GATE Electronics and Communication Topicwise Solved Paper by RK Kanodia & Ashish Murolia Page 128

UNIT 6 The state diagram of a system is shown below. A system is

o = AX + Bu ;
described by the state-variable equations X
y = CX + Du
CONTROL SYSTEMS

2013 ONE MARK 6.4 The state-variable equations of the system shown in the figure above
are
6.1 The Bode plot of a transfer function G ^s h is shown in the figure
below. o = >- 1 0 H X + >- 1H u
X Xo = >- 1 0 H X + >- 1H u
(A) 1 -1 1 (B) -1 -1 1
y = 61 - 1@ X + u y = 6- 1 - 1@ X + u
o = >- 1 0 H X + >- 1H u
X Xo = >- 1 - 1H X + >- 1H u
(C) -1 -1 1 (D) 0 -1 1
y = 6- 1 - 1@ X - u y = 61 - 1@ X - u
6.5 The state transition matrix eAt of the system shown in the figure
above is
e-t 0 e-t 0
(A) > -t -tH (B) > H
te e - te e-t
-t

e-t 0 e-t - te-t

(C) > -t -tH (D) > H
e e 0 e-t

The gain _20 log G ^s h i is 32 dB and - 8 dB at 1 rad/s and

A
2012 ONE MARK
is negative for all w. Then G ^s h is

I
10 rad/s respectively. The phase
(A) 39.8 (B) 392.8 A system with transfer function G (s) =
(s2 + 9) (s + 2)

D
6.6
s s (s + 1) (s + 3) (s + 4)
(C) 32 (D) 322 is excited by sin (wt). The steady-state output of the system is zero

O
s s at
.in w = 1 rad/s
o(A) (B) w = 2 rad/s

N
a . c
i
2013 TWO MARKS
.n od (C) w = 3 rad/s (D) w = 4 rad/s
6.2 The open-loop transfer function of a dc motor is givenww as
w ^s h w
= 10 . When connected in feedback as shown below, the 2012 TWO MARKS
Va ^s h 1 + 10s
approximate value of Ka that will reduce the time constant of the
6.7 The feedback system shown below oscillates at 2 rad/s when
closed loop system by one hundred times as compared to that of the
open-loop system is

(A) K = 2 and a = 0.75 (B) K = 3 and a = 0.75

(C) K = 4 and a = 0.5 (D) K = 2 and a = 0.5
(A) 1 (B) 5
(C) 10 (D) 100 6.8 The state variable description of an LTI system is given by
Jxo1N J 0 a1 0NJx1N J0N
6.3 The signal flow graph for a system is given below. The transfer K O K OK O K O
Y ^s h Kxo2O = K 0 0 a2OKx2O + K0O u
function for this system is Kxo O Ka 0 0OKx 3O K 1O
U ^s h 3
L P L
3
PL P L P
Jx1N
K O
y = _1 0 0iKx2O
Kx 3O
L P
where y is the output and u is the input. The system is control-
lable for
(A) a1 ! 0, a2 = 0, a 3 ! 0 (B) a1 = 0, a2 ! 0, a 3 ! 0
(A) s+1 (B) s+1 (C) a1 = 0, a 3 ! 0, a 3 = 0 (D) a1 ! 0, a2 ! 0, a 3 = 0
5s2 + 6s + 2 s2 + 6s + 2
(C) 2 s + 1 (D) 2 1
s + 4s + 2 5s + 6s + 2 2011 ONE MARK

6.9 The root locus plot for a system is given below. The open loop
Statement for Linked Answer Questions 4 and 5: transfer function corresponding to this plot is given by
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The input-output transfer function of a plant H (s) = 100 .

s (s + 10) 2
The plant is placed in a unity negative feedback configuration as
shown in the figure below.

s (s + 1) 6.12 The gain margin of the system under closed loop unity negative
(A) G ^s h H ^s h = k feedback is
(s + 2) (s + 3)
(s + 1) (A) 0 dB (B) 20 dB
(B) G ^s h H ^s h = k
s (s + 2) (s + 3) 2 (C) 26 dB (D) 46 dB
(C) G ^s h H ^s h = k 1
s (s - 1) (s + 2) (s + 3) 6.13 The signal flow graph that DOES NOT model the plant transfer
function H (s) is
(s + 1)
(D) G ^s h H ^s h = k
s (s + 2) (s + 3)
6.10 For the transfer function G (jw) = 5 + jw , the corresponding Nyquist
plot for positive frequency has the form

I A
O D 2010
co.
in
ONE MARK

N
6.14
ia . The transfer function Y (s) /R (s) of the system shown is
. nod
w ww

2011 TWO MARKS

6.11 The block diagram of a system with one input u and two outputs y1 (A) 0 (B) 1
s+1
and y2 is given below.
(C) 2 (D) 2
s+1 s+3
Y (s)
6.15 A system with transfer function = s has an output
X (s ) s+p
p
y (t) = cos a2t - k
3
for the input signal x (t) = p cos a2t - p k. Then, the system param-
2
eter p is
(A) 3 (B) 2/ 3
A state space model of the above system in terms of the state vec- (C) 1 (D) 3 /2
tor x and the output vector y = [y1 y2]T is 6.16 For the asymptotic Bode magnitude plot shown below, the system
(A) xo = [2] x + [1] u ; y = [1 2] x transfer function can be
1
(B) xo = [- 2] x + [1] u; y = > H x
2
-2 0 1
(C) xo = > H x + > H u ; y = 81 2B x
0 -2 1
2 0 1 1
(D) xo = > H x + > H u ; y = > H x
0 2 1 2

Common Data For Q. 7.4 & 7.5

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(A) 10s + 1 (B) 100s + 1 (C) The system is uncontrollable for all values of p and q
0.1s + 1 0.1s + 1
(D) We cannot conclude about controllability from the given data
(C) 100s (D) 0.1s + 1
10s + 1 10s + 1
2009 TWO MARKS

2010 TWO MARKS 6.22 The feedback configuration and the pole-zero locations of
2
6.17 A unity negative feedback closed loop system has a plant with the G (s) = s2 - 2s + 2
s + 2s + 2
transfer function G (s) = 2 1 and a controller Gc (s) in the are shown below. The root locus for negative values of k , i.e. for
s + 2s + 2
feed forward path. For a unit set input, the transfer function of the - 3 < k < 0 , has breakaway/break-in points and angle of depar-
controller that gives minimum steady state error is ture at pole P (with respect to the positive real axis) equal to
(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 + 2) (s + 3) s

Common Data For Q. 7.10 & 7.11 :

The signal flow graph of a system is shown below:
(A) ! 2 and 0c (B) ! 2 and 45c
(C) ! 3 and 0c (D) ! 3 and 45c

6.23 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 ?
6.18 The state variable representation of the system can be (A) 2 - 2.24 (B) 2 - 3.82
s + 2.59s + 1.12 s + 1.91s + 1.91

A
1 1 0 -1 1 0
o= > H > H xo = > H x +> Hu (C) 2 - 2.24 - 382

I
(A) x x + u (B) -1 0 (D) 2
-1 0 2 2 s - 2.59s + 1.12 s - 1.91s + 1.91
yo = 80 0.5B x

D
yo = [0 0.5] x
1 1 0 -1 1 0 Common Data For Q. 7.16 and 7.17 :

O
xo = > H x +> Hu xo = > H x +> Hu
(C) -1 0 2 (D) -1 0 2
.in Nyquist plot of a stable transfer function G (s) is shown in the
The
ofigure

N
yo = 80.5 0.5B x yo = 80.5 0.5B x . c
d ia are interested in the stability of the closed loop system in
The transfer function of the system is no the feedback configuration shown.
w.
6.19

(A) s2+ 1 (B) s-1

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

2009 ONE MARK

6.20 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 ? 6.24 Which of the following statements is true ?
(A) G (s) is an all-pass filter
(B) G (s) has a zero in the right-half plane
(C) G (s) is the impedance of a passive network
(D) G (s) is marginally stable

6.25 The gain and phase margins of G (s) for closed loop stability are
(A) 6 dB and 180c
(A) Lead compensator (B) Lag compensator (B) 3 dB and 180c
(C) PID compensator (D) Lead-lag compensator (C) 6 dB and 90c
6.21 Consider the system (D) 3 dB and 90c

dx = Ax + Bu with A = =1 0G and B = = p G
dt 0 1 q 2008 ONE MARKS
where p and q are arbitrary real numbers. Which of the following
6.26 Step responses of a set of three second-order underdamped systems
statements about the controllability of the system is true ? all have the same percentage overshoot. Which of the following
(A) The system is completely state controllable for any nonzero diagrams represents the poles of the three systems ?
values of p and q
(B) Only p = 0 and q = 0 result in controllability

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Jx1N R b - g 0 VJx1N R0 0 V
K O S WK O S W u1
(A) d K x2O = S g a 0 WK x2O+ S0 1 We o
dt K O S u2
x3 S- a b 0 WWK x3O SS1 0 WW
L P L P
Jx1N RT0 a g XVJx1N TR1 0 XV
K O S WK O S W u1
(B) d K x2O = S0 - a - g WK x2O+ S0 1 We o
dt K O S u2
x3 S0 b - b WWK x3O SS0 0 WW
L P TR L P
Jx1N - a b 0 VXJx1N RT1 0 VX
S W K O S W u1
(C) d K x2O = S- b - g 0 WK x2O+ S0 1 We o
K O
dt K O S u2
x3 S a g 0 WWK x3O SS0 0 WW
L P TR L P
Jx1N - a 0 b XVJx1N TR1 0XV
K O S WK O S W u1
(D) d K x2O = S g 0 a WK x2O+ S0 1 We o
dt K O S u2
x3 S- b 0 - a WWK x3O SS0 0 WW
L P T XL P function
T X
6.30 A certain system has transfer
6.27 The pole-zero given below correspond to a G (s) = 2 s + 8
s + as - 4
where a is a parameter. Consider the standard negative unity
feedback configuration as shown below

(A) Law pass filter (B) High pass filter Which of the following statements is true?
(C) Band filter (D) Notch filter (A) The closed loop systems is never stable for any value of a
(B) For some positive value of a, the closed loop system is stable,

A
but not for all positive values.

I
2008 TWO MARKS
(C) For all positive values of a, the closed loop system is stable.
Group I lists a set of four transfer functions. Group II gives a list

D
6.28
(D) The closed loop system stable for all values of a, both positive
of possible step response y (t). Match the step responses with the and negative.

