Control WB

Singnal and System
Control Systems
Control System
Chapter 1 - Transfer Function .................................................................................................................................................................. 2
Type-1 Transfer Function....................................................................................................................................................................... 2
Type-2 Block Diagram .......................................................................................................................................................................... 11
Type-3 Signal Flow Graph ................................................................................................................................................................... 21
Chapter 2 -Time Response Analysis .................................................................................................................................................... 31
Type-4 Steady State Analysis ............................................................................................................................................................. 31
Type-5 Transient Analysis.................................................................................................................................................................... 40
Chapter 3 - Stability ................................................................................................................................................................................... 60
Type-6 Routh Criteria ............................................................................................................................................................................ 60
Chapter 4 - Root Locus Technique ...................................................................................................................................................... 81
Type-7 Root Locus ................................................................................................................................................................................. 81
Chapter 5 - Frequency Domain Analysis ........................................................................................................................................... 97
Type-8 Frequency Response .............................................................................................................................................................. 97
Type-9 Polar Plot ................................................................................................................................................................................. 101
Type-10 Nyquist Plot and Stability Criterion ............................................................................................................................ 107
Type-11 Gain Margin and Phase Margin ................................................................................................................................... 112
Type-12 Bode Plot ............................................................................................................................................................................... 121
Chapter 6 - State Variable Analysis .................................................................................................................................................. 134
Type-13 Deriving State Model ....................................................................................................................................................... 134
Type-14 State Model Analysis ........................................................................................................................................................ 139
Type-15 Controllability and Observability ................................................................................................................................. 149
Chapter 7 - Controllability and Observability ............................................................................................................................... 154
Type-16 Compensators ..................................................................................................................................................................... 154
Type-17 Controller .............................................................................................................................................................................. 163
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Control Systems
Chapter 1 - Transfer Function
Type-1 Transfer Function

01. An LTI system with input as r1 (t) =α u(t) produce 03. The transfer function of LTI system whose output y(t)
and input u(t) are related by the following equations
response c1 (t) =(1- e )u(t)
-2t
is cascaded with another t
-t y(t) =  [(2+(t - τ))e-3(t-τ)u(τ)]dτ
system whose response is c2 (t) = 4e u(t) for input 0
r2 (t) =βδ(t) 2e-2s s+2
(a) (c)
s+3 (s+3)2
2s+5 2s+7
(c) (d)
s+3 (s+3)2
04. A system transfer function is

(a) Ratio of time domain output and input function
(b) Ratio of frequency domain output and input function
When these two system are connected in cascade the (c) Ratio of the maximum of output and input in time
overall transfedr function is domain
1 (d) Ratio of the minimum of output and input in frequency
G1 (s)G2 (s) = then the value of  is _______ domain
(s+1)(s+ 2)
(a)4 (b)6
05. Normalized response of a dynamic system refers to the
(c)2 (d)8
(a) Characteristic features of response due to a specific
excitation irrespective of its amplitude
02.
(b) Response of dynamic system divides by its maximum
value
(c) Response of dynamic system divides by a standard
value
(d) None of the above
06. A feedback or closed loop system is one

(a) Which is closed on both sides
(b) In which systems are tightly connected
(c) In which input and output are not compared with each
other
(d) In which input and output are compared with each
other
V0 (s)
07. In the electrical circuit shown below, The ratio of
Vi (s)
E2 (s) E4 (s)
= H1 = H2 is
E1 (s) E3 (s)
When the two networks are cascaded in tandem. The
E4 (s)
overall transfer function =?
E1 (s)
(a) H1 (s)H2 (s) (b) H1 (s)+H2 (s)
H1 (s)
(c) (d) None
H2 (s)

Control Systems
2s s 13. Introduction of negative feedback in an open loop

(a) (b) control system
s + 4s + 2
2
s + 2s + 1
2
(a) may change a stable open loop system into an

2s s
(c) (d) 2 unstable closed loop system (or) an unstable open loop
2s2 + 2s − 1 s + 3s + 1
system into a stable closed loop system.
(b) leads to unstable operation always
08. A forcing function (t − 2t)u(t− 1) is applied to a linear
2
(c) leads to stable operation always
system. The Laplace transform of the forcing function is
(d) results decrease in system bandwidth
2 − s −2s  1 − s2  −s
(a) e (b)  e
s3  s  14. Match the list-I and with List-II by using corresponding
alphabets and numbers respectively.
1 −s 1 −2s  2 − s2  −s
(c) e − 2e (d)  e
s s  s 
3 A. Negative feedback 1. Applied only to LTI systems
B. Signal flow graph 2. Reduces the bandwidth

09. A control system with certain excitation is governed by
the following mathematical equation C. Feedback Block 3. Increase the bandwidth
d x 1 dx 1
2
D. Positive feedback 4. Highly sensitive to the
+ + x = y . Where y is the input and x is the
dt2 2 dt 18 parameter variations in the
output. The sum of the time constants of the response of block.
the system is _______sec.
(a) A-3, B-1, C-4, D-2 (b) A-4, B-3, C-1, D-2
10. Unit step response of system is (c) A-3, B-4, C-1, D-2 (d) A-4, B-1, C-3, D-2
1 1 
c(t) =  − e−t + e−2t  for t>0 The transfer function of 15. Two gain block with individual transfer functions G1 (S)
2 2 
system is and G2 (S) are connected in cascade configuration and
1 2(s+ 2) found that the block-1 is loaded by the block-2. The overall
(a) (b)
(s+ 1)(s+ 2) (s+ 1) transfer function is
2(s+ 1) 2
(c) (d)
(s+ 2) (s+ 1)(s+ 2)
1
11. A control system with step response (1 − e−3t )u(t) is
3
cascaded with another control system with impulse
response e u(t) . The transfer function of the cascaded
−4t
system is
1 1
(a) (b)
s(s + 4) s(s + 3)(s + 4) Y2 (s)
(a) G1 (s)G2 (s) (b)
X1 (s)
1 1
(c) (d)
(s + 3)(s + 4) 3(s + 3)(s + 4) G1 (s) Y1 (s)
(c) (d)
G2 (s) X1 (s)
12. A comparator in a general closed loop control system
performs 16. The step response of a system is given as
(a) addition of input and feedback signal only 7 3 1
(b) only subtraction of input and feedback signals y = 1 − e− t + e−2t − e−4t . If the transfer function of
3 2 6
(c) addition as well as subtraction between the inputs and
feedback signal (s+ a)
this system is then a+b+c+d
(d) differentiation of input signals only (s+ b)(s+ c)(s+ d)
is_____________.

Control Systems
17. For an initially relaxed system, the input r(t) and output 23. Transfer function of a transportation lag is e
−ST
. If lag
c(t) are related by the equation.
is small compared with time constant of the system. It can
d2 c(t) dc(t) be approximated by
+5 + 6c(t) = r(t) , then the impulse response
dt 2
dt
at t=10 microsecond is (a) sT (b) 1+sT
(a) 9.99  10
−6
(b) 9.99  10
−3
1 1
(c) (d)
(c) 2  10
−6
(d) 6  10
−6 1 − sT 1 + sT
18. In general, Traffic light is ___________ system. 24. For the closed loop system with steady state errors of
(a) Open loop 0,1,  for unit step, ramp, parabolic input respectively
(b) Closed loop shown below. Determine the open loop transfer function
(c) Open loop but can be made closed loop G’(s) if the above system is converted in to a unity feedback
(d) Can't say closed loop system as shown below such that the transfer
function of the system remain unchanged.
19. Which of the transfer function has multiple open loop
poles at single location?
1 1
(a) (b)
S2 S2 +2S +2
1
(c) (d) none
S + 2S + 1
2
20. An electromechanical device which actuates a train of

step angular movements in response to a train of input
pulses on one to one train is
(a) Synchro control transformer
(b) LVDT
(c) Stepper motor s +1 s +1
(a) (b)
(d) Tacho generator s 2s2 − 1
s +1 s +1
21. In which system, error detector is not necessary? (c) (d)
(a) Open loop (b) Closed loop 2s + 2s + 1
2
2s2 + 1
(c) Forward loop (d) B & C
25. Consider the characteristic equation of a system
22. For a first order control system, what is the time s3 + 7s2 + 8s + k = 0 , the value of ‘k’ to obtain the
response for unit step input function? sustained oscillation is ___________.
−t −t
(a) c(t) = 1 + e T (b) c(t) = t − T + t e T
1 −Tt −t
(c) c(t) = e (d) c(t) = 1 − e T
T

Control Systems
Solutions
01. Ans: (d)

Solution:
1 1 
C (s)  s - s+2 
1 = G (s) =  
R (s) 1 1
1 α
s
2 1 
G (s) = 
1 α  s+2 
4
C2 (s) 4
= G2 (s) = s+1 =
R 2 (s) β β(s+1)
The overall transfer function of cascade configuration is

2  1  4  8
   =
α  s+2   β(s+1)  αβ(s+1)(s+2)
1 8 1
By comparing with G1G2 = => =
(s+1)(s+2) αβ(s +1)(s + 2) (s +1)(s + 2)
 αβ = 8
02. Ans: (d)

Solution:
By Potential Divider
1
E2 (s) C1s 1
= = = H1 (s)
E1 (s) R + 1 1 + sR1C1
1
C1s
E4 (s) 1
Similarly = = H2 (s)
E3 (s) 1 + sR 2C2
When two networks are cascaded by General rule
E4 (s) 1
= H1H2 =
E1 (s) 1 + s(R1C1 + R 2C2 ) + s2R1R 2C1C2
The network after connecting both network in cascade is
Apply KCL at E(s)
E(s) sC1  +
(E(s) − E (s)) + E(s) − E (s) = 0
1 4
R1 R2

Control Systems
  E (s) E (s)
E(s)  1 + 1 + sC1  = 1 + 4 (i)
 R 1
R 2  R1 R2
By potential divider
E(s)  1
sC E(s)
E4 (s) = 2 =
R2 + 1 1 + s R 2C 2
sC
2
E(s) = E4 (s) 1 + sC2R 2 
From (i)
1 + s C R 1 + sC2R 2 
E4 (s)  2 2
+ + sC1 (1 + sC2R 2 ) − 1  = E(s)
 R1 R2 R  R1
2
1  E (s)
E4 (s)  + sC2R 2 + sC2 + sC1 + s2C1C2R 2  = 1
 R1  R1
E4 (s) 1 + sC2R 2 + sC2R1 + sC1R1 + s2C1C2R1R 2  = E1 (s)
E4 (s) 1
=  H1 (s) H2 (s)
E1 (s) 1 + s(C1 + C2 )R1 + sC2R 2 + s2C1C2R1R 2
This is due to loading effect due to which cascading rule cannot be applied
03. Ans: (d)

Solution:
t
y(t) =  [(2+(t - τ))e-3(t-τ)u(τ)]dτ =  [(2+(t - τ))e-3(t-τ)u(t - τ)u(τ)]dτ

0 −
y(t)= x(t) *u(t) where x(t) = (2+t)e-3tu(t)

Y(s) 2 1 2s+7
= X(s) = + =
U(s) s+3 (s+3)2 (s+3)2
04. Ans: (b)
05. Ans: (a)
06. Ans: (d)
07. Ans: (d)

Solution:
The loop equations considering the Laplace transform of the network is
sI1 (s) + I1 (s) − I2 (s) = V1 (s)
(s + 1)I1 (s) − I2 (s) = V1 (s) ...........(i)
And I2 (s) − I1 (s) + I2 (s) + sI2 (s) = 0
I1 (s) = (s+ 2)I2 (s) .............(ii)
Substituting equation (ii) in equation (i),

(s+ 1)(s+ 2)I2 (s) − I2 (s) = V(s)
i

Control Systems
Vi (s) sVi (s)

I2 (s) = Also, V0 (s) = sI2 (s) => Vo (s) =
s + 3s + 1
2
s + 3s + 1
2
Vo (s) s
=
Vi (s) s2 + 3s + 1
08. Ans: (d)

Solution:
f(t) = (t2 − 2t)u(t− 1) = [(t− 1)2 − 1]u(t − 1) = (t− 1)2u(t − 1) − u(t − 1)
2e− s e− s  2 − s2  −s
F(s) = − = e
s3 s  s3 
09. Ans: 9
X(s) 1 18 6 6
Solution: = = = −
Y(s) s 1 18s2
+ 9s + 1 1 1
s2 + + s+ s+
2 18 6 3
Taking inverse Laplace transform
−1 t −1 t
T(t) = 6(e 6 − e 3 )
 T1 + T2 = 6 + 3 = 9sec
10. Ans: (a)

Solution:
Can be obtained in two ways
Method 1
 1 
C(s) 1 1 1 s s  (s+ 1)(s+ 2) − s(2(s+ 2)) + s(s+ 1)
T(s) = = s − + 2  = − + =
R(s)  2s s + 1 s + 2   2 s + 1 2(s + 2)  2(s+ 1)(s+ 2)
 
2 1
T(s) = =
2(s+ 1)(s+ 2) (s+ 1)(s+ 2)
Method 2
Differentiating c(t)
d
h(t) = c(t) = e−t − e−2t
dt
1 1 s + 2 − s −1 1
H(s) = − = =
(s+ 1) s + 2 (s+ 1)(s+ 2) (s+ 1)(s+ 2)
11. Ans: (c)

Solution:
1 1 1 
 − 
3 s s + 3 1  3  1
H1 (s) = =  =
1 3  s + 3  (s + 3)
s
1 1
(
H2 (s) = L e−4tu ( t ) = )=
s + 4 (s + 3)(s + 4)

Control Systems
1
For cascaded system H(s) = H1 (s)  H2 (s) =
(s + 3)(s + 4)
12. Ans: (b)
13. Ans: (a)

Solution:
Feedback improves accuracy but it can increase or decrease stability.
14. Ans: (a)
15. Ans: (b)

Solution:
Y2 (s)
Since there is a loading of Block-I by Block-2 the transfer function is derived by
X1 (s)
The transfer function of the two blocks cannot be directly multiplied as there is loading effect i.e. second system draws
current from the first system.
16. Ans: 15
Solution:
d
Impulse response =
dt
(Step response )
7 3 1
y = 1 − e− t + e−2t − e−4t
3 2 6
dy 7 −t 3 1
h(t) = = e +  ( −2)e−2t −   ( −4)e−4t
dt 3 2 6
Taking Laplace transform
73 −3 23 (s+ 8)
TF = + + =
s + 1 s + 2 s + 4 (s+ 1)(s+ 2)(s+ 4)
a + b + c + d = 15
17. Ans: (a)

Solution:
d2 c(t) dc(t)
+5 + 6c(t) = r(t)
dt 2
dt
Taking Laplace transform on both side, and making all initial conditions to zero.
s2C(s) + 5sC(s) + 6C(s) = R(s)
C(s) 1 1 1 1 1
= 2 = = = −
R(s) s + 5s + 6 (s+ 2)(s+ 3) (s+ 2)(s+ 3) (s+ 2) (s+ 3)
( )
g(t) = e−2t − e−3t u(t)
−6
Impulse response at t = 10
( −6
g(10  10−6 ) = e−21010 − e−31010
−6
)u(t)
−6
g(t)= 9.99  10

Control Systems
18. Ans: (c)

Solution:
Open loop but can be made closed loop. Traffic light system is not dependent on the number of vehicles. (No feedback)
19. Ans: (b)

Solution:
The given transfer functions are cloased loop and assuming unity feedback we can convert to open loop as,
Numr
G=
Denom − Numr
1 1 1
For the Transfer Function, T = G= 2 =
s2 + 2s + 2 s + 2s + 1 (s + 1)2
20. Ans: (c)
21. Ans: (a)
22. Ans: (d)

Solution:
−t
c(t) = 1 − e T
The response for different inputs are,
Input Function Time Response

Unit Ramp −t
c(t) = t − T + T e T
Unit Step −t
c(t) = 1 − e T
Unit impulse 1 −Tt

c(t) = e
T
23. Ans: (d)

Solution:
1 1
e−sT = =
esT s2 T2
1 + sT + + ....
2
If T is small,
1
e−sT =
1 + sT
24. Ans: (b)

Solution:
Since the transfer function of both the system are same
C G(s) G' (s)
= =
R 1 + G(s)H(s) 1 + G' (s)
s +1
G(s) s2 s +1
G' (s) = = =
1 + G(s)H(s) − G(s) 1 + s + 1
( s2 )  s − (s + 1 s )
2
2s2 − 1

Control Systems
25. Ans: 56
Solution:
CE= s + 7s + 8s + k =0
3 2
Routh Hurwitz array

s3 1 8
s2 7 k
s1 56 − k 0
7
s0 k 0
For sustained oscillations, the system must be marginally stable and hence the coefficient of ‘s’ must be zero.
56-k=0 =>K=56

Control Systems
Type-2 Block Diagram

C 1 C C(s)
01. The = , then for what value of α ratio is 04. Find the transfer function of the system shown
R 2 R R(s)
satisfied. below.
V0 (s)
Where G(s) is the of the circuit shown below as R=1
V1 (s)
(a) 2.5 (b) 2  , C=1 F
(c) 1 (d) 3 1
(a)
S
C(s)
02. Find the transfer function (b) 0
R(s)
-1
(c)
S+1
-1
(d)
S
05.
G1 + G2 G1 + G2
(a) (b)
1 - (G1 + G2 )(G3 + G4 ) 1+(G1 + G2 )(G3 - G4 )
The block diagram is represented in its equivalent form as
G1G2 G1G2
(c) (d)
1+ G1G2G3G4 1 - G1G2G3G4
03. The transfer function below Y(s) = _____________. Then the X and Y values are
W(s)
(a) X = G2 Y =(1+G1 )
(b) X = G2 Y = G1
(c) X = G1 Y = G2
(d) X = (1+G2 ) Y =(1+G1 )
06. Time domain information is not considered in block

diagram representation of dynamic system because
(a) Output cannot be directly obtained by multiplying the
D(s)G(s)N(s) N(s) time domain input with the impulse response function
(a) (b)
1+D(s)G(s)H(s) 1+D(s)G(s)H(s) (b) It is difficult to get physical issues using time domain
N(s) response
(c) (d) None (c) It is difficult to give time domain input
1 - D(s)G(s)H(s)

Control Systems
07. Consider the following feedback control system 11. Consider the block diagram shown below
Absolute sensitivity of the system output due to variation in

‘H’ is ____________
The transfer function is:

08. The block diagram of a system is shown below
G1G2H
(a)
1 + G1G2H1 − G1 + G2H2
G1 (1 + G2 )
(b)
1 + G1G2H1 + G2H2
G1 (1 + G2 )
(c)
1 + G1G2H1 + G2H2 + H2
G1G2 + 1
(d)
In order to reduce the effect of noise element:
1 + G1G2H1 + G2H2 + H2
(a) The feedback gain should be increased.
(b) The forward gain G1 should be increased. 12. A feedback control system is shown below
(c)The forward gain G2 should be increased.
(d) Both the gain G1 and G2 should be increased.
09. Consider the system shown in below figure
If the forward path gain is 400 and feedback gain is 0.05.

The percentage change in closed loop gain for 10% change
in G is ________.
If T = 1, the steady state output sensitivity to the variation 13. The transfer function of the following system is
of K will be reduced by
(a) Decreasing ‘K ’ value
(b) Increasing ‘K ’ value
(c) First decreasing then increasing
(d) First increasing then decreasing
10. For the given feedback system, the forward path does
not affect the system output if KG is G1G3 − G2G3
(a)
1 + G1 + G1G3G4 − G2G3G4
G1 G3 + G2G3
(b)
1 − G1 + G1G3G4 − G2G3G4
G1G3 − G2 G3
(c)
1 − G1 + G1G3G4 + G2G3G4
(a) Very small (b) One G1G3 − G2 G3
(c) Negative (d) Very large (d)
1 + G1 + G1 G3G4 + G2G3G4

Control Systems
14. A closed loop control system is represented by the 17. Find the overall transfer function of the system, whose
following block diagram. The overall gain of the system is block diagram is as shown in the following figure.
___________.
15. The sensitivity of overall transfer function T(S) against

the variations in the feedback function H(S) for a system
represented by the following diagram at  = 2rad / sec ,
is__________%
16. The overall transfer function of a closed loop system

with the following block diagram representation is
18. To convert a given block diagram
To a unity feedback system
G1 should be
2G 2G
(a) (b)
1 − 2G + GH 1 − 2G + 2GH
2G G
(c) (d)
1 − G + 2GH 1 − G + GH

Control Systems
19. Consider the block diagram shown below. Find out

E(s) C
. 22. ____________is the value of for the system given
R(s) R
s 1 below, if G1 =5, G2 =8 and G3 =4, H1 =2.
G(s)= and H(s)=
( s + 2)( s + 4 ) s
23. The closed loop gain of the system shown below is
s2 + 6s + 8 s
(a) (b)
s2 + 6s + 9 s + 6s + 8
2
s s2 + 6s + 9
(c) 2 (d) 2
s + 6s + 9 s + 6s + 8
20. Consider the block diagram shown below. Find out

C(s) (a) -2 (b) 6
.
R(s) (c) -6 (d) 2
s 1
G(s)= and H(s)= 24. Consider the system shown in figure below
( s + 2)( s + 4 ) s
The input output relationship of this system is
s2 + 6s + 8 s
(a) (b)
s2 + 6s + 9 s2 + 6s + 8
s s2 + 6s + 9
(c) 2 (d) 2
s + 6s + 9 s + 6s + 8
21. As shown in the figure below, find out the overall

system gain in approximately.
(a) 100  10% (B) 1000  10%

(c) 100  1% (d) 1000  1%

Control Systems
Solutions
01. Ans: (a)

Solution: Apply mason’s gain formula
There are two forward paths, P1 = 2, P2 = −2
There is only one loop, L1 = −2
C 2 - 2 2α - 2 1
= = =
R 1 - [-2α] 1 + 2α 2
2( 2  − 2 ) = 1 + 2
4 α - 4 = 1+2α
5
2 = 5   = = 2.5
2
02. Ans: (b)

Soluion:
In the given block diagram the blocks G1 and G2 are connected in parallel and G3 and G4 are connected in parallel as well.
The block diagram after rearranging is shown below,
C(s) G1 +G2
=
R(s) 1+(G1 +G2 )(G3 - G4 )
03. Ans: (c)

Y(s)
Solution: For computing , R(s) must be taken as 0
W(s)
Apply mason’s gain formula
Forward Paths, P1 = N s ()
Loop Gain, L1 = D (s) G (s )H(s )
The forward path touches the loop and hence, 1 = 1
Y(s) N(s)
=
W(s) 1- D(s)G(s)H(s)
04. Ans: (d)

Solution:
VI
V
By Potential Division, VA = s = I
1 S+1
1+
s
VB - VI VB - V0
+ =0
1 1
2VB - VI = V0
2VI
- V = V0
s+1 I
VA - VB  0

Control Systems
1- s 
V  =V
I 1+s  0
V (s) 1 - s
 0 =
V (s) 1+s
I
The overall transfer function is
G(s) 1- s
C G(s) 1- s 1- s -1
= s -1 = = s+1 = = =
R G(s) s -1+G(s) (1- s) 2
s -1+1- s s(s -1) s
1+ (s -1)+
s -1 (s+1)
05. Ans: (a)

Solution:
Forward Paths, P1 = G1G2 , P2 = G2
Loops, L1 = −G1G2 , P2 = −G2
Since, both forward paths touch all loops, 1 = 1, 2 = 1
C G G +G G G +G G (1+G )
= 1 2 2 = 1 2 2 = 2 1
R 1 -[-G - G G ] 1+G +G G 1+G (1+G )
2 1 2 2 1 2 2 1
C XY
By comparing with =
R 1+ XY
X=G Y =(1+G1 )
2
06. Ans: (a)
07. Ans: 0.83-0.84

Solution:
G
Transfer Function, M =
1 + GH
M H −GH 10(0.5) 5
SM
H =  = = = = 0.833
H M 1 + GH 1 + 10(0.5) 6
08. Ans: (b)

Solution:
The transfer function with respect to noise is,
C(s) G2 (s)
=
N(s) 1 + G1 (s)G2 (s)H(s)
Thus, in order to reduce the effect of noise element the gain G1 (s) should be increased.
09. Ans: (b)

Solution:
C(s) K.K1
Here, = T(s) =
R(s) 1 + K.K1 + sT

Control Systems
T K 1 + sT
SKT = . =−
K T 1 + K.K1 + sT
For s=0 and T=1,
1
SKT = -
1 + K.K1
 In order to decrease the sensitivity ‘K’ should be increased.
10. Ans: (d)

Solution:
KG
T(s) =
1 + KGH
KG 1
C(s) = R(s) = R(s)
1 + KGH  1 
 + H
 KG 
R(s)
If KG>>1; then C(s) =
H
11. Ans: (b)
Solution:
Signal flow graph
P1 = G1G2 ; 1 = 1
P2 = G1 ; 2 = 1
L1 = −G1G2H1
L2 = −G2H2
L3 = −H2
G1 (1 + G2 )
Also, T(s) =
1 + G1G2H1 + (1 + G2 )H2
12. Ans: 0.30 to 0.50

Solution:
G 400
T= =
1 + GH 21
G
= 10% = 0.1
G
T G 1 1
SGT =  = =
T G 1 + GH 21
T 1
=  0.1  100 = 0.476%
T 21
13. Ans: (a)
Solution:
Forward path 1 : G1G3
Forward path 2 : - G2G3

Control Systems
Loop 1 : -G1
Loop 2 : -G1G3G4
Loop 3 : +G2G3G4
C 1
=  P  ; where PK =path gain of the Kth forward path
R  K K K
 = 1 −  Pm1 +  Pm2 −  Pm3 + ............

m m m
 K = the value of  for the path which is not touching the Kth forward path we get
C G1G3 − G2G3
=
R 1 + G1 + G1G3G4 − G2G3G4
14. Ans: 2.5 to 3.0

Solution:
Forward Paths,
P1 = 2  3  5 = 30, 1 = 1
Loops,
L1 = 3  −1 = −3
L 2 = 2  3  −0.5 = −3
L3 = 3  5  −0.25 = −3.75
C 30 30
= = = 2.79
R 1 + 3 + 3 + 3.75 10.75
15. Ans: 101.5 to 102.5

Solution:
T −100
T T −GH s2
+ 3s + 2 = −100
Sensitivity , SH = = =
H 1 + GH 100 s2 + 3s + 102
1+ 2
H s + 3s + 2
−100 −100 −100
SHT = = =
s2 + 3s + 102 s= j −2 + 3j + 102 −4 + j6 + 102
100
SHT = = 1.02
=2
982 + 62
SHT =102%
16. Ans: (b)

Solution:
G4 and G5 are connected in negative feedback
G1 and G2 are connected in negative feedback
G3 is in cascade with G1 and G2
G6 is in cascade with G4 and G5

Control Systems
Y G1G3G4G6
= G7 + G8 +
X (1 + G1G2 )(1 + G4G5 )
Y
=
( )(
G7 + G8 1 + G1G2 + G 4 G5 + G1G2G4G5 + G1G3G4G6 )
X 1 + G1G2 + G4G5 + G1G2G4G5
17. Ans: (d)

Solution: Let transfer function of the inner blocks is ‘M’.
M can be represented by
The transfer function of M is,

1
(G G
2 4
+ G3G5 )
1 + H2 ( G4 + G5 )
 G1  1 G6
  ( G2G4 + G3G5 )
Y  1 + G H
1 1  1 + H2 ( G4 + G5 ) 1 + G6
The overall transfer function is, =
R ( G G + G3G5 )
1 + (H3 + H4 )G1G6 2 4
1
1 + H2 (G4 + G5 ) (1 + G1H1 )(1 + G6 )
Y G1G6 (G2G4 + G3G5 )
=
R 1 + H2 (G4 + G5 )(1 + G1H1 )(1 + G6 ) + (H3 + H4 )G1G6 (G2G4 + G3G 5 )
18. Ans: (b)

Solution:
2G G1
= => 2G + 2GG1 = G1 + 2GHG1
1 + 2GH 1 + G1
2G
G1 =
2GH + 1 − 2G
Alternatively, to convert a system to unity feedback we can apply the rule,

Numr
G1 =
Denom − Numr
19. Ans: (a)

Solution:
E(s) 1 1 (s+ 2)(s+ 4) s2 + 6s + 8
= = = = 2
R(s) 1 + G(s)H(s) 1 s s + 6s + 8 + 1 s + 6s + 9
2
1+ 
s (s+ 2)(s+ 4)

Control Systems
20. Ans: (c)

Solution:
s
C(s) G(s) (s+ 2)(s+ 4) s s
= = = 2 = 2
R(s) 1 + G(s)H(s) 1 s s + 6s + 8 + 1 s + 6s +9
1+ 
s (s+ 2)(s+ 4)
21. Ans: (c)

Solution:
G 1000 1000
TF = = = = 100 ………………………….(1)
1 + GH 9 10
1 + 1000 
1000
TF 1 G
= = TF = …………………………………………………………(2)
G (1 + GH)2
(1 + GH)2
G
= 10%or 0.1
G
From equation (1) & (2)
TF G 1 1
=  = 10  % = 1%
TF G (1 + GH) 9
1 + 1000 
1000
Overall system gain= 100  1%
22. Ans: 4
Solution:
Forward path
P1 = G1G2 , P2 = G3
Loop gain,
L1 = −G1H1
Since, both the forward paths are in contact with the loop, 1 = 1, 2 = 1
C G1G2 + G3
=
R 1 + G1H1
Given G1 =5, G2 =8, G3 =4, H1 =2.
C 4 + 8  5 44
= = =4
R 1 + 2  5 11
23. Ans: (c)

Solution:
6 6
CLTF for a positive feedback system = = = −6
1 −1
1 −6
3
24. Ans: (d)
( ) (
Solution: C(s) = R(s) + G1 R(s) G2 + R(s) = R(s) 1 + G2 + G1G2 )
C(s)
T(s) = = 1 + G2 + G1G2
R(s)

Control Systems
Type-3 Signal Flow Graph

X 04. Consider the signal flow graph shown below
01. The signal flow graph shown below, find 3 =?
X
2
C
1 1 is ________________.
(a) (b) R
1+c 1+b
1 1 05. Consider the signal flow graph of a system
(c) (d)
1+a (1+b)(1+c)
02. Consider the signal flow graph below. Obtain the

Y(s)
closed loop transfer function using mason’s gain
R(s)
The gain of the system is
Y(s)
formula. =___________________ (a)1 (b) 2
R(s) (c) 3 (d) 4
06. For the signal flow graph shown below, the transfer
function C/R is
03. Consider the signal flow graph of a system

