Singnal and System

Control Systems

Control Systems

Chapter 1 – Transfer Function..................................................................................................... 2

Solutions ....................................................................................................................................... 7
Chapter 2 – Time Response Analysis ........................................................................................ 18
Solutions ..................................................................................................................................... 24
Chapter 3 – Stability ................................................................................................................... 42
Solutions ..................................................................................................................................... 45
Chapter 4 – Root Locus Technique ........................................................................................... 58
Solutions ..................................................................................................................................... 61
Chapter 5 – Frequency Domain Analysis.................................................................................. 70
Solutions ..................................................................................................................................... 79
Chapter 6 – State Variable Analysis ........................................................................................ 107
Solutions ................................................................................................................................... 113
Chapter 7 – Control System Design ........................................................................................ 133
Solutions ................................................................................................................................... 135

Scan this QR code to report an

1 http://www.examdost.com
Error in this Document
 Control Systems

Chapter 1 – Transfer Function

01. The signal flow graph of figure has ____________ forward 04. Signal flow graph is used to obtain the [1993]
paths/and ____________ feedback loops. [1991] (a) Stability of a system
(b) Transfer function of a system
(c) Controllability of a system
(d) Observability of a system

05. For the circuit shown in figure, the transfer function is

equal to ? [1995]

02. (a) Find the transfer function [1991] C (s)

06. For block diagram shown in fig. is given by
V2 ( s ) R (s)
H( s ) = for the network shown in figure.
V1 ( s ) [1998]

(b) What is the order of the system? G1G2G3

(a)
(c) Now if the inductance value is changed to 2H, what will 1 + H2G2G3 + H1G1G2
be the order of the modified network?
G1G2G3
03. The overall transfer function of the system in figure, is (b)
1 + G1G2G3H1H2
[1992]
G1 G2 G3
(c)
1 + G1G2G3H1 + G1G2G3H2

G1G2G3
(d)
1 + G1 G2 G3H1

07. Ratio of the rotor reactance X to the rotor resistance R

for a two-phase servomotor [2000]
(a) Is equal to that of a normal induction motor
G 2G (b) Is less than that of a normal induction motor
(a) (b) (c) Is greater than that of a normal induction motor
1 − GH 1 − GH
(d) May be less or greater than that of a normal induction
GH 2G
(c) (d) motor
1 − GH 1 −H

Scan this QR code to report an

2 http://www.examdost.com
Error in this Document
 Control Systems

08. Feedback control systems are [2000] 12. For the block diagram shown in figure, the transfer
(a) Insensitive to both forward and feedback path parameter C (s)
changes function is equal to [2004]
(b) Less sensitive to feedback path parameter changes than R (s)
to forward path parameter changes
(c) Less sensitive to forward-path parameter changes than to
feedback path parameter changes
(d) Equally sensitive to forward and feedback path
parameter changes
s2 + 1 s2 + s + 1
(a) (b)
09. The transfer function of the system described by s2 s2
d2 y dy du 1 s + s +1
2

+ = + 2u with u as input and y as output is (c) 2 (d)

dt2 dt dt s + s +1 s
[2002]
13. The system shown in figure below, [2007]
(a)
(s + 2) (b)
(s + 1)
(s 2
+s ) (s 2
+s )
2 2s
(c) (d)
(s 2
+s ) (s 2
+s )
10. The block diagram of a control system is shown in Figure.
Y (s)
The transfer function G s = () U( s)
of the system is

[2003]
Can be reduced to the form

With

1 1
(a) (b) 1
 s  s  s  s (a) X = c0 s + c1 , Y = , Z = b0 s + b1
18  1 +  1 + 
 12  3 
27  1 +  1 + 
 6  9  (s 2
+ a0 s + a1 )
(c)
1
(d)
1
(b) X = 1, Y =
(c s + c )
0 1
, Z = b0s + b1

27  1 +
s  s
 1 + 
12  9
 s  s
27  1 +  1 + 
9  3
( s + a0 s + a1
2
)
 
(c) X = c1s + c0 , Y =
(b s + b )
1 0
, Z =1
11. For a tachometer if (t) is the rotor displacement is
radians, e(t) is the output voltage and Kt is the tachometer
(s
2
+ a1s + a0 )
E (s) 1
(d) X = c1 s + c0 , Y = , Z = b1s + b0
constant in V/rad/sec, then the transfer function,
 (s)
will
(s 2
+ a1s + a0 )
be [2004]
14. As shown in the figure, a negative feedback system has
Kt
(a) K t s
2
(b) an amplifier of gain 100 with ±10% tolerance in the forward
s path, and an attenuator of value 9/100 in the feedback path.
(c) Kt s (d) K t The overall system gain is approximately:

Scan this QR code to report an

3 http://www.examdost.com
Error in this Document
 Control Systems

(c) Phase shift of the closed loop transfer function at very

(
low frequencies  → 0 )
(d) Phase shift of the closed loop transfer function at very
high frequencies  →  ( )
(a) 10±1% (b) 10±2% [2010] V2 (s)
(c) 10±5% (d) 10±10% 17. The transfer function of the circuit shown below
V1 (s)
15. If the electrical circuit of figure (b) is an equivalent of the is [2013]
coupled tank system of figure (a). then [2010]

0.5s + 1 3s + 6
(a) (b)
s+1 s+2
s+2 s +1
(c) (d)
s +1 s+2

18. The signal flow graph for a system is given below. The
Y (s)
transfer function for this system is [2013]
U(s)

(a) A, B are resistance and C, D capacitances

(b) A, C are resistance and B, D capacitances
(c) A, B are capacitances and C, D resistance
(d) A, C are capacitances and B, D resistance
s +1 s +1
16. A two-loop position control system is shown below. (a) 2
(b) 2
5s + 6s + 2 s + 6s + 2
[2011]
s +1 1
(c) 2 (d)
s + 4s + 2 5s2 + 6s + 2

19. The signal flow graph of a system is shown below. U(s) is

the input and C(s) is the output. [2014-03]

The gain k of the Tacho-generator influences mainly the

(a) Peak overshoot
(b) Natural frequency of oscillations

Scan this QR code to report an

4 http://www.examdost.com
Error in this Document
 Control Systems

Y (s)
Assuming, h1 = b1 and h0 = b0 − b1a1 , the input-output 22. Find the transfer function of the system given
X(s)
C (s) below. [2015-01]
transfer function, G s = () U( s)
of the system is given by

b0 s + b1 a1s + a0
()
(a) G s =
s + a0 s + a1
2 ()
(b) G s =
s + b1s + b0
2

b1s + b0 a0 s + a1
()
(c) G s =
s + a1s + a0
2 ()
(d) G s =
s + b0 s + b1
2

20. The block diagram of a system is shown in the figure

[2014-03]

G1 G2 G1 G2
(a) + (b) +
1 − HG1 1 − HG2 1 + HG1 1 + HG2

(c) G1 + G2 (d) G1 + G2
1 + H ( G1 + G2 ) 1 + H ( G1 − G2 )
If the desired transfer function of the system is
C (s) s
= 23. In the system whose signal flow graph is shown in the
R (s) s + s +1
2
() ()
figure, U1 s and U2 s are inputs. The transfer function
Then G(s) is
(a) 1 (b) s Y (s)
is v [2017-01]
−s U1 ( s )
(c) 1/s (d) 3
s +s −s−2
2

21. For the signal – flow graph shown in the figure, which
one of the following expressions is equal to the transfer
Y (s)
function [2015-01]
X2 ( s ) k1
X1 (s) = 0 (a)
JLs + JRs + k 1k 2
2

k1
(b)
JLs − JRs − k 1k 2
2

k1 − U2 (R + sL )
(c)
JLs2 + ( JR − U2L ) s + k1k 2 − U2R
k1 − U2 ( sL − R )
(d)
JLs − ( JR + U2L ) s + k 1k 2 + U2R
2

24. Which of the options is an equivalent representation of

G1 G2
(a) (b) the signal flow graph shown here? [2020]
1 + G2 (1 + G1 ) 1 + G1 (1 + G2 )

G1 G2
(c) (d)
1 + G1G2 1 + G1G2

Scan this QR code to report an

5 http://www.examdost.com
Error in this Document
 Control Systems

26. For the block diagram shown in the figure, the transfer
Y (s)
(a) function is [2023]
R (s)

(b)

(c)
2s + 3 3s + 2
(a) (b)
s +1 s −1
s +1 3s + 2
(c) (d)
3s + 2 s +1
(d)
27. A continuous-time system that is initially at rest is
described by [2023]
dy ( t )
25. For the closed-loop system shown, the transfer function + 3y ( t ) = 2x ( t )
dt
E(s)
is [2021] where x(t) is the input voltage and y(t) is the output
R(s)
voltage. The impulse response of the system is
1 −2t
(a) 3e
−2t
(b) e u(t)
3
−3t
(c) 2e u t () (d) 2e
−3t

G GH
(a) (b)
1 + GH 1 + GH

1 1
(c) (d)
1 + GH 1+ G

Scan this QR code to report an

6 http://www.examdost.com
Error in this Document
 Control Systems

Solutions
01. Ans: (4,4)
Solution:
Number of forward paths=(4)
abdfg, ahfg, akmg, aklfg
Number of loops= (4)
c, de, lfn, mn

02. Ans: 1 and 3

Solution:
(a)Impedance of each series branch

1 and 1F : Z1 = 1 + 1
s
1 and 1H : Z2 = 1 + s

1 and 2F : Z3 = 1 + 1
2s
Equivalent of Z 1 and Z 2

Z1 Z 2
Z 4 = Z1 || Z 2 =
Z1 + Z 2

Z4 =
(1 + 1 s ) (1 + s ) = (1 + s )
2

2+s+ 1 s2 + 2s + 1
s
s2 + 2s + 1
Z4 = =1
s2 + 2s + 1
By potential divider

V2 ( s ) Z2 (s) 1+ 1
= = 2s
V1 ( s ) Z2 ( s) + Z 4 ( s) 1+ 1 +1
2s
V2 ( s ) ( 2s + 1)
=
V1 ( s ) 4s + 1

(b) Order of system= Highest power of ‘s’ in denominator

Order=1

(c) If inductance becomes 2H

Z 2 = ( 2s + 1 )

( 2s + 1) (1 + 1 s )
Then, Z 4 =
2 + 2s + 1
s

Z4 =
( s + 1)( 2s + 1 ) = 2s + 3s + 1
2

2s + 2s + 1
2
2s + 2s + 1
2

By potential dividers

Scan this QR code to report an

7 http://www.examdost.com
Error in this Document
 Control Systems

V2 ( s ) Z2
=
V1 ( s ) Z2 + Z 4
 2s2 + 3s + 1 
 2 
V2 ( s )  2s + 2s + 1 
=
V1 ( s )  2s2 + 3s + 1 
 2  + 1 + 1 2s
 2s + 2s + 1 
V2 ( s )
=
(
2s 2s2 + 3s + 1 ) =
4s3 + 6s2 + 2s
V1 ( s ) ( ) (
2s 2s2 + 3s + 1 + 2s 2s2 + 2s + 1 + 2s2 + 2s + 1 ) ( ) 8s3 + 12s2 + 6s + 2
Order of modified network=3

03. Ans: (b)

Solution:
By simplifying

Forward paths

P1 = G;

P2 = G;

P3 = ( G )(H)( G ) ;

P4 = ( G )(H)( G ) ;

( )( )( )( )
Loop= G H G H

 = 1 − G2H2
1 = 1 − 0; 2 = 1 − 0; 3 = 1 − 0;  4 = 1 − 0;

T.F =
( G) + G + G H + G H =
2 2
(
2 G + G2H ) =
2G (1 + GH)
=
2G
1−G H 2 2
(1 + GH)(1 − GH) (1 + GH)(1 − GH) 1 − GH

04. Ans: (b)

Solution: Signal flow graph is used to obtain the transfer function of the system by making use of Mason’s gain formula.

05. Ans: ---

Solution:
The circuit in Laplace domain looks like
By potential divider
E0 ( s ) 1
sC 1
= =
Ei ( s ) R + sL + 1 s LC + sRC + 1
2

sC

Scan this QR code to report an

8 http://www.examdost.com
Error in this Document
 Control Systems

06. Ans: (a)

Solution:
Forward paths P1 = G1G2G3
Loops L1 = G1G2 −H1 ( )
L 2 = G2G3 ( −H2 )
Non touching loops=0
 = 1 − ( −G1G2H1 − G2G3H2 )
1 = 1 − ( 0 ) = 1
P1 ( 1 ) G1G2G3 (1 − 0 )
T.F = 
() 1 + G1G2H1 + G2G3H2

07. Ans: (b)

Solution: The X/R ratio of two phase servo motor is less than a normal Induction Motor to increase the stable zone of
servo motor.

08. Ans: (c)

Solution: Magnitude of Sensitivity of the feedback control system with respect to forward path parameter changes is
given by,
1
|S|=
1 + G(s)H(s)
whereas, with respect to feedback path parameter changes it is given by,
G(s)H(s)
|S|=
1 + G(s)H(s)
From the above expressions it is clear that sensitivity is more in case of feedback path parameter changes.

09. Ans: (a)

d2 y dy du
Solution: + = + 2u
dt dt
dt2
 s2 + s  y s = s + 2 U s
  ( ) ( ) ()
 
Y (s)  s+2 
= 2 
U(s) s +s

10. Ans: (b)

Solution:
Forward path P = 1
1 ( s ) (2) ( 1 s ) = 2 s 2

Loops: L = −3
1 s
L = −12
2 s
L = −18 2
3 s

Scan this QR code to report an

9 http://www.examdost.com
Error in this Document
 Control Systems

Gain product of non-touching loops: L L = 36

1 2 s2

s(
 = 1 − −3 − 12 − 18 2 + 36 2
s s s )
Since all the loops are touching the forward path,  = 1
1

s2
2(1 )
T.F. = (using Mason’s Gain formula)
1 + 3 + 12 + 18 2 + 36 2
s s s s
2 2 2 2
T.F. = = = =
(
s2 + 15s + 54 s2 + 9s + 6s + 54 ( s + 9 )( s + 6 ) 54 1 + s
9 )(
1+ s
6 )
1
T.F. =
(
27 1 + s
9 )(
1+ s
6 )
11. Ans: (c)
Solution: When the input is rotor displacement, the T.F. of tachometer is given by sK t. However, if angular velocity is the
input, then the T.F. is given by Kt.

12. Ans: (b)

Solution:
Forward paths:
P = 1
1 ( )( 1 s ) = 1 s
s 2

P = 1 (1 ) = 1
2 s s
P = (1 )
3
Loops: No loop exists
 =1−0 =1
 =  =  =1−0 =1
1 2 3
s2 + s + 1
T.F. = 1 + 1 +1 =
s 2
s s2

13. Ans: (d)

Solution: Signal flow graph:
Forward paths:
cP
P = C0  1  1  P = 02
1 s s s

2 ( ) ( )
1 s
cP
P = ( 1 ) C ( 1 ) 1 (P ) = 1
s
−a
Loops: −a( )( )
1
1 = 1
s s

( )( )
1
s
1 ( −a ) = 0
s 0
− a
s2

Scan this QR code to report an

10 http://www.examdost.com
Error in this Document
 Control Systems

( 1 s )( 1 s ) (P )(b ) = bs P
0
0
2

(b1 ) (P) ( 1 s ) = bsP 1

P  +P 
T.F. = 1 1 2 2 (Mason’s Gain formula)

c0P cP
2 (
1 − 0 ) + 1 (1 − 0 )
T.F. = s s
 −a1 a0 b0P b1P 
1− − 2 + 2 + 
 s s s s 
C (s) c0P + c1Ps P ( c0 + c1s )
= = …(1)
R (s) s2 + a1s + a0 − b0P − b1Ps (s2
)
+ a1s + a0 − b0P − b1Ps
Given

C (s) ( YP )
= (X). … (2)
R (s) 1 − YPZ
Modifying (1) in form of (2),
 1 
(P )( c + c1s ) (P )( c + c1s )  2
0  s + a s + a 
0
=  1 0 
 (b P + b1Ps )  ( )( 1 )
 P b + b s 
( )
s2 + a1s + a0 x 1 − 2 0


s + a1s + a0 
1 − 2 0
 s + a s + a


 1 0 

Comparing,
1
Y=
s + a1s + a0
2

Z = b0 + b1s
X = c1s + c0

14. Ans: (a)

Solution: G = 100  10%
dG
open loop gain=100, = 10% = 1  100 = 10
G
H(s ) = 9
100
G 100
Closed loop gain (F) = = = 10
1 + GH 1 + 100 9
( 100 )
dF (1 + GH) − G (H) 1
= =
2
dG
(1 + GH) (1 + GH)2

Scan this QR code to report an

11 http://www.examdost.com
Error in this Document
 Control Systems

dF dG dG (1 + GH) dG 1  1 
= = = . % = (10 )   = 1%
F
(1 + GH)2  F (1 + GH)2  G G 1 + GH  1 + 10 

F = 10  1%

15. Ans: (d)

Solution:
Tank height is nothing but storage  capacitor as energy linked to height is Potential Energy similar to Capacitor Energy.
The flow rate of fluid can be compared to current in electrical circuit.
A & C are capacitance & B, D are resistor

16. Ans: (a)

Solution:
The Inner Loop Transfer Function is,
1
G(s) s (s + 1) 1
G1 ( s ) = = =
1 + G ( s )H( s ) ks s2 + s + ks
1+
s (s + 1)
If Tachometer Feedback is absent, then Inner
Loop Transfer Function would be,
1
G2 ( s ) =
s (s + 1)
Characteristic Equation without Tachometer,
1
1+ =0
s (s + 1)
s2 + s + 1 = 0
Characteristic Equation with Tachometer,
1
1+ =0
s2 + s + ks
s2 + s (k + 1 ) + 1 = 0
2
Hence, K does not impact the zeroth order term which represents n in the second order TF.

2 = 1 ; Natural frequency  = 1
n n
2 .k + 1
n
k +1
Damping ratio,  =  
 2 
−
1 − 2
peak over shoot = e
So, peak overshoot depends on Damping ratio and hence on the value of Tachometer Gain K.

Scan this QR code to report an

12 http://www.examdost.com
Error in this Document
 Control Systems

17. Ans: (d)

Solution:
The given circuit is,

It can be redrawn in Laplace Domain as shown below,

V (s)
Transfer Function, T.F. = 2
V (s)
1

( s ) = I1 (s ) . 10s
4
+ I ( s ) .10 4 + I1 ( s ) . 10
4
By KVL, V
1 1 s
V ( s ) = I ( s ) .10 4  2 + 1 
1 1  s 
V ( s ) = I ( s ) .10 4 + I ( s ) . 10
4

2 1 1 s
V (s) = I (s) .   1 
+ 1  .10 4
2 1  s 
4 s +1
V ( s ) I1 ( s ) .10  s  s + 1
T.F. = 2 =  =
V (s)  s+2  s+2
1 I ( s ) 10 4  
1  s 

18. Ans: (a)

Solution:

Forward Paths

P → (1 ) 1
1 ( )( 1 s ) =
s
1
s2
P → (1 ) 1
2 s( ) (1 ) = 1 s
Loops

L → 1
1 s ( ) ( −4 ) = −4 s

Scan this QR code to report an

13 http://www.examdost.com
Error in this Document
 Control Systems

L → (1 )( −4 ) = −4
2

L → 1
3 s ( )( 1 s ) ( −2) = −2 s2
L → 1
4 s ( ) (1)( −2) = −2 s
Since both the forward paths are passing through all the nodes. Hence,  = 1 and  =1
1 2

1 ( 1) + 1 (1 ) (1 + s )
Gain = s2 s
= s2 =
1+s
  2 2 2
s + 6s + 4s + 2 5s + 6s + 2
1 −  −4 − 4 − 2 − 2 
 s s2 s
s2

19. Ans: (c)

Solution:
The given Signal Flow Graph is shown below,
Number of forward paths = 2

h0
P1 = , 1 = 1
s2

h1  a 
P2 = , 2 =  1 + 1 
s  s 

 a a   s2 + a1s + a0 
 = 1 −  − 1 − 20  =  
 s s   s2 


 h0 h  s + a1  
 2 (1 ) + 1  
 s s  s   h0 + h1 ( s + a1 ) (b0 − b1a1 ) + b1 (s + a1 )
G(s) = = =
(s2 + a1s + a0 ) 2
s + a1s + a0 s2 + a1s + a0
s2

b s+b
G(s) = 2 1 0
s + a1s + a0

20. Ans: (None)

Solution:
1
Forward Path = G(s). . s = G(S)
s
Loops:
L1 → −G ( s )
L2 → −s G ( s )
G(s)
L3 → −
s

Scan this QR code to report an

14 http://www.examdost.com
Error in this Document
 Control Systems

 G(s)  s2 + s + 1
 = 1 −  −G ( s ) − sG ( s ) −  =1+ G(s)
 s  s

G(s)
Gain =
2
s + s +1
1 +   G ( s )
 s 
This cannot be expressed in the required form for any value of G(s). Hence, question is incorrect.

21. Ans: (b)

Solution:
Forward paths: P1 = G2
Loops: L1 = −G1 and L2 = −G1G2
By Mason’s Gain Formula,
P1 1 G2  1 G2
Gain = = =
1 − (L1 + L 2 ) 1 −  −G1 − G1G2  1 + G1 (1 + G2 )

22. Ans: (c)

Solution:
Assuming different signals at the summing elements,
X1 ( s ) = X ( s ) − HY ( s )
X 2 ( s ) = X ( s ) − HY ( s )
Y ( s ) = G1 X1 ( s ) + G2 X 2 ( s )
Y ( s ) = ( G1 + G2 )  X ( s ) − HY ( s ) 

Y ( s ) + HY ( s ) G1 + G2  = X ( s ) G1 + G2 
Y (s) G1 + G2
=
X (s) 1 + H ( G1 + G2 )

23. Ans: (a)

Solution:
Y (s)
For transfer function ;U2 ( s ) = 0
U1 ( s )
k1
Forward path, G1 =
JLs2
R kk
Loops, L1 = − ; L 2 = − 1 22
sL JLs
By Mason’s Gain formula
k1
G1  1 JLs2
T= =
1 − ( L1 + L 2 ) kk
1 + R + 1 22
sL JLs
k1
T=
s ( JL ) + s ( JR ) + k 1k 2
2

Scan this QR code to report an

15 http://www.examdost.com
Error in this Document
 Control Systems

24. Ans: (d)

Solution:
Simplifying given signal flow graph:

Step-1:

Step -2 :

25. Ans: (c)

Solution:
E(s) = R(s) – B(s)
Where B(s) = feedback signal
= C(s) H(s)
C(s) = E(s) . G(s)
C(s) = (R(s) – B(s)) . G(s)
= R(s) . G(s) – C(s) H(s) G(s)
G(s)
C(s) = R(s) 
1 + G(s)H(s)
C(s) R(s)
E(s) = =
G(s) 1 + G(s)H(s)
E(s) 1
=
R(s) 1 + G(s)H(s)

26. Ans. (b)

Solution:
Various signals in block diagram are marked below

Scan this QR code to report an

16 http://www.examdost.com
Error in this Document
 Control Systems

X = 2R + Y
Z= x andY = 3R + Z
s
x 2R Y
Y = 3R + = 3R + +
s s s
 −1   +2 
Y 1  = R  3 
 s   s 
 s − 1  3s + 2 
Y  = R 
 s   s −1 
Y 3s + 2
Transfer Function = =
R s −1
27. Ans. (c)
Solution:
Differential equation of system is,
dy
+ 3y = 2x
dt
Take Laplace Transform both sides
sY(s) + 3Y(s) = 2X(s)
Y(s) 2
=
X(s) s + 3
Transfer Response, g(t) = 2e-3t u(t)

Scan this QR code to report an

17 http://www.examdost.com
Error in this Document
 Control Systems

Chapter 2 – Time Response Analysis

01. A first order system and its response to a unit step input
are shown in figure. The system parameters are
[1991]
a= _______________ 1
(d)
K= _______________ s +1
2

04. If f(t) is the step-response of a linear-time invariant

system, then its impulse response is given by ____________.
[1994]

05. The impulse response of an initially relaxed linear system

()
is e −2tU t . To produce a response of te −2tU t , the input ()
must be equal to [1995]
1 −2t
(a) 2e− tU t () (b) e U(t )
2
(c) e −2t U(t ) ()
(d) e− tU t
02. For what values of ‘a’ does the system shown in figure

 t →
( )
have a zero steady state error i.e., lim E t  for a step 06. The closed loop transfer function of a control system is
given by [1995]
input? [1992]
C (s) 2 (s − 1)
=
R (s) ( s + 2)( s + 1)
For a unit step input the output is
(a) −3e−2t + 4e−t − 1 (b) −3e−2t − 4e−t + 1
(c) zero (d) infinity

(a) a=0 (b) a=0 07. The Laplace transform of f(t) is F(s). Given
a 4 
(c) (d) for no value of ‘a’ F (s) = 2 , the final value of f(t) is : [1995]
s + 2
03. Match the following transfer functions and impulse (a) infinity (b) zero
responses [1992] (c) one (d) none of the above
Transfer functions Impulse Responses
08. The steady state error due to a step input for type 1
s system is _______________ [1995]
(a)
s +1
09. Root locations of the characteristic unit step responses
of second order of second equations order systems [1995]
1
(b)
(s + 1)
2

1
c)
s (s + 1) + 1

Scan this QR code to report an

18 http://www.examdost.com
Error in this Document
 Control Systems

13. For the system shown in figure, with a damping ratio 

of 0.7 and an undamped natural frequency
n of 4 rad/sec, the values of K and a are [1996]

(a) K = 4,a = 0.35 (b) K = 8,a = 0.455

(c) K = 16,a = 0.225 (d) K = 64,a = 0.9

14. The unit impulse response of a system is given as

c ( t ) = −4e− t + 6e−2t . The step response of the same
system for t  0 is equal to [1996]
(a) −3e −2t
− 4e + 1
−t
(b) −3e −2t
+ 4e − 1
−t

(c) −3e−2t − 4e−t − 1 (d) 3e−2t + 4e− t − 1

15. A first order system is initially at rest and excited by a

step input at time t=0. Its output becomes 1.1V is in 4
seconds and eventually reacts a steady state value of 2V.
Determine its time constant [1997]