O
corresponding transfer functions.
6.31
.innumber of open right half plane of
The
co

N
d ia. G (s) = 5 10 is
no s + 2s + 3s + 6s2 + 5s + 3
4 3
w.
ww (A) 0 (B) 1
(C) 2 (D) 3

6.32 The magnitude of frequency responses of an underdamped second

order system is 5 at 0 rad/sec and peaks to 10 at 5 2 rad/sec.
The transfer function of the system is 3
(A) 2 500 (B) 2 375
s + 10s + 100 s + 5s + 75
(C) 2 720 (D) 2 1125
s + 12s + 144 s + 25s + 225
6.33 Group I gives two possible choices for the impedance Z in the diagram.
The circuit elements in Z satisfy the conditions R2 C2 > R1 C1. The
transfer functions V0 represents a kind of controller.
Vi

(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

6.29 A signal flow graph of a system is given below Match the impedances in Group I with the type of controllers in
Group II

The set of equalities that corresponds to this signal flow graph is

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(A) Q - 1, R - 2 (B) Q - 1, R - 3 6.40 The state space representation of a separately excited DC servo
(C) Q - 2, R - 3 (D) Q - 3, R - 2 motor dynamics is given as
dw
> di H = =- 1 - 10G=ia G + =10Gu
dt -1 1 w 0
o
dt
2007 ONE MARK
where w is the speed of the motor, ia is the armature current and
6.34 If the closed-loop transfer function of a control system is given as w (s)
T (s) s-5 , then It is u is the armature voltage. The transfer function of the motor
(s + 2)( s + 3) U (s)
is
(A) an unstable system (B) an uncontrollable system
(A) 10 (B) 1
(C) a minimum phase system (D) a non-minimum phase sys-
s2 + 11s + 11 s2 + 11s + 11
tem
(C) 2 10s + 10 (D) 2 1
s + 11s + 11 s + s + 11
2007 TWO MARKS

6.35 A control system with PD controller is shown in the figure. If the Statement for linked Answer Question 8.33 & 8.34 :
velocity error constant KV = 1000 and the damping ratio z = 0.5 , Consider a linear system whose state space representation is
then the value of KP and KD are 1
x (t) = Ax (t). If the initial state vector of the system is x (0) = = G,
-2
e-2x
then the system response is x (t) = > H. If the itial state vector
- 2e-2t
1
of the system changes to x (0) = = G, then the system response
-2
(A) KP = 100, KD = 0.09 (B) KP = 100, KD = 0.9 e-t
becomes x (t) = > -tH
(C) KP = 10, KD = 0.09 (D) KP = 10, KD = 0.9 -e

6.36 The transfer function of a plant is 6.41 The eigenvalue and eigenvector pairs (li vi) for the system are

A
5 1 1 1 1
T (s) = (A) e- 1 = Go and e- 2 = Go (B) e- 1, = Go and e2, = Go

I
(s + 5)( s2 + s + 1) -1 -2 -1 -2
The second-order approximation of T (s) using dominant pole con- 1 1 1 1
(C) e- 1, = Go and e- 2, = Go (D) e- 2 = Go and e1, = Go

D
cept is
-1 -2 -1 -2
1 5

O
(A) (B)
(s + 5)( s + 1) (s + 5)( s + 1) 6.42 The system matrix A is
.in 0 1 1 1
(C) 2 5 (D) 2 1 o(A) =- 1 1G (B) =
- 1 - 2G

N
a . c
s +s+1 s +s+1 d i
o
The open-loop transfer function of a plant is given as G (s) = s 1-w ..n 2 1 0 1
(C) = G (D) =
- 2 - 3G
6.37
w 1 2

w the
If the plant is operated in a unity feedback configuration, then -1 -1
lead compensator that an stabilize this control system is
10 (s - 1) 10 (s + 4) 2006 ONE MARK
(A) (B)
s+2 s+2
10 (s + 2) 2 (s + 2) 6.43 The open-loop function of a unity-gain feedback control system is
(C) (D) given by
s + 10 s + 10
G (s) = K
6.38 A unity feedback control system has an open-loop transfer function (s + 1)( s + 2)
G (s) = K The gain margin of the system in dB is given by
s (s2 + 7s + 12) (A) 0 (B) 1
The gain K for which s = 1 + j1 will lie on the root locus of this (C) 20 (D) 3
system is
(A) 4 (B) 5.5
2006 TWO MARKS
(C) 6.5 (D) 10

The asymptotic Bode plot of a transfer function is as shown in the

6.44 Consider two transfer functions G1 (s) = 2 1 and
6.39
s + as + b
figure. The transfer function G (s) corresponding to this Bode plot is G2 (s) = 2 s .
s + as + b
The 3-dB bandwidths of their frequency responses are, respectively
(A) a2 - 4b , a2 + 4b (B) a2 + 4b , a2 - 4b
(C) a2 - 4b , a2 - 4b (D) a 2 + 4b , a 2 + 4b

6.45 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
(A) 1 (B) 1 (C) less than zero (D) zero
(s + 1)( s + 20) s (s + 1)( s + 20)
100 100 6.46 The positive values of K and a so that the system shown in the
(C) (D)
s (s + 1)( s + 20) s (s + 1)( 1 + 0.05s) figures below oscillates at a frequency of 2 rad/sec respectively are
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(A) 1, 0.75 (B) 2, 0.75

(C) 1, 1 (D) 2, 2

6.47 The transfer function of a phase lead compensator is given by

Gc (s) = 1 + 3Ts where T > 0 The maximum phase shift provide by
1 + Ts
such a compensator is
(A) p (B) p
2 3
Despite the presence of negative feedback, control systems still have
(C) p (D) p
6.53

4 6 problems of instability because the

(A) Components used have non- linearities
6.48 A linear system is described by the following state equation (B) Dynamic equations of the subsystem are not known exactly.
0 1
Xo (t) = AX (t) + BU (t), A = =
- 1 0G
(C) Mathematical analysis involves approximations.
(D) System has large negative phase angle at high frequencies.
The state transition matrix of the system is
cos t sin t - cos t sin t
(A) = G (B) =
- sin t - cos t G
2005 TWO MARKS
- sin t cos t
- cos t - sin t cos t - sin t The polar diagram of a conditionally stable system for open loop
(C) = G (D) =
cos t sin t G
6.54

- sin t cos t 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
Statement for Linked Answer Questions 7.41 & 7.42 :

A
Consider a unity - gain feedback control system whose open - loop

I
transfer function is : G (s) = as + 1

D
s2
6.49 The value of a so that the system has a phase - margin equal to p

O
4
is approximately equal to
(A) 2.40 (B) 1.40 co.in

N
d ia.
(C) 0.84 (D) 0.74
no
w w.
6.50 With the value of a set for a phase - margin of p , the value ofwunit
4
- impulse response of the open - loop system at t = 1 second is equal
to
(A) K < 5 and 1 < K < 1 (B) K < 1 and 1 < K < 5
(A) 3.40 (B) 2.40 2 8 8 2
(C) 1.84 (D) 1.74 (C) K < 1 and 5 < K (D) K > 1 and 5 > K
8 8
6.55 In the derivation of expression for peak percent overshoot
2005 ONE MARK - px
Mp = exp e o # 100%
6.51 A linear system is equivalently represented by two sets of state 1 - x2
equations : Which one of the following conditions is NOT required ?
Xo = AX + BU and Wo = CW + DU (A) System is linear and time invariant
The eigenvalues of the representations are also computed as [l] (B) The system transfer function has a pair of complex conjugate
poles and no zeroes.
and [m]. Which one of the following statements is true ?
(A) [l] = [m] and X = W (B) [l] = [m] and X ! W (C) There is no transportation delay in the system.
(C) [l] ! [m] and X = W (D) [l] = [m] and X ! W (D) The system has zero initial conditions.

6.52 Which one of the following polar diagrams corresponds to a lag 6.56 A ramp input applied to an unity feedback system results in 5%
network ? steady state error. The type number and zero frequency gain of the
system are respectively
(A) 1 and 20 (B) 0 and 20
(C) 0 and 1 (D) 1 and 1
20 20
2
6.57 A double integrator plant G (s) = K/s , H (s) = 1 is to be compensated
to achieve the damping ratio z = 0.5 and an undamped natural
frequency, wn = 5 rad/sec which one of the following compensator
Ge (s) will be suitable ?
(A) s + 3 (B) s + 99
s + 99 s+3

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(C) s-6 (D) s - 6 excited with 10u (t). The time at which the output reaches 99% of
s + 8.33 s its steady state value is
K (1 - s) (A) 2.7 sec (B) 2.5 sec
6.58 An unity feedback system is given as G (s) = .
s (s + 3)
Indicate the correct root locus diagram. (C) 2.3 sec (D) 2.1 sec

6.65 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
(A) - 90c (B) 0c
(C) 90c (D) - 180c

6.66 Consider the signal flow graph shown in Fig. The gain x5 is
x1

1 - (be + cf + dg) bedg

(A) (B)
abcd 1 - (be + cf + dg)
Statement for Linked Answer Question 40 and 41 :
abcd 1 - (be + cf + dg) + bedg
The open loop transfer function of a unity feedback system is given (C) (D)
1 - (be + cf + dg) + bedg abcd
by -2 2
If A = =
1 - 3G
-2s 6.67 , then sin At is
G (s) = 3e
s (s + 2)
sin (- 4t) + 2 sin (- t) - 2 sin (- 4t) + 2 sin (- t)
The gain and phase crossover frequencies in rad/sec are, respectively (A) 1 = G
6.59

(A) 0.632 and 1.26 (B) 0.632 and 0.485 3 - sin (- 4t) + sin (- t) 2 sin (- 4t) + sin (- t)
sin (- 2t) sin (2t)
(B) =
sin (t) sin (- 3t)G
(C) 0.485 and 0.632 (D) 1.26 and 0.632

I A
6.60 Based on the above results, the gain and phase margins of the sin (4t) + 2 sin (t) 2 sin (- 4t) - 2 sin (- t)
(C) 1 =
system will be 2 sin (4t) + sin (t) G

D
3 - sin (- 4t) + sin (t)
(A) -7.09 dB and 87.5c (B) 7.09 dB and 87.5c cos (- t) + 2 cos (t) 2 cos (- 4t) + 2 cos (- t)
(D) 1 = G

O
(C) 7.09 dB and - 87.5c (D) - 7.09 and - 87.5c 3 - cos (- 4t) + cos (- t) - 2 cos (- 4t) + cos (t)
.in open-loop transfer function of a unity feedback system is
oThe

N
. c
ia
6.68

d
2004 ONE MARK no G (s) = K
w. s (s2 + s + 2)( s + 3)
6.61 ww
The gain margin for the system with open-loop transfer function
The range of K for which the system is stable is
2 (1 + s)
G (s) H (s) = , is (A) 21 > K > 0 (B) 13 > K > 0
s2 4
(A) 3 (B) 0
(C) 21 < K < 3 (D) - 6 < K < 3
(C) 1 (D) - 3 4
6.69 For the polynomial P (s) = s2 + s 4 + 2s3 + 2s2 + 3s + 15 the number
Given G (s) H (s) = K .The point of intersection of the
6.62 of roots which lie in the right half of the s -plane is
s (s + 1)( s + 3)
asymptotes of the root loci with the real axis is (A) 4 (B) 2
(A) - 4 (B) 1.33 (C) 3 (D) 1
(C) - 1.33 (D) 4
6.70 The state variable equations of a system are : xo1 =- 3x1 - x2 = u, xo2 = 2x1
and y = x1 + u . The system is
2004 TWO MARKS (A) controllable but not observable
6.63 Consider the Bode magnitude plot shown in the fig. The transfer (B) observable but not controllable
function H (s) is (C) neither controllable nor observable
(D) controllable and observable
1 0
Given A = =
0 1G
6.71 , the state transition matrix eAt is given by

