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CONTROL SYSTEMS
MCQ 6.2 The feedback system shown below oscillates at 2 rad/s when
MCQ 6.5 The frequency response of a linear system G (j) is provided in the tubular
form below
G (j) 1.3 1.2 1.0 0.8 0.5 0.3
+G (j) 130c 140c 150c 160c 180c 200c
(A) 6 dB and 30c (B) 6 dB and 30c
(C) 6 dB and 30c (D) 6 dB and 30c
MCQ 6.6 The steady state error of a unity feedback linear system 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 a duration of one second, as shown in the
figure is
MCQ 6.8 The open loop transfer function G (s) of a unity feedback control system is
given as
K bs + 2 l
3
G (s) = 2
s (s + 2)
From the root locus, at can be inferred that when K tends to positive
infinity,
(A) Three roots with nearly equal real parts exist on the left half of the s
-plane
(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; K ! 0
(D) Three real roots are found on the right half of the s -plane
MCQ 6.13 The measurement system shown in the figure uses three sub-systems in
cascade whose gains are specified as G1, G2, 1/G3 . The relative small errors
associated with each respective subsystem G1, G2 and G3 are 1, 2 and 3 .
The error associated with the output is :
(A) 1 + 2 + 1 (B) 1 2
3 3
(C) 1 + 2 3 (D) 1 + 2 + 3
MCQ 6.14 The polar plot of an open loop stable system is shown below. The closed
loop system is
MCQ 6.15 The first two rows of Rouths tabulation of a third order equation are as
follows.
s3 2 2
s2 4 4
This means there are
(A) Two roots at s = ! j and one root in right half s -plane
(B) Two roots at s = ! j2 and one root in left half s -plane
(C) Two roots at s = ! j2 and one root in right half s -plane
(D) Two roots at s = ! j and one root in left half s -plane
MCQ 6.16 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
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) 2
s (s + 2) (s + 25) s (s + 2) (s + 25)
MCQ 6.17 The unit-step response of a unity feed back system with open loop transfer
function G (s) = K/ ((s + 1) (s + 2)) is shown in the figure.
The value of K is
MCQ 6.18 The open loop transfer function of a unity feed back system is given by
G (s) = (e - 0.1s) /s . The gain margin of the is system is
(A) 11.95 dB (B) 17.67 dB
(C) 21.33 dB (D) 23.9 dB
MCQ 6.22 The transfer function of a linear time invariant system is given as
G (s) = 2 1
s + 3s + 2
The steady state value of the output of the system for a unit impulse input
applied at time instant t = 1 will be
(A) 0 (B) 0.5
(C) 1 (D) 2
MCQ 6.23 The transfer functions of two compensators are given below :
10 (s + 1)
C1 = , C2 = s + 10
(s + 10) 10 (s + 1)
Which one of the following statements is correct ?
(A) C1 is lead compensator and C2 is a lag compensator
(B) C1 is a lag compensator and C2 is a lead compensator
(C) Both C1 and C2 are lead compensator
(D) Both C1 and C2 are lag compensator
MCQ 6.24 The asymptotic Bode magnitude plot of a minimum phase transfer function
is shown in the figure :
The system is
(A) An over damped system (B) An under damped system
(C) A critically damped system (D) An unstable system
(C) s (D) 1
(s 2) s (s + 2)
MCQ 6.28 A unity feedback is provided to the above system G (s) to make it a closed
loop system as shown in figure.