16. The output of a linear time invariant control system is

10. The unit-impulse response of a unit-feedback control
c(t) for a certain input r(t). If r(t) modified by passing it
system is given by
through a block whose transfer function is e−s and then
c ( t ) = −te− t + 2e− t , ( t  0 ) [1996]
applied to the system, the modified output of the system
The open loop transfer function is equal to would be [1998]
s+1 2s + 1 c (t) c (t)
(a) (b) (a) (b)
(s + 2)
2
s2 1+e t
1 + e− t

s +1 s +1
( ) (
(c) c t − 1 u t − 1 ) () (
(d) c t u t − 1 )
(c) (d)
(s + 1)
2
s2
( )
17. The Laplace transform of t 2 − 2t u ( t − 1 ) is:
[1998]
11. Consider the unit-step response of a unity-feedback
2 −s 2 −s 2 −2s 2 −s
control system whose open-loop transfer functions is (a) 3 e − 2 e (b) 3 e − 2 e
s s s s
1
G(s) = . The maximum overshoot is equal to 2 −s 1 −s
s (s + 1) (c) 3 e − e (d) None of the above
s s
[1996]
(a) 0.143 (b) 0.153 18. A unity feedback system has open loop transfer function
(c) 0.163 (d) 0.173 G(s). The steady-state error is zero for [2000]
(a) Step input and type-1 G(s)
12. For a feedback control system of type 2, the steady state
(b) Ramp input and type – 1 G(s)
error for a ramp input is [1996]
(a) infinite (b) constant (c) Step input and type-0 G(s)
(c) zero (d) Indeterminate (d) Ramp input and type – 0 G(s)

Scan this QR code to report an

19 http://www.examdost.com
Error in this Document
 Control Systems

19. A linear time-invariant system initially at rest, when 24. The block diagram shown in Figure gives a unity
subjected to a unit-step input, gives a response y t = te , () −t feedback closed loop control system. The steady state error
in the response of the above system to unit step input is
t  0 . The transfer function of the system is: [2000]
[2003]
1 1
(a) (b)
(s + 1) s (s + 1)
2 2

s 1
(c) (d)
(s + 1) s (s + 1)
2

(a) 25% (b) 0.75%

20. A unity feedback system has open loop transfer function (c) 6% (d) 33%
 25 
G(s) =   . The peak overshoot in the step-input 25. The roots of the closed loop characteristic equation of
 s ( s + 6 )  the system shown in above figure are [2003]
response of the system is approximately equal to: (a) −1 and −15 (b) 6 and 10
(c) −4 and −15 (d) −6 and −10
[2000]
(a) 5% (b) 10%
5
(c) 15% (d) 20% 26. Consider the function F s = () , where F(s)
(
s s + 3s + 2
2
)
21. Given the relationship between the input u(t) and the is the Laplace transform of the function f(t). The initial value
t of f(t) is equal to [2004]
output y(t) to be y t = ( )  (2 + t −  )e −3( t − )
d , the transfer
(a) 5 (b)
5
0
2
Y (s) (c)
5
(d) 0
function is [2001] 3
U(s)

27. The block diagram of a closed loop control system is

2e−2s s+2
(a) (b) given by figure. The values of K and P such that the system
s+3 ( s + 3)
2
has a damping ratio of 0.7 and an un-damped natural
frequency n of 5rad/sec, are respectively equal to [2004]
2s + 5 2s + 7
(c) (d)
s+3 ( s + 3)
2

22. A control system is defined by the following

mathematical relationship [2003]
d2 x dx (a) 20 and 0.3 (b) 20 and 0.2
dt 2
+6
dt
+ 5x = 12 1 − e−2t( ) (c) 25 and 0.3 (d) 25 and 0.2
The response of the system as t → is 28. The unit impulse response of a second order under-
(a) x = 6 (b) x = 2 damped system starting from rest is given by
(c) x = 2.4 (d) x = −2 c ( t ) = 12.5e−6t sin8t,t  0
23. A control system with certain excitation is governed by
the following mathematical equation The steady-state value of the unit step response of the
d x 1 dx 1
2 system is equal to [2004]
+ + x = 10 + 5e−4t + 2e−5t [2003] (a) 0 (b) 0.25
dt2 2 dt 18
(c) 0.5 (d) 1.0
The natural time constants of the response of the system
are
29. When subjected to a unit step input, the closed loop
(a) 2s and 5s (b) 3s and 6s
control system shown in Figure will have a steady state error
(c) 4s and 5s (d) 1/3s and 1/6s
of [2005]

Scan this QR code to report an

20 http://www.examdost.com
Error in this Document
 Control Systems

The steady state value of the output of this system for a unit
impulse input applied at time instant t = 1 will be
(a) 0 (b) 0.5
(c) 1 (d) 2

34. The transfer function of a system is given as [2008]

(a) −1.0 (b) −0.5
100
(c) 0 (d) 0.5
s + 20s + 100
2

30. Consider the feedback control system shown below This system is
which is subjected to a unit step input. The system is stable (a) An over damped system
and has the following parameters kp = 4,k i = 10,  = 500 (b) An under damped system
(c) A critically damped system
and  = 0.7. [2007] (d) An unstable system

35. The unit-step response of a unity feedback system with

K
open loop transfer function G s = () ( s + 1 )( s + 2 ) 
is
 
shown in the figure. The value of K is [2009]

The steady state value of z is

(a) 1 (b) 0.25
(c) 0.1 (d) 0

Statement for Linked Answer Questions 31 & 32:

Consider the R-L-C circuit shown in figure.

(a) 0.5 (b) 2

(c) 4 (d) 6

36. For the system 2

( s + 1 ) , the approximate time taken
31. For a step-input e i , the overshoot in the output e0 will be
for a step response to reach 98% of its final value is [2010]
[2007] (a) 1 s (b) 2 s
(a) 0, since the system is not under-damped (c) 4 s (d) 8 s
(b) 5%
(c) 16% 37. The steady state error of a unity feedback linear system
(d) 48% for a unit step input is 0.1. The steady state error of the same
system, for a pulse input r(t) having a magnitude of 10 and
32. If the above step response is to be observed on a non- a duration of one second, as shown in the figure is
storage CRO, then it would be best to have the ei, as a [2011]
[2007] (a) 0
(a) Step function (b) 0.1
(b) Square wave of frequency 50 Hz
(c) 1
(c) Square wave of frequency 300 Hz
(d) 10
(d) Square wave of frequency 2.0 kHz

33. The transfer function of a linear time invariant system is 38. Assuming zero initial condition, the response y(t) of the
given as [2008] system given below to a unit step input u(t) is [2013]
1
G(s) =
s2 + 3s + 2

Scan this QR code to report an

21 http://www.examdost.com
Error in this Document
 Control Systems

(a) u(t) (b)t u(t)

t2
(c) u(t) (d) e−tu(t)
2

39. The open-loop transfer function of a dc motor is given

(s) 10
as = . When connected in feedback as shown
Va ( s ) 1 + 10s
below, the approximate value of Ka that will reduce the time
constant of the closed loop system by one hundred times as
compared to that of the open-loop system is
[2013]
43. A second-order real system has the following properties:
[2016-02]
(a) the damping ratio  = 0.5 and undamped natural
frequency  = 10rad / s ,
n
(a) 1 (b) 5
(b) the steady state value of the output, to a unit step
(c) 10 (d) 100
input, is 1.02
he transfer function of the system is
40. The closed-loop transfer function of a system is
1.02 102
4 (a) (b)
T (s) = . The steady state error due to unit 2
s + 5s + 100 2
(s 2
+ 0.4s + 4 ) 100
s + 10s + 100
102
(c) (d)
step input is_____________. [2014-02] 2 2
s + 10s + 100 s + 5s + 100
41. An open loop control system results in a response of
e−2t ( sin5t + cos5t ) for a unit impulse input. The DC gain of −s + 1
44. For a system having transfer function G s = () s +1
,a
the control system is ___________. [2015-02]
unit step input is applied at time t= 0. The value of the
response of the system at t = 1.5 sec. (rounded off to three
42. The unit step response of a system with the transfer
decimal places) is ___________ [2017-01]
1 − 2s
function G s = () 1+s
is given by which one of the 45. When a unit ramp input is applied to the unity feedback
system having closed loop transfer function
following waveforms? [2015-02] C(s) Ks + b
= 2 , ( a  0, b  0, K  0 ) , the steady rate
R(s) s + as + b
error will be [2017-02]
a
(a) 0 (b)
b
a+K a−K
(c) (d)
b b

46. Which of the following systems has maximum peak

overshoot due to a unit step input? [2017-02]
100 100
(a) (b)
s + 10s + 100
2
s + 15s + 100
2

100 100
(c) 2 (d) 2
s + 5s + 100 s + 20s + 100

Scan this QR code to report an

22 http://www.examdost.com
Error in this Document
 Control Systems

47. Consider a unity feedback system with forward transfer 51. Consider a permanent magnet dc (PMDC) motor which
function given by [2018] is initially at rest. At t = 0, a dc voltage of 5 V is applied to
1 the motor. Its speed monotonically increases from 0 rad/s to
G(s) =
( s + 1)( s + 2) 6.32 rad/s in 0.5 s and finally settles to 10 rad/s. Assuming
The steady-state error in the output of the system for a unit- that the armature inductance of the motor is negligible, the
step input is ______ (up to 2 decimal places). transfer function for the motor is [2020]

48. Match the transfer functions of the second-order 10 2

(a) (b)
systems with the nature of the systems given below. 0.5s + 1 0.5s + 1
[2018]
Transfer functions Nature of system
2 10
15 (c) (d)
P. 2 I. Over damped s + 0.5 s + 0.5
s + 5s + 15
25 52. The damping ratio and undamped natural frequency of
Q. 2 II. Critically damped
s + 10s + 25 a closed loop system as shown in the figure, are denoted as
35  and n, respectively. The values of  and n are [2022]
R. 2 III. Under damped
s + 18s + 35
(a) P-I, Q-II, R-III (b) P-II, Q-I, R-III
(c) P-III, Q-II, R-I (d) P-III, Q-I, R-II

49. The unit step response y(t) of a unity feedback system

with open loop transfer function
K
G ( s )H( s ) = is shown in the figure.
( s + 1) (s + 2)
2

(a)  = 0.5 and n = 10 rad/s

[2018]
(b)  = 0.1 and n = 10 rad/s

(c)  = 0.707 and n = 10 rad/s

(d)  = 0.707 and n = 100 rad/s

The value of K is ________ (up to decimal places).

50. The output response of a system is denoted as y (t) , and

10
its Laplace transform is given by Y s = ()
(
s s + s + 100 2
2
)
the steady state value of y (t) is [2019]
1 1
(a) (b)
100 2 10 2
(c) 100 2 (d) 10 2

Scan this QR code to report an

23 http://www.examdost.com
Error in this Document
 Control Systems

Solutions
01. Ans: a=5, K=10
Solution:

Time constant=0.2sec
k
T= 1
s+a a
1 = 0.2
a
a=5
 k  1   k 
()
Final value, C s  Lt s .  ()   =  
S →0
 s + a  s   a 
Given final value=2
k
=2
a
Hence, k = 10

02. Ans: (a)

Solution:
Since E(t) has been ,arked after the comparator so it means we have to compute actuating error

Ess = Lt
(s)R (s)
S→0 1 + G (s )H(s )

( s )  1s 
 
E ss = Lt
S →0  (s + 1)   1 
1+ 2  
 s + 5s + a   s + 4 
1
E ss =
1
1+
4a
Given, E ss =0
4a
=0
4a + 1
a=0

4
03. Ans: ( 0 ≤k ≤ )
5
Solution:
s 1
(a) G s =() s +1
=1−
s +1
Take inverse Laplace transform
g ( t ) =  ( t ) − e− tu ( t )
This should be shape of impulse response
through it does not match any options given

Scan this QR code to report an

24 http://www.examdost.com
Error in this Document
 Control Systems

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

Take Inverse Laplace transform

g ( t ) = te− tu ( t )

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

This is a standard second order transfer

function n = 1 ; n = 1rad / sec
2

2n = 1;  = 1 = 0.5
2
Since,   1 it is an un-damped system

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

It has roots at s =  j . Hence,

it is an un-damped system

d
04. Ans: ( f (t) )
dt
Solution:
d
()
If f t is the step response of a system, then f ( t ) is its impulse response.
dt

05. Ans: (c)

Solution:
e−2tu ( t ) → Impulse response

 1  C s
T.F = L ( T.F ) = 
()
=
s+2 R s ()
For output = te −2tu t ()
1
C (s) =
(s + 2)
2

R (s) = ?
C (s) 1
=
R (s) (s + 2)
1
(s + 2)
2
1
=
R (s) (s + 2)
1
R (s) =
( 2)
s +
r ( t ) = e−2tu ( t )

Scan this QR code to report an

25 http://www.examdost.com
Error in this Document
 Control Systems

06. Ans: (a)

Solution:
C (s) 2 (s − 1)
=
R (s) ( s + 2)(s + 1)
1
()
For R s =
s
2 (s − 1) 1
C (s) = 
( s + 2)(s + 1) s

C (s) =
4
+
( −3) + ( −1)
s +1 s + 2 s
c(t)= 4e−t − 3e−2t − 1

07. Ans: (d)

Solution:

F (s) =
s + 2
2

f ( t ) = L−1 F ( s )  = sin t

Final value of f(t) is Lt f t

t →
()
But the values of sin t varies from -1 to +1
Hence, (d).

08. Ans: (zero)

Solution:
k 1
Type-1 , step input →
s ( s + a) s

( s) R (s ) = Lt ( s)  1 s  = 0

Ess = Lt
S→01 + G (s )H(s ) S→0k
1+
s ( s + a)
E ss =0

09. Ans: (A-T,B-S,C-P,D-R,E-Q)

Solution:
(a) When poles are real and lie on left half of s-plane, step response approaches a steady-state value without oscillations.
(b) When poles are complex and lie on left half of s-plane, step response approaches a steady-state value with damped
oscillations.
(c) When simple poles lie on imaginary axis, step response will have fixed amplitude oscillations.
(d) When poles are real and lie on right half of s-plane, step response approaches infinite without any oscillations.
(e) When poles are complex and lie on right half of s-plane, step response approaches infinite with damped oscillations.

10. Ans: (b)

Solution:
Unit impulse response,
c ( t ) = [ −te− t + 2e− t ] u(t)
1 2
Closed loop T.F. = L c t  = − () +
(s + 1) s +1
2

Scan this QR code to report an

26 http://www.examdost.com
Error in this Document
 Control Systems

−1 + 2 ( s + 1 )
Closed loop T.F. =
(s + 1)
2

2s + 1
Closed loop T.F. =
(s + 1)
2

Open loop T.F. =

NumeratorCLTF
=
( 2s + 1) = 2s + 1
DenominatorCLTF − NumeratorCLTF ( s + 1) − ( 2s + 1) s
2 2

11. Ans: (c)

Solution:
1
C (s) =
s (s + 1)
C.E  1 + s ( s + 1 ) = 0
s2 + s + 1 = 0
n2 = 1  n = 1
1
2n = 1   =  
2
− − 
2 1− 1 −
1 − 2
Maximum overshoot = e =e 4
=e 3
= 0.163

12. Ans: (c)

Solution:
k
() ()
Type-2  G s H s 
s ( s + a)
2

1
Ramp input 
s2
(s) ( 1 s ) 2  ( s )R ( s ) 
Ess = Lt Ess = Lt
s→0
1+
k  ( ) ( ) 
s→0 1 + G s H s

s2 ( s + a)
1
Ess = Lt
s→0  k 
s + 

 s ( s + a ) 

Ess = 0

13. Ans: (C)

Solution:
k
G(s) = H ( s ) = (1 + as )
s (s + 2)
Closed loop transfer function
G(s) k
T (s) = =
1 + G ( s )H( s ) s + (a + 2) s + k
2

Scan this QR code to report an

27 http://www.examdost.com
Error in this Document
 Control Systems

Natural frequency, n = k = 4

k = 42 = 16
2n = ( ak + 2 ) = ( 2  0.7  4 ) = 5.6
ak = 3.6
a = 0.225

14. Ans: (b)

Solution:
Given impulse response,
c ( t ) = −4e− t + 6e−2t
4 6
T.F = L c ( t )  = − +
s +1 s + 2
C (s) −4s − 8 + 6s + 6
=
R (s) ( s + 1 )( s + 2)
C (s) 2s − 2
=
R (s) ( s + 1)(s + 2)
Now input is step

C (s) =
2s − 2 1
 =
4
+
( −3) + ( −1)
( s + 1)( s + 2 ) s s + 1 s + 2 s
c ( t ) = L−1 C ( s )  = 4e − 3e − 1
−t −2t

15. Ans: (5)

Solution:
The response of first orders system is

c ( t ) = Css  1 − e
 −t


 
Steady state output, Css = 2
At t=4s ()
; c t = 1.1

1.1 = 2  1 − e  
−4

 
Hence,  = 5sec

16. Ans: (c)

Solution:
Case-(i)

C (s) = F (s)R (s)

Scan this QR code to report an

28 http://www.examdost.com
Error in this Document
 Control Systems

Case-(ii)

Cmod ( s ) = R ( s ) .e− sF ( s )
Cmod ( s ) = e− sC ( s )
Cmod ( t ) = C ( t − 1 ) u ( t − 1 )

( ) (
L−1 F ( s ) e− as  = F t − a u t − a )
17. Ans: (c)
Solution:
(t 2
) ( ) ( )
− 2t u ( t − 1 ) = t 2 − 2s + 1 u ( t − 1 ) − u ( t − 1 ) = t2 − 1 u ( t − 1 ) − u ( t − 1 )
By shifting property of Laplace Transform
2e− s e− s
F (s) = −
s3 s

18. Ans: (a)

Solution:

Steady state error, Ess = Lt

(s) R (s)( )
s → 0 1 + G ( s ) H( s )

(a) Step i & type − 1  Lt

(s) 1 s
=0
( )
p s→0 1+ k
(s)
 1 
2  (s) 
(b) Ramp i & type − 1  Lt  s 0
p s→0 1+ k
s

(c) Step i & type − 0  Lt

(s) s1
0
( )
p s → 0 1+k
 1 
(s)  
(d) Ramp i & type − 0  Lt  s2   0
p s→0 1+k

19. Ans: (c)

Solution:

y ( t ) = te−t , t  0 when i/p is unit step

d −t
(step response) = impulse response = −te + e
−t
dt

Scan this QR code to report an

29 http://www.examdost.com
Error in this Document
 Control Systems

T.F. = L (impulse response)

 
 − t − t   1 1  s +1 −1 s
T.F. = L  e − te  =  −  = =
 s +1 2

 ( s + 1)  ( s + 1 )2 ( s + 1 )2
1
2
Y(s) ( s + 1 ) s
Alternative solution: H(s)= = =
1
R(s)
s
( s + 1 )2
20. Ans: (b)
 25 
Solution: G s =  () 
 s ( s + 6 ) 
Characteristic equation: 1 + G s H s = 0 () ()
25
1+ =0
s + 6s
2

s2 + 6s + 25 = 0

Comparing with s2 + 2ns + n2 = 0

n2 = 25

n =5

2n = 6

 = 0.6

 −   



2 
 −0.6 
2 
1−  1 − (0.6) 
Peak over-shoot = e =e  = e−2.356 = 0.094  10%

21. Ans:
Solution:
t
 (2 + t − ) e
−3(t −  ) d
y(t) =
o

This integral can be expressed in terms of convolution integral as.


y(t) = −
(2 + t − ) e−3(t −  ) u(t − )u( ) d


y(t) = −
h(t − ) u( ) d

h(t) = (2 + t) e–3t u (t)

Laplace Transform of Impulse Response is transfer function

Y(s) 2 2 2s + 7
= + =
U(s) (s + 3) (s + 3)2
(s + 3)2

Scan this QR code to report an

30 http://www.examdost.com
Error in this Document
 Control Systems

22. Ans: (c)

Solution:
d2x 6dx
+ + 5x = 12  1 − e−2t 
dt2 dt  
Applying Laplace,


  s (
 s2 + 6s + 5  X s = 12 1 − 1
 ( ) s+2 )
 s2 + 6s + 5  X s = 12  ( s + 2 ) − ( s ) 
  ( )  s(s + 2) 
   
24
X (s) =
s ( s + 2 )  s2 + 6s + 5 
 
By final value theorem, x ( t ) = Lt sX ( s )
t→0 s→0
24
Lt sX ( s ) = Lt ( s ) = 2.4
s→0 s → 0 ( s )( s + 2 )  s2 + 6s + 5 
 
23. Ans: (b)
Solution:
d2x 1 dx 1
+ + x = 10 + 5e−4t + 2e−5t
2 2 dt 18
dt
Natural time constants depend only upon the poles. Hence, applying Laplace to left hand side of the equation gives,
1 1
s2X(s)+ sX(s)+ X(s)
2 18
1 1
s2+ s+ =0 (Characteristic equation)
2 18
1 1
(s+ )(s+ )=0
3 6
1 1
Therefore, poles are: - ,-
3 6
Hence time constants are 3, 6 sec.

24. Ans: (a)

Solution:

e = Lt
(s) R (s)( )
ss s → 0 1 + G ( s ) H ( s )

e = Lt
( )
(s) 1 s
ss s → 0 1 +  3  15 
  
 s + 15  s + 1 

Scan this QR code to report an

31 http://www.examdost.com
Error in this Document
 Control Systems

1
e = = 1 = 0.25 = 25%
( 15 ) ( )
ss 1 + 3 15 4

25. Ans: (d)

Solution: Characteristic equation = 1 + G s H s = 0 () ()
 3  15 
C.E. = 1 +   =0
 s + 15  s + 1 
( )(
C.E. = s + 15 s + 1 + 45 = 0 )
s2 + 16s + 60 = 0
( s + 6 )( s + 10 ) = 0
s = −6; s = −10

26. Ans: (d)

Solution:
5
F (s) =
(
s s + 3s + 2
2
)
5
F (s) =
s ( s + 1 )( s + 2 )
Using initial value theorem,
5
Initial value f(0)= Lt f t = () Lt sF(s) = Lt =0
t→0 s→ s→( s + 1 )( s + 2)
27. Ans: (d)
Solution:
Damping ratio  = 0.7
Un-damped natural frequency  = 5 rad/sec
n
C.E. : 1 + G ( s ) H ( s ) = 0
K
1+
s (s + 2)
(1 + sP ) = 0
s2 + 2s + KPs + K = 0
s2 + s ( 2 + KP ) + K = 0
Comparing with standard equation, s2 + 2 s +  2 = 0
n n
 2 =K
n
K = 52 = 25 ;
2 = 2 + KP
n
( 2 )( 0.7 )(5 ) = 2 + ( 25 )(P )
P= 1 ( 5 ) = 0.2

Scan this QR code to report an

32 http://www.examdost.com
Error in this Document
 Control Systems

28. Ans: (d)

−6t sin8t
Solution: c t = 12.5e() u(t) → unit impulse response

T.F. = L (impulse response) = L  12.5e

 −6t sin8t  = ( 8 )(12.5 )

 
( s + 6 )2 + ( 8 )2
100
T.F. =
s + 12s + 100
2

C (s) 100
=
R (s) s + 12s + 100
2

Now, given R s = 1 () s
unit step

100
C (s) =
(s 2
+ 12s + 100 s )
Using final value theorem, steady-state value of unit step response will be,
 100  100
s→0
( s→0
)
Lt ( s ) C ( s ) = Lt ( s ) 1  2
s  s + 12s + 100 
=
100
=1

29. Ans: (d)

Solution:
E (s) = R (s) − Y (s)
 2 
E ( s ) = R ( s ) − E ( s ) . (3 ) − R ( s )   
s+2
 6   2 
E ( s ) . 1 +  = R ( s ) . 1 + s + 2 
 s + 2   
s+8 s+ 4
E (s)  = R (s)
s+2 s+2
s+ 4
E (s) = R (s) .  
s+8

E = Lt ( s ) .E ( s ) = Lt s . 1 .
ss s → 0 s→0 s
s+4 4
s+8
=
8 ( )(
= 0.5 )
30. Ans (1)
Solution:

K 
Z =  i  . E (s)
s
E (s) = R (s) − C (s)
K  2 
E (s) = R (s ) − E (s ) .  i + Kp   2 2 
s  s + 2s +  
 K  2 
E ( s ) 1 +  i + Kp   2 2 
= R (s)
  s  s + 2s +   
Steady-state value of Z :

Scan this QR code to report an

33 http://www.examdost.com
Error in this Document
 Control Systems

Z = Lt s.Z ( s )
ss s→0
1
 Ki   
Z = Lt s.   . s =
Ki
=1
ss s → 0  s   Ki 
1 +  + Kp   2
2

2 
K i
1
1 ( )
s  s + 2s +  

31. Ans: (c)

Solution:
Ldi 1
dt C 
Ei = iR + + idt

 1 
Ei ( s ) =  R + Ls +  I ( s )
 Cs 
Ei ( s )
I (s) =
1
R + Ls +
Cs
 
1 1  Ei ( s ) 
E0 ( s ) = I (s) =  
Cs Cs  1
R + Ls + 
 Cs 
E0 ( s ) 1
=
Ei ( s )  2 R 1 
LC  s + s + 
 L LC 
Comparing with second order standard equation,
1
n =
LC
Substituting the values of L & C, we get n = 10 rad/sec
4

R
2n =
L
Solving, we get  =0.5

 − 
 
 1 − 2 
M.P. = e  = 0.163= 16.3%

32. Ans: (b)

Solution:
In order to observe step response we need to apply step input but in that case when the system enters steady state we will
not be able to observe fluctuation in response. Due to this, we have to apply low frequency square wave so that in each cycle
we can observe the variation in response.
33. Ans: (a)
Solution:
1
G(s) =
s2 + 3s + 2
Input = unit impulse applied at t = 1 sec
r ( t ) =  ( t − 1)

Scan this QR code to report an

34 http://www.examdost.com
Error in this Document
 Control Systems

R ( s ) = e−s . (1 )

e−s
C ( s ) = R ( s ) .G ( s ) =
s + 3s + 2
2

 −s 
Using final value theorem, steady state value = Lt (s).C(s) = Lt  2 s.e =0
s→0 s → 0  s + 3s + 2 

34. Ans: (c)

Solution:
100
T.F. = 2
s + 20s + 100
n2 = 100
n = 10
2n = 20
 =1
Critically damped system.

35. Ans: (d)

Solution:
We know

Lt sR ( s ) Lt
( s )  1s  2
E = =   =
(
ss s → 0 1 + G ( s ) H ( s ) s→0 ) 1+
K K+2
( s + 1 )( s + 2 )
Given, final value = 0.75 ; Input=unit step
error = 0.25
2
= 0.25
K+2
K=6
Note: This question can also be solved by first finding closed loop transfer function and then using final value theorem on
C(s)=(T.F)(R(s)).