0 e-t et 0
(A) > -t H (B) = G
e 0 0 et
e-t 0 0 et
(s + 10) 10 (s + 1) (C) > H (D) = t G
(A) (B) 0 e-t e 0
(s + 1)( s + 100) (s + 10)( s + 100)
102 (s + 1) 103 (s + 100) 2003 ONE MARK
(C) (D)
(s + 10)( s + 100) (s + 1)( s + 10)
6.64 A causal system having the transfer function H (s) = 1/ (s + 2) is
6.72 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
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closed-loop system is

(A) always stable

(B) unstable with one closed-loop right hand pole
(C) unstable with two closed-loop right hand poles
(D) unstable with three closed-loop right hand poles

6.73 A PD controller is used to compensate a system. Compared to the

uncompensated system, the compensated system has
(A) a higher type number (B) reduced damping
(C) higher noise amplification (D) larger transient overshoot

6.78 The gain margin and the phase margin of feedback system with
2003 TWO MARKS 8
G (s) H (s) = are
6.74 The signal flow graph of a system is shown in Fig. below. The (s + 100) 3
(A) dB, 0c (B) 3, 3
transfer function C (s)/ R (s) of the system is
(C) 3, 0c (D) 88.5 dB, 3

6.79 The zero-input response of a system given by the state-space equation

xo1 1 0 x1 x1 (0) 1
=xo G = =1 1G=x G and =x (0)G = = 0 G is
2 2 2

A
tet et
(A) = G (B) = G

I
(A) 6 (B) 6s
2
s + 29s + 6 2
s + 29s + 6 t t

D
et t
(C)
s (s + 2)
(D)
s (s + 27) (C) = t G (D) = t G
te te

O
2 2
s + 29s + 6 s + 29s + 6
The root locus of system G (s) H (s) = K o .in

N
has the break- c
6.75
s (s + 2)( s + 3) ia . 2002 ONE MARK
away point located at o d
(A) (- 0.5, 0) (B) (- 2.548, 0) w .n6.80 Consider a system with transfer function G (s) = 2s + 6 . Its
(C) (- 4, 0) (D) (- 0.784, 0) ww damping ratio will be 0.5 when the value of k is ks + s + 6
(A) 2 (B) 3
6.76 The approximate Bode magnitude plot of a minimum phase system 6
is shown in Fig. below. The transfer function of the system is (C) 1 (D) 6
6
6.81 Which of the following points is NOT on the root locus of a system
with the open-loop transfer function G (s) H (s) = k
s (s + 1)( s + 3)
(A) s =- j 3 (B) s =- 1.5
(C) s =- 3 (D) s =- 3

6.82 The phase margin of a system with the open - loop transfer function
(1 - s)
G (s) H (s) =
(s + 0.1) 3 (s + 0.1) 3 (1 + s)( 2 + s)
(A) 108 (B) 10 7
(s + 10) 2 (s + 100) (s + 10)( s + 100) (A) 0c (B) 63.4c
2
(s + 0.1) (s + 0.1) 3 (C) 90c (D) 3
(C) (D)
(s + 10) 2 (s + 100) (s + 10)( s + 100) 2
6.83 The transfer function Y (s)/ U (s) of system described by the state
6.77 A second-order system has the transfer function
equation xo (t) =- 2x (t) + 2u (t) and y (t) = 0.5x (t) is
C (s)
= 2 4 (A) 0.5 (B) 1
R (s) s + 4s + 4 (s - 2) (s - 2)
With r (t) as the unit-step function, the response c (t) of the system (C) 0.5 (D) 1
(s + 2) (s + 2)
is represented by

2002 TWO MARKS

6.84 The system shown in the figure remains stable when

(A) k < - 1 (B) - 1 < k < 3
(C) 1 < k < 3 (D) k > 3

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6.85 The transfer function of a system is G (s) = 100 . For a

(s + 1)( s + 100)
unit - step input to the system the approximate settling time for 2%
criterion is

(A)100 sec (B) 4 sec

(C) 1 sec (D) 0.01 sec

6.86 The characteristic polynomial of a system is (A) only if 0 # k # 1 (B) only if 1 < k < 5
5 4 3 2
q (s) = 2s + s + 4s + 2s + 2s + 1 (C) only if k > 5 (D) if 0 # k < 1 or k > 5
The system is
(A) stable (B) marginally stable
2001 TWO MARK
(C) unstable (D) oscillatory
6.92 An electrical system and its signal-flow graph representations are
6.87 The system with the open loop transfer function shown the figure (A) and (B) respectively. The values of G2 and H
G (s) H (s) = 1 has a gain margin of , respectively are
2
(A) - 6 db s (s + s + 1) (B) 0 db
(C) 35 db (D) 6 db

2001 ONE MARK

6.88 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

A
in the right-half of s -plane, the number of roots of the system

I
characteristic equation in the right-half of s -plane is

D
(A) 0 (B) 1
Z3 (s) - Z3 (s)

O
(C) 2 (D) 3 (A) ,
o . in Z1 (s) + Z3 (s) + Z4 (s) Z1 (s) + Z3 (s)

N
The equivalent of the block diagram in the figure is given is c - Z (s) - Z (s)
ia. (B) Z2 (s) - Z3 (3s) + Z4 (s) , Z1 (s) +3 Z3 (s)
6.89

d
w .no Z3 (s) Z3 (s)
ww (C) ,
Z2 (s) + Z3 (s) + Z4 (s) Z1 (s) + Z3 (s)
- Z3 (s) Z3 (s)
(D) ,
Z2 (s) - Z3 (s) + Z4 (s) Z1 (s) + Z3 (s)
6.93 The open-loop DC gain of a unity negative feedback system with
closed-loop transfer function 2 s + 4 is
s + 7s + 13
(A) 4 (B) 4
13 9
(C) 4 (D) 13

6.94 The feedback control system in the figure is stable

6.90 If the characteristic equation of a closed - loop system is s2 + 2s + 2 = 0

, then the system is
(A) overdamped (B) critically damped
(C) underdamped (D) undamped (A) for all K $ 0 (B) only if K $ 0
6.91 The root-locus diagram for a closed-loop feedback system is shown (C) only if 0 # K < 1 (D) only if 0 # K # 1
in the figure. The system is overdamped.
2000 ONE MARK

6.95 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.

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2000 TWO MARKS Then, for a system with the open-loop transfer function
6.96 A system described by the transfer function H (s) = 3 1 G (s) H (s) = K 4
2
s + as + ks + 3 (s + 1)
is stable. The constraints on a and k are.
(A) s1 is on the root locus, but not s2
(A) a > 0, ak < 3 (B) a > 0, ak > 3
(B) s2 is on the root locus, but not s1
(C) a < 0, ak > 3 (D) a > 0, ak < 3
(C) both s1 and s2 are on the root locus
(D) neither s1 nor s2 is on the root locus
1999 ONE MARK
6.104 For the system described by the state equation
6.97 For a second order system with the closed-loop transfer function R 0 1 0V R0V
S W S W
T (s) = 2 9 xo = S 0 0 1W x + S0W u
s + 4s + 9 SS0.5 1 2WW SS1WW
the settling time for 2-percent band, in seconds, is
T X T X
(A) 1.5 (B) 2.0 If the control signal u is given by u = [- 0.5 - 3 - 5] x + v , then
(C) 3.0 (D) 4.0 the eigen values of the closed-loop system will be
(A) 0, - 1, - 2
6.98 The gain margin (in dB) of a system a having the loop transfer (B) 0, - 1, - 3
function (C) - 1, - 1, - 2
G (s) H (s) = 2 is (D) 0, - 1, - 1
s (s + 1)
(A) 0 (B) 3
(C) 6 (D) 3 1998 ONE MARK

6.99 The system modeled described by the state equations is 6.105 The number of roots of s3 + 5s2 + 7s + 3 = 0 in the left half of the s
0 1 0 -plane is
X => H x + > Hu (A) zero (B) one
2 -3 1

A
(C) two (D) three
Y = 81 1B x

I
(A) controllable and observable 6.106 The transfer function of a tachometer is of the form

D
(B) controllable, but not observable (A) Ks (B) K
s

O
(C) observable, but not controllable
(C). i n(s K (D) K
co + 1) s (s + 1)

N
(D) neither controllable nor observable
ia .
The phase margin (in degrees) of a system having the loop transferw.n
od
6.107 Consider a unity feedback control system with open-loop transfer
6.100
function G (s) = K .
function G (s) H (s) = 2 3 is ww s (s + 1)
s (s + 1) The steady state error of the system due to unit step input is
(A) 45c (A) zero
(B) - 30c (B) K
(C) 60c (C) 1/K
(D) 30c (D) infinite

6.108 The transfer function of a zero-order-hold system is

1999 TWO MARKS (A) (1/s) (1 + e-sT )
6.101 An amplifier is assumed to have a single-pole high-frequency transfer (B) (1/s) (1 - e-sT )
function. The rise time of its output response to a step function input (C) 1 - (1/s) e-sT
is 35 n sec . The upper 3 dB frequency (in MHz) for the amplifier to (D) 1 + (1/s) e-sT
as sinusoidal input is approximately at
(A) 4.55 6.109 In the Bode-plot of a unity feedback control system, the value of
(B) 10 phase of G (jw) at the gain cross over frequency is - 125c. The phase
margin of the system is
(C) 20
(A) - 125c
(D) 28.6
(B) - 55c
6.102 If the closed - loop transfer function T (s) of a unity negative feedback (C) 55c
system is given by (D) 125c
T (s) = n an - 1 s + an
n-1
s + a1 s + .... + an - 1 s + an 6.110 Consider a feedback control system with loop transfer function
then the steady state error for a unit ramp input is K (1 + 0.5s)
G (s) H (s) =
(A) an (B) an s (1 + s) (1 + 2s)
an - 1 an - 2 The type of the closed loop system is
(C) an - 2 (D) zero (A) zero
an - 2
(B) one
6.103 Consider the points s1 =- 3 + j4 and s2 =- 3 - j2 in the s-plane.
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(C) two
(D) three

6.111 The transfer function of a phase lead controller is 1 + 3Ts . The

1 + Ts
maximum value of phase provided by this controller is
(A) 90c
(B) 60c
(C) 45c
(D) 30c

6.112 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
(C) greater than zero
(D) infinity

6.113 The transfer function of a system is 2s2 + 6s + 5

(s + 1) 2 (s + 2)
The characteristic equation of the system is
(A) 2s2 + 6s + 5 = 0
(B) (s + 1) 2 (s + 2) = 0
(C) 2s2 + 6s + 5 + (s + 1) 2 (s + 2) = 0
(D) 2s2 + 6s + 5 - (s + 1) 2 (s + 2) = 0

