Control Systems (Time Response Analysis)

2
R  1
1. When the value of   
 2L  LC

The no. poles located on j axis is ______.

2. The impulse response of a first order system 2e5t is given below. Its value at one time
constant is ______________.

3. Undamped natural frequency of 2nd order system has the following influence on the
response due to various excitations.

(a) Increase in speed of response and decreases sensitivity

(b) Decrease in speed of response and increase the sensitivity
(c) Has no influence on the dynamic response
(d) Increase oscillatory behaviour

4. In a second order feedback control system, the natural frequency and damping

(a) Can be designed by changing the gain of the individual system

(b) Can’t be designed by changing the gain of the individual system

(c) Are dependent on the type of input excitation

(d) None of the above

© Kreatryx. All Rights Reserved. 1 www.kreatryx.com

 Control Systems (Time Response Analysis)

5. Consider the system with input 2e4 tu(t) and the impulse response 5et  6e10t the
time constants of the output are

(a) 0.1 0.25 and 1 (b) 2, 5 and 6

(c) 0.1, 0.4, 10 (d) 0.2,0.5 and 0.33

6. A unity feedback system that has a large value of steady state error for any type of
excitation should not be used at all

(a) Because it will have large steady state error for any type of excitation

(b) Because such a system can also be stable

(c) The above statement is not true, since the same can have acceptable steady state error
for another type of excitation

(d) None of the above

9
7. The open loop transfer function of a unity system is , the steady state error to a unit
s 1
step input is ___________.

k(s2  2s  4)
8. OLFT of a unity feedback system is Where K>0. The natural frequency of the
(s2  4s  5)
system is

(a) 2rad/sec (b) 5 rad/sec

(c) 20 rad/sec (d) none

9. The total number of oscillations of a system before it reaches to the steady state is
2 1 - 2  1 - 2
(a) . (b) .
  2 

1 - 2 
(c) 2. (d) 2.

1  2

© Kreatryx. All Rights Reserved. 2 www.kreatryx.com

 Control Systems (Time Response Analysis)

10. A control system for position control has the closed loop transfer function
6
T(s)  2 . The percentage overshoot, if the input is suddenly moved to a new
s  4s  6
position is_____%.

11. The open loop transfer function of a unity feedback control system is given by
K
G(s)  . If the system becomes critically damped, then the system gain ‘K ’ tends to
s(s  1)
become _____.

12. A unit step response of a second order linear system with zero initial state is given by
c(t)  1  1.25exp6t sin(8t  tan1 1.33); t  0 The damping ratio and undamped natural
frequency of oscillation are respectively.
(a) 0.6 to 8 rad/sec (b) 0.8 to 10 rad/sec
(c) 0.6 to 10 rad/sec (d) 0.8 to 8 rad/sec

13. The steady state error of a unity feedback system having loop transfer function
40
G(s)  2 due to input r(t)  3t 2 is
s (s  18)
(a) 1.35 (b) 2.7
(c)  (d) 2.2
14. The step response of a system is shown below, the forward path gain is _____.

20K
15. A unity feedback system has forward path transfer function is given by G(s)  .
s(s 40)
The settling time for 5% tolerance band is __________ seconds.

© Kreatryx. All Rights Reserved. 3 www.kreatryx.com

 Control Systems (Time Response Analysis)

16. For a control system shown below, the resonant peak is ______.

17. The open loop transfer function of a unity feedback control system is given below
k
G(s)H(s)  . The value of system gain ‘K’ for system to be critical damped is
s(s  20)

(a)10 (b) 20
(c) 25 (d) 100

18. The frequency response of an underdamped second order system is shown below.

The appropriate damping ratio ξ is ______.

1 dx 2 dx
19. The second order system is described by the equation   4x  4y . The time
8 dt dt
period of oscillations of the system is

(a) Zero (b) sec
2

(c) sec (d) 16sec
8

© Kreatryx. All Rights Reserved. 4 www.kreatryx.com

 Control Systems (Time Response Analysis)

20. The transfer function of a unity feedback (type1) second order system has a pole at
(s=–2). The nature of gain K is such that the damping ratio is 0.4. The steady state error for
r(t) = 4t is _____.

21. Unity feedback control system requires 0.52 seconds to reach its peak value while
subjected to the step input. If the settling time of the response for 2% tolerance band is 1.05
seconds. The resonant frequency of the system will be _______ rad/sec.

6.25A
22. A second order position control system has open loop transfer function G(s) 
(1  0.1s)
Where ‘A’ is the amplifier gain. The value of A so that steady state error shall not exceed 2°
(for r(t) = π/4rad) is _____.

23. For second order system exited by unit step input, the error signal is
e(t)  1.414e0.707t sin(0.707 t  450 ) . The damping ratio is ____________.

24. For a second order system which of the following statements are true
1. Resonant frequency is indicative of steady state error
2. Resonant peak is indicative of relative stability
3. Resonant frequency is indicative of settling time

(a) 1&2 (b) 2 only

(c) 2&3 (d) 3 only

25. Unit step response of a second order system is as described in the equation
 
c(t)  1  1.015e0.868t sin 4.92t  800 . The number of cycles output of the system will take to
settle within 2% tolerance band is _____.