36. Ans: (c)

Solution: Given T.F. = 2 ( s +1 )
C (s)
R (s)
(
= 2
s +1 )
 2  1
C (s) =  
s +1 s
( )
−2 2
C (s) = +
(s + 1) S

(
C (s) = 2 1 − 1
s s +1 )
C ( t ) = 2  1 − e−t 
 
Final value = 2

Scan this QR code to report an

35 http://www.examdost.com
Error in this Document
 Control Systems

98% of final value = 1.96

1.96 = 2  1 − e−t 
 

e−t = ( 0.02 )

et = 50
t = 4 sec

37. Ans: (a)

Solution:
The pulse signal can be mathematically expressed as
r(t) = 10 [u (t) – u (t – 1)]
Assume transfer function of system is G(s)
1
Step response C (s) = G (s)
s
Since error due to step input = 0.1
lim c (t) = 1 – 0.1 = 0.9
t→ 

1
lim c (t) = lim s C (s) = lim s  G(s) = 0.9
t→  s→ 0 s→ 0 s
lim G(s) = 0.9
s→ 0

When r(t) is applied

10
R(s) = (1 − e−s )
s
10
C (s) = R(s) G(s) = (1 − e− s ) G (s)
s
c () = lim s C (s) = lim 10 (1 − e− s ) G(s)
s→0 s→0

c() = 10 (1 – 1) × 0.9 = 0
The response to pulse input will be as shown below.

38. Ans: (b)

Solution:
The given system is,
If input is unit step, then U s = 1 () s
()
Output, Y s = 1 ( s ) . U(s)
Y (s) = 1
s2
Taking Inverse Laplace Transform,
y ( t ) = t.u ( t )
This can also be done by observing that the system is integrator so the output of unit step function is ramp function.

Scan this QR code to report an

36 http://www.examdost.com
Error in this Document
 Control Systems

39. Ans: (c)

Solution:

10 k
pen loop without ‘Ka’ is =  time constant T = 10sec and k = 10
1 + 10s 1 + Ts
Closed loop with ‘Ka’ is

(ka ) (10) 10k 10k

1 + 10s =
T.F. = F ( s ) = a = a
k 10 1 + K 10 + 10s  
1+ a a 10 
1+ s
1 + 10s  1 + K 10 
 a 
 
10 
Time constant T = 
2  1 + 10K 
 a
Given T = 1
2 ( )
T
100 1
T =1  10
2 100
10
=1
1 + 10K 10
a
10k = 99
a
k = 9.9
a

40. Ans: (0)

Solution:
4
Transfer Function, T s =() s + 0.4s + 4
2

Open loop transfer function, assuming unity feed back

Numr 4
G(s) = =
Denor − Numr s ( s + 0.4 )
System is type 1 and hence error due to unit step input will be 0.

41. Ans: (0.2413)

Solution:
y(t) = e−2t (sin5t+ cos5t)
5 (s+ 2) (s+ 7)
Y(s) = + = 2
(s+ 2) + 25 (s+ 2) + 25 s + 4s + 29
2 2

For unit impulse input, X(s) = 1

Scan this QR code to report an

37 http://www.examdost.com
Error in this Document
 Control Systems

Y(s) (s+ 7)
H(s) = = ;
X(s) s2 + 4s + 29
7
DC gain = H(s) = = 0.2413
s =0 29

42. Ans: (a)

Solution:
 1 − 2s 
Transfer function, G(s) =  
 1+s 
1
Laplace transform of u(t)=U(s)=
s
(1 − 2s) 1 3
Y(s) = G(s)U(s) = = −
s(1 + s) s (1 + s)
(
y(t) = 1 − 3e− t u(t) )
At t = 0, the value of y(t) = -2. Hence, the step response looks like as shown below,

43. Ans: (b)

Solution:
Given,  = 0.5 , n = 10 rad / sec

The transfer function of second order system is given by,

C (s) K K
G(s) = = = 2
R (s) s + 2ns + n s + 10s + 100
2 2

K
C (s) = .R ( s )
s + 10s + 100
2

1
Unit step input, R s = () s
K
C (s) =
(
s s + 10s + 100
2
)
Steady-state value = 1.02

Lt c ( t ) = 1.02
t →

Using final-value theorem,

Scan this QR code to report an

38 http://www.examdost.com
Error in this Document
 Control Systems

K
Lt s  = 1.02
s→0
(
s s + 10s + 100
2
)
K
= 1.02
100
K = 102
102
Therefore, T.F. =
s2 + 10s + 100

44. Ans: 0.554

Solution:

Y (s) = G (s ) X (s ) =
(1 − s)  1 = (1 − s ) = 1 − 2
( 1 + s ) s s (1 + s ) s s + 1
( )
y ( t ) = 1 − 2e− t u ( t )
At t = 1.5sec
( )
y = 1 − 2e−1.5 = 0.5537

45. Ans: (d)

Solution:
The transfer function is,
Ks + b
G(s) =
s + as + b
2

Ks + b 1  1
C(s) = R(s) G(s) =  2  R(s) = 2 
s + as + b s
2
 s 
1  Ks + b 
error = R(s) − C(s) = 1 − 2 
s2  s + as + b 

1  s + (a − K ) s 
2

E(s) =  
s2  s2 + as + b 
Steady state error, e(  ) = lim sE(s)
s→0

s  s2 + (a− K)s  a − K
e() = lim 2  2 =
s →0 s  s + as + b  b

46. Ans: (c)

Solution:
For maximum peak overshoot,   1
For all 4 options, n = 10 rad/ sec
10
For (a),  = = 0.5
2  10
15
For (b),  = = 0.75
2  10
5
For (c),  = = 0.25
2  10

Scan this QR code to report an

39 http://www.examdost.com
Error in this Document
 Control Systems

20
For (d),  = =1
2  10
Lowest value of  gives highest overshoot.
Hence, (c) will have maximum peak overshoot.

47. Ans: (0.67)

Solution:
1
GH ( s ) =
( s + 1)( s + 2)
For unit step input, Kp = limGH s
s →0
()
1 1 2
ess = = = = 0.67
1 + Kp 1 + 1 2 3

48. Ans: (c)

Solution:
P.
n2 = 15, n = 15
2n = 5
5
= 1 [Under damped]
2 15

Q.
n2 = 25, n = 5
2n = 10
 =1 [Critically damped]
R.
n2 = 35, n = 35
2n = 18
18
= 1 [Over damped]
2 35

49. Ans: (8)

Solution:
Based on response shown
Steady state output = 0.8
1
ess = 1 − 0.8 = 0.2 =
1 + kP
kP = 4
k K
kP = limG ( s ) H ( s ) = lim =
S →0
( s + 1)( s + 2) 2

k = 2kP = 8

Scan this QR code to report an

40 http://www.examdost.com
Error in this Document
 Control Systems

50. Ans: (b)

Solution:
10
Y (s) =
(
s s + s + 100 2
2
)
This system has two poles in left half plane & one pole at origin so we can apply final value theorem
1
y (  ) = limY ( s ) =
S →0
10 2

51. Ans: (b)

Solution:

steady state speed 10 rad/s

dc gain = = =2
input voltage 5V

Speed = 6.32 rad/s at 0.5 s

i.e. 63.2% of steady state speed

∴ τ = 0.5 sec

k 2
Pransfer function = =
1 + ST 0.5s + 1

52. Ans: (a)

Solution:

Transfer function of above system after simplification is

C(s) 100
=
R(s) s2 + 10s + 100

n2
=
s2 + 2ns + n2

n = 10rad / sec

 = 0.5

Scan this QR code to report an

41 http://www.examdost.com
Error in this Document
 Control Systems

Chapter 3 – Stability

01. For what range of K is the following system (figure)

asymptotically stable? Assume K  0 [1992]

08. None of the poles of a linear control system lie in the

right half of s-plane. For a bounded input, the output of this
system [1998]
(a) Is always bounded (b) Could be unbounded
(c) Always tends to zero (d) None of the above
02. The closed loop system, of figure, is stable if the transfer
C (s) 09. The number of roots on the equation
()
function T s =
R (s)
is stable. (True/False)
2s4 + s3 + 3s2 + 5s + 7 = 0 that lie in the right half of S
plane is: [1998]
[1994]
(a) Zero (b) One
(c) Two (d) Three

10. The characteristic equation of a feedback control system

is: 2s4 + s3 + 3s2 + 5s + 10 = 0 [2000]
The number of roots in the right half of s-plane are :
(a) Zero (b) 1
03. The number of positive real roots of the equation, s3- (c) 2 (d) 3
2s+2=0 is _______________. [1994]
11. The loop gain GH of a closed system is given by the
() ()
04. Closed loop stability implies that 1 + G s H s  has
following expression
K
only _______________ in the left half of the s-plane. s ( s + 2 )( s + 4 )
[1995] The value of K for which the system just becomes unstable
is [2003]
05. The characteristic equation for a certain feedback (a) K = 6 (b) K = 8
control system is given by [1995] (c) K = 48 (d) K = 96
s4 + 20s3 + 15s2 + 2s + K = 0
(i) Find the range of K for stability 12. For the equation, s3 − 4s2 + s + 6 = 0 , the number of
(ii)What is the frequency in rad/sec at which the system will roots in the left half of s-plane will be [2004]
oscillate? (a) Zero (b) One
(iii) How many roots of the characteristic equation lie in the (c) Two (d) Three
right half of the s-plane for K=5?
13. A unity feedback system, having an open loop gain
06. The system represented by the transfer function K (1 − s )
G ( s )H(s ) = , becomes stable when [2005]
G(s) = 4
s2 + 10s + 24
has pole(s) in the right- (1 + s )
s + 6s3 − 39s2 + 19s + 84
(a) K  1 (b) K  1
half s-plane [1997]
(c) K  1 (d) K  −1
07. Determine whether the system given by the block
diagram of figure, is stable [1997]
14. The algebraic equation F(s) = s5 – 3s4 + 5s3 – 7s2 + 4s +
20 is given F(s) = 0 has [2006]
(a) A single complex root with the remaining roots being real

Scan this QR code to report an

42 http://www.examdost.com
Error in this Document
 Control Systems

(b) One positive real root and four complex roots, all with (b) Two roots at s = j2 and one root in left half s-plane.
positive real parts. (c) Two roots at s = j and one root in right in half s-plane.
(c) One negative real root, two imaginary roots and two (d) Two roots at s = j and one root in left half s-plane.
roots with positive real parts.
(d) One positive real root, two imaginary roots, and two 19. A open loop system represented by the transfer function
roots with negative real parts.
G(s) =
( s − 1) is [2011]
15. The system shown in the figure is [2007] ( s + 2)(s + 3)
(a) stable and of the minimum phase type

(b) stable and of the non-minimum phase type

(c) unstable and of the minimum phase type

(d) unstable and of the non-minimum phase type

(a) Stable 20. The feedback system shown below oscillates at 2rad/s
(b) Unstable when [2012]
(c) Conditionally stable
(d) Stable for input u1, but unstable for input u2

16. If the loop gain K of a negative feedback system having

K ( s + 3)
a loop transfer function is to be adjusted to induce
(s + 8)
2

(a) K = 2 and a = 0.75 (b) K = 3 and a = 0.75

a sustained oscillation then [2007]
4 (c) K = 4 and a = 0.5 (d) K = 2 and a = 0.5
(a) The frequency of this oscillation must be rad/s
3
21. In the formation of Routh – Hurtwitz array for a
(b) The frequency of this oscillation must be 4 rad/s polynomial, all the elements of a row have zero values. This
4 premature termination of the array indicates the presence of
(c) The frequency of this oscillation must be 4 or
3 [2014-01]
rad/s (a) only one root at the origin
(d) Such a K does not exist (b) imaginary roots
(c) only positive real roots
17. Figure shows a feedback system where K>0. (d) only negative real roots
The range of K for which the system is stable will be given
by [2008] 22. For the given system, it is desired that the system be
stable. The minimum value of  for this condition is
______________. [2014-01]

(a) 0  K  30 (b) 0  K  39
(c) 0  K  390 (d) K  390 23. A system with the open loop transfer function
[2014-02]
18. The first two rows of Routh's tabulation of a third order
K
equation are as follows. [2009] G(s) =
s3 2 2 (
s ( s + 2 ) s2 + 2s + 2 )
s2 4 4 is connected in a negative feedback configuration with a
The means there are feedback gain of unity. For the closed loop system to be
(a) Two roots at s = j and one root in right half s-plane. marginally stable, the value of K is __________.

Scan this QR code to report an

43 http://www.examdost.com
Error in this Document
 Control Systems

24. Given the following polynomial equation 30. Which of the following option is correct for the system
s + 5.5s + 8.5s + 3 = 0 ,
3 2 shown below? [2020]
the number of roots of the polynomial, which have real parts
strictly less than -1, is ___________. [2016-01]

25. The open loop transfer function of a unity feedback

control system is given by [2016-02]
K (s + 1)
G(s) = , K  0, T  0 .`
s (1 + Ts )(1 + 2s ) (a) 3rd order and stable
The closed loop system will be stable if. (b) 4th order and unstable
(c) 4th order and stable
4 (K + 1 ) 4 ( T + 2)
(a) 0  T  (b) 0  K  (d) 3rd order and unstable
K −1 T−2
T+2 8 (K + 2 ) 31. Consider a negative unity feedback system with the
(c) 0  K  (d) 0  T 
T−2 K −1 s2 + s + 1
forward path transfer function , where K
s3 + 2s2 + 2s + K
26. A closed loop system has the characteristic equation is a positive real number. The value of K for which the
3 2
( )
given by s + Ks + K + 2 s + 3 = 0 . For this system to be system will have some of its poles on the imaginary axis is
stable, which one of the following conditions should be [2020]
satisfied? [2017-01]
(a) 9 (b) 8
(a) 0  K  0.5 (b) 0.5  K  1
(c) 0  K  1 (d) K  1 (c) 7 (d) 6

27. The range of K for which all the roots of the equation
s3 + 3s2 + 2s + K = 0 are in the left half of the complex s- 32. The open loop transfer function of a unity gain negative
plane is [2017-02] k
feedback system is given by G(s)= . The range of
(a) 0  K  6 (b) 0  K  16 s + 4s − 5
2

(c) 6  K  36 (d) 6  K  16 k for which the system is stable, is [2022]

(a) k > 3 (b) k < 3
28. The number of roots of the polynomial, (c) k > 5 (d) k < 5
s + s + 7s + 14s + 31s + 73s + 25s + 200 ,
7 6 5 4 3 2
in the
open left half of the complex plane is [2018]
(a) 3 (b) 4
(c) 5 (d) 6

29. The Characteristic equation of a linear time-invariant

(LTI) system is given by
 ( s ) = s4 + 3s3 + 3s2 + s + k = 0
The system is BIBO stable if [2019]
12 8
(a) 0  k  (b) 0  k 
9 9
(c) k  3 (d) k  6

Scan this QR code to report an

44 http://www.examdost.com
Error in this Document
 Control Systems

Solutions
4
01. Ans: ( 0  k  )
5
Solution:
C.E. : 1 + G ( s ) H ( s ) = 0
 s −5 
= 1 +  k = 0
s+ 4
s + 4 + (s − 5)k = 0
s (1 + k ) + 4 − 5k = 0
 5k − 4 
s= 
 1+k 
 5k − 4 
For stability, roots must lie on left half of s-plane i.e. value of   must be negative.
 1+k 
Since k>0,
5k − 4  0
k4
5
4
0k 
5

02. Ans: (True)

Solution: C(s)/R(s) is closed loop TF and for stability of the system, its closed loop transfer function should be stable.

03. Ans: (0)

Solution:
s3 − 2s + 2 = 0
Roots of the equation are: -1.77, 0.88  j0.59
Hence, there is no positive real root.
Note: This question can also be solved by Routh-Hurwitz criterion.

04. Ans: (Zeros)

Solution: All the roots of the characteristic equation (i.e. zeros of 1+G(s)H(s) ) must lie on the left half of s-plane for the
closed loop system to be stable.

05. Ans: (0 < k 1.49, 0.316 rad/sec, 2)

Solution:
Characteristic equation
s4 + 20s3 + 15s2 + 2s + k = 0
(i) By Routh criteria

Scan this QR code to report an

45 http://www.examdost.com
Error in this Document
 Control Systems

s4 1 15 k
s3 20 2
s2 14.9 k
29.8 − 20k
s1
14.9
s0 k
Since all coefficient in first column must be positive
29.8 − 20k  0
29.8
k = 1.49
20
Range of k : 0  k  1.49
(ii) For oscillation coefficient of s’ should be zero
k = kmax = 1.49
Auxiliary equation
14.9s2 + 1.49 = 0
s2 = − 1
10
j
s= =  j0.316
10
Frequency of oscillation= 0.316 rad/sec
(iii) If k=5, coefficient of s’ because negative. So, there are two sign changes and hence two roots of characteristic equation
lie in right half plane.

06. Ans: (2)

Solution:
Given T.F. is closed loop transfer function.
s2 + 10s + 24
G(s) =
s4 + 6s3 − 39s2 + 19s + 84
C.E.: s4 + 6s3 − 39s2 + 19s + 84
By using RH criteria

1 −39 84
s4
6 19
s3
s2 ( 6 )( −39 ) − 19 = −42 84
6

s1
( −42 )(19 ) − ( 84 )(6 ) = + ve
−42
s0
84
The number of sign changes in the first column is 2.
Two poles are present in the R.H.S of s-plane.
Tip: Whenever it is written just “transfer function” and nature of feedback is not mentioned, by default assume it to be
closed loop transfer function.

Scan this QR code to report an

46 http://www.examdost.com
Error in this Document
 Control Systems

07. Ans: (Stable)

Solution:
The given block diagram can be converted to signal flow graph

12
Forward path gain= =
( )( + 3)( s − 4 )
s + 1 s
Loop gain
−16 −8
L1 = L3 =
(s − 4 ) ( s + 3)
−3
L2 =
( s + 3)( s − 4 )
L1 and L 3 are non-touching
12

Gain =
( s + 1)( s + 3)( s − 4 ) =
12
1+
16
+
8
+
3
+
128 ( s + 1) s 2
+ 23s + 135 
( s − 4 ) ( s + 3) ( s + 3)( s − 4 ) ( s + 3)( s − 4 )
Since all coefficient of 2nd order term are positive so its roots lies in LHP
Also s + 1 = 0 gives a pole in LHP. Hence all poles lie in LHP & system is stable

08. Ans: (b)

Solution:
Even if there are no poles on right half of s-plane, we cannot say that the system must be stable. This is because we cannot
rule out the possibility of repeated poles on imaginary axis which make the system unstable. Hence, correct choice would
be option (b).

09. Ans: (c)

Solution:
Given
C.E  2s4 + s3 + 3s2 + 5s + 7 = 0
2 3 7
s4
1 5 0
s3
2 (1 )( 3 ) − 5 ( 2 ) (1 )( 7 ) − 0 = 7
s = −7
1 1

s1
( −7 )(5 ) − 7 (1 ) = 6
−7 0
s0
7
Number of sign changes ‘+’ to ‘-’ & ‘-’ to ‘+’ =2
Two poles lies in the right half of s-phase

Scan this QR code to report an

47 http://www.examdost.com
Error in this Document
 Control Systems

10. Ans: (c)

Solution:
Characteristic equation: 2s4 + s3 + 3s2 + 5s + 10 = 0
Routh-array:

S4 2 3 10
S3 1 5 0

S2
(1)(3) − (5)( 2) = −7 (1 )(10 ) − (2)(0) = 10
1 1

S1
( )( ) − 10 (1 )
−7 5
=
45
0
−7 7
S0 10 0

Total two sign changes in the first column.

No. of roots in the right half of s – plane = 2

11. Ans: (c)

Solution:
() ()
C.E. : 1 + G s H s = 0

k
1+ =0
S ( S + 2 )( S + 4 )
(S )(S + 2 )(S + 4 ) + k = 0
s3 + 6s2 + 8s + k = 0
Using Routh-Hurwitz criterion,

s3 1 8
s2 6 k
48 − k
s1 0
6
s0 k
s1 row must become a row of complete zeros for system to just become unstable.
48 − k
=0
6
k = 48

12. Ans: (b)

Solution:
s3 − 4s2 + s + 6 = 0
S3 1 1
S2 −4 6

S1
( −4 )(1) − ( 6 )(1 ) = 2.5 0
−4
S0 6
Two sign changes in first column of the Routh array.

Scan this QR code to report an

48 http://www.examdost.com
Error in this Document
 Control Systems

Therefore, two roots are there in R.H.S. of s-plane & one root in L.H.S. of s-plane, since the total number of roots must be
three.

13. Ans: (c)

Solution:
K (1 − s )
() ()
Given G s H s =
(1 + s )
C.E. : 1 + G ( s ) H ( s ) = 0

( 1 + s ) + K (1 − s ) = 0
s ( 1 − K ) + (K + 1 ) = 0

s=−
(K + 1 ) = K + 1
1 −K K −1
System becomes stable only when s is negative (i.e. root lies in the LHP)
( K + 1 )  0 & (K − 1 )  0 or ( K + 1 )  0 & (K − 1 )  0
K > -1 & K < 1 K < -1 & K > 1
−1  K  1 Not possible
K 1

14. Ans: (c)

Solution:
F(s) = s5 – 3s4 + 5s3 – 7s2 + 4s + 20 = 0
Apply Routh Criteria

s5 1 5 4
s4 −3 −7 20
s3 8/3 32/3
Take 8/3 common
s3 1 4
Take 5 common
s2 5 20
s2 1 4
s1 0
Auxiliary equation
A(s) = s2 + 4 = 0
s = ± j2
dA (s)
= 25
ds
s2 1 4
s1 2
s0 4
• Hence, there are 2 sign changes in first column, there are 2 roots with positive real parts.
• There are 2 imaginary roots of auxiliary equation.
• So, remaining 1 root has negative real aort.

Scan this QR code to report an

49 http://www.examdost.com
Error in this Document
 Control Systems

15. Ans: (d)

Solution:
Case (1): Let U ( t ) = 0
2
 s −1 
 
( )
T =
F
s+2  s −1 
=
 s − 1  1   s + 3 

1+  
 s + 2  s − 1 
As we can see, there are no poles on RHS of s-plane. Hence it is stable.

Case (2): Let U ( t ) = 0

1

 1 
 
Y (s) =  s −1 =
s+2
2  1  s − 1  ( s − 1 )( s + 3 )
1+  
 s − 1  s + 2 
As we can see, there is one pole on RHS of s-plane. Hence it is unstable.

16. Ans: (b)

Solution:
K ( s + 3)
G ( s ) H( s ) =
(s + 8)
2

C.E. : 1 + G ( s ) H ( s ) = 0
K ( s + 3)
1+ =0
( s + 8 )2
s2 + 16s + 64 + sK + 3K = 0
Routh – array :

s2 1 64 + 3K
s 16 + K
1

s0 64 + 3K

16 + K = 0
K = -16
s2 + 64 + 3 ( −16 ) = 0
s2 + 16 = 0
s = ± 4j
Comparing with s=j  , frequency of oscillation = 4 rad/sec

17. Ans: (c)

Solution:
C.E. : 1+G(s)H(s)=0

Scan this QR code to report an

50 http://www.examdost.com
Error in this Document
 Control Systems

s ( s + 3 )( s + 10 ) + K = 0
s3 + 13s2 + 30s + K = 0
R.H. criteria:
s3 1 30
s2 13 K
s1 390 − K
13
s0 K
For system to be stable, first column shouldn’t have any sign changes.
390 − K
K0 & 0
13
K − 390  0
K < 390
Therefore, 0 < K < 390

18. Ans: (d)

Solution:
s3 2 2
s2 4 4
s1 8 0
s0 4 0
d d
Auxiliary equation: A ( s ) = (4s2 + 4) = 8s + 0
ds ds
Roots of auxiliary equation:
4s2 + 4 = 0
s =  j1
Therefore, two roots at s= ± j & since there is no sign change in the first column of the Routh array, the remaining one root
will in left half of the s – plane.

19. Ans: (b)

Solution:

G(s) =
(s − 1)
( 2)( s + 3)
s +
Transfer Function having zeroes or poles in the R.H.S. of s-plane are known as Non minimum phase functions.
In this function s=1 is a zero in Right Half Plane. So, it is a Non-minimum Phase Function.
C.E. : 1 + G ( s ) H ( s ) = 0

( s + 2 )( s + 3) + ( s − 1 ) = 0
s2 + 5s + 6 + s − 1 = 0
s2 + 6s + 5 = 0
( s + 1 )( s + 5 ) = 0
s = -1 ; s = -5
Closed loop poles on the left side of ‘S’ plane.
System is stable and of non – minimum phase type.

Scan this QR code to report an

51 http://www.examdost.com
Error in this Document
 Control Systems

20. Ans: (a)

Solution:

Characteristic Equation 1 + G s H s = 0 () ()
k (s + 1)
1+ =0
s3 + as2 + 2s + 1

s3 + as2 + s (k + 2 ) + (1 + k ) = 0
Forming Routh Array
s3 1 k + 2

s2 a 1+k

s1
( a)( 2 + k ) − (k + 1)
a
s 0
1+k
Since, the system oscillates so it must be marginally stable and thus coefficient of s1 should be 0.

( a)( 2 + k ) − (k + 1) = 0
a
k +1
Hence, a =  
k +2
2
Auxiliary Equation: as + 1 + k = 0
The roots of this equation give the oscillation frequency which is 2 rad/sec
1+k
=2
a
Solving the above two equations, K = 2
2+1 3
a= = = 0.75
2+2 4

21. Ans: (b)

Solution:
If an entire row of elements is zero, then we form an auxiliary polynomial whose roots are imaginary and hence, it shows
presence of imaginary roots.

22. Ans: (0.62)

Solution:
Characteristic equation of the system, 1 + G(s) = 0
s3 + (1 +  ) s2 + (  − 1 ) s + (1 −  ) + ( s +  ) = 0

s3 + (1 +  ) s2 + s + 1 = 0

s3 1 α → Routh criterion
2
s (1 + α) 1

Scan this QR code to report an

52 http://www.examdost.com
Error in this Document
 Control Systems

s1
( 2 +  − 1 )
(1 +  )
s0 1
For system to be stable, (α + 1) > 0; α > –1
(
Also,  2 +  − 1  0 )
The roots of this equation are
−1  1 + 4 −1  5
α= = = 0.62 , –1.62
2 2
2 +  − 1  0 iff α< –1.62 or α > 0.62
If α < –1.62 , (α + 1) < 0 & hence, system will be unstable.
Therefore, for system to be stable, α > 0.62
Hence minimum value is 0.62.