A
In a synchro error detector, the output voltage is proportional to

I
6.114

[w (t)] n, where w (t) is the rotor velocity and n equals

D
(A) –2
(B) –1

O
(C) 1
co.in

N
(D) 2
dia.
no
w w.
1997 w
ONE MARK

6.115 In the signal flow graph of the figure is y/x equals

(A) 3
(B) 5
2
(C) 2
(D) None of the above

6.116 A certain linear time invariant system has the state and the output
equations given below
Xo1 1 - 1 X1 0
> o H = >0 1 H>X H + >1H u
X2 2

y = 81 1B: X1 D
X2
dy
If X1 (0) = 1, X2 (0) =- 1, u (0) = 0, then is
dt t=0
(A) 1
(B) –1
(C) 0
(D) None of the above

***********

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SOLUTIONS Pk2 = ^1 h^s-1h^1 h^1 h = s-1

since, all the loops are touching to the paths Pk1 and Pk2 so,
Dk 1 = Dk 2 = 1
Now, we have
D = 1 - (sum of individual loops)
6.1 Option (B) is correct. + (sum of product of nontouching
From the given plot, we obtain the slope as loops)
20 log G2 - 20 log G1 Here, the loops are
Slope =
log w2 - log w1
L1 = ^- 4h^1 h =- 4
From the figure
L2 = ^- 4h^s-1h = 4s-1
20 log G2 =- 8 dB
20 log G1 = 32 dB L 3 = ^- 2h^s-1h^s-1h =- 2s-2
and w1 = 1 rad/s L 4 = ^- 2h^s-1h^1 h =- 2s-1
w2 = 10 rad/s As all the loop L1, L2, L 3 and L 4 are touching to each other so,
So, the slope is D = 1 - ^L1 + L2 + L 3 + L 4h
Slope = - 8 - 32 = 1 - ^- 4 - 4s-1 - 2s-2 - 2s-1h
log 10 - log 1
=- 40 dB/decade = 5 + 6s1 + 2s2
Therefore, the transfer function can be given as From Mason’s gain formulae
G ^s h = k2 Y ^s h
S = SPk Dk
at w = 1 U ^s h D
G ^ jwh = k 2 = k = s-2 + s-1
w
5 + 6s-1 + 2s-2
In decibel,
20 log G ^ jwh = 20 log k = 32 = 2s+1

A
5s + 6s + 2

I
32

or, k = 10 = 39.8
20
6.4 Option (A) is correct.

D
Hence, the Transfer function is For the shown state diagram we can denote the states x1 , x2 as below
G ^s h = k2 = 392.8

O
s s
6.2 Option (C) is correct.
co.in

N
Given, open loop transfer function
dia.
G ^s h = 10Ka = Ka 1 no
1 + 10s s + 10 w.
By taking inverse Laplace transform, we have ww So, from the state diagram, we obtain
g ^ t h = e- t
1
10

xo1 =- x1 - u
Comparing with standard form of transfer function, Ae-t/t , we get
xo2 =- x2 + ^1 h^- 1h^1 h^- 1h u + ^- 1h^1 h^- 1h x1
the open loop time constant,
tol = 10 xo2 =- x2 + x1 + u
Now, we obtain the closed loop transfer function for the given and y
system as = ^- 1h^1 h x2 + ^- 1h^1 h^- 1h x1 + ^1 h^- 1h^1 h^- 1h^1 h u
G ^s h
H ^s h = = 10Ka = x1 - x 2 + u
1 + G ^s h 1 + 10s + 10Ka
Ka Hence, in matrix form we can write the state variable equations
=
s + ^Ka + 101 h xo1 - 1 0 x1 -1
> o H = > 1 - 1H >x H + > 1 H u
By taking inverse Laplace transform, we get x2 2

h ^ t h = ka .e-^k + ht
1
a 10
x1
So, the time constant of closed loop system is obtained as and y = 81 - 1B > H + u
x2
tcl = 1 1 which can be written in more general form as
ka + 10
-1 0 -1
tcl = 1 Xo = >
1 - 1H
or,
ka X +> H
1
(approximately)
y = 81 - 1B X + u
Now, given that ka reduces open loop time constant by a factor of
100. i.e., 6.5 Option (A) is correct.
From the obtained state-variable equations
tcl = tol
100 We have
1 = 10 -1 0
A =>
1 - 1H
or,
ka 100
Hence, ka = 10
S+1 0
SI - A = >
- 1 S + 1H
6.3 Option (A) is correct. So,
For the given SFG, we have two forward paths
Pk1 = ^1 h^s-1h^s-1h^1 h = s-2
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1 >S + 1 0 H
and ^SI - Ah-1 = R 0 a 0VR0V R 0V
^S + 1h2 1 S + 1 S 1 WS W S W
R 1 V AB = S 0 0 a2WS0W = Sa2W
S 0 W SSa 0 0WWSS1WW SS 0WW
3
S+1 RT 0
=S 1 1 W
W
S 0XT aX1 a2VWTRS0XVW RSa1 a2VW
S
S^S + 1h2 S + 1W A2 B = Sa2 a 3 0 0WS0W = S 0W
T X SS 0 a a 0WWSS1WW SS 0WW
3 1
Hence, the state transition matrix is obtained as T XT X T X
eAt = L-1 ^SI - Ah-1 For controllability it is necessary that following matrix has a tank
ZR 1 V_ of n = 3 .
]]S 0 Wbb R0 0 a a V
S+1
= L-1 [S 1 W
1 W` S 1 2W
S
]S^S + 1h2 S + 1Wb U = 6B : AB : A B@ = S0 a2
2
0W
\T SS1 0 0WW
Xa
e-1 0 So, a2 ! 0 T X
= > -t -tH
te e a1 a 2 ! 0 & a1 ! 0 a 3 may be zero or not.
6.6 Option (C) is correct.
6.9 Option (B) is correct.
(s2 + 9) (s + 2) For given plot root locus exists from - 3 to 3, So there must be odd
G (s) =
(s + 1) (s + 3) (s + 4)
number of poles and zeros. There is a double pole at s =- 3
(- w2 + 9) (jw + 2)
= Now poles = 0, - 2, - 3, - 3
(jw + 1) (jw + 3) (jw + 4)
The steady state output will be zero if zeros =- 1
k (s + 1)
G (jw) = 0 Thus transfer function G (s) H (s) =
s (s + 2) (s + 3) 2
-w 2 + 9 = 0 & w = 3 rad/s 6.10 Option (A) is correct.
6.7 Option (A) is correct. We have G (jw) = 5 + jw
K (s + 1) Here s = 5 . Thus G (jw) is a straight line parallel to jw axis.
Y (s) = [R (s) - Y (s)]
s3 + as2 + 2s + 1

A
6.11 Option (B) is correct.

I
K (s + 1) K (s + 1)
Y (s) ;1 + 3
s + as2 + 2s + 1E s3 + as2 + 2s + 1
= R (s) dy
Here x = y1 and xo = 1

D
dx
3 2
Y (s) [s + as + s (2 + k) + (1 + k)] = K (s + 1) R (s) y1 x 1
= > H = > H = > Hx

O
Y (s) y
Transfer Function, H (s) = y2 2x 2
R (s) .in
oNow

N
K (s + 1) . c y1 = 1 u
= 3
s + as2 + s (2 + k) + (1 + k) d ia s+2
Routh Table : w .no y1 (s + 2)
=u
ww yo1 + 2y1
=u
xo + 2x
=u
=- 2x + u
xo
= [- 2] x + [1] u
xo
Drawing SFG as shown below

a (2 + K) - (1 + K)
For oscillation, =0
a
a = K+1
K+2
Auxiliary equation A (s) = as2 + (k + 1) = 0
Thus xo1 = [- 2] x1 + [1] u
s2 =- k + 1 = - k + 1 (k + 2) =- (k + 2)
a (k + 1) y1 = x1 ; y2 = 2x1
s = j k+2
y1 1
jw = j k + 2 y = > H = > H x1
y2 2
w = k + 2 = 2 (Oscillation frequency)
Here x1 = x
k =2
6.12 Option (C) is correct.
and a = 2 + 1 = 3 = 0.75 100
2+2 4 We have G (s) H (s) =
s (s + 10) 2
6.8 Option (D) is correct. 100
General form of state equations are given as Now G (jw) H (jw) =
jw (jw + 10) 2
xo = Ax + Bu If wp is phase cross over frequency +G (jw) H (jw) = 180c
yo = Cx + Du wp
- 180c = 100 tan-1 0 - tan-1 3 - 2 tan-1 a
10 k
Thus
For the given problem
R 0 a 0V R0V
S 1 W S W or - 180c =- 90 - 2 tan-1 (0.1wp)
A = S 0 0 a2W, B = S0W or 45c = tan-1 (0.1wp)
SSa 0 0WW SS1WW
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or tan 45c 0.1wp = 1 or p = 2/ 3

or wp = 10 rad/se Alternative :
100
Now G (jw) H (jw) = qh = 9- p - a- p kC = p
w (w2 + 100) 3 2 6
At w = wp p = p - tan-1 w
So,
6 2 apk
G (jw) H (jw) = 100 = 1
10 (100 + 100) 20 tan-1 a w k = p - p = p
p 2 6 3
Gain Margin =- 20 log 10 G (jw) H (jw)
w = tan p = 3
=- 20 log 10 b 1 l p a3k
20
= 26 dB 2 = 3 , (w = 2 rad/ sec)
p
6.13 Option (D) is correct.
or p = 2/ 3
From option (D) TF = H (s)
100 100 6.16 Option (A) is correct.
= !
s (s2 + 100) s (s + 10) 2 Initial slope is zero, so K = 1
6.14 Option (B) is correct. At corner frequency w 1 = 0.5 rad/ sec , slope increases by + 20 dB/
From the given block diagram decade, so there is a zero in the transfer function at w 1
At corner frequency w 2 = 10 rad/ sec , slope decreases by - 20 dB/
decade and becomes zero, so there is a pole in transfer function at
w2
K a1 + s k
w1
Transfer function H (s) =
s
a1 + w 2 k

1 a1 + s k (1 + 10s)
0.1

A
H (s) = Y (s) - E (s) $ 1 = =

I
s+1 s (1 + 0.1s)
a1 +
0. 1 k
E (s) = R (s) - H (s) Option (D) is correct.