© Kreatryx. All Rights Reserved. 5 www.kreatryx.com

 Control Systems (Time Response Analysis)

26. Match the pole zero plot of a second order system with their impulse responses.

(P) (Q)

(R) (S)

(1) c(t) 
1
n
2 
ent sin n 1  2 t  (2) c(t)  n sin nt

 
 n n2 2 1 t
 nt
(3) c(t)   n te
2
(4) c(t)   e
2
n
 

(a) P-2,Q-4,R-1,S-3 (b) P-1,Q-3,R-2,S-4

(c) P-4,Q-2,R-1,S-3 (d) P-1,Q-3,R-2,S-4

27. For the closed loop system with steady state errors of 0,1,  for unit step, ramp, parabolic
input respectively shown below. Determine the open loop transfer function G’(s) if the above
system is converted in to a unity feedback closed loop system as shown below such that the
transfer function of the system remain unchanged.

S 1 S 1
(a) (b)
S 2S 2  1
S 1 S 1
(c) (d)
2S  2S  1
2
2S2  1

© Kreatryx. All Rights Reserved. 6 www.kreatryx.com

 Control Systems (Time Response Analysis)

28. Consider system for damping ratio to be 0.5 the value of k would be ___________.

29. Practically the value of damping factor (  ) is chosen between 0.4 to 0.7. Which of the
following statements will support the following concept?
S1 : Trade-off between rise time and settling time is best in this range.
S2 : In this range time domain and frequency domain responses are comparable.
(a) Only S1 gives correct explanation
(b) Only S2 gives correct explanation
(c) Both S1 and S2 give correct explanation
(d) Neither of them gives correct explanation

30. Which of the following are true about transient response?

S1 : Approaches to zero when the time approaches infinity
S2 : It is time dependent
(a)only S1 (b) only S2
(c) both S1 and S2 (d) neither S1 nor S2

31. What will be the steady state error of a zero order hold system when subjected a unit
ramp signal.
(a) 1 (b) 
1 1
(c) (d)
3 2

32. An under-damped second order system has damping factor 0.4. The maximum voltage
that the system can achieve when subjected to 2u(t) is _________(V)

© Kreatryx. All Rights Reserved. 7 www.kreatryx.com

 Control Systems (Time Response Analysis)

33. Which of the following conditions are true of the time domain specifications are to be
applied to a second order under damped system.

S1 : System should be linear, time invariant.

S2 : System must not have only initial conditions.

S3 : System may or may not have transport lag.

(a) only S1 (b) only S2

(c) both S1 and S2 (d) S1 , S2 and S3

360
34. Given T(s)  . The period of oscillation and time of second overshoot
10s  60s  360
2

respectively.

(a) 1.209 sec,1.813 sec (b) 1.589 sec,0.233 sec

(c) 0.89 sec, 2.556 sec (d) 2.885 sec, 1.432 sec

 1 
 
35. The unit ramp response of a system is r(t)  t  e4t  1  . Which of the following is
 4 
the unit impulse response of the system?

(a) 2e4t (b) 4e4t


(c) 2 1  e4t  
(d) 4 1  e4t 
36. For the system shown below, the value of K for which the steady state output of the
system for a unit step input is 0.8 is _____________.

© Kreatryx. All Rights Reserved. 8 www.kreatryx.com

 Control Systems (Time Response Analysis)

(s  1)
37. When a minimum phase system with transfer function TF= is subjected to
s (s 4)(s 5)
2

( 2  3t  5t2 )u(t), the steady state error is __________

38. The differential equation which represents a prototype second order linear time invariant
control system is

d2 y(t) dy(t) 1 d2 y(t) 2 dy(t)

(a)  n  n y(t)  x(t) (b)   y(t)  x(t)
dt 2
dt n2 dt2 n dt
d2 y(t) dy(t) d2 y(t) dy(t)
(c)  n
 2
n
y(t)  x(t) (d)  2n  y(t)  n2 x(t)
dt 2
dt dt 2
dt 2

Where  -damping ratio and n un-damped natural frequency

39. The closed loop transfer function of a certain third order control system is represented
by
C(s) 100(s 2)
 . The second order equivalent of this third order system by using
R(s) (s 10)(s 1)(s 3)
dominant pole approximation is
100(s 2) 100(s 2)
(a) (b)
(s 10)(s 3) (s 1)(s 3)
10(s 2) 10(s 2)
(c) (d)
(s 10)(s 3) (s 1)(s 3)

40. The following column-I represents a list of poles in S-plane and column-II represents a
list of impulse responses. Find the correct option which exactly matches each member of the
column-I with column-II.