23. Ans: (5)

Solution:
Characteristic equation of system, 1 + G(s) = 0
(
s ( s + 2 ) s2 + 2s + 2 + K = 0 )
s + 4s + 6s + 4s + K = 0
4 3 2

Applying Routh- Hurwitz criterion,

s4 1 6 K
s3 4 4
s2 5 K
 20 − 4K 
s1  
 5 
s0 K
For marginally stable system,
20 – 4K = 0  K = 5

24. Ans: (2)

Solution:
To shift the Imaginary axis to s = -1,
z = s +1
s = z −1
Putting this value in given polynomial
( z − 1) + 5.5 ( z − 1 ) + 8.5 ( z − 1 ) + 3 = 0
3 2

z3 + 2.5z2 + 0.5z − 1 = 0
Applying Routh-Hurwitz criterion,
z3 1 0.5
z 2 2.5 −1
z1 0.9 
 one sign change
z0 −1 
Since only one sign change is there, only one root lies on right side of s = −1 plane. So remaining two roots lie on left of
s = −1 plane.

Scan this QR code to report an

53 http://www.examdost.com
Error in this Document
 Control Systems

25. Ans: (c)

Solution:
K (s + 1)
()
Given, G s =
s (1 + Ts )(1 + 2s )
K  0,T  0

Its characteristic equation with unity feedback,

1 + G (s)H(s) = 0
K (1 + s )
1+ =0
s (1 + Ts )(1 + 2s )
s (1 + Ts )(1 + 2s ) + K (1 + s ) = 0
s 1 + 2s + sT + 2Ts2  + K + Ks = 0

2Ts3 + s2 ( T + 2 ) + s + Ks + K = 0
2Ts3 + s2 ( T + 2 ) + s (K + 1 ) + K = 0
Routh Hurwitz Array is,

s3 2T K +1
s2 T+2 K

s1
( T + 2)(K + 1) − 2KT 0
T+2
s0 K

For stability, the sign of first column elements should be same.

2T  0 , T  0 which is given
Hence, sign of all other elements in first column should also be positive
T + 2  0 , T  −2 which is true since T > 0
( T + 2)(K + 1 ) − 2KT  0
T+2
KT + T + 2K + 2 − 2KT  0
−KT + 2K + T + 2  0
K (2 − T )  − ( T + 2)
K ( T − 2)  T + 2
T+2
K
T−2
K0
T+2
Therefore, for stability, 0  K 
T−2

26. Ans: (d)

Solution:
Characteristic equation
s3 + ks2 + (k + 2 ) s + 3 = 0
Routh array

Scan this QR code to report an

54 http://www.examdost.com
Error in this Document
 Control Systems

s3 1 (k + 2 )
s 2
k 3
k (k + 2 ) − 3
s1
k
s0 3
For system to be stable, all elements in first column must be positive
k2 + 2k − 3 = 0
(k + 3)(k − 1 ) = 0
Root are k = –3 & k = 1
So equations will be positive −  k  −3 and 1  k  

27. Ans: (a)

Solution:
Equation: s3 + 3s2 + 2s + K = 0
Forming Routh Array
s3 1 2
s2 3 K
s1 6 −k
3
s0 K
For all roots in left half plane, all coefficients in first column must be positive
K  0 and 6 − K  0, K  6
Hence, range 0 < K < 6

28. Ans: (a)

Solution:
s7 + s6 + 7s5 + 14s4 + 31s3 + 73s2 + 25s + 200 = 0
s7 1 7 31 25
s6 1 14 73 200
s5 -7 -42 -175
s5 -1 -6 -25
s4 8 48 200
s4 1 6 25
s3 0 0
Auxiliary equation, s + 6s + 25 = 0
4 2

dA ( s )
= 4s3 + 12s
ds
s4 1 6 25
s3 1 3
s2 3 25

s1
− 16
3
s 0
25
Sign change below auxiliary equation =2

Scan this QR code to report an

55 http://www.examdost.com
Error in this Document
 Control Systems

Hence, there are 2 symmetrical RHP & LHP order of auxiliary equation =4
Hence, there are no imaginary poles
Total sign change=4
Hence, 4 RHP & 3 LHP

29. Ans: (b)

Solution:
Applying Routh Criteria
s4 + 3s3 + 3s2 + s + k = 0

s4 1 3 K

s3 3 1

s2 8 K
3
s1 8 − 3k
3
8
3
s0 K

For stable system, all elements in first column must be greater than 0
8
Hence, k>0 & − 3k  0
3
8
Or, k 
9

30. Ans: (b)

Solution:
20
1+ =0
s (s + 1)(s + 20)
2

(s 3
)
+ s2 (s + 20) + 20 = 0
,
s + 20s + s + 20s + 20 = 0
4 3 3 2

s4 + 21s3 + 20s2 + 20 = 0
s1 coefficient = 0
Given system is fourth order system and unstable.

31. Ans: (b)

Solution:
CE is 1+G(s) H(s)=0
s2 + s + 1
 1+ =0
s3 + 2s2 + 2s + K
 s3 + 3s2 + 3s + (1 + K) = 0
R.H. Criteria :

Scan this QR code to report an

56 http://www.examdost.com
Error in this Document
 Control Systems

For marginal stability,

9 – (1 + K) = 0
K=8

32. Ans: (b)

Solution:
Characteristics equation,
1+G(s)=0
s2 + 2s + (k − 5) = 0
By Routh table analysis,
k  5 and k  0
For stable system k>5

Scan this QR code to report an

57 http://www.examdost.com
Error in this Document
 Control Systems

Chapter 4 – Root Locus Technique

01. A unity feedback system has an open-loop transfer 04. A unity feedback system has open-loop transfer
function of the form [1991] function [2000]
K ( s + a) K (s + 5)
G(s) = ;b  a G(s) = ;K0
s (s + b)
2
s (s + 2)
Which of the loci shown in figure can be valid root-loci for (a) Draw a rough sketch of the root locus plot; given that the
the system? complex roots of the characteristic equation move along a
circle.
(b) As K increases, does the system become stable? Justify
your answer.
(c) Find the value of K (if it exists) so that the damping  of
the complex closed loop poles is 0.3

05. Given the characteristic equation [2001]

s + 2s + Ks + K = 0.
3 2

Sketch the root locus as K varies from zero to infinity. Find

the angle and real axis intercept of the asymptotes, break-
away/break-in points, and imaginary axis crossing points, if
any.

06. A unity feedback system has an open loop transfer

K
function, G s =() s2
. The root locus plot is [2002]

02. A unity feedback system has the forward loop transfer

function [1991]
K (s + 2)
2

G(s) =
s2 ( s − 1 )
(a) Determine the range of K for stable operation
(b) Determine the imaginary axis crossover points
(c) Without calculating the real axis break-away points.
Sketch the form of root loci for the system

03. Which of the following figure(s) represent valid root loci

in the s-plane for positive K? Assume that the system has a
transfer function with real co-efficient. [1992] 07. The open loop transfer function of a unity feedback
system is given by [2002]
2 (s +  )
G(s) =
s ( s + 2 )( s + 10 )
Sketch the root locus as  varies from 0 to ∞. Find the angle
and real axis intercept of the asymptotes, breakaway points
and the imaginary axis crossing points, if any.

Scan this QR code to report an

58 http://www.examdost.com
Error in this Document
 Control Systems

08. Figure shows the root locus plot (location of poles not 10. The characteristics equation of a closed-loop system is
given) of a third order system whose open loop transfer s ( s + 1 )( s + 3 ) + k ( s + 2 ) = 0, k  0 . Which of the
function is: [2005]
following statements is true? [2010]
(a) Its root are always real
(b) It cannot have a breakaway point in the range
−1  Re s   0
(c) Two of its roots land to infinity along the asymptotes
Re s  = −1
(d) If may have complex roots in the right half plane.

11. The open loop transfer function G(s) of a unity feedback

K K
control system is given as, G s = ()
(
k s+ 2
3 )
(a) 3 (b) 2
s s (s + 1) (s + 2)
From the root locus, it can be inferred that when k tends to
K K
(c) (d) positive infinity, [2011]
(
s s2 + 1 ) (
s s2 − 1 ) (a) three roots with nearly equal real parts exist on the left
half of the s-plane
09. A closed loop system has the characteristic function (b) one real root is found on the right half of the s-plane
(c) the root loci cross the j axis for a finite value of k;
(s 2
)
− 4 ( s + 1 ) + K ( s − 1 ) = 0 . Its root locus plot against K k0
(d) three real roots are found on the right half of the s-
is [2006]
plane

12. The root locus of a unity feedback system is shown in

the figure
The closed loop transfer function of the system is
[2014-01]

C (s) K
(a) =
R (s) (s + 1)(s + 2)
C (s) −K
(b) =
R (s) ( )( s + 2 ) + K
s + 1

C (s) K
(c) =
R (s) ( s + 1)( s + 2 ) − K
C (s) K
(d) =
R (s) ( s + 1)( s + 2 ) + K

Scan this QR code to report an

59 http://www.examdost.com
Error in this Document
 Control Systems

13. The open loop poles of a third order unity feedback 15. The gain at the breakaway point of the root locus of a
system are at 0, -1, -2. Let the frequency corresponding to unity feedback system with open loop transfer function
the point where the root locus of the system transit to Ks
unstable region be K. Now suppose we introduce a zero in G(s) = is [2016-02]
the open loop transfer function at -3, while keeping all the (s − 1)(s − 4 )
earlier open loop poles intact. Which one of the following is (a) 1 (b) 2
TRUE about the point where the root locus of the modified (c) 5 (d) 9
system transits to unstable region? [2015-01]
(a) It corresponds to a frequency greater than K 16. The root locus of the feedback control system having the
(b) It corresponds to a frequency less than K characteristic equation s2 + 6Ks + 2s + 5 = 0 where K>0,
(c) It corresponds to a frequency K enters into the real axis at [2017-02]
(d) Root locus of modified system never transits to unstable
region. (a) s = –1 (b) s = − 5
(c) s = –5 (d) s = 5
14. An open loop transfer function G(s) of a system is
[2015-02]
K
G(s) =
s ( s + 1 )( s + 2 )
For a unity feedback system, the breakaway point of the root
on the real axis occurs at,
(a) -0.42 (b) -1.58
(c) -0.42 and -1.58 (d) none of the above

Scan this QR code to report an

60 http://www.examdost.com
Error in this Document
 Control Systems

Solutions
01. Ans: (a)
Solution:
k ( s + a)
G(s) = ;b  a
s2 ( s + b )
(1) P = 3,Z = 1;(P − Z) = 2
(2) 2 asymptotes’ angle= 900 ,2700

(3) Centroid= =
( −b ) − ( −a) = a − b ; −Ve
P−Z 2
(4) A point/section on the real axis is part of the root locus if sum of poles and zeroes to the right of it is odd.
Hence, option ‘a’ is correct.

02. Ans: K>2 and ±j2 2

Solution:
k (s + 2)
2

kG ( s ) =
s2 ( s − 1 )

(a) Characteristic equation: 1 + kG s = 0 ()

k (s + 2)
2

1+ =0
s2 ( s − 1 )
s3 + s2 (k − 1 ) + 4ks + 4k = 0
By Routh criteria
s3 1 4k
s2 ( − 1)
k 4k
4k (k − 1 ) − 4k
s1
(k − 1 )
s 0
(k − 1 )
All elements of first column should be positive
k −1  0  k  1
Also, 4k 2 − 6k  0
4k (k − 2 )  0
So, k  2
Range of k for stable operation, k  2

(b) For imaginary axis cross-over point coefficient of s = 0

1

( 4k 2
)
− 8k = 0
K=2
(
Auxiliary equation, k − 1 s2 + 4k = 0 )
s2 + 8 = 0
s =  j2 2

Scan this QR code to report an

61 http://www.examdost.com
Error in this Document
 Control Systems

Cross over points= j2 2 and − j2 2

(c) The general shape of root locus will be as shown below
Since the section of real axis between
0 and 1 lies on root locus, there will be
a break away point between them
Also at − and -2 there are 2 consecutive
zeros so there will be a break-in point between them.

03. Ans: (a)

Solution: -Root locus is symmetrical about the real axis.
-After originating from pole, root locus must terminate at a zero or at infinity.
-A point/section on the real axis is part of the root locus if sum of the poles and zeroes to the right of it is odd.

Hence, option (a) is correct

04. Ans: ()
Solution:
(a) Since, complex roots lie along a circle. The root locus looks like as shown below.

(b) As k increases. The branches of root locus move left and hence system becomes more stable.

(c) Closed loop transfer function

G(s)
T (s) =
1 + G(s)
k (s + 5)
T (s) =
s + ( 2 + k ) s + 5k
2

Characteristic equation
s2 + ( 2 + k ) s + 5k = 0

n = 5k
2n = ( 2 + k )

=
( 2 + k ) = 0.3
2 5k
k + 4k + 4
2
= 0.09
20k

Scan this QR code to report an

62 http://www.examdost.com
Error in this Document
 Control Systems

k2 + 2.2k + 4 = 0
The roots of this equation are complex in nature. Hence, no real value of K exists.
Hence, no such value of k exists such that  = 0.3

05. Ans: 90, 270, s = -0.5, s=0, No Imaginary Crossing

Solution:
Characteristic equation
s3 + 2s2 + Ks + K = 0
K(s + 1)
1+ =0
s3 + 2s2
Comparing it with 1 + G(s) + H(s) = 0
K(s + 1)
G(s) H(s) =
s2 (s + 2)
1. Number of poles = 3
Number of zeroes = 1
Number of asymptotes = P – Z = 2

2. Angle of asymptotes
(150 + 1) 180
1 = = 180 = 90
P−z 2
(2  1 + 1)
2 =  180 = 270
1

Re (poles) −  Re (zeroes) (0 + 0 − 2) − ( −1)

3. Centroid =  = = –0.5
P−z 2
4. From Characteristic Equation
s2 (s + 2)
K= −
(s + 1)
dk  (3s2 + 4s) (s + 1) − (s3 + 2s2 ) 
= −  =0
ds  (s + 1)2 
2s3 + 5s2 + 4s = 0
s (2s2 + 5s + 4) = 0
s = 0 and s = –1.25 ± j 0.66
Out of these only s=0 os a valid breakaway point since it lies between two poles at origin

5. Imaginary axis crossing

Routh array

s3 1 k

s2 2 k

2k − k
s1
2
s0 k
The coefficient of s1 can only be zero for k = 0
So, no imaginary axis intersection point except open loop poles at origin.
Based on the findings above the root locus is

Scan this QR code to report an

63 http://www.examdost.com
Error in this Document
 Control Systems

06. Ans: (b)

Solution: G s = k ()
s2
G(s) k
Closed loop T.F. = =
1 + G (s)H(s ) k + s2
s = j k
Root locus is nothing but plot of closed loop poles when gain ‘k’ varies from 0 to  .
As we can see, since the poles always lie only on imaginary axis, option b) is the correct choice.

07. Ans: (a)

Solution:
Differential equation
d2 y dy du
+ = + 2u
dt 2
dt dt
Taking Laplace transform both sides.
(s2 + s) Y(s) = (s + 2) U (s)
Y(s) s+2 s+2
= = 2
U(s) s(s + 1) s +s

08. Ans: (a)

Solution:
There are ’3’ asymptotes
→ 600 ,1800 ,3000
(P − Z ) = 3
Since all the branches at terminating at infinite, this implies
that there are no zeros. Hence, P=3, Z=0.
Also, since all the branches are originating from origin, this implies
that all the poles are at origin.
Hence, O.L.T.F. = K
s3

09. Ans: (b)

Solution:
(s 2
)
− 4 (s + 1) + K (s − 1) = 0

K (s − 1)
O.L.T.F: 1 + =0
(s2
)
− 4 (s + 1)
K (s − 1)
G ( s )H( s ) =
(s 2
)
− 4 (s + 1)
(a) O.L Zeros, Z = 1
(b) O.L. Poles, P = +2, -2, -1
(c)

Scan this QR code to report an

64 http://www.examdost.com
Error in this Document
 Control Systems

(d) (P - Z) = (3-1) = 2 asymptotes

Angle of asymptotes =
( 2q + 1)180 = 90 , 270 0 0

P−Z

(e) Centroid =
( 2) + ( −2) + ( −1) − (1) = −1
2

(f) B.A. points

( )
C.E. : s2 − 4 ( s + 1 ) + K ( s − 1 ) = 0

−s3 − s2 + 4s + 4
K=
s −1

( s − 1) −3s2 − 2s + 4  − (1) −s3 − s2 + 4s + 4 

dK =0 =0
ds 2
( s − 1)
−3s3 − 2s2 + 4s + 3s2 + 2s − 4 + s3 + s2 − 4s − 4 = 0

−2s3 + 2s2 + 2s − 8 = 0

s3 − s2 − s + 4 = 0
s = −1.48, (1.24  j1.07 )
s=-1.48 is the only valid breakaway point

10. Ans: (c)

Solution:
1 + G ( s ) H ( s ) = S ( s + 1 )( s + 3 ) + k ( s + 2 ) = 0

k (s + 2)
1+ =0
S ( s + 1 )( s + 3)

k. ( s + 2 )
G ( s )H( s ) =
s ( s + 1 )( s + 3)

Open loop poles (P) = 0, -1, -3

Open Loop Zeroes = -2
asymptotes (P - Z) = 2

Scan this QR code to report an

65 http://www.examdost.com
Error in this Document
 Control Systems

angle of asymptote  =
( 2q + 1)180 0

= 90, 270
(P − z )
−1 − 3 − ( −2 )
Centroid = = −1
2
Breakaway point lies between -1 & 0
One branch of Root Locus is real but two are complex so it has real as well as complex roots.
Since, entire Root Locus lies in LHP so all roots lie in LHP.
Two of its root tend to infinity along the asymptote Re s = −1 ()
11. Ans: (a)
Solution:

Given O.L.T.F. G s = ()
(
k s+ 2
3 )
2
s (s + 2)
Open loop poles → 0, 0, − 2

Open loop zero → −2

3
( a) P = 3, z = 1; Pz = 2
(b)

(c) Angle of Asymptotes

( 2q + 1)180 ;
=
P−Z
(
q = 0, 1............ (P − Z ) − 1 )
 = 900 , 2700

(d) Centroid =
 real part of poles −  real part of zero = ( −2) − (
−2
)
3 = −2
(P − Z ) 2 3
(e) B.A. points (where two poles meant each other at ready meeting at zero)
C.E. = 1 + G ( s ) H ( s ) = 0

(
s2 ( s + 2 ) + K s + 2
3 )=0
s3 + 2s2 + Ks + 2 K = 0
3
−s2 ( s + 2 )
K=
(
s+ 2
3 )
dK
=
(s + 23 ) −s2 (1) − 2 (s)(s + 2) + s2 (s + 2) = 0
ds 2
(s + 23 )

Scan this QR code to report an

66 http://www.examdost.com
Error in this Document
 Control Systems

(s + 2 3 ) −3s2 − 4s + s2 + 2s2 = 0

−3s3 − 4s2 − 2s2 − 8 s + s3 + 2s2 = 0
3

s 2s2 + 4s + 8  = 0
 3
s=0

This is a valid break-away point as it coincides with two poles at origin or we can say it lies between two consecutive poles.
The root locus of the system looks like as shown below,

When K tends to  the three roots nearly having same real part equal to -2/3 exist. The three roots lie along the three
branches of Root Locus.

12. Ans: (c)

Solution:
According to a rule of root locus, portion of real axis, on right side of which, the total number of poles and zeroes are odd,
lies on root locus.

But if we see here in the diagram, the portion of real axis lying on root locus has even number of poles and zeroes on its
right.
To the right of s = –1, there are no poles or zeroes.
Similarly, to the left of s = –2, there are no poles or zeroes.
This means it is a Complimentary Root Locus.This indicates presence of positive feedback.
Based on location of Poles and Zeroes,
K
Open loop transfer function =
( )( s + 2)
s + 1
G(s) K
Closed loop transfer function = =
1 − G(s) ( )( + 2) − K
s + 1 s

Scan this QR code to report an

67 http://www.examdost.com
Error in this Document
 Control Systems

13. Ans: (d)

Solution:
K
Open – loop transfer function =
s ( s + 1 )( s + 2 )
The root locus for this TF looks like
as shown in the first figure.

K ( s + 3)
Now, a zero is added at s = -3. Open loop transfer function now becomes=
s ( s + 1 )( s + 2 )
Characteristic Equation with unity feedback becomes,
K ( s + 3)
1 + G(s) = 1 + =0
s ( s + 1 )( s + 2 )
s3 + 3s2 + (K + 2 ) s + 3K = 0
In order to determine the intersection with Imaginary axis we can apply routh-hurwitz criterion,
s3 + 3s2 + (K + 2 ) s + 3K = 0
s3 1 (K + 2 )
s2
3 3
s K +1
s0 3
If K > 0, then all terms in first column of Routh Array are positive so the system is absolutely stable and root locus does not
intersect the imaginary axis and does not enter the Right Half Plane.

14. Ans: (a)

Solution:
Characteristic equation: 1 + G(s)H(s) = 0
For unity feedback, H(s) = 1
1+G(s)=0
s(s+ 1)(s+ 2) + K = 0
s3 + 3s2 + 2s + K = 0
K = −(s3 + 3s2 + 2s)
dK
= 0  (3s2 + 6s+ 2) = 0
ds
s = −0.42, −1.577
The root locus looks like:
So break-away point lies between 0 & -1. Also, it can remembered that real breakaway point lies on the section of real axis
which lies on rott locus between two consecutive poles.
Hence, s= -0.42 is the only valid break-away point.

15. Ans: (a)

Solution:
Ks
()
Given, G s =
( )( s − 4 )
s − 1
Its characteristic equation,

Scan this QR code to report an

68 http://www.examdost.com
Error in this Document
 Control Systems

1 + G (s)H(s) = 0
Ks
1+ =0
( s − 1)( s − 4 )
K=
− ( s − 1 )( s − 4 ) 
=
(
− s2 − 5s + 4 )
s s
dK
For breakaway point, =0
ds

=
2
(
dK − s ( 2s − 5 ) − 1 s − 5s + 4 
 
=0
)
ds s2
2s2 − 5s − s2 + 5s − 4 = 0
s2 − 4 = 0
s2 = 4
s = 2
Plot of open loop poles:

As we can see, only s = +2 is the valid breakaway point.

Applying magnitude criterion at the s=+2,
| G ( s ) H ( s ) |s=+2 = 1
K ( +2 )
=1
| +2 − 1 || +2 − 4 |
21
K= =1
2

16. Ans: (b)

Solution:
The characteristic equation can be reframed as
s2 + 6Ks + 2s + 5 = 0
(s2 + 2s + 5) + 6Ks = 0
6Ks
1+ =0
s2 + 2s + 5
So, it can be considered as unity feedback system with
6Ks
G(s) = and poles = −1  2j
s + 2s + 5
2

The intersection with real axis is break away point

−(s2 + 2s+ 5)
K=
6s

=
(
dk − 2s + 2 6s − 6(s + 2s+ 5)
2

=0
)
ds ( )
2
6s
6s2 − 30 = 0
s= 5
The root locus looks like as shown,
Hence, valid intersection with real axis is at s = − 5

Scan this QR code to report an

69 http://www.examdost.com
Error in this Document
 Control Systems

Chapter 5 – Frequency Domain Analysis

01. Which of the following is the transfer function of a 05. Match the polar plots for the following functions on the
system having the Nyquist plot in figure? [1991] left hand side [1994]
K
(a)
s (s + 2) (s + 5)
2

K
(b)
s ( s + 2 )( s + 5 )
2

K (s + 1)
(c)
s2 ( s + 2 )( s + 5 )
K ( s + 1 )( s + 3 )
(d)
s2 ( s + 2 )( s + 5 )

02. The system having the Bode magnitude plot shown in

figure has the transfer function [1991]

60 ( s + 0.01 )( s + 0.1 ) 10 (1 + 10s ) s s2 + 1

(a) (b) (a) (b)
s2 ( s + 0.05 )
2
s (1 + 20s ) ( s + 1)(s + 2) s3

3 ( s + 0.05 ) 5 ( s + 0.1 ) (c)

s2 − 1
(d)
1
(c) (d) s2 + 1 s + 10
2
s ( s + 0.1 )( s + 1 ) s ( s + 0.05 )

06. The block diagram of control system is given in figure.

03. An underdamped second order system having a transfer [1995]
kn2
function of the form M ( s ) = has frequency
s2 + 2ns + n2
response plot shown in figure. Then the system gain K is
_______________ and the damping factor is approximately
___________________. [1991]

04. A unity feedback system has the open loop transfer

function [1992] (i) Sketch the Nyquist locus 0    
1
G(s) =
(ii) Find gain margin and phase cross over frequency
(s − 1)(s + 2)(s + 3) (iii) Find phase margin of the system for K=1.2

The Nyquist plot of G encircles the origin 07. The closed-loop transfer function of a control system is
(a) never (b) once
C (s)
(c) twice (d) thrice given by
R (S )
=
1
1+s
()
. For the input r t = sint , the steady

state value of c(t) is equal to [1996]

Scan this QR code to report an

70 http://www.examdost.com
Error in this Document
 Control Systems

1 12. Open-loop transfer function of a unity-feedback system

(a) cos t (b) 1
is: [2000]
2
− s
e D
1 1   G ( s ) = G1 ( s ) .e
− sD
(c) sint (d) sin  t −  =
2 2  4 s ( s + 1 )( s + 2 )

Given : G1 ( j) = 1 when  = 0.466

08. A unity feedback system with the open loop transfer
1 (a) Determine the phase margin when D = 0
function G s = () s ( s + 2 )( s + 4 )
has gain margin of…. dB (b) Comment in one sentence on the effect of dead time on
the stability of the system
[1997] (c) Determine the maximum value of dead time D for the
closed-loop system to be stable
09. Determine the transfer function of the system having the
following state variable representation: [1997]
13. The polar plot of a type-1, 3-pole, open-loop system is
 0 1 0  0  shown in Figure, the closed loop system is [2001]
•
   
X= 0 0 1  x + 1  u Y = 0 1 0  x
 −40 −44 −14  0 
   

10. The asymptotic magnitude Body plot of a system is

given fig. Find the transfer function of the system
analytically. It is known that the system is minimal phase
system [1998]
(a) Always stable
(b) Marginally stable
(c) Unstable with one pole on the right half s-plane
(d) Unstable with two poles on the right half s-plane

14. The asymptotic approximation of the log-magnitude

versus frequency plot of a minimum phase system with real
poles and one zero is shown in figure. Its transfer function is
[2001]

11. The function corresponding to the Bode plot of figure is:

[1999]
(a) A = jf / f1

1
(b) A =
(1 − jf1 / f )
1
(c) A = 20 ( s + 5 ) 10 ( s + 5 )
(1 + jf1 / f ) (a) (b)
s ( s + 2 )( s + 25 ) ( s + 2) ( s + 25 )
2

(d) A = 1 + jf / f1
20 ( s + 5 ) 50 ( s + 5 )
(c) (d)
s ( s + 2 )( s + 25 )
2
s ( s + 2 )( s + 25 )
2