For a unit step input r (t), the steady state error in the input will be
(A) 0 (B) 1
(C) 2 (D) 3
(A) Stable
(B) Unstable
(C) Conditionally stable
(D) Stable for input u1 , but unstable for input u2
MCQ 6.30 If x = Re [G (j)], and y = Im [G (j)] then for " 0+ , the Nyquist plot for
G (s) = 1/s (s + 1) (s + 2) is
(A) x = 0 (B) x = 3/4
(C) x = y 1/6 (D) x = y/ 3
MCQ 6.31 The system 900/s (s + 1) (s + 9) is to be such that its gain-crossover frequency
becomes same as its uncompensated phase crossover frequency and provides
a 45c phase margin. To achieve this, one may use
(A) a lag compensator that provides an attenuation of 20 dB and a phase
lag of 45c at the frequency of 3 3 rad/s
(B) a lead compensator that provides an amplification of 20 dB and a phase
lead of 45c at the frequency of 3 rad/s
(C) a lag-lead compensator that provides an amplification of 20 dB and a
phase lag of 45c at the frequency of 3 rad/s
(D) a lag-lead compensator that provides an attenuation of 20 dB and phase
lead of 45c at the frequency of 3 rad/s
MCQ 6.32 If the loop gain K of a negative feed back system having a loop transfer
function K (s + 3) / (s + 8) 2 is to be adjusted to induce a sustained oscillation
then
(A) The frequency of this oscillation must be 4 3 rad/s
(B) The frequency of this oscillation must be 4 rad/s
(C) The frequency of this oscillation must be 4 or 4 3 rad/s
(D) Such a K does not exist
with
(A) X = c0 s + c1, Y = 1/ (s2 + a0 s + a1), Z = b0 s + b1
(B) X = 1, Y = (c0 s + c1) / (s2 + a0 s + a1), Z = b0 s + b1
(C) X = c1 s + c0, Y = (b1 s + b0) / (s2 + a1 s + a0), Z = 1
(D) X = c1 s + c0, Y = 1/ (s2 + a1 s + a), Z = b1 s + b0
MCQ 6.34 Consider the feedback system shown below which is subjected to a
unit step input. The system is stable and has following parameters
Kp = 4, Ki = 10, = 500 and = 0.7 .The steady state value of Z is
Data for Q.35 and Q.36 are given below. Solve the problems and
choose the correct answers.
R-L-C circuit shown in figure
MCQ 6.36 If the above step response is to be observed on a non-storage CRO, then it
would be best have the ei as a
(A) Step function
MCQ 6.38 Consider the following Nyquist plots of loop transfer functions over = 0 to
= 3 . Which of these plots represent a stable closed loop system ?
10 4 (1 + j)
MCQ 6.39 The Bode magnitude plot H (j) = is
(10 + j) (100 + j) 2
MCQ 6.41 A system with zero initial conditions has the closed loop transfer function.
T (s) = s2 + 4
(s + 1) (s + 4)
The system output is zero at the frequency
(A) 0.5 rad/sec (B) 1 rad/sec
(C) 2 rad/sec (D) 4 rad/sec
MCQ 6.42 Figure shows the root locus plot (location of poles not given) of a third order
system whose open loop transfer function is
(A) K3 (B) K
s s2 (s + 1)
(C) K (D) K
s (s2 + 1) s (s2 1)
MCQ 6.43 The gain margin of a unity feed back control system with the open loop
(s + 1)
transfer function G (s) = is
s2
(A) 0 (B) 1
2
(C) 2 (D) 3
MCQ 6.45 When subject to a unit step input, the closed loop control system shown in
the figure will have a steady state error of
MCQ 6.46 In the G (s) H (s)-plane, the Nyquist plot of the loop transfer function
G (s) H (s) = es passes through the negative real axis at the point
-0.25s
MCQ 6.47 If the compensated system shown in the figure has a phase margin of 60c at
the crossover frequency of 1 rad/sec, then value of the gain K is
Data for Q.48 and Q.49 are given below. Solve the problem and choose
the correct answer.
0 1 1
A state variable system Xo (t) = = G X (t) + = Gu (t) with the initial
0 3 0
condition X (0) = [ 1, 3] and the unit step input u (t) has
T
MCQ 6.50 The Nyquist plot of loop transfer function G (s) H (s) of a closed loop control
system passes through the point ( 1, j 0) in the G (s) H (s)plane. The phase
margin of the system is
(A) 0c (B) 45c
(C) 90c (D) 180c
where F (s) is the Laplace transform of the of the function f (t). The initial
value of f (t) is equal to
(A) 5 (B) 25
5
(C) 3 (D) 0
MCQ 6.52 For a tachometer, if (t) is the rotor displacement in radians, e (t) is the
output voltage and Kt is the tachometer constant in V/rad/sec, then the
E (s)
transfer function, will be
Q (s)
(A) Kt s2 (B) Kt s
(C) Kt s (D) Kt
MCQ 6.53 For the equation, s3 4s2 + s + 6 = 0 the number of roots in the left half of
s -plane will be
(A) Zero (B) One
(C) Two (D) Three
C (s)
MCQ 6.54 For the block diagram shown, the transfer function is equal to
R (s)
(A) s +2 1 (B) s + s2 + 1
2 2
s s
(C) s + s + 1
2
(D) 1
s s +s+1
2
MCQ 6.55 The state variable description of a linear autonomous system is, X o = AX
where X is the two dimensional state vector and A is the system matrix
0 2
given by A = =
2 0G
. The roots of the characteristic equation are
(A) 2 and + 2 (B) j2 and + j2
(C) 2 and 2 (D) + 2 and + 2
MCQ 6.56 The block diagram of a closed loop control system is given by figure. The
values of K and P such that the system has a damping ratio of 0.7 and an
undamped natural frequency n of 5 rad/sec, are respectively equal to
MCQ 6.57 The unit impulse response of a second order under-damped system starting
from rest is given by c (t) = 12.5e - 6t sin 8t, t $ 0 . The steady-state value of
the unit step response of the system is equal to
(A) 0 (B) 0.25
(C) 0.5 (D) 1.0
MCQ 6.58 In the system shown in figure, the input x (t) = sin t . In the steady-state, the
response y (t) will be
MCQ 6.59 The open loop transfer function of a unity feedback control system is given
as
G (s) = as + 2
1.