D
6.17

E (s) Steady state error is given as

= R (s) - Y (s) +

O
(s + 1) sR (s)
n eSS = lim
i
co.
1 1 + G (s) GC (s)
E (s) :1 -
s + 1D
s " 0

N
= R (s) - Y (s) .
di a R (s) = 1 (unit step unit)
sE (s) . n o s
= R (s) - Y (s) ...(1)w
(s + 1)
ww eSS = lim 1
s " 0 1 + G (s) GC (s)
E (s)
Y (s) = ...(2)
s+1 1
= lim
s"0 GC (s)
From (1) and (2) sY (s) = R (s) - Y (s) 1+ 2
s + 2s + 2
(s + 1) Y (s) = R (s)
eSS will be minimum if lim GC (s) is maximum
Transfer function s"0
In option (D)
Y (s)
= 1 lim GC (s) = lim 1 + 2 + 3s = 3
R (s) s + 1 s"0 s"0 s
Option (B) is correct.
eSS = lim 1 = 0 (minimum)
6.15
So,
Transfer function is given as s"0 3

Y (s)
H (s) = = s 6.18 Option (D) is correct.
X (s) s + p Assign output of each integrator by a state variable
jw
H (jw) =
jw + p
Amplitude Response
H (jw) = w
w2+ p 2
Phase Response qh (w) = 90c - tan-1 a w k
p xo1 =- x1 + x2
Input x (t) = p cos a2t - p k xo2 =- x1 + 2u
2
y = 0.5x1 + 0.5x2
Output y (t) = H (jw) x (t - qh) = cos a2t - p k State variable representation
3
-1 1 0
H (jw) = p = w xo = > H x + > Hu
w +p2
2 -1 0 2
1 = 2 , (w = 2 rad/ sec) yo = [0.5 0.5] x
p 4+p2 6.19 Option (C) is correct.
or 4p 2 = 4 + p 2 & 3p 2 = 4
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By masson’s gain formula

Transfer function - qd - qp1 + qz1 + qz2 = 180c

H (s) =
Y (s)
=
/ PK DK - qd = 180c - (- qp1 + qz1 + q2)
U (s) D = 180c - (90c + 180 - 45c) =- 45c
Forward path given
6.23 Option (B) is correct.
P1 (abcdef ) = 2 # 1 # 1 # 0.5 = 12 For under-damped second order response
s s s
kwn2
P2 (abcdef ) = 2 # 1 # 1 # 0.5 T (s) =
s + 2xwn s + wn2
2
where x < 1
3
Thus (A) or (B) may be correct
Loop gain L1 (cdc) =- 1
s For option (A) wn = 1.12 and 2xwn = 2.59 " x = 1.12
L2 (bcdb) = 1 # 1 # - 1 = -21 For option (B) wn = 1.91 and 2xwn = 1.51 " x = 0.69
s s s
6.24 Option (B) is correct.
D = 1 - [L1 + L2] = 1 - :- 1 - 12 D = 1 + 1 + 12
s s s s The plot has one encirclement of origin in clockwise direction. Thus
D1 = 1, D2 = 2 G (s) has a zero is in RHP.
Y (s) Option (C) is correct.
= P1 D 1 + P2 D 2
6.25
So, H (s) =
U (s) D The Nyzuist plot intersect the real axis ate - 0.5. Thus
1 :1+1:1 G. M. =- 20 log x =- 20 log 0.5 = 6.020 dB
2 s (1 + s)
=s = 2 And its phase margin is 90c.

A
1
1+ + 2 1 (s + s + 1)

I
s s Option (C) is correct.
6.26

Option (C) is correct. Transfer function for the given pole zero plot is:

D
6.20

This compensator is roughly equivalent to combining lead and lad (s + Z1)( s + Z2)

O
compensators in the same design and it is referred also as PID (s + P1)( s + P2)
compensator. .in the plot Re (P1 and P2 )>(Z1 and Z2 )
oFrom

N
. c
6.21 Option (C) is correct. o dia So, these are two lead compensator.
1 0 p w .n Hence both high pass filters and the system is high pass filter.
A ==
0 1G
Here and B = = G ww 6.27 Option (C) is correct.
q
1 0 p p Percent overshoot depends only on damping ratio, x .
AB = = G= G == G 2
0 1 q q Mp = e- xp 1 - x
p q If Mp is same then x is also same and we get
S = 8B AB B = =
q pG x = cos q
S = pq - pq = 0 Thus q = constant
Since S is singular, system is completely uncontrollable for all val- The option (C) only have same angle.
ues of p and q .
6.28 Option (D) is correct.
6.22 Option (B) is correct.
P = 2 25 2xwn = 0, x = 0 " Undamped Graph 3
The characteristic equation is s + 25
1 + G (s) H (s) = 0 62
Q= 2xwn = 20, x > 1 " Overdamped Graph 4
K (s2 - 2s + 2) s + 20s + 62
2
or 1+ =0
s2 + 2s + 2 62
or s2 + 2s + 2 + K (s2 - 2s + 2) = 0 R= 2xwn = 12, x = 1 " Critically Graph 1
s2 + 12s + 62
2
or K =- s2 + 2s + 2 72
s - 2s + 2 S= 2xwn = 7, x < 1 " underdamped Graph 2
s2 + 7s + 72
For break away & break in point differentiating above w.r.t. s we
have 6.29 Option (C) is correct.
2 2 We labeled the given SFG as below :
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
or s =! 2
Let qd be the angle of departure at pole P , then

From this SFG we have

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xo1 =- gx1 + bx3 + m1 Vo =- (sC2 R2 + 1) (sC1 R1 + 1) PID Controller

#
xo2 = gx1 + ax3 Vi sC2 R1
Z = R2
xo3 =- bx1 - ax3 + u2 For R,
R V R VR V R V (sC2 R2 + 1)
Sx1 W S- g 0 b WSx1 W S0 1 W u1 (sC1 R1 + 1)
Sx2 W = S g 0 a WSx2 W+ S0 0 We o
Vo =- R2
Thus #
SSx WW SS- b 0 - a WWSSx WW SS1 0 WW u2 Vi (sC2 R2 + 1) R1
3 3
T X T XT X T X Since R2 C2 > R1 C1, it is lag compensator.
6.30 Option (C) is correct.
6.34 Option (D) is correct.
The characteristic equation of closed lop transfer function is In a minimum phase system, all the poles as well as zeros are on the
1 + G (s) H (s) = 0 left half of the s -plane. In given system as there is right half zero
1+ 2 s+8 =0 (s = 5), the system is a non-minimum phase system.
s + as - 4
6.35 Option (B) is correct.
or s 2 + as - 4 + s + 8 = 0
We have Kv = lim sG (s) H (s)
or s2 + (a + 1) s + 4 = 0 s"0

This will be stable if (a + 1) > 0 " a > - 1. Thus system is stable (Kp + KD s) 100
or 1000 = lim s = Kp
for all positive value of a. s"0 s (s + 100)
Now characteristics equations is
6.31 Option (C) is correct.
1 + G (s) H (s) = 0
The characteristic equation is
(Kp + KD s) 100
1 + G (s) = 0 1000 = lims " 0 s = Kp
s (s + 100)
or s + 2s + 3s3 + 6s2 + 5s + 3 = 0
5 4
Now characteristics equation is
Substituting s = z1 we have 1 + G (s) H (s) = 0
3z5 + 5z 4 + 6z3 + 3z2 + 2z + 1 = 0 (100 + KD s) 100
or 1+ =0 Kp = 100
The routh table is shown below. As there are tow sign change in s (s + 10)

IA
first column, there are two RHS poles. or s2 + (10 + 100KD) s + 10 4 = 0
Comparing with s2 + 2xwn + wn2 = 0 we get

D
z5 3 6 2
2xwn = 10 + 100KD
z4 5 3 1

O
or KD = 0.9
.in (D) is correct.
3 21 7
z
co
Option
5 5

N
6.36

z2 4 3
d ia. 5
.no
3
We have T (s) =
z1 - 74 w (s + 5)( s2 + s + 1)
ww = 5 = 2 1
z0 1 5`1 + j (s + s + 1)
s 2
s +s+1
5
6.32 Option (C) is correct. In given transfer function denominator is (s + 5)[( s + 0.5) 2 + 43 ]
For underdamped second order system the transfer function is . We can see easily that pole at s =- 0.5 ! j 23 is dominant then
T (s) = Kwn2 pole at s =- 5 . Thus we have approximated it.
s2 + 2xwn s + wn2
6.37 Option (A) is correct.
It peaks at resonant frequency. Therefore
G (s) =1 = 1
Resonant frequency wr = wn 1 - 2x2 s -1 2 (s + 1)( s - 1)
and peak at this frequency The lead compensator C (s) should first stabilize the plant i.e.
mr = 5 1
remove term. From only options (A), C (s) can remove this
2x 1 - x2 (s - 1)
term
We have wr = 5 2 , and mr = 10 . Only options (A) satisfy these
3 1 10 (s - 1)
values. Thus G (s) C (s) = #
(s + 1)( s - 1) (s + 2)
wn = 10, x = 1 = 10 Only option (A)
2 (s + 1)( s + 2)
satisfies.
where wr = 10 1 - 2` 1 j = 5 2
4
Option (D) is correct.
mr = 1 5 1 = 10
6.38
and Hence satisfied
22 1- 4 3 For ufb system the characteristics equation is
6.33 Option (B) is correct. 1 + G (s) = 0
The given circuit is a inverting amplifier and transfer function is or 1+ K =0
2
Vo = - Z = - Z (sC1 R1 + 1) s (s + 7s + 12)
Vi R 1
R1 or s (s2 + 7s + 12) + K = 0
sC R + 1
1 1

Point s =- 1 + j lie on root locus if it satisfy above equation i.e

(sC2 R2 + 1)
For Q , Z = (- 1 + j)[( - 1 + j) 2 + 7 (- 1 + j) + 12) + K] = 0
sC2
or K =+ 10
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6.39 Option (D) is correct. Solving (1) and (2) set of equations we get
At every corner frequency there is change of -20 db/decade in slope p q 0 1
which indicate pole at every corner frequency. Thus =r s G = =- 2 - 3G

G (s) = K The characteristic equation

s (1 + s)`1 + s j
20 lI - A = 0
Bode plot is in (1 + sT) form
l -1
20 log K = 60 dB = 1000 2 l+3
=0
w w = 0. 1
Thus K =5 or l (l + 3) + 2 = 0
Hence G (s) = 100 or l =- 1, - 2
s (s + 1)( 1 + .05s) Thus Eigen values are - 1 and - 2
6.40 Option (A) is correct. Eigen vectors for l1 =- 1
dw
> H = =- 1 - 10G=in G + =10Gu
dt -1 1 w 0 (l1 I - A) X1 = 0
We have dia
dt
l1 - 1 x11
or dw =- w + i
n ...(1) or = 2 l + 3G=x G = 0
dt 1 21
- 1 - 1 x11
= 2 2 G=x G = 0
and dia =- w - 10i + 10u ...(2)
a
dt 21

Taking Laplace transform (i) we get or - x11 - x21 = 0

sw (s) =- w (s) = Ia (s) or x11 + x21 = 0
or (s + 1) w (s) = Ia (s) ...(3) We have only one independent equation x11 =- x21.
Taking Laplace transform (ii) we get Let x11 = K , then x21 =- K , the Eigen vector will be
x11 K 1
=x G = =- K G = K =- 1G
sIa (s) =- w (s) - 10Ia (s) + 10U (s)