Scan this QR code to report an

71 http://www.examdost.com
Error in this Document
 Control Systems

15. A unit feedback system has an open-loop transfer 19. The open loop transfer function of a unity feedback
function of [2001] as + 1
10000
control system is given as G s = ()
G(s) = s2
s ( s + 10 )
2
The value of ‘a’ to give a phase margin of 45° is equal to
[2004]
(a) Determine the magnitude of G(j) in dB at an angular
(a) 0.141 (b) 0.441
frequency of = 20 rad/sec. (c) 0.841 (d) 1.141
(b) Determine the phase margin in degrees.
(c) Determine the gain margin in dB. 20. A system with zero initial conditions has the closed loop
(d) Is the system stable or unstable? s2 + 4
()
transfer function T s = . The system output is
K
(s + 1)(s + 4 )
16. The asymptotic Bode plot of the transfer function zero at the frequency [2005]
s
1+ (a) 0.5 rad/sec (b) 1 rad/sec
a (c) 2 rad/sec (d) 4 rad/sec
is given in figure. The error in phase angle and dB gain at a
frequency of =0.5 a are respectively. [2003] 21. The gain margin of a unity feedback control system with

the open loop transfer function G ( s ) =

(s + 1) is:
s2
1
(a) 0 (b) [2005]
2
(c) 2 (d) 

22. In the GH(s) plane, the Nyquist plot of the loop transfer
e−0.25s
() ()
function G s H s =
s
passes through the negative

real axis at the point [2005]

(a) (−0.25, j0) (b) (−0.5, j0)
(c) (−1, j0) (d) (−2, j0)

23. If the compensated system shown in Figure has a phase

(a) 4.9°, 0.97 dB (b) 5.7°, 3 dB margin of 60° at the crossover frequency of 1rad/sec, the
(c) 4.9°, 3 dB (d) 5.7°, 0.97 dB value of the gain K is: [2005]

17. The Nyquist plot of loop transfer function G(s) H(s) of a

closed loop control system passes through the point (−1, j0)
in the G(s) H(s) plane. The phase margin of the system is
[2004]
(a) 0o (b) 45o (a) 0.366 (b) 0.732
(c) 90o (d) 180o (c) 1.366 (d) 2,738
24. The Bode magnitude plot of
18. In the system shown in figure, the input x(t)=sin t. In the 10 4 (1 + j)
steady-state, the response y(t) will be [2004] H ( j ) = is [2006]
(10 + j)(100 + j)
2

1 1
(a)
2
(
sin t − 45o ) (b)
2
(
sin t + 45o )
(
(c) sin t − 45
o
) (
(d) sin t + 45
o
)

Scan this QR code to report an

72 http://www.examdost.com
Error in this Document
 Control Systems

27. The polar plot of an open loop stable system is shown

below. The closed loop system is [2009]

(a) Always stable

(b) Marginally stable
(c) Unstable with one pole on the RH s-plane
(d) Unstable with two poles on the RH s-plane

28. The asymptotic approximation of the log-magnitude v/s

frequency plot of a system containing only real poles and
zeros is shown. Its transfer function is [2009]

25. Consider the following Nyquist plots of loop transfer

functions over  = 0 to = . Which of these plots
represents a stable closed loop system? [2006]

10 ( s + 5 ) 1000 ( s + 5 )
(a) (b)
s ( s + 2 )( s + 25 ) s ( s + 2 )( s + 25 )
2

100 ( s + 5 ) 80 ( s + 5 )
(c) (d)
s ( s + 2 )( s + 25 ) s ( s + 2 )( s + 25 )
2

(a) (1) only (b) All, except (1) 29. The open loop transfer function of a unity feedback
(c) All, except (3) (d) (1) and (2) only

G(s) =
(e )
−0.1s

system is given by . The gain margin of this

26. If x = ReG ( j) and y = lmG ( j) then for  → 0+ , s
system is [2009]
1
the Nyquist plot for G(s) = becomes (a) 11.95 dB (b) 17.67 dB
s ( s + 1 )( s + 2 ) (c) 21.33 dB (d) 23.9 dB
asymptotic to the line [2007]
3 ()
30. The frequency response of G s = 1 s s + 1 s + 2  ( )( )
(a) x = 0 (b) x = −
4 plotted in the complex G ( j ) plane ( for 0     ) is
1 y
(c) x = y − (d) x = [2010]
6 3

Scan this QR code to report an

73 http://www.examdost.com
Error in this Document
 Control Systems

39.8 39.8
(a) (b)
s s2

32 32
(c) (d)
s s2
34. The Bode magnitude plot of the transfer function

K (1 + 0.5s )(1 + as )
G(s) = is shown below :
 s  s 
s  1 +  (1 + bs )  1 + 
 8  36 

a
Note that -6dB/octave = -20dB/decade. The value of is
bK
_______________. [2014-01]
31. The frequency response of a linear system G ( j ) is
provided in the tabular form below

G ( j ) 1.3 1.2 1.0 0.8 0.5 0.3

G ( j ) -130o -140o -150o -160o -180o -200o

The gain margin and phase margin of the system are

[2011]
(a) 6dB and 300 (b) 6dB and −300
(c) –6dB and 300 (d) -6dB and −300

35. In the figure shown, assume the op – amp to be ideal.

32. A system with transfer function [2012]

G(s) =
(s 2
)
+ 9 (s + 2)
is excited by sin ( t ) . The
Which of the alternatives gives the correct Bode plots for the

( s + 1)(s + 3)(s + 4 ) V0 ( )
transfer function ? [2014-01]
steady state output of the system is zero at Vi ( )
(a)  = 1 rad / s (b)  = 2 rad / s
(c)  = 3 rad / s (d)  = 4 rad / s

33. The Bode plot of a transfer function G(s) is shown in the

figure below. [2013]

The gain (20log|G(s)|) is 32 dB and -8 dB at 1rad/s and 10rad/s

respectively. The phase is negative for all ω. Then G(s) is

Scan this QR code to report an

74 http://www.examdost.com
Error in this Document
 Control Systems

38. The magnitude Bode plot of a network s shown in the

figure [2014-03]

The maximum phase angle m and the corresponding gain

Gm respectively, are

(a) −300 and 1.73dB (b) −300 and 4.77dB

(c) +300 and 4.77dB (d) +300 and 1.73dB

39. A Bode magnitude plot for the transfer function G(s) of

a plant is shown in the figure. Which one of the following

transfer functions best describes the plant? [2015-01]

36. For the transfer function [2014-02]

5 (s + 4 )
G(s) =
(
s ( s + 0.25 ) s2 + 4s + 25 )
The values of the constant gain term and the highest 1000 ( s + 10 ) 10 ( s + 10 )
(a) (b)
corner frequency of the Bode plot respectively are s + 1000 s ( s + 1000 )
(a) 3.2, 5.0 (b) 16.0, 4.0
(c) 3.2, 4.0 (d) 16.0, 5.0 s + 1000 s + 1000
(c) (d)
10s ( s + 10 ) 10 ( s + 10 )
37. A single-input single-output feedback system has
forward transfer function G(s) and feedback transfer

() ()
function(s). It is given that G s H s  1 . Which of the 40. The transfer function of a second order real system with

following is true about the stability of the system? a perfectly flat magnitude response of unity has a pole at (2
[2014-03] – j3). List all the poles and zeroes. [2015-01]
(a) The system is always stable
(a) Poles at (2 ± j3), no zeroes.
(b) The system is stable if all zeroes of G(s)H(s) are in left
half of the s-plane (b) Poles at (±2 – j3), one zero at origin.
(c) The system is stable if all poles of G(s)H(s) are in left half (c) Poles at (2 – j3), (-2 + j3), zeroes at (-2 – j3), zeroes at (-2
of the s-plane
– j3), (2 + j3)
(d) It is not possible to say whether or not the system is
stable from the information given (d) Poles at (2 ± j3), zeroes at (-2 ± j3).

Scan this QR code to report an

75 http://www.examdost.com
Error in this Document
 Control Systems

41. Nyquist plots of two functions G1 ( s ) and G2 ( s ) are 44. Consider the following asymptotic Bode magnitude
plot (  is in rad/s). [2016-01]
shown in figure. [2015-02]

Nyquist plot of the product of G1 ( s ) and G2 ( s ) is Which one of the following transfer functions is best
represented by the above Bode magnitude plot?
2s 4 (1 + 0.5s )
(a) (b)
(1 + 0.5s)(1 + 0.25s )
2
s (1 + 0.25s )

2s 4s
(c) (d)
(1 + 2s )(1 + 4s ) (1 + 2s )(1 + 4s )
2

45. Loop transfer function of a feedback system is

s+3
G ( s )H(s ) = . Take the Nyquist contour in the
s ( s − 3)
2

clockwise direction. Then, the Nyquist plot of G(s)H(s)

encircles −1 + j0 [2016-01]
(a) once in clockwise direction
(b) twice in clockwise direction
(c) once in anticlockwise direction
Y (s) s (d) twice in anticlockwise direction
42. The transfer function of a system is = . The
R (s) s+2
46. Consider a linear time-invariant system with transfer

steady state output y(t) is A cos ( 2t +  ) for the input function [2016-02]
1
H( s ) =
cos ( 2t ) . The value of A and  , respectively are ( 1)
s +

1 1 If the input is cos(t) and the steady output is

(a) , −450 (b) , +450 [2016-01]
2 2 A cos ( t +  ) , then the value of A is___________.
(c) 2, −450 (d) 2, +450
47. The transfer function of a system is given by,
V0 ( s ) 1−s
43. The phase cross-over frequency of the transfer function = . Let the output of the system be
Vi ( s ) 1+s
100
()
G s =
3
in rad/s is [2016-01]
v 0 ( t ) = Vm sin ( t +  ) for the input, v i ( t ) = Vm sin ( t ) .
s +1( )
Then the minimum and maximum values of  (in radians)
1
(a) 3 (b) are respectively [2017-01]
3
−  −
(c) 3 (d) 3 3 (a) and (b) and0
2 2 2

(c) 0 and (d) − and0
2

Scan this QR code to report an

76 http://www.examdost.com
Error in this Document
 Control Systems

48. Consider the unity feedback control system shown. The 51. Consider a negative unity feedback system with forward
K
value of K that results in a phase margin of the system to be path transfer function G s = () where
30° is _________. (Give the answer up to two decimal places).
( s + a)( s − b )(s + c )
K, a, b, c are positive real numbers. For a Nyquist path
[2017-01] enclosing the entire imaginary axis and right half of the s-
plane in the clockwise direction, the Nyquist plot of (l + G(s)),
encircles the origin of (l + G(s))-plane once in the clockwise
direction and never passes through this origin for a certain
G(s)
value of K. Then, the number of poles of lying in the
1 + G (s)
open right half of the s-plane is _______. [2020]
49. The open loop transfer function of a unity feedback

system is given by 52. A stable real linear time-invariant system with single
s2 + 100
G(s) =
e−0.25s pole at p, has a transfer function H s =() s−p
with a
s
dc gain of 5. The smallest positive frequency, in rad/s, at
In G(s) plane, the Nyquist plot of G(s) passes through the
unity gain is closest to: [2020]
negative real axis at the point [2019]

(a) (-1.25, j0) (b) (-0.75, j0) (a) 8.84 (b) 11.08

(c) (-1.5, j0) (d) (-0.5, j0) (c) 78.13 (d) 122.87

53. The Bode magnitude plot for the transfer function

50. The asymptotic Bode magnitude plot of a minimum
Vo ( s )
phase transfer function G(s) is shown below. of the circuit is as shown. The value of R is ________
Vi ( s )

. (Round off to 2 decimal places.) [2021]

54. A signal generator having a source resistance of 50 .

is set to generate a 1 kHz sinewave. Open circuit terminal
Consider the following two statements. voltage is 10 V peak-to-peak. Connecting a capacitor
Statement I: Transfer function G(s) has three poles and one across the terminals reduces the voltage to 8 V peak-to-
zero.
peak. The value of this capacitor is ________ F. (Round off
Statement II: At very high frequency (  →  ) , the phase to 2 decimal places.) [2021]
3
( )
angle G j = −
2
Which one of the following options is correct? [2019]
(a) Statement I is true and statement II is false.
(b) Statement I is false and statement II is true.
(c) Both the statement are true.
(d) Both the statement are false.

Scan this QR code to report an

77 http://www.examdost.com
Error in this Document
 Control Systems

55. The transfer function of a real system, H(s), is given as: G(s), corresponding to the Nyquist contour, is denoted as N.
Then N equals to [2022]
AS + B
H(s) = where A, B, C and D are positive
2
s + Cs + D
constants. This system cannot operate as [2022]

(a) low pass filter. (b) high pass filter.

(c) band pass filter. (d) an integrator.

(a) 0 (b) 1
56. The Bode magnitude plot of a first order stable system
(c) 2 (d) 3
is constant with frequency. The asymptotic value of the high
frequency phase, for the system, is −180°. This system has 59. In the Nyquist plot of the open-loop transfer function
[2022]
3s + 5
G (s)H(s ) =
s -1
Corresponding to the feedback loop shown in the figure, the
infinite semi-circular arc of the Nyquist contour in s-plane is
mapped into a point at [2023]

(a) one LHP pole and one RHP zero at the same frequency.
(b) one LHP pole and one LHP zero at the same frequency.

(c) two LHP poles and one RHP zero.

(a) G(s)H(s)=∞ (b) G(s)H(s)=0
(d) two RHP poles and one LHP zero. (c) G(s)H(s)=3 (d) G(s)H(s)=–5

57. An LTI system is shown in the figure where G(s) 60. The magnitude and phase plots of an LTI system are
shown in the figure. The transfer function of the system is
100
= . The steady state output of the [2023]
s + 0.15 + 100
2

system, to the input r(t), is given as y(t) = a + b sin (10t + )

The values of a and b will be [2022]

(a) a = 1, b = 10 (b) a = 10, b = 1

(c) a = 1, b = 100 (d) a = 100, b = 1

58. The open loop transfer function of a unity gain negative

feedback system is given as
1
G(s) = e−2.514s
s(s + 1) (a) 2.515e−0.032s (b)
The Nyquist contour in the s-plane encloses the entire right s +1
half plane and a small neighbourhood around the origin in (c) 1.04e−2.514s (d) 2.51e( −1.047s)
the left half plane, as shown in the figure below. The number
of encirclemenets of the point (-1+j0) by the Nyquist plot of

Scan this QR code to report an

78 http://www.examdost.com
Error in this Document
 Control Systems

Solutions
01. Ans: (b)
Solution:
The plot starts at −1800 & ends at −3600
Hence, it is Type ‘2’ and order 4 system
From polar plot, the Polar plot doesn’t intersect with real axis
No of zeros=’0’
Option ‘b’ only satisfies

02. Ans: (b)

Solution:
Type of the system is one since starting slope is -20dB/dec.
Since, one pole at s=0.05 and one zero at s=0.1.

T.F =
( 0.1)
k 1+ s

0.05 )
s (1 + s
At s = 0.01
The Transfer Function is approximated to,
k k
T.F = = = 100k
s 0.01
Its magnitude in dB is, 20log100k
20log100k = 60
k = 10

T.F =
(10 )(1 + 10s)
( 20s + 1) s
03. Ans: (1 and 0.2)
Solution:
From the frequency response
(
DC gain= Gain  = 0 = 1 )
k 2
M(  = 0 ) = 2
n
=1
 n

Hence, k = 1
1
Resonant peak = 2.5 =
2 1 − 2

2 1 − 2 = 0.4

( )
2 1 − 2 = 0.04

4 − 2 + 0.04 = 0
Approximately,  = 0.2

04. Ans: (b)

Solution:
Number of encirclements about the origin,

Scan this QR code to report an

79 http://www.examdost.com
Error in this Document
 Control Systems

N=P-Z
Z → Number of open loop zeros in right half plane
P → Number of open loop poles in the right half plane
P=1; Z=0
1
G(s) =
( s − 1)( s + 2)(s + 3)
N=1
The Nyquist plot encloses the origin only once from the above figure. Hence choice B is
correct.

05. Ans:---
Solution:
Question is incorrect
For (a)
s
G(s) =
( )( s + 2)
s + 1
j
G ( j ) =
( 1 + j  )( 2 + j)

G ( j ) =
1+ 2
4 + 2
G ( j) = 90 − tan−1  − tan−1 
2
M 
=0 0 90
= 0 -90
The polar plot then looks like as shown
For (b)
s2 + 1
G(s) =
s3
−2 + 1
G ( j ) =
( j )
3

1 − 2
G ( j ) = G ( j) = 00 or 1800 - 2700
3
 270,   1
−
G ( j) = 
−90,   1
M 
=0  -270
= 0 -90
Since phase is always -90 to -270 polar plot always lies along imaginary axis
The polar plot then looks like

Scan this QR code to report an

80 http://www.examdost.com
Error in this Document
 Control Systems

s2 − 1
()
(c) G s =
s2 + 1

G ( j ) =
( j )
2
−1
=−
(1 +  ) = 
2 2
+1
( j )
2
+1 (1 −  ) 
2 2
−1

1 + 2
G ( j ) =
1 − 2

180   1
0

G ( j) = 
0 1

So, M 
=0 1 1800
= 1 00

Since phase is always 00 and 1800 , polar plot lies along real axis
The Polar Plot looks like as shown in the figure.
1
()
(d) G s =
s2 + 10
1
G ( j ) =
10 − 2

1
G ( j ) =
10 − 2

0   10
G ( j) = 
180   10


So, M 
=0 0.1 0
= 0 1800
Hence, polar plot looks like as shown

06. Ans: (4.472, 0)

Solution:
10k
G ( s ) H( s ) =
s (1 + 0.1s )(1 + 0.5s )
(i) This is a Type-1/ Order-3 system
Hence Nyquist plot is a standard plot as shown.

10k
( ) ( )
(ii) G j H j =
j (1 + 0.1 j)(1 + 0.5 j)
For phase cross-over frequency
 = −1800
−1800 = −900 − tan−1 0.1 − tan−1 0.5

Scan this QR code to report an

81 http://www.examdost.com
Error in this Document
 Control Systems

tan−1 0.5 = 90 − tan−1 0.1

1
0.5 =
0.1
1
2 = = 20
0.05
pc = 20 = 4.472rad sec

For gain margin

10k 10k
GH = =
( ) (1 + 0.25 )
1 1 1 1
 1 + 0.012 2 2 2
20 (1 + 0.2 ) 2
(1 + 5) 2

GH = 0.833k
1 1.2
Gain margin = =
GH k

(iii) By changing the value of k, phase cross-over frequency does not change
pc = 20 rad sec

1
Gain = =1
0.833  1.2
Hence for k=1.2, polar plot passes through −1 + j0 point ( )
Hence, phase margin=0

07. Ans: (d)

Solution:
C (s) 1 1
F (s) = = =
R (s) 1 + s 1 + j
1
F ( j ) =
1 + 2
F ( j) = − tan−1 
Given sint  input,  = 1

1
F ( j ) =
2
F ( j ) = −450
1
Output is therefore,
2
(
sin t − 450 )
08. Ans: (33.62)
Solution:
1
G(s) =
( s )( s + 2)( s + 4 )
1
G ( j ) =
( j)( 2 + j)( 4 + j)

Scan this QR code to report an

82 http://www.examdost.com
Error in this Document
 Control Systems

1
G ( j ) =
  + 4 2 + 16
2

G ( j) = −900 − tan−1  − tan−1 

2 4
At phase cross over frequency pc , G ( jpc ) = −1800

Therefore,
−900 − tan−1  − tan−1  = −1800
2 4
−1  −1 
tan + tan = 90 0
2 4
( ) ( )
 + 
2 4 = 1
( )( )
 
1−   0
2 4
2 =1
8
 = 8 = 2 2rad / sec
1 1  1 
G ( j ) = = = 
→pc
2 2 8 + 4 8 + 16 2  24  48 
1
Gain margin = 20log = 20log48 = 33.62dB
G ( j )

09. Ans:---
Solution:
 0 1 0 
 
A= 0 0 1 
 −40 −44 −14 
 
 s −1 0 
( sI − A ) =  0 s −1 

 40 44 s + 14 
 
sI − A = s s ( s + 14 ) + 44  + 1 1  40  = s + 14s + 44s + 40
3 2

s2 + 14s + 44 −40 −40s 

 
cof ( sI − A ) =  s + 14 s + 14s −44s − 40 
2

 1 s s2 
 
s2 + 14s + 44 s + 14 1
 
adj ( sI − A ) =  −40 s + 14s
2
s
 −40s −44s − 40 s2 

s2 + 14s + 44 s + 14 1
adj ( sI − A ) 1  
( sI − A )
−1
= = 3  −40 s + 14s
2
s
A s + 14s + 44s + 40 
2

 −40s −44s − 40 s2 
 s + 14 
1  2 
( sI − A )
−1
B= 3  s + 14s 
s + 14s + 44s + 40 
2

 −44s − 40 

Scan this QR code to report an

83 http://www.examdost.com
Error in this Document
 Control Systems

( )
−1
Transfer Function = C sI − A B
s ( s + 14 )
T (s) =
s3 + 14s2 + 44s + 40

10. Ans: ---

Solution:
From the plot,
Initial slope= -20dB/dec
It implies these is one pole at origin
The slope change to -40 dB/dec at 1
It implies these is a pole at s = 1
The slope again change to -20dB/dec at  = 4
It implies there is a zero at s=4
The slope change to -40dB/dec at  = 3
It implies these is a pole at s = 3
So the transfer function is of the form

T (s) = k
(1 + s 4 )
  
s 1 + s  1 + s 
 1 
3

If 0    1

T (s) = k
s
This line has magnitude 36dB at  = 1

20log k = 36
1
k = 63.09......... ( i )
1
If 1    4
k 1 k
T (s) = = 21
  s
s s 
 1

At  = 2 , this line passes through 0dB

k1
20log =0
4
k1
=1
4
k1 = 4....... ( ii )
Multiply (i) & (ii)
(k )
2
= 63.09  4 = 252.36
k = 15.885
1 = 0.25rad sec
When 0    3

Scan this QR code to report an

84 http://www.examdost.com
Error in this Document
 Control Systems

k s
T (s) = 4 = 1k
s  s  1 4s
1
At  = 3 , this line has magnitude -21dB
1k
20log = −21
43
1k
= 0.08912
43
0.25  15.855
3 = = 11.14rad sec
4  0.08912

Hence T ( s ) =
15.885 1 + s
4( )
s (1 + 4s ) 1 + (
s
11.14 )
11. Ans: (d)
Solution:
The given Bode plot is
Slope of 20dB/ decade= 6dB/ octave
Since, slope is positive there is a zero at f = f1
s
G(s) = 1 + s =1+
2f1 1
G(f ) = 1 + j f
f1

12. Ans: (a-51.9°, c-1.943 sec)

Solution:
− j
e D
G ( j ) =
j (1 + j)( 2 + j)
1
G ( j ) = = G1 ( j)
 1 + 2 4 + 2
( ) ( )
Hence gain cross-over frequency of G j is same as gain cross-over frequency of G1 j
Since at  = 0.466rad s
G1 ( j) = G ( j) = 1

gc = 0.466rad s

 = −90 − tan−1  − tan−1 

2
At  = 0.466
 = −128.10
Phase margin = 180 − 128.10 = 51.90

(b) Dead time reduces phase without affecting phase cross over frequency. Hence, phase margin reduces and stability
decreases

(c) For maximum D ,PM = 0

Scan this QR code to report an

85 http://www.examdost.com
Error in this Document
 Control Systems

 = −180 =
gc

−180 =  −D − 90 − tan−1  − tan−1  

 2  =gc

− = −0.466D −  − tan−1 0.466 − tan−1 0.233

2
−0.466D = −0.905
D = 1.943sec

13. Ans: (d)

Solution:

Let us assume that the open loop system is stable i.e. P=0
Nyquist plot will be as shown in the above figure.
No. of encirclements of the critical point, N= -2
N=P–Z
-2=0-Z
Z=2
Hence, there are two closed loop poles on the right half of s-plane due to which the system is unstable.

14. Ans: (d)

Solution: Equation of initial line, y = mx + c
54 = ( −40 )(log0.1 ) + c
54 = 40 + c
c= 14

Now, c = 20logk
14 = 20logk
k = 5.01

T.F. =
(
k 1+ s
5 ) =
(5)( s + 5) = 50 ( s + 5)
(
s2 1 + s
2 )(1 + s 25) s2 ( s + 2 )( s + 25 ) s2 ( s + 2 )( s + 25 )

15. Ans: 0, -36.86, -13.98, unstable

Solution:
10000
G(s)
s(s + 10)2
10000
G ( j) =
j(10 + j)2
10000
(a) | G ( j) | =
 (100 + 2 )
At  = 20 rad/sec

Scan this QR code to report an

86 http://www.examdost.com
Error in this Document
 Control Systems

10000
| G ( j) | = =1
20  500
In d B, M = log | G ( j) | = 20 log 1 = 0 dB
(b) At  = 20 rad/sec
| G ( j) | = 1
Hence,  = 20 rad/sec is gain crossover frequency
−1 
G ( j) = −90 − 2 tan
10
At  = 20 rad/sec
G ( j) = −90 − 2 tan−1 2 = 216.86°
Phase Margin = 180 + G ( j) = 180 – 216.86 = –36.86°
(c) For phase crossover frequency
 = –180°

–180 = −90 − 2 tan
−1

10

2 tan−1 = 90
10
 = 10 rad/sec
10000
Gain = =5
10 (100 + 100)
1
Gain Margin = = 0.2
5
In dB, 20 log 0.2 = –13.98 dB

(d) Since gain margin and phase margin are both negative, the system is unstable.

16. Ans: (a)

K
Solution: T.F. =
1+ s
a
K
F ( j ) =
j
1+
a
K
F ( j ) =
2
1+  ( a)
K K
F ( j ) = =
 = 0.5a 2 1.25
1 + ( 0.5 )

F ( j ) = 20logK − 20log 1.25

db
F ( j ) = 20logK− 0.97db
db

Scan this QR code to report an

87 http://www.examdost.com
Error in this Document
 Control Systems

Comparing with magnitude given in figure, we find that error is of 0.97 dB.
 