Column-I Column-II
A. Single root at s   1. A  sin  t   
B. Three roots at s   2. [A1 sin  t  1   A 2 sin  t  2  

A3 sin  t  3 ]
C. Two pairs of complex 3. Aet
conjugate roots at s    j
D. A pair of complex conjugate 4. (A1  A2t  A3 t2 )et
roots at s    j

(a) A-2, B-4, C-2, D-1 (b) A-3, B-4, C-2, D-1
(c) A-3, B-2, C-1, D-4 (d) A-1, B-2, C-4, D-3

© Kreatryx. All Rights Reserved. 9 www.kreatryx.com

 Control Systems (Time Response Analysis)

41. The following column-I represent a list of poles in s-plane and column-II represents a list
of impulse responses. Find the correct option which exactly matches each member of column
-I with column -II.

Column-I Column-II
A. A pair of roots at s   j 1. A sin( t  )

B. Two pair of roots at s   j 2. A

C. Single root at the origin s = 0 3. A1  A2t

D. Two roots at the origin s = 0 4. A1 sin( t 1 )  A2t( t 2 )

(a) A-1, B-4, C-2, D-3 (b) A-4, B-2, C-3, D-1
(c) A-2, B-4, C-3, D-1 (d) A-3, B-2, C-1, D-4

42. Match the following

List I List II

1 0 P Un damped

2 0  1 Q Under damped

3  1 R Critically damped

4  1 S Over damped

(a) 1-Q; 2-P; 3-R; 4 -S (b) 1-P; 2-Q; 3-R; 4-S

(c) 1-P; 2-Q; 3-S; 4-R (d) 1-P; 2-S; 3-R; 4-Q

43. If output value reaches 98.2% in 30 sec in first order control system (unit step response),
then time constant is_____________(sec)

44. The static velocity error coefficient K V for open loop transfer function of a control system
4(s 3)
G(s)H(s)  is _______________.
s(s  8 s 4)
2

C(s) 36
45. The damping factor for transfer function  is ____________.
R(s) s2  6s  36

© Kreatryx. All Rights Reserved. 10 www.kreatryx.com

 Control Systems (Time Response Analysis)

46. For no oscillation in unit step response of a second order control system damping ratio
must be

(a) 1 only (b) >1 only (c) <1 only (d)  1

47. The bandwidth of a second order system having non-zero magnitude at

  0, n  10rad / sec and   0.5 will be__________________

48. Response of a system is 1  3e2t  2e3t . Its time constant is ___________.

K
49. The forward path transfer function of feedback system is given by G(s)  and
s2
feedback function H(s)  as b . Error coefficients are?

(a)  ,0,  (b)  ,  ,kb

(c) 0,  ,  (d) None

K
50. The forward path transfer function of feedback system is given by G(s)  and
s2
feedback function H(s)= as+b. Steady state error of the system when subjected to
r(t)  a0  a1t  a2t2 is

2a2
(a) (b) kb
kb
a2
(c) (d) None
kb

51. For the control system to be critically damped, the value of gain ‘k’ required is

(a) 4
(b) 5
(c) 6
(d) 7

6
52. A unity feedback system has an open loop transfer function G(s)  . Find steady
s (s 2)
2

state error to an input r(t)  12 t 2  4t  2

(a) 4 (b) 6
(c) 8 (d) 12

© Kreatryx. All Rights Reserved. 11 www.kreatryx.com

 Control Systems (Time Response Analysis)

10
53. O.L.T.F of an unity feedback system is G(s)  . The time constant of corresponding
s2
close loop system is

(a )0.25 sec (b) 0.5 sec

(c) 0.125 sec (d) 0.75 sec

6
54. The transfer function of a system is , the peak overshoot of the system to a
s  2s  4
2

step input of 4u(t) is

(a) 0.652 (b) 0.163

(c) 0.978 (d) 0.26

55. _______________ is the value of k, if steady state value of the output of the closed loop
control system given below is 2, to unit step input applied at t=2 sec

100
56. The transfer function of the system is given as . Settling time is 4
s  ks  100
2

sec.(Assuming 2% tolerance band). The frequency of the oscillation is ___________ rad/sec

k
57. The open loop T.F of a unity feedback control system is given by G(s)  . The
s(s 1)
system is to have 50% maximum overshoot and peak time of 1.0 second. If tachometer is
used in feedback then, The value of k and tachometer constant K t will be

(a) 9.35 , 0.124 (b) 8.35, 0.037

(c) 10.35, 0.037 (d) 12.35, 0.324

© Kreatryx. All Rights Reserved. 12 www.kreatryx.com

 Control Systems (Time Response Analysis)

58. Bode plot for a system is shown below

The steady state error for the given system if a unit step input is applied, will be?