G1G2G3 + G1G2
(a)
1 + G1G2H2 (1 + G3 + H1 )
G1G2  (1 + G3 )
(b)
1 + G2 + G1G2H2 (1 + H1 + G3H1 )
G1G2 + (1 + G3 )
(c)
C 1 + G2 + G3H1 + G1G2H2
of the system is __________________
R
G1G2G3 + G1G2
(a) 8 (b) 4 (d)
1 + G2 + G1 G2H2 + G1G2G3H1H2
(c) 2 (d) none

Control Systems
07. In the signal flow graph shown below
(d) None
11. The transfer function corresponding to the signal flow

graph shown in the figure is
The number of individual loops in the signal flow graph is

_______________
08. Consider the signal flow graph. The number of two

non-touching loop pairs are ________
12s + 12 12s + 10
(a) (b)
5s2 + 4s 4s2 + s
12(s2 + s + 1) s + 10
(c) (d) 2
5s2 + 4s s + 10s + 2
09. The overall gain of the control system represented by

the following signal flow graph is________. 12. The value of (CR ) of the following figure is
_______________.
10. The overall transfer function of the signal flow graph

shown in the figure below is:
13. Find the graph determinant of the following figure.
(a)  = 1 − G2H1 − G1G2G3H2
(b)  = 1 + G2H1 + G1G2G3H2
(c)  = 1 − G2H1 + G1G2G3H2
(d)  = 1 + G2H1 − G1G2G3H2

Control Systems
14. Find transfer function of the figure below, using state 18. Find the SGF for block diagram shown below.
flow graph.
G1 G2 + G3 G1G2
(a) (b)
1 − G1G2H1 − G3H1 1 − G1G2H1 + G3H1
G3 G1G2 + G3
(c) (d)
1 − G1G2H1 − G3H1 1 + G1G2H1 − G3H1
15. The number of feedback loops and number of forward

paths respectively are _________.
(d) a and c
(a) 4 and 2 (b) 4 and 1
19. Transfer function of the SFG shown below is
(c) 2 and 2 (d) 4 and 4
16. Calculate the transfer function for signal flow graph

shown below.
A
(a) A (b)
1+B
A
(c) (d) A+B 2s + 5 2s2 + 6s + 5
1 −B (a) (b)
s + 4s2 + 5s + 2
3
s3 + 4s2 + 5s + 2
17. Self-loop is term related to_______________. 2s2 + 6s + 5 3s2 + 5s + 2
(a) Signal flow graph (c) 3 (d) 3
s + 2s2 + 5s + 2 s + 2s2 + 5s + 2
(b) Block Diagram
20. Determine the transfer function relating C and R for the
(c) Transient response
signal flow graph given below
(d) None

Control Systems
21. The overall transfer function C/R of the system shown

below will be
G
(a) G (b)
1 + H2H1 + H2
G1G2 + G1G3 G1G2 + G1G3 G G
(a) (b) (c) (d)
1 + G2 + G1G2H1 1 + G2 + G3 + G1G2H1 (1 + H1 )(1 + H2 ) 1 + H1 + H2H1
G1 G2 G2G3 + G1G2
(c) (d)
1 + G2 + G1 G2H1 1 + G2 + G3 + G1G2H1

Control Systems
Solutions
01. Ans: (b)

Solution:
Apply mason’s gain formula,
Gain =
P i i

 = 1 − ( −a − b − c ) + ( ab + bc + ac ) + abc
 = 1 + a + b + c + ( ab + bc + ac ) + abc
X3
X
3 = X1
X X2
2
X1
X3
For , P1 = 1, 1 = 1 + c
X1
X2
For
X1
( )(
, P1 = 1, 1 = 1 + b + c + bc = 1 + b 1 + c )
 will remain same for both transfer functions
X
3 = (1+c) = 1
X (1+b)(1+c) 1+b
2
02. Ans: 0.83-0.84

Solution:
In the Signal Flow Graph shown,
Forward Paths, P1 = 4, P2 = 2, P3 = 2
Loops, L1 = −1, L2 = −4, L3 = −4, L 4 = −2
All the three loops have common nodes and hence there are no non-touching loops
 = 1 − ( −1 − 4 − 4 − 2 ) = 12
The forward paths touch all the loops and hence, 1 = 1, 2 = 1, 3 = 1
Y(s) 4 1 +2 1 + 4 1
= = 0.833
R(s) 12
03. Ans: (d)

Solution:
Forward Path Gain, P1 = 2, P2 = 4
Loop Gain, L1 = −4, L2 = −8
Since, forward path touches both loops, 1 = 1, 2 = 1
C 2+4 6
= =
R 1 − ( −4 − 8) 13

Control Systems
04. Ans: 0.19-0.23

Solution:
Forward Path Gain, P1 = 4
Loop Gain, L1 = −4, L2 = −4, L3 = −2
Out of these three loops L2 and L3 are non-touching
Since, forward path touches both loops, 1 = 1
C 4
= = 0.21052
R 1 − (( −4) + ( −2) + ( −4)) + ( −2)( −4)
05. Ans: (a)

Solution:
Forward Path Gain, P1 = 8, P2 = 2
Loop Gain, L1 = −2, L2 = −2, L3 = −2, L 4 = −2
Out of these three loops L1 and L3 are non-touching
 = 1 − ( −2 − 2 − 2 − 2 ) + ( −2  −2 ) = 13
Since, first forward path touches all loops, 1 = 1 but second forward path does not touch L2 and hence,
 2 = 1 − ( −2 ) = 3
C 23 + 2  3 8+6 14
= = = = 1.0769  1
R 13 1 + 8 + 4 13
06. Ans: (b)

Solution:
Forward path(P) and Loops(L) are
P1 = G1G2G3 ; 1 = 1
P2 = G1G2 ; 2 = 1
L1 = −G1G2G3H1H2
L2 = −G2
L3 = −G1G2H2
L 4 = −G1G2H1H2
Using Mason’s Gain formula,
C G1G2  (1 + G3 )
=
R 1 + G2 + G1G2H2 (1 + H1 + G3H1 )
07. Ans: 3
Solution:
There are 3 loops in the signal flow graph, they are , cj and dek
08. Ans: 3
Solution:
There are three non-touching loop pairs
“be” and “dg”, “be” and ”1” and “cf” and “1”

Control Systems
09. Ans: 128 to 129

Solution:
Forward Paths,
P1 = 1  2  3  4  5  6 = 720
P2 = 6
P3 = 2  3  4  2 = 48
Loops,
L1 = 3  4  0.5 = 6
L2 = 1  −0.25  −1 = 0.25
L3 = 4  5  −0.25 = −5
L 4 = 2  3  −1 = −6
There are no non-touching loops and hence,
 = 1 − ( 6 + 0.25 − 5 − 6 ) = 5.75
The forward path P2 does not touch loop L1 but P1 and P3 touch all loops,
1 = 1
2 = 1 − 6 = −5
3 = 1
h 720 + 6  −5 + 48
= = 128.347
a 5.75
10. Ans: (d)

Solution:
Forward path, P1 = G1G2G3G4 ; 1 = 1 and P2 = −G1G6G7G3G4H4 ; 2 = 1
Loop gain, L1 = −G1H1 , L2 = −G3H2 , L3 = −G1G2H3 , L 4 = −G7G8H4 , L5 = −G2G5G8H4 , L6 = −G5G6H4 , L 7 = G1G6H4G7H3
Gain product of Two non-touching loop L1 and L2 = G1G3H1H2
G1G2 G3G4 − G1G6G7G3G4H4
T(s) =
1 + G1H1 + G3H2 + G1G2H3 + G7G8H4 + G2G5G8H4 + G5G6H4 − G1G6H4G7H3 + G1G3H1H2
11. Ans: (c)

Solution:
Forward path,
1 1 12
P1 = 6  2   = 2 ; 1 = 1
s s s
1
P2 = 6  2 1 = 12; 2 = 1+
s
Loop gain
1 1
L1 = −2 ; L2 = − ; L3 = − ; L 4 = −2
s s
1 1 2 4
 = 1 − L1 − L2 − L3 − L 4 + L1L3 = 1 + 2 + + + 2 + = 5 +
s s s s

Control Systems
12 12
+ 12 +
C P11 + P2 2 s2 s = 12(s + s + 1)
2
 = =
R  4 5s2 + 4s
5+
s
12. Ans: 20
Solution:
Forward path,
P1 = 2  1  3  4 = 24; 1 = 1
P2 = 2  1  2  4 = 16; 2 = 1
Loop gain,
L1 = −1
 = 1 − L1 = 2
C P1 1 + P2 2 24 + 16 40
 = = = = 20
R  2 2
13. Ans: (b)

Solution:
Loop gain,
L1 = −G2H1 ; L2 = −G1G2G3H2 ;
 = 1 − (L1 + L2 )
 = 1 + G2H1 + G1G2G3H2
14. Ans: (a)

Solution:
Forward path
P1 = G1G2
P2 = G3
Loop gain
L1 = G1G2H1 ; L2 = G3H1
 = 1 − G1G2H1 − G3H1
1 = 1;  2 = 1
G1G2 + G3
TF=
1 − G1G2H1 − G3H1
15. Ans: (a)

Solution:
Loop gain
L1 = G3H1 ; L2 = G1H2 ; L3 = G1G2G3G4H3 ; L 4 = G5G4H3
Forward path
P1 = G1G2G3G4 ; P2 = G5G4
So, there are a total of 4 loops and 2 forward paths

Control Systems
 1 1
P2 = 6  2  1 = 12; 2 = 1 −  −  = 1 +
 s s
Loop gain,
1 1
L1 = −2;L 2 = − ;L 3 = − ;L 4 = 2( −1)( −1)( −1) = −2
s s
Gain product of Two non-touching loop
 1 2
L1L3 = ( −2)  −  =
 s s
 s2 + s + 1 
12  
P1 1 + P2  2  s2  12(s2 + s + 1)
Transfer function= = =
1 − L1 + L 2 + L3  + L1L3  1 1  2 5s2 + 4s
1 −  −2 − − − 2  +
 s s  s
16. Ans: (c)

Solution:
Each node in SFG is sum of incoming branches,
 A 
X2 = AX1 + BX2  X2 =   X1
1 −B 
17. Ans: (a)
18. Ans: (d)

Solution:
The summing elements in block diagram can be replaced by nodes in SFG and the blocks can be replaced by branch gains.
19. Ans: (b)

Solution:
Forward path
1 1 1
P1 = , P = , P =
s 2 s 3 s2
Loop gain,
2 1 1
L1 = − ; L 2 = − ; L 3 = −
s s s
Product of Two non-touching loop gain
2 1 2
L1L2 = ; L2L3 = 2 ; L1L3 = 2
s 2
s s
Product of three non-touching loop

2
PL1 = −
s3
 2 1 1   2 1 2   2  s3 + 4s2 + 5s + 2
 =1−− − −  +  2 + 2 + 2  − − 3  =
 s s s s s s   s  s3
 2 1   2  s2 + 3s + 2
The forward path P1 only touches L2 so, 1 = 1 −  − −  +  2  =
 s s s  s2

Control Systems
 1 1   1  s2 + 2s + 1
The forward path P2 only touches L1 so, 2 = 1 −  − −  +  2  =
 s s s  s2
 2 s + 2
The forward path P3 only touches L2 and L3 so, 3 = 1 −  −  =
 s s
1  s2 + 3s + 2  1  s2 + 2s + 1  1  s + 2 
 +  + 2  
s s2  s s2  s  s  2s2 + 6s + 5
 T.F = =
s + 4s + 5s + 2
3 2
s + 4s2 + 5s + 2
3
s3
20. Ans: (b)

Solution:
Forward path
P1 = G1G2 , P2 = G1G3
Loop gain,
L1 = −G1G2H1 ; L2 = −G2 ; L3 = −G3
Both the forward paths touch all the loops and hence, 1 = 1, 2 = 1
C G1G2 (1) + G1G3 (1) G1G2 + G1G3
= =
R 1 − ( −G2 − G3 − G1G2H1 ) 1 + G2 + G3 + G1G2H1
21. Ans: (c)

Solution:
Forward path
P1 = G
Loop gain
L1 = −H1 ,L2 = −H2
Product of Two non-touching loop gain
L1L2 = H1H2 , 1 = 1
G G
T(s) = =
1 + H1 + H2 + H1H2 (1 + H1 )(1 + H2 )

Control Systems
Chapter 2 -Time Response Analysis
Type-4 Steady State Analysis

01. Open loop transfer function is given by
4
G(s)H(s) = . The type of system is ________.
s (s+ 2)
2
10(s + 2)
02. The transfer function of a system is the
(s + 5)(s + a)
final value to an input r(t) = 2u(t) is ’4’. Then the value of
‘a’ is _____________________.
03. Consider the unity feedback system with a open loop 08. An open loop transfer function of a unity feedback
K 2s(s + 10)
TF = , the minimum value of steady state system is G(s) = . If the gain of the system is
s(s + 1)(s + 2) (s+ 4)
error to a ramp input r(t) = 6tu(t) is increased to 16 and the zeros are removed. Then the
steady state error for step input is _________.
(a) 1 (b) 2
(c)3 (d)4 09. The open loop transfer function of a unity feedback
(type1) second order system has a pole at
04. A unity feedback system that has a large value of (s=–2). The nature of gain K is such that the damping ratio
steady state error for any type of excitation should not be is 0.4. The steady state error for r(t) = 4t is _____.
used at all
10. A second order position control system has open loop
(a) Because it will have large steady state error for any type
6.25A
of excitation transfer function G(s) = Where ‘A’ is the amplifier
(1 + 0.1s)
(b) Because such a system can also be stable
gain. The value of A so that steady state error shall not
(c) The above statement is not true, since the same can exceed 2° (for r(t) = π/4rad) is _____.
have acceptable steady state error for another type of
excitation 11. What will be the steady state error of a zero order hold
system when subjected a unit ramp signal.
(a) 1 (b) 
05. The open loop transfer function of a unity system is 1 1

(c) (d)
9 3 2
, the steady state error to a unit step input is
s +1
12. Given closed loop unity feedback system with transfer
___________.
5s + 5
function . The steady state error due to
06. The steady state error of a unity feedback system s + 4s2 + 5s + 5
3
40 t2
having loop transfer function G(s) = due to input r(t)= 2 − t + would be _____________
s2 (s + 18) 2
input r(t) = 3t is
2
13. A casual system having the transfer function
(a) 1.35 (b) 2.7 1
(c)  (d) 2.2
H(s) = is excited with 20u(t). The time at which the
(s+ 4)
output reachs 99% of steady state value is __________sec.
07. The step response of a system is shown below, the
forward path gain is _____.

Control Systems
14. For the system shown below, the value of K for which (a)  ,0,  (b)  ,  ,kb
the steady state output of the system for a unit step input (c) 0,  ,  (d) None
is 0.8 is _____________.
20. The forward path transfer function of feedback system
K
is given by G(s) = and feedback function H(s)= as+b.
s2
Steady state error of the system when subjected to
r(t) = a0 + a1t + a2t2 is
2a2
15. When a minimum phase system with transfer function (a) (b) kb
kb
(s + 1)
TF= is subjected to a2
s (s+ 4)(s+ 5)
2 (c) (d) None
kb
( 2 + 3t + 5t2 )u(t), the steady state error is __________
21. A unity feedback system has an open loop transfer
16. For the series RLC circuit shown the velocity error
constant is_____. 6
function G(s) = . Find steady state error to an input
s2 (s+ 2)
r(t) = 12t2 + 4t + 2
(a) 4 (b) 6
(c) 8 (d) 12
22. _______________ is the value of k, if steady state value of

the output of the closed loop control system given below is
2, to unit step input applied at t=2 sec
17. The static velocity error coefficient K V for open loop

transfer function of a control system
4(s+ 3)
G(s)H(s) = 2 is _______________.
s(s + 8s+ 4)
18. A control system with a PD controller is shown below. It

the velocity error constant K V = 1000 and  = 0.5 , then 23. For a control system the bode plot is given as
the value of Kp &Kd are
(a) Kp = 100,Kd = 0.09 (b) Kp = 100,Kd = 0.9

(c) Kp = 10,Kd = 0.09 (d) Kp = 10,Kd = 0.9 Steady state error value for a step input 5u(t) is
(a) 0
19. The forward path transfer function of feedback system
(b) 
K
is given by G(s) = 2 and feedback function H(s) = as+ b . (c) 0.1220
s
Error coefficients are? (d) 0.0495

Control Systems
24. If the value of Q=0 and P=1 then the system is of type 25. The type of the system given above is
__________.
(a) 0 (b) 1
(c) 2 (d) 3
(a) 3 (b) 5
(c) 2 (d) 1

Control Systems
Solutions
01. Ans: 2
Solution:
Order : Total power of s; Type: Number of poles at origin
In the given transfer function, there are 2 poles at origin and hence it is a type-2 system.
02. Ans: 2
Solution:
 10(s + 2)  2 10(2)(2) 8
c() = lim sC(s) = lim sT ( s ) R ( s ) = lim s   = (5)a = a
s→0 s→0 s → 0  (s + 5)(s + a)  s
8
c() = 4=
a
 a=2
03. Ans: (b)

Solution:
CE: 1 + G(s) = 0
CE= s + 3s2 + 2s + k = 0
3
Routh Hurwitz array

s3 1 2
s2 3 K
s1 6 −k 0
3
s0 k
Range of K for stability is 0 < K < 6

Maximum value of K = 6
A
ess = A=6
KV
For minimum steady state error KV should be maximum
Kmax
K V = lim sG(s) =
s→0 2
6(2) 12 12
ess = = = =2
Kmax Kmax 6
04. Ans: (c)
Solution:
Type-0 system has infinite error for ramp input but finite error for step input.
05. Ans: 0.1

Solution:
9
Kp = limG(s) = lim =9
s→0 s→0 s + 1
1 1
ess = = = 0.1
1 + Kp 1 + 9

Control Systems
06. Ans: (c)

Solution:
40 3 2
G(s) = and R(s)=
s2 (s + 18) s2
e ss due to parabolic input= A Ka
For the given input A = 6
40 40
Where, K a = lims G(s)H(s) = lim
2
=
s→0 s→0 (s + 18) 18
6
ess = = 2.7
40 18
07. Ans: 40.0 to 41.0

Solution:
The steady state error for step input
A 5
ess = = = 0.12
1 + K p 1 + KP
r(t) = 5u(t) , A = 5
5
or 1 + KP = = 41.66
0.12
Hence, Kp = 41.66 − 1 = 40.66
08. Ans: 0.15 to 0.25

Solution:
16
After removing the zeroes and making the gain 16, new OLTF is G(s) =
(s+ 4)
For unit step input (A = 1)
A A A A 1
ess = = = = = = 0.20
1 + KP 1 + limG(s)H(s) 16 5 5
s→0 1 + lim
s→0 s + 4
09. Ans: 1 to 2
Solution:
K
According to the question, G(s) =
(s+ 2).s
C(s) K
 =
R(s) s2 + 2s+ K
Comparing with standard equation

1 1
We get, n = k and 2n = 2 =>  = =
n K
2
1 1
K=  = = 6.25
 0.42
e ss for r(t) = 4t
4 4 4
ess = = = = 1.28
K V limsG(s) 6.25
s→0
2

Control Systems
10. Ans: 3 to 4
Solution:
 
ess = 20 =  20 = rad
1800 90

r(t) = rad
4
A 6.25A
ess = where KP = limG(s)H(s) = lim = 6.25A
1 + KP s→0 s→0 1 + 0.1s
According to the question


 A
= => 1 + KP = 4 = 22.5 => KP = 21.5
90 1 + KP 
90
Therefore, KP = 6.25A = 21.5
21.5
A= = 3.44
6.25
11. Ans: (b)

Solution:
1
TF of zero order hold system=
s
(
1 − e−sT )
K V = limsG(s)H(s) = 1 − e0 = 0
S→0
1
ess = =
KV
12. Ans: 0.8
Solution:
CLTF 5s + 5 5(s + 1)
OLTF = = 3 = 2
1 − CLTF s + 4s + 5s + 5 − 5s − 5 s (s + 4)
2
t2
The input is r(t)= 2 − t +
2
Since system input is unit step, ramp and acceleration type
2 1 1 2 1 1
ess = esu − esr + esa = − + = + +
1 + Kp K v Ka 1 + lim 5(s + 1) lim s  5(s + 1) s  5(s + 1)
2
s→0 s2 (s+ 4) s→0 s2 (s+ 4)
lim 2
s→0 s (s+ 4)
1 1 4
ess = + + = 0.8
  5
13. Ans: 1.0 to 1.5
Solution:
C(s) 1 20 5 5
H(s) = = = C(s) = = −
R(s) (s+ 4) s(s + 4) s (s + 4)
(
c(t) = 5 1 − e−4t u(t))
99
100
( )
 5 = 5 1 − e−4t → t = 1.15sec

Control Systems
14. Ans: 4
Solution:
2K
G(s)H(s) =
(1 + 5s)(2 + s)
Steady State Error, ess=1-0.8=0.2
1
ess = = 0.2 => Kp = 4
1 + Kp
2K
Kp = limG(s)H(s) = lim = K = 4
s→0 s→0 (1 + 5s)(2 + s)
15. Ans: 200

Solution:
The system is Type-2, so Error constants: KP = K v = 
K a = lims2G(s)H(s) = lims2 
(s + 1) = 1
s→0 s→0 s2
( s + 4 )(s + 5) 20
 1
ess = 10   = 10  20 = 200
 Ka 
16. Ans: 10
Solution:
1 1
C(s) Cs LC
TF = = =
R(s) 1 2 Rs 1
R + Ls + s + +
Cs L LC
1
CLTF LC
Open loop transfer function= G(s) = =
1 − CLTF  R
ss + 
 L
1 1
( )
Velocity error constant K v = lim sG(S) =
s→0
=
RC 10  10  10  10 −6
3
= 10
17. Ans: 3
Solution:
s  4(s+ 3) 4(0 + 3) 43
K v = limsG(s)H(s) = lim = = = 3 K v = 3
s→0 s→0 s(s + 8s+ 4) (0 + 0 + 4)
2
4
18. Ans: (b)

Solution:
G(s)H(s) =
(K p )
+ K ds 100
s ( s + 10 )
K v = limsG(s)H(s) => 1000 = lim

(K p )
+ K ds 100
=> K p = 100
s→0 s→0 s + 10

Control Systems
Characteristic equation= 1 + G(s)H(s) = 0 => s2 + (10 + 100K d ) s + 10 4 = 0
2  0.5  100-10
We get, n = 100 and 2n = 10 + 100K d =>K d = = 0.9
100
19. Ans: (b)

Solution:
Error coefficient
K
Kp = limG(s)H(s) = lim
s→0 s→0 s2
(as + b ) = 
K
K v = limsG(s)H(s) = lims 
s→0 s2
(as + b ) = 
s→0
K
K a = lims2G(s)H(s) = lims2  2 as + b =kb
s→0 s→0 s
20. Ans: (a)

Solution:
Error coefficient
K
Kp = limG(s)H(s) = lim
s→0 s→0 s2
(as + b ) = 
K
K v = limsG(s)H(s) = lims 
s→0 s2
(as + b ) = 
s→0
K
K a = lims2G(s)H(s) = lims2  2 (as + b ) =kb
s→0 s→0 s
a0 a 2a 2a 2a
Steady state error= + 1 + 2 =0+0+ 2 = 2
1 + kp k v k a kb kb
21. Ans: (c)

Solution:
 12  2 4 2 
 3 + 2+  24 + 4s + 2s2  (s+ 2)
sR(s) s s s  
ess = lim = lims.  = = lim
s→0 1 + G(s)H(s) s→0 6 2
s→0 s (s+ 2) + 6
1+
s (s+ 2)
2
24  2
ess = =8
6
22. Ans: 2
Solution:
unit step input applied at t=2 sec i.e. r(t)=u(t-2)
k
C(s) s −1 = k
=
R(s) k s −1 +k
1+
s −1
e−2s
R (s) =
s

Control Systems
k 1
C(s) =  e−2s
s −1 +k s
k k
lims e−2s = 2 => = 2 =>k = 2k − 2
s→0 s(s − 1 + k) k −1
k =2
23. Ans: (d)

Solution:
K
TF =
s  s 
 + 1  + 1 
 a  b 
It is type 0 system,
At   0 , 20logK = 40 (from Bode plot)
logK = 2 => K = 100
5 A
As R(s) = =
s s
Steady state error
A A 5 5
= = = = 0.0495
1 + kp 1 + limTF 1 + K 101
s→0
24. Ans: (d)

Solution:
C(s) P
CLTF= = 2
R(s) s + (2 + PQ)s+ P
Convert it into unity feedback system
CLTF P
OLTF= = 2
1 − CLTF s + (2 + PQ)s
P
Substitute Q=0 in above equation we get G(s)H(s) =
s(s + 2)
Hence it is of type 1
25. Ans: (a)

Solution:
s3 (s+ 1)
 4
(s+ 9)2 s (s+ 1)(s2 + s+ 1)
CLTF= =
s3
(s+ 1) s(s+ 2) s(s+ 9) (s + s+ 1) + s(s+ 1)(s+ 2)
2 2
1+  4  2
(s+ 9)2 s (s + s+ 1)
Convert it into unity feedback system
CLTF (s+ 1)(s2 + s+ 1)

OLTF= =
1 − CLTF s(s+ 9)2 (s2 + s+ 1) + s(s+ 1)(s+ 2) − (s+ 1)(s2 + s+ 1)
Since, there is no pole at origin, the system is Type=0

Control Systems
Type-5 Transient Analysis

01. A first order system is shown in below figure. The time (c) Are dependent on the type of input excitation
response to a unit step input is (d) None of the above
06. Consider the system with input 2e u(t) and the

−4t
impulse response 5e−t + 6e−10t the time constants of the

1 −t −t
(a) c(t) = (e T )u(t) (b) c(t) = T(1 − e T
)u(t) output are
T
−t −t
(a) 0.1 0.25 and 1 (b) 2, 5 and 6
(c) c(t) = (1 − e T
)u(t) (d) c(t) = Te T
u(t) (c) 0.1, 0.4, 10 (d) 0.2,0.5 and 0.33
02. A system is described by the following differential

07. The standard 2
nd
order system to a unit step input
d2 y dy
equation +3 + 2y = x(t) is initially at rest. For shows the 0.25 as its first under shoot, hence its 2
nd
over
dt 2
dt
shoot is
input x(t) = 2 u(t), the output y(t) is
(a) 0.135 (b) 0.185
(a) (1 − e + 1.5e )u(t)
−t −2t
(c) 0.125 (d) 0.0625
(b) (1 − 2e + e )u(t)
−t −2t
k(s2 + 2s + 4)
(c) (1 + 2e − 2e
−t −2t
)u(t) 08. OLFT of a unity feedback system is
(s2 + 4s + 5)
(d) (0.5 + e + 1.5e
−t −2t
)u(t) Where K>0. The natural frequency of the system is
(a) 2rad/sec (b) 5 rad/sec

03. The impulse response of a first order system 2e−5t is
(c) 20 rad/sec (d) none
given below. Its value at one time constant is ______________.
09. The total number of oscillations of a system before it

reaches to the steady state is
2 1- 2  1- 2
(a) . (b) .
  2 
1- 2 
(c) 2. (d) 2.
1 − 2

04. Increase in undamped natural frequency of 2 order
nd
system has the following influence on the response due to

10. Response of the standard 2 order under damped
nd
various excitations.
(a) Increase in speed of response and decreases sensitivity system to a unit step input is given below the time t x is
(b) Decrease in speed of response and increase the
_____________sec.
sensitivity
(c) Has no influence on the dynamic response
(d) Increase oscillatory behaviour
05. In a second order feedback control system, the natural

frequency and damping
(a) Can be designed by changing the gain of the individual
system
(b) Can’t be designed by changing the gain of the
individual system

Control Systems
11. A control system for position control has the closed 17. The second order system is described by the equation
6 1 d2 x dx
loop transfer function T(s) = . The percentage + + 4x = 4y .
s2 + 4s + 6 8 dt2 dt
overshoot, if the input is suddenly moved to a new position The time period of oscillations of the system is
is_____%. 
(a) Zero (b) sec
2
12. The open loop transfer function of a unity feedback

K (c) sec (d) 16sec
control system is given by G(s) = . If the system 8
s(s + 1)
becomes critically damped, then the system gain ‘K ’ tends
18. Unity feedback control system requires 0.52 seconds to
to become _____.
reach its peak value while subjected to the step input. If the
13. A unit step response of a second order linear system settling time of the response for 2% tolerance band is 1.05
with zero initial state is given by seconds. The resonant frequency of the system will be
c(t) = 1 + 1.25exp −6t
sin(8t − tan 1.33);t  0 The
−1 _______ rad/sec.
damping ratio and undamped natural frequency of
oscillation are respectively. 19. A feedback system employing output rate damping is
(a) 0.6 to 8 rad/sec (b) 0.8 to 10 rad/sec shown below
(c) 0.6 to 10 rad/sec (d) 0.8 to 8 rad/sec
14. A unity feedback system has forward path transfer

20K
function is given by G(s) = . The settling time for
s(s+ 40)
5% tolerance band is __________ seconds.
15. The open loop transfer function of a unity feedback In the absence of derivative feedback, the rise time for the
k system response is _______ sec.
control system is given below G(s) = . The value
s(s + 20)
of system gain ‘K’ for system to be critical damped is 20. For second order system exited by unit step input, the
(a)10 (b) 20 error signal is e(t) = 1.414e
−0.707t
sin(0.707t+ 450 ) . The
(c) 25 (d) 100
damping ratio is ____________.
16. For the given system
21. Unit step response of a second order system is as
described in the equation
c(t) = 1 − 1.015e −0.868t
(
sin 4.92t + 80 0
) . The number of cycles
output of the system will take to settle within 2% tolerance
Which of the following is true band is _____.
(a) Overdamped and settling time for 2% tolerance is 0.285
sec 22. Match the pole zero plot of a second order system with
(b) Underdamped and settling time for 2% tolerance is their impulse responses.
0.285 sec
(c) Critically damped and settling time for 2% tolerance is
0.571 sec
(d) Underdamped and settling time for 2% tolerance is
0.571 sec
(P)