s
The value of a to give a phase margin of 45c is equal to
(A) 0.141 (B) 0.441
(C) 0.841 (D) 1.141
MCQ 6.61 A lead compensator used for a closed loop controller has the following
transfer function
K (1 + as )
(1 + bs )
For such a lead compensator
(A) a < b (B) b < a
(C) a > Kb (D) a < Kb
2
MCQ 6.62 A second order system starts with an initial condition of = G without any
3
e - 2t 0
external input. The state transition matrix for the system is given by = G
0 e-t
. The state of the system at the end of 1 second is given by
0.271 0.135
(A) = G (B) =
1.100 0.368G
0.271 0.135
(C) =
0.736G
(D) =
1.100 G
MCQ 6.63 A control system with certain excitation is governed by the following
mathematical equation
d2 x + 1 dx + 1 x = 10 + 5e 4t + 2e 5t
dt2 2 dt 18
MCQ 6.64 The block diagram shown in figure gives a unity feedback closed loop control
system. The steady state error in the response of the above system to unit
step input is
MCQ 6.65 The roots of the closed loop characteristic equation of the system shown
above (Q-5.55)
MCQ 6.66 The following equation defines a separately excited dc motor in the form of
a differential equation
d2 + B d + K2 = K V
dt J dt LJ LJ a
The above equation may be organized in the state-space form as follows
R 2 V
Sd W d
> H
S dt2 W = P dt + QV
S d W a
S dt W
Where Tthe PX matrix is given by
BJ LJ LJ BJ
2 2
K K
(A) = G (B) = G
1 0 0 1
0 1 1 0
(C) = K B G
2 (D) = B K G 2
LJ J J LJ
MCQ 6.67 The loop gain GH of a closed loop system is given by the following expression
K
s (s + 2) (s + 4)
The value of K for which the system just becomes unstable is
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CHAP 6 CONTROL SYSTEMS PAGE 331
(A) K = 6 (B) K = 8
(C) K = 48 (D) K = 96
MCQ 6.68 The asymptotic Bode plot of the transfer function K/ [1 + (s/a)] is given in
figure. The error in phase angle and dB gain at a frequency of = 0.5a are
respectively
MCQ 6.69 The block diagram of a control system is shown in figure. The transfer
function G (s) = Y (s) /U (s) of the system is
(A) 1 (B) 1
18`1 + s j`1 + s j 27`1 + s j`1 + s j
12 3 6 9
(C) 1 (D) 1
27`1 + j`1 + s j
s 27`1 + j`1 + s j
s
12 9 9 3
MCQ 6.70 The state transition matrix for the system Xo = AX with initial state X (0)
is
(A) (sI A) - 1
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PAGE 332 CONTROL SYSTEMS CHAP 6
2 3 1
MCQ 6.71 For the system Xo = = G X + = Gu , which of the following statements is true
0 5 0
?