(a) 0 (b) 
(c) any integer except zero (d) can't predict

59. The natural frequency of oscillation and the damping factor of a system are 10 rad/sec
and 0.6 respectively. The peak time and percentage overshoot are:

(a) 0.49 sec, 94.78% (b) 0.39 sec, 9.4%

(c) 0.39 sec, 19.4% (d) 0.49 sec, 29.4%

A
60. The open loop transfer function of a unity feedback system is given by G(s)  .
s(1  sT)
The amplifier gain 'A' is multiplied by a constant, so that the damping ratio is increased from
0.2 to 0.8 then the value of that constant is__________

61. _____________ is the magnitude of response peak of a second order control system having
time constant of 1 sec and characteristic equation s2  ks  4  0

K
62. For a unity feedback control system with open loop transfer function G(s)  .
(s 3)(s 4)
for a step input 5u(t) the response is 2u(t) after settling time. The value of K is ____________

© Kreatryx. All Rights Reserved. 13 www.kreatryx.com

 Control Systems (Time Response Analysis)

63. For a control system the bode plot is given as

Steady state error value for a step input 5u(t) is

(a) 0 (b) 
(c) 0.1220 (d) 0.0495

64. The impulse response of several continuous system are given below. Which is/are stable?

1. h(t)  te1
2. h(t)  1
3. h(t)  e t sin3t
4. h(t)  sin t

(a) 1 Only (b) 1 and 3

(c) 3 and 4 (d) 2 and 4

65. For a unity feedback system the characteristic equation is s2  20s  T2  0 and resonant
frequency is 10rad/sec then the bandwidth of the system is

(a) 20.40rad/sec (b) 0.732rad/sec

(c) 1.25rad/sec (d) 1.178rad/sec

© Kreatryx. All Rights Reserved. 14 www.kreatryx.com

 Control Systems (Time Response Analysis)

66. When the system shown in the figure (1) given below is subjected to a unit-step input,
the system output response is as shown below in figure (2). Then

Find the value of T and K ?

(a) 1.09 sec, 1.536 (b) 1.26 sec, 1.536

(c) 1.09 sec, 1.425 (d) 1.26 sec, 1.425

© Kreatryx. All Rights Reserved. 15 www.kreatryx.com

 Control Systems (Time Response Analysis)

Solutions
1. Ans: 0
Solution:

1
E0 (s) LC
=
E1 (s) s2 + R s+ 1
L LC
2
R  1
  
 2L  LC

Then poles are complex conjugate and are in LHP

2. Ans: 0.72 to 0.74

1
Solution: IR = 2e5t 
5
1 5
IR    2e 5 = 0.7357
5

3. Ans: (a)

4. Ans: (a)

5. Ans: (a)
Solution: Poles of the output are input and system poles i.e, -4, -1 and -10

1 1
Time constant are , 1 and sec
4 10

6. Ans: (c)

7. Ans: 0.1
9
Solution: Kp  limG(s)  lim 9
s0 s0 s 1

1 1
ess    0.1
1  Kp 1  9

8. Ans: (d)
Solution: Its root loci lie in the left of S-plane

 For any k value it will not oscillate

© Kreatryx. All Rights Reserved. 16 www.kreatryx.com
 Control Systems (Time Response Analysis)

9. Ans: (d)
Solution: Total number of oscillations is given by

4 4
settling n n 2 1 - 2
N  = = .
oscillations 2 2 1  2  
d n

10. Ans: 1.10 to 1.20

6
Solution: T(s) 
s  4s  6
2

Comparing with standard transfer function we get,

n  6 and 2n  4

2
   0.816
6

12
% Peak overshoot = e  100%  1.18%

11. Ans: 0.20 to 0.30

K
Solution: CLTF = T(s) 
s  s K
2

Comparing with standard transfer function we get,

n  K and   1 2n  1 2 K
For critically damped i.e.   1
1
1
2 K
1
K   0.25
4

12. Ans: (c)

en  1  2 
Solution: Standard form c(t)  1  . sin(d t  ) Where,   cos1   tan1  
1  2   
 
1  2
 tan1 1.33 = tan
1
=> 1.332 2  1  2 =>   0.6

And n  6
n  10rad / sec

© Kreatryx. All Rights Reserved. 17 www.kreatryx.com

 Control Systems (Time Response Analysis)

13. Ans: (c)

40 3 2
Solution: G(s)  and R(s)= 2
s (s  18)2
s
ess due to parabolic input= A K a
40 40
Where, K a  lims2G(s)H(s)  lim 
s 0 s 0 (s  18) 18
3 2
ess   2.7
40 18

14. Ans: 40.0 to 41.0

Solution: The steady state error for step input
A 5
ess    0.12
1  Kp 1  KP
r(t)  5u(t)
5
or 1  KP   41.66
0.12
Hence, Kp  41.66  1  40.66

15. Ans: 0.10 to 0.20

20K
Solution: T(s) 
s  40s  20K
2

Comparing with standard equation

n  20K and 2n  40

20
and  
K

settling time for 5% tolerance

3 3 3
sett     0.15
n 20 20
20K
K
16. Ans: 1.15 to 1.25

C(s) 4 4
Solution:  
R(s) s2  4s  4  160  8s s2  12s  164

Comparing with standard equation

© Kreatryx. All Rights Reserved. 18 www.kreatryx.com

 Control Systems (Time Response Analysis)

 n  164 and 2n  12

12
  0.468
2 164

1
Resonant peak Mr   1.209
2 1  2

17. Ans: (d)

K
Solution: T(s) 
s  20s  K
2

Comparing with standard equation

10
We get, n2  K and 2n  20 =>  
K

10
For Critically damped system   1 => 1 
K

K=100

18. Ans: 0.20 to 0.60

Solution: Resonant peak = 1.35

1
Mr   1.35
2 1  2

42 (1  2 )  0.5486

4  2  0.137  0 => 2  0.836,0.163

The appropriate value of damping ratio lies within 0.3 – 0.7

  0.404

19. Ans: (b)

 s2 
Solution: Taking Laplace transform, X(s)   s  4   4Y(s)
8 

© Kreatryx. All Rights Reserved. 19 www.kreatryx.com

 Control Systems (Time Response Analysis)