Control Systems
24. Find the delay time & first undershoot time for
5
T(s) =
s2 + 10s + 100
(Q) (a) 0.155 sec, 0.36 sec (b) 0.135 sec, 0.7255 sec
(c) 0.07 sec, 0.726 sec (d) 0.07 sec, 0.36 sec
25. Practically the value of damping factor (  ) is chosen

between 0.4 to 0.7. Which of the following statements will
support the following concept?
S1 : Trade-off between rise time and settling time is best

in this range.
(R)
S 2 : In this range time domain and frequency domain
responses are comparable.
(a) Only S1 gives correct explanation
(b) Only S 2 gives correct explanation
(c) Both S1 and S 2 give correct explanation

(d) Neither of them gives correct explanation
26. Which of the following are true about transient

(S) response?
S1 : Approaches to zero when the time approaches infinity
S 2 : It is time dependent
(a)only S1 (b) only S2
(1) c(t) =
n
1 − 2
(
e−nt sin n 1 − 2 t ) (c) both S1 and S2 (d) neither S1 nor S 2
(2) c(t) = n sin nt

27. An under-damped second order system has damping
(3) c(t) = 2n te− nt factor 0.4. The maximum voltage that the system can
 
achieve when subjected to 2u(t) is _________(V)
− n +n2 2 −1  t
(4) c(t) =  e
2  
n 28. Which of the following conditions are true of the time
domain specifications are to be applied to a second order
(a) P-2,Q-4,R-1,S-3 (b) P-1,Q-3,R-2,S-4 under damped system.
(c) P-4,Q-2,R-1,S-3 (d) P-1,Q-3,R-2,S-4 S1 : System should be linear, time invariant.
S 2 : System must not have only initial conditions.
23. Consider system for damping ratio to be 0.5 the value
S3 : System may or may not have transport lag.
of k would be ___________.
(a) only S1 (b) only S2
(c) both S1 and S 2 (d) S1 , S2 and S3

Control Systems
360 Column-I Column-II

29. Given T(s) = . The period of
10s + 60s + 360
2 A. Single root at s =  (
1. Aet sin t +  )
oscillation and time of second overshoot respectively.
B. Three roots at s =  (
2. [A et sin t + 
1 1 )
(a) 1.209 sec,1.813 sec (b) 1.589 sec,0.233 sec
+ A2te sin ( t + 2 )]
t
(c) 0.89 sec, 2.556 sec (d) 2.885 sec, 1.432 sec
C. Two pairs of complex 3. Aet
30. The unit ramp response of a system is conjugate roots at
 1  s =   j
( )
r(t) = t + e−4t − 1  . Which of the following is the unit
 4 
impulse response of the system? D. A pair of complex 4. (A1 + A2t + A3 t2 )et
conjugate roots at
(a) 2e −4t
(b) 4e −4t
s =   j
(c) 2 ( 1 − e−4t ) (d) 4 (1 − e )
−4t
(a) A-2, B-4, C-2, D-1 (b) A-3, B-4, C-2, D-1
(c) A-3, B-2, C-1, D-4 (d) A-1, B-2, C-4, D-3
31. The differential equation which represents a prototype
second order linear time invariant control system is 34. The following column-I represent a list of poles in s-
plane and column-II represents a list of impulse responses.
Find the correct option which exactly matches each
d2 y(t) dy(t) member of column -I with column -II.
(a) + n + n y(t) = x(t)
dt2 dt
1 d2 y(t) 2 dy(t) Column-I Column-II
(b) + + y(t) = x(t)
n2 dt2 n dt A. A pair of roots at s =  j 1. Asin(t+ )
d y(t)
2
dy(t)
(c) + n + n2 y(t) = x(t)
dt 2
dt B. Two pair of roots at s =  j 2. A
d2 y(t) dy(t)
(d) + 2n + y(t) = n2 x(t) C. Single root at the origin s = 0 3. A1 + A2 t
dt2 dt2
A1 sin( t + 1 )
Where  -damping ratio and n un-damped natural
D. Two roots at the origin s = 0 4.
frequency + A2t( t + 2 )
32. The closed loop transfer function of a certain third (a) A-1, B-4, C-2, D-3 (b) A-4, B-2, C-3, D-1
order control system is represented by (c) A-2, B-4, C-3, D-1 (d) A-3, B-2, C-1, D-4
C(s) 100(s+ 2)
= . The second order equivalent of 35. Match the following
R(s) (s+ 10)(s+ 1)(s+ 3)
this third order system by using dominant pole List I List II
approximation is 1 =0 P Un damped
100(s+ 2) 100(s+ 2)
(a) (b) 2 01 Q Under damped
(s+ 10)(s+ 3) (s+ 1)(s+ 3)
10(s+ 2) 10(s+ 2) 3  =1 R Critically damped
(c) (d)
(s+ 10)(s+ 3) (s+ 1)(s+ 3)
4  1 S Over damped
33. The following column-I represents a list of poles in S-

plane and column-II represents a list of impulse responses. (a) 1-Q; 2-P; 3-R; 4 –S (b) 1-P; 2-Q; 3-R; 4-S
Find the correct option which exactly matches each (c) 1-P; 2-Q; 3-S; 4-R (d) 1-P; 2-S; 3-R; 4-Q
member of the column-I with column-II.

Control Systems
36. If output value reaches 98.2% in 30 sec in first order 45. The transfer function of the system is given as
control system (unit step response), then time constant 100
. Settling time is 4 sec.(Assuming 2%
is_____________(sec) s2 + ks + 100
tolerance band). Number of damped oscillation is
37. The damping ratio for transfer function ______________
C(s) 36
= 2 is ____________.
R(s) s + 6s + 36 46. The open loop T.F of a unity feedback control system is
k
given by G(s) = . The system is to have 50%
38. For no oscillation in unit step response of a second s(s+ 1)
order control system damping ratio must be maximum overshoot and peak time of 1.0 second. If
(a) 1 only (b) >1 only tachometer is used in feedback then, The value of k and
(c) <1 only (d)  1 tachometer constant K t will be
(a) 9.35, 0.124 (b) 8.35, 0.037
39. Response of a system is 1 − 3e−2t + 2e−3t . Its time (c) 10.35, 0.037 (d) 12.35, 0.324
constant is ___________.
47. The natural frequency of oscillation and the damping
40. For the control system to be critically damped, the ratio of a system are 10 rad/sec and 0.6 respectively. The
value of gain ‘k’ required is peak time and percentage overshoot are:
(a) 0.49 sec, 94.78% (b) 0.39 sec, 9.4%
(c) 0.39 sec, 19.4% (d) 0.49 sec, 29.4%
48. For circuit given below. If R=0.5  ,L=0.25H and C=2F,

calculate the damping ratio.
(a) 4 (b) 5
(c) 6 (d) 7
10
41. O.L.T.F of an unity feedback system is G(s) = .
s−2
The time constant of corresponding close loop system is
(a) 0.25 sec (b) 0.5 sec
(c) 0.125 sec (d) 0.75 sec
(a) 0.176 (b) 0.707
(c) 0.7 (d) 0.35
42. Consider the unit step response of a unity feedback
control system whose open loop transfer function is
1
G(s) = , the maximum undershoot is equal to A
s(s+ 1) system is given by G(s) = . The amplifier gain 'A'
s(1 + sT)
(a) 0.143 (b) 0.153 is multiplied by a constant, so that the damping ratio is
(c) 0.163 (d) 0.026 increased from 0.2 to 0.8 then the value of that constant
6 is__________
43. The transfer function of a system is 2 , the
s + 2s + 4
peak overshoot of the system to a step input of 4u(t) is 50. For a unity feedback control system with open loop
(a) 0.652 (b) 0.163 K
transfer function G(s) = . for a step input 5u(t)
(c) 0.978 (d) 0.26 (s+ 3)(s+ 4)
the response is 2u(t) after settling time. The value of K is
44. The transfer function of the system is given as ____________
100
. Settling time is 4 sec.(Assuming 2%
s2 + ks + 100 51. When the system shown in the figure (1) given below is
tolerance band). The frequency of the oscillation is subjected to a unit-step input, the system output response
___________ rad/sec is as shown below in figure (2). Then

Control Systems
(c)
(d)
Find the value of T and K ?
(a) 1.09 sec, 1.536 (b) 1.26 sec, 1.536

(c) 1.09 sec, 1.425 (d) 1.26 sec, 1.425
(1) (2)
52. Characteristic equation of a system is given by
s3 + 13s2 + 50s + 56 = 0 compare the time constant
of the system with 1 sec
(a) less than 1sec (b) more than 1sec
(c) same as 1sec (d) cannot determine
53. The impulse responses of four· different control

systems are listed in the following figures, match these (3) (4)
figures with second set of figures which lists location of
poles in the s-plane.
(a)
(5)
A B C D A B C D
(b) (a) 2 3 5 4 (b) 1 2 3 4
(c) 4 5 3 1 (d) 1 3 5 4

Control Systems
54. If the pole-zero location is as shown in figure below,

the time response will be
(c)
(d)
(a)
(b)

Control Systems
Solutions
01. Ans: (c)

Solution:
C(s) 1 1
= and R(s) = (Given)
R(s) 1 + sT s
1 1 1 1 1
 C(s) =  = = −
(1 + sT) s  1 s  1
Ts +   s s + 
 T   T
Taking inverse Laplace Transform both side, we get
−t
c(t) = (1 − e T
)u(t)
02. Ans: (b)

Solution:
d2 y dy
+3 + 2y = x(t)
dt2 dt
s2 Y(s) + 3sY(s) + 2 Y(s) = X(s) and x(t) = 2u(t)
2
X(s) =
s
2
 (s2 + 3s + 2)Y(s) =
s
2 1 1 2
Y(s) = = + −
s(s+ 2)(s+ 1) s s + 2 s + 1
y(t) = (1 + e−2t − 2e−t )u(t)
03. Ans: 0.72 to 0.74

Solution:
IR =2e−5t
1
Time Constant,  =
5
1 −5
IR   = 2e 5 = 0.7357
5
04. Ans: (a)
Solution:
Increasing undamped natural frequency reduces rise time and settling time so it increases the speed of response and it
also increases loop gain (GH) so it reduces sensitivity.
05. Ans: (a)
06. Ans: (a)

Solution:
1
Laplace Transform of input, R s = () s+4
,  = 0.25sec

Control Systems
5 6
Laplace Transform of impulse response, G s = () + ,  = 1sec and 2 = 0.1sec
s + 1 s + 10 1
1 1
 Time constant are , 1 and sec
4 10
07. Ans: (c)

Solution:
Maximum overshoot
 − n

 

 1−2 

 −n  



 1−2   
Mp =  e =e
 
 
 
1st undershoot occurs for n = 2
2
 −  −
 1−2  1−2
1 under shoot =  e
st
 = 0.25 => e = 0.5
 
 
 
2nd overshoot occurs for n = 3
3
 − 
 1−2 
2 over shoot  e
st
 = (0.5) = 0.125
3
 
 
08. Ans: (d)

Solution:
The characteristic equation for the system is,
1 + G(s) = 0
1+
(
k s2 + 2s + 4 ) =0
(s 2
+ 4s + 5 )
s (1 + k ) + ( 4 + 2k ) s + (5 + 4k ) = 0
2
For undamped system the roots must lie on imaginary axis and hence, the coefficient of ‘s’ must be zero.
( 4 + 2k ) = 0 = k = −2
Hence, for no positive value of k can the system have natural oscillations.
09. Ans: (d)

Solution:
Total number of oscillations is given by
4 4
settling n n 2 1- 2
N= = = = .
oscillations 2 2  
d n 1 − 2
10. Ans: 9.6 to 9.7
Solution:
tx − 2.42 =damped cycle time period

Control Systems
2
tx − 2.42 = = 2tp  tx = 2t p +2.42 =9.68 sec
d
11. Ans: 1.10 to 1.20

Solution:
6
T(s) =
s2 + 4s + 6
Comparing with standard transfer function we get,
n = 6 and 2n = 4
2
 = = 0.816
6
−
1−2
% Peak overshoot = e  100% = 1.18%
12. Ans: 0.20 to 0.30

Solution:
K
CLTF = T(s) =
s + s +K
2
Comparing with standard transfer function we get,

n = K and  = 1 2n = 1 2 K
For critically damped i.e.  = 1
1
=1
2 K
1
K = = 0.25
4
13. Ans: (c)

Solution:
e−nt
Standard form c(t) = 1 − .sin(d t + )
1 − 2
 1 − 2 
where,  = cos  = tan  
−1 −1
  
 
1 − 2
− tan−1 1.33 = tan−1 => 1.332 2 = 1 − 2 =>  = 0.6

And n = 6
n = 10rad / sec
14. Ans: 0.10 to 0.20

Solution:
G(s) 20K
Closed Loop Transfer Function, T(s) = =
1 + G(s) s + 40s + 20K
2

Control Systems

n = 20K and 2n = 40
20
and  =
K
settling time for 5% tolerance
3 3 3
sett = = = = 0.15
n 20 20
20K
K
15. Ans: (d)
Solution:
G(s) K
T(s) = =
1 + G(s) s2 + 20s + K
2 10
We get, n = K and 2n = 20 =>  =
K
10
For Critically damped system  = 1 => 1 = => K=100
K
16. Ans: (d)

Solution:
64
s ( s + 14 ) 64
Transfer function= =
1 + 64 s + 14s + 64
2
s ( s + 14 )
Where, n2 = 64 and 2n = 14

14
= = 0.875 (underdamped)
28
4 4
sett = = = 0.571sec
n 7
17. Ans: (b)

Solution:
 s2 
Taking Laplace transform, X(s)  + s + 4  = 4Y(s)
8 
X(s) 48
=
Y(s) s2 + 8s + 32
We get, n2 = 32 => n = 5.65rad / sec and 2n = 8 =>  = 0.707
2 2 
Toscillation = = = sec
d  1 − 2 2
n

Control Systems
18. Ans: 4 to 5
Solution:
n 3.14
p = = 0.52 =
d n 1 − 2
4 4
settling = = 1.05 => n =
n 1.05
3.14 1 − 2
and 0.52 = => = 1.585
4 
1 − 2
1.05
4
 = 0.285 = 0.534 and n = = 7.133rad / sec
1.05
1

2
 resonant frequency r = n 1 − 22 = 4.676rad / sec
19. Ans: 0.20 to 0.50

Solution:
In the absence of derivative feedback
100
C(s) s(1 + 5s) 100 20
= = 2 =
R(s) 1 + 100 5s + s + 100 s
s(1 + 5s) s2 + + 20
5
1
We get, n2 = 20and  = = 0.022
10 20
 −   − cos−1 () 3.14 − 1.547
Rise time= = = = 0.356
d  1 − 2 4.472
n
20. Ans: 0.70 to 0.80

Solution:
  1 − 2 
e−nt
Comparing with the standard equation e(t) = sin  n 1 − 2 t + tan−1  
1 − 2    
  
1
= 1.414
1 − 2
 = 0.707
21. Ans: 3 to 5
Solution:
Standard representation of a unit step response of a second order system is given by
e−nt
c(t) = 1 −
1 − 2
(
sin dt + cos−1  )

Control Systems
 = 0.868 and  =  1 − 2 = 4.92

n d n
We get, n = 5,  = 0.1712 . Since it is an under damped system we can apply our analysis.
Settling time(2%)
Number of cycles=
Time period of oscillation
4
n 4  1 − 0.17122
Number of cycles = = = 3.663  4cycles
2 0.1712  2
n 1 − 2
22. Ans: (a)

Solution:
Pole zero plot (a) has both the poles on the imaginary axis hence the system in undamped. So, the response is as in (2)
Plot (b) has both the poles on the real axis hence there is no scope of oscillations and time constant depends on the
dominant pole, this system is an over damped system. Hence, the response is exponential as in (4)
Plot (c) This system has complex conjugate poles hence there will be oscillations as well as attenuation and the system is
under damped. The response is as in (1)
Plot (d) both the poles of the system are identical and real resulting in a critically damped system. Hence, the response is
as in (3).
23. Ans: 0.10 to 0.20

Solution:
s+6
s+6 k
Transfer function= 2 =
ks + s + 6 s 6
s + +
2
k k
6 1
n2 = and 2n = 2  0.5  n =
k k
6 1 1
From above two equations, = => k=0 and
k k 6
For k=0, system will not remain second order system and hence k = 0.1667
24. Ans: (b)

Solution:
s2 + 2ns + n2 = s2 + 10s + 100
We get, n = 10 and =0.5
1 + 0.7
Delay time= Td = =0.135 sec
n
2
First undershoot t2 = =0.7255 sec
d
25. Ans: (c)
Solution:
As Damping Ratio increases the setlling time decreases but rise time increases so we have to make a tradeoff between rise
time and settling time. When   0.707 we observe peak overshoot as well as resonance peak so there is a correlation
between two domains.

Control Systems
26. Ans: (c)

Solution:
Transient response always depends on time and approaches zero as time tends to infinity.
27. Ans: 2.3 To 2.6

Solution:
−
1−2
Peak overshoot value= 2  e = 0.507
Maximum voltage = 2+(0.507)=2.507
28. Ans: (d)

Solution:
All three conditions are necessary for applying time domain specifications to an underdamped system.
29. Ans: (a)

Solution:
360 36
T(s) = = 2
10s + 60s + 360 s + 6s + 36
2

We get, n = 6 and 2n = 6 => =0.5
2 2
Period of oscillation= = =1.209 sec
d  1 − 2
n
3 3
Time of second overshoot= = =1.813 sec
d  1 − 2
n
30. Ans: (b)

Solution:
1 −4t
r(t) = t +
4
(
e +1 )
d 1
s(t)=step response=
dt
r(t) = 1 + −4e−4t
4
( )
d 1
h(t)=impulse response= s(t) = 0 + ( −4 ) ( −4e−4t ) = 4e−4t
dt 4
31. Ans: (b)

Solution:
Standard closed loop transfer function of the second order system is
Y(s) n2
= 2
X(s) s + 2ns + n
2 (
=> Y(s)  s + 2ns + n = n  X(s)
2 2 2
)
Taking Inverse Laplace transform both side
d2 y(t) dy(t)
+ 2n + y(t)n2 = x(t)  n2
dt 2
dt
1 d2 y(t) 2 dy(t)
+ + y(t) = x(t)
n2 dt2 n dt

Control Systems
32. Ans: (d)

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

Solution:
If the roots of characteristic equation are s1 and s2 , then the response can be expressed as,
c ( t ) = Ae 1 + Be 2
st st
()
(A) If there is a single pole at s =  , c t = Ae
t
() (
(B) Three roots at s =  , c t = A1 + A 2t + A3t 2 et )
() (
(C) Two pairs of roots at s =   j , c t = A1e sin t + 1 + A 2te sin t + 2
t
) t
( )
()
(D) A pair of roots at s =   j , c t = Ae sin t + 
t
( )
34. Ans: (a)
Solution:
If the roots of characteristic equation are s1 and s2 , then the response can be expressed as,
c ( t ) = Ae 1 + Be 2
st st
() (
(A) A pair of roots at s =  j , c t = A sin t +  )
() (
(B) Two pairs of roots at s =  j , c t = A1 sin t + 1 + A 2t sin t + 2 ) ( )
(C) Single root at origin, s = 0 , c ( t ) = A
(D) Two roots at origin , c ( t ) = A + A t

1 2
35. Ans: (b)
36. Ans: 7.4 to 7.6

Solution:
 −t 
Unit step response of 1st order system c(t) =  1 − e   u(t)
 
 
 −30 
According to the question , 0.982 =  1 − e   =  = 7.467 sec
 
 
37. Ans: 0.5

Solution:
Characteristic equation is s + 6s + 36 =0
2

Control Systems
We get, n = 6 and 2n = 6 => =0.5
38. Ans: (d)

Solution:
For no oscillations, the system must either be critically damped or over damped.
39. Ans: 0.5

Solution:
− t  − t 
1
 
1
 
2 3
y(t)= 1 − 3e  
+ 2e  
1 1
Now it has two time constant &
2 3
1 1 1
But,  so, time constant = will be dominant
3 2 2
40. Ans: (d)

Solution:
C(s) 2k
= 2 and for critically damped system  = 1
R(s) s + 8s + 2 + 2k
We get, n = ( 2 + 2k ) and 2 n
=8
( 2 + 2k ) = 4 => k=7
41. Ans: (c)
Solution:
10
CLTF = s − 2 = 10
10 s+8
1+
s−2
t
−
1
 8 
Taking inverse Laplace, f(t) = 10e−8t = 10e  
1
= = 0.125sec
8
42. Ans: (d)

Solution:
CE= 1 + G(s)H(s) = 0 => s2 + s + 1 = 0

We get, n = 1 and 2n = 1 =>  = 0.5
−n
1−2
Maximum undershoot= e where n=2 for maximum undershoot
−2(0.5)
1−(0.5)2
Maximum Undershoot = e = 0.0265

Control Systems
43. Ans: (c)

Solution:
We get, n = 2 and 2n = 2 =>  = 0.5
6 4
css = lim s.T ( s ) R ( s ) = lims.  =6
s→0 s→0 s2 + 2s + 4 s
−  − 0.5
1−2 2
Peak overshoot per unit input= e = e 1−0.5 = 0.163033
Peak overshoot= 6  0.1630 = 0.9782
44. Ans: 9.85 to 9.99

Solution:
We get, n = 10
4
Settling time= = 4 = n = 1 =>  = 0.1
n
frequency of the oscillation
d = n 1 − 2 = 10 1 − (0.1)2 = 9.95rad / sec.
45. Ans: 5.5 to 6.5

Solution:
We get, n = 10
4
Settling time= = 4 = n = 1 =>  = 0.1
n
frequency of the oscillation
d = n 1 − 2 = 10 1 − (0.1)2 = 9.95rad / sec.
d 9.95
fd = = = 1.583Hz
2 2
Number of cycles= 1.583  4 sec = 6.3342  6.33
46. Ans: (c)

Solution:
Block diagram for compensated system
k
C(s) s(s+ 1) + skK t k
= == 2
R(s)  k  s + s(1 + kK t ) + k
1+ 
 s(s + 1) + skK t 
− 
1−2 
Maximum overshoot= e = 0.5 =>In(0.5) = − => = 0.215
1 − 2
  
Peak time tp = 1sec. = => n = = = 3.217rad / sec
n 1 −  2
1− 2
1 − (0.215)2
Characteristic equation s2 + s(1 + kKt ) + k =0

Control Systems
We get, n2 = k => k = (3.217)2 = 10.35

And 2n = 1 + kK t => Kt = 0.037
47. Ans: (b)

Solution:
 
Peak time= tp = = = 0.39sec
n 1 −  2
10 1 − 0.62
−
 0.6 
−
1−2 1−0.62
Percentage overshoot= %Mp = e  100 = e = 9.478% .
48. Ans: (d)

Solution:
L R 
V(s)  + + sRL 
I(s) =
V(s) V(s) V(s)
+ + =  C sC
2
 = V(s) sL + R + s RLC ( )
R sL 1 RL sRL
sC C
1
s 
V(s)
= Z(s) = C
I(s)  2 1 1 
s + s + 
 CR LC 
1 1
We get, n = and 2n =
LC CR
1 L 1 0.25
= = = 0.35
2R C 2  0.5 2
49. Ans: 0.0625

Solution:
s A
CE= s2 + + =0
T T
A 1 1
We get, n = and 2n = =  =
T T 2 AT
According to the question  increased from 0.2 to 0.8 when multiplied by a constant α
1 1 2 AT 0.2 1 2 AT 1

i.e. =  => =  = = 
2 2 AT 1 0.8 2 AT 1 4
 = 0.0625
50. Ans: 8
Solution:
K K
TF= =
(s+ 3)(s+ 4) + k s2 + 7s+ 12 + k
Given output response is 2u(t) when input is 5u(t) i.e. final value of the response is 2

Control Systems
 5  K 
Apply final value theorem limsY(s) = 2 => lims   2 =2
s→0 s→0 s
  s + 7s + 12 + k 
5 k 5k
lims.
 . 2 = 2 => = 2 => k = 8
s→0 s (s + 7s+ 12) + k 12 + k
51. Ans: (c)

Solution:
−
1−2
Maximum overshoot=1.245-1= 0.245 = e =>   0.4

Peak Time= tp = 3 = => n = 1.14rad / sec
n 1 − 0.42
From the block diagram given in problem
C(s) k/T
=
R(s) s k
s2 + +
T T
s k
CE= s +
2
+
T T
k 1 1 1
We get, n = and 2n = = T = = = 1.09sec
T T 2n 2  0.4  1.14
k = n2T = 1.142  1.09 = 1.425
52. Ans: (a)

Solution:
−1
Time constant= =
Re{dominant_pole}
To compare the time constant with 1sec we need to check if a pole is present between s=0 to s=-1 then the time constant
will be more, else time constant will be less. There for we use Routh Hurwithz criteria to determine relative stability of the
system with s=-1
Put s=Z-1
(Z− 1)3 + 13(Z− 1)2 + 50(Z− 1) + 56 = 0
CE= Z3 + 10Z2 + 27Z + 18 = 0
Routh Hurwitz array
Z3 1 27
Z2 10 18
Z1 270 − 18 0
10
Z0 18 0
As there are no sign changes, means that there are no roots lie between-1<s<0. Hence time constant of the system is less
than 1.

Control Systems
53. Ans: (c)

Solution:
The real part of characteristic root represents the exponential rise or decay in magnitude and the imaginary part represents
the oscillation frequency of the response. So, for complex roots in left half plane, the response is exponentially decaying
oscillations and for complex roots in right half plane, the response is exponentially increasing oscillation.
For real roots, response is either exponentially decaying or rising based on location but there are no oscillations.
54. Ans: (d)

Solution:
k
G(s) = ,a  0
s−a
c(t) = keat

Control Systems
Chapter 3 - Stability
Type-6 Routh Criteria

01. Consider the system shown in figure below 05. The LTI system characteristic equation in negative unity
feedback configuration is given by C. E =
s4 +2s2 +3= 0 . The no. of poles located on j axis is

________.
06. The characteristic equation of feedback control system

is given as
s3 +(K+2)s2 +2Ks+10 = 0
The value of K such that the system is stable.
(a) K=1.44 (b) K=-3.44
(c) K=-2 (d) K=2
07. For the system shown here find K value such that the
The system (1) is stable for -9 < K < 9 system will have oscillation in response.
Then the system (2) is stable for -3 < K < ________ where ‘K’
is the gain of the system
02. Introduction of integral action in the forward path of a

unity feedback system will result in
(a) Marginally stable system.
(b) System with no steady state error
(c) System with better speed of response
(d) System with increased stability margin. 08. The feedback system is shown below
2
R  1
03. When the value of   
 2L  LC
The value of K=5, then identify how many closed loop

poles will have real part greater than s=-1 is
__________________.
The number poles located on j axis is ______. 09. Characteristic equation is s4 + 2s2 + 1 = 0 . The no. of
RHP, jP and LHP are respectively.
04. The impulse response of several continuous system are (a)0,2,2 (b)0,4,0
given below. Which is/are stable? (c)1,1,2 (d)2,2,0
1. h(t) = te− t
2. h(t) = 1 10. Consider the characteristic equation of a system
3. h(t) = e sin3t
−t s3 + 6s2 + 7s + K = 0 . The range of ‘K’ for the stability of
4. h(t) = sin t a system
(a) 0< K <6 (b) 0< K <20
(a) 1 Only (b) 1 and 3
(c) 0< K <42 (d) 0< K <56
(c) 3 and 4 (d) 2 and 4

Control Systems
K
11. OLTF of an unity feedback system is . The
s(s + 10)
value of ‘K’ for the poles to lies left side of s = -4 is
(a) K>12 (b) K>18
(c) K>20 (d) K>24
12. Poles of a closed loop transfer function are important 18. The open loop transfer function of a unity feedback
because K(s+ 1)
system is G(s)H(s) = The value of ‘K’
(a) They give characteristic features of the closed loop s(s+ 4)(s+ 8)(s+ 64)
system for which the closed loop pole of the system will be located
(b) They decide the kind of reference input that can be at s = – 6 is _____.
applied
(c) They indicate the maximum value of the response 19. The closed loop transfer function of a system is
(d) None of the above s2 + 48s + 14
T(s) = .The system is said to
s5 − 2s4 + 3s3 − 6s2 + 2s − 4
13. The characteristic equation for a feedback control
be
system is s + (K + 0.5)s + 4sK + 50 = 0
3 2
(a) Unstable with a pair of complex conjugate poles on
The condition for stability is
imaginary axis
(a) K  −3.8 (b) K  3.3 (b) Unstable with two pair of complex conjugate poles on
(c) K  0.5 (d) K  −3.8 imaginary axis
(c) Marginal stable with all poles on imaginary axis
14. For the characteristic equation (d) Marginal stable with a pair of complex conjugate poles
s5 + s4 + 2s3 + 2s2 + 11s + 10 = 0 The number of roots on imaginary axis
with negative real part are____________.
15. Consider a feedback control system shown in below
50
figure system is G(s) = . The value of ‘T’ to
s(1 + sT)(1 + 0.5s)
drive the system on to the verge of instability is
(a) T < 1∕48 (b) T = −1∕2

(c) T > −1∕2 (d) T = 1∕48
21. A feedback control system has an open loop transfer

Ke−2s
function G(s)H(s) = . The maximum value of
The largest possible value of β for which the system would s(s2 + 2s + 1)
be stable is ‘K’ for closed loop system stability is _________.
(a) 0.11 (b) 1
(c) 1.5 (d) 3 22. For the system shown below the condition for absolute
K
stability is, if G(s) =
16. The open loop transfer function of a unity feedback as3 + bs2 + cs + d − K
K(s + 2)(s + 1)
system is G(s)H(s) =
(s + 0.1)(s − 1)
For K = 0.3, the system behaviour will be
(a) Stable (b) Marginal stable
(c) Unstable (d) None of these (a) a,b,d>0,K<0
(b) a,b,d>0 & bc-ad>0
17. For the system shown below, the frequency of
(c) a,b,c,d>0 & bc-ad<0
oscillations is _____ rad/sec.
(d) bc-ad>0

Control Systems
k 29. The limitation of Routh-Hurwitz criterion and Bode plot

23. Given a system G(s) = with unity negative technique in determining the system stability are
s (s+ 2)
2
respectively
feedback. A new system is made by adding a zero at s=-1.
The stability of old system & new system are (a) Exact location of roots cannot be found and cannot be
used for all pass system.
(a) Stable & unstable respectively (b) Exact location of roots cannot be found and cannot be
(b) Unstable & stable respectively used for minimum phase system.
(c) Unstable & unstable respectively (c) Exact location of roots can be found and cannot be used
(d) Unstable & can’t be predicted for non-minimum phase system.
(d) Exact location of roots cannot be found and cannot be
24. The maximum value of the gain k for which the system used for non-minimum phase systems.
is stable is__________
30. The number of roots which are lying in the left half of
the s-plane and the frequency of oscillation of the system
with characteristic equation
s5 + 6s4 + 12s3 + 12s2 + 11s + 6 = 0 are respectively
(a) 3, 1rad/sec (b) 1, 3rad/sec
(c) 5, 1rad/sec (d) 2, 3rad/sec
25. How will stability of system behave if characteristic

31. Find out stability of system s3 + 8s2 + 3s + 4 = 0
equation of a stable system is s3 + 7s2 + 25s + 39 = 0 (a) Stable (b) Unstable
with respect to  = −1 axis (c) Marginally stable (d) Can’t say
(a) System stability does not change. 32. The number of roots on real axis for following
(b) System remains stable and stability increases. characteristic equation s4 + 3s2 + 1 = 0 is______________.
(c) System remains stable, but stability decreases.
33. The value of Q such that closed loop poles are at
(d) System becomes unstable.
S = −1  j 3 is________.
1 0 0 
 
26. A system has the system matrix A =  1 0 2  . The
 2 3 −1 
 
number of poles in RHS is __________.
27. For a closed loop system to be stable, which of these

statements is correct for the first column elements of Routh
array formed from its characteristic equation.
(a) 3 (b) 5
(c) 2 (d) 0
(a) It should have either all positive signs or negative signs.
(b) Number of sign changes is equal to the number of roots
which have negative real part. 34. The open loop transfer function of a system is
(c) First column elements should only be positive, they e− TS
G(S) = . The maximum value of T such that the
must not be negative. S(S + 10)
(d) First column elements should have only negative signs
closed loop system is stable is ____________(sec)
but should not have positive signs.
35. Stability of any system depends only on the location of

28. The value of k at which one of the roots of the
(a) Zeros (b) Poles and zeros
characteristic equation (s
2
)
+ 2s + 2 + k ( s + 0.5 ) would (c) Poles (d) None
lie at s=-1 is _________.

