Control Systems

GATE SOLVED PAPER - EE
CONTROL SYSTEMS
YEAR 2013
Q. 1
Q. 2
ONE MARK
The Bode plot of a transfer function G ^s h is shown in the figure below.
The gain _20 log G ^s h i is 32 dB and - 8 dB at 1 rad/s and 10 rad/s respectively.

The phase is negative for all w. Then G ^s h is
(A) 39.8
(B) 392.8
s
s
32
32
(C)
(D) 2
s
s
Assuming zero initial condition, the response y ^ t h of the system given below to a
unit step input u ^ t h is
(A) u ^ t h
(B) tu ^ t h
2
(C) t u ^ t h
2
(D) e-t u ^ t h
YEAR 2013
Q. 3
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TWO MARKS
Y ^s h
The signal flow graph for a system is given below. The transfer function
for
U ^s h
this system is
s+1
5s2 + 6s + 2
(C) 2 s + 1
s + 4s + 2
(A)
CONTROL SYSTEMS
s+1
s 2 + 6s + 2
(D) 2 1
5s + 6s + 2
(B)
w ^s h
The open-loop transfer function of a dc motor is given as
= 10 . When
Va ^s h 1 + 10s
connected in feedback as shown below, the approximate value of Ka that will
reduce the time constant of the closed loop system by one hundred times as
compared to that of the open-loop system is
Q. 4
(A) 1
(C) 10
(B) 5
(D) 100
Common Data For Q. 5 and 6

The state variable formulation of a system is given as
1
- 2 0 x1
x1
xo1
> H=>
H> H + > H u , x1 ^0 h = 0 , x2 ^0 h = 0 and y = 61 0@> H
o
0 - 1 x2
1
x2
x2
Q. 5
The response y ^ t h to the unit step input is

(A) 1 - 1 e-2t
(B) 1 - 1 e-2t - 1 e-t
2 2
2
2
(C) e-2t - e-t
Q. 6
(D) 1 - e-t
The system is
(A) controllable but not observable
(B) not controllable but observable
(C) both controllable and observable
(D) both not controllable and not observable
YEAR 2012
Q. 7
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The state variable description of an LTI system is given by

Jxo1N J 0 a1 0NJx1N J0N
K O K
OK O K O
Kxo2O = K 0 0 a2OKx2O + K0O u
Kxo O Ka
0 0OKx 3O K 1O
3
3
L P L
PL P L P
Jx1N
K O
y = _1 0 0iKx2O
Kx 3O
L P
TWO MARKS
CONTROL SYSTEMS
where y is the output and u is the input. The system is controllable for
(B) a1 = 0, a2 ! 0, a 3 ! 0
(A) a1 ! 0, a2 = 0, a 3 ! 0
(D) a1 ! 0, a2 ! 0, a 3 = 0
(C) a1 = 0, a 3 ! 0, a 3 = 0
The feedback system shown below oscillates at 2 rad/s when
Q. 8
(A) K = 2 and a = 0.75

(C) K = 4 and a = 0.5
(B) K = 3 and a = 0.75

(D) K = 2 and a = 0.5
Statement for Linked Answer Questions 9 and 10 :
Q. 9
Q. 10
The transfer function of a compensator is given as

Gc (s) = s + a
s+b
Gc (s) is a lead compensator if
(A) a = 1, b = 2
(B) a = 3, b = 2
(C) a =- 3, b =- 1
(D) a = 3, b = 1
The phase of the above lead compensator is maximum at
(A) 2 rad/s
(B) 3 rad/s
(C)
(D) 1/ 3 rad/s
6 rad/s
ONE MARK
YEAR 2011
Q. 11
The frequency response of a linear system G (jw) is provided in the tubular form
below
G (jw)
1.3
+G (jw) - 130c
(A) 6 dB and 30c
(C) - 6 dB and 30c
Q. 12
1.0
0.8
0.5
0.3
- 140c
- 150c
- 160c
- 180c
- 200c
(B) 6 dB and - 30c

(D) - 6 dB and - 30c
The steady state error of a unity feedback linear system for a unit step input is
0.1. The steady state error of the same system, for a pulse input r (t) having a
magnitude of 10 and a duration of one second, as shown in the figure is
(A) 0
(C) 1
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1.2
(B) 0.1
(D) 10
Q. 13
CONTROL SYSTEMS
An open loop system represented by the transfer function

(s - 1)
is
G (s) =
(s + 2) (s + 3)
(A) Stable and of the minimum phase type
(B) Stable and of the nonminimum phase type
(C) Unstable and of the minimum phase type
(D) Unstable and of nonminimum phase type
YEAR 2011
Q. 14
TWO MARKS
The open loop transfer function G (s) of a unity feedback control system is given
as
K bs + 2 l
3
G (s) = 2
s (s + 2)
From the root locus, at can be inferred that when K tends to positive infinity,
(A) Three roots with nearly equal real parts exist on the left half of the s -plane
(B) One real root is found on the right half of the s -plane
(C) The root loci cross the jw axis for a finite value of K; K ! 0
(D) Three real roots are found on the right half of the s -plane
Q. 15
A two loop position control system is shown below
The gain K of the Tacho-generator influences mainly the