X(s) 48
 2
Y(s) s  8s  32

Comparing with standard equation

We get, n2  32 => n  5.65rad / sec and 2n  8 =>   0.707

2 2 
Toscillation    sec
d  1  2 2
n

20. Ans: 1 to 2
K
Solution: According to the question, G(s) 
(s 2). s
C(s) K
  2
R(s) s  2s K
Comparing with standard equation
1 1
We get, n  k and 2n  2 =>   
n K
2
1 1
K    6.25
 0.42
ess for r(t) = 4t
4 4 4
ess     1.28
K V limsG(s) 6.25
s 0
2

21. Ans: 3 to 5
n 3.14
Solution: p   0.52 
d n 1  2
4 4
settling   1.05 => n 
n 1.05

3.14 1  2
and 0.52  =>  1.585
4 
1  2
1.05
4
  0.285  0.534 and n   7.133rad / sec
1.05
1

2
resonant frequency r  n 1  22  4.676rad / sec

© Kreatryx. All Rights Reserved. 20 www.kreatryx.com

 Control Systems (Time Response Analysis)

22. Ans: 3 to 4
 
Solution: ess  20   20  rad
180 0
90

r(t)  rad
4
A
ess  where KP  limG(s)H(s)  6.25A
1  KP s0

According to the question


 A
 => 1  KP  4  22.5 => KP  21.5
90 1  KP 
90
Therefore, KP  6.25A  21.5

21.5
A  3.44
6.25

23. Ans: 0.70 to 0.80

Solution: Comparing with the standard equation

  1  2 
e jnt
e(t)  sin  n 1  2  tan1  
1  2    
  

1
 1.414 => 0.707
1  2

24. Ans: (c)

25. Ans: 3 to 5
Solution: Standard representation of a unit step response of a second order system is given

ent
by c(t)  1 
1 2

sin dt  cos1  
We get, n  5,   0.1712 . Since it is an under damped system we can apply our analysis.

Settling time(2%)
Number of cycles=
Time period of oscillation

© Kreatryx. All Rights Reserved. 21 www.kreatryx.com

 Control Systems (Time Response Analysis)

4
n 4  1  0.17122
   3.613  4cycles
2 0.1712  2
n 1  2

26. Ans: (a)

Solution: Pole zero plot (a) has both the poles on the imaginary axis hence the system in
undamped.
Plot (b) has both the poles on the real axis hence there is no scope of oscillations and time
constant depends on the dominant pole, this system is an over damped system.
Plot (c) This system has complex conjugate poles hence there will be oscillations as well as
attenuation and the system is under damped.
Plot (d) both the poles of the system are identical and real resulting in a critically damped
system. Mapping the analysis to option will in option (A).

27. Ans: (b)

Solution: Since the transfer function of both the system are same
C G(s) G' (s)
 
R 1  G(s)H(s) 1  G' (s)

G(s) S 1
G' (s)   2
1  G(s)H(s)  G(s) 2S  1

28. Ans: 0.10 to 0.20

s6
s6 k
Solution: Transfer function= 2 
ks  s  6 s 6
s2  
k k
Comparing with standard equation
1 1
2n   k=0 and
k 6

For k=0, system will not

remain second order system.

29. Ans: (c)

30. Ans: (c)

Solution: Transient response always depends on time and approaches zero as time tends to
infinity.

© Kreatryx. All Rights Reserved. 22 www.kreatryx.com

 Control Systems (Time Response Analysis)

31. Ans: (b)

1
Solution: TF of zero order hold system=
S

1  esT 
K V  limsG(S)H(S)  1  e0  0
S 0

1
ess  
KV

32. Ans: 2.3 To 2.6


12
Solution: Peak overshoot value= 2  e  0.507
Maximum voltage = 2+(0.507)=2.507

33. Ans: (d)

Solution: All three conditions are necessary for applying time domain specifications to an

underdamped system.