(A) The system is controllable but unstable
(B) The system is uncontrollable and unstable
(C) The system is controllable and stable
(D) The system is uncontrollable and stable
MCQ 6.72 A unity feedback system has an open loop transfer function, G (s) = K2 . The
s
root locus plot is
(C) 2e 4t (D) 4e 4t
MCQ 6.76 *A single input single output system with y as output and u as input, is
described by
d2 y dy du
2 + 2 dt + 10y = 5 dt 3u
dt
for an input u (t) with zero initial conditions the above system produces the
same output as with no input and with initial conditions
dy (0)
= 4 , y (0) = 1
dt
input u (t) is
(A) 1 (t) 7 e(3/5)t u (t) (B) 1 (t) 7 e 3t u (t)
5 25 5 25
(C) 7 e (3/5)t u (t) (D) None of these
25
MCQ 6.77 *A system is described by the following differential equation
d2 y dy
+ - 2y = u (t) e t
dt2 dt
the state variables are given as x1 = y and x2 = b y l et , the state
dy
dt
varibale representation of the system is
xo1 1 e t x 1 1
(A) > o H = > tH> H + > H u (t)
x2 0 e x2 0
xo1 1 1 x1 1
(B) > o H = > H> H + > H u (t)
x2 0 1 x2 0
xo1 1 e t x 1 1
(C) > o H = > H>x H + >0H u (t)
x2 0 1 2
(D) none of these
MCQ 6.81 The polar plot of a type-1, 3-pole, open-loop system is shown in Figure The
closed-loop system is
value of xss = lim x (t), given the initial state value of x (0) = 810 10B
T
is
t"3
0 3
(A) xss = = G (B) xss = = G
0 2
10
(C) xss = =
10 G
(D) xss = = G
3
3
MCQ 6.83 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 functions is
20 (s + 5) 10 (s + 5)
(A) (B)
s (s + 2) (s + 25) (s + 2) 2 (s + 25)
20 (s + 5) 50 (s + 5)
(C) (D) 2
s (s + 2) (s + 25)
2
s (s + 2) (s + 25)
************
SOLUTION
For oscillation,
a (2 + K) (1 + K)
=0
a
a = K+1
K+2
Auxiliary equation
A (s) = as2 + (k + 1) = 0
s2 = k + 1
a
s2 = k + 1 (k + 2) = (k + 2)
(k + 1)
s = j k+2
j = j k + 2
= k+2 = 2
(Oscillation frequency)
k =2
and a = 2 + 1 = 3 = 0.75
2+2 4
L ab P
For phase-lead compensation > 0
ba > 0
b >a
Note: For phase lead compensator zero is nearer to the origin as compared
to pole, so option (C) can not be true.
d 1/a 1/b
= =0
d 1 +a k 1 +ak
2 2
a b
1 + = 1+1
2 2
a ab2 b b a2
1 1 = 2 1 1
a b ab b a b l
= ab = 1 # 2 = 2 rad/ sec
1 + G (0) = 10
G (0) = 9
Given input r (t) = 10 [ (t) (t 1)]
s
or R (s) = 10 :1 1 esD = 10 :1 e D
s s s
So steady state error
(1 es)
s # 10 10 (1 e0)
el = lim s = =0
ss
s"0 1 + G (s) 1+9
dK = 0
ds
s =0
Root locus is shown in the figure
Three roots with nearly equal parts exist on the left half of s -plane.
1
Y (s) s (s + 1 + K ) 1
= = 2
R (s) 1 + 1 s + s (1 + K ) + 1
s (s + 1 + K )
This is a second order system transfer function, characteristic equation is
s2 + s (1 + K) + 1 = 0
Comparing with standard form
s2 + 2n s + n2 = 0
We get = 1+K
2
Peak overshoot
M p = e / 1 2
G (j) = 1
2 + 1 2 + 4
+G (j) = 90c tan 1 () tan 1 (/2)
In nyquist plot
For = 0, G (j) = 3
+G (j) = 90c
For = 3, G (j) = 0
+G (j) = 90c 90c 90c = 270c
Intersection at real axis
G (j) = 1 = 1
j (j + 1) (j + 2) j ( + j3 + 2)
2
1 32 j (2 2)
= 2 #
3 + j (2 ) 32 j (2 2)
2
32 j (2 2)
=
94 + 2 (2 2) 2
j (2 2)
= 4 23
2
9 + (2 2) 2 94 + 2 (2 2) 2
At real axis
Im [G (j)] = 0
(2 2)
So, =0
94 + 2 (2 2)
2 2 = 0 & = 2 rad/sec
At = 2 rad/sec, magnitude response is
G (j) at = 2 = 1 =1<3
2 2+1 2+4 6 4
0 2
[B: AB] = > H
1 2
6B: AB@ =
Y 0
So it is controllable.
s2 4 2K
s1 4 (3 + K) 2K (1) 12 + 2K
= >0
4 4
s0 2K
There is no sign change in the first column of routh table, so no root is lying
in right half of s -plane.