A
or w (s) = (- 10 - s) Ia (s) + 10U (s) 21

I
= (- 10 - s)( s + 1) w (s) + 10U (s) From (3) Now Eigen vector for l2 =- 2
(l2 I - A) X2 = 0

D
or w (s) =- [s2 + 11s + 10] w (s) + 10U (s)
l2 - 1 x12
or (s2 + 11s + 11) w (s) = 10U (s) or = 2 l + 3G=x G = 0

O
2 22
w (s) n
= 2 10 i
coor.
or - 2 - 1 x11
= 2 1 G=x21G

N
U (s) (s + 11s + 11) . =0
di a
6.41 Option (A) is correct.
. no
We have xo (t) = Ax (t)
w ww or - x11 - x21 = 0
p q or x11 + x21 = 0
A ==
r sG
Let We have only one independent equation x11 =- x21.
1 Let x11 = K, then x21 =- K , the Eigen vector will be
For initial state vector x (0) = = G the system response is x12 K 1
-2
e-2t =x G = =- 2K G = K =- 2G
x (t) = > H 22
- 2e-2t
6.42 Option (D) is correct.
d
e-2t p q 1
==
> d (- 2e-2t)H r s G=- 2G
Thus dt As shown in previous solution the system matrix is
0 1
A ==
- 2 - 3G
dt
t=0

- 2e-2 (0) p q 1
or > 4e-2 (0) H = =r s G=- 2G 6.43 Option (D) is correct.
-2 p - 2q Given system is 2nd order and for 2nd order system G.M. is infinite.
= 4 G = = r - 2s G 6.44 Option (D) is correct.
We get p - 2q =- 2 and r - 2s = 4 ...(i) 6.45 Option (D) is correct.
1 If the Nyquist polt of G (jw) H (jw) for a closed loop system pass
For initial state vector x (0) = = G the system response is
-1 through (- 1, j0) point, the gain margin is 1 and in dB
e-t
x (t) = > -tH GM =- 20 log 1
-e
= 0 dB
e-t
d
p q 1
==
> d (- e-t)H r s G=- 1G
dt
Thus 6.46 Option (B) is correct.
dt
t=0 The characteristics equation is
- e- (0) p q 1 1 + G (s) H (s) = 0
> e- (0) H = =r s G=- 1G
K (s + 1)
-1 p-q 1+ =0
= 1G = = r - s G s + as2 + 2s + 1
3

We get p - q =- 1 and r - s = 1 ...(2) s3 + as2 + (2 + K) s + K + 1 = 0

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The Routh Table is shown below. For system to be oscillatory 6.50 Option (C) is correct.
stable For a = 0.84 we have
a (2 + K) - (K + 1) G (s) = 0.84s2 + 1
=0
a s
or a = K+1 ...(1) Due to ufb system H (s) = 1 and due to unit impulse response
K+2 R (s) = 1, thus
Then we have C (s) = G (s) R (s) = G (s)
as2 + K + 1 = 0
= 0.84s2 + 1 = 12 + 0.84
At 2 rad/sec we have s s s
s = jw " s2 =- w2 =- 4 , Taking inverse Laplace transform
Thus - 4a + K + 1 = 0 ...(2) c (t) = (t + 0.84) u (t)
Solving (i) and (ii) we get K = 2 and a = 0.75 . At t = 1, c (1 sec) = 1 + 0.84 = 1.84
6.51 Option (C) is correct.
s3 1 2+K
We have Xo = AX + BU where l is set of Eigen values
s2 a 1+K o
and W = CW + DU where m is set of Eigen values
(1 + K) a - (1 + K)
s1 a If a liner system is equivalently represented by two sets of state
s0 1+K equations, then for both sets, states will be same but their sets of
Eigne values will not be same i.e.
6.47 Option (D) is correct.
X = W but l ! m
The transfer function of given compensator is
Option (D) is correct.
Gc (s) = 1 + 3Ts
6.52
T>0
1 + Ts The transfer function of a lag network is
Comparing with
T (s) = 1 + sT b > 1; T > 0
Gc (s) = 1 + aTs we get a = 3 1 + sbT

IA
1 + Ts
T (jw) = 1 + w2 T2
The maximum phase sift is
1 + w2 b2 T2

D
fmax = tan-1 a - 1
2 a and +T (jw) = tan-1 (wT) - tan-1 (wbT)

O
-1 3 - 1
= tan = tan-1 1 At w
. in = 0 , T (jw) = 1
o

N
a.cAt w = 0 ,
2 3 3 +T (jw) =- tan-1 0 = 0
fmax = p di
.no
or
6 At w = 3 , T (jw) = 1
w b
6.48 Option (A) is correct. ww At w = 3 , +T (jw) = 0
s 0 0 1 s -1
(sI - A) = = G -= G ==
1 sG Option (A) is correct.
6.53
0 s -1 0
Despite the presence of negative feedback, control systems still have
s -1 s 1
1 = G = > -1 H problems of instability because components used have nonlinearity.
2
-1 s +1 s2 + 1
(sI - A) = 2 s
s +1 1 s s +1 2
s2 + 1 There are always some variation as compared to ideal characteristics.
cos t sin t
f (t) = eAt = L-1 [(sI - A)] -1 = =
- sin t cos t G
6.54 Option (B) is correct.
6.55 Option (C) is correct.
6.49 Option (C) is correct. The peak percent overshoot is determined for LTI second order
We have G (s) = as + 1 closed loop system with zero initial condition. It’s transfer function
s2 is
+G (jw) = tan-1 (wa) - p
T (s) = wn2
Since PM is p i.e. 45c, thus s + 2xwn s + wn2
2
4
p = p + +G (jw ) w " Gain cross over Frequen- Transfer function has a pair of complex conjugate poles and zeroes.
g g
4
cy 6.56 Option (A) is correct.
For ramp input we have R (s) = 12
or p = p + tan-1 (w a) - p s
g
4 Now ess = lim sE (s)
or p = tan-1 (w a) s"0
g
4 R (s) 1
= lim s = lim
or awg = 1 s"0 1 + G (s) s " 0 s + sG (s)
At gain crossover frequency G (jwg) = 1 or ess = lim 1 = 5% = 1 Finite
s " 0 sG (s) 20
2
1+a wg2
Thus =1 But kv = 1 = lim sG (s) = 20
wg2 ess s"0

or 1 + 1 = wg2 (as awg = 1) kv is finite for type 1 system having ramp input.

or wg = (2)
1
4 6.57 Option (A) is correct.

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6.58 Option (C) is correct. or =- 4.65 rad or - 266.5c

Any point on real axis of s - is part of root locus if number of OL PM = 180c + +G (jwg) = 180c - 266.5c =- 86.5c
poles and zeros to right of that point is even. Thus (B) and (C) are 6.61 Option (D) is correct.
possible option.
The open loop transfer function is
The characteristics equation is
2 (1 + s)
1 + G (s) H (s) = 0 G (s) H (s) =
s2
K (1 - s) Substituting s = jw we have
or 1+ =0 2 (1 + jw)
s (s + 3) G (jw) H (jw) = ...(1)
2 - w2
or K = s + 3s
1-s +G (jw) H (jw) =- 180c + tan-1 w
For break away & break in point The frequency at which phase becomes - 180c, is called phase
dK = (1 - s)( 2s + 3) + s2 + 3s = 0 crossover frequency.
ds
Thus - 180 =- 180c + tan-1 wf
or - s2 + 2s + 3 = 0
or tan-1 wf = 0
which gives s = 3 , - 1
or wf = 0
Here - 1 must be the break away point and 3 must be the break in
The gain at wf = 0 is
point.
G (jw) H (jw) = 2 1 + w2 = 3
6.59 Option (D) is correct. w2

-2s 1
G (s) = 3e Thus gain margin is =
3
= 0 and in dB this is - 3 .
s (s + 2)
-2jw 6.62 Option (C) is correct.
or G (jw) = 3e Centroid is the point where all asymptotes intersects.
jw (jw + 2)
3 SReal of Open Loop Pole - SReal Part of Open Loop Pole
G (jw) = s =
SNo.of Open Loop Pole - SNo.of Open Loop zero

A
w w2 + 4

I
Let at frequency wg the gain is 1. Thus = - 1 - 3 =- 1.33
3
3

D
=1
wg (wg2 + 4) 6.63 Option (C) is correct.

O
The given bode plot is shown below
wg4 + 4wg2 - 9 = 0
or
co.in

N
or wg2 = 1.606
d ia.
no
or wg = 1.26 rad/sec
w.
Now +G (jw) =- 2w - p - tan-1 w ww
2 2
Let at frequency wf we have +GH =- 180c
w
- p =- 2wf - p - tan-1 f
2 2 At w = 1 change in slope is +20 dB " 1 zero at w = 1
w At w = 10 change in slope is - 20 dB " 1 poles at w = 10
or 2wf + tan-1 f = p
2 2 At w = 100 change in slope is - 20 dB " 1 poles at w = 100
w w 3
or 2wf + c f - 1 ` f j m = p Thus T (s) = s
K (s + 1)
2 3 2 2 ( 10 + 1)( 100
s
+ 1)
5wf wf3 Now 20 log10 K =- 20 " K = 0.1
or - =p
2 24 2 0.1 (s + 1) 100 (s + 1)
Thus T (s) = s =
5wf ( 10 + 1)( 100 + 1) (s + 10)( s + 100)
s
.p
2 2 6.64 Option (C) is correct.
or wf = 0.63 rad
We have r (t) = 10u (t)
Option (D) is correct.
R (s) = 10
6.60
or
The gain at phase crossover frequency wf is s
G (jwg) = 3 = 3 Now H (s) = 1
2
wf (wf + 4) 0.63 (0.632 + 4)
1
2 s+2
or G (jwg) = 2.27 C (s) = H (s) $ R (s) = 1 $ 10 10
s + 2 s s (s + 2)
G.M. =- 20 log G (jwg)
- 20 log 2.26 =- 7.08 dB or C (s) = 5 - 5
s s+2
Since G.M. is negative system is unstable. c (t) = 5 [1 - e-2t]
The phase at gain cross over frequency is The steady state value of c (t) is 5. It will reach 99% of steady
w
+G (jwg) =- 2wg - p - tan-1 g state value reaches at t , where
2 2
5 [1 - e-2t] = 0.99 # 5
=- 2 # 1.26 - p - tan-1 1.26 or 1 - e-2t = 0.99
2 2
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e-2t = 0.1
1 - 2 x12
or - 2t = ln 0.1 or =- 1 2 G=x G = 0
22
or t = 2.3 sec
We have only one independent equation x12 = 2x22
6.65 Option (A) is correct.
Let x22 = K , then x12 = 2K . Thus Eigen vector will be
Approximate (comparable to 90c) phase shift are
x12 2K 2
Due to pole at 0.01 Hz " - 90c =x G = = K G = K = 1 G
22
Due to pole at 80 Hz " - 90c
Due to pole at 80 Hz " 0 Digonalizing matrix
x11 x12 -1 2
M ==
x21 x22 G = 1 1G
Due to zero at 5 Hz " 90c =
Due to zero at 100 Hz " 0
1 -2
Due to zero at 200 Hz " 0 Now M-1 = ` - 1 j= G
Thus approximate total - 90c phase shift is provided. 3 -1 -1
6.66 Option (C) is correct. Now Diagonal matrix of sin At is D where
sin (l1 t) 0 sin (- 4t) 0
D == G ==
sin (l2 t)G
Mason Gain Formula
Spk 3 k 0 sin (l2 t) 0
T (s) =
3 Now matrix B = sin At = MDM-1
In given SFG there is only one forward path and 3 possible loop. - 1 2 sin (- 4t) 0 1 -2
=-` 1 j= G=
p1 = abcd 3 1 1 0 sin (- t) - 1 - 1G
G=
31 = 1
3= 1 - (sum of indivudual loops) - (Sum of two non touching - sin (- 4t) - 2 sin (- t) 2 sin (- 4t) - 2 sin (- t)
=-` 1 j=
loops) 3 sin (- 4t) + 2 sin (t) - 2 sin (- 4t) - sin (- t)G
= 1 - (L1 + L2 + L3) + (L1 L3)
- sin (- 4t) - 2 sin (- t) 2 sin (- 4t) - 2 sin (- t)
=-` 1 j=
sin (- 4t) - sin (- t) - 2 sin (- 4t) + 2 sin (- t)G
Non touching loop are L1 and L3 where

