Compensators & Controllers

STREAM: EC|EE|IN SUBJECT: Control system

GATE Question (ECE-2007)
 A control system with PD controller is shown in the figure. If the
velocity error constant 𝐊 𝐯 = 𝟏𝟎𝟎𝟎 and the damping 𝐫𝐚𝐭𝐢𝐨 𝛏 =
𝟎. 𝟓, then the values of 𝐊 𝐩 and KD are
100
r Σ KP + KD s y
s(s + 10)
+
−

(A) 𝐊 𝐩 = 𝟏𝟎𝟎, 𝐊 𝐃 = 𝟎. 𝟎𝟗 (C) 𝐊 𝐩 = 𝟏𝟎, 𝐊 𝐃 = 𝟎. 𝟎𝟗

(B) 𝐊 𝐩 = 𝟏𝟎𝟎, 𝐊 𝐃 = 𝟎. 𝟗 (D) 𝐊 𝐩 = 𝟏𝟎, 𝐊 𝐃 = 𝟎. 𝟗

STREAM: EC|EE|IN SUBJECT: Control system

GATE Question (ECE-2007)
 The open-loop transfer function of a plant is given as
𝟏
𝐆 𝐬 = 𝐬𝟐 −𝟏 . If the plant is operated in a unity feedback
configuration, Then the lead compensator that can stabilize this
control system is

𝟏𝟎 𝐬 − 𝟏 𝟏𝟎 𝐬 + 𝟐
𝐀 (𝐂)
𝐬+𝟐 𝐬 + 𝟏𝟎

𝟏𝟎 𝐬 + 𝟒 𝟏𝟎 𝐬 + 𝟐
𝐁 (𝐃)
𝐬+𝟐 𝐬 + 𝟏𝟎
STREAM: EC|EE|IN SUBJECT: Control system
GATE Question (ECE-2008)
 Group 1 gives two possible choices for the impedance Z in the
diagram. The circuit elements in Z satisfy the condition
𝐕𝟎
𝐑 𝟐 𝐂𝟐 > 𝐑 𝟏 𝐂𝟏 . The transfer function represents a kind of
𝐕𝟏
controller. Match the impedances in Group I with the types of
controllers in Group II.
C1
Z

-
Vi
R1 + V0

STREAM: EC|EE|IN SUBJECT: Control system

GATE Question contd…(ECE-2008)
Group I
R. C2
Q.
R2 C2 Q.
Q.
Group II
R2
1. PID controller
2. Lead compensator
3. Lag compensator
(A) Q – 1, R – 2 (C) Q – 2, R – 3
(B) Q – 1, R – 3 (D) Q – 3, R – 2
STREAM: EC|EE|IN SUBJECT: Control system
GATE Question (ECE-2009)
 The magnitude plot of a rational transfer function G(s) with real coefficients is
shown below. Which of the following compensators has such a magnitude plot?

|G(jω)|
20dB

log ω
−40dB
(A) Lead compensator (C) PID compensator
(B) Lag compensator (D) Lead – lag Compensator

STREAM: EC|EE|IN SUBJECT: Control system

GATE Question (ECE-2010)
 A unity negative feedback closed loop system has a plant with the
𝟏
transfer function 𝐆 𝐬 = 𝐬𝟐 +𝟐𝐬+𝟐 and a controller 𝐆𝐜 𝐬 in the feed

forward path. For a unit step input, the transfer function of the
controller that gives minimum steady state error is

𝐬+𝟏 𝐬+𝟏 𝐬+𝟒

𝐀 𝐆𝐜 𝐬 = (𝐂) 𝐆𝐜 (𝐬) =
𝐬+𝟐 𝐬+𝟐 𝐬+𝟑

𝐬+𝟐 𝟐
𝐁 𝐆𝐜 𝐬 = 𝐃 𝐆𝐜 𝐬 = 𝟏 + + 𝟑𝐬
𝐬+𝟏 𝐬
STREAM: EC|EE|IN SUBJECT: Control system
GATE Question (ECE-2012)
Statement Linked answer Questions:
The transfer function of a compensator is given as

𝐬+𝐚
𝐆𝐜 (𝐬) =
𝐬+𝐛
 is a lead compensator if
𝐀 𝐆𝐜 𝐬 𝐀 = 𝟏, 𝐛 = 𝟐 𝐂 𝐀 = −𝟑, 𝐛 = −𝟏
𝐁 𝐀 = 𝟑, 𝐛 = 𝟐 𝐃 𝐀 = 𝟑, 𝐛 = 𝟏