34. Ans: (a)

360 36
Solution: T(s)   2
10s  60s  360 s  6s  36
2

Comparing with standard equation

We get, n  6 and 2n  6 => =0.5

2 2
Period of oscillation=  =1.209 sec
d  1  2
n

3 3
Time of second overshoot=  =1.813 sec
d  1  2
n

35. Ans: (b)

1 4t
Solution: r(t)  t 
4

e 1 
d 1
s(t)=step response=
dt

r(t)  1  4e4t
4

d 1
h(t)=impulse response= s(t)  0   4  ( 4e4t )  4e4t
dt 4

© Kreatryx. All Rights Reserved. 23 www.kreatryx.com

 Control Systems (Time Response Analysis)

36. Ans: 4
2K
Solution: G(s)H(s) 
(1  5s)(2  s)
ess=1-0.8=0.2
1
ess   0.2 => K p  4
1  Kp
2K
Kp  limG(S)H(S)  lim K  4
s0 s0 (1  5s)(2  s)

37. Ans: 100

Solution: Error constants: KP  K v  0
1
K a  limS2G(S)H(s) 
s0 20
 1 
ess   5    5  20  100
 Ka 

38. Ans: (b)

Solution: Standard closed loop transfer function of the second order system is
Y(s) n2
 2
X(s) s  2ns  n
2  
=> Y(s)  s2  2ns  n2  n2  X(s)

Taking Inverse Laplace transform both side

d2 y(t) dy(t)
 2n  y(t)n2  x(t)  n2
dt 2
dt

1 d2 y(t) 2 dy(t)
  y(t)  x(t)
n2 dt2 n dt

39. Ans: (d)

C(s) 100(s 2) 100(s 2)
Solution:   DC gain=20/3
R(s) (s 10)(s 1)(s  3)  s 
10   1  (s 1)(s  3)
 10 
DC gain(ω=0) should be same after Dominant pole approximation.
C(s) 10(s 2) 10(s 2) s
  when  1 DC gain=20/3
R(s)  s  (s 1)(s 3) 10
  1  (s 1)(s 3)
 10 

© Kreatryx. All Rights Reserved. 24 www.kreatryx.com

 Control Systems (Time Response Analysis)

40. Ans: (b)

41. Ans: (a)

42. Ans: (b)

43. Ans: 7.4 to 7.6

 t 
Solution: Unit step response of 1st order system c(t)   1  e   u(t)
 
 
  30 
According to the question , 0.982   1  e      7.467 sec
 
 

44. Ans: 3
s  4(s 3) 4(0  3) 43
Solution: K v  limsG(s)H(s)  lim    3 K v  3
s 0 s0 s(s  8 s 4) (0  0  4)
2
4

45. Ans: 0.5

Solution: Characteristic equation is s2  6s  36 =0
Comparing with standard equation
We get, n  6 and 2n  6 => =0.5

46. Ans: (d)

47. Ans: 12.5 to 12.9

1  2 
2
Solution: BW  n 1  22  2
 1  10  1.27  12.7

48. Ans: 0.5

 t  t
1  1 
   
1  3e  2e
2 3
Solution: y(t)=    

1 1
Now it has two time constant &
2 3

1 1 1
But,  so, time constant will be = dominant
3 2 2

49. Ans: (a)

Solution: Error coefficient

© Kreatryx. All Rights Reserved. 25 www.kreatryx.com

 Control Systems (Time Response Analysis)

K
Kp  limG(s)H(s)  lim
s0 s0 s2
as  b   
K
K v  limsG(s)H(s)  lims 
s0 s0s2
as  b   
K
K a  lims2G(s)H(s)  lims2  2 as  b =kb
s0 s0 s
a a 2a 2a 2a
Steady state error= 0  1  00 2  2
1  kp k v k a kb kb
50. Ans: (d)
C(s) 2k
Solution:  2 and for critically damped system   1
R(s) s  8s  2  2k

Comparing with standard equation

We get, n  2  2k  and 2 n

8

2  2k   4 => k=7
51. Ans: (b)
Solution: Error coefficient
K
Kp  limG(s)H(s)  lim
s0 s0 s2
as  b   
K
K v  limsG(s)H(s)  lims 
s0 s0s2
as  b   
K
K a  lims2G(s)H(s)  lims2  2 as  b =kb
s0 s0 s

52. Ans: (c)

 12  2 4 2 
 3  2  24  4s  2s2  (s 2)
sR(s)  s s s
Solution: ess  lim  lims. =  lim  
s0 1  G(s)H(s) s0 6 s0 s (s 2)  6
2
1
s (s 2)
2

24  2
ess  8
6

53. Ans: (c)

10
10
Solution: CLTF  s  2 
10 s8
1
s2

© Kreatryx. All Rights Reserved. 26 www.kreatryx.com

 Control Systems (Time Response Analysis)

t

1
 
8
Taking inverse Laplace, f(t)  10e8t  10e
1
   0.125sec
8

54. Ans: (c)

Solution: Comparing with standard equation
We get, n  2 and 2n  2 =>   0.5

6 4
Css  lims.  6
s0 s  2s  4 s
2

   0.5
12 2
Peak overshoot= e  e 10.5  0.163033
Peak overshoot= 6  0.1630  0.9782

55. Ans: 2
Solution: unit step input applied at t=2 sec i.e. r(t)=u(t-2)
k
C(s) k
 s 1 
R(s) k s 1 k
1
s 1
k 1
C(s)   e2s
s 1 k s
k k
lims e2s  2 =>  2 =>k  2k  2
s 0 s(s  1  k) k 1
k 2