Control Systems
36. The transfer function of a system is 42. The necessary (but not sufficient) condition for stability
K of a linear system is that all the coefficient of its
, the condition for absolute characteristic equation 1 + G(s)H(s) = 0 , be real and have
a3S3 + a2S2 + a1S + a0
the
stablility is
1. Positive sign.
(a) a3 ,a2 ,a1 ,a0  0 and a2a1 − a3a0 >0 2. Negative sign.
3. Same sign.
(b) a3 ,a0  0 and a3 ,a1  0
(a) Only 1 (b) Only 2
(c) a3 ,a2 ,a1 ,a0  0 and a2 ,a1 − a3 ,a0  0 (c) 3 (d) None of these
(d) a3 ,a2 ,a1 ,a0  0 and a2 ,a1 − a3 ,a0 = 0
43. Routh Hurwitz criterion gives
1. Number of roots in the right half of the s-plane
37. The zeroes of the characteristic equation is equal to 2. Value of roots
(a) Closed loop poles (b) Closed loop zeroes
(a) Only 1 (b) Only 2
(c) Open loop poles (d) None of these
(c) 1 and 2 (d) None of these
38. The transfer function is having symmetric pole and zero 44. The order of auxiliary polynomial is always.
about the imaginary axis, then system is called (a) Even (b) Odd
(a) Minimum phase (b) All pass (c) May be even or odd (d) None of these
(c) Non-Minimum phase (d) None of these
45. Routh Hurwitz criteria cannot be applied when the
characteristic equation of the system containing
39. The characteristic equation of a system is
coefficients which is/are
s4 + 2s3 + 3s2 + 4s + 5 = 0 , then the system
1. Exponential function of s
is__________________ and number of poles at RHS is
2. Sinusoidal function of s
_________________. 3. Complex
(a) Stable, 0 (b) Unstable, 2 4. Real
(c) Unstable, 1 (d) Stable, 2 (a) Only 1 and 2 (b) Only 3
(c) Only 1 and 3 (d) 1,2,3
40. The open loop transfer function of a system is
k 46. The characteristic equation of a system is differential
G(s)H(s) = and 0  a  b . The system is equation from is x − (k + 2)x + (2k + 5)x = 0 . The value of k
s(s+ a)(s+ b)
for which the system is stable is –x>k>-y, then x+y is equal
stable if
to____________
(a + b) ab
(a) 0  K  (b) 0  K 
ab (a + b) 47. If closed-loop transfer function poles shown below.
a Impulse response is?
(c) 0  K  ab(a+ b) (d) 0  K 
b(a+ b)
41. Find the values of  and  to place roots at S=-1  j2
2 1 1 2
(a)  = 4 , = 4 (b)  = 4 ,  = 4
5 5 5 5
1 2 2 1
(c)  = 4 ,  = 4 (d)  = 4 ,  = 4
3 3 3 3

Control Systems
49. The characteristic equation of a system is given below.

Using routh's stability criterion determine range of k for the
ke−s
system to be stable. 1 + =0
s(s2 + 8s+ 9)
(a) (a) 0<k<23/2 (b) 0<k<9

(c) 0<k<8 (d) 0<k<4
50. The polynomial s3 + s2 − s + 1 have ___________ roots

with positive real parts.
51. A network has response with time as shown in figure

below;
(b)
Which of the following diagram represent the location of

the poles of this network?
(c) (a)
(b)
(d)
48. For the characteristic equation

s4 + ks3 + s2 + s + 1 = 0 , the range of k for stability is (c)
(a) k>0 (b) k>1
(c) k<1 (d) None of these

Control Systems
(d)
k
52. OLTF of a unity feedback system is , the
s(s + 10)
maximum value of ‘k’ for which the unit step response is
non-oscillatory is _________________

Control Systems
Solutions
01. Ans: 3
Solution:
G(s)
The transfer function of System-1 is,
1 + G (s)
Applying feedback transfer function repeatedly, the transfer function of System-2 is,
G(s)
1 + 3G ( s )
Hence, effectively the forward path transfer function in Characteristic equation gets multiplied by 3.
−9 9
Range of ‘K’ for stability for System-2 becomes  K  i.e -3 < K < 3
3 3
02. Ans: (b)
Solution:
Introduction of Integral action in forward path adds a pole at origin and hence the type of system increases and this will
lead to zero steady state error.
03. Ans: 0
Solution:
1 1
E0 (s) sC LC
= =
E1 (s) 1 R 1
R + sL + s + s+
2
sC L LC
2
R  1
  
 2L  LC
Then poles are complex conjugate and are in LHP. The system is under-damped in nature.
04. Ans: (b)

Solution:
If the impulse response decays to zero as time approaches infinity, the system is stable.
(1) (2)
(3) (4)

Control Systems
Only 1 and 3 are absolutely integrable so they are stable.
05. Ans: 0
Solution:
C.E = s +2s +3=0
4 2
Routh Hurwitz array
s4 1 2 3
s3 0(4) 0(4) 0
s2 1 3
s1 -8 0
s0 3
d(A.E.)
Given characteristic equation is A.E, = 4s3 + 4s − 0
ds
No. of sign changes below the A.E= 2
The roots of auxiliary equation are symmetric about Imaginary Axis and hence,
Number of RHP=Number of LHP = 2, jωP = 0
The four poles are located in quadrantal as shown above.
06. Ans: (d)

Solution:
C.E= s3 +(K+2)s2 +2Ks+10 =0
Routh Hurwitz array
s3 1 2k
s2 K+2 10
s1 2k(k + 2) - 10 0
k +2
s0 10
For stability sign of the 1st column of routh array should not change
K+2>0 = k>-2
-4 ± 16 +80 -4 ± 96
And 2K2 +4K -10>0 , K= =
4 4
-4 + 96
K= = 1.4494
4
-4 - 96
and K = = -3.4494
4
(K-1.44)(K+3.44)>0
The value of polynomial will be negative between two roots and positive on either side and
the value which satisfies this condition is K=2

Control Systems
07. Ans: 6
Solution:
The characteristic equation is s(s+1)(s+2)+K =0
s + 3s + 2s + k = 0
3 2
Routh Hurwitz array

s3 1 2
s2 3 K
s1 6 −k 0
3
s0 k
For Oscillation the coefficient of s should be zero so that the row above can yield auxiliary equation and imaginary roots.
6 -K
=0
3
K = 6
08. Ans: 0
Solution:
C.E= (s+1)(s+2)(s+3)+K =0
To apply routh criteria we have to shift the imaginary axis to s = -1
Assume Z=s+1 => s=Z-1
The Now C.E,
C.E’= (Z− 1 + 1)(Z− 1 + 2)(Z− 1 + 3) + K = 0
Z(Z+1)(Z+2)+K=0
K = 5 
C.E’= Z +3Z +2Z +5 = 0

3 2
Routh Hurwitz array

Z3 1 2
Z2 3 5
Z1 6 −5 0
3
Z0 5
There are no sign changes,  there are no poles to the right of z = 0 or s = -1.
The answer is 0
09. Ans: (b)

Solution:
CE= s + 2s2 + 1 = 0
4
Routh Hurwitz array
s4 1 2 1
s3 0(4) 0(4) 0
s2 1 1 0
s1 0(2) 0
s0 1
d(A.E.)
Given equation is A.E of order 4 than = 4s3 + 4s − 0
ds

Control Systems
d(A.E.)
Another A.E. of order 2 is s2 + 1 = 0 = 2s + 0
ds
No. of sign changes = 0
No. of RHP = 0
Since, the roots of auxiliary equation are symmetrical about imaginary axis, there are no poles to the left of imaginary axis
and hence all poles of auxiliary equation lie on the imaginary axis.
j Poles =4
LHP=0
10. Ans: (c)

Solution:
CE= s + 6s2 + 7s + K = 0
3
Routh Hurwitz array

s3 1 7
s2 6 k
s1 42 − k 0
6
s0 k 0
For stability
K > 0 and 42 − K  0  K  42
0< K <42
11. Ans: (d)

Solution:
Since, we wish to determine the number of poes lying to the left of s = -4, we need to shift the imaginary axis to s = -4.
Given Characteristic Equation, CE = s(s + 10) + K = 0
Assume z=s+4 => s = z-4
New CE = (z − 4)(z − 4 + 10) + K = 0
z2 − 4z + 6z − 24 + K = 0
z2 + 2z + K − 24 = 0
For the system to be stable or the poles to lie to left of imaginary axis all coefficients of second order equation must be
positive.
K – 24 > 0 => K > 24
12. Ans: (a)

Solution:
Poles can be used to determine stability as well as the nature of response such as underdamped, overdamped and critically
damped.
13. Ans: (b)

Solution:
CE= s3 + (K + 0.5)s2 + 4sK + 50 = 0
Routh Hurwitz array
s3 1 4K
s2 (K+0.5) 50
s1 4K 2 + 2K − 50 0
(K + 0.5)
s0 50

Control Systems
 for stability
K + 0.5  0 and 4K2 + 2K − 50  0
Or K>-0.5 and (K<-3.8 or K> 3.3)
Where K>3.3 Satisfies both conditions.
14. Ans: 3
Solution:
CE= s + s + 2s + 2s + 11s + 10 = 0
5 4 3 2
Routh Hurwitz array
s5 1 2 11
s4 1 2 10
s3 lim  1 0
→0
s2 2 − 1 10 0

s1 102 0 0
1−
2 − 1
s0 10
2 − 1
There is only negative term in the first column, and hence there are two sign changes one above and other below

this term.
Therefore, there are 2 roots located in RHP.
Since, there is no auxiliary equation, there are no roots on Imaginary axis and so remaining all roots lie in LHP.
Hence, 3 poles are having negative real part.
15. Ans: (b)

Solution:
11
CE= 1 + G(s)H(s) = 0  1 + =0
s3 + 4s2 + 3s + 1
s3 + 4s2 + 3s + 1 + 11 = 0
Routh Hurwitz array
s3 1 3
s2 4 (11 + 1)
12 − (11 + 1)
s1 0
4
s0 (11 + 1)
For stability,
12 − (11 + 1)
 0 and (11 + 1)  0
4
1
12  (11 + 1) and   −
11

Control Systems
1
  1 and   −
11
1
Hence, − 1
11
16. Ans: (b)

Solution:
Characteristic equation
s2 − 0.9s − 0.1 + K(s2 + 3s + 2) = 0
or,(1 + K)s2 + (3K − 0.9)s + (2K − 0.1) = 0
For K=0.3, the coefficient of ‘s’ will be zero and the equation will have purely imaginary roots so the system would be
marginally stable.
17. Ans: 19.0 to 20.0

Solution:
K(s+ 25)(s+ 5)
T(s) =
s(s+ 5)(s+ 15) + K(s+ 25)
Characteristic equation s3 + 20s2 + (75 + K)s + 25K = 0
Routh Hurwitz array
s3 1 75+K
2
s 20 25K
1500 + 20K − 25K

s1 0
20
s0 25K
1500 + 20K − 25K

For marginally stable system (sustained oscillation) =0 => K=300
20
Hence, the frequency of oscillation can be determined by determining the rots of auxiliary equation,
2
AE= 20s + 25K = 0
s = −375 = 19.36j
Hence  = 19.36rad / sec
18. Ans: 278.0 to 279.0

Solution:
CE= s(s + 4)(s + 8)(s+ 64) + K(s+ 1) = 0
Since, a pole lies at s = -6, it must satisfy characteristic equation.
−6( −6 + 4)( −6 + 8)( −6 + 64) + K( −6 + 1) = 0
−6  ( −2)  (2)  (58) + K( −5) = 0
 K = 278.4
19. Ans: (b)

Solution: CE= s5 − 2s4 + 3s3 − 6s2 + 2s − 4 = 0
Routh Hurwitz array

Control Systems
s5 1 3 2
s4 -2 -6 -4
s3 0(-4) 0(-6) 0
s2 -3 -4 0
s1 −2 3 0 0
s0 -4 0 0
Here, Auxiliary equation −2s4 − 6s2 − 4 = 0 = s =  j1 and  j1.414

dP(s)
= −4s3 − 6s
ds
Also number of sign changes in the first column of Routh Hurwitz array=1
This means there is one pole in right half s-plane.
Hence, the given system is unstable with two pair of complex conjugate poles on imaginary axis.
20. Ans: (d)

Solution:
C(s) 50
T(s) = = 2
R(s) (s T + s)(1 + 0.5s) + 50
CE= Ts3 + (1 + 2T)s2 + 2s + 100 = 0
Routh Hurwitz array
s3 T 2
s2 (1+2T) 100
2(1 + 2 T) − 100 T
s1 0
(1 + 2 T)
s0 100
For stability, all the elements in first column must be positive and hence,
T0
1
1 + 2T  0 or T  −
2
1
2 − 96T  0 or T 
48
1 1
For Stability, T  0 , T  − and T
2 48
1
The system is on verge of instability for T =
48
21. Ans: 0.30 to 0.50

Solution:
At low frequency e−2s  (1 − 2s)

Control Systems
K(1 − 2s)
 G(s)H(s) =
s(s2 + 2s+ 1)
CE = s3 + 2s2 + (1 − 2K)s+ K = 0
Routh Hurwitz array
s3 1 (1-2K)
s2 2 K
s1 2 − 4K − K 0
2
s0 K
2 − 4K − K 2
For stability  0 => K 
2 5
Maximum value of k=0.40
22. Ans: (b)

Solution:
K
()
CE= 1 + G s = 1 +
as + bs + cs + d − K
3 2
= as3 + bs2 + cs + d = 0
Routh Hurwitz array
s3 a c
s2 b d
s1 bc − ad 0
b
s0 d
For absolute stability all coefficients in first column must be positive,

a>0, b>0, d>0 and bc-ad>0
23. Ans: (b)

Solution:
k
For old system TF =
s2 (s+ 2) + k
CE= s + 2s + k = 0
3 2
Since lower powers of ‘s’ are missing so system violates the necessary condition for stability and cannot be stable.
k(s + 1)
If a zero is added, the OLTF becomes : G(s) =
s2 (s+ 2)
CE = s3 + 2s2 + ks + k = 0
s3 1 k
s2 2 k
s1 k 0
2
s0 k
For k>0, all coefficients are positive in first column and hence system is stable.

Control Systems
24. Ans: 12.5

Solution:
k
() ()
CE= 1 + G s H s = 1 + = 4s3 + 9s2 + 6s + (K + 1) = 0
( s + 1) (1 + 4s )
2
Routh Hurwitz array
s3 4 6
s2 9 K+1
s1 54 − 4K − 4 0
9
s0 K+1 0
54 − 4K − 4
For stability, no sign changes in the first column i.e. >0 and K+1>0
9
K<12.5 and K>-1
Therefore maximum value of K= 12.5
25. Ans: (b)

Solution:
Since, we wish to judge relative stability about s = -1 axis,
Put s=z-1 => P(z) = (z− 1)3 + 7(z− 1)2 + 25(z− 1) + 39 = 0
CE= z3 + 4z2 + 14z + 20 = 0
Routh Hurwitz array
z3 1 14
z2 4 20
z1 9 0
z0 20
All elements in first column are positive, so system remain stable, stability increases
26. Ans: 2
Solution:
 (s − 1) 0 0 
 
Characteristic equation= sI − A =  −1 s −2  = 0
 −2 −3 (s + 1) 

s3 − 7s + 6 = 0
Routh Hurwitz array
s3 1 -7
s2 lim 
→0
6
1 −7  − 6
s 0

s0 6 0

Control Systems
−7  − 6
There are two sign changes above and below the term . Hence there are two poles in RHS.

27. Ans: (a)
28. Ans: 2
Solution:
For the root to lie at s = -1, it must satisfy characteristic equation,
(s 2
)
+ 2s + 2 + k ( s + 0.5 ) = 0
Substitute s = -1
(1 − 2 + 2 ) + k ( −1 + 0.5 ) = 0
K=2
29. Ans: (d)
Solution:
Routh Hurwitz Criterion can tell about number of roots in right half plane but not their locations whereas Bode Plot can
only inform about stability of minimum phase systems.
30. Ans: (a)

Solution:
CE= s + 6s + 12s + 12s + 11s + 6 = 0
5 4 3 2
Routh Hurwitz array

s5 1 12 11
s4 6 12 6
s3 1 1
s2 1 1
s1 0(2)
s0 1
Two roots are on imaginary axis
AE s2 + 1 = 0 => s=  j1 and  = 1 rad/sec
To replace the row of zeroes we need to differentiate the auxiliary polynomial,
d ( A.E. )
= 2s
ds
Remaining three roots are in left half of the s-plane since there is no sign change in the first column of RH table and hence
no roots in RHP.
31. Ans: (a)

Solution:
CE= s3 + 8s2 + 3s + 4 = 0
Routh Hurwitz array
s3 1 3
s2 8 4
1 24 − 4
s 0
8
s0 4 0

Control Systems
No sign change, Therefore, no root in right half plane and the system is stable
32. Ans: 0
Solution:
s2 =x then equation is x2 + 3x + 1 = 0
s2 =x=-0.382, -2.618
Since, s < 0, s will be purely imaginary.
2
 There are no real roots.
33. Ans: (d)

Solution:
C(s) P
=
R(s) s2 + (2 + PQ)s+ P
Poles s = −1  j 3 => (s+ 1)2 = −3 => s2 + 2s + 4 = 0,
Compare with Characteristic equation
2 + QP = 2 and P = 4
Q = 0
34. Ans: 10
Solution:
e− Ts
G(s) =
s(s + 10)
− TS
Characteristic equation= s(s + 10) + e =0
− Ts
Bute  (1 − sT)
s + (10 − T)s+ 1 = 0
2
Routh Hurwitz array
s2 1 1
s1 10-T 0
s0 1 0
For stability 10 − T  0
T  10
TMax = 10sec
35. Ans: (c)

Solution:
Stability depends only on the poles. It is not dependent on location of zeroes.
36. Ans: (a)

Solution:
K
G(s) =
a3s + a2s2 + a1s + a0
3
Routh-Hurwitz criterion necessary conditions

(i) All the coefficient of the polynomial have the same sign.

Control Systems
(ii) None of the coefficient vanishes.

(iii) The first column of the routh array >0
So, a3 ,a2 ,a1 ,a0  0
Routh Hurwitz array
s3 a3 a1
2
s a2 a0
1 a2a1 − a3a0
s 0
a2
s0 4 0
 a2a1 − a3a0  0
37. Ans: (a)
38. Ans: (b)
39. Ans: (b)

Solution:
CE= s
4
+ 2s3 + 3s2 + 4s + 5 = 0
Routh Hurwitz array
s4 1 3 5
3
s 2 4 0
s2 +1 5 0
s1 -6 0
s0 +5
Number of poles at RHS=Number of sign changes=2
40. Ans: (c)

Solution: Characteristic equation = s3 + (a+ b)s2 + abs + k = 0
Routh Hurwitz array
s3 1 ab
2
s a+b k
s1 ( a + b ) ab − k 0
(a + b)
s0 k
For stability 1 Column elements>0
st
 k>0 & (a+b)ab>K => 0  K  ab(a+ b)
41. Ans: (a)

Solution:
Characteristic equation is 1 + s(s+ 1)3 + s + s2 = 0

Control Systems
s4 + 3s3 + (3 +  ) s2 + (  + 1 ) s + 1 = 0 ……………………(1)
Since, the order is 4 and so it has 4 roots, s = −1  j2, − x  jy.
( s + 1 + j2)(s + 1 − j2)(s + x + jy )(s + x − jy ) = 0
s + s ( 2 + 2x ) + s (5 + 4x + x + y ) + s (10x + 2x + 2y ) + 5x
4 3 2 2 2 2 2 2
+ 5y 2 = 0 ………..(2)
Comparing & solving 1 & 2,
1
2 + 2x =3 => x=0.5, 5x 2 + 5y 2 = 1 => x 2 + y 2 =
5
1
And 5 + 4x + x 2 + y 2 =3 +  =>  = 4.2 = 4
5
2
And 10x + 2x 2 + 2y 2 = 1 +  => =4.4=4
5
42. Ans: (c)
43. Ans: (a)
44. Ans: (a)

Solution:
The order of auxiliary polynomial is always even.
45. Ans: (d)

Solution:
The coefficients of characteristic equation must ne real whether positive or negative.
46. Ans: 4.5

Solution:
The given differential equation is,
d2 x dx
− (k + 2 ) + ( 2k + 5 ) x = 0
dt2 dt
Taking Laplace Transform,
s2 X ( s ) − s (k + 2 ) X ( s ) + ( 2k + 5 ) X ( s ) = 0
CE = s2 − (k + 2)s+ (2k + 5) = 0
For system stability, all coefficients of second order system must be positive.
Hence, (k + 2)  0 or k  −2
5
(2k + 5)  0 or k  −
2
−2  k  −2.5
Given, -x>k>-y
 x + y = 2 + 2.5 = 4.5
47. Ans: (c)

Solution:
1 1 1
T.F = = =
s − ( + j ) s − ( − j ) (s − ) − j  (s − ) + j ) (s − )2 + ()2 
       
For impulse response, taking its inverse Laplace transform we get,

Control Systems
c(t) = et sint

Hence option (c) is correct
48. Ans: (d)

Solution:
CE= s + ks3 + s2 + s + 1 = 0
4
Routh Hurwitz array
s4 1 1 1
s3 k 1
s2 k −1 1
k
s1 k − 1 − k2
k −1
s0 1
For stability all coefficients must be positive and hence k>0, k>1
k − 1 − k2 −1 + (1 − k ) k
And  0 = >0 but it is always negative for k>1
k −1 k −1
Hence, there is always a sign change and system is unstable.
49. Ans: (c)

Solution:
For low frequency e−s = 1 − s
CE= s3 + 8s2 + (9 − k)s+ k = 0
Routh Hurwitz array
s3 1 9-k
s2 8 K
s1 72 − 9k
8
s0 k
For system to be stable, 72-9k>0 or k<8, and k>0

Hence, 0<k<8
50. Ans: 2
Solution:
CE= s3 + s2 − s + 1 = 0
Routh Hurwitz array
s3 1 -1
s2 1 1
s1 -2 0
s0 1
Two sign changes in first column so 2 roots with positive real parts.

Control Systems
51. Ans: (d)

Solution:
Since, the roots are complex in right half plane the response will be exponentially growing oscillations.
52. Ans: 25
Solution:
Based on characteristic equation, k = −s ( s + 10 )
dk
Break away point, = − ( 2s + 10 ) = 0 => s=-5
ds
At s=-5 , k = (5)(5)=25
Root locus diagram is as follows
Up to K=25 roots are real and hence no oscillations

Control Systems
Chapter 4 - Root Locus Technique
Type-7 Root Locus

01. Which of the following statements are correct for 07. The open loop transfer function of a unity feedback
addition of zero to open loop transfer function near K(s + 2)(s + 4)
system is the angle of arrival of the root
imaginary axis? (s + 5)(s + 6)
(a) Root locus shift towards left
loci at s=-2 & s=-4 respectively are
(b) Stability increases
(a) 0,180 (b) 180,0
(c) System becomes less oscillatory
(c) 90 ,180 (d) 180 ,900
0 0 0
(d) all are correct
02. If open loop transfer function of a unity feedback 08. Consider the system shown in figure below
1
system is G(s) = . The intersection of root
s(s+ 3)(s+ 2)
locus with j axis are
(a)  j2.45 (b)  j1.095
(c)  j3.6 (d) No intersection
03. The characteristic equation is

(a) Root locus diagram of the system is symmetrical with
s3 + 14s2 + (45 + k)s+ k = 0 centroid is located at(-x, 0) respect to real axis
then the value of x is _________ (b) Root locus diagram is symmetrical with respect to s = -2
point
04. The main objective of drawing root locus plots is
(a) To obtain a clear picture about the open loop poles and (c) Break away points lie on the root loci diagram
zeros of the system (d) All the above
(b) To obtain a clear picture about the transient response of
feedback system for various values of the open loop gain K(s+ 8)
K. 09. Consider the OLTF G(s)H(s) =
s(s+ 2)
(c) To determine sufficient condition for the value of ‘K’ that
The value of ‘K’ on the root loci diagram at s = -10 is
will make the feedback system unstable.
___________.
(d) Both (B) and (C)
10. Consider the root loci diagram of system

05. The open loop transfer function of a unit feedback
system is K(s-1)(s-3).The asymptotes meet at a point in s-
plane is________
06. The root loci diagram of a unity feedback control

system is given below. The corresponding open loop
transfer function is
The value of K at s = -4 ________________
11. Break point on the Root loci diagram lies only

(a) On the negative real axis
(b) On the positive real axis
K(s − 0.4) K(s − 5) (c) On the real axis
(a) (b) (d) none of the above
s +5 s+4
K(s + 5) K(s − 4)
(c) (d)
(s − 2) (s + 5)

Control Systems
k K
12. OLTF of a unity feedback system is , the 18. For characteristic equation 1 +
(s + 2)10 s(s+ 4)(s + 4 s+ 20)
2
maximum value of k for the stability of the system is the root locus has ____Breakaway points.
______________.
19. The root locus diagram corresponding to the system
13. The open loop transfer function of a unity feedback k(s+ 1)
with the loop transfer function G(s)H(s) = is
K s2 (s+ 10)
system is G(s)H(s) = . The angle of
s(s+ 4)(s + 6s+ 10)
2
departure will be
(a) 26.56 (b) 116.56
(c) 11.7 (d) 296.56
14. Which of the following point is not located on the root (a)
locus of the system with open loop transfer function G(s)
K
H(s) =
s(s+ 2)(s+ 4)
(a) -6.35 (b) -1.5j
(c) -2.8j (d) -2
K(s2 + 4)
15. For open loop transfer function G(s)H(s) = .
s(s + 2)
The gain ‘K’ at break point will be
(a) 2.02 (b) 0.5
(b)
(c) 0.2 (d) 1.2
16. Open loop transfer function

K
G(s)H(s) = . Choose the correct
(s+ 1)(s+ 3)(s2 + 4 s+ 8)
option related to the two points S1 = −1 + 2 j , S2 = 2.345j
(a) S1 lies on root locus but not S2

(b) S2 lies on root locus but not S1
(c)
(c) Both S1 and S2 lie on root locus
(d) S 1 and S 2 do not lie on root locus
17. The angle of departure of complex conjugate poles in

the root locus diagram of a system with loop transfer
k(s+ 0.5)
function G(s)H(s) = are
(s2 + 2s+ 2)
(a) 206.560 , − 206.560
(b) 106.560 , − 106.560
(d)
(c) 450 , −450
(d) 1350 , −1350

Control Systems
20. The loop transfer function of a certain closed loop (a) 0, -2 (b) -1, -2
k(s+ 5) (c) -1, -1 (d) 0, -1
control system is given as G(s)H(s) = . The break
s(s+ 2)
24. The angle of departure of
away, break in points and nature of the system stability
K(s+ 1)
when k is varied from 0 to  is G(s)H(s) = at s=-1+i & s=-1-i
s(s+ 2)(s2 + 2s + 2)
(a) -8.87, -10, relatively stable
respectively is
(b) -1, -5, unstable
(a) 00 , 00 (b) − 900 , 900
(c) -1.13, -8.87, absolutely stable
(c) − 1800 , 1800 (d) 1800 , − 1800
(d) -1.13, -2.27, absolutely stable
25. The valid root locus of an open loop transfer function

21. The root locus diagram of a closed loop control system
K (s +  )
with variable gain k is as shown in the figure. One G(s) = , and     0 is
breakaway point in the root locus diagram (which is less s2 ( s +  )
than -2) is ____________.
(a)
(b)
22. The figure below shows the root locus of a unity

feedback control system. The open loop transfer function is
(c)
K Ks(s + 1)
(a) (b)
s(s + 1)(s + 2) (s + 2)
K(s + 2) K(s + 1)
(c) (d) (d)
s(s + 1) s(s + 2)
23. The transfer function of a unity feedback system is

k 26. The angle of arrival of a complex zero is
G(S) = , the centroid and breakaway point
s(s + 2) (a) A = 1800 +  (b) A = 900 + 
respectively are (c) A = 1800 −  (d) None

Control Systems
27. For the root locus, the phase angle criterion is 34. By adding an open loop pole to system, root locus
(a) Odd multiples of 180 0
shifts towards ______ axis and stability of system_________
(b) Even multiples of 180 0 (a) Imaginary, Decreases (b) Real, Decreases
(c) Odd multiples of 90 0 (c) Real, increases (d) imaginary, increases
(d) Even multiples of 900

35. For the given pole-zero plots, system shown is ______
28. The open loop transfer function of a unity feedback phase system
system is G(s) =
k , find centroid ()
s(s+ 1)(s+ 2)
(a)  = 0 (b)  = −3
(c)  = −2 (d)  = −1
29. The transfer function of a system is

1 + 0.3s
G(s)H(s) = , then it is
1 + 0.4s
(a) Non minimum (b) Minimum
(c) All pass (d) A and D
(a) Non minimum (b) Minimum
(c) All pass (d) A & C
30. The open-loop transfer function of a system is
K(4s + 1) 36. Consider the sketches shown below:
G(s) = . The number of breakaway points
s (s + 1)(s + 10)
2
that will exist are __________________
31. The pole zero plot of a system is shown below. The

value of the transfer function is 3.2 at s=1, the gain factor k
is_______________.
(1)
(2)
K(1 + s)
32. The open loop TF of a system is G(s) = .
s + 2s + 2
2
Find value of k at break in point?