A
3

I
L1 L2 = bedg

D
C (s) p1 3 1
Thus = sin (- 4t) + 2 sin (- t) - 2 sin (- 4t) + 2 sin (- t)
R (s) 1 - (be + cf + dg) + bedg = ` 1 j= Gs
3 - sin (- 4t + sin (- t) 2 sin (- 4t) + sin (- t)

O
= abcd
n
1 - (be + cf + dg) + bedg 6.68
o.i (A) is correct.
Option

N
. c
Option (A) is correct. d ia For ufb system the characteristic equation is
no
6.67

A ==
-2 2 w. 1 + G (s) = 0
1 - 3G ww
We have 1 + G (s)
1+ K =0
Characteristic equation is s (s2 + 2s + 2)( s + 3)
[lI - A] = 0 s 4 + 4s3 + 5s2 + 6s + K = 0
The routh table is shown below. For system to be stable,
l + 2 -2 (21 - 4K)
or =0 0 < K and 0 <
-1 l + 3 2/7
or (l + 2)( l + 3) - 2 = 0 This gives 0 < K < 21
or l2 + 5l + 4 = 0 4
Thus l1 =- 4 and l2 =- 1 s4 1 5 K
Eigen values are - 4 and - 1.
s3 4 6 0
Eigen vectors for l1 =- 4
s2 7
2 K
(l1 I - A) X1 = 0
21 - 4K
l1 + 2 - 2 x11 s1 0
= 1 l + 3G=x G = 0
7/2
or
1 21 s0 K
- 2 - 2 x11
=- 1 - 1G=x G = 0 6.69 Option (B) is correct.
21

or - 2x11 - 2x21 = 0 We have P (s) = s5 + s 4 + 2s3 + 3s + 15

or x11 + x21 = 0 The routh table is shown below.
If e " 0+ then 2e +e 12 is positive and -15e2-e +2412e - 144 is negative. Thus
2

We have only one independent equation x11 =- x21.

Let x21 = K , then x11 =- K , the Eigen vector will be there are two sign change in first column. Hence system has 2 root
x11 -K -1 on RHS of plane.
=x G = = K G = K = 1 G
21
s5 1 2 3
Now Eigen vector for l2 =- 1
s4 1 2 15
(l2 I - A) X2 = 0
l2 + 2 - 2 x12 s3 e - 12 0
or = - 1 l + 3G=x G = 0
2 22
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s2 2e + 12 15 0 ^ s +s27 h ^
s + 27
h
e = = s

1 - ^ -s3 - 24s - s2 h + -s2 . -s3 1 + 29s + s62

s1 -15e2 - 24e - 144 s (s + 27)
2e + 12 = 2
s0 0 s + 29s + 6
6.75 Option (D) is correct.
6.70 Option (D) is correct. We have
x1 - 3 - 1 x1 1
We have =x G = = 2 0 G=x G + = 0 Gu 1 + G (s) H (s) = 0
2 2
or 1+ K =0
x1 1 s (s + 2)( s + 3)
and Y = [1 0]= G + = Gu
x2 2 or K =- s (s2 + 5s2 + 6s)
-3 -1 1
A == G , B = = G and C = [1 0]
dK =- (3s2 + 10s + 6) = 0
Here ds
2 0 0
The controllability matrix is
1 -3 which gives s = - 10 ! 100 - 72 =- 0.784, - 2.548
QC = [B AB ] = =
0 2G
6
The location of poles on s - plane is
det QC ! 0 Thus controllable
The observability matrix is
Q0 = [CT AT CT ]
1 -3
==
0 - 1G
!0
Since breakpoint must lie on root locus so s =- 0.748 is possible.
det Q0 ! 0 Thus observable 6.76 Option (A) is correct.
6.71 Option (B) is correct. The given bode plot is shown below
s 0 1 0 s-1 0
(sI - A) = = G -= G ==
0 s 0 1 0 s - 1G

A
(s - 1) 0 1
0

I
1 = 0 (s - 1)G > 0 H
-1 s-1
(sI - A) = = 1
(s - 1) 2 s-1

D
et 0
At -1
= L [(sI - A)] -1
== G

O
e
0 et
co.in

N
ia.
6.72 Option (A) is correct.
d At w = 0.1 change in slope is + 60 dB " 3 zeroes at w = 0.1
Z = P-N
. no
w At w = 10 change in slope is - 40 dB " 2 poles at w = 10
N " Net encirclement of (- 1 + j0) by Nyquist plot,
ww At w = 100 change in slope is - 20 dB " 1 poles at w = 100
P " Number of open loop poles in right hand side of s - plane
K ( 0s.1 + 1) 3
Z " Number of closed loop poles in right hand side of s - plane Thus T (s) = s
( 10 + 1) 2 ( 100
s
+ 1)
Here N = 1 and P = 1 Now 20 log10 K = 20
Thus Z =0 or K = 10
Hence there are no roots on RH of s -plane and system is always 10 ( 0s.1 + 1) 3 108 (s + 0.1) 3
stable. Thus T (s) = s =
( 10 + 1) 2 ( 100
s
+ 1) (s + 10) 2 (s + 100)
6.73 Option (C) is correct. 6.77 Option (B) is correct.
PD Controller may accentuate noise at higher frequency. It does not The characteristics equation is
effect the type of system and it increases the damping. It also reduce s2 + 4s + 4 = 0
the maximum overshoot.
Comparing with
6.74 Option (D) is correct. s2 + 2xwn + wn2 = 0
Mason Gain Formula
we get 2xwn = 4 and wn2 = 4
Spk 3 k
T (s) = Thus x =1 Critically damped
3
In given SFG there is only forward path and 3 possible loop. ts = 4 = 4 = 2
xwn 1#2
p1 = 1
6.78 Option (B) is correct.
31 = 1 + 3 + 24 = s + 27
s s s 6.79 Option (C) is correct.
We have
L1 = - 2 , L2 = - 24 and L3 = - 3
s s s xo1 1 0 x1 x1 (0) 1
where L1 and L3 are non-touching =xo G = =1 G=
1 x2 G and =
x2 (0) G == G
0
2
C (s) 1 0
A ==
1G
This
R (s) 1
p1 3 1
= s 0 1 0 s-1 0
(sI - A) = = G -= G = =
- 1 s - 1G
1 - (loop gain) + pair of non - touching loops
0 s 1 1

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(s - 1) 0 1
0 pole consideration is at s =- 1. Thus
1 > H = > +1 H
-1 s-1
(sI - A) = 1 =1
(s - 1) 2 + 1 (s - 1) and Ts = 4 = 4 sec
1
(s - 1) 2 s-1
t T T
L-1 [(sI - A) -1] = eAt = = t t G
e 0
te e 6.86 Option (B) is correct.
et 0 1 et Routh table is shown below. Here all element in 3rd row are zero, so
x (t) = eAt # [x (t0)] = = t t G= G = = t G system is marginal stable.
te e 0 te
6.80 Option (C) is correct. s5 2 4 2
The characteristics equation is
s4 1 2 1
ks2 + s + 6 = 0
s3 0 0 0
or s2 + 1 s + 6 = 0
K K s2
Comparing with s2 + 2xwn s + wn2 = 0 we have s1
we get 2xwn = 1 and wn2 = 6 s0
K K
or 2 # 0.5 # 6 Kw = 1 Given x = 0.5 Option (B) is correct.
6.87
K
6 = 1 & K =1 The open loop transfer function is
or
K K2 6 G (s) H (s) = 1
2
s (s + s + 1)
6.81 Option (B) is correct.
Substituting s = jw we have
Any point on real axis lies on the root locus if total number of poles
and zeros to the right of that point is odd. Here s =- 1.5 does not G (jw) H (jw) = 1
jw (- w2 + jw + 1)
lie on real axis because there are total two poles and zeros (0 and
- 1) to the right of s =- 1.5 . +G (jw) H (jw) =- p - tan-1 w 2
2 (1 - w )
6.82 Option (D) is correct. The frequency at which phase becomes - 180c, is called phase

A
From the expression of OLTF it may be easily see that the maximum

I
crossover frequency.
magnitude is 0.5 and does not become 1 at any frequency. Thus gain wf

D
cross over frequency does not exist. When gain cross over frequency Thus - 180 =- 90 - tan-1
1 - wf2
does not exist, the phase margin is infinite. wf

O
or - 90 =- tan-1
6.83 Option (D) is correct. . i n 1 - wf2
.coro

N
We have xo (t) =- 2x (t) + 2u (t) ...(i)
d i a 1 - w2f = 0
Taking Laplace transform we get
w .no wf = 1 rad/sec
sX (s) =- 2X (s) + 2U (s) ww The gain margin at this frequency wf = 1 is
or (s + 2) X (s) = 2U (s) GM =- 20 log10 G (jwf) H (jwf)
2U (s) = 20 log10 (wf (1 - w2f) 2 + w2f
or X (s) =
(s + 2) =- 20 log 1 = 0
Now y (t) = 0.5x (t)
6.88 Option (A) is correct.
Y (s) = 0.5X (s)
Z = P-N
0.5 # 2U (s)
or Y (s) = N " Net encirclement of (- 1 + j0) by Nyquist plot,
s+2
Y (s) 1 P " Number of open loop poles in right had side of s - plane
or =
U (s) (s + 2) Z " Number of closed loop poles in right hand side of s - plane
6.84 Option (D) is correct. Here N = 0 (1 encirclement in CW direction and other in CCW)
From Mason gain formula we can write transfer function as and P = 0
Y (s) K
K Thus Z = 0
= s
=
R (s) 1 - ( s + -sK ) s - 3 (3 - K)
3
Hence there are no roots on RH of s - plane.
For system to be stable (3 - K) < 0 i.e. K > 3
6.85 Option (B) is correct. 6.89 Option (D) is correct.
The characteristics equation is
Take off point is moved after G2 as shown below
(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 Overdamped
20 6.90 Option (C) is correct.
For overdamped system settling time can be determined by the The characteristics equation is
dominant pole of the closed loop system. In given system dominant s2 + 2s + 2 = 0