56. Ans: 9.85 to 9.99

Solution: Comparing with standard equation
We get, n  10
4
Settling time=  4  n  1 =>   0.1
n
frequency of the oscillation

d  n 1  2  10 1  (0.1)2  9.95rad / sec.

d 9.95
fd    1.583Hz
2 2
Number of cycles= 1.583  4 sec = 6.3342  6.33

© Kreatryx. All Rights Reserved. 27 www.kreatryx.com

 Control Systems (Time Response Analysis)

57. Ans: (c)

Solution: Block diagram for compensated system

k
C(s) s(s 1)  sk K t k
 
R(s)  k  s  s(1  k K t )  k
2

1 
 s(s 1)  sk K t 


12 
Maximum overshoot= e  0.5 =>In(0.5)   =>  0.215
1  2
  
Peak time tp  1sec.  => n    3.217rad / sec
n 1  2 1 2
1  (0.215)2
Characteristic equation s2  s(1  kKt )  k =0
Comparing with standard equation
We get, n2  k => k  (3.217)2  10.35
And 2n  1  kK t => K t  0.037

58. Ans: (a)

k  s  a
Solution: TF 
s s  b
it is type-I system
kp  ,ess  0
59. Ans: (b)

 
Solution: Peak time= tp    0.39 sec
n 1   2
10 1  0.62

 0.6 
 
12 10.62
Percentage overshoot= %Mp  e  100  e  9.478% .

© Kreatryx. All Rights Reserved. 28 www.kreatryx.com

 Control Systems (Time Response Analysis)

60. Ans: 0.0625

s A
Solution: CE= s2   0
T T
Comparing with standard equation

A 1 1
We get, n  and 2n    
T T 2 AT

According to the question  increased from 0.2 to 0.8 when multiplied by a constant α

1 1 2 AT 0.2 1 2 AT 1

i.e.   =>     
2 2 AT 1 0.8 2 AT 1 4

  0.0625

61. Ans: 1 to 2
1
Solution: Time constant=  1  n  1
n
CE= s2  ks  4  0
Comparing with standard equation

We get, n  2 and 2n  k  k  2

And   0.5

1
0    0.707 ,  Mr   1.155
2 1  2

62. Ans: 8
K K
Solution: TF=  2
(s 3)(s 4)  k s  7 s 12  k
Given output response is 2u(t) when input is 5u(t) i.e. final value of the response is 2
5  K 
Apply final value theorem limsY(s)  2 => lims    2 2
s 0 s0
 s   s  7 s 12  k 
5 k 5k
lims. . 2  2 =>  2 => k  8
s 0 s (s  7 s 12)  k 12  k

63. Ans: (d)

K
Solution: TF 
s s
(  1)(  1)
a b
It is type 0 system,

© Kreatryx. All Rights Reserved. 29 www.kreatryx.com

 Control Systems (Time Response Analysis)

At   0 , 20logK  40 (from Bode plot)

logK  2 => K  100
5 A
As R(s)  
s s
Steady state error
A A 5 5
    0.0495
1  kp 1  limTF 1  K 101
s0

64. Ans: (b)

Solution: If the impulse response decays to zero as time approaches infinity, the system is
stable.
(1) (2)

(3) (4)

65. Ans: (a)

Solution: CE= s2  20s  T2  0
Comparing with standard equation

10
We get, n  T and 2n  20  n 

Resonant frequency r  n 1  22 for o    0.707
10
Put n 

10 1
10  1  22 =>  
 3

1  2 
2
B.W.  n 1  22  2
1

© Kreatryx. All Rights Reserved. 30 www.kreatryx.com

 Control Systems (Time Response Analysis)

2 2 4
 1   1   1 
B.W.  10 3 1  2    2  4   4   20.40 rad / sec
 3  3  3

66. Ans: (c)


12
Solution: Maximum overshoot=1.245-1= 0.254  e =>   0.4

Peak Time= tp  3  => n  1.14rad / sec
n 1  0.42
From the block diagram given in problem
C(s) k/T

R(s) s k
s2  
T T
s k
CE= s2  
T T
Comparing with standard equation

k 1 1 1
We get, n  and 2n   T    1.09 sec
T T 2n 2  0.4  1.14
k  n2T  1.142  1.09  1.425

© Kreatryx. All Rights Reserved. 31 www.kreatryx.com

 Control Systems (Time Response Analysis)

We recommend you to take the Chapter Test first and

then check the Solutions.