(A) Peak overshoot
(B) Natural frequency of oscillation
(C) Phase shift of the closed loop transfer function at very low frequencies
(w " 0)
(D) Phase shift of the closed loop transfer function at very high frequencies
(w " 3)
YEAR 2010
Q. 16
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1
plotted in the
s (s + 1) (s + 2)
complex G (jw) plane (for 0 < w < 3) is
The frequency response of G (s) =
TWO MARKS
Q. 17
CONTROL SYSTEMS
o = AX + Bu with A = >- 1 2H, B = >0H is

The system X
0 2
1
(A) Stable and controllable
(B) Stable but uncontrollable
(C) Unstable but controllable
(D) Unstable and uncontrollable
Q. 18
equation
of
a
closed-loop
system
is
The
characteristic
s (s + 1) (s + 3) k (s + 2) = 0, k > 0 .Which of the following statements is true ?
(A) Its root are always real
(B) It cannot have a breakaway point in the range - 1 < Re [s] < 0
(C) Two of its roots tend to infinity along the asymptotes Re [s] =- 1
(D) It may have complex roots in the right half plane.
ONE MARK
YEAR 2009
Q. 19
Q. 20
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The measurement system shown in the figure uses three sub-systems in cascade
whose gains are specified as G1, G2, 1/G3 . The relative small errors associated with
each respective subsystem G1, G2 and G3 are e1, e2 and e3 . The error associated
with the output is :
(A) e1 + e2 + 1
e3
(B) e1 e2
e3
(C) e1 + e2 - e3
(D) e1 + e2 + e3
The polar plot of an open loop stable system is shown below. The closed loop
system is
CONTROL SYSTEMS
(A) always stable

(B) marginally stable
(C) un-stable with one pole on the RH s -plane
(D) un-stable with two poles on the RH s -plane
Q. 21
The first two rows of Rouths tabulation of a third order equation are as follows.
s3 2 2
s2 4 4
This means there are
(A) Two roots at s = ! j and one root in right half s -plane
(B) Two roots at s = ! j2 and one root in left half s -plane
(C) Two roots at s = ! j2 and one root in right half s -plane
(D) Two roots at s = ! j and one root in left half s -plane
Q. 22
The asymptotic approximation of the log-magnitude v/s frequency plot of a

system containing only real poles and zeros is shown. Its transfer function is
(A)
10 (s + 5)
s (s + 2) (s + 25)
(C)
100 (s + 5)
s (s + 2) (s + 25)
YEAR 2009
Q. 23
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1000 (s + 5)
s (s + 2) (s + 25)
80 (s + 5)
(D) 2
s (s + 2) (s + 25)
(B)
TWO MARKS
The unit-step response of a unity feed back system with open loop transfer
function G (s) = K/ ((s + 1) (s + 2)) is shown in the figure. The value of K is
(A) 0.5
(C) 4
CONTROL SYSTEMS
(B) 2
(D) 6
The open loop transfer function of a unity feed back system is given by
G (s) = (e - 0.1s) /s . The gain margin of the is system is
(B) 17.67 dB
(A) 11.95 dB
(C) 21.33 dB
(D) 23.9 dB
Q. 24
Common Data for Question 25 and 26 :

A system is described by the following state and output equations
dx1 (t)
=- 3x1 (t) + x2 (t) + 2u (t)
dt
dx2 (t)
=- 2x2 (t) + u (t)
dt
y (t) = x1 (t)
when u (t) is the input and y (t) is the output
Q. 25
Q. 26
The system transfer function is

(B) 2 s + 3
(A) 2 s + 2
s + 5s + 6
s + 5s - 6
(C) 2 2s + 5
(D) 2 2s - 5
s + 5s + 6
s + 5s - 6
The state-transition matrix of the above system is
e - 3t e - 2t - e - 3t
e - 3t
0
(B) =
(A) = - 2t
G
- 2t G
- 3t
e +e e
0
e - 2t
e - 3t e - 2t + e - 3t
(C) =
G
0
e - 2t
e3t e - 2t - e - 3t
(D) =
G
0
e - 2t
ONE MARK
YEAR 2008
Q. 27
A function y (t) satisfies the following differential equation :

dy (t)
+ y (t) = d (t)
dt
where d (t) is the delta function. Assuming zero initial condition, and denoting the
unit step function by u (t), y (t) can be of the form
(A) et
(B) e - t
(C) et u (t)
YEAR 2008
Q. 28
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(D) e - t u (t)
TWO MARK
The transfer function of a linear time invariant system is given as

G (s) = 2 1
s + 3s + 2
The steady state value of the output of the system for a unit impulse input
applied at time instant t = 1 will be
(A) 0
(B) 0.5
(C) 1
(D) 2
CONTROL SYSTEMS
The transfer functions of two compensators are given below :

10 (s + 1)
C1 =
, C2 = s + 10
(s + 10)
10 (s + 1)
Which one of the following statements is correct ?
(A) C1 is lead compensator and C2 is a lag compensator
Q. 29
(B) C1 is a lag compensator and C2 is a lead compensator

(C) Both C1 and C2 are lead compensator
(D) Both C1 and C