
Answer: b
Explanation: Use mason’s gain formula to solve the signal flow graph and by using mason’s gain
formula transfer function from signal flow graph can be calculated which relates the forward path
gain to the various paths and loops.
10. Use mason’s gain formula to find the transfer function of the given figure:

a) G1+G2
b) G1+G1/1-G1H+G2H
c) G1+G2/1+G1H+G2H
d) G1-G2
View Answer
Answer: c
Explanation: Using mason’s gain formula transfer function from signal flow graph can be calculated
which relates the forward path gain to the various paths and loops.