For plotting root locus, the equation can be written as
K (s + 2)
1+ =0
s (s + 1) (s + 3)
Open loop transfer function
K (s + 2)
G (s) =
s (s + 1) (s + 3)
Root locus is obtained in following steps:
1. No. of poles n = 3 , at s = 0, s = 1 and s = 3
2. No. of Zeroes m = 1, at s = 2
3. The root locus on real axis lies between s = 0 and s = 1, between
s = 3 and s = 2 .
4. Breakaway point lies between open loop poles of the system. Here
breakaway point lies in the range 1 < Re [s] < 0 .
5. Asymptotes meet on real axis at a point C , given by
C =
/ real part of poles / real parts of zeroes
nm
(0 1 3) ( 2)
=
31
= 1
As no. of poles is 3, so two root loci branches terminates at infinity along
asymptotes Re (s) = 1
s2 = 1
s =! j
From table we have characteristic equation as
2s3 + 2s + 4s2 + 4 = 0
s3 + s + 2s2 + 2 = 0
s (s2 + 1) + 2 (s2 + 1) = 0
(s + 2) (s2 + 1) = 0
s = 2 , s = ! j
s ^ 1s h
; R (s) = 1 (unit step input)
s"0> H
= lim
1+ K s
(s + 1) (s + 2)
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PAGE 346 CONTROL SYSTEMS CHAP 6
= 1 = 2
1 + K2 2+K
So, ess = 2 = 0.25
2+K
2 = 0.5 + 0.25K
K = 1.5 = 6
0.25
dX (t)
= AX (t) + Bu (t)
dt
State transition matrix is given by
(t) = L 1 6 (s)@
(s) = (sI A) 1
s 0 3 1
(sI A) = > H >
0 s 0 2H
s + 3 1
(sI A) = >
0 s + 2H
s+2 1
(sI A) 1 = 1 > 0 s + 3H
(s + 3) (s + 2)
R V
S 1 1 W
1 S(s + 3) (s + 3) (s + 2)W
So (s) = (sI A) = S 1 W
S 0 (s + 2) W
T 3t 2t X
e e e 3t
(t) = L [ (s)] = >
1
H
0 e 2t
Input r (t) = (t 1)
R (s) = L [ (t 1)] = e s
Output is given by
s
Y (s) = R (s) G (s) = 2 e
s + 3s + 2
Steady state value of output
s
lim y (t) = lim sY (s) = lim 2 se =0
t"3 s"0 s " 0 s + 3s + 2
C2 = tan 1 a k tan 1 ()
10
J N
O = tan 1 9 < 0 (Phase lag)
c 10 + 2 m
1 K 10
= tan
KK O
1+ O
2
L 10 P
SOL 6.24 Option (C) is correct.
From the given bode plot we can analyze that:
1. Slope 40 dB/decade"2 poles
2. Slope 20 dB/decade (Slope changes by + 20 dB/decade)"1 Zero
3. Slope 0 dB/decade (Slope changes by + 20 dB/decade)"1 Zero
So there are 2 poles and 2 zeroes in the transfer function.
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CHAP 6 CONTROL SYSTEMS PAGE 349
` Y (s) = CX (s)
So Y (s) = C (sI A) 1 BU (s)
Y (s)
T.F = = C (sI A) 1 B
U (s)
s 0 0 1 s 1
(sI A) = > H > H =>
0 s 0 2 0 s + 2H
R V
S1 1 W
(sI A) 1 = 1 >s + 2 1H = Ss s (s + 2)W
s (s + 2) 0 s S0 1 W
S (s + 2) W
T X
Transfer function
R V R V
S1 1 W S 1 W
s s (s + 2)W 0 Ss (s + 2)W
G (s) = C [sI A] 1 B = 81 0BSS 1 W>1H = 81 0BS 1 W
S0 (s + 2) W S (s + 2) W
T X T X
= 1
s (s + 2)
System response is
(s 1)
(s + 2) (s 1)
H1 (s) = =
(s 1) 1 (s + 3)
1+
(s + 2) (s 1)
Poles of the system is lying at s = 3 (negative s -plane) so this is stable.