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Comparing with s2 + 2xwn + wn2 = 0 we get The Characteristic equation is

2xwn = 2 and wn2 = 2 1 + G (s) H (s) = 0
wn =
2 K (s - 2)
1+ (s - 2) = 0
(s + 2) 2
and x = 1
2 or (s + 2) 2 + K (s - 2) 2 = 0
Since x < 1 thus system is under damped or (1 + K) s2 + 4 (1 - K) s + 4K + 4 = 0
6.91 Option (D) is correct. Routh Table is shown below. For System to be stable 1 + k > 0 ,
If roots of characteristics equation lie on negative axis at different and 4 + 4k > 0 and 4 - 4k > 0 . This gives - 1 < K < 1
positions (i.e. unequal), then system response is over damped. As per question for 0 # K < 1
From the root locus diagram we see that for 0 < K < 1, the roots
are on imaginary axis and for 1 < K < 5 roots are on complex plain. s2 1+k 4 + 4k
For K > 5 roots are again on imaginary axis.
s1 4 - 4k 0
Thus system is over damped for 0 # K < 1 and K > 5 .
6.92 Option (C) is correct. s0 4 + 4k
From SFG we have
I1 (s) = G1 Vi (s) + HI2 (s) ...(1) 6.95 Option (B) is correct.
I2 (s) = G2 I1 (s) ...(2) It is stable at all frequencies because for resistive network feedback
factor is always less than unity. Hence overall gain decreases.
V0 (s) = G3 I2 (s) ...(3)
Now applying KVL in given block diagram we have 6.96 Option (B) is correct.
The characteristics equation is s2 + as2 + ks + 3 = 0
Vi (s) = I1 (s) Z1 (s) + [I1 (s) - I2 (s)] Z3 (s) ...(4)
The Routh Table is shown below
0 = [I2 (s) - I1 (s)] Z3 (s) + I2 (s) Z2 (s) + I2 (s) Z4 (s) ...(5)
From (4) we have For system to be stable a > 0 and aK - 3 > 0
a
or Vi (s) = I1 (s)[ Z1 (s) + Z3 (S)] - I2 (s) Z3 (S)

IA
Thus a > 0 and aK > 3
1 Z3 (s)
or I1 (s) = Vi + I2 ...(6)
Z1 (s) + Z3 (s) Z1 (s) + Z3 (s) s3 1 K

D
From (5) we have s2 a 3

O
I1 (s) Z3 (S) = I2 (s)[ Z2 (s) + Z3 (s) + Z4 (s)] ...(7)
in
aK - 3
s1 0
co.
a
I1 (s) Z3 (s)

N
or Is (s) =
Z3 (s) + Z2 (s) + Z4 (s) ia . s0 3
. nod
ww
Comparing (2) and (7) we have
G2 =
Z3 (s) w
Z3 (s) + Z2 (s) + Z4 (s) 6.97 Option (B) is correct.
Comparing (1) and (6) we have Closed loop transfer function is given as

H =
Z3 (s) T (s) = 2 9
Z1 (s) + Z3 (s) s + 4s + 9
by comparing with standard form we get natural freq.
6.93 Option (B) is correct.
wA2 = 9
For unity negative feedback system the closed loop transfer function
is wn = 3
G (s) 2xwn = 4
CLTF = = 2 s+4 , G (s) " OL Gain 4 = 2/3
1 + G (s) s + 7s + 13 damping factor x =
2#3
1 + G (s) 2
or = s + 7s + 13 for second order system the setting time for 2-percent band is given
G (s) s+4
by
or 1 = s2 + 7s + 13 - 1 = s2 + 6s + 9
G (s) s+4 s+4 ts = 4 = 4 =4 =2
xwn 3 # 2/3 2
or G (s) = 2 s + 4
s + 6s + 9 6.98 Option (D) is correct.
Given loop transfer function is
For DC gain s = 0 , thus
G (s) H (s) = 2
Thus G (0) = 4 s (s + 1)
9
G (jw) H (jw) = 2
6.94 Option (C) is correct. jw (jw + 1)
From the Block diagram transfer function is Phase cross over frequency can be calculated as
G (s) f (w) at w = w =- 180c
T (s) =
1 + G (s) H (s) p

So here f (w) =- 90c - tan-1 (w)

K (s - 2)
Where G (s) = - 90c - tan-1 (wp) =- 180c
(s + 2)
and H (s) = (s - 2) tan-1 (wp) = 90c

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wp = 3 for unity feed back H (s) = 1

Gain margin
Here input R (s) = 12 (unit Ramp)
1 s
20 log 10 =
G (jw) H (jw) G
at w = wp
so E (s) = lim 12 1
s " 0 s 1 + G (s)
G.M. = 20 log 10 e 1
G (jw) H (jwp) o a1 sn - 1 + .... + an - 2 s2
n
= lim 12 s +
s"0 s s + a1 sn - 1 + .... + an
n

G (jwp) H (jwp) = 2 =0
wp w2p + 1 = an - 2
an
so G.M. = 20 log 10 b 1 l = 3 Option (B) is correct.
0 6.103

6.104
6.99 Option (A) is correct.
0 1 0 Option (A) is correct.
A == G , B = = G and C = [1 1]
6.105
Here
2 -3 1 6.106 Option (A) is correct.
The controllability matrix is By applying Routh’s criteria
0 1
QC = [B AB ] = =
1 - 3G
s3 + 5s2 + 7s + 3 = 0

det QC ! 0 Thus controllable s3 1 7

The observability matrix is s2 5 3
1 2
Q0 = [CT AT CT ] = =
1 - 2G
7#5-3
s1 5 = 32
5 0
!0
s0 3
det Q0 ! 0 Thus observable
6.100 Option (D) is correct. There is no sign change in the first column. Thus there is no root
lying in the left-half plane.
we have G (s) H (s) = 2 3
s (s + 1)

A
6.107 Option (A) is correct.

I
or G (jw) H (jw) = 2 3 Techometer acts like a differentiator so its transfer function is of the
jw (jw + 1) form ks .

D
Gain cross over frequency
6.108 Option (A) is correct.

O
G (jw) H (jw) at w = w = 1 Open loop transfer function is
n
o.i
g

N
2 3 a . c G (s) =
or =1
d i s (s + 1)
w w2 + 1 n o
12 = w2 (w2 + 1) w w. Steady state error
w E (s) = lim
sR (s)
w4 + w2 - 12 = 0 s " 0 1 + G (s) H (s)
(w2 + 4) (w2 - 3) = 0 Where R (s) = input H (s) = 1 (unity feedback)
w2 = 3 and w2 =- 4
R (s) = 1
which gives w1, w2 = ! 3 s
wg = 3 s1 s (s + 1)
so E (s) = lim s = lim 2 =0
f (w) at w = w =- 90 - tan-1 (wg) s"0 K s"0 s + s + K
1+
s (s + 1)
g

=- 90 - tan-1 3 =- 90 - 60 =- 150
6.109 Option (B) is correct.
Phase margin = 180 + f (w) at w = w
g
Fig given below shows a unit impulse input given to a zero-order hold
= 180 - 150 = 30c
circuit which holds the input signal for a duration T & therefore,
6.101 Option (B) is correct. the output is a unit step function till duration T .
6.102 Option (C) is correct.
Closed-loop transfer function is given by
T (s) = n an - 1 s + an
n-1
s + a1 s + ... + an - 1 s + an
an - 1 s + an
n n-1
= s + a 1s + ...an - 2 s2
1+ n an - 1 s + an
s + a1 sn - 1 + ...an - 2 s2 h (t) = u (t) - u (t - T)
Thus G (s) H (s) = n an - 1 s + an Taking Laplace transform we have
s + a1 sn - 1 + ....an - 2 s2
For unity feed back H (s) = 1 H (s) = 1 - 1 e-sT = 1 61 - e-sT @
s s s
Thus G (s) = n an - 1 s + an
6.110 Option (C) is correct.
s + a1 sn - 1 + ....an - 2 s2
Steady state error is given by Phase margin = 180c + qg where qg = value of phase at gain
1 crossover frequency.
E (s) = lim R (s)
s"0 1 + G (s) H (s)
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Here qg =- 125c Xo2 = dx2 = 0 + x2 + m

dt
so P.M = 180c - 125c = 55c
x1
6.111 Option (B) is correct. y = [1 1] > H = x1 + x2
x2
Open loop transfer function is given by
dy
K (1 + 0.5s) = dx1 + dx2
G (s) H (s) = dt dt dt
s (1 + s) (1 + 2s)
dy
Close looped system is of type 1. = x1 + m
dt
It must be noted that type of the system is defined as no. of poles
dy
lies at origin in OLTF. = x1 (0) + m (0)
dt
lying t=0

6.112 Option (D) is correct. = 1+0 = 0

Transfer function of the phase lead controller is
1 + (3Tw) j
T.F = 1 + 3Ts =
1+s 1 + (Tw) j
Phase is
f (w) = tan-1 (3Tw) - tan-1 (Tw)
f (w) = tan-1 ; 3Tw - T w
1 + 3T 2 w2 E
f (w) = tan-1 ; 2Tw2 2 E
1 + 3T w
For maximum value of phase
df (w)
=0
dw
or 1 = 3T 2 w2
Tw = 1

A
3

I
So maximum phase is

D
fmax = tan-1 ; 2Tw2 2 E at Tw = 1
1 + 3T w 3

O
R 1 V
S 2 W
3 W = tan-1 1 = 30c o .in

N
= tan-1 S ; 3E . c
SS1 + 3 # 1 WW
o dia
T
3
X w .n
6.113 Option (A) is correct. ww
G (jw) H (jw) enclose the (- 1, 0) point so here G (jwp) H (jwp) > 1
wp = Phase cross over frequency
Gain Margin = 20 log 10 1
G (jwp) H (jwp)
so gain margin will be less than zero.
6.114 Option (B) is correct.
The denominator of Transfer function is called the characteristic
equation of the system. so here characteristic equation is
(s + 1) 2 (s + 2) = 0
6.115 Option (C) is correct.
In synchro error detector, output voltage is proportional to [w (t)],
where w (t) is the rotor velocity so here n = 1
6.116 Option (C) is correct.
By masson’s gain formulae
y
=
/ Dk Pk
x D
Forward path gain P1 = 5 # 2 # 1 = 10
D = 1 - (2 # - 2) = 1 + 4 = 5
D1 = 1
y
so gain = 10 # 1 = 2
x 5
6.117 Option (C) is correct.
By given matrix equations we can have
Xo1 = dx1 = x1 - x2 + 0
dt

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