(a) K=4 (b) K=4
(c) K=1 (d) K=2
33. The open loop TF of a system is G(s) = K(1 + s) . Find

s + 2s + 2
2
(3)
the angle of departure and stability.
(a) d = 1800 stable (b) d = 1800 unstable
(c) d = 900 stable (d) d = 2400 unstable

Control Systems
(a)
(4)
The valid root locus can be

(a) 1 and 3 (b) 3
(b)
(c) 2 and 4 (d) 3 and 4
k
37. G(s)H(s) = is the OLTF of a system
s(s+ 4)(s + 4 s+ 12)
2
then total number of complex break point is/are

(a) 1 (b) 3
(c) 4 (d) 2
38. Open loop transfer function is G(s) = k(s+ 2) , if root

s(s+ 1)
(c)
locus is a circle then the radius of that circle is ____________.
39. Open loop pole-zero plot is shown below, the OLTF

having k at break point is ______
(d)
42. Consider the system with G(s)H(s) =

k .
40. The characteristic equation of a closed loop system is s ( s + 1 )( s + 5 )
s(s+2)(s+3)+k=0. The asymptotes will cut x-axis at
Which values of s lies on the Root locus?
(a) -2.5 (b) -1.6
(a) 1 (b) 0-2
(c) -2 (d) None of these
(c) -0.8 (d)-3
41. The forward-path open-loop transfer function of a
unity feedback system is G(s) =

k(s2 + 1) the root locus of
s2
the system is

Control Systems
Solutions
01. Ans: (d)

Solution:
By addition f a zero, the root locus shifts towards the left and hence real part of root becomes more negative due to which
damping of system increases and system becomes less oscillatory. It will also increase the stability.
02. Ans: (d)

Solution:
CE = s(s+ 3)(s+ 2) + 1 = s3 + 5s2 + 6s + 1
Routh Hurwitz array
s3 1 6
s2 5 1
s1 29 0
5
s0 1 0
No row is zero, and hence there no roots on the imaginary axis.

Hence no intersection of root locus with jω axis
03. Ans: 6.5

Solution:
3 2 3 2
(
characteristic equation s + 14s + (45 + k)s+ k = s + 14s + 45s + k s + 1 = 0)
k(s + 1) k(s + 1)
TF = =
s(s + 14s + 45) s ( s + 5 )( s + 9 )
2
Centroid=
 ( 0 − 9 − 5) −  ( −1) = −6.5
2
Coordinates =(-6.5,0)
04. Ans: (d)

Solution:
When we draw Root Locus we vary the gain K to obtain the location of closed loop poles and basesd on location of poles
we can judge the system stability. Also, based on nature of roots the nature of response can be judge if it is underdamped,
overdamped or critically damped.
05. Ans: 2
Solution:
Zeroes = 1, 3 and there are no poles
−(1 + 3)
Centroid  = =2=2
0−2
06. Ans: (c)

Solution:
By magnitude condition, the value of gain at any point is the ratio of distance of such point from pole to the distance from
zero.
Since, the gain at origin is given to be 0.4

Control Systems
A
k s =0 = = 0.4
B
A
= 0.4
5
A = (0.4)(5) = 2
 pole is at s=2
K(s+ 5)
 G(s) =
s−2
07. Ans: (b)

Solution:
A = 1800 +  where  = (poles) − (zeroes)
The angle of s = -2, from all poles and zeroes is 0
At A
s=−2
= 1800 + 0 + 0 − 0 = 1800
The angle of s = -4 from poles is 0 and from s = -2 is 180
A s=−4 = 1800 + 0 + 0 − 1800 = 00
08. Ans: (d)

Solution:
Root locus diagram of the system is shown below,
1. Root Locus is always symmetrical about real axis.
−4 − 4
2.  = = −2
4
Hence, the four asymptotes will pass through s =-2 and as
shown the root locus is symmetrical about s=-2 axis.
3. Break-away points lie on real axis as shown on the root loci diagram.
09. Ans: 40
Solution:
 s(s + 2)  ( −10)( −8)
K = −  =− = 40
 (s + 8)  s=−10 ( −2)
K = 40
10. Ans: 8
Solution:
Since, there is one pole shown in the root locus diagram in right half plane.
K
G(s)H(s) =
(s − a)
K = s−a = 0 − a = −a = 4
s=0
a=4
By Magnitude Condition,
K = s−4 = −4 − 4 = −8 = 8
s = −4
K=8
11. Ans: (d)

Solution:
Break point can be real or complex.

Control Systems
12. Ans: 1690.0-1693.0

Solution:
Root locus diagram is shown below,
Number of Poles =10
Number of Zeroes = 0
180
Angle of Asymptotes = = 180
10 − 0
Intersection with Imaginary axis = 2tan18 = 0.6498
Pr oduct of Dis tance of Point from Poles
Gain K=
Pr oduct of Dis tance of Point from Zeroes
Since, there are no zeroes, K= Product of distances from poles
 2 
Distance =  0 
 cos18 
10
 2 
From the RLD, the value of ‘k’ at the point of intersection is j0.6498 =  0 
=1691.362
 cos18 
Similarily, the other asymptote that intersects the imaginary axis is oriented at an agle of 54 0, then distance of intersection
from s = -10 is,
 2 
Distance =  0 
 cos54 
But this distance is greater than previous value and hence the value of K will also be higher which means we have to take
minimum of two values so that both the branches of root loci will not go beyond imaginary axis.
 0<k<1691.362
13. Ans: (b)

Solution:
The plot of open loop poles is shown in the adjoining figure,
d = 1800 − 
The angle of the pole (-3+j) from other poles is,
From (-3 – j), 1 = 900
1
From origin, 2 = 1800 − tan−1   = 161.560
3
 
1
From(-4+j0), 3 = tan−1   = 450
1
 
 = 90 + 45 + 161.5650 = 296.560
0 0
d = 1800 − 296.5650 = −116.560

For, (-3-j) pole,  = −296.560
d = 1800 + 296.5650 = 360 + 116.560 = 116.560
14. Ans: (b)

Solution:
Approximated root locus for the given transfer function
Characteristic equation s3 + 6s2 + 8s + K = 0
Routh Hurwitz array

Control Systems
s3 1 8
s2 6 K
s1 48 − K 0
6
s0 K 0
For Intersection with imaginary axis s1 row should be zero i.e. K=48
Auxiliary equation 6s2 + 48 = 0 =>  = 8 j = 2.828 j
Hence -1.5j doesn’t lie on the root locus
15. Ans: (c)

Solution:
The characteristic equation s(s+ 2) + K(s2 + 4) = 0
−s(s + 2)
K=
(s2 + 4)
dK (s2 + 4)( −2s − 2) + (s2 + 2s)2s 2s2 − 8s − 8
The break point= = 0 => = =0
ds (s2 + 4)2 (s2 + 4)2
s = 4.82 and − 0.82
Since -0.82 lies between two successive open loop poles it is a valid break point,
G(s)H(s) s=−0.82 = 1
0.82  1.18
K= = 0.2
4.67
16. Ans: (b)

Solution:
For a point to lie on a root locus it must satisfy two condition
G(s)H(s) point = 1
G(s)H(s) point = (2n+ 1)1800
Magnitude criterion cannot be verified as we must know the value of K at the point. Hence we use the phase criterion.
Applying phase criterion for both S1 and S2 we get that S2 satisfies the criterion.
17. Ans: (a)

Solution:
k(s+ 0.5)
G(s)H(s) =
(s2 + 2s+ 2)
Angle of departure  = 180 − 
where  = poles - Zeroes
Poles of transfer function s=-1+j and s=-1-j

Control Systems
(
For s=-1+j,  = 1800 − poles - Zeroes ) s=−1+ j
  1 
 = 1800 −  900 − tan−1    = 180 − 90 + 180 − 63.434 = 206.566
0 0 0 0 0
  −0.5 
(
For s=-1-j,  = 180 − poles - Zeroes ) s=−1− j
  −1  
 = 180 −  −90 − tan−1    = 180 + 90 − 180 + 63.434 = 153.434 = −206.566
0 0 0 0 0 0
  −0.5  
18. Ans: 3
Solution:
K
Drawing root locus for 1 +
s(s+ 4)(s + 4 s+ 20)
2
poles  s=0, -4, -2-4j, -2+4j

dk
Breakaway points are roots of equation =0
ds
d 2
ds
( )(
s + 4s s2 + 4s + 20 = 0 )
( 2s + 4 ) ( s 2
) (
+ 4s + 20 + ( 2s + 4 ) s2 + 4s = 0 )
( 2s + 4 ) ( 2s 2
)
+ 8s + 20 = 0
s = −2, −2 + j2.449, −2 − j2.449
From the root locus plot we can see that all the above break points are valid.
So, it is clear that the root locus will have all three breaking points.
19. Ans: (b)

Solution:
−0 − 0 − 10 − ( −1) −9
Centroid ( A ) = = = −4.5
3 −1 2
Number of asymptote ( N A ):
NA = P − Z = 3 − 1 = 2
Angle of asymptotes (QA ) :
Characteristic Equation, 1 + G s H s = 0 () ()
G ( s ) H ( s ) = −1
s2 ( s + 10 )
k=−
s+1
Break Points,
dk
=−
( )
3s2 + 20s ( s + 1 ) − s3 + 10s2(=−
)
2s3 + 13s2 + 20s
=0
ds s +1 s +1

Control Systems
S = 0, -2.5, -4
Since, all three are lying on root locus all are valid and hence root locus is as in B.
20. Ans: (c)

Solution:
Number of asymptote NA = P − Z = 2 − 1 = 1
180
Angle of asymptote, A = 
1
( 2q + 1) = 180
(0 − 2) − ( −5)
Centroid  A = =3
2 −1
Break points
k=−
(s 2
+ 2s )
(s + 5)
dk (s+ 5)(2s+ 2) − (s2 + 2s)(1 + 0)
=0=−
ds (s+ 5)2
s2 + 10s + 10 = 0
s = −1.13, −8.87
Break away = −1.13 , Break in = −8.87
The root locus based on above information is shown,
Since the root locus does not enter RHP, there is no pole lie in the RHP, system is absolutely stable.
21. Ans: -3.3 to -3.6

Solution:
From the root locus diagram, we can observe that open loop poles lie at s = -2, -2, -4, 0
The loop transfer function is written as
k
G(s)H(s) =
s(s+ 2)2 (s+ 4)
Since G(s)H(s) = −1
−k = s(s+ 2)2 (s+ 4)
−k = s4 + 8s3 + 20s2 + 16s
dk
= 0 = 4s3 + 24s2 + 40s + 16
ds
s = −2, −3.414, −0.586
So the breakaway points are −3.414, −0.586
Hence -3.141 is less than -2.
22. Ans: (c)

Solution:
The root locus originates at s = 0 and s = -1, so these are poles of the system. The root locus terminates at s = -2 and
infinity so there is a zero at s = -2.
K(s + 2)
Transfer function =
s(s + 1)

Control Systems
23. Ans: (c)

Solution:
Centroid  =
 pole −  zeroes = 0 − 2 − 0 = −2 = −1
P−Z 2−0 2
Characteristic equation s + 2s + K = 0 => K = −(s2 + 2s)
2
For Breakaway point,
dk
= −(2s+ 2) = 0 = s = −1
ds
24. Ans: (a)
Solution:
k(s+ 1)
G(s)H(s) = poles at → 0, -2, −1  j
s(s+ 2)(s2 + 2s+ 4)
Angle of departure d = 180 −  where  = poles - Zeroes
For s = (−1 + j)
Angle from different poles and zeroes are,
From s = 0, 1 = 180 − tan
−1
(1 ) = 135 0
From s = -2, 2 = tan

−1
(1 ) = 45 0
From s = -1 – j, 3 = 90
0
From s = -1,  4 = 90
0
 = 1350 + 450 + 900 − 900 = 1800

d = 1800 − 1800 = 00
For s = (−1 − j)
( )
 = 1800 + 450 − 450 + 1800 + 900 − 1800 − 900 = 1800
d = 180 − 1800 = 00
0
25. Ans: (a)

Solution:
Characteristic equation s3 + s2 + ks + k = 0
Routh Hurwitz array
s3 1 K
s2  k
s1  k − k 0

s0 k
It is given that     0
 The 1st column of Routh array has no sign changes

 It is stable because pole in root-loci does not cross the j axis for all greater than 0.
Also, due to multiple poles at origin there will be a brealway point at origin and branches of root loci will depart from that
point at 90
0
Hence, A is the correct option

Control Systems
26. Ans: (a)

Solution:
A = 1800 + 
Note: It has been assumed that  = poles − zeroes
27. Ans: (a)

Solution:
A point is said to lie on root locus if the phase angle at that point is an odd multiple of 1800.
28. Ans: (d)

Solution:
Centroid =
 real part of poles −  real part of zeroes
=
0 −1 − 2
= −1
p−z 3
29. Ans: (b)

Solution:
If all poles and zeroes are on left side of s-plane, system is called minimum phase function.
In the given function, the pole lies at s = -2.5 and the zero lies at s = -3.33 and since both lie in left half plane the system is
minimum phase.
30. Ans: 1
Solution:
In the given transfer function there are multiple poles at origin and hence there is a breakway point at origin.
Also, since P – Z = 4 – 1 =3, three branches of root locus will terminate at infinity and root locus originates at pole and
terminates at zero. Based on this information, the root locus will look like as shown,
From the root locus diagram there is only one breakaway point
Also, we can understand that breakway point lies on real axis which lies on root locus between two successive poles and
the only section of real axis that lies between two poles is between two poles at origin and hence only one breakaway
point at origin.
31. Ans: 12
Solution:
Based on location of open loop poles and zeroes,
K(s + 3)
Transfer function= G(s) =
s(s + 2)(s + 4)
K(1 + 3)
G(s) s=1 = 3.2 = = k = 12
1(1 + 2)(1 + 4)
32. Ans: (d)

Solution:
K(s + 1) s2 + 2s + 2
G(s) = ;K = −
s2 + 2s + 2 s +1

Control Systems
dk
For break away (or) break in points  =0
ds
( s + 1)( 2s + 2) − (s 2
+ 2s + 2 1)
− = 0 = −s2 + 2s = 0 => s=0,-2
(s + 1)
2
s=-2 is break in point ,

s2 + 2s + 2 =2
K=
s +1 s=−2
33. Ans: (a)

Solution:
The given Transfer Function has poles at −1  j and zeroes at -1
Calculating Angle of Departure at (-1+j) point
The angle from s = -1 – j , 1 = 90
0
The angle from s = -1 , 2 = 90

0
d = 180 − poles + zeroes = 180 − 90 + 90 =1800

Hence, the branch originating from this pole goes left.
 Total system poles located at left of s-plane and the system is stable.
34. Ans: (a)

Solution:
By adding an open loop poles
1. Root Locus → Shift towards Imaginary axis
2. Stability: Decrease
3. Range of 'K' for Stability: Decrease
By adding an open loop Zeroes
1. Root Locus → Shift towards negative Real axis
2. Stability: increase
3. Range of 'K' for Stability: increase
35. Ans: (d)

Solution:
s −1
G(s)H(s) =
s +1
 it is non-minimum phase system. But it is also all pass because poles and zeroes are symmetrical about imaginary axis.
36. Ans: (b)

Solution:
In (1), a branch of root locus terminates on a pole due to which it is invalid.
In (2), the root locus is not symmetrical about real axis and hence it is not valid.
In (4), the poles on imaginary axis are not complex conjugate of each other and also zeroes are not complex conjugate of
each other and it is also not valid.
Hence, only (3) is a valid root locus.
37. Ans: (d)

Solution:
k
1 + G(s)H(s) = 0 = = −1
s + 8s + 28s2 + 48s
4 3
For break points

Control Systems
dk −d(s4 + 8s3 + 28s2 + 48s)

= =0
ds ds
s3 + 6s2 + 14s + 12 = 0
Break points are -2,-2+j1.414, -2-j1.414
So 2 complex break points
38. Ans: 1.3 to 1.5

Solution:
Root locus of this system is shown below
k(s+ 2)
1 + G(s)H(s) = 0 = 1 + =0
s(s+ 1)
s(s+ 1)
k=−
(s+ 2)
For break points
dk (s+ 2)(2s+ 1) − s ( s + 1 )
= = 0 => s2 + 4s + 2 = 0
ds (s+ 2)2
Break points are -0.5857, -3.4142

3.414 − 0.58
Radius of the circle= = = 1.417
2
k(s+ b)
Note: For transfer function of the form , radius of circle in root locus is given by, b2 − ab
s(s+ a)
39. Ans: 51.5 to 53.0

Solution:
k(s+ 2)(s+ 3)
OLFT=
[s− (j+ 1)][s− (1 − j)]
k(s+ 2)(s+ 3)
Characteristic equation, 1 + G(s)H(s) = 1 + =0
[s− (j+ 1)][s− (1 − j)]
s2 − 2s + 2
k=−
s2 + 5s + 6
For break points
dk
=−
( ) ( )
s2 + 5s + 6 ( 2s − 2 ) − s2 − 2s + 2 ( 2s + 5 )
=0
ds
( )
2
s2 + 5s + 6
7s2 + 8s − 22 = 0 => s = 1.29, −2.43

For point lie on the root locus,
Angle G(s) H(s) for any values of S = ± (2m + 1) 180 , m = 0, 1, 2
0
Valid break point=-2.43 (because s=1.29 does not lie on RL)

Also, we can think that a valid breakway point should lie between two successive open loop poles.
( −2.43)2 − 2( −2.43) + 2
k = − =>k = 52.080
( −2.43)2 + 5( −2.43) + 6

Control Systems
40. Ans: (b)

Solution:
k
G(s)H(s) =
s(s+ 2)(s+ 3)
Asymptotes cut x axis at centroid
(0 − 2 − 3) − 0
Centroid= = −1.6
3−0
41. Ans: (a)

Solution:
There are two poles at origin snad hence there will be a breakway point at origin and the branches will originate at 90
0
Both these branches will terminate at zeroes and hence A is correct.
42. Ans: (c)

Solution:
Any point lying on root locus should satisfy angle criterion
Angle G(s) H(s) for any values of s = ± (2m + 1) 180 , m = 0, 1, 2
0
= odd multiple of 180 = ± ( 180 , 540 , .......)

0 0 0
For s = 1, For s = -0.8

K K
G(s)H(s) = G(s)H(s) =
(1)(2)(6) ( −0.8)(0.2)(4.2)
G(s)H(s) = 00 G(s)H(s) = +1800
Hence, s=-0.8 lies on root locus

Control Systems
Chapter 5 - Frequency Domain Analysis
Type-8 Frequency Response

01. For the input to the system as 10sin t , the response 06. The frequency response of an underdamped second
obtained is 20cosωt . For input of 20cosωt the order system is shown below.
response would be
(a) -40sinωt (b) 20sinωt
(c) 40sinωt (d) -20sinωt
02. The phase contribution in radians of transfer function

Ke−sT would be
180
(a) T (b) T 

 The appropriate damping ratio ξ is ______.
(c) T  (d) 0
180
07. For a second order system which of the following
03. The magnitude and phase angle of the transfer statements are true
function of the RC network shown in the figure at 1. Resonant frequency is indicative of steady state error
 = 10rad / sec is 2. Resonant peak is indicative of relative stability
3. Resonant frequency is indicative of settling time
(a) 1&2 (b) 2 only
(c) 2&3 (d) 3 only
08. The bandwidth of a second order system having non-

zero magnitude at  = 0, n = 10rad / sec and  = 0.5
will be__________________
09. _____________ is the magnitude of response peak of a

(a) 0.84, −16.850 (b) 1, −16.850 second order control system having time constant of 1 sec
(c) 2, 300 (d) 3, −450 and characteristic equation s2 + ks + 4 = 0
10. For a unity feedback system the characteristic equation

04. Magnitude and phase of S is
is s2 + 20s + T2 = 0 and resonant frequency is 10rad/sec
1
(a)  2
, 450 (b)  , 900 then the bandwidth of the system is
(c)  , 45 0
(d)Can’t be determined (a) 20.40rad/sec (b) 0.732rad/sec
(c) 1.25rad/sec (d) 1.178rad/sec
05. For a control system shown below, the resonant peak is
______. 11. The relationship between Laplace Transform (L.T.) and
frequency response is
(a) L.T. and frequency response are unrelated
(b) Frequency response is a special case of L.T. that is
restricted to the imaginary axis of the s-plane
(c) Frequency response is the logarithm of L.T.
(d) Frequency response is the integral of L.T.

Control Systems
Solutions
01. Ans: (a)

Solution:
L[response]
T.F =
L[input] zero _ initial_ condition
For input 10sin t , response is 20cos t .

20s
L[20cos  t] s2 + 2 2s
So, the T.F= = =
L[10sin  t] 10 
s2 + 2
2s 2s s 40.s2
L[response] = T.F L[input] = = L[20 cos  t] = =  20  2 =
  s + 2 (s2 + 2 )
put,s = j ,
−40
L[response] =
s2 + 2
 −40 
response = L−1  2 2
= −40sin t
s +  
02. Ans: (a)

Solution:
TF = Ke−sT = Ke− jT
Phase angle = T radian
03. Ans: (a)

Solution:
By Potential Division,
Vo (s) R+ 1
= sC = 1 + sCR
Vi (s) R + R + 1 2 + sCR
sC
The magnitude of transfer function of the network is
( )
2
Vo (s) 1 + sRC 12 + 2 (RC)2 1 + 10  4  103  10  10−6 1.16
= = = = = 0.84
Vi (s) 1 + 2sRC 1.64
1 + 42 (RC)2
( )
2
1 + 4 10  4  103  10  10−6
RC= 4  10  10  10−6 = 40  10−3 = 0.04sec

3
Phase angle →  = + tan RC − tan−1 2RC = tan−1 10  0.04  − tan−1 2  10  0.04 
−1
 = −16.850
04. Ans: (a)

Solution:
To find magnitude nad phase we must convert transfer function from Laplace to Fourier Domain by replacing ‘s’ by ‘ j ’

Control Systems
1
  2 
s= j =    e 2  =   e 4
 
 
05. Ans: 1.15 to 1.25
Solution:
Forward Path Transfer Function is,
1
s (1 + 0.25s ) 1 4
G(s) = = = 2
1+ 1 0.25s + s + 1 s + 4s + 4
2
s (1 + 0.25s )
()
Feedback Transfer Function, H s = s + 21.8 + s + 18.2 = 2s + 40
4
C(s) G(s) s2 + 4s + 4 4 4
= = = 2 = 2
R(s) 1 + G ( s ) H ( s ) 1 + 4  ( 2s + 40 ) s + 4s + 4 + 160 + 8s s + 12s + 164
s2 + 4s + 4
n = 164 and 2n = 12
12
= = 0.468
2 164
1
Resonant peak Mr = = 1.209
2 1 − 2
06. Ans: 0.20 to 0.60
Solution:
Resonant peak = 1.35
1
Mr = = 1.35
2 1 − 2
42 (1 − 2 ) = 0.5486
4 − 2 + 0.137 = 0 => 2 = 0.836,0.163
 = 0.914,0.404
Damping Ratio must be less than 0.707 for resonant peak  = 0.404
07. Ans: (c)

Solution:
Higher resonant peak implies lower value of damping ratio and hence the poles are closer to imaginary axis so the system
is less stable.
Since, resonant frequency is a function of damping ratio, it is also indicative of settling time.
08. Ans: 12.5 to 12.9

Solution:
(1 − 2 )
2
BW = n 1 − 22 + 2
+ 1 = 10  1.27 = 12.7
09. Ans: 1 to 2
Solution:
1
Time constant = = 1  n = 1
n

Control Systems
CE= s + ks + 4 = 0
2

We get, n = 2 and 2n = k = k = 2
And  = 0.5
1
0    0.707 ,  Mr = = 1.155
2 1 − 2
10. Ans: (a)
Solution:
CE= s2 + 20s + T2 = 0
10
We get, n = T and 2n = 20 = n =

Resonant frequency r = n 1 − 22 for 0    0.707
10
Put n =

10 1
10 = 1 − 22 =>  =
 3
(1 − 2 )
2
B.W. = n 1 − 22 + 2
+1
2 2 4
 1   1   1 
B.W. = 10 3 1 − 2   + 2 − 4  + 4  = 20.40 rad / sec
 3  3  3
11. Ans: (b)

Solution:
Frequency Response is Fourier Transform of Impulse Response whereas Transfer Function is Laplace Transform of Impule
Response. So, Frequency Response can be obtained from Transfer Function by replacing s by j

Control Systems
Type-9 Polar Plot

01. The polar plot of a system is given below, the range of
‘K’ for stability of a system is
(c)
(a) 0<K<20 (b) K>20

1 1
(c) <K<20 (d) -20<K<
2 2
(d)
10e−0.2s
02. The OLTF of a unity feedback system is . At
s
 = 0 , the polar plot is asymptotic to the straight line ‘X’=
(a)-1 (b)-2
(c)-10 (d)-20
04. Determine which of the following system is most stable
whose polar are given below
03. Consider a control system having open loop transfer
1
function G(s)H(s) = If all the finite poles
s2 (s+ a)(s+ b)(s+ c)
has positive real part, then the polar plot of the system will
be
(a)
(a)
(b)
(b)

Control Systems
(c)
(3)
(d)
(4)
05. Match the following transfer function with the polar

plots shown.
10(1 + s)2
(P) (a) P-2,Q-3,R-1,S-4 (b) P-3,Q-1,R-4,S-2
s3 (c) P-2,Q-4,R-1,S-3 (d) P-3,Q-2,R-1,S-4
10
(Q)
s(s+ 1)(2s+ 1)(4 s+ 1) 06. The polar plot for a unity feedback system with loop
k (s+ 2)(s+ 3)
(R) transfer function is
s (s + 2s+ 2)
2 2 s2 (s+ 1)
1
(S) 2
20s + 2s
(a)
(1)
(b)
(2)

Control Systems
09. The correct shape of the polar plot for

1
G(s)H(s) = is
s(sT1 + 1)(sT2 + 1)
(c)
(a)
(d)
07. The polar plot of the system is shown below. Calculate

the order of the system.
(b)
(a) 0 (b) 1
(c) 2 (d) 3
(c)
08. Consider the gain-phase plot shown below. Find the
gain margin and phase margin.
(d)
(a) 4 dB, 400 (b) 4 dB, 1400

(c) 2 dB, 400 (d) 2 dB, 1400

Control Systems
Solutions
01. Ans: (c)
Solution:
The system would be stable if the point (-1+j0) is not enclosed by the plot. So, the critical point should lie to the left while
traversing the Nyquist plot.
Hence, either the critical point should lie to the right of -2k and to the left of -0.1k.
Hence,
0.1K<1 and 2K>1
1
K and K<10
2
1
 Range  K  10
2
02. Ans: (b)

Solution:
 e−0.2 j  10 10 jcos(0.2) sin(0.2)
G ( j) = 10   = cos(0.2) + j sin(0.2) = − − 10
 j   j   
At  = 0 , G ( j ) = −2 − j
 X = −2
03. Ans: (c)

Solution:
All finite poles has positive real part means
1
G(s)H(s) =
s2 (s+ a)(s+ b)(s+ c)
At  = 0  G(s)H(s) =  −1800
 =   G(s)H(s) = 0 (−1800 − 90 − 90 − 90) = 0 −450 = 0 −900
Hence, the polar plot must start from negative real axis and end at negative imaginary axis.
04. Ans: (a)

Solution:
Polar plot (a): Both Gain Margin and Phase Margin is positive, so system is stable.
Polar plot (b): Polar Plot passes through (-1+j0) point and hence system is marginally stable.
Polar plot (c) & (d): Phase margin of both the systems is negative and hence both systems are unstable.
Therefore it is evident that polar plot (a) has the maximum gain margin resulting in stability
05. Ans: (b)

Solution:
The angle of tail of polar plot is given by, 1 = −90  Type
0
The angle of head of polar plot is given by, 2 = −90  P − Z

0
( )
Based on this fact, the angles of head and tail for different transfer functions are,
(P) 1 = −270 , 2 = −90 so (3) is correct polar plot
0 0
(Q) 1 = −90 , 2 = −360 so (1) is correct polar plot

0 0
(R) 1 = −180 , 2 = −360 so (4) is correct polar plot

0 0
(S) 1 = −90 , 2 = −180 so (2) is correct polar plot

0 0

Control Systems
06. Ans: (b)

Solution:
G(j )H(j ) =
( j + 2)( j + 3)
( j ) ( j + 1 )
2
4 + 2 9 + 2  
G(j )H(j ) =  ( G(j )H(j ) ) = −1800 − tan−1  + tan−1 + tan−1
 1+
2 2 2 3
When  → 0, G(j )H(j ) =  and  ( G(j )H(j ) ) = −180 0

When  →  , G(j )H(j ) = 0 and  ( G(j )H(j ) ) = −900
Poles is near to the origin so when  → 0 the rotation should start in clockwise direction.
The angle change= −1800 − (−90) = +900 = −270
0
07. Ans: (c)

Solution:
The head of the polar plot lies at -1800 and hence the order of the system is 2.
08. Ans: (a)

Solution:
  = −4 dB
From given figure G(s)H(s) = −180 at pc = 100 and 20log  G(s)H(s)
0
pc 
 
 
1  = −20log  G(s)H(s)  = 4 dB
 GM = 20log   pc 
 G(s)H(s)  
 pc 
 
And G(s)H(s) = 1 at gc = 10 , G(s)H(s) = −140
0
(
 PM = 1800 + −1400 = 400 )
09. Ans: (c)
Solution:
Type-I, Order=3
Directly we can also write.