For input u2 the system is (u1 = 0)
System response is
1
(s 1) (s + 2)
H2 (s) = =
(s 1 ) (s 1) (s + 3)
1+ 1
(s 1) (s + 2)
One pole of the system is lying in right half of s -plane, so the system is
unstable.
j 1 j 2 j j (2 2 j3)
= c
2 mc 1 + 2 mc 4 + 2 m
=
2 (1 + 2) (4 + 2)
32 j (2 2)
= 2 +
(1 + 2) (4 + 2) 2 (1 + 2) (4 + 2)
G (j) = x + iy
x = Re [G (j)] " 0 = 3 = 3
+
1#4 4
in dB GC (g) = 20 log b 1 l
10
= 20 dB (attenuation)
G (s) = b Ki + K p le 2 2
s s + 2s + 2 o
H (s) = 1 (Unity feed back)
So,
R V
S sb 1 l W
s
Z = lim S Wb Ki l
2
W s
S1 + b s + K p l (s2 + 2s + 2) W
s"0S K i
T Ki X
= lim = Ki = 1
>s + (Ki + K p s) 2 H Ki
s"0 2
(s + 2s + 2)
SOL 6.35 Option (C) is correct.
System response of the given circuit can be obtained as.
bCs l
1
e 0 (s)
H (s) = =
bR + Ls + Cs l
ei (s) 1
b LC l
1
H (s) = 1 =
LCs2 + RCs + 1 s2 + R s + 1
L LC
Characteristic equation is given by,
s2 + R s + 1 = 0
L LC
Here natural frequency n = 1
LC
2n = R
L
Damping ratio = R LC = R C
2L 2 L
(j) 2 + 4
T (j) =
(j + 1) (j + 4)
If system output is zero
4 2
T (j) = =0
^ j + 1h (j + 4)
4 2 = 0
2 = 4
& = 2 rad/sec
Centroid =
/ Poles / Zeros = 0 0 = 0
nm 30
s (1 K) + (1 + K) = 0
= R (s) ; 6 2 E Y (s) ; 6 E
s (s + 2) s + 2 s (s + 2)
Y (s) ;1 + 6 = R (s) ; 6 2s E
s (s + 2)E s (s + 2)
(6 2s)
Y (s) = R (s)
(s + 2s + 6)
2
(6 2s)
So, E (s) = R (s) 2 R (s)
(s + 2s + 6)
= R (s) ; 2 s + 4s E
2
s + 2s + 6
For unit step input R (s) = 1
s
Steady state error ess = lim sE (s)
s"0
(s2 + 4s)
ess = lim =s 1 2
s (s + 2s + 6)G
=0
s"0
j0.25 =
2
j=
2 # 0.25
s = j = 2
Put s = 2 in given open loop transfer function we get
0.25 # 2
G (s) H (s) s = 2 = e = 0.5
2
So it passes through ( 0.5, j0)
K = 0.366 = 1.366
0.267
R V
S 12 1 W
s + 3W
X (s) = Ss
S 3 W
S s+3 W
T X
Taking inverse Laplace transform, we get state transition equation as,
t e 3t
X (t) = > 3t H
3e
F (s) = 5
s (s + 1) (s + 2)
By partial fraction, we get
F (s) = 5 5 + 5
2s s + 1 2 (s + 2)
Taking inverse Laplace of F (s) we have
f (t) = 5 u (t) 5e t + 5 e 2t
2 2
So, the initial value of f (t) is given by
lim f (t) = 5 5 + 5 (1) = 0
t"0 2 2
s0 6
There are two sign changes in the first column, so no. of right half poles is 2.
No. of roots in left half of s -plane = (3 2) = 1
= 1 + s2+ s
C (s) 2
R (s) s
1+ K (1 + sP) = 0
s (s + 2)
s (s + 2) + K (1 + sP) = 0
s2 + s (2 + KP) + K = 0
From the equation.
n = K = 5 rad/sec (given)
So, K = 25
and 2n = 2 + KP
2 # 0.7 # 5 = 2 + 25P
or P = 0.2
so K = 25 , P = 0.2
(s2 + 6s + 5) X (s) = 12 ; 2 E
s (s + 2)
System transfer function is
X (s) = 24
s (s + 2) (s + 5) (s + 1)
Response of the system as t " 3 is given by
lim f (t) = lim sF (s) (final value theorem)
t"3 s"0
= lim s ; 24
s"0 s (s + 2) (s + 5) (s + 1)E
= 24 = 2.4
2#5
R V
S1 + j a a kW
H (j) = K S W
SS1 + j a kWW
b
T X
So, phase response of the compensator is.