F ( j) = − tan−1   = − tan−1 ( 0.5 ) = −26.560
a
Let angle at  =0.5a be  .

y −y
Slope m = 2
( ) 1
x −x
2 1
−0
−450 =
log0.5a − log0.1a

( )
 = ( 0.69 ) −450 = −31.45
0

(
Error in phase angle = ( −26.56 ) − −31.450 = 4.90 )
17. Ans: (a)
Solution:

When the unit circle intersects the Nyquist plot, at that point the angle subtended determines  (  =  G(s)H(s) )
Here in this case (-1, j0) = negative real axis
 = −1800
P.M. = 180 +  = 180 − 180 = 00

18. Ans: (b)

Solution: If input is sin(t) then output will also be a sine function with different magnitude
and phase.
Putting s=j  ,
s j
=
s + 1 1 + j
Given, input is sin(t)
 = 1 rad/sec

Magnitude = = 1
1 + 2 2
Phase angle = 90 − tan−1  = 450
y (t) = 1
2
(
sin t + 450 )
19. Ans: (c)
Solution:
2
as + 1 1 + j ( a) 1 + ( a)
G(s) = = = (tan−1 a − 1800 )
s2 ( j)2 2

Scan this QR code to report an

88 http://www.examdost.com
Error in this Document
 Control Systems

Given P.M. = 450

180 +  = 450
 = −1350
 is  G(j  ) calculated at gain cross-over frequency gc .
gc :
G ( j ) = 1

2
1 + ( a )
=1
2
2
1 + ( a) = 2
2
1 + ( a ) = 4 … (1)

−1800 + tan−1 ( a) = −1350

tan−1 (a) = 450

a = 1 … (2)
Substituting (2) in (1),
1 + 1 = 4
 = (2)
0.25

a= 1 = 1 = 0.841
 (2)
0.25

20. Ans: (c)

Solution:
s2 + 4
T (s) =
( s + 1)(s + 4 )
2
4 + ( j ) 4 − 2
T ( j ) = =
(1 + j)( 4 + j) (1 + j)( 4 + j)
T ( j) = 0  2 = 4
 = 2 rad/sec

21. Ans: (a)

Solution:
s +1
G(s) =
s2
1 + j
G ( j ) =
( j )
2

G ( j ) = tan−1  − 1800
At phase cross-over frequency ( pc ),

Scan this QR code to report an

89 http://www.examdost.com
Error in this Document
 Control Systems

G ( j ) = −1800
−1800 + tan−1  = −1800
 =0
Gain margin is calculated at pc .

1 + 2
X = G ( j ) = =
2
 = pc
1
G.M. =   = 0
X

22. Ans: (b)

e−0.25s
() ()
Solution: G s H s =
s
e−0.25 j
G ( j ) H ( j  ) =
j
G ( j ) H ( j ) =  ( ) ;

G ( j) H ( j) = −900 − (57.3)(0.25) 

0

Plot intersects negative real axis at - 1800 .

0
−900 − (57.3)(0.25) = −1800

1200
Solving, = rad/sec
191
Therefore, magnitude at this point would be,


G ( j ) H ( j ) =  0.5
 1200 
 
 191 
23. Ans: (c)
Solution:

P.M. = 600 at gc =1 rad/sec

 0.366 
G ( j) H ( j) = tan−1  −1
 − tan  − 90
0

 K 
P.M. = 180 +  = 600
 = 1200 at gc

Scan this QR code to report an

90 http://www.examdost.com
Error in this Document
 Control Systems

( ) (
G jgc H jgc = −1200 )
0.366
tan−1 − tan−1 (1 ) − 900 = −1200
K
0.366
tan−1 = 150
K
0.366
= tan150
K
K = 0.366 = 1.37
0.267

24. Ans: (a)

Solution:
10 4 (1 + j)
H ( j ) =
(10 + j)(100 + j)2
H ( j ) =
10 4 (1 + j)
=
( 110) . (1 + j)
2 2
 j   j   j   j 
105  1 + 
  1 +   1 +  1 + 
 10   100   10   100 
Slope
Factor
CornerFrequency 20log0.1 = −20db
K = 0.1
(1 + j  )
−
1
( +20 db dec)
(10 + j) 10 ( −20 db dec)
(100 + j)2 100
( −40db dec)
• No poles or zeros at origin because initial slope is zero.
• One zero at  =1, therefore, slope will change from zero to +20 db/dec at  =1.
• One pole at  =10, therefore, slope will change from +20 db/dec to zero at  =10.
• Pole of order 2 at  =100, therefore, slope will change from zero to -40 db/dec at  =100.

25. Ans: (d)

Solution:
Since the critical point (-1,j0) is not enclosed only in case of (1) & (2), Hence (1) & (2) represents a stable system & hence,
option (a) is the correct answer.

Scan this QR code to report an

91 http://www.examdost.com
Error in this Document
 Control Systems

26. Ans: (d)

Solution:
1
G(s) =
s(s + 1) (s + 2)
1
G ( j) =
j (1 + j) (2 + j)
(1 − j) (2 − j) (2 − 2 ) − 3j
G ( j) = =
j (1 + 2 ) (4 + 2 ) j (1 + 2 ) (4 + 2 )
−3 (2 − 2 )
G ( j) = − j
(1 + 2 ) (4 + 2 ) (1 + 2 ) (4 + 2 )
−3
x = Re (G( j)) =
(1 +  ) (4 + 2 )
2

−(2 − 2 )
y = Im (G( j)) =
 (1 + 2 ) (4 + 2 )
−3
lim x =
→0+ 4
lim y = − 
→0+

−3
So, Nyquist Plot is asymptotic to the line x =
4

27. Ans: (d)

Solution:
Drawing the Nyquist plot,
No. of encirclements around ( −1 + j0) = −2
Given, it is an open loop stable system.
P = 0
N=P–Z
Z=2
Therefore, no. of closed loop poles on R.H.S. of
s-plane are two.
System is unstable with 2 poles on R.H.S. of s-plane.

28. Ans: (b)

Solution:

T.F. =
(
K 1+ s
5 )
(
s2 1 + s
2 )(1 + s 25)
(starting slope is −40db  two poles at origin)
dec
(then slope is −60db  pole is present at ‘2’)
dec
(then slope is −40db  zero is present at ‘5’)
dec

Scan this QR code to report an

92 http://www.examdost.com
Error in this Document
 Control Systems

(then sope is −60db  pole is present at ‘25’)

dec
Equation of initial line, y = mx + c
80 = ( −40 ) log ( 0.1 ) + c
c = 40
20 log K = 40
K = 100
1000 ( s + 5 )
T.F. =
s ( s + 2 )( s + 25 )
2

29. Ans:(d)
Solution:
e−0.1s
G(s) =
s
Gain margin is calculated at phase cross-over frequency pc .

−0.1 j
e
G ( j ) =
j

G ( j) = − − ( 0.1 ) 
2

At pc ,  G ( ) = −
j

− − ( 0.1 ) pc = −
2

0.1pc =
2
pc = 5 rad/sec
1
X = G ( j ) =
pc 5
1
Gain margin = 20log = 20log5 = 23.9dB
X

30. Ans: (a)

Solution:
1
G(s) =
s ( s + 1 )( s + 2 )

 2 0 
G( j)  −1 0
6
 G( j) −90 −180 −270
1
G(s) =
s(s + 1) (s + 2)
1
G ( j) =
j (1 + j) (2 + j)

Scan this QR code to report an

93 http://www.examdost.com
Error in this Document
 Control Systems

(1 − j) (2 − j) (2 − 2 ) − 3j

G ( j) = =
j (1 +  ) (4 +  )
2 2
j (1 + 2 ) (4 + 2 )
−3 (2 − 2 )
G ( j) = = −j
(1 +  ) (4 +  )
2 2
(1 + 2 ) (4 + 2 )
−3
Re (G( j)) =
(1 +  ) (4 + 2 )
2

−(2 − 2 )
Im (G( j)) =
 (1 + 2 ) (4 + 2 )
−3
lim+ x =
→0 4
lim y = − 
→0+

−3
So, Nyquist Plot is asymptotic to the line x =
4

31. Ans: (a)

Solution: Given data
G ( j ) 1.0 0.5
G ( j) −150 0
−1800

These two points correspond to Gain Crossover and Phase Crossover.

Gain Margin = 20log 1  x = gain at G ( jw ) = −180 0 
x  

Gain Margin = 20log 1 = 20log2 = 6 dB

0.5
Phase Margin = 180 +   = G ( j) at G ( j) = 1 
 
Phase Margin= 180 – 150 = 300

32. Ans: (c)

Solution:
 s2 + 9  s + 2
  ( )
G s = 
() 
( )(
s +1 s +3 s + 4)( )
 9 − 2  2 + j
 ( )
G ( j ) =  
(1 + j)(3 + j)( 4 + j)
Zero Output for non-zero input means G ( j) = 0

9 − 2 = 0
Hence,  = 3rad sec

33. Ans: (b)

Solution:
Since, the starting slope is negative the possibility is that there might be single pole (or) many pole present at origin.
()
Let the T.F. is G s = k
sn

Scan this QR code to report an

94 http://www.examdost.com
Error in this Document
 Control Systems

k
G ( j ) =
( j)n
k
G ( j ) =
n

Given gain = 32dB at  = 1 rad s
k
20log = 32
(1)n
20logk = 32  K = 39.8
Gain = -8dB at  = 10rad sec
39.8
20log = −8
10n
10n = 100  n = 2
39.8
T.F. =
s2

34. Ans: (0.75)

Solution:
From Bode plot, we can see the corner frequencies where the slope of Bode Plot changes,

 =2,  =4,  =8,  =24,  =36

At =2 and  =4, slope changes by 6dB which indicates presence of a zero.
1 1
Comparing with the given Transfer Function, the zeroes must be located at s = -2 and s = − . We obtain a = .
a 4
At  =0,  =8,  =24 and  = 36, slope changes by -6dB which indicates presence of a pole.
1
Comparing with the given Transfer Function, the zeroes must be located at s = 0, s = -8, s = -36 and s = − .
b
1
Hence, b =
24
K
If asymptotic approximation is made in 0    2 rad / s the Transfer Function is reduced to .
s
Magnitude in dB is, 20logK-20log 
From the Bode plot we can see that this line cuts real axis (0dB) at  =8.
Hence, K=8.
a 1
=  24 = 0.75
bK 4  8

Scan this QR code to report an

95 http://www.examdost.com
Error in this Document
 Control Systems

35. Ans: (0.75)

Solution:
Since, the feedback loop is not connected to ground, the circuit acts as Voltage Follower.
The transfer function is (by Potential Divider),
 1 
V0 ( s )  
sC 1 1
=   = =
Vi ( s )  1  ( sRC + 1 )  s 
R+  1 + 
 sC   1000 
Corner frequency = 103rad / s
Bode plot:

  
 = − tan−1  
 1000 


The phase of transfer function is zero at  =0 & goes to −   as  → 
2

36. Ans: (a)

Solution:
Constant gain term can be calculated as,
lim lim s  5 (s + 4 )
sG ( s ) = = 3.2
s→0 (
s → 0 s ( s + 0.25 ) s2 + 4s + 25 )
Different Terms having different corner frequencies are given below,
Corner frequency Term
4 (s+4)
0.25 (s+0.25)
5 = n (
s2 + 4s + 25 )
Hence highest corner frequency is 5rad/s

37. Ans: (a)

Solution:
Given that |G(s)H(s)| < 1 ; for all s which means that (–1 + j0) point will never be enclosed in the Nyquist plot.
Hence, the system is always stable.

38. Ans: (c)

Solution:
The given Bode Plot is,

Scan this QR code to report an

96 http://www.examdost.com
Error in this Document
 Control Systems

1
Based on plot above the corner frequencies are  = rad / s and  = 1 rad / s
3
The Transfer Function can be expressed as,

TF =
(3s + 1)
(s + 1)
There should be no constant term as gain at s = 0 is 0 dB.
It is a lead – compensator. TF of a lead compensator is given by;

TF =
( Ts + 1) ;  1
( T s + 1 )
1
Comparing, T=3,  =
3
 1
1 −   1− 
m = sin  3  = sin−1  1  = 300
 = sin 
−1 −1
 
 1 +   1
1 +  2
 
 3
1 1 1
m = = =
T  1 3
3
3
 1
1 + 9  
1 + 92  3
Gain = = = 3
1 + 2 1+
1
3
In decibel, gain = 20 log 3 = 4.77 dB

39. Ans: (d)

Solution:
Since, the bode plot has zero slope near  = 0, so there is no pole at origin.
Between  = 10 &  = 1000,
20 − ( −20 )
Slope = = −20dB dec
 10 
log  
 1000 
So, a pole exists at  = 10.
After  = 1000, slope again becomes zero

So, a zero exists at  = 1000.

K ( s + 1000 )
Transfer function =
( s + 10 )
At s = 0, gain = 20 dB
1000
At s = 0, TF = K  = 100K
10
Gain = 20 log (100K) = 20 dB
100 K = 10

Scan this QR code to report an

97 http://www.examdost.com
Error in this Document
 Control Systems

K = 0.1

TF =
( s + 1000 )
10 ( s + 10 )

40. Ans: (d)

Solution:
Since the magnitude response is flat, it is an all–pass filter. So poles & zeroes will be symmetric about y – axis.
( ) (
Complex poles and zeroes occur in conjugate pairs, so, poles will be at at 2  j3 & zeroes at −2  j3 . )

41. Ans: (b)

Solution:
The equation of G1 (j ) will be,

1  G1 (j ) = 0,at →  =  
G1 (j ) =  
j  G1 (j ) = − j ,at →  = 0 
The equation of G2 (j ) will be,

 G2 (j ) = 0,at →  = 0 
G2 (j ) = j  
 G2 (j ) = j ,at →  =  
G1 (j ).G2 (j ) = 1
Hence, Nyquist Plot will look like as shown,

42. Ans: (b)

Solution:
Y (s) s
=
R (s) s+2

x ( t ) = cos2t

y ( t ) = A cos ( 2t +  )
For an LTI system,
B = A | H ( j ) |s= j

 = H ( j ) |s= j
Therefore, for our case,
j2 2 1
A = 1. = =
j2 + 2 8 2
90 90
 = H( j) = = = 45
2  45
tan−1

2
1
Hence, y t = () cos ( 2t + 45 )
2
1
Comparing, A = ,  = 45
2

Scan this QR code to report an

98 http://www.examdost.com
Error in this Document
 Control Systems

43. Ans: (a)

Solution:
100
Transfer Function, G s = ()
( s + 1)
3

For phase cross-over frequency,

G ( j ) = −180

100
G ( j ) =
( j + 1 )
3

0
G ( j) = = −3tan−1 
3  tan−1 
−3tan−1  = −180
tan−1  = 60
 = tan60 = 3
pc = 3 rad / s

44. Ans: (a)

Solution:
Since it has +20 dB / dec initial slope, a zero lies at the origin.
Slope of 1st line:
12 − 0
= 20
log 1 − log0.5
1 12
log =
0.5 20
12
1
= 10 20 = 3.98
0.5
1 = 1.99 2
Slope of last line:
12 − 0
−40 =
log 2 − log8
2 12
log =−
8 40
 12 
− 
 40 
2 = 8x10 = 4rad / s

Ks Ks
G(s) = =
(1 + 0.5s )(1 + 0.25s )
2 2
 s  s
 1 +  1 + 
 2  9 

Equation of initial line:

y=mx+c
0= 20 log(0.5)+c
c=-20 log(0.5) =20 logK
log(0.5)-1= logK

Scan this QR code to report an

99 http://www.examdost.com
Error in this Document
 Control Systems

K=2
2s
Therefore, G s = ()
(1 + 0.5s)(1 + 0.25s)
2

45. Ans: (a)

Solution:
In these type of questions it is better to use Routh-Hurwitz criteria since plotting of Nyquist plot is time consuming and
also error prone method.
Characteristic equation: 1 + G(s)H(s) = 0
s3 − 3s2 + s + 3 = 0
Routh Array is given by,

s3 1 1
s2 −3 3
s1 2
s0 3
Since there are two sign changes in the first column of Routh array, number of closed loop poles in the right half of s-
plane, Z=2.
From The Open Loop Transfer Function, number of open loop poles in right half of s-plane, P=1
Now,
N=P−Z
N=1−2
N = −1
Therefore, Nyquist plot will encircle -1+j0 point once in clockwise direction.

46. Ans: (0.707)

Solution:
Sinusoidal Signals are eigen functions of LTI System.
B = A | H ( j ) |
 = H ( j  )
1
H( s ) =
s +1
1
H ( j ) =
j + 1
Input = cost ,  = 1
1
H( j) =
j+1
1 1
Hence, H j =() = , H ( j) = −450
1+1 2
1 1
B = 1 =
2 2
1
Output magnitude = = 0.707
2

Scan this QR code to report an

100 http://www.examdost.com
Error in this Document
 Control Systems

47. Ans: (d)

Solution:
Transfer function
1−s
H( s ) =
1+s
1 − j
H ( j ) =
1 + j
 = − tan−1  − tan−1  = −2tan−1 
As  varies from 0 to 
At  = 0 ,  = 0
At  =  ,  = −2tan−1  = −

48. Ans: 1.05

Solution:
ke− j
G ( j ) =
j
For gain crossover frequency G ( j) = 1

k = 1 or  = k

 = − −
2
At  = k,  = −  −k
2
PM = 1800 +  =  +  =  − k  PM = 300 =  
2  6 
k =  −  = 2 =  = 1.0479
2 6 6 3

49. Ans: (d)

Solution:
e−0.25s
GH ( s ) =
s
e−0.25 j
GH ( j) =
j

GH ( j) = −90 −
4

( )
For intersecting negative real axis either GH j = −180 or 180
0 0

( )
For GH j = −180
0

 
− = − −
2 4
 
= ;  = 2 = 6.28rad/sec
4 2

GH ( j) =

At  = 2 rad/sec

Scan this QR code to report an

101 http://www.examdost.com
Error in this Document
 Control Systems


GH ( j) = = 0.5
2
Since it intersects negative real axis, it intersects at -0.5

50. Ans: (b)

Solution:
Based on given Bode plot, there is a pole at s=0, another pole at s=1 & one more pole at s=20
Hence there are 3 poles but no zeroes
 3
Each pole will contribute a phase shift of − → & hence total phase shift is −
2 2

51. Ans: 2

Solution:

G(s)
Poles of are given by roots of the equation
1 + G(s)

1 + G(s) = 0

By Nyquist criteria

N=P–Z

N = Number of encirclement of origin in (1 + G(s)) plane

P = number of poles of G(s) in right half plane

Z = number of zeros of 1 + G(s) i.e. closed loop poles in right half plane

Given one encirclement in CW direction, N = -1

K
G(s) =
(s + a)(s − b)(s + c)

S = b : open loop pole in right half plane ∴ P = 1

-1 = 1 – Z

Z=2

∴ Closed loop poles in right half plane = 2

52. Ans: (a)

Solution:

s2 + 100
H(s) =
s −p

Scan this QR code to report an

102 http://www.examdost.com
Error in this Document
 Control Systems

dc gain = H(s) =5
s =0

100
= 5;p = −20
−p

s2 + 100
 H(s) =
s + 20

100 − 2
H( j) =
20 + j

100 − 2
∣ H( j)∣ = =1
400 + 2

(100 −  )
2
2
= 400 + 2

104 + 4 − 2002 = 400 + 2

4 − 2012 + 9600 = 0

2 = 122.87,78.13

ω = 11.08, 8.84

Smallest positive ω = 8.84 rad/s

53. Ans: 0.10

Solution:

Peak of output occurs at ω = 200 rad/s

1 1
Resonance freq. = = = 2000rad / s
LC 10−2  250  10−6

∴ peak occurs at resonance

Magnitude at peak = 26 dB

V0
At resonance V0 = QVi  = Q = quality factor
Vi

20 log Q = 26

Scan this QR code to report an

103 http://www.examdost.com
Error in this Document
 Control Systems

0L
Q = 1013

= 20 =
R

2000  1mH
R= = 0.1
20

54. Ans: 2.387F

Solution:

Based on given data, we can draw following circuit

Vs = 10 V peak to peak  Vs = 5 sinωt

V0 = 8V peak to peak  V̂0 = 4

V0 Xc 4
= =
Vs R 2
+ Xc2 5

25X c2 = 16R 2 + 16X c2

16 4R 200
XC = R= = 
9 3 3

1 1 200
= =
c 2  1000  c 3

 C = 2.387 μF

55. Ans: B

Solution:

As + B
H(s) =
2
s + Cs + D

B
At low frequencies, s → 0 H(s) =
D

Scan this QR code to report an

104 http://www.examdost.com
Error in this Document
 Control Systems

At high frequencies, s →  H(s) = 0

B
If  0 system acts as low pass filter
D

B
If = 0 system acts as band pass filter
D

But system cannot act as high pass filter

56. Ans: A

Solution:

Since magnitude response is constant & phase goes from 0° to –180°, system is an All Pass Filter.

∴ Poles & zeros are mirror images about imaginary axis & for stability poles must lie in left half plane

So, zeroes must lie in right half plane.

∴ Only possible option is A

57. Ans: (a)

Solution:
B = A | G( j) |
100
a = 1 =1
100 − 2 + 0.1j =0
100
b = 0.1 
100 − 2 + 0.1j = 10
= 10

58. Ans: (b)

Solution:

Number of Encirclement = 1

59. Ans. (c)

Solution:

Scan this QR code to report an

105 http://www.examdost.com
Error in this Document
 Control Systems

j

r


3s + 5
G(s)H(s) =
s −1
Nyquist contour:
i
Infinite semicircular arc: S = lim Re
R →

 
: to –
2 2
 3ei + 5 
3Rei + 5 R
G (s) H (s) = lim = lim 
R → Rei − 1 R → 
 ei − 1 

 R 
3ei
= =3
ei

60. Ans. (d)

Solution:
Magnitude of gain = 8dB = 20 log K
 k = 100.4 = 2.512
Phase is linear &  = -60° at  = 1

Or  = − rad at  = 1
3

 Slope of phase plot − = −1.047
3
So, transfer function can be expressed as (2.512e-1.047s)

Scan this QR code to report an

106 http://www.examdost.com
Error in this Document
 Control Systems

Chapter 6 – State Variable Analysis

01. Consider a second order system whose state space

(i) Find state transition (f ) and the characteristic equation
representation is of the form [1993]
of the system.
X = AX + Bu
(ii) Determine the state vector x2 ( t ) for t=0 when
If x1 ( t ) = x 2 ( t ) , then system is
r ( t ) = U ( t ) . Assume values of states initially to be zero.
(a) controllable (b) uncontrollable
(c) observable (d) unstable
06. The state-space representation of a system is given by:
02. The transfer function for the state variable [1998]
 x1   −5 1   x1 
representation X = AX + Bu , y = CX + Du , is given by  =  
[1993]  x2   −6 0   x2 
Find the Laplace transform of the state transition matrix.
( ) ( )
−1 −1
(a) D + C sI − A B (b) B sI − A C +D
Find also the value of x1 at t =1 if
( ) (d) C ( sI − A )
−1 −1
(c) D sI − A B+C D +B
x1 ( 0 ) = 1 and x 2 ( 0 ) = 0

03. The matrix of any state-space equation for the transfer

07. Consider the state equation [2000]
function C ( s ) R ( s ) of the system, shown below in figure •
x ( t ) = Ax ( t )
is [1994]
e− t + te− t te− t 
Given: eAt =  
 −te e− t − te− t 
−t

(a) Find a set of states x1 (1 ) and x 2 (1 ) such that

x1 ( 2 ) = 2

 −1 0  0 1  (b) Show that

(a)   (b)   1 s + 2 1 
 0 −1   0 −1  (sI − A ) =  (s) =  ;  = (s + 1)
−1 2

(c) [-1] (d) [3]   −1 s 

04. A system is described by the state equation (c) From  ( s ) , find the matrix A.
X = AX + BU . The output is given by Y = CX
 −4 −1 1 08. Given the homogeneous state-space equation
Where A=  , B =   , C = 1 0  . Transfer [2001]
 3 −1 1 •
 −3 1 
function G(s) of the system is : [1995] x= x
s 1  0 −2
(a) (b)
s + 5s + 7
2
s + 5s + 7
2
t →
()
The steady state value x ss = lim x t , given the initial state
s 1
( )
T
(c) 2 (d) 2 value of x 0 = 10 − 10  is
s + 3s + 2 s + 3s + 2
0   −3 
05. The state equation of a linear time-invariant system is (a) x ss =   (b) xss =  
given by [1995] 0   −2 
 x1 ( t )   0 1   x1 ( t )  0   −10   
 =   +   r (t) (c) xss =   (d) x ss =  
 x2 ( t )   −1 −2  x 2 ( t ) 1   10   

Scan this QR code to report an

107 http://www.examdost.com
Error in this Document
 Control Systems

09. The state transition matrix for the system X = AX & with 14. The following equation defines a separately excited dc
initial state X(0) is [2002] motor in the form of a differential equation [2003]

( ) d2  B d K 2 K
−1
(a) sI − A + +  = Va
dt 2
J dt LJ LJ
(b) eAt X ( 0 )
The above equation may be organized in the state-space
(c) Laplace inverse of ( sI − A )  form as follows
−1

 
 d2  
(d) Laplace inverse of ( sI − A ) X(0)
−1
 2  d 
 
 dt  = P  dt  + QVa
 d   
 dt    
•
 2 3 1 
10. For the system X =  X +   u , which of the
0 5  0 
following statements is true? [2002] Where the P matrix is given by
(a) The system is controllable but unstable
(b) The system is uncontrollable but unstable  B K2   K2 B
(c) The system is controllable but stable −
(a)  J
−  −
(b)  LJ
− 
 LJ   J
(d) The system is uncontrollable but stable
 1 0   0 1 

2 0  1  0 1   1 0 
11. For the system X=  X +   u; (c)  K 2  (d)  B 
0 4  1  − −
B  − −
K2 
 J J   J J 
y=  4 0  X, with u as unit impulse and with zero initial
state, the output, y, becomes [2002] 15. The state variable description of a linear autonomous
(a) 2 e2t (b) 4 e2t system is X = AX, where X is the two dimensional state vector
(c) 2 e4t (d) 4 e4t and A is the system matrix given by [2004]
0 2 
A=  . The roots of the characteristic equation are
12. Obtain a state variable representation of the system
2 0 
governed by the differential equation
(a) −2 and +2 (b) −j2 and +j2
d2 y dy
+ − 2y = u ( t ) e−1 , with the choice of state variables (c) −2 and −2 (d) +2 and +2
dt2 dt
as [2002] Statement for Linked Answer Questions 16 & 17:
 dy  A state variable system
x1 = y,x2 =  − y  et . Also find x2(t), given that u(t) is a
 dt 0 1  1 
 X (t) =   X ( t ) +   u ( t ) , with the initial condition
unit step function andx2(0)=0. 0 −3 0 
X ( 0 ) =  −1 3 and
T
the unit step input
13. A second order system starts with an initial condition of
2  u(t ) has
  without any external input. The state transition matrix
3  16. The state transition matrix [2005]
 1 1 −t
for the system is given by 
e−2t 0 
− t  . The state of the
(a) 
1
3
(
1 − e−3t ) (b) 
1

3
(
e − e−3t )
 0 e  
0 e−3x



0 e− t


system at the end of 1 second is given by [2003]
0.271  0.135 
(a)  
1.100 
(b)  
0.368  (c) 