Control Systems
1
Otherwise, G(j )H(j ) =
j (j T1 + 1)(j T2 + 1)
As,  → 0, G(j0)H(j0) →
 ( G(j0)H(j0) ) → −900
As,  →  , G(j  )H(j  ) →0
 ( G(j  )H(j  ) ) → −2700

Control Systems
Type-10 Nyquist Plot and Stability Criterion

01. The Nyquist plot of a type 1 system which has one right 04. If a Nyquist plot cuts the negative real axis at a distance
half of s-plane pole, for  = 0+ to  = + is given below. of 0.6. Then the gain margin of the system is _______.
The corresponding closed loop system is
05. The pole zero and the Nyquist plot of the loop transfer
function G(s)H(s) of a feedback system is shown below:
(a) Stable
(b) Unstable with one right hand pole
(c) Unstable with two right hand poles
(d) Unstable with three right hand pole
02. The Nyquist plot of a certain G(s)H(s) which has no

right hand pole is given below. The corresponding closed
loop system is
For these systems

(a) Both open loop and closed loop systems are unstable.
(b) Open loop system is stable but closed loop system is
unstable.
(c) Both open loop and closed loop systems are stable.
(d) Open loop system is unstable but closed loop system is
(a) Always stable
stable.
(b) Always unstable with one RHP
(c) Unstable with two RHP as + 1
06. The Nyquist plot for G(s) = in unity feedback
(d) Unstable with three RHP s2
would be
03. The Nyquist plot of a system is shown in figure below.
The gain and phase margins of the system are
(a) (b)
(c) (d)
(a) 0 , 0 (b)  , 
(c)2 , 90 0
(d) 2 , 

Control Systems
07. The member of rotation (N) of Nyquist plot about (-1,

0) point is expressed as N = P-Z, where P and N
respectively are
(1) P-Number of poles in right hand side of the s-plane
corresponding to loop transfer function.
(2) Z-Number of zeros in right hand side of the s-plane
corresponding to loop transfer function.
(c)
(3) Z-Number of closed loop transfer function poles which
are in right hand side of the s-plane.
(4) P-Number of poles in right hand side of the s-plane
corresponding to closed loop transfer function.
(a) (1) and (2) are correct statements
(b) (2) and (4) are correct statements
(c) (1) and (3) are correct statements
(d) (1) and (4) are correct statements
08. A contour encircling poles and zeros in s-plane is

shown in figure. The corresponding contour in F(s) plane is (d)
09. The complete Nyquist plot for the loop transfer

k
function of = G(s)H(s) is as shown in the
s(s+ 2)(s+ 3)
figure.
(a)
The frequency at which the plot intersect with the negative

real axis and corresponding magnitude (at K=1) of the
transfer function are
(a)  6 rad/sec, 0.033 (b)  6 rad/sec, 0.3

(c)  2 rad/sec, 0.3 (d)  2 rad/sec, 0.033
(b) 10. The open loop transfer function of unity feedback

K
control system is G(s) = The nyquist plot of
s(s + s + 4)
2
the system is

Control Systems
(c)
(a)
(d)
(b)

Control Systems
Solutions
01. Ans: (a)

Solution:
Since, the system is Type-1, there will be one clockwise infinite semic circle in the Nyquist plot so based on given plot we
can draw Nyquist plot by taking polar plot, mirror image of polar plot about real axis and one infinite semi-circle.
The Nyquist plot is given below
From the plot N= 1 as critical point is encircled

once in anti-clockwise direction,
Given, P = 1
Z=P – N= 1 – 1 = 0
Z=0
Hence, no closed loop poles in RHP and system is stable
02. Ans: (b)

Solution:
Since, there is no open loop pole in the right half plane P = 0
From the Nyquist plot, there is one clockwise encirclement of -1+j0 point in clockwise direction and hence N = -1
N=P–Z
Z = P – N = 0 – (- 1) = 1
So, there is one closed loop pole in right half plane and hence the system is unstable.
03. Ans: (b)

Solution:
The maximum distance of any point from origin is along diameter which is 0.5 and hence at no point gain is 1 or there is
no gain crossover frequency.
Similarily, the polar plot never intersects negative real axis and so there is no phase crossover frequency.
pc and gc does not exist. Hence Gain and Phase margins are  ,  .System can never be unstable.
04. Ans: 1.50 to 1.75

Solution:
Gain  = 0.6
pc
1
or,GM = = 1.66
0.6
05. Ans: (b)
Solution:
Since, all the poles of the open loop system lie on the LHS of s-plane hence, the system is stable.
However, the number of CW encirclement to the critical point is two i.e. N=-2 and P=0
Z=P-N=2
i.e. two closed loop poles are located on the RHS of s-plane. Therefore, the closed loop system is unstable.
06. Ans: (a)

Solution:
as + 1 aj + 1
G(s) = 2 and G( j) = 2
s ( j )

Control Systems
G(j ) = −1800 + tan−1 (a)

Due to Type-2 System, there should be two clockwise infinite semi-circles which is satisfied only by option a.
07. Ans: (c)
08. Ans: (a)

Solution:
Since there are two poles and 1 zero inside the contour so P-Z = 1 which by nyquist criteria implies that there should be
one anticlockwise encirclement of origin.
09. Ans: (a)

Solution:
The intersection of polar plot with negative real axis if we equate the imaginary part of G(j )H(j ) to zero we get
G(j )H(j ) =
k
=
− jk ( 2 − j)(3 − j)
=
−5
−
jk 6 − 2 ( )
( )(
j ( 2 + j)(3 + j)  4 + 2 9 + 2 ) ( )(
4 + 2 9 + 2 ) (
 4 + 2 9 + 2 )( )
(−2 + 6) = 0 =>  =  6
Finding the magnitude of G(s)H(s) at this frequency.
k k
M= = = 0.033k
  +4  +9
2 2
6 6+4 6+9
When k=1; M=0.033
10. Ans: (b)

Solution:
K
G(s) =
s(s2 + s + 4)
Type of system is 1 & order=3; angle of head = 3  −90 = −270
0 0
Number of clock wise infinite radius semi-circle =type of the system=1
G(j ) =
k
=
k
=
( (
k −2 − j 4 − 3 ))
(
− j3 − 2 + 4 j −2 + j 4 − 3 2
) ( ) (
−2 + 4 − 3
2
)
To find intersection with negative real axis put Imaginary part=0 =>  = 2,
k
And G(j ) =  −k
−2 4

Control Systems
Type-11 Gain Margin and Phase Margin

n2 09. A unity feedback closed loop control system has
01. OLTF of an unity feedback system is . The K
s(s + 2n ) G(s)H(s) = . Its root locus technique will give
(s + 2)2
phase margin of the system is in between zero degree and
______________degrees. 1. Stable system for K > –4
2. GM = 1
02. The range of ‘K’ for the stability of system is 0 < K < 3. PM = 180°
200. For K = 20, the gain margin of the system is The correct statements are
_____________ (a) 2 and 3 (b) 1 and 3
(c) 1 and 2 (d) All
03. Consider the OLTF of a unity feedback system
K 10. A feedback system is described by
, if the root loci diagram of a system 10
s(s + 4)(s + b) G(s) = andH(s) = 1
interests the imaginary axis at s =  j10 , phase cross over
s(1 + 0.2s)(1 + 0.01s)
The phase cross over frequency and the corresponding
frequency of the system is ____________rad/sec
gain margin is
04. Consider the system shown in figure below (a) 500 rad/sec and 10.99 dB
(b) 22.36 rad/sec and –10.49 dB
(c) 22.36 rad/sec and 20.42 dB

(d) 500 rad/sec and –20.42 dB
11. Match the comments with following polar plots.

G( j) at  =3rad/sec is 0.1 − 1800 , the gain margin of (A) Good phase margin & gain margin
the system is ____________. (B) Good phase margin & poor gain margin
(C) Good gain margin & poor phase margin
05. The gain margin of the system is -26dB. The point of (D) Infinite gain margin
intersection of Nyquist plot with respect to negative real
axis is______________
1
(a) 20 (b)
20
(c) 0.5 (d) 0.2
06. The open loop transfer function of a unit feedback

1
system is G(s) H(s) = . The Gain margin of the
(1 + s)3
system is _____.
07. A unity feedback system having an open loop transfer

K
function G(s)H(s) = For K = 1, the gain
s(s + 4)(s + 5)
margin is 25 dB. For gain margin of 18 dB, the system gain
should change by a factor of _____.
08. A unity feedback system has an open loop transfer

K
function G(s) = The phase cross (a) A3,B1,C2,D4 (b) A2,B3,C1,D4
s(1 + 0.05s)(1 + 0.1s)
(c) A3,B4,C2,D1 (d) A2,C4,B2,D1
over frequency is ______ rad/sec

Control Systems
12. The open loop transfer function of a unity feedback 17. The open loop transfer function of unity feedback
K K
control system is given as G(s) = . If gain control system is G(s) = . If the above system
s(s + 4)(s + 9) s(s2 + s + 4)
margin of the system is 33.4dB the value of K is is conditionally stable, find the range of K for which the
_____________. system is stable.
(a) K>4 (b) K<-4
13. The gain margin of the system with (c) K<4 (d) K<2
100(s+ 5)
G(s)H(s) = is _______dB
s (s+ 10)(s+ 20)
2 18. The open loop transfer function of a unity feedback
10
system is G(s) = . The phase margin(PM) of the
14. The polar plot of a unity feedback system is shown s(s+ 4)
below. Calculate the phase margin and gain margin system is in the range of
respectively. (a) 0<PM< 900 (b) 0<PM< 1800
(c) 0<PM< 2250 (d) None of these
19. Open loop transfer function

a
,a  0,b  0 if phase margin is 70.71 ,
0
G(s)H(s) =
s(s+ b)
which one is correct
a +1 b+ 2 b
(a) = (b) a=
a −1 b− 2 4
a+ b b
(c) a= (d) a=
2 2 2
(a) 1500 & 4 (b) 1500 & 1 20. If G(j ) = 0.251800 , determine the gain margin
4
(a) 4 dB (b) 6.02 dB
(c) 300 & 4 (d) 300 & 1
4 (c) 12.04 dB (d) 24.08 dB
15. For stable closed loop system, Gain margin should be 21. The open loop transfer function of a unity feedback
__________ and phase margin should be________. 9
system is G(s) = . The gain margin of the system is
(a) Positive, Negative (b) Negative, Negative s(s+ 1)
(c) Negative, Positive (d) Positive, Positive (a) 0 (b) 1
(c) 9 (d) 
16. Consider a unity feedback system with open-loop
K
transfer function G(s) = . Find the
s(0.2s + 1)(0.05s + 1)
value of K such that gain margin=20 dB
(a) 1.5 (b) 3.5
(c) 4.5 (d) 2.5

Control Systems
Solutions
01. Ans: 90
Solution:
The given transfer function is,
n2
G(s) =
(
s s + 2n )
n2
G ( j ) =
(
j j + 2n )
  
G ( j) = −900 − tan−1  
 2n 
  
Phase Margin = 180 + G j = 90 − tan 
0
( ) 0 −1

 2n 
Hence, phase margin is always less than 90 degree.
Note: From the polar plot also it can be observed that since polar plot lies in third quadrant the phase margin is less than
90 degree.
02. Ans: 10
Solution:
Maximum value of k for stability 200
GM = = = 10
Given value of k 20
03. Ans: 10
Solution:
CE= s3 + s2 (4 + b) + 4bs + k =0
Routh Hurwitz array
s3 1 4b
s2 4+b k
2
16b + 4b − k
s1 0
4 +b
s0 k 0
16b + 4b2 − k
For intersection with imaginary axis
4 +b
( )
=0 => 4b 4 + b = k …..(1)
k
AE= s2 (4 + b) + k = 0 => s =  j =  j10 ……(2)
4 +b
From eq. (1) & (2)
4b ( 4 + b )
= 10 => b=25 and k=2900
4 +b
2900
G(s)H(s)=
s(s + 4)(s + 25)
For Phase cross over frequency Put  G s H s ( ( ) ( ) ) = −180

Control Systems
     
−90 + tan−1   + tan−1   = −180 = tan−1   = 90 − tan−1  
4  25   25  4
 4
= =  = 10
25 
04. Ans: 10
Solution:
Since, the phase at  = 3rad / sec is -1800, it represents phase cross over frequency and the gain at this frequency is
given as 0.1.
1
Gain Margin = = 10
0.1
05. Ans: (a)
Solution:
Assuming that the point of intersection lies at distance ‘a’ from origin
1
20log   = −26dB
a
Point of intersection=a=20
06. Ans: 8
Solution:
1
G( j)H( j) =
( j + 1)3
G( j)H( j) = −3tan−1 
For phase crossover frequency (  ) , G( j)H( j) = −180
pc
0
−1800 = −3tan−1 pc => pc = tan600 = 3

1 1
Gain = G( j)H( j) = = 3
=
 8
( 3)
pc
2 
 +1
 
 
1
GM = =8
Gain
07. Ans: 2.20 to 2.30

Solution:
For GM=25dB
1
GM= 20log = 25dB => X1 = 0.056
X1
for,GM = 18dB
1
18dB = 20log => X 2 = 0.125
X2
0.125
Therefore gain must increase by a factor = 2.23
0.056
08. Ans: 14 to 15
Solution:
For phase crossover frequency put G(j ) = −1800

Control Systems
 0.1 pc   0.05 pc 
−1800 = −900 − tan−1   − tan−1  
 1   1 
   
 (0.1 + 0.05) pc 
900 = tan−1  
 1 − (0.05  0.1)pc 
2
0.05 pc +0.1 pc 1
= => pc 2
= = 200
1 − (0.05  0.1)pc 2
0.005
 pc = 200 = 14.14rad / sec
09. Ans: (b)

Solution:
K
Let K=4 then, G(s)H(s) =
(s + 2)2
Characteristic equation 1 + G(s)H(s) = s2 + 4s + (4 + K) = 0
Routh Hurwitz array
s2 1 (4+K)
s1 4 0
s0 4+K
For stability K>-4

Now, calculating pc , −180 = 2tan pc => pc = 
0 −1
4
and G(j )H(j ) = =0
( (pc )2 + 22 )
Hence GM= 
4
And calculating gc , = 1 => gc = 0
( 2
gc
+4 )
gc gc
PM = 1800 − tan−1 − tan−1 = 1800
2 2
10. Ans: (c)

Solution:
10
G( j)H( j) =
j (1 + 0.2 j)(1 + 0.01 j)
Calculating pc Put −1800 =  ( G( j)H( j) )
 0.2pc + 0.01pc 
−1800 = −900 − tan−1 (0.2pc ) − tan−1 (0.01pc ) => 900 = tan−1  
 1 − (0.2  0.01)pc
2 
 
1 − (0.002pc
2
) = 0 => pc = 22.36rad / sec
 
 10 
GM = −20log   = 20.42dB
 22.36
 ( 1 + (0.2  pc )2 )( 1 + (0.01   ) )
pc
2



Control Systems
11. Ans: (c)

Solution:
The closer the point of intersection with unit circle is to negative real axis the lesser is the phase margin.
The closer is the point of intersection with negative real axis to -1+j0 point, the lesser is the gain margin.
Hence, 1 has infinite Gain Margin and less phase margin.
2 has good Gain Margin and poor Phase Margin
3 has good phase margin and good gain margin
4 has poor gain margin and good phase margin
12. Ans: 10
Solution:
To determine the gain margin we need to find phase crossover frequency pc
K
G ( j ) =
j ( 4 + j)( 9 + j)
 pc   pc   pc   pc 
−900 − tan−1   − tan−1   = −1800 => tan−1   + tan−1   = 900
 4   9   4   9 
       
pc pc
+
4 9 =  => pc = 6
pc pc
1− 
9 4
 
 K  = 33.4
Gain margin is given by − 20log
  2 + 16 2 + 81 
 pc pc pc 
We get K=10
13. Ans: 23.3 to 24.1

Solution:
100 (5 + j)
G ( j ) H ( j ) =
( j) (10 + j)( 20 + j)
2
( )
To find the phase cross-over frequency pc ,  G(s)H(s) = −180
  
−180 + tan−1 − tan−1 − tan−1 = −180
5 10 20
  
 −  
tan  5 10
−1
 = tan−1

2
  20
 1+ 
 50 
 5  
tan−1  2
= tan−1 =>  = 50
 50 +   20
100 25 + 2
G ( j ) H ( j  ) =
2 100 + 2 400 + 2

Control Systems
100 50 + 25 100 75
G(j )H(j )  50
= =
pc = 50 50 + 100 50 + 400 50 150  450
G(j )H(j )  50
= 0.0667
pc =
 1 
Gain margin = 20log   = 23.52dB
 0.0667 
14. Ans: (a)
Solution:
The polar plot intersects the negative real axis at a distance of 0.25.
1 1
Gain margin= = =4
G( j) 0.25
The polar plot intersects the unit circle at an angle of -300
Phase margin= 180 − 30 = 150
0 0 0
15. Ans: (d)

Solution:
For stable closed loop system, Gain Margin and Phase Margin should be positive but this is only valid for minimum phase
system.
16. Ans: (d)

Solution:
K
G ( j ) H ( j ) =
j (1 + 0.2 j)(1 + 0.05 j)
G ( j) H ( j) = −90 − tan−1 0.2 − tan−1 0.05
To find pc put G(s)H(s) = −1800 ( ) ( )
=> −90 − tan−1 0.2pc − tan−1 0.05pc = −1800
(0.2 ) + (0.05 ) = 
pc pc
= pc = 10 rad / sec
1 − ( 0.2 )( 0.05 )
pc pc
K
G ( j ) H ( j ) =
(
 1 + 0.04 2
) (1 + 0.0025 )
2
 
1
GM = 20log  
 G(s)H(s) 
 pc 
 
 
1
 20 = 20log   => G(s)H(s) = 0.1
 G(s)H(s)  pc
 pc 
 
K
0.1 = => k=2.5
10 ( 4 + 1 ) 0.25 + 1
17. Ans: (c)

Solution:
K
G(s) =
s(s2 + s + 4)

Control Systems
Type of system is 1 & order=3; angle of head = 3  −90 = −270

0 0
Number of clock wise infinite radius semi-circle =type of the system=1
G(j ) =
k
=
k
=
(
k −2 − j 4 − 3 ( ))
− j3 − 2 + 4 j −2 + j 4 − 3 ( 2
) ( ) (
−2 + 4 − 3
2
)
To find intersection with negative real axis put Imaginary part=0 =>  = 2,
k
And G(j ) =  −k
−2 4
From the Nyquist plot (-1+j0) encircles clock-wise direction two times
N=-2 (or) K>4 the system is unstable

N=P-Z => −2 = 0 − Z  Z = 2
k
If −  −1 then N=0 => Z=0
4
System is stable
K  4
18. Ans: (a)

Solution:
0<PM< 90
0
The polar plot of such a system is shown above and we can observe that it lies in third quadrant and hence the phase
margin is always less than 900.
19. Ans: (a)

Solution:
CE = s2 + sb + a = 0
Comparing with standard equation,
We get, n = a,2n = b
Phase margin  100 (Note: we can use it taking 5% tolerance)
b b
70.17 = 100  => 0.707 =
2 a 2 a
1 b b a +1 b+ 2
= => a =  =
2 2 a 2 a −1 b− 2

Control Systems
20. Ans: (c)

Solution:
Gain Margin is calculated at the phase crossover frequency i.e. when the phase becomes 1800.
1
G.M = =4
0.25
G.M dB = 20log 4 = 40log2 = 12.041 dB
21. Ans: (d)

Solution:
To find pc put G(s)H(s) = −1800 ( )
=> −900 − tan−1 pc = −1800
pc = 
1
Thus gain margin= =
G(s)
This means that the system is always stable.

Control Systems
Type-12 Bode Plot

01. Frequency ranges of bode magnitudes and phases are 05. The main objective of expressing the magnitude of a
decided by variable in decibels is
(a) The lowest and highest important frequencies of (a) For easier physical interpretation
dominant factors of the open loop transfer function (b) For easier interfacing with electrical system
(b)The lowest and highest important frequencies of all the (c) To put small values and larger values on the same scale
factors of the open loop transfer function for easier comparison
(c) Resonant frequencies of the second order factors (d) For easier measurement of the dynamic variable
(d)None of the above
06. The Bode magnitude plot of system is given below, the
02. The Bode plot of a system is given below the velocity acceleration error coefficient is
error coefficient of the system is
(a)10 (b)20
(a)2 (b)4
(c)40 (d)80
(c)8 (d)16
03. The Bode plot of a system is given below

07. The bode plot of system is given below. The TF of the
system is
The TF of the system is

10 10
(a) (b)
s+1 1−s
10 10
10 (a) (b)
(c) (d) 10(s + 1) (s + 2) (s − 2)
s −1
10 10
(c) (d)
04. The open loop transfer function of a system is (1 + 0.5s) (1 − 0.5s)
10(s − 1)5 e−3s
, the high frequency slop of the Bode 08. The bode plot of type 2 stable system is given below,
s(s + 2)(s − 4)
the value of the bode gain ‘K’ of the system is ______________
magnitude plot is____________decibels /decade.

Control Systems
(b)
09. The following information about stability can be

(c)
obtained from the bode plots
(a) The value of open loop gain at which the system will
become marginally stable.
(b) How far the system is from becoming marginally stable.
(c) Number of closed loop poles in the right plane for a
specific open loop gain. (d)
(d) Both (A) and (B).
10. The Bode Magnitude plot of certain controller is given

below. The controller is
12. In a Bode magnitude plot, which one of the following
slopes would be exhibited at high frequencies by a 4th
order all pole system?
(a) -80dB/decade (b) -40dB/decade
(c) +40dB/decade (d) +80dB/decade
13. For the asymptotic Bode magnitude plot shown below,

(a) Lead (b) Lag the system transfer function can be:
(c) PD (d) PID
 1 + 0.5s 
11. For open loop transfer function G(s) H(s) =  .
 0.25s 
The asymptotic Bode magnitude plot is
s 
2 + 1
 2  2 (s + 2)
(a) (a) (b)
s (s + 5)
2 2
s 
5s  + 1 
 5 
s 
2 + 1
2 ( 2s + 1 )  2 
(c) (d)
s (5s + 1 )
2 2
s 
s + 1
5 

Control Systems
14. Consider the Bode magnitude plot shown in the figure. 100 50
The transfer function H(s) is (a) (b)
s2 s2
1000 5
(c) (d)
s2 s2
18. The phase versus frequency plot for a certain minimum
phase transfer function is as shown in the figure. The
corresponding magnitude versus frequency graph is
(s + 10) 102 (s+ 1)

(a) (b)
(s+ 1)(s+ 100) (s+ 10)(s+ 100)
10(s+ 1) 103 (s+ 100)
(c) (d)
(s+ 10)(s+ 100) (s+ 1)(s+ 10)
15. For the given open loop transfer function

28(s + 10)
G(s)H(s) = . The slope of the line
s(s+ 2)2 (s2 + 2.4 s+ 16)
between frequency of 4 rad/sec and 10 rad/sec is
(a) –20 dB/decade (b) –40 dB/decade
(c) –80 dB/decade (d) –100 dB/decade
(a)
16. A unity feedback system has its transfer function as
C(s) K(s + 2)
= . The slope of bode plot of the
R(s) s3 + s2 + K(s + 2)
given system at lower frequency is_____ dB/octave
17. The transfer function corresponding to the bode plot

shown in the figure is
(b)

Control Systems
(c)
22. The loop transfer function corresponding to the bode

plot shown in figure is
(d) None
19. A bode plot which consists of dB magnitude versus

frequency and phase versus frequency for a minimum
phase system with unity feedback is shown in the figure.
The gain margin of the system is __________dB.
 s  s
s2  1 +  100 1000s2  1 + 
 2  5
(a) 3 2
(b) 3
 s  s   s  s 
1 +  1 +  1 +  1 + 
 5  10   2  100 
1600s2 ( s + 5 ) 16  103 s2 ( s + 5 )
(c) (d)
( s + 2 ) ( s + 10 ) ( s + 2) ( s + 10 )
3 2 3 2
23. The values of frequencies 1 , 2 and k value

20. If the phase versus frequency response of Bode plot is corresponding to the Bode plot shown in the figure are.
known for a system, then corresponding dB magnitude
versus frequency plot can be uniquely determined if
(a) The system is all pass.
(b) The system is minimum phase.
(c) The system may be minimum phase or non- minimum
phase.
(d) The system is Non-minimum phase.
21. Asymptotic approximation of Bode plot of open-loop

transfer function G(s) of a system is given in figure below.
K(s+ 2.5)(s+ 10)

If G(s) = then the value of k is? (a) 100, 3.16, 16 (b) 3.16, 14.7, 10
s(s+ 25) (c) 1, 3.16, 14.7 (d) 1000, 14.7, 3.16

Control Systems
30
24. Find out corner frequencies G(s)H(s) =
s ( s + 3)( s + 5 )
(a) 3, 5 (b) 3, 30
(c) 5, 30 (d) 0.2, 0.33
25. Find out the time constants of a bode plot shown

below.
28. Find out open-loop transfer function for below bode

plot.
(a) 1,2 (b) 1,0.5

(c) 0.1,1 (d) 2,5
26. Find the transfer function for the bode-plot shown

below
30 60
(a) (b)
(s+ 1)(s+ 2) (s+ 1)(s+ 2)
60 30
(c) (d)
s(s+ 1)(s+ 2) s(s+ 1)(s+ 2)
k
29. The bode plot of the transfer function is given
1 + sT
0.5
in the following figure. The error in gain at  = is
T
100(s+ 2) 4(s+ 5) _____________dB
(a) (b)
s(s+ 5)(s+ 10) s(s+ 2)(s+ 10)
4(s+ 2) 16(s+ 5)
(c) (d)
s(s+ 5)(s+ 10) s(s+ 2)(s+ 10)
27. Find the magnitudes of 1 and 2 for the given Bode

plot.
(a) 1 = 2rad / sec, 2 = 16rad / sec

(b) 1 = 4rad / sec, 2 = 16rad / sec
(c) 1 = 2rad / sec, 2 = 10rad / sec
(d) 1 = 4rad / sec, 2 = 10rad / sec

Control Systems
Solutions
01. Ans: (b)

Solution:
The Bode Plot is drawn on the basis of open loop transfer function. So depending upon the value of highest and lowest
corner frequency, the frequency range of Bode Plot is decided.
02. Ans: (b)

Solution:
Since the initial slope is -20dB/decade there is a pole at origin and the slope decreases at s = 2 and s =4, so there are
poles located at each of these points.
K
TF =
 s  s
s  1 +  1 + 
 2  4 
Between s = 0 and s= 2,
K
TF =
s
Magnitude = 20logk − 20log 
20logK − 20log  =2 = 20dB

K= 20
20
K V = lim s = 20
s→0  s  s
s  1 +  1 + 
 2  4
K V = K = 20
03. Ans: (c)

Solution:
TF slope phase
10
(A) -20dB/dec − tan−1 
s +1
10
(B) -20dB/dec −(− tan−1 )
1−s
10
(C) -20dB/dec −(180 − tan−1 )
s −1
(D) 10(s + 1) 20dB/dec tan−1 
From the phase plot, the phase varies from -1800 to -900 as frequency varies from 0 to 
Hence,  = −(180 − tan−1 )
10
From the above it is clear that is the TF
s −1
04. Ans: 40
Solution:
From, the given Transfer Function, P = 3, Z= 5

Control Systems
Slope = (P –Z)(-20dB/dec) = 40 dB/dec

Note: Transportation lag does not contribute any pole or zero in Frequency Response Analysis.
05. Ans: (c)

Solution:
By using decibels or log scale the smaller as well as larger values can be easily dealt with.
06. Ans: (d)

Solution:
Based on Bode Magnitude plot, the following inferences can be made about the Transfer Function
The initial slope is -40dB/dec and hence there are 2 poles at origin
Then the slope becomes -20dB/dec at s = 2 and hence there is a zero at s = 2
Then slope again becomes -40dB/dec at s=10 and hence there is a pole at s = 10
 s
k 1 + 
2
TF =  
2 s 
s 1 + 
 10 
The equation of line between s = 2 and s=10 is,
K
= 0dB at  = 4
s2
K
= 1 => K=16
2
 s
k 1 + 
2
K a = lims2   = k = 16
 s 
s2  1 + 
 10 
07. Ans: (c)

Solution:
From the Bode Magnitude Plot, it can be observed that there is a pole at s = 2 and hence the Transfer Function is,
K
TF=
(1 + 0.5s)
20logK = 20dB =2
Hence, K = 10
Since, the phase varies between 0 and -90 degree, the system is minimum phase and hence the answer woule be,
10
TF=
(1 + 0.5s)
08. Ans: (b)

Solution:
From the Bode Plot, the inferences that can be obtained are,
The initial slope of -40dB/dec indicates that there are 2 poles at origin.
Then slope becomes -20dB/dec at s = 4 and hence there is a zero at s = 4
The slope again becomes -40dB/dec at s = 20 and hence there is a pole at s = 20
Hence, the Transfer Function looks like,

Control Systems
 s
k 1 + 
4
TF =  
2 s 
s 1 + 
 20 
K
The equation of line between s = 0 and s=4 is,
s2
K
= 0dB at  = 16
s2
K
= 1 => K=256
2
09. Ans: (d)

Solution:
The number of poles in right half plane can be determined by use of Nyquist Plot and not from Bode Plot.
10. Ans: (d)

Solution:
The slope between s =1 and s=4 is,
−12 − 0
Slope = = −20dB / dec
4
log  
1
Based on Bode Plot, there is a pole at s = 1 and there is a zero at s = 4
 1 + 0.25s 
TF = k   , hence a lag controller
 1+s 
11. Ans: (b)

Solution:
2 (s + 2)
The transfer function can be G(s)H(s) =
s
There is a pole at origin and hence initial slope is -20dB/dec
Then there is a zero s = -2 and hence the slope becomes 0dB/dec
( )
For s  2 , 20log 2 = 6 dB ,
Hence option (b) is correct
12. Ans: (a)

Solution:
A 4th order all pole system means that the system must having no zero or, ‘s’ terms in numerator And s 4 terms in
denominator or 4-poles, i.e,
1
H(s) 
s4
one poles exhibits -20dB/decade slope, so 4-pole exhibits a slope of -80dB/decade.
13. Ans: (d)

Solution:
Due to initial slope of -6dB/octave there is a pole at origin.