h () = tan 1 a k tan 1 a k
a b
J N
(b a)
= tan K a b2 O = tan 1 ;
ab + 2 E
1
KK O
1+ O
L ab P
h should be positive for phase lead compensation
(b a)
h () = tan 1 ;
ab + 2 E
So, >0
b >a
Given equation
d2 x + 1 dx + 1 x = 10 + 5e 4t + 2e 5t
dt2 2 dt 18
Taking Laplace on both sides we have
s2 X (s) + 1 sX (s) + 1 X (s) = 10 + 5 + 2
2 18 s s+4 s+5
10 (s + 4) (s + 5) + 5s (s + 5) + 2s (s + 4)
(s2 + 1 s + 1 ) X (s) =
2 18 s (s + 4) (s + 5)
10 (s + 4) (s + 5) + 5s (s + 5) + 2s (s + 4)
System response is, X (s) =
s (s + 4) (s + 5) bs2 + 1 s + 1 l
2 18
10 (s + 4) (s + 5) + 5s (s + 5) + 2s (s + 4)
=
s (s + 4) (s + 5) bs + 1 lbs + 1 l
3 6
We know that for a system having many poles, nearness of the poles towards
imaginary axis in s -plane dominates the nature of time response. So here
time constant given by two poles which are nearest to imaginary axis.
Poles nearest to imaginary axis
s1 = 1 , s2 = 1
3 6
1 = 3 sec
So, time constants )
2 = 6 sec
1
Where input R (s) = (unit step)
s
G (s) = b 3 lb 15 l
s + 15 s + 1
H (s) = 1 (unity feedback)
sb 1 l
s
So ess = lim = 15 = 15
s"0
1+ 45 15 + 45 60
(s + 15) (s + 1)
Here H (s) = 1
(unity feedback)
G (s) = b 3 lb 15 l
s + 15 s + 1
So, 1 + b 3 lb 15 l = 0
s + 15 s + 1
(s + 15) (s + 1) + 45 = 0
s2 + 16s + 60 = 0
(s + 6) (s + 10) = 0
s = 6, 10
1 + 2
2
gain(dB) = 0.5a = 20 log K 20 log
a
(0.5a) 2 1/2
= 20 log K 20 log ;1 + E = 20 log K 0.96
a2
Gain(dB) calculated from asymptotic plot at = 0.5a is
= 20 log K
Error in gain (dB) = 20 log K (20 log K 0.96) dB = 0.96 dB
Similarly exact phase angle at = 0.5a is.
h () = 0.5a = tan 1 a k = tan 1 b 0.5a l = 26.56c
a a
Phase angle calculated from asymptotic plot at ( = 0.5a) is 22.5c
Error in phase angle = 22.5 ( 26.56c) = 4.9c
bs l
1
Where G1 = = 1
s+3
1 + b1l
3
bs l
1
G2 = = 1
1 + b 1 l 12 s + 12
s
Further reducing the block diagram.
Y (s) = 2G1 G2
1 + (2G1 G2) 9
(2) b 1 lb 1 l
s + 3 s + 12
=
1 + (2) b 1 lb 1 l (9)
s + 3 s + 12
= 2 = 2 2
(s + 3) (s + 12) + 18 s + 15s + 54
= 2 = 1
(s + 9) (s + 6) 27 a1 + ka1 + s k
s
9 6
Xo = >2 3H X + >1H u
0 5 0
2 3 1
Here A = > H, B = > H
0 5 0
Check for controllability:
2 3 1 2
AB = > H> H = > H
0 5 0 0
1 2
U = [B : AB] = > H
0 0
U = (1 # 0 2 # 0) = 0
Matrix U is singular, so the system is uncontrollable.
Check for Stability:
Characteristic equation of the system is obtained as,
sI A = 0
s 0 2 3
(sI A) = > H > H
0 s 0 5
s 2 3
=>
0 s 5H
sI A = (s 2) (s 5) = 0
s = 2, s = 5
There are two R.H.S Poles in the system so it is unstable.