© Kreatryx. All Rights Reserved. 32 www.kreatryx.com

 Control Systems (Time Response Analysis)

Chapter Test Solutions

1. Ans: 2
 10(s  2)  2 10(2)(2) 8
Solution: c()  lim sC(s)  lim s   = 
s0 s  0  (s  5)(s  a)  s (5)a a

c() = 4= 8
a

 a=2

2. Ans: (c)
Solution: Maximum overshoot
  n
 

 12 

 n  



 12   
Mp   e e
 

 
 
2
   
 12 
12
1st under shoot =  e  = 0.25 => e = 0.5
 
 
3
  
 12 
2st over shoot  e  = (0.5) = 0.125
3

 
 

3. Ans: (b)
Solution: CE= s3  3s2  2s  k  0

Routh Hurwitz array

S3 1 2

S2 3 K

S1 6 k 0
3

S0 k

© Kreatryx. All Rights Reserved. 33 www.kreatryx.com

 Control Systems (Time Response Analysis)

Range of K for stability is 0 < K < 6

Maximum value of K = 6

A
ess  A=6
KV

For minimum steady state error KV should be maximum

Kmax
K V  lim sG(s) 
s0 2

6(2) 12 12
ess    2
Kmax Kmax 6

4. Ans: 9.6 to 9.7

Solution: t x  2.42 =damped cycle time period

2
t x  2.42   2tp  tx  2t p 2.42 =9.68 sec
d

5. Ans: 0.15 to 0.25

16
Solution: New OLTF is G(s) 
(s 4)

For step input

A A A A 1
ess       0.20
1  KP 1  limG(s)H(s) 16 5 5
s 0 1  lim
s 0 s4

6. Ans: (d)
64
Solution: Transfer function=
s  14s  64
2

Where, n2  64 and 2n  14

14
  0.875 (underdamped)
28

4 4
sett    0.571 sec
n 7

© Kreatryx. All Rights Reserved. 34 www.kreatryx.com

 Control Systems (Time Response Analysis)

7. Ans: 0.20 to 0.50

Solution: In the absence of derivative feedback
C(s) 100 100 20
  2 
R(s) s(1  5s)  100 5s  s  100 s
s2   20
5
Comparing with standard equation

1
We get, n2  20and    0.022
10 20

     cos1 () 3.14  1.547

Rise time=    0.356
d n 1  2 4.472

8. Ans: (b)
Solution: Comparing with standard equation

We get, n  10 and =0.5

1  0.7
Delay time= Td  =0.135 sec
n
2
First undershoot t2  =0.7255 sec
d

9. Ans: 0.8
CLTF 5s  5 5(s  1)
Solution: OLTF =  
1  CLTF s3  4s2  5s  5  5s  5 s2 (s  4)
t2
The input is r(t)= 2  t 
2
Since system input is unit step, ramp and acceleration type
2 1 1 2 1 1
ess  esu  esr  esa      
1  Kp K v K a s(s  1) s5(s  1) s 5(s  1)
2
1  slim
 s2 (s 4)
lim 2 lim 2
s0 s (s 4) s0 s (s 4)

1 1 4
ess     0.8
  5

10. Ans: 1.0 to 1.5

C(S) 1 20 5 5
Solution: H(s)    C(S)   
R(S) (s 4) S(S  4) S (S  4)
 
C(t)  5 1  e4t u(t)
99
100
 
 5  5 1  e4t  t  1.15sec

© Kreatryx. All Rights Reserved. 35 www.kreatryx.com

 Control Systems (Time Response Analysis)

11. Ans: 10
1 1
C(s) CS LC
Solution: TF   
R(s) 1 RS 1
R  LS  S2  
CS L LC
1
CLTF LC
Open loop transfer function= G(S)  
1  CLTF  R
S S  
 L
1 1
Velocity error constant K v   lim sG(S)    10
s0 RC 100  103  10 6
12. Ans: (b)

Solution: G(s)H(s) 
K p 
 K ds 100
s  s  10 

K v  limsG(s)H(s) => 1000  lim

K p 
 K ds 100
=> Kp  100
s0 s 0 s  10
Characteristic equation= 1  G(s)H(s)  0 => s2  10  100K d  s  104  0
Comparing with standard equation
2  0.5  100-10
We get, n  100 and 2n  10  100K d =>K d   0.9
100

13. Ans: (d)

Solution: CE= 1  G(s)H(s)  0 => s2  s  1  0
Comparing with standard equation
We get, n  1 and 2n  1 =>   0.5
n
12
Maximum undershoot= e where n=2 for maximum undershoot
2(0.5)
1(0.5)2
e  0.0265

14. Ans: 5.5 to 6.5

Solution: Comparing with standard equation
We get, n  10
4
Settling time=  4  n  1 =>   0.1
n
frequency of the oscillation

© Kreatryx. All Rights Reserved. 36 www.kreatryx.com

 Control Systems (Time Response Analysis)

d  n 1  2  10 1  (0.1)2  9.95rad / sec.

d 9.95
fd    1.583Hz
2 2
Number of cycles= 1.583  4 sec = 6.3342  6.33

15. Ans: (d)

L R 
V(s)    sRL 
Solution: I(s) 
V(s) V(s) V(s)
    C sC  

V(s) sL  R  s2RLC 
R sL 1 RL sRL
sC C
1
s 
V(s)
 Z(s)  C
I(s)  2 1 1 
s  s  
 CR LC 
Comparing with standard equation
1 1
We get, n  and 2n 
LC CR
1 L 1 0.25
   0.35
2R C 2  0.5 2

© Kreatryx. All Rights Reserved. 37 www.kreatryx.com