Control Systems
At s=2, the slope becomes 0dB/octave, there is a zero at s = -2

At s=5 the slope becomes -12dB/octave, there are two poles at s = -5
s 
K  + 1
2
T(s) =  
2
s 
s + 1
5 
K
The equation of line when s < 2, T(s) =
s
Also, 26dB = 20logK − 20log  => K=2
=0.1
14. Ans: (b)

Solution:
The initial slope is 0dB/dec which indicates there is no pole at origin
Then slope becomes 20dB/dec which indicates that there is a zero at s =-1
Then slope becomes zero which indicates there is a pole at s = -10
Then slope becomes -20dB/dec which indicates that there is a pole at s =-100
K(s + 1)
H(s)=
 s  s 
 + 1  + 1
 10  100 
−1
For s  0 20log K=-20dB => K = 10 = 0.1
+
K(s + 1) 0.1(s+ 1)  10  100

H(s) = =
 s  s  (s+ 10)(s+ 100)
 + 1  + 1
 10  100 
100(s+ 1)
H(s) =
(s+ 10)(s+ 100)
15. Ans: (d)

Solution:
16. Ans: -12

Solution:
C(s) K(s + 2) G(s)
= 3 2 = Where G(s) = open loop transfer function
R(s) s + s +K(s + 2) 1+ G(s)

Control Systems
K(s + 2)
G(s) =
s2 (s + 1)
The open loop transfer function has 2 poles at origin (Type 2 system). Hence slope of the bode plot for lower frequency is
-40dB/decade or -12dB/octave.
17. Ans: (b)

Solution:
The slope of -40dB/dec indicates that there are two poles at origin
k
TF =
s2
M = 20logk − 40log 
At ω=7.07, M=0
 0 = 20logk − 40log7.07
k = 50
18. Ans: (a)

Solution:
The phase-frequency and magnitude frequency responses of a minimum phase system are uniquely related i.e. the
magnitude response can be found from the phase response and vice versa.
Each 90° phase shift leads to the dB magnitude response with a slope of +20 dB/dec and it represents a zero. And each -
90° phase shift leads to -20 dB/dec slope in magnitude response and it represents a pole.
19. Ans: 35
Solution:
The gain margin GM = −20log G(j )H(j )
=pc
 = pc ( )
when  G(s)H(s) = −180
0
We have from the figure,

20log G(j )H(j )  = −35dB
pc
GM = −20log G(j )H(j )  = 35dB

pc

Control Systems
20. Ans: (b)

Solution:
For a minimum phase system, there is a unique relationship between magnitude and phase response.
21. Ans: 0.60 to 0.70

Solution:
The initial slope of -20dB/dec indicates a pole at origin
The slope changes to 0dB/dec at s = -2.5, so there is a zero present.
The slope changes to 20dB/dec at s =-10, so there is a zero present.
The slope becomes 0dB/dec at s = -25, so there is a pole present.
K(s+ 2.5)(s+ 10)
Transfer Function, G(s) =
s(s+ 25)
At  = 2.5 , 20log10 G(s)H(s) = −12
25K K
The Transfer Function becomes, G(s) = =
s  25 s
G(s)H(s) = 10 −0.6 = 0.2512
K
= 0.2512
2.5
K = 0.628
22. Ans: (d)

Solution:
The initial slope of 40dB/dec indicates presence of 2 zeroes at origin.
Then slope becomes -20dB/dec which indicates that there are 3 poles at s = -2.
Then slope becomes 0dB/dec which indicates that there is a zero at s = -5
Then slope becomes -40dB/dec which indicates that there are 2 poles at s=-10
k  s2 ( s + 5 )
TF=
( s + 2) ( s + 10 )
3 2
For finding k value, for  = 0.1

k  s 2 (5 ) k  s2 k
TF = = =
( 2) (10 ) 160 16000
3 2
M = 20logk − 20log16000
0dB = 20logk − 20log16000
k = 16000
23. Ans: (b)

Solution:
The initial slope of -20dB/dec indicates the presence of a pole at origin.
Then slope becomes 0dB/dec at 1 , and so there is a zero present.
Then slope becomes -60dB/dec at 2 , so there are 3 poles present.
 s 
k 1 + 
1 
From the Bode plot we get the G(s)H(s) =  2
 s 
s 1 + 
 2 

Control Systems
M2 − M1 40 − 10
Slope=  −20 =
log 2 − log 1 log0.1 − log 1
1 = 3.16rad / sec
10 − 0
And = −60
log10 − log 2
2 = 14.7rad / sec
For   0
40 = 20logk − 20log 
40 = 20logk − 20log0.1  k = 10
24. Ans: (a)

Solution:
30
G(s)H(s) =
s(s + 3)(s + 5)
30
G(j )H(j ) =
(j )(j  + 3)(j  + 5)
30
G(j )H(j ) =
 j  j  
15(j )  + 1  + 1
 3  5 
 Corner frequencies are 3 and 5.
25. Ans: (b)

Solution:
Corner Frequencies are the frequencies where the slope of polar plot decreases.
1 1 1
Time constant= = = and = 1 and 0.5
Corner frequency 1 2
26. Ans: (a)
Solution:
The initial slope of Bode Plot is -20dB/dec indicates that there is a pole at origin.
Then the slope becomes 0dB/dec at 1 so there is a zero at s = −1
Then the slope becomes -20dB/dec at 2 so there is a pole at s = −2
Then the slope becomes -40dB/dec at 10 so there is a pole at s = −10
k(s+ 1 )
TF =
s(s+ 2 )(s+ 10)
6 − 32
From the figure = −20
log 1 − log0.1
  
26 = 20log  1  = (10)1.3 = 1 = 1 = 2rad / sec
 0.1  0.1
0−6  10  10
And = −20 = 6 = 20log    = 2  2 = 5rad / sec
log10 − log 2 
 2 2

Control Systems
k(s+ 2)
Transfer function becomes TF =
s(s+ 5)(s+ 10)
k(2) 2k
For  = 0.1 TF s =0.1 = =
0.1(5)(10) 5
( )
20log TF s =0.1 = 20logk − 20log2.5 = 32
2 = logk = k = 100
27. Ans: (a)

Solution:
From the Bode plot
0 − 24.1 24.1 8
Slope, −40 =
log8 − log 1
(
=> log 8 1 =
40
)
= 0.6 =
1
= 4  1  2rad / sec
−12.05 − 0 2 12.05 
Slope = −40 = = log = = 0.3 = 2 = 100.3 = 2  2 = 16rad / sec
log 2 − log8 8 40 8
28. Ans: (b)

Solution:
From the Bode Plot,
The initial slope of 0dB/dec indicates that there is no pole at origin.
Then the slope becomes -20dB/dec which means that there is a pole at s = -1
Then the slope becomes -40dB/dec which means that there is a pole at s = -2
k
Hence, TF =
(s+ 1)(s+ 2)
k
For   0, TF =
2
k   k  29.545 k 
20log10   = 29.545 dB => log10   = = 1.47725 =>  = 30
2
  2
  20 2
k = 60
60
 G(s)H(s) =
(s+ 1)(s+ 2)
29. Ans: 0.95 to 0.99

Solution:
0.5 k k
At  = , GH = =
T 1 + j0.5 1.25
20log GH = 20logk − 10log1.25 = 20logk − 0.97
0.5
From the given plot, at  = , GH = 20logk
T
Thus, error in gain=0.97 dB

Control Systems
Chapter 6 - State Variable Analysis
Type-13 Deriving State Model

01. Bode plot for a system is shown below 04. The state matrix for the transfer function
Y(s) 5s + 6
= is
X(s) (s+ 1) (s+ 2)(s+ 3)
2
 −1 0 0 0   −1 1 0 0 
   
0 −1 0 0  0 −1 0 0 
(a)  (b) 
 0 0 −2 0   0 0 −2 0 
   
 0 0 0 −3  0 0 0 −3
0 1 0 0 0 1 0 0
The steady state error for the given system if a unit step    
input is applied, will be? 0 0 1 0 0 0 1 0
(c)  (d) 
(a) 0 (b)  0 0 0 1 0 0 1 1
   
(c) any integer except zero (d) can't predict  −3 −2 −1 −1  −3 −2 −1 −1
02. State space representation of a system consists of 05. A control system is represented by differential equation
(a) only one model (b) only four models
d2 y dy
(c) only diagonal model (d) none +5 + 10y = u(t) where u(t) is the input signal. The
dt 2
dt
03. The signal flow graph of a system is shown below order of the state matrix and output matrices are
(a) 2  2 and 1  2 respectively
(b) 2  2 and 2  1 respectively
(c) 3  3 and 2  1 respectively
(d) 3  3 and 1  2 respectively
06. The state matrix of the system with the transfer

Y(s) 1
function = 3 is
U(s) s + 6s + 5s + 4
2
0 1 0 0 1 0
   
The state variable representation is (a)  0 0 1  (b)  0 0 1
 −5 −6 −4   −6 −4 −5 
0 1 0 5    
   
(a) X =  0 0 1  x +  3 u y=[1 0 0]x+10u 0 1 0  0 1 0
 −2    
 −8 −4  7
  (c)  0 0 1 (d)  0 0 1 
 −4 −5 −6   −5 4 6 
 −8 1 0   5    
   
(b) X =  −4 0 1  x +  3 u y=[1 0 0]x+7u
 −2 07. The following equation defines a separately exited DC
 0 0   10 
  motor in the form of a differential equation
 −8 0 1  5  d2 w B dw k 2 k
    + + w = . The state matrix of the DC
(c) X =  −4 1 0  x +  3  u y=[1 0 0]x+10u dt 2
J dt L j Lj
 −2 0 0  7 motor is
   
0 1 0 5   −B −k 2   −k 2 −B 
       
(d) X =  0 0 1  x +  3  u y=[1 0 0]x+7u (a)  J Lj  (b)  L j J 
 −8 −4 −2   10   1 0   0 1 
     

Control Systems
 0 1   1 0  10. In the following electrical circuit, consider the current

 2    source i(t) as input. Its transition matrix is
(c)  −k −B  (d)  −B −k 2 
 L J   J L j 
 j 
08. The signal graph is shown below.
 e−2t cost + e−2t sint 2e−2t sint 

(a)  
The state and output equation for this system is  −e sint
−2t
e cost − e sint 
−2t −2t

 x1   0 1  

 x1 0   x1   e2t cost + e2t sint 2e−2t sint 
(a) 
  =  −21    +   u, y = 5 4    (b)  
 x2   −5   x2  1   x2  
 e sint
−2t
−2t −2t
 4 
 x1   0 −1   x1  0 
   e−2t sint e−2t cost − e−2t sint 
x  (c)  
(b)   =
 x  5 21   +   u, y =  4 5  1   e cost + e sint
2t 2t
e−2t sint
  x  1 x   
 2   2    2
 4 
(d) None of these
0 1 
 x1    x1  1 x 
(c)   = 
 x   5 21   x  + 1 u, y = 5 4   x 
  1 11. Consider the network shown below
 2   2     2
 4 
(d) None
09. Consider the closed loop system shown below
The state space representation for this network is
 v   −0.25 1   v c  1  vc 
(a)  c  =   +  v s , iR 0.5 0   
The state model of the system is iL   −0.25 0  iL  0.25 iL 
 x1   1 0   x1  0   x1   v   −0.5 1   v c  0  vc 
(a) 
  =     +   u, y = 1 0    (b)  c  =   +  v s , iR 0.5 0   
 x2   − −   x2  1   x2  iL   −0.25 0  iL  0.25 iL 
 x1   0 1   x1  0   x1   v c  1 0.25  v c  0.25 vc 
(b)   =     +   u, y = 1 0    (c)   =   +  v s , iR 0.5 0   
 iL  0 0.5  iL  0  iL 
 x2       x2  1   x2 
 v c   −1 0.25  v c  0.25 vc 
 x1   0 1   x1  0   x1  (d)  =   +   v s , iR 0.5 0   
(c) 
  =     +   u, y = 1 0    iL  0 − 0.5  iL  0  iL 
 x2   − −   x2  1   x2 
(d) None of these

Control Systems
Solutions
01. Ans: (a)

k ( s + a)
Solution: Based on Bode Plot, TF =
s (s + b)
it is type-I system
kp = ,ess = 0
02. Ans: (d)

Solution: For a unique transfer function, there can be multiple state models based on the choice of state variables.
03. Ans: (b)

Solution: The state variables are defined based on integrators in the signal flow graph.
x3 = 10u − 2 ( x1 + 7u) = −2x1 − 4u
x 2 = 3u + x3 − 4 ( x1 + 7u) = −4x1 + x3 − 25u
x1 = 5u + x 2 − 8 ( x1 + 7u) = −8x1 + x 2 − 51 u
y = 7u + x1
 −8 1 0   −51
   
X =  −4 0 1  X +  −25  u and y = (1 0 0 ) X + 7u
 −2 0 0   −4 
   
04. Ans: (b)
Solution: There are two poles at s = -1, one pole each at s = -2 and s = -3
Jordan canonical form of representation is,
 −1 1 0 0 
 
 0 −1 0 0 
 0 0 −2 0 
 
 0 0 0 −3
05. Ans: (a)

Solution: Order, n=2
Number of input, m=1
Number of output, p=1
The state model is written as
Xn1 = A nn X n1 + Dnm Um1
Y  = Cpn X n1 + Dpm Um1

 P1
Then A matrix is of the order 2 x 2 and the matrix C is of the order 1 x 2

Control Systems
06. Ans: (c)

Solution: Controllable canonical Form of representation is,
0 1 0
 
0 0 1 
 −4 −5 −6 
 
07. Ans: (c)

Solution:
w = x1 , w = x1 = x2
Using the differential equation,
B −k 2 k
w = x1 = x 2 = − x 2 − x +
J Lj 1 Lj
 0 1  0 
 w   x1   2   x1   
  =   =  −k −B    +  k 
 w   x2   L x
J   2   L j 
 j
It can directly be written using CCF.
08. Ans: (a)

Solution:
21
x 2 = −5x1 − x +u
4 2
x1 = x2 ; y = 5x1 + 4x2
 x1   0 1  

 x1 0 
  =  −21    +   u
 x2   −5   x2  1 
 4 
x 
y = 5 4   1 
 x2 
09. Ans: (c)

Solution:
x2 = −x1 − x2 + u
x1 = x2 ; y = x1
 x1   0 1   x1   0 
  =     +   u
 x 2   − −   x 2  1 
x 
y = 1 0   1 
 x2 
10. Ans: (a)

Solution:
The circuit equation can be expressed as
1 diL (t) 1  dv c (t)
= i(t) − iL (t) + v c (t) and = i(t) − iL (t) − 3v c (t)
2 dt 2 dt
The state is defined as iL (t) = x1 (t), v c (t) = x2 (t)

Control Systems
The circuit equation in terms of defined state can be written as

x1 (t) = − x1 (t) + 2x2 (t) + i(t) & x2 (t) = − x1 (t) − 3x2 (t) + i(t)
State variable model is,
 x1 (t)   −1 2   x1 (t)   1 
  =     +   i(t) ( )
 x2 (t)   −1 −3   x2 (t)   1 
The state transition matrix can be determined from the relationship
−1  −1 2
(t) = L−1 sI − A  and A =  
 −1 −3 
 (s+ 2) + 1 2 
   
−1  1   s + 3 2   −1 (s+ 2) + 1
2
(s+ 2)2 + 1 
L−1 sI − A  = L−1  2     = L 
 s + 4s + 5   −1 s + 1   −1 (s+ 2) − 1 
 
  
 (s + 2)2
+1 (s+ 2)2 + 1 
 e−2t cost + e−2t sint 2e−2t sint 
(t) =  
 −e sint
−2t
−2t −2t

11. Ans: (b)

Solution:
dv c di
= ic , 4 L = VL
dt dt
Vc and IL are state variable;
vc
IL = IC + IR => IC = IL − IR = IL −
2
dv c V
And VL = VS − Vc = IL − C = −0.5Vc + IL
dt 2
diL
= 0.25(Vs − Vc ) = −0.25Vc + 0.25Vs
dt
 v c   −0.5 1   v c  0 
 =   +   vs
iL   −0.25 0  iL  0.25
Vc
iR = = 0.5Vc
2
v 
iR = 0.5 0   c 
iL 

Control Systems
Type-14 State Model Analysis

01. State space representation of a system is given below. 06. For state transition coefficient matrix
The output of the system to a unit step input at t →  is  s+6 1 
________________.  2 
(s) =  s + 6s + 5 s + 6s + 5  . The state matrix ‘A’ can
2
0 1 0   −5 s 
X=  X(t) +   U(t) and Y(t) = [ 2 0 ]U(t)  2 
 −4 −5  8  s + 6s + 5 s2 + 6s + 5 
be
e −2t
0   6 −5   0 −1 
02. The state transition matrix (t) =   then, (a)   (b)  
 0 e−3t  1 0  5 6 
2 (t) is 0 1   6 −5 
(c)   (d)  
 e−4t 0   e− t 0   −5 −6   −1 0 
(a)   (b)  
 0 e−6t   0 e −1.5t
  
07. The state equation of an LTI system is given by
 e− t 0   e−6t 0   0 1  0 1
(c)   (d)   X=
 0 e−2t   0 e−4t  x +   u . The eigen values are
   −2 −3   1 0 
(a)-1 and -2 (b) 0 and -3
03. The state space representation of a system is given as (b)1 and -3 (d) 1 and -2
.
0 1 0
X(t) =   x(t) +   u(t) and y(t) = [5 6]x(t) . The 08. The state model of a system is given as
 −3 −4  2
0 1 1 
Y(s) X=  x +   u , Y= [1 -1]x. The above system is
TF of the system is
U(s)  −2 −2  2
2(5s + 6) 2(6s + 5) (a) A non minimum phase system
(a) (b) (b) A minimum phase system
s2 + 4s + 3 s2 − 4s − 3
(c) An all pass system.
2(5s + 6) 2(6s + 5) (d) None of the above
(c) 2 (d) 2
s − 4s − 3 s + 4s + 3
09. Which of the following statements are true regarding
04. The state transition matrix of a system, whose state state transition matrix ((t))
 e−3t e−2t − e−3t  S1 : (0) = I
equation X(t) = Ax(t) , is   , then the
 0 e−2t 
 S2 : (t1 + t2 ) = (t1 ).(t2 )
matrix A is
 −3 1   −3 0  S3 : −1(t) = ( − t)
(a)   (b)  
 0 −2   1 −2  (a) only S1
 −3 −2   −2 0 (b) only S2
(c)   (d)  
 0 −1  1 −3  (c) S1 and S 2 are correct
(d) all of them are correct
05. State space representation of a system is
 0 −4  2 10. The value of zero state response at t=0, for the control
X(t) =   x(t) +   u(t) , Y(t) = 0 3 x(t) , then the
 1 −5  1  system described by following state model is ___________.
transfer function of the system is  X1   −10 0   x1   1 
  =     +   U
(2s + 1)3 (s + 2)3  X 2   0 −5   x 2   0 
(a) (b)
s2 + 4s + 5 s2 + 4s + 5 x 
3(s + 2) 2(s + 3) and Y = 1 0   1  + [0]U
(c) (d)  x2 
s2 + 5s + 4 s2 + 5s + 4

Control Systems
11. A compensator has the following state model 17. A linear system is described by the following state
equations .  0 1
 X1   0 1   x1   0  equation X(t) = AX(t) + BU(t), where A =   the
  =     +   U  −1 0 
 X 2   −6 −5   x 2   1  transition matrix of the system is?
.
x   cos t sint   − cos t sint 
and Y =  −2 0   1  + [1]U (a)   (b)  
 x2   − sint cos t   − sint − cos t 
Determine the transfer function of the compensator  cos t sint 
(c)   (d) None of the above
 sint cos t 
s2 + 5s + 8 s2 + 5s + 4
(a) (b)
s2 + 5s + 6 s2 + 5s + 6 1 0 
18. Given x(t) =   x(t) . State transition matrix of the
s2 + 5s + 6 s + 5s + 6
2
1 1 
(c) 2 (d) 2
s + 5s + 4 s + 5s + 8 system is
 et 0  te−t 0 
12. If X = AX + BU and Y = CX + DU , then transfer (a)   (b)  
 tet et   e− t te−t 
function G(S) =________________  
−1
(a) C sI − A  B + D
−1
(b) C sI − A  D + B  et + e− t 0
(c)   (d) None
 e− t et 
(c) B sI − A 
−1
C +D
−1
(d) B sI − A  D + C

1 0  1 
19. Given x(t) =   x(t); x(0) =   Response of the
13. State transition matrix (t) is __________.
1 1  3
(a) L−1 (s I − A)−1  (b) eAt system is
(c) a and b (d) none of these  e− t   e− t 
(a)   (b)  
 t  
 te   te + 3e 
t t
14. If (t) is state transition matrix, then value of (0)

 e+ t 
=_____________. (c)   (d) None
 t 
 te + 3e 
t
(a) I (b) O
(c) 2I (d) can’t say 20. The state equation of an LTI system represented by
0 1 0 1
X= X +   U . The eigen values are
15. If state equations are  −2 −1  1 0
X1 = X1 + 2X2 + 3U, X2 = 3X1 + X2 + U and Y = X2 , then (a) +1, -1 (b) -1, +1
find matrix C. (c) 0,-1 (d) -0.5  j1.323
(a) 1 0 (b)  0 1 21. The state variable description of a linear system is
0 2
1  0  X = AX , where ‘X’ is a state vector and A =   , the
(c)   (d)   2 0
0  1  poles of the system is located at
(a) -2 & +2 (b) -j2 & +j2
d2 y 8dy (c) -2 & -2 (d) +2 & +2
16. Consider the following equation + + 7y = U .
dt2 dt
Find state matrix A 22. Separation property of state-transition matrix is
(a) (t− t0 ) = (t).(t0 )
 −1 0  0 1
(a)   (b)   (b) (t− t0 ) = −1 (t).(t0 )
 0 −7   −8 −7 
0 1 0 1 (c) (t − t0 ) = (t).−1 (t0 )
(c)   (d)  
7 8 8 7 (d) (t− t0 ) = −1 (t).−1 (t0 )

Control Systems
1 0 26. The state space representation of a system is given by

23. The state matrix is A =   . The state transition T
0 1  −1 0  1  1 
x=  x(t) +   u(t) and y(t) =   x(t) , the
matrix eAt will be given by  0 −2  0 1 
transfer function of the system is
 0 e− t   et 0
(a)  − t  (b)   1 s
e 0  0 et  (a) (b)
  s + 3s + 2
2
s + 3s + 2
2
 e− t 0  0 et  1 1
(c)   (d)   (c) (d)
 0 e−t   et 0  s+2 s +1
 
dx1 (t) dx2 (t)  (1 + t)e− t te−t 

24. = x1 − 3x2 , = 8x1 − k1 x1 − k 2 x 2 . 27. (t) =   where (t) is state
dt dt  −te
−t
(1 − t)e−t 
Determine the value of k1 , k 2 if n = 2rad / sec and transition matrix then time constant of the system is
____________ sec. If tolerance band is 5%.
 = 0.707
19 19
(a) k 1 = ,k = 3 (b) k1 = 3,k 2 =
3 2 3
19 19
(c) k1 = ,k = 3 (d) k1 = 6,k 2 =
6 2 3
25. Consider the closed loop system shown below
Calculate zero input response when  = 0 ,  = 2 and the

1 
input is unit step signal with x(0) =  
1 
1
(a) y(t) = cos 2t + sin 2t
2
1
(b) y(t) = cos 2t + sin 2t
2
(c) y(t) = − 2 cos 2t + cos 2t
(d) y(t) = − 2 sin 2t + cos 2t

Control Systems
Solutions
01. Ans: 3.5-4.5
Solution:
s −1 
( sI − A ) =  4 
s + 5

1 s + 5 1
( sI − A )
−1
=  
s + 5s + 4  −4 s 
2
2 0   s + 5 1  0  16
TF = C ( sI − A ) B = 2
−1
   = 2
s + 5s + 4  −4 s  8  s + 5s + 4
Otherwise, TF the SSR is in Controllabe Canonical Form,

8(2) C(s) 1
TF = = , R(s) =
s2 + 5s + 4 R(s) s
82
c() = Lt s  TF  R(s) = =4
s→0 4
c() = 4
02. Ans: (a)

Solution:
(t) = eAt = 2 (t) = eA2t i.e. replace ‘t’ by 2t
e −4t
0 
2 (t) =  
 0 e−6t 
03. Ans: (d)

Solution:
The SSR is in CCF
2(6s + 5)
TF =
s2 + 4s + 3
It can also be computed in a conventional way as,
s + 4 1 
−1  
−1 s −1  0   −3 s  0 
TF = C sI − A  B = 5 6      = 5 6 
 s s+ 4 +3  
3 s + 4  2  ( ) 2 
2(6s + 5)
TF=
s2 + 4s + 3
04. Ans: (a)

Solution:
deAt
=A
dt t=0
d  e−3t e−2t − e−3t   −3e−3t −2e−2t + 3e−3t 

 = 
dt  0 e−2t   0 −2e−2t t=0
deAt  −3 1
=A= 
dt t =0 0 −2 

Control Systems
05. Ans: (a)

Solution: State space representation of a system is in observable canonical from
3(s + 2)
 TF = (or)
s2 + 5s + 4
s + 5 −4 
−1  
−1 s 4  2   1 s 2 
TF = C SI − A  B = 0 3     = 0 3  
 −1 s + 5 1  s (s + 5) + 4 1 
3(s + 2)
TF=
s2 + 5s + 4
06. Ans: (c)

Solution:
The state transition matrix
(s) = (sI − A)−1 or (sI − A) = [(s)]−1
 s 0  s −1   s 0   s −1 
 − [A] = [(s)] =   => [A] = 
−1
 − 
0 s  5 s + 6   0 s  5 s + 6 
0 1 
[A]=  
 −5 −6 
07. Ans: (a)

Solution:
0 1
A= 
 −2 −3 
 s 0   0 1   s −1 
(
Given sI − A =  ) − = 
0 s   −2 −3 2 s + 3
sI − A = s(s + 3) + 2 = 0 = s2 + 3s + 2 = 0 => s = −1and− 2
08. Ans: (a)

Solution:
-1
The transfer function T(s) = C sI - A  B+D
 s+2 1  1
(sI - A)-1 =   ×
 -2 s  s2 +2s+2
 s+2 1 
 2 
T(s) = 1 -1  s +2s+2 s2 +2s+2   1  =  s+4 1−s  1 
T(s) =
s + 2 − 2s + 4
=
6−s
     

−2 s 2
 
 2
 s +2s+2 s2 +2s+2   2  s2 +2s+2 s2 +2s+2
 2
s2 +2s+2 

 s +2s+2
A zero exists on RHS of s-plane the system is non-minimum phase system.
09. Ans: (d)

Solution:
All three statements on state transition matrix are true

Control Systems
10. Ans: 0
Solution:
Zero state response= L {(s)BU(s)}
−1
 1  (s + 5) 0 
(S) = {(sI− A)−1 } =   
 (s + 5)(s + 10) (s + 10)  
  0
Zero State Response = L-1 {(sI-A)-1BU}

 1  
 0   1   1   1 
 0.1 − 0.1e−10t 
 (s + 10)       = L−1  s(s + 10)  = 
Zero state response= L−1  
1   0   s    0
 0 0   
 (s + 5)    
 
T
 0.1 − 0.1e−10t   1 
y(t) =     = 0.1 − 0.1e
−10t
 0   0 
y(0) = 0
11. Ans: (b)

Solution:
Transfer function= C(s I − A)−1 B  + D
1  (s + 5) 1 
(sI − A)−1 =  
s + 5s + 6  −6
2
s
  (s + 5) 1   0   1 s2 + 5s + 4
TF = [ −2 0]     + 1 =
  −6 s  1   s2 + 5s + 6 s2 + 5s + 6
12. Ans: (a)
13. Ans: (c)
14. Ans: (a)

Solution:
(t) = eAt , put t=0, (0) = e0 =I
15. Ans: (b)

Solution:
X = AX + BU, Y = CX + DU
1 2  3
A =   ,B =   ,C = 0 1 
3 1 1 
16. Ans: (a)

Solution:
Taking Laplace Transform on both sides,
(s 2
)
+ 8s + 7 Y ( s ) = U ( s )
It is equivalent to

Control Systems
Y(s) 1 1 1
= = −
U(s) (s+ 1)(s+ 7) 6(s+ 1) 6(s+ 7)
State model from simulation diagram is
 −1 0  1 
X(t) =   x(t) +   u(t)
 0 −7  1 
1 1
y(t) =  −  x(t)
6 6
17. Ans: (a)

Solution:
(t) = L−1 ( sI − A )
−1
 s 1 
 s 1 
−1 −1 s   2 
 =  s +1 s +1
2
(sI − A ) = 2
s + 1  −1 s 
 2 
 s +1 s +1
2
 cost sint 
(t) =  
 − sint cost 
18. Ans: (a)

Solution:
(
State transition matrix= (t) = L  sI − A ) 
−1 −1
 
s −1 0  1 s −1 0 
( sI − A ) =    ( sI − A ) =
−1
2  
 −1 s − 1 (s− 1)  1 s − 1
 et 0
(t) =  t 
 te et 
19. Ans: (c)

Solution:
( )
State transition matrix= (t) = L  sI − A 
−1 −1


Control Systems
s −1 0  1 s −1 0 
( sI − A ) =    ( sI − A ) =
−1
2  
 −1 s − 1 (s− 1)  1 s − 1
 et 0
(t) =  t 
 te et 
 et 0  1   et 
x(t) = (t)x(0) =  t 
   =  t 
t
 te
t
e   3   te + 3e 
20. Ans: (d)

Solution:
Eigen values are given by sI − A = 0
 s −1 
  = 0 = s(s + 1) + 2 = 0
2 s + 1
s2 + s + 2 = 0
−1  1 − 8
Eigen values= = -0.5  j1.323
2
21. Ans: (a)

Solution:
s −2
CE = sI − A = 0, = 0,
−2 s
s2 − 4 = 0, s = 2
22. Ans: (c)
23. Ans: (b)

Solution:
 1 
 s − 1 0   0 
−1 1 s −1
sI − A  =  = 
  2 
0 s 1  1 
(s − 1)  −  
 0 
 s −1 
−1  et 0 
eAt = L−1 sI − A    t

0 e 
24. Ans: (a)

Solution:
x1 (t) = x1 − 3x2
x2 (t) = 8x1 − k1x1 − k 2x2
 x1   1 −3   x1 
  =     + 0  u
 x 2   8 − k1 −k 2   x2   

Control Systems
 1 −3 
A= 
 8 − k1 −k 2 
s −1 3
CE = 0  sI − A = =0
k1 − 8 s + k 2
s2 + (k2 − 1)s − k2 − 3k1 + 24 = 0

1
Given data  = ; n2 = 2
2
1 19
2  2 = k 2 − 1 = k 2 = 3 and 24 − 3k1 − k 2 = 2 = k1 =
2 3
25. Ans: (a)

Solution
x2 = −x1 − x2 + 1
x1 = x2 ; y = x1
 x1   0 1   x1  0 
  =     +   u
 x2   − −   x2  1 
x 
y = 1 0   1 
 x2 
1   0 1   0 1  1  s 1
Given x(0) =   ,  = 0;  = 2 => A =   (t) = L (sI− A) =  2
−1 −1
  
1   − −   −2 0   s + 2   −2 s 
 s 1 
 2 
= L−1  s + 2 s + 2 
 2

 −2 s 
 2 
 s + 2 s2 + 2  
 cos 2t 1 sin 2t 
(t) =  2 
 
 − 2 sin 2t cos 2t 
Zero input response

 sin 2t 
 cos 2t  1
y(t) = C  (t)  x(0) = 1 0   2  
  1
 − 2 sin 2t cos 2t 
1
y(t) = cos 2t + sin 2t
2
26. Ans: (d)

Solution:
 −1 0  1 
A=  , B =   ,C = 1 1 
 0 −2  0 

Control Systems
−1
−1 s + 1 0  1   1  s + 2 0  1  1
T(s) = C sI − A  B = 1 1     =   1 1     =
 0 s + 2   0   ( s + 1 )( s + 2 )   0 s + 10 s + 1
27. Ans: 1
Solution:
 (1 + t)e−t te−t 
(t) =  
 −te
−t
(1 − t)e−t 
(t) = eAt ,A = (0) ,
 −e−t + e−t − te−t e−t − te−t 
' (t) =  −t 
 −e−t + te−t −e + te − e 
−t −t
 −1 + 1 − 0 1−0   0 1 
A = ' (0) =  = 
 −1 + 0 −1 + 0 − 1   −1 −2 
s −1
=0 => s + 2s + 1 = 0
2
CE = sI − A = 0 =>
1 s+2
We get, 2n = 2
1
Time constant= = 1 sec
n

Control Systems
Type-15 Controllability and Observability

 −1 1 2  06. The state space description of a system is given as
   X1   −2 0  0  x1 
01. The system matrix of a system is A =  0 −2 k  .
 =  x +   u Y = 1 0    .
 0 1 −3 
   X 2   0 −4  1   x 2 
The maximum value of k that ensures stability of the The above system is
system is ___________. (a) controllable and observable
(a) 0 (b) 6
(b) controllable but not observable
(c) 12 (d) None
(c) observable but not controllable
1 0 0 (d) Neither controllable nor observable
 
02. If state matrix A =  0 2 0  then the closed loop
0 0 3 07. A system model is described by equation
 
 X1   −1 0   x1   2   x1 
poles of a system having matrix A−1 is   =     +   U , Y=[2 1]   .
1  X 2   0 −2   x2   1   x2 
(a) 1,2,3 (b) 1,2, The system is
3
1 1 (a) Observable but not controllable
(c) 1, , (d) 1.4.9
2 3 (b) controllable but not observable
(c) both observable and controllable
(d) not observable and controllable
.
 −2 1  0 0
X=  X(t) +   U(t)
 0 −2  1 0 08. Consider the system with
 0 0  0 −2  1 
And Y(t) =   x(t) . The system is A=  ;B =   ;C = 0 1  . Then the system is
 −3 0   1 −3  1 
(a) Controllable and observable (a) Controllable and observable
(b) Controllable and not observable (b) Controllable but unobservable
(c) Not controllable but observable
(d) Neither controllable not observable (c) Uncontrollable and unobservable
(d) observable but uncontrollable
 −3 1 0  0 09. The signal flow graph is shown below
.
   