1
1 −t
3
(
e − e−3t ) (d) 
1 (1 − e ) −t

  0 e− t 
0.271  0.135  0 e−3t 
(c)   (d)  
0.736  1.100 

Scan this QR code to report an

108 http://www.examdost.com
Error in this Document
 Control Systems

17. and the state transition equation [2005] 20. The transfer function G(s) of this system will be
t − e 
−t
t − e 
−t [2008]
(a) X ( t ) =  − t  (b) X ( t ) =  −3t  s s +1
 e   3e  (a) (b)
(s + 2) s (s − 2)
t − e−3t  t − e−3t 
(c) X ( t ) =  −3t  (d) X ( t ) =  −t  s 1
(c) (d)
 3e   e  (s + 2) s (s + 2)

18. For a system with the transfer function

21. A unity feedback is provided to the above system G(s)
3 (s − 2) to make it a closed loop system as shown in figure. [2008]
H(s) = , the matrix A in the state space
s3 + 4s2 − 2s + 1
from x = Ax + Bu is equal to [2006]
1 0 0 0 1 0
   
(a)  0 1 0  (b)  0 0 1 
 −1 2 −4   −1 2 −4  For a unit step input r(t), the steady state error In the output
   
will be
0 1 0  1 0 0 (a) 0 (b) 1
   
(c) 3 −2 1  (d)  0 0 1  (c) 2 (d) 
1 −2 4   −1 2 −4 
   
Common Data for Questions 22 and 23:
19. The state equation for the current I1, shown in the A system is described by the following state and output
network shown below in terms of the voltage Vx, and the equations
independent source V, is given by [2007] dx1 ( t )
= −3x1 ( t ) + x 2 ( t ) + 2u ( t )
dt
dx 2 ( t )
= −2x 2 ( t ) + u ( t )
dt
y ( t ) = x1 ( t )
dI1 5 Where u(t) is the input and y(t) is the output.
(a) = −1.4Vx − 3.75I1 + V
dt 4
dI1 5 22. The system transfer function is [2009]
(b) = −1.4Vx − 3.75I1 − V
dt 4 s+2 s+3
(a) (b)
dI1 5 s2 + 5s − 6 s2 + 5s + 6
(c) = −1.4Vx + 3.75I1 + V
dt 4 2s + 5 2s − 5
(c) (d)
dI1 5 s + 5s + 6
2
s + 5s − 6
2
(d) = −1.4Vx + 3.75I1 − V
dt 4
23. The state-transition matrix of the above system is
Statement for Linked Answer Questions 20 and 21: [2009]
The state space equation of a system is described by
x = Ax + Bu  e −3t
0  e −3t
e −2t
−e 
−3t

(a)  −2t  (b)  

e + e e−2t   0 e−2t 
−3t
y = Cx
Where x is state vector, u is input, y is output and
e−3t e−2t + e−3t  e3t e−2t − e−3t 
0 1  0  (c)   (d)  
A=  ,B =   ,C = 1 0  .  0 e−2t  0 e−2t 
0 −2 1 

Scan this QR code to report an

109 http://www.examdost.com
Error in this Document
 Control Systems

 −1 2 0  28. The state transition matrix for the system

24. The system x = Ax + Bu with A =   .B =   is [2014-02]
 0 2 1   x1  1 0   x1  1
[2010]  =    +   u is
(a) stable and controllable  x2  1 1   x2  1
(b) stable and uncontrollable  et 0   et 0 
(c) unstable but controllable (a)  t t (b)  2 t t
(d) unstable and uncontrollable e e  t e e 
 et 0  et tet 
25. The state variable description of an LTI system is given (c)  t t (d)  t 
by [2012] te e  0 e 
 x1   0 a1 0  x1   0 
       29. A discrete system is represented by the difference
 x2  =  0 0 a2  x2  +  0  u
 x  a equation [2014-02]
 3  3 0 0    
 x3   1   X1 ( k + 1 )   a a − 1   X1 ( k ) 
 x1   =  
   X 2 (k + 1 )  a + 1 a   X 2 (k ) 
y = (1 0 0 )  x 2 
x 
 3
It has initial conditions X1 (0 ) = 1; X (0 ) = 0 . The pole
2

Where y is the output and u is the input. The system is locations of the system for a = 1, are
controllable for (a) 1 ± j0 (b) -1 ± j0
(a) a  0, a = 0, a  0 (c) ±1 + j0 (d) 0 ± j1
1 2 3
(b) a = 0, a  0, a  0
1 2 3 30. The second order dynamic system [2014-02]
(c) a = 0, a  0, a = 0 dX
1 2 3 = PX + Qu
(d) a  0, a  0, a =0 dt
1 2 3 y = RX

Common Data for Question 26 and 27:

has the matrices P, Q and R as follows:
The state variable formulation of a system is given as  −1 1  0 
 .  P=  Q =   R = 0 1
 x1   −2 0   x1  1  0 −3 1 
 . = () ()
   +   u , x1 0 = 0 , x 2 0 = 0 and
 x2  0 -1   x2  1 
  The system has the following controllability and
x  observability properties.
y = 1 0   1  (a) Controllable and observable
 x2 
(b) Not Controllable but observable
(c) Controllable but not observable
26. The system is [2013]
(a) Controllable but not observable (d) Not Controllable and not observable
(b) Not controllable but observable
(c) Both controllable and observable 31. Consider the system described by following state space
(d) Both not controllable and not observable equations [2014-03]
 x1   0 1   x1  0  x 
27. The response y (t) to a unit step input is [2013]  =    +   u; y = 1 0   1 
1 1 −2t 1 −2t 1 −t  x2   −1 −1  x2  1   x2 
(a) − e (b) 1 − e − e
2 2 2 2 If u is unit step input, then the steady error of the system is
(c) e−2t − e−t (d) 1 − e−t (a) 0 (b) 1/2
(c) 2/3 (d) 1

Scan this QR code to report an

110 http://www.examdost.com
Error in this Document
 Control Systems

32. In the signal flow diagram given in the figure, u1 and u2

( ) ( s − 2s + 2 )
(a) 3 s + 1
2

are possible inputs whereas y 2 and y 2 are possible outputs.

(b) 3 ( 2s + 1 ) ( s − 2s + 1 )
2

When would the SISO system derived from this diagram be

(c) ( s + 1 ) ( s − 2s + 1 )
2
controllable and observable? [2015-01]

(d) 3 ( 2s + 1 ) ( s − 2s + 2 )
2

35. Consider the following state-space representation of a

linear time-invariant system. [2016-01]
1 0  1
x (t) =   x ( t ) , y ( t ) = c x ( t ) , c =   and
T

0 2  1
1 
x (0) =   .
1 
The value of y(t) for t = loge 2 is _______________.

(a) When u1 is the only input and y 1 is the only output.

36. Consider a linear time invariant system x = Ax , with
(b) When u2 is the only input and y 1 is the only output. initial condition at t = 0. Suppose  and  are eigenvectors
(c) When u1 is the only input and y 2 is the only output. of (2  2) matrix A corresponding to distinct eigenvalues
(d) When u2 is the only input and y 2 is the only output.
 and  respectively. Then the response x(t) of the
1 2
33. The following discrete – time equations result from the system due to initial condition x 0 =  is ( )
[2016-02]
numerical integration of the differential equations of an un-
 t  t
damped simple harmonic oscillator with state variable x and (a) e 1  (b) e 2 
y. The integration time step is h. [2015-02]
 t  t  t
X k +1 − X k (c) e 2  (d) e 1  + e 2 
= yk
h
y k +1 − y k 37. The transfer function of the system Y(s)/U(s) whose
= − xk
h state-space equations are given below is: [2017-01]
For this discrete – time system, which one of the following  x1 ( t )  1 2   x1 ( t )  1 
statements is TRUE?  =   +   u(t )
 x2 ( t )  2 0   x2 ( t )  2
(a) The system is not stable for h > 0
1  x1 ( t ) 
(b) The system is stable for h  y ( t ) = 1 0   .

 x2 ( t ) 
1
(c) The system is stable for 0  h  (s+ 2) (s− 2)
2 (a) (b)
1 1 (s2 − 2s − 2) (s2 + s − 4)
(d) The system is stable for h
2  (s− 4) (s+ 4)
(c) (d)
(s + s − 4)
2
(s − s − 4)
2

34. For the system governed by the set of equations:

[2015-02] 38. Consider the system described by the following state
dx1 dt = 2x1 + x2 + u space representation
dx2 dt = −2x1 + u
 x1 (t) 0 1   x1 (t) 0 
y = 3x1  =    +   u(t) and
 x2 (t) 0 −2  x2 (t) 1 
the transfer function Y(s)/U(s) is given by

Scan this QR code to report an

111 http://www.examdost.com
Error in this Document
 Control Systems

 x (t)  41. The state space representation of a first-order system is

y(t) = 1 0   1  given as
 x2 (t)
x = −x + u
 x (0)  0  y=x
If u(t) is a unit step input and  1  =   , the value of
 x2 (0) 1  where, x is the state variable, $u$ is the control input and y
is the controlled output. Let u =-Kx be the control law, where
output y(t) at t = 1 sec (rounded off to three decimal places
K is the controller gain. To place a closed-loop pole at -2, the
) is ___________ . [2017-02] value of K is _________. [2021]

39. Consider a system governed by the following equations 42. Consider the state-space description of an LTI system
[2018] with matrices
dx1 ( t ) 0 1 0 
= x 2 ( t ) − x1 ( t ) A=  ,B =   ,C = 3 −2 ,D = 1
dt  −1 −2 1 
dx2 ( t ) For the input, sin(ωt),ω>0, the value of 𝜔 for which the
= x1 ( t ) − x 2 ( t ) steady-state output of the system will be zero, is (Round off
dt to the nearest integer). [2023]
( )
The initial conditions are such that x1 0  x 2 0   . Let( )
x1f = lim x1 ( t ) and x 2f = lim x 2 ( t ) . Which one of the
t → t →

following is true?
(a) x1f  x2f   (b) x2f  x1f  
(c) x1f = x2f   (d) x1f = x2f = 

40. Consider a state-variable model of a system

 x1   0 1   x1   0 
 =    +  r
 x2   − −2   x2   
x 
y = 1 0   1 
 x2 
where y is the output, and r is the input. The damping ratio
 and the undamped natural frequency n (rad/sec) of the
system are given by [2019]

(a)  =  ; n =


(b)  = ; n = 


(c)  =  ; n = 

(d)  = ; n = 


Scan this QR code to report an

112 http://www.examdost.com
Error in this Document
 Control Systems

Solutions
01. Ans: (b)
Solution:
a b  p 
Let us assume A=   , B=  
 c d  q
() ()
If x1 t = x 2 t

x1 (t) = x (t)
2

Therefore, (a+b) =(c+d) & p=q

p (ap + bq)
Q c = B AB  =   =0
q (cp + dq) 
Qc = 0
Not controllable

02. Ans: (a)

Solution:
.
X = Ax + Bu, y = Cx + Du
sX ( s ) − AX ( s ) = Bu ( s ) (Assuming initial conditions to be zero)

X ( s ) = ( sI − A ) Bu ( s )
−1

Y ( s ) = C ( sI − A ) Bu ( s ) + Du ( s )
−1

Y (s)
= C ( sI − A ) B + D
−1

u(s)

03. Ans: (c)

Solution:
1 term acts an integrator and for one integrator we define 1 state variable x.
s
From the Block Diagram,
x = −x + 3r
Thus the matrix A becomes, [-1]

04. Ans: (a)

Solution:
*
X = Ax + Bu
Y = Cx
Y (s)
= C sI − A  B 
−1
T.F =
U( s)  

 −4 −1 1
A=  ;B =   ;C = 1 0 
 3 −1  1
s + 4 1 
sI − A  =  −3 s + 1
 

Scan this QR code to report an

113 http://www.examdost.com
Error in this Document
 Control Systems

−1 1 s + 1 −1 
sI − A  =
( s + 4 )( s + 1) − ( −3)(1 )  3 s + 4 
1 s + 1 −1 
=  
s + 5s + 7  3
2
s + 4
s + 1 −1  1  s 
1 0      1 0   
T.F.= sI − A 
−1 −1
C sI − A  B =  3 s + 4  1
=
 s + 7 = s
s2 + 5s + 7 s2 + 5s + 7 s2 + 5s + 7

05. Ans:---
Solution:
Matrix A is,

0 1
A= 
 −1 −2
s −1 
( sI − A ) = 1 
s + 2

1 + 1 1 
 s +1 ( s + 1) (s + 1)
2 2
s + 2 1  
1
( sI − A )
−1
=  2 =  
 −1 s  s + 2s + 1  − 1 ( ) 1 − 1 
( s + 1) ( s + 1 )2 
 (s + 1)
2


State transition matrix
 ( t ) = L−1 ( sI − A )
−1

( t + 1 ) e− t 
te− t
(t) =  
 −te
−t
(1 − t ) e  −t

(ii) Since initial states are zero. We need to compute zero state response
1  s + 2 1  0  1
X ( s ) = ( sI − A ) BU ( s ) =
−1
   s
s + 2s + 1  −1 s  1 
2

11
X (s) =  
(
s s + 2s + 1 s 
2
)
s 1
X2 ( s ) = =
(
s s + 2s + 1
2
) s + 2s + 1
2

Initial value of X 2 s ()
s
X 2 ( 0 ) = Lim sX 2 ( s ) = Lim
s→ s→ s2 + 2s + 1
X2 (0 ) = 0

06. Ans: (-0.121)

Solution:

( )
−1
Laplace transform of STM = sI − A

Scan this QR code to report an

114 http://www.examdost.com
Error in this Document
 Control Systems

s + 5 −1
( sI − A ) =  
 6 s
 s 1 
s 1  1  ( s + 2 )( s + 3 ) ( s + 2 )( s + 3 ) 
( sI − A )
−1
=  2 = 
 −6 s + 5 s + 5s + 6  −6 s +5 
 ( s + 2 )( s + 3 ) ( s + 2 )( s + 3)
State transition matrix
 ( t ) = L−1 ( sI − A ) 
−1

 
 −2 +3 1 −1 
(t) = L −1 s + 2 s + 3 s + 2 s + 3 
 −6 6 3 2 
 s + 2 + −
s+3 s+2 s + 3
 −2e−2t + 3e−3t e−2t − e−3t 
(t) =  
 −6e + 6e 3e−2t − 2e−3t 
−2t −3t

x ( t ) =  ( t ) x (0 ) [No input is applied]

1 
x (0) =  
0 
 −2e−2t + 3e−3t 
x (t) =  
 −6e + 6e 
−2t −3t

At t=1,
x2 = −6e−2 + 6e−3 = −0.513
x1 = −2e−2 + 3e−3 = −0.121

07. Ans: ---

Solution:
(a) Zero input response of a system is
 x1 ( t ) 
  = (t)   =
( )
 x1 ( 0 )   e− t + te− t x1 ( 0 ) + te− t x 2 ( 0 ) 

 x2 ( t )  ( )
 x2 ( 0 )   −te− t x1 ( 0 ) + e− t − te− t x 2 ( 0 ) 
 
At t=1
x1 (1 ) = 2e− t x1 ( 0 ) + e−1 x 2 ( 0 ) ............ (1 )
x 2 (1 ) = −e−1 x1 ( 0 ) ............ ( 2 )
At t=2
x1 ( 2 ) = 2 = 3e−2 x1 ( 0 ) + 2e−2 x 2 ( 0 ) ........ (3 )
Data is insufficient to determine x1 0 and x 2 0 ( ) ( )
Assuming both to be equal
From (3)
x1 ( 0 ) = x 2 ( 0 ) = 2.955

( )
Hence, x1 1 = 3.262

x 2 (1 ) = −1.087

Scan this QR code to report an

115 http://www.examdost.com
Error in this Document
 Control Systems

 1 + 1 1 
 (s + 1) ( s + 1)
2
(s + 1)
2

( ) ()
−1
(b) sI − A = L  t  =  
 − 1 1 − 1 

 (s + 1)
2
( s + 1) ( s + 1 ) 
2

1 s + 2 1 
( sI − A )
−1
=  
( s + 1)  −1 s 
2

1 1
( sI − A )
−1
(c) =  s2 + 2s + 1 =
(s + 1) (s + 1)
4 2

1  s −1 
 
(s + 1) 1 s + 2 
2
−1
( sI − A )−1  = ( sI − A ) =
  1
(s + 1)
2

s −1 
( sI − A ) = 1 
s + 2

0 1
Hence, A =  
 −1 −2

08. Ans: (a)

 −3 1 10 
Solution: X =   X , x (0) =  
0 −2  −10 
−1 
−1 s + 3 −1  1 s + 2 1 
(t) = L−1 ( SI − A ) = L−1   = L−1  
 0 s + 2  ( s + 3)( s + 2 )  0 s + 3 

1 1 
−1
(t) = L 
 s+3 ( s + 3)(s + 2) = e−3t (e−2t − e−3t )
  
 0 1
  0 e−2t 
 s+2 
e−3t (e−2t − e−3t ) 10 
x ( t ) =  ( t ) . x (o ) =   
 −2t   −10 
 0 e 
0 0  10  0 
X = X (t) →    = 
ss  0 0   −10  0 
t→

09. Ans: (c)

Solution:

( )
State transition matrix  (t) is given by L-1  sI − A  .
−1



10. Ans: (b)

Solution:
 2 3 1 
X=  X +  u
0 5  0 

Scan this QR code to report an

116 http://www.examdost.com
Error in this Document
 Control Systems

 2 3
A= 
0 5 
Eigen values of A are the closed loop poles.
sI − A = 0
s − 2 −3
=0
0 s −5

( s − 2 )( s − 5 ) = 0
s = 2, s = 5

Poles on R.H.S. of s – plane, hence the system is unstable.

Q = B AB
c
2 3 1  2 
AB =    =  
0 5  0   0 
1 2
Q = =0
c 0 0

Since, Q = 0 the system is uncontrollable.

c

11. Ans: (b)

Solution:
2 0  1
X=  X +  u ; Y =  4 0  X
0 4  1
X ( t ) = AX ( t ) + BU ( t ) ; Y = CX
−1
X ( s ) = ( sI − A ) BU ( s )
−1
 −1  s − 2 0  1
Y ( s ) = C ( sI − A ) B  U ( s ) =  4 0      U(s)
   0 s − 4 1
1 s − 4 0  1
Y ( s ) =  4 0 
( s − 2)( s − 4 )  0 s − 2 1


s − 4 

Y ( s ) =  4 0 
 
s − 2  =
4 s−4 ( )( )
=
4 ( )
= 4e2t
( )( ) ( )
( s − 2)( s − 4 ) s − 4 s − 2 s − 2
12. Ans:
Solution:
Given
dy 2 dy
+ − 2y = u(t)e− t … (i)
dt2 dt
State variables
X1 = y

Scan this QR code to report an

117 http://www.examdost.com
Error in this Document
 Control Systems

dy
X1 =
dt
 dy 
X2 =  − y  et
 dt 
 d2 y 
X 2 = et  2 − y 
 dt 
From equation (i)
 d2 y  t  dy 
 2 − y e +  − y  et = u(t)
 dt   dt 

X2 + X2 = u(t) … (ii)

X1 = X1 + X2 e−t … (iii)

y = X1
State variable representation
 X1   1 e − t   X1   0 
 =    +   u(t)
 X 2   0 −1   X 2  1 
1   X 
y =    1
0   X 2 
Now to find X2 (t)
Given x2(0) = 0
Taking lapalce of equation (ii)
1
X 2 (s) ( S + 1 ) =
s
1 1 1
X 2 (s) = = −
s ( s + 1) s s + 1

(
 x 2 (t) = 1 − e− t u(t) )

13. Ans: (a)

Solution:
e−2t 0 
State transition matrix  t =  ()  
 0 e−t 
2 
Initial condition =  
3 
e−2t 0  2 2e−2t 
x ( t ) =  ( t ) x (0 ) =   =
   
 0 e−t  3  3e−t 
State of the system at t = 1 is,
2e−2  0.271
x (t) = =
t = 1  −1  1.100 
3e 

Scan this QR code to report an

118 http://www.examdost.com
Error in this Document
 Control Systems

14. Ans: (a)

Solution:
d2 B d K2 K
+ + = V
2 J dt JL JL a
dt
 d2 
   d 
 dt2  = P   + QV
   dt  a
 d   
 dt 
Let  = x
1
d
=x =x
dt 1 2

d2
=x
2
dt2

Now, re-writing the given equation,

B K2 K
x + x + x = V
2 J 2 JL 1 JL a
 −K2 
x = x − B x + K V ----------------(1)
2  JL  1  J  2 JL a
 
Also, x = x ----------------(2)
1 2
Writing equations (1) & (2) in matrix form,
  −K2  
x  −  B    x   K 
 2  =   J   JL    2  +  JL  V
x     x    a
 1   1  0 
 1 0 
On comparing, we get option (a) as the correct choice.

15. Ans: (a)

Solution:
0 2 
A= 
2 0 
The roots of C.E. are eigen values of matrix ‘A’.
 s −2
sI − A =  
 −2 s 
sI − A = 0
s2 − ( −2 )( −2 ) = 0
s2 = ( 2 )( 2 )
s=±2

Scan this QR code to report an

119 http://www.examdost.com
Error in this Document
 Control Systems

16. Ans: (a)

Solution:

0 1  1 
( )
T
(a) A =   ; B =   ; x 0 =  −1 3
0 −3 0 

State transition matrix  t = L

−1 sI − A
() ( )−1
 s −1 
(sI − A) =  
0 s + 3 
1 1 
( sI − A ) −1
=
1 (s + 3) 1  s
=
( s)(s + 3)
( s)(s + 3)  0 s   0 1


 (s + 3) 
 1  1 − e−3t  
−1 −1 1 
 ( t ) = L ( sI − A ) =  3

0
 e−3t 


17. Ans: (c)

solution
x ( t ) = Ax ( t ) + Bu ( t )

X ( s ) sI − A  = BU ( s ) + X ( 0 )

−1 −1
X ( s ) = ( sI − A ) X ( 0 ) + ( sI − A ) BU(s)

State transition equation, x t = L ()  −1

(sI − A )−1  X (0 ) + L−1  (sI − A )−1 BU(s) 
   
 1  1 − e−3t      −e−3t 
−1  −1  1 −1
   = 
L ( sI − A ) X ( 0 )  =  3
 3

      − 3t 
0 e−3t 
 3e 

 1 1  
s ( s + 3)  1  1  −1  1 2  t 
 
 −1    s
L−1  ( sI − A ) BU(s)  = L−1  
  1
( )
  s  =L  s  =  
 0  0
 0
(s + 3) 
 0   
  
t − e−3t 
Therefore, state transition equation =  
 −3t 
3e 

18. Ans: (b)

Solution:
If the Transfer Function is represented in Controllable Canonical Form then the matrices of State Model become,
0 1 0
 
A=0 0 1
 −1 2 −4 
 

Scan this QR code to report an

120 http://www.examdost.com
Error in this Document
 Control Systems

0 
 
B = 0 
3 
 
C =  −2 1 0 

19. Ans: (a)

Solution:
Apply KVL to super mesh
V = 3I + Vx + 5(I – I1)–0.2 Vx
V = 8I + 0.8 Vx – 5I1 … (i)
Apply KVL to first loop
dI1
V = 3I + Vx + 0.5
dt
V − Vx − 0.5 d I1 /dt
I=
3
From (i)
8 d I1 
V=  V − Vx − 0.5  + Vx (0.8) − 5 I1
3 dt 
dI1
3V = 8V − 8Vx − 4 + 2.4 Vx − 15 I1
dt
dI1 5
= −1.4 Vx − 3.75 I1 + V
dt 4
Hence (a) is correct.

20. Ans: (d)

Solution:
0 1 0 
Given, A =   ; B =   ; C = 1 0 
0 −2 1 
s + 2 1  0  1
−1 1 0     1 0   
−1  s −1  0     0 s  1    s  1
T.F. = C sI − A  B = 1 0     = = =
0 s + 2  1
  ( )( )
s s + 2 s ( )
s + 2 s ( s + 2)

21. Ans: (a)

Solution:
Unit step input & unity feedback;
r (t) = u(t)

1
R (s) =  
s

( s) . R (s) ( s )  1s 
E = Lt = Lt   =0
ss s → 0 1 + G ( s ) H ( s ) s → 0 1
1+
s(s + 2)

Scan this QR code to report an

121 http://www.examdost.com
Error in this Document
 Control Systems

22. Ans: (c)

Solution:
 • 
 X1 ( t )   −3 1   X1 ( t )  2
 • =   +   u( t )
 X t   0 −2  X2 ( t )  1 
()
 2 
x (t)
y ( t ) = 1 0   1 
x ( t )
 2 
s + 3 −1 
sI − A =  
 0 s + 2

−1 1 s + 2 1 
sI − A  =
( s + 2)( s + 3)  0 s + 3


 1 1   2 1 
s + 3  2   + 
−1
T.F. = C SI − A  B = 1 0  
( s + 2)( s + 3)    = 1 0  s + 3 ( s + 2)( s + 3) 
 1  1    
 0   1 
 s+2   s+2 
2s + 5
T.F. =
s2 + 5s + 6

23. Ans: (b)

Solution:
 1 1 
s + 3
sI − A 
−1
=
( )( ) 
s + 2 s + 3
 1 
 0 
 s+2 

−1  sI − A −1 
State transition matrix = L ( ) 
 
 1  1 1 
−    −3t

s + 3

s + 2 s + 3   e e−2t − e−3t 
 ( t ) = L−1   =
 1   0 e−2t

 0   
 s+2 

24. Ans: (c)

 −1 2 0 
Solution: A =   ;B =  
 0 2 1 

 −1 2 0  2
AB =    =  
 0 2 1  2

0 2
Q = B AB = = ( −2 )  0  controllable
c 1 2

Scan this QR code to report an

122 http://www.examdost.com
Error in this Document
 Control Systems

Characteristic Equation of System, sI − A = 0

s + 1 −2
=0
0 s−2

( s + 1 )( s − 2 ) = 0
s = −1 ; s = 2

Unstable but controllable.