STREAM: EC|EE|IN SUBJECT: Control system

GATE Question (ECE-2012)
 The phase of the above lead compensator is maximum at

𝟐 𝐫𝐚𝐝 𝟔𝐫𝐚𝐝
𝐀 𝐂
𝐬 𝐬

𝟏
𝐫𝐚𝐝
𝟑𝐫𝐚𝐝 𝟑
𝐁 𝐃
𝐬 𝐬

STREAM: EC|EE|IN SUBJECT: Control system

GATE Question (ECE-2015)
 A lead compensator network includes a parallel combination of R
and C in the feed-forward path. If the transfer function of the
𝐬+𝟐
compensator is 𝐆𝐂 (𝐒) = , the value of RC is _________
𝐬+𝟒

STREAM: EC|EE|IN SUBJECT: Control system

GATE Question (ECE-2015)
 The transfer function of a first order controller is given as

𝐊 𝐬+𝐚
𝐆𝐜 (𝐬) =
𝐬+𝐛
Where K, a and b are positive numbers. The condition for this
controller to act as a phase lead compensator is

(A) a < b (C) K < ab

(B) a > b (D) K > ab

STREAM: EC|EE|IN SUBJECT: Control system

GATE Question (EE-2007)
𝟗𝟎𝟎
 The system is to be compensated such that its gain-
𝐬 𝐬+𝟏 𝐬+𝟗

crossover frequency becomes same as its uncompensated phase-

crossover frequency and provides a 𝟒𝟓𝟎 phase margin.

To achieve this, one may use

STREAM: EC|EE|IN SUBJECT: Control system

GATE Question contd…(EE-2007)
(A) A lag compensator that provides an attenuation of 20 dB and a phase
lag of 𝟒𝟓𝟎 at the frequency of 𝟑 𝟑 𝐫𝐚𝐝/𝐬
(B) A lead compensator that provides an amplification of 20dB and a
phase lead of 𝟒𝟓𝟎 at the frequency of 𝟑 𝐫𝐚𝐝/𝐬
(C) A lag-lead compensator that provides an amplification of 20 dB and a
phase lag of 𝟒𝟓𝟎 at the frequency of 𝟑 𝐫𝐚𝐝/𝐬.
(D) A lag-lead compensator that provides an attenuation of 20 dB and
phase lead of 𝟒𝟓𝟎 at the frequency of 𝟑 𝐫𝐚𝐝/𝐬

STREAM: EC|EE|IN SUBJECT: Control system

GATE Question (EE-2008)
 The transfer function of two compensators are given below

𝟏𝟎 𝐬 + 𝟏 𝐬 + 𝟏𝟎
𝐂𝟏 = , 𝐂𝟐 =
𝐬 + 𝟏𝟎 𝟏𝟎 𝐬 + 𝟏
Which one of the following statements is correct?
(A) 𝐂𝟏 is a 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 compensators
(D) Both 𝐂𝟏 and 𝐂𝟐 are lag compensators
STREAM: EC|EE|IN SUBJECT: Control system
GATE Question (EE-2016)
 For the network shown in the figure below, the frequency

(𝐢𝐧 𝐫𝐚𝐝/𝐬) at which the maximum phase lag occurs is ______.

9Ω

1Ω
vin v0
1F

STREAM: EC|EE|IN SUBJECT: Control system

GATE Question (IN-2007)
 A Cascade control system with proportional controllers is shown
below.
R(s)+ + 1 1
K1 K2
(𝑠 + 1)(2𝑠 + 1) (3s + 1)
C(s)
− −

STREAM: EC|EE|IN SUBJECT: Control system

GATE Question contd…(IN-2007)
Theoretically, the largest values of the gains 𝐊 𝟏 𝐚𝐧𝐝 𝐊 𝟐 that can be set
without causing instability of the closed loop system are:

(A) 10 and 100 (C) 10 and 10

(B) 100 and 10 (D) ∞ and ∞

STREAM: EC|EE|IN SUBJECT: Control system

GATE Question (ECE/EE/IN-2013)
 The open – loop transfer function of a dc motor is given as

𝐖 𝐬 𝟏𝟎
= .
𝐕𝐚 𝐬 𝟏 + 𝟏𝟎𝐬

When connected in feedback as shown below, the approximate

value of 𝐊 𝐚 that will reduce the time constant of closed loop system
by one hundred times as compared to that of the open – loop system
is

STREAM: EC|EE|IN SUBJECT: Control system

GATE Question contd…(ECE/EE/IN-2013)
R(s) Va (s) 10 W(s)
Ka
+ 1 + 10𝑠
−

(A) 1 (C) 10

(B) 5 (D) 100

STREAM: EC|EE|IN SUBJECT: Control system

GATE Question (IN-2014)
 Consider the control system shown in figure with feed forward
action for rejection of a measurable disturbance d(t). The value of K,
for which the disturbance response at the output 𝑦(𝑡) is zero mean,
d(t)
is: K

+ + + 1 + + y(t)
r(t) 50
− s+2

(A) 1 (C) 2
(B) −1 (D) −2
STREAM: EC|EE|IN SUBJECT: Control system