X(t) =  0 −3 0  x(t) +  1  u(t) , Y(t) = 2 0 0] the
 0 0 −4  1 
   
system is
(a) Controllable and observable
(b) Controllable but not observable
(c) Observable but not controllable
(d) neither controllable nor observable
05. A system with given state model is

0 1  0 The system is
X=  x +   u and y = 6 1  x (a) Observable and controllable
 6 −5  1 
(a) Stable, controllable and observable (b) Controllable only
(b) Stable and observable (c) Observable only
(c) Unstable but controllable
(d) None of these
(d) Unstable but controllable as well as observable

Control Systems
10. Consider the signal flow graph of a plant shown above

in figure, the value of a1 to make system uncontrollable is
(a) a1 =2 (b) a1 =1
(c) a1 =-1 (d) a1 =0

Control Systems
Solutions
01. Ans: (d)

Solution:
 (s + 1) −1 −2 
 
Characteristic Equation= sI − A =  0 (s + 2) −K  = 0
 0 −1 (s + 3) 

s3 + 6s2 + (11 − k ) s + ( 6 − K ) = 0
Routh Hurwitz array
s3 1 11-K
s 2 6 6-K
s 1 66 − 6k − 6 + K 60 − 5K 0
=
6 6
s0 6-K 0
For stability 60 − 5K  0 = k  12 and 6 − K  0 = K  6

Therefore, there is no value of k for which the system is stable.
02. Ans: (c)

Solution:
Eigen Values of a Diagonal Matrix are its diagonal elements.
Eigen values of A=1,2,3 → closed loop poles
1 1 1
Eigen values of A−1 = , , → closed loop poles
1 2 3
03. Ans: (a)
Solution:
The matrix A is in Jordan Canonical Form, in which there is only one eigen value i.e.  = −2
For the system to be controllable, the row corresponding to last row of Jordan Block should be non-zero as can be
observed the second row of B is non-zero and hence the system is controllable.
For the system to be observable, the column corresponding to first row of Jordan Block i.e. the first column of C is non-
zero and hence the system is observable.
By applying Gilbert’s test, the system is Controllable and observable
04. Ans: (b)

Solution:
State space representation is in Jordan canonical form, and there are two eigen values  = −3, − 4
By Gilbert’s test, the second and third row of B must be non-zero for system to be controllable and as given both rows are
non-zero and hence the system is controllable.
For the syetm to be observable, the first and third column of C must be non-zero but third column of C is zero and hence
the system is not observable.
05. Ans: (c)

Solution:
s −1
Characteristic equation  sI - A = 0 => =0
−6 s + 5

Control Systems
s(s+5)-6=0 or s = 1 and -6
 One pole is located at RHS, hence, unstable

Check for controllability
0 1 
QC = B : AB =  
 1 −5 
QC  0
 Controllable
Check for observability
C   6 1 
Q0 =   =  
CA   6 1 
Q0 = 0
 un-observable
06. Ans: (d)

Solution:
Check for controllability-
0 0 
QC = B : AB  =   and Q C = 0
 1 −4 
 System is uncontrollable.
Check for observability-
C   1 0
Q0 =   =   and Q o = 0
CA   −2 0 
 System is unobservable.
07. Ans: (c)

Solution:
Test for controllability
 2 −2 
Qc = [B AB]=  
 1 −2 
Q c  0 , System is controllable
Test for observability
C   2 1 
Q0 =   =  
CA   −2 −2 
Q o  0, System is observable
08. Ans: (d)

Solution:

Control Systems
 1 −2 
Q c = [B AB]=  
 1 −2 
Q c = 0 , System is uncontrollable
C   0 1 
Q0 =   =  
CA   1 −3 
Q o  0, System is observable
09. Ans: (b)

Solution:
21
x2 = −5x1 − x +1
4 2
x1 = x2 ; y = 5x1 + 4x2
 x1   0 1  

 x1 0 
  =  −21    +   u
 x 2   −5   x 2  1 
 4 
x 
y = 5 4   1 
 x2 
0 1 
Q c = [B AB]=  
 1 − 21 
 4 
Q c  0 , System is controllable

C   5 4 
Q0 =   =  
CA   −20 −16 
Q o = 0, System is not observable
10. Ans: (b)

Solution:
x1 = −5x1 + x2 + a1u and x2 = −x1 − 3x2 + u
 x1   −5 1   x1  a1 
 =    +  u
 x2   −1 − 3  x2  1 
for uncontrollable system,
Qc = 0
 a −5a1 + 1 
Qc = [B AB]=  1 
 1 −a1 − 3 
a1 −5a1 + 1
 = 0 => − a12 − 3a1 + 5a1 − 1 = 0 => a1 = 1
1 −a1 − 3

Control Systems
Chapter 7 - Controllability and Observability
Type-16 Compensators
1+s 08. A lead compensating network is being used in a
01. The transfer function of a lead controller is .
1 + 0.01s system. Which of the following statements are true?
The maximum phase lead occurs at __________ rad/sec 1. Improves response time
2. Destabilizes the system having less phase margin
1 + 20s 3. Increases resonant frequency
02. The transfer function of a lead controller is .
1 + 4s (a) 1,3 (b) 1 only
The highest frequency magnitude of the lead controller in (c) 1,2,3 (d) 1,2
decibels is_____________.
09. For the compensator having the following transfer
s+4 1 + 5s . The frequency at which maximum
03. The TF of a compensator is .The maximum function TF =
s + 16 1+ s
phase lead frequency and the corresponding phase is phase lead occurs is __________.
(a) 6 rad/sec, 36.87 (b) 8 rad/sec, −36.87
0 0
10. The lead and lag compensator respectively are

(c) 6 rad/sec, −36.87 0
(d) 8 rad/sec, 36.870
(a) High pass and low pass filters
(b) Low pass and high pass filters
s+a
04. G(s) = is a lead controller to obtain maximum (c) Band pass and band stop filters
s+b
(d) All pass and notch filters
phase lead of 300 . The values of ‘a’ and ‘b’ respectively
are
11. Lead-lag and lag-lead compensators respectively are
(a) a= 2, b=6 (b) a= 1, b=3
(c) a= 0.1, b=0.3 (d)All the above (a) Low pass and high pass filters
(b) Notch and all pass filters
05. The offset in proportional controller can be removed by (c) Band stop and band pass filters
(a) Derivative controller (d) Band pass and band stop filters
(b) Proportional controller
(c) Integral controller 12. The transfer function corresponding to the lead
compensator is
(d) None of these
(0.2s+ 1) 0.2(s+ 1)
(a) (b)
06. Consider the open loop transfer function of unity (s + 1) (0.2s + 1)
21s + 97 (s− 1) (s+ 5)
feedback system as G(s) = . The maximum phase
(s+ 33) (c) (d)
(s + 1) (s + 2s + 2)
2
angle provided by this system is
(a) 80.74° lead (b) 48.97° lead 13. The frequency at which a lead compensator will have
(c) 48.97° lag (d) 80.74° lag maximum phase lead is_________rad/sec
Given the time constant=0.2 sec and the lead constant=0.5
07. A compensating network has its transfer function
5(1 + 0.25s) 1 + 2s
G(s) = . The maximum phase occurs at a
1 + 0.01s 14. Given a lead compensators as T(s) = . The
1 + 2s
frequency of
angular frequency at which maximum phase lead of 300
(a) 200 rad/sec (b) 50 rad/sec
occurs is __________
(c) 25 rad/sec (d) 20 rad/sec

Control Systems
15. The transfer function of a lag-lead compensator is  R1 

 R1 
sin−1 
shown below GC (s) =
(1 + sT1 ) 
(1 + T2s ) . Then
(a) sin−1 
 2R 
 2
(b) 
 R1 + 2R 2 
(1 + T s ) (1 + T s )
1 2
 R1   R1 
(a)  >1 and 0    1 (b)  >1 and 0    1 (c) sin−1   (d) sin−1  
 R1 + 3R 2   2R 2C1 
(c)  >1 and 0    1 (d)  <1 and  >1
21. A lag network mainly consists of
16. The phase angle verses frequency plot is shown below. (a) R only (b) R & C elements
The network is a (c) R and L elements (d) R,L & C elements
22. Which of the following is correct expression for the

transfer function of a RC phase lag network?
RCs RC
(a) (b)
1 + RCs 1 + RCs2
1
(c) (d) None
(a) PID Controller (b) Lag-Lead network 1 + RCs
(c) PD Controller (d) PI Controller
23. The transfer function of a phase lead network can be
written as
1 + 0.1s 1 + sT (1 + sT)
17. The transfer function of a network is G(s) = ,
(a) ;  1 (b) ; 1
1 + 0.5s 1 + sT 1 + sT
it represents a
(1 + sT) 1 + sT
(a) Lead network (b) Lag network (c) ;  1 (d) ; 1
(c) Lag-Lead network (d) Proportional controller 1 + sT + T (1 + sT)
24. The transfer function of two compensators is given

18. The maximum phase shift provided by a lead
below:
1 + 6s 10(s+ 1) s+ 10
compensator with transfer function G(s) = is C1 = ; C2 = Which of the following
1 + 2s s + 10 10(s + 1)
___________ degrees statement is correct?
19. A phase lead compensator is given with transfer

(a) C1 is lead and C2 is lag compensator
10(1 + 0.04s) (b) C1 is lag and C2 is lead compensator

function GC (s) = . The frequency
(1 + 0.01s) (c) Both C1 and C2 is lead compensators
corresponding to maximum phase angle is ______(rad/sec)
(d) Both C1 and C2 is lag compensators
20. For the given network, the maximum phase leads m is

25. Which compensator decreases the bandwidth of the
system?
(a) Lead (b) Lag
(c) Lead-Lag (d) None
8(1 + 0.5s)
26. The compensator GC (s) = . The maximum
1 + 0.3s
phase shift m is
(a) 18 27 0 '
(b) 140 48'
(c) 450 (d) None

Control Systems
8(1 + 0.5s) s+2

27. The compensator GC (s) = . Maximum 29. The compensator GC (s) = would provide
1 + 0.3s s +1
maximum phase shift of _________degree.
frequency max at which m occurs is
(a) 1.826 rad/sec (b) 3.2 rad/sec
(c) 4 rad/sec (d) 2.582 rad/sec
28. If the compensator is having transfer function, same as

k
root sensitivity of a system having OLTF G(s)H(s) =
s(s+ 4)
then the compensator is
(a) Lag compensator (b) Lead compensator
(c) Lead-Lag compensator (d) None of these

Control Systems
Solutions
01. Ans: 10
Solution:
Comparing with
1 + as 1+ s
=
1 + s 1 + 0.01s
We get  = 0.01 and a=1 =>a=100
1 1
m = = = 10
 a 0.01 100
m = 10 rad / sec
02. Ans: 13-15

Solution:
1 + 20s 1 + 20 j 1 + 4002 20
As  → , = = = =5
1 + 4s 1 + 4 j 1 + 162 4
20log5 = 14dB
03. Ans: (d)

Solution:
 1 + 0.25s 
Given, TF=4 .
 1 + 0.0625s 
1 + as
Comparing with
1 + s
We get = 0.0625 and a=0.25 =>a=4
1 1
m = = =8
 a 0.0625 4
m = 8
 s+4  −1 m 
 =   = tan − tan−1 m
 s + 16  4 16
m = 36.870
04. Ans: (d)

Solution:
s
1+
s+a b a
G(s)= = 
s+b a s
1+
b
 1 + as 
Comparing with k  
 1 + s 

Control Systems
1 1 b
We get  = and a= =>a=
b a a
a −1
 b−a 1
Maximum phase lead = sin−1 = 300 => = => b=3a
a + 1 b+a 2
All the option are satisfy this equation.
05. Ans: (c)

Solution:
The offset i.e, steady-state error can be removed by using integral controller or by increasing the system gain
06. Ans: (b)

Solution:
 21s 
1+
97  97 

G(s) = 
33  s 
 1+ 
 33 
Comparing with standard transfer function= k  1 + as 

 
 1 + s 
1 21 21  33
We get, = and a = =>a= = 7.1443
33 97 97
a  1 i.e. Lead Compensator
 a −1 −1  7.1443 − 1 
Maximum phase lead angle  = sin−1   = sin   = 48.97
0
a+1  7.1443 + 1 
07. Ans: (d)

Solution:
5(1 + 0.25s)
G(s) =
1 + 0.01s
Comparing with standard transfer function k  1 + as 

 1 + s 
We get, τ=0.01 and a = 0.25 => a=25
1 1
m = = = 20
 a 0.01 25
m = 20 rad/sec
08. Ans: (a)

Solution:
A lead compensator provides positive phase shift so it increases the phase margin and improves stability.
09. Ans: 0.42 to 0.47

Solution:
 1 + as 
Comparing with standard transfer function k  
 1 + s 

Control Systems
We get,  = 1 and a=5 => a=5

a>1 i.e. Lead compensator
1 1
Frequency at maximum phase lead m = = = 0.447rad / sec
 a 5
10. Ans: (a)
11. Ans: (d)
12. Ans: (b)

Solution:
The pole zero plot of lead compensator is
Hence, the magnitude of zero should be less than pole which is the case for option (B).
13. Ans: 7.0 to 7.2

Solution:
1 1
Frequency, m = = = 7.07rad / sec
  0.2 0.5
14. Ans: .85 to 0.90

Solution:
Comparing with standard transfer function k  1 + as 

 
 1 + s 
1
We get,  = 2 and a=2 => a=

1 
 a − 1   − 1
Maximum phase lead angle sin  =    = 0.5 =  = 0.333
 = 
 a + 1  1 + 1
 
 
1 0.33
m = = = 0.8616 rad/sec
 a 2  0.33
15. Ans: (a)

Solution:
For lag-lead compensator, the two poles must lie in between the two zeroes and hence
1 1 1 1
  
T1 T1 T2 T2
Hence,   1, 0    1

Control Systems
16. Ans: (b)

Solution:
The plot suggests that the phase shift is negative at low frequencies or phase lag is generated.
Phase shift is positive or phase lead at high frequencies. Hence, it is a lag-lead compensator.
17. Ans: (b)

Solution:
Comparing with standard transfer function k  1 + as 
 
 1 + s 
We get,  = 0.5 and a=0.1 => a=0.2
a<1 i.e. Lag compensator
18. Ans: 30
Solution:
 1 + s 
We get,  = 2 and a=6 => a=3
a >1 i.e. Lead compensator
Maximum phase lead angle sin  =  a − 1  =  3 − 1  = 0.5 =  = 300
   
a+1 3+1
19. Ans: 50
Solution:
 
 1 + s 
We get,  = 0.01 and a=0.04 => a=4
1 1 1 1
n = = = = = 50 rad/sec
 a 0.01 4 0.01  2 0.02
20. Ans: (b)

Solution:
V0 (s) R2 R 2 (1 + sR1C1 )
= =
Vin (s) 1 (R1 + R 2 ) + sR1R 2C1
R1
sc1
R2 +
1
R1 +
sc1
 1   
 s +   
V0 (s)
=  R1C1   R + R2  
=  1
R C
1 1 (
s + )
1 
  
Vin (s) 1  R  s  R 
s+ 2
 2
 R C + 1 
 R2    R1 + R 2  1 1 
  R1C1    
 R1 + R 2 
 
 1 + s 

Control Systems
We get,  =  R2   R + R2 
  R1C1 and a=R1C1 => a=  1 
R
 1 + R 2   R2 
  R1 + R 2  
  − 1
−1  a − 1 
m = sin  −1  
R2   = sin−1  R1 
 = sin    
 a + 1   R + R   R1 + 2R 2 
  1 2
 + 1 
  R2  
21. Ans: (b)

Solution:
The standard electrical Network for lag compensator is it has only R, C elements
22. Ans: (c)

Solution:
The standard electrical Network for lag compensator is
1
TF= Vo (s) Cs 1
= =
Vi (s) 1 1 + RCs
R+
Cs
23. Ans: (d)

Solution:
In a lead network, the zero must lead the pole or magnitude of zero must be less than the pole.
24. Ans: (a)

Solution:
(1 + s) 1 + 0.1s
C1 = ;C =
1 + 0.1s 2 (1 + s)
 
 1 + s 
For C1, we get  = 0.1 and a=1 => a=10
For C2, we get  = 1 and a=0.1 => a=0.1
a<1 i.e. Lag compensator
25. Ans: (b)

Solution:
Lead Network Lag Network
1. High pass - Filter 1. Low pass filter
2. Increase Bandwidth 2. Decrease Bandwidth
3. Increase gain crossover frequency 3. Reduce gain crossover frequency

Control Systems
26. Ans: (b)

Solution:
 
 1 + s 
We get  = 0.3 and a=0.5 => a= 5
3
 a −1  −1  5 − 3 
m = sin−1   = sin   = 14 48
0 '
 a + 1  5 + 3
27. Ans: (d)

Solution:
 1 + s 
We get  = 0.3 and a=0.5 => a=

5
3
1 1
m = = = 2.582 rad/sec
 a 5
0.3
3
28. Ans: (a)

Solution:
Characteristic equation s2 + 4s + k = 0
k = −s2 − 4s
dk
= −2s − 4 = −2(s+ 2)
ds
ds k
Root sensitivity= .
dk s
1 −s(s+ 4) (s+ 4)
. =
−2(s+ 2) s 2(s+ 2)
Pole=-2
Zero=-4  Lag compensator
29. Ans: -19.35 to -19.55

Solution:
 1 + 0.5s 
GC (s) = 2  
 1+s 
 
 1 + s 
We get  = 1 and a=0.5 => a=0.5
a <1 i.e. Lag compensator
Maximum Phase shift  = sin−1  0.5 − 1  = −19.470

 
m
 0.5 + 1 

Control Systems
Type-17 Controller
01. Controllers play the following role in a control system 07. Lists I shows name of the controllers and List II shows
(a) They amplify the signals going to the actuator properties of the controllers respectively. The correct
option which exactly relates member of List I and List II is
(b) They act on the error signal coming out the summing
junction and output a suitable signal to the actuator
List I List II
(c) They try to reduce steady state error, optimize (A) Proportional (1) Eliminates the
overshoot etc. controller steady state error
but makes
(d) All the above transient response
worse.
02. PD controller adds a (B) Integral controller (2) Increase the
stability and
(a) zero to the OLTF (b) zero to the CLTF
improves the
(c) pole to the OLTF (d) pole to the CLTF transient response
(C) Derivative controller (3) Reduce rise time
03. Good signal to noise ratio is achieve by using but does not
eliminate steady
(a) lead controller (b) lag controller
state error
(c) PD controller (d) differentiator (D) Proportional plus (4) Affects steady
derivative controller state error only if
04. PI controller it varies with time
(a) Increase the type of the system by one (a) A-3, B-1, C-2, D-4 (b) A-1, B-3, C-2, D-4
(b) Reduce the bandwidth (c) A-3, B-1, C-4, D-2 (d) A-1, B-2, C-3, D-4
(c) Increase the speed of the system
08. Lists I shows name of the controllers and List II shows
(d) Both (A) and (B)
properties of the controllers respectively. The correct
option which exactly relates member of List I and List II is
05. An Integrator has transfer function given by
20 List I List II
T(s) = . If it is required to have gain magnitude unity (A) Proportional plus (1) All design
s derivative controller specifications can
at frequency ω = 250 rad/sec then, the gain that must be be reached
placed in cascade will be ______. (B) Proportional plus (2) Improves the
integral plus damping and
derivative controller reduces the
06. The transfer function of PID controller is given by maximum
 1  overshoot
G(s) = 4  1 + + 0.5s  , as ω tends to 0. (C) Lag compensator (3) High pass filter
 2s  (D) Lead compensator (4) Low pass filter
(a) magnitude of G(jω) tends to zero and phase angle of (a)A-1, B-2, C-3, D-4 (b) A-2, B-1, C-4, D-3
G(jω) tends to infinity (c) A-2, B-1, C-3, D-4 (d) A-1, B-2, C-4, D-3
(b) magnitude of G(jω) tends to infinity and phase angle of

09. The plot given is of _______________compensation.
G(jω) tends to zero
(c) magnitude of G(jω) tends to infinity and phase angle of

G(jω) tends to -90°
(d) magnitude of G(jω) tends to zero and phase angle of

G(jω) tends to +90°
(a) Phase –lead (b) Phase lag
(c) Phase lead and lag (d) None

Control Systems
10. The transfer function of a controller is given as 12. Proportional integrator (PI) controller is used to
k i + k p s + k ds 2
(a) Decrease steady state error without affecting stability
G(s) = , where k p , k d and k i are (b) Increase steady state error and improve stability
s
constants. What type of controller is this? (c) Decrease steady state error and decrease stability
(a) Proportional (b) PD (d) None of these
(c) PI (d) PID

13. Example of continuous controller mode is
(a) ON-OFF (b) Proportional controller
11. The log-magnitude plot of a system is given below. It
(c) PI controller (d) B & C
shows a
14. In derivative error compensation.

(a) Damping decreases and settling time decreases
(b) Damping increases and settling time increases
(c) Damping decreases and settling time increases
(d) Damping increases and settling time decreases
(a) Integrator (b) PID controller

(c) PD controller (d) Proportional controller

Control Systems
Solutions
01. Ans: (d)

Solution:
Controllers are connected at the output of the summing element and controller output is fed to the actuator or plant. Thus
they amplify error signal and they are used to meet the time domain specifications like steady state error, overshoot etc.
02. Ans: (a)

Solution:
 K 
The transfer function of PD Controller is, G ( s ) = K p + KD s = 1 + D s  K p
 Kp 
 
KD
So, it adds a zero at s=−
Kp
03. Ans: (b)

Solution:
Lag controller reduces the bandwidth hence noise is less and SNR is good.
04. Ans: (d)

Solution:
The transfer function of PI Controller is given by,
KI K p s + KI
G ( s ) = Kp + =
s s
Hence, it adds a pole at origin and acts as lag controller so it reduces the bandwidth.
05. Ans: 12.5

Solution:
20 20
T(s) = or T() =
s 
Let, the cascade gain=K
20
Then, K = 1

1  250
at,  = 250 , K = = 12.5
20
06. Ans: (c)

Solution:
 1 j   2 j + 1 + ( j)2   1 − 2 2 j 
G( j) = 4 1 + +  = 4  = 4  + 
 2 j 2   2 j   2 j 2 j 
Separating real and imaginary part, we get
 (1 − 2 ) 
G( j) = 4 1 − j 
 2 

Control Systems
(1 − 2 )2 1 4 22
G( j) = 4 1 + = 4 1 + + −
42 42 42 42
as,  → 0
1 1
G( j) = 4 1 +  + 0 −  = 4 1 +  = 
0 2
 1 − 2 
 G(j ) = − tan−1  
 2 
as,  → 0
 G(j ) = − tan−1  = −900
07. Ans: (a)

Solution:
1. Proportional controller increases the damping ratio and so it does reduce the rise time but the type of system remains
same and so steady state error does not go to zero.
2. Integral controller increases the type of the system and so the steady state error is reduced to zero but increase in type
makes the transient performance worse.
3. Derivative controller introduces a zero at origin and improves the stability and also improves the transient response but
reduces type of system and hence makes the steady state error infinite.
4. PD controller affects steady state error only if it varies with time.
08. Ans: (b)

Solution:
1. PD Controller improves the damping and reduces maximum overshoot.
2. PI controller can meet all the design specifications.
3. Lead compensator acts as High Pass Filter.
4. Lag Compensator acts as Low Pass Filter.
09. Ans: (a)

Solution:
10. Ans: (d)

Control Systems
11. Ans: (b)

Solution:
The plot suggests that there is a pole and two zeroes which cause increment in the slope and the transfer function of PID
Controller is,
K D s2 + K p s + K i
G (s) =
s
It has exactly two zeroes and one pole.
12. Ans: (c)

Solution:
PI Controller increases the type of system due to which the steady state erroe becomes zero but at the same time due to
addition of a pole at origin the stability decreases.
13. Ans: (b)

Solution:
Discrete controller → ON-OFF
Continuous controller → P
mixed controller → PI, PID, PD
14. Ans: (d)

Solution:
Derivative error co;mpensation introduces a first order term which indicates damping and so samping increases and
settling time decreases.

Singnal and System

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Singnal and System

Type-1 Transfer Function....................................................................................................................................................................... 2

Type-2 Block Diagram .......................................................................................................................................................................... 11

Type-3 Signal Flow Graph ................................................................................................................................................................... 21

Chapter 2 -Time Response Analysis .................................................................................................................................................... 31

Type-4 Steady State Analysis ............................................................................................................................................................. 31

Type-5 Transient Analysis.................................................................................................................................................................... 40

Chapter 3 - Stability ................................................................................................................................................................................... 60

Type-6 Routh Criteria ............................................................................................................................................................................ 60

Chapter 4 - Root Locus Technique ...................................................................................................................................................... 81

Type-7 Root Locus ................................................................................................................................................................................. 81

Chapter 5 - Frequency Domain Analysis ........................................................................................................................................... 97

Type-8 Frequency Response .............................................................................................................................................................. 97

Type-9 Polar Plot ................................................................................................................................................................................. 101

Type-10 Nyquist Plot and Stability Criterion ............................................................................................................................ 107

Type-11 Gain Margin and Phase Margin ................................................................................................................................... 112

Type-12 Bode Plot ............................................................................................................................................................................... 121

Chapter 6 - State Variable Analysis .................................................................................................................................................. 134

Type-13 Deriving State Model ....................................................................................................................................................... 134

Type-14 State Model Analysis ........................................................................................................................................................ 139

Type-15 Controllability and Observability ................................................................................................................................. 149

Chapter 7 - Controllability and Observability ............................................................................................................................... 154

Type-16 Compensators ..................................................................................................................................................................... 154

Type-17 Controller .............................................................................................................................................................................. 163

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Chapter 1 - Transfer Function

Type-1 Transfer Function

04. A system transfer function is

06. A feedback or closed loop system is one

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2s s 13. Introduction of negative feedback in an open loop

(a) may change a stable open loop system into an

B. Signal flow graph 2. Reduces the bandwidth

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20. An electromechanical device which actuates a train of

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01. Ans: (d)

The overall transfer function of cascade configuration is

02. Ans: (d)

The network after connecting both network in cascade is

Apply KCL at E(s)

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03. Ans: (d)

y(t)= x(t) *u(t) where x(t) = (2+t)e-3tu(t)

04. Ans: (b)

05. Ans: (a)

06. Ans: (d)

07. Ans: (d)

Substituting equation (ii) in equation (i),

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Vi (s) sVi (s)

08. Ans: (d)

10. Ans: (a)

11. Ans: (c)

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12. Ans: (b)

13. Ans: (a)

14. Ans: (a)

15. Ans: (b)

17. Ans: (a)