(2 # 0 + 1) 180c
(i) = 90c
2
(2 # 1 + 1) 180c
(ii) = 270c
2
(5) The asymptotes intersect on real axis at a point given by
x=
/ Poles / zeros = 0 0 = 0
nm 2
(6) Break away points
1 + K2 = 0
s
GATE Previous Year Solved Paper By RK Kanodia & Ashish Murolia
Published by: NODIA and COMPANY ISBN: 9788192276243
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CHAP 6 CONTROL SYSTEMS PAGE 371
K = s2
dK = 2s = 0 & s = 0
ds
So the root locus plot is.
Y (s)
= 4
U (s) (s 2)
Here input is unit impulse so U (s) = 1 and output
Y (s) = 4
(s 2)
Taking inverse Laplace transfer we get output
y (t) = 4e2t
or 1, 2, 3 = 0 , 4 = 1
x1 = y , x 2 = b y l et
dy
Here
dt
dx1 = dy = x e t + y = x e t + x
2 2 1
dt dt
dy t
= u (t) e + 2yet yet = u (t) [x2 e t + y] et + yet
dt
= u (t) x2
dx2 = 0 x + u (t) ...(3)
2
dt
From equation (2) and (3) state variable representation is
xo1 1 e t x 1 0
>o H = > H>x H + >1H u (t)
x2 0 1 2
So C = 0 2 10 0 = 4
30
Xo = > 3 1 H X
0 2
Or o = AX , where A = > 3 1 H
X
0 2
Taking Laplace transform on both sides.
sX (s) X (0) = AX (s)
X (s) (sI A) = X (0)
X (s) = (sI A) 1 X (0)
Steady state value of X is given by
xss = lim sX (s) = lim s (sI A) 1 X (0)
s"0 s"0
s 0 3 1 s + 3 1
(sI A) = > H > H =>
0 s 0 2 0 s + 2H
s+2 1
(sI A 1) = 1 > 0 s + 3H
(s + 3) (s + 2)
R V
S 1 1 W
S(s + 3) (s + 2) (s + 3)W
=S 1 W
S 0 (s + 2) W
T X
So the steady state value
R V
S 1 1 W
S(s + 3) (s + 2) (s + 3)W 10
xss = lim s S
s"0
0 1 W> 10H
S (s + 2) W
T X
GATE Previous Year Solved Paper By RK Kanodia & Ashish Murolia
Published by: NODIA and COMPANY ISBN: 9788192276243
Visit us at: www.nodia.co.in
PAGE 376 CONTROL SYSTEMS CHAP 6
R V
S 10 10 W
S(s + 3) (s + 2) (s + 3)W 0
= lim s S W => H
s"0
10 0
S W
(s + 2)
T X
SOL 6.83 Option (D) is correct.
Initial slope of the bode plot is 40 dB/dec. So no. of poles at origin is 2.
Then slope increased by 20 dB/dec. at = 2 rad/sec, so one poles lies at
this frequency. At = 5 rad/sec slope changes by + 20 dB/dec, so there is
one zero lying at this frequency. Further slope decrease by 20 dB/dec at
= 25 so one pole of the system is lying at this frequency.
Transfer function
K (s + 5)
H (s) = 2
s (s + 2) (s + 25)
At = 0.1, gain is 54 dB, so
54 = 20 log 5K
(0.1) 2 (2) (25)
K = 50
50 (s + 5)
H (s) =
s (s + 2) (s + 25)
2
G (j) = 10 4 = 10 4
j (j + 10) 2 j (100 2 + j20)
Magnitude G (j) = 10 4
(100 2) 2 + 4002
At = 20 rad/sec
G (j20) = 10 4 = 10 4 =1
20 9 # 10 4 + 16 # 10 4 20 # 5 # 102
Magnitude in dB = 20 log 10 G (j20) = 20 log 10 1 = 0 dB
20 g
+G (jg) = 90c tan 1 =
100 g2 G
PM = 180 90c tan 1 ; 20 # 20 2 E = 36.86c
100 (20)
= 0 & p = 10 rad/sec.
100 2p
Gain margin in dB = 20 log 10 e
G (jp) o
1
G (jp) = G (j10) = 10 4
10 (100 100) 2 + 400 (10) 2
= 10 4 =5
10 # 2 # 102
G.M. = 20 log 10 b 1 l = 13.97 dB
5
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