25. Ans: (d)

Solution:
The State Model is,
x = Ax + BU and y = Cx
0 a 0
 1  0 
   
Here, A = 0 0 a B = 0  C = 1 0 0 
 2
a 1 
0 0  
 3 
0 a a 
   1 2
2
AB = a  and A B =  0 
 2  
 0   0 
The Controllability Matrix is,
0 0 a a 
 1 2
Q = 0 a 0 
c  2 
1 0 0 

Q = −a a 2
c 1 2
For System to be controllable Q 0
C
a  0 and a  0 : a  any number
1 2 3

26. Ans: (a)

Solution:
The given state model is,
 . 
 x1   −2 0   x1  1  x1 
 . =    +   u and y = 1 0   
 x2  0 -1  x2  1  x2 
 
Initial Conditions are given as,
x (0) = 0
1
x (0) = 0
2

Scan this QR code to report an

123 http://www.examdost.com
Error in this Document
 Control Systems

 −2 0  1
A=  ; B =   ;C = 1 0 
 0 −1 1
Applying Kalman’s Test for Controllability
 −2 0  1  −2
AB =    =  
 0 −1 1  −1
1 −2
Q = B AB  =  
c 1 −1
Q = (1 )( −1 ) − ( −2 )(1 ) = 1
c

Q 0
c
Hence, system is controllable.

Q = CT A T .CT 
0  
 −2 0  1   −2
A TCT =    =  
 0 −1 0   0 
1 −2
Q =
0 0 0 

Q =0
0
Controllable but not observable.

27. Ans: (a)

Solution:
−1
Y ( s ) = C. ( sI − A ) BU ( s )

s+2 0 
sI − A =  
0 s + 1
1 0  1 0  1 
−1 1 s + 1 0   s+2  sI − A −1 B ==  s + 2  1 =  s + 2
( sI − A ) = = = ( )
( s + 2)( s + 1)  0 s + 2  0 1 s + 1 

0 1  1  1
s + 1
  

 s + 1 
1 
C. ( sI − A )
−1
1 (
.B = 1 0   s + 2 = 1
 s+2 )
 s + 1 
−1
Y ( s ) = C. ( SI − A ) B.U ( s )

For unit step input,

U(s) = 1
s
Y (s) = 1 ( s+2 ).( 1 s )

Scan this QR code to report an

124 http://www.examdost.com
Error in this Document
 Control Systems

 −1 1 
1
( )
y ( t ) = L−1 Y ( s ) = L−1  2 + 2  = 1 − e−2t 
s + 2 s  2 
 
y ( t ) = 1 − 1 e−2t
2 2

28. Ans: (c)

Solution:
−1 
()
State Transition Matrix,  t = L  s I − A
−1

( ) 
s − 1 0 
( s I − A ) = -1 
s − 1

 1 
s − 1 0 
−1 1 s − 1 0   
(s I − A ) = 2   =  1 1 
( s − 1) 1 s − 1
 2
( s − 1) 
 ( s − 1 )
et 0 
(t) =  t t 
te e 

29. Ans: (a)

Solution:
The location of poles can be determined by solving the characteristic equation and it does not depend on the Initial
Conditions.
Characteristic Equation = zI − A

zI − A =
( z − a) − ( a − 1 ) = 0
− ( a + 1 ) ( z − a)
For a = 1
( z − 1) 0
=0
−2 ( z − 1)
2
( z − 1) =0
z = 1  j0

30. Ans: (c)

Solution:
Controllability Matrix: C = [Q PQ]
0   −1 1  0   1 
Q =   ; PQ =    =  
1   0 -3  1   −3 
0 1 
C=  
1 -3
det (C) = 3 × 0 – 1 = – 1 ≠ 0

Scan this QR code to report an

125 http://www.examdost.com
Error in this Document
 Control Systems

Hence, it is controllable.
Observability Matrix: O = [R RP]T
-1 1 
R = [0 1] ; RP = [0 1]   = [0 -3]
0 -3
0 1 
O=  
0 -3
det (O) = 0
Hence, it is not observable.

31. Ans: (a)

Solution:
Transfer function = C (sI – A)–1 B
s −1 
( sI − A ) = 1 
s + 1

−1 1s + 1 1 
( sI − A ) =  
( )
s + s + 1  −1 s 
2

−1 1 0  ( s + 1 ) 1  0  1 0  1 1

C ( sI − A ) B=    = 2  = 2
( s + s +1
2
)  −1 (
s  1  )
s + s + 1 s  (
s + s +1 )
If the system is converted to Open Loop Transfer Function based on unity feedback.
Numr 1
Open loop TF = G(s) = = (Assuming unity feedback)
Denr − Numr s ( s + 1 )
This system is type 1 system & hence error will be 0 for unit step input.

32. Ans: (b)

Solution:
Applying Node Equation,
1
x1 = u + 5x1 − 2x 2 
s 1

sx1 = 5x1 − 2x2 + u1

x1, = 5x1 − 2x 2 + u1 ……..…..……..(1)

1
x2 = u + u2 + 2x1 + x 2 
s 1
sx2 = 2x1 + x2 + u1 + u2
x 2 , = 2x1 + x 2 + u1 + u2 ………………….(2)
From (1) & (2),
 x1  5 −2  x1  1 0   u1 
 =  +  
 x2  2 1   x2  1 1 u2 
y 1 = x1

Scan this QR code to report an

126 http://www.examdost.com
Error in this Document
 Control Systems

y2 = x1 − x2
 y1  1 0   x1 
 =  
 y 2  1 −1  x2 
Case – 1: u1 is input, y 1 is output

5 −2 1
A=  , B =   , C = 1 0 
2 1  1
5 −2 1 3
AB =   = 
2 1  1 3
1 3
QC = B AB  =  
1 3
det ( Q C ) = 0 (not controllable)

Case – 2: u2 is input, y1 is output

5 −2 0 
A=  , B =   , C = 1 0 
2 1  1 
 −2 0 −2
AB =   ; QC = B AB  =  
1 1 1 
det ( QC ) = 2  0 (Controllable)

5 −2
CA = 1 0   = 5 − 2
2 1 
 C  1 0 
Q0 =   =  
CA  5 −2
det ( Q 0 ) = −2  0 (Observable)

33. Ans: (a)

Solution:
Since x and y are stable variables, transform the given equations as,
xk +1 = xk + h.yk

yk +1 = −hxk + yk

 xk +1   1 h  xk 
 =  
 yk +1   −h 1  yk 
xk +1 = Axk
For Location of poles we need to solve the characteristic equation which is given by zI − A = 0

2
zI− A = ( z − 1) + h2 = 0

Poles lie at z = 1  ih which have magnitude z = 1 + h2

So, the poles lie outside unit circle h  0 & hence system is unstable for h>0.

Scan this QR code to report an

127 http://www.examdost.com
Error in this Document
 Control Systems

34. Ans: (a)

Solution:
dx1
= 2x1 + x2 + u
dt
dx2
= −2x1 + 0.x2 + u
dt
 x1   2 1  x1  1
 =    +  u
 x2   −2 0   x2  1
x 
y = 3 0   1 
 x2 
s − 2 −1
(sI− A) =  
 2 s
1 s 1 
(sI− A)−1 =  
(s2 − 2s+ 2)  −2 s − 2
3 0  s 1  1
TF = C(sI− A)−1B =   
(s2 − 2s+ 2)  −2 s − 2 1
3 0  s + 1
TF =  
(s2 − 2s+ 2) s − 4 
3(s+ 1)
TF =
(s2 − 2s+ 2)

35. Ans: (6)

Solution:
1 0 
State Model, x t =  ()  x (t)
0 2 
We know, x ( t ) =  ( t ) x(0)
s − 1 0 
( sI − A ) =  
 0 s − 2
 1  
  0 
s − 2 0  s −1
( sI − A ) = s − 1 1 s − 2  0 s − 1 =   
−1

( )( )    0  1 
 
  s − 2  
 et 0
State Transition Matrix,  ( t ) = L−1 ( sI − A )  = 
−1

   0 e2t 
et 0  1 et 
x (t) =  2t   
=  2t 
 0 e  1 e 
 et 
y ( t ) = CT x(t) = 1 1   2t  = et + e2t
e 
For t = loge 2,
+e (
loge 2 2 loge 2 )
y(t) = e =2+4 =6

Scan this QR code to report an

128 http://www.examdost.com
Error in this Document
 Control Systems

36. Ans: (a)

Solution:
Given 1 & 2 be the eigen values of matrix A.
Without the loss of generality the matrix A can be expressed as,
 0 
A= 1 
 0 2 
Eigenvector of any matrix is a vector such that,
Ax = x
For  = 1 , x =  = 1 
0
1 0  1  1 
    = 1  
 0 2   0  0
0
For  =  2 , x =  =  
1 
1 0   0  0
    = 2  
 0  2  1  1 

The state transition matrix is given by,

−1 e1t 0 
eAt = L−1 sI − A  =  =  (t)
 0 e2t 

x ( t ) = eAt  x ( 0 )

e1t 0  1  1t  1 

x (t) =  
2 t   = e   = e
1t

 0 e   0  0

37. Ans: (d)

Solution:
1 2 
A= 
2 0 
s − 1 −2
( sI − A ) =  −2 
s

1 s 2 
( sI − A )
−1
=  
s ( s − 1 ) − 4 2 s − 1 

1 0   s 2  1  1 0  s + 4  s+4
( ) B = 2
−1
Transfer function, = C sI − A    = 2  = 2
s −s−4  2 s − 1 (
 2  )
s −s−4  2s (
 s −s−4 )
38. Ans: 1.2838
Solution:
0 1
The matrix A =  
0 −2
s −1 
( sI − A ) = 0 
s + 2


Scan this QR code to report an

129 http://www.examdost.com
Error in this Document
 Control Systems

1 s + 2 1 
( sI − A )
−1
=  
s (s + 2)  0 s

1 1 1 1 
  − 
 = L−1  s 2  s s + 2 
( )
State transition matrix  (t) = L  sI − A
−1 −1

  1 
0 
 s+2 
 1
(t) = 
1
2
(
1 − e−2t ) u(t)
 
0 e−2t 
 1
Free response (t)  x(0) = 
1
2
(1 − e−2t ) 1 = 1
  0  0 
0 e−2t 
 s + 2 1  1 0  1  −1  1 1 
( )
Forced response = L  sI − A B u(s)
−1
−1
= L−1        = L   2 
   0 s  s ( s + 2 ) 1  s    s  s ( s + 2 ) 

 1 1 1 
− + 2 +   − 1 + 1 t + 1 e−2t 

= L−1 
4s 2s 4 ( s + 2 )   4 2
=  4

 u(t)
1 1  1 1
 −   − e−2t 
 2s 2 (s + 2)  
 2 2 

 1 1 1 −2t  3 1 1 −2t 
1   − 4 + 2 t + 4 e   + t+ e 
4 2 4
Response x(t) =   +   u(t) =   u(t)
0   1 − 1 e−2t  1 1
 − e−2t 
 2 2   2 2 
3 1 1 −2t 
 + t+ e  3 t 1 
y(t) = Cx(t) = 1 0   4 2 4  u ( t ) =  + + e−2t  u ( t )
 1 − 1 e−2t  4 2 4 
 2 2 
3 1 1 −2
y(t = 1) = + + e = 1.2838
4 2 4

39. Ans: (c)

Solution:
Converting to state model
 x1   −1 1   x1 
 =  
 x2   1 −1  x2 
 −1 1 
A= 
 1 −1
s + 1 −1 
( sI − A ) =  
 1 s + 1
s + 1 −1  1
( sI − A )
−1
= 
 1 s + 1 s2 + 2s

Scan this QR code to report an

130 http://www.examdost.com
Error in this Document
 Control Systems

 s+1 1  1 1 1 1 
   + − 
 s (s + 2) s ( s + 2 )   2s 2 ( s + 2 ) 2s 2 ( s + 2 ) 
( sI − A )
−1
= =
1 s +1   1 1 1 1 
   − + 
 s ( s + 2 ) s ( s + 2 )   2s 2 ( s + 2 ) 2s 2 ( s + 2 ) 

1 1 + e−2t 1 − e−2t 
(t) =  
2 1 − e−2t 1 + e−2t 

1 1 + e−2t 1 − e−2t   X1 ( 0 )  1  X1 ( 0 ) + X 2 ( 0 ) + e  X1 ( 0 ) − X 2 ( 0 )  
−2t

X ( t ) =  ( t ) X (0) =   =
2 1 − e−2t 1 + e−2t   X 2 ( 0 )  2  X ( 0 ) + X ( 0 ) + e−2t  X ( 0 ) − X ( 0 )  
   1 2  2 1 
1  X1 ( 0 ) + X 2 ( 0 ) 
X f = lim X ( t ) =  
t → 2  X1 ( 0 ) + X 2 ( 0 ) 
 
Hence X1f = X2f  

40. Ans: (b)

Solution:
Characteristic equation is sI − A = 0

s −1
=0
 s + 2

s2 + 2s +  = 0

Compare to standard equation, s + 2ns + n2 = 0

2

n2 =  or n = 


2n = 2 or  =


41. Ans: (1)

Solution:
x = −x − Kx = x(−kI − I)
Characteristic equation,
|SI+KI+I|=0
|(s+1+K) I|=0
 s + 1+K = 0
s=-1-K
-2=-1-K
K=1

42. Ans. (2)

Solution:
Transfer Function is given by,
T(s) = C[SI – A]-1 B + D
s −1 
(SI − A) =  
1 s + 2

Scan this QR code to report an

131 http://www.examdost.com
Error in this Document
 Control Systems

1 s + 2 1
(SI− A)−1 =  
s(s + 2) + 1  −1 s 
1 s + 2 1 0 
(SI− A)−1B =   
s + 2s + 1  −1 s  1 
2

1 1
=  
(s + 1)2 s 
1 1 
C(SI− A)−1B = 3 −2  
(s + 1) 8 
2

3 − 2s
=
(s + 1)2
3 − 2s s2 + 4
C(SI− A)−1B + D = +1 =
(s + 1)2 (s + 1)2
( j)2 + 4 4 − 2
T( j) = =
(1 + j)2 (1 + j)2
T( j) = 0 at  = 2rad / s

Scan this QR code to report an

132 http://www.examdost.com
Error in this Document
 Control Systems

Chapter 7 – Control System Design

01. The pole-zero configuration of a phase-lead 900

compensator is given by [1994] 06. The system is to be compensated such
s ( s + 1 )( s + 9 )
that its gain-crossover frequency becomes same
as its uncompensated phase-crossover frequency and
provides a 45° phase margin. To achieve this, one may use
[2007]
(a) A lag compensator that provides an attenuation of20 dB
and a phase lag of 45o at the frequency of 3 3 rad/s
(b) A lead compensator that provides an amplification of20
dB and a phase lead of45o at the frequency of 3 rad/s
(c) A lag-lead compensator that provides an amplification
of20 dB and a phase lagof 45o at the frequency of 3 rad/s
(d) A lag-lead compensator that provides an attenuation
of20 dB and a phase lagof 45o at the frequency of 3 rad/s
02. Introduction of integral action in the forward path of a
unity feedback system results in a [1997] 07. The transfer functions of two compensators are given
(a) Marginally stable system below: [2008]
(b) System with no steady state error 10 ( s + 1 ) s + 10
C1 = , C2 =
(c) System with increased stability margin
( s + 10 ) 10 ( s + 1 )
(d) System with better speed of response
Which one of the following statements is correct?
03. The phase lead compensation is used to [1998] (a) C 1 is a lead compensator and C 2 is a lag compensator
(a) Increase rise time and decrease overshoot (b) C 1 is a lag compensator and C 2 , is a lead compensator
(b) Decrease both rise time and overshoot (c) Both C 1 and C 2 are lead compensators
(c) Increase both rise time and overshoot
(d) Both C 1 and C 2 are lag compensators
(d) Decrease rise time and increase overshoot

04. Maximum phase-lead of the compensator 08. The asymptotic Bode magnitude plot of a minimum
phase transfer function is shown in the figure:
D(s) =
( 0.5s + 1 ) , is [2000] This transfer function has [2008]
( 0.5s + 1 )
(a) 52 deg at 4 rad/sec
(b) 52 deg at 10 rad/sec
(c) 55 deg at 12 rad/sec
(d) None of the answers is correct

05. A lead compensator used for a closed loop controller has

 s
K 1 + 
a
the following transfer function  . For such a lead
 s
1 + 
 b (a) Three poles and one zero
compensator [2003] (b) Two poles and one zero
(a) a < b (b) b < a (c) Two poles and two zeros
(c) a > Kb (d) a < Kb (d) One pole and two zeros

Scan this QR code to report an

133 http://www.examdost.com
Error in this Document
 Control Systems

Statements for Linked Answer Questions 9 and 10: 14. Consider a closed-loop system as shown.
The transfer function of a compensator is given as 14.4
Gp (s) = is the plant transfer funclion and Gc(s) =
s+a s(1 + 0.1s)
GC ( s ) =
s+b 1 is the compensator. For a unit-step input, the output
09. GC ( s ) is a lead compensator if [2012] response has dampod oscillations. The damped natural
frequency is ……….. rad/s. (Round off to 2 decimal places)
(a) a = 1, b = 2 (b) a = 3, b = 2
[2021]
(c) a = -3, b = -1 (d) a = 3, b = 1

10. The phase of the above lead compensator is maximum

at [2012]
(a) 2rad / s (b) 3rad / s
(c) 6rad / s (d) 1 / 3rad / s
15. In the given figure, plant
11. For the network shown in the figure below, the 2.2
GP ( s ) = and compansator
frequency (in rad/s) at which the maximum phase lag occurs (1 + 0.1s)(1 + 0.4s)(1 + 1.2s)
is, ___________. [2016-02]
 1 + T1s 
Gc (s) = K   . input is D(s). It is desired that when the
 1 + T2s 
disturbance is a unit step, the steady-steady error should not
exceed 0.1 unit. The minimum value of K is …………..(Round
off to 2 decimal places) [2021]

12. The transfer function C(s) of a compensator is given

below. [2017-02]
 s   s  16. Consider a unity-gain negative feedback system
1 +  1 + 
0.1   100  consisting of the plant G(s) (given below) and a
C(s) = 
proportional-integral controller. Let the proportional gain
(1 + s )  1 + 10s  and integral gain be 3 and 1, respectively. For a unit step
 
reference input, the final values of the controller output and
The frequency range in which the phase (lead) introduced by the plant output, respectively, are [2023]
the compensator reaches the maximum is
1
(a) 0.1    1 (b) 1    10 G(s) =
s −1
(c) 10    100 (d)   100
(a) ∞,∞ (b) 1,0
(c) 1, –1 (d) –1,1
13. The transfer function of a phase lead compensator is
given by 17. Consider a lead compensator of the form
 1  s
3 s +  1+
aT 
D (s) =  K (s) =  ,   1,   0
 1 s
1+
s +  
 T
The frequency at which this compensator produces
( )
The frequency (in rad/sec), at which D j is maximum, maximum phase lead is 4 rad/s. At this frequency, the gain
is [2019] amplification provided by the controller, assuming
1 asymptotic Bode-magnitude plot of K(s), is 6 dB. The values
(a) 3T (b) of α,β, respectively, are [2023]
3T 2
(a) 1,16 (b) 2,4
(c) (d) 3 (c) 3,5 (d) 2.66,2.25
3T2
T2

Scan this QR code to report an

134 http://www.examdost.com
Error in this Document
 Control Systems

Solutions
01. Ans: (b)
Solution:
In a phase-lead compensator,
zero is nearer to the origin.

02. Ans: (b)

Solution: Integral controller eliminates steady-state error whereas derivative controller improves speed of response.

03. Ans: (b)

Solution:
Phase-lead compensator improves the transient state characteristics or speed of the response.
It reduces rise time
For example: Differential controller is a lead compensator
Let G ( s ) = k1
s (1 + Ts )

C.E  Ts2 + s + k 1 = 0
k1
n = ; 2n = 1
T T
1 T
=
2 k1 T

= 1 ………… (1)
2 k1 T
Now new system
(
kD s + k1 )
()
Gm s =
s 1 + Ts ( )
C.E  Ts + s + k D s + k =0
2

s2 + s
(1 + k ) + k D 1 =0
T T

n =
k1
;2n =
(1 + k ) D
T T
=
(1 + k ) D T
T2 k1

=
(1 + k ) ………… (2)
D

2 k1 T
 value increases and hence peak overshoot decreases.
Therefore, decrease in both rise time & overshoot.

04. Ans: (d)

Solution: D ( s ) =
( 0.5s + 1)
( 0.05s + 1)
Comparing with standard T.F. of a phase lead compensator, T.F.= 1 + Ts
1 + Ts

Scan this QR code to report an

135 http://www.examdost.com
Error in this Document
 Control Systems

T=0.5
T = 0.05
0.05
= = 0.1
0.5
1 −  
 = sin−1  −1 (1 − 0.1 ) = 540
m  = sin
1 +   1 + 0.1
  1
 = 1 = = 6.324 rad/sec
n  T   0.5 0.1

05. Ans: (a)

Solution: T.F.=
( a)
k 1+ s

(1 + sb )
k ( s + a)
T.F. =
(s + b)
( )
 ba

( s + a)
T.F. = kb( )
a s+b
For a lead compensator, zero must be nearer to the origin.
ab

06. Ans: (d)

900 900
Solution: Uncompensated system = =
s ( s + 1 )( s + 9 ) ( j)(1 + j)( 9 + j)
Phase crossover frequency ( pc ) :

G ( j)uncomp = −90 − tan−1  − tan−1  ( 9)

At pc , −900 − tan−1  − tan−1 ( 9 ) = −180 0

( + )
tan90 0
= 9

9)
1 − ( ) ( 

2
=1
9
 =3 rad/sec
Therefore, phase cross-over frequency of uncompensated system is 3 rad/sec.
Given, gain cross-over frequency of compensated system should be equal to phase cross over frequency of
uncompensated system.
(  )comp = 3rad sec
gc

(Phase margin)comp = 45 0

P.M. = 180 + 
450 = 1800 + G jgc ( )
(
G jgc = −1350 )

Scan this QR code to report an

136 http://www.examdost.com
Error in this Document
 Control Systems

But phase of uncompensated system is −180 at 3 rad/sec.

0

 Compensator gives phase lead of 450 at frequency of 3rad/sec.

G ( j ) = 0db at gain cross-over frequency.
comp
G ( j ) = X + G ( j )
comp uncomp
G ( j ) ( 9)
2
= 20log100 − 20log  − 20log 2 + 1 −20log 1 + 
uncomp
2
G ( j ) = 40 − 20log3 − 20log 1 + 32 −20log 1 +  3 
uncomp 9
G ( j ) = 40 − 9.54 − 10 − 20log
10
uncomp 9
G ( j ) = 20dB
uncomp
0 = X + 20
X = - 20db
Therefore, compensator provides an attenuation of 20db.

07. Ans: (a)

Solution:
10 ( s + 1 ) s + 10
C = C =
1 ( s + 10 ) 2 10 ( s + 1 )

Zero nearer to origin Pole nearer to origin

Lead Compensator Lag Compensator

08. Ans: (c)

Solution:
Since the starting slope is -40 db/dec,
There are two poles at the origin (i.e. type=2)
Also, since there is a change from -40 db/dec to
-20 db/dec & further from -20 db/dec to zero,
this implies that there are two zeros present.
Hence, two poles and two zeros.

09. Ans: (a)

Solution:
s+a
G (s) =
c s+b
If at all it is a lead compensator then zero is nearer to origin than pole i.e. a < b and only A satisfies this condition. Hence,
A is correct.

Scan this QR code to report an

137 http://www.examdost.com
Error in this Document
 Control Systems

10. Ans: (a)

Solution:
The corner frequencies for above compensator is 1 and 2 rad/sec
Phase Shift of a compensator is maximum at the frequency which is geometric mean of the two corner frequencies.
m = 1 2 = 1.414 rad / sec

11. Ans: (0.316)

Solution:
1 1
R2 + 1+ s+1
V Cs = s
T.F = out = =
Vin 1 1 1 + 10s
R1 + R 2 + 1+9+
Cs s
Poles and Zero of Transfer Function is,
Pole s = − 1
10
Zero s = −1
It is lag compensator.
1 + Ts
GC ( s ) =
1 + TS
Comparing T = 1
T = 10
10
= = 10
1
1
Maximum phase lag occurs at frequency  =
T
1 1
= = = 0.316
10  1 10

12. Ans: (a)

Solution:
The pole zero plot for the compensator is,

This is pole zero plot of lead lag compensator and hence produces phase lead for 0.1    1 and phase lag for
10    100

13. Ans: (b)

Solution:
 1 
3 s + 
3T 
T s = 
()  1
s + 
 T
Maximum phase shift occurs at geometric mean of both corner frequencies.

Scan this QR code to report an

138 http://www.examdost.com
Error in this Document
 Control Systems

1
 1 1 2 1
m =    =
 3T T  T 3

14. Ans: (10.90)

Solution:

q(s) = s2 + 10s + 144 = 0

Natural frequency,

5
n = 12;  =
12

Damped frequency,

d = n 1 − 2

119
= 12 = 10.90
144

15. Ans: (9.54)

Solution:
 sR sDGp 
ess = lim  − 
s →0 1 + G G 1 + Gc Gp 
 c p

1
R(s) = 0;D(s) =
s
2.2
 ess = = 0.1
1 + 2.2K
If D is considered with +ve sign, then
Kmin=-10.45
If D is considered with -ve sign, then
Kmin=9.54
(IITB has given answer as 9.54)

16. Ans. (d)

Solution:
Transfer function of PI controller = Kp + KI/s
Given, Kp = 3 & KI = 1
1
Gc(s) = 3 +
s
Block Diagram of Control System is given by
R(s)
Gc(s) G(s) Y(s)
+ X(s)
–

Scan this QR code to report an

139 http://www.examdost.com
Error in this Document
 Control Systems

Forward path transfer function = Gc (s) G (s)

 1 1
= 3 +  
 s  s −1

=
(3s + 1)
s ( s − 1)

Overall transfer function =

(3s + 1) / s ( s − 1)
1+
(3s + 1)
s ( s − 1)

3s + 1
T(s) =
(s 2
+ 2s + 1 )
3s + 1
Y(s) = R (s) T(s) =
( 2
s s + 2s + 1 )
Final value of plant output, y  = lim sY(s) ( ) s →0

3s + 1
y (  ) = lim =1
s→0 s2 + 2s + 1
Y (s)
Controller Output X(s) =
G(s)

X(s) =
3s + 1
 ( s − 1) =
(3s + 1)(s − 1)
(
s s2 + 2s + 1 ) (
s s2 + 2s + 1 )
( )
Final value of controller x  = lim s X s
s →0
()

x (  ) = lim
(3s + 1)( s − 1) = −1
s→0 s2 + 2s + 1

17. Ans. (b)

Solution:
Frequency of maximum phase shift   = 4rad / s
Corner frequencies = , 
At frequency of maximum phase shift,
Asymptotic approximation of K(s) is,
s/ s
K(s) = =
1 
at  =   k(s) = j 
20log  = 6dB
 = 100.3 = 2;  = 4
  = 4;  = 2

Scan this QR code to report an

140 http://www.examdost.com
Error in this Document
 Singnal and System

Scan this QR code to report an

23 http://www.examdost.com
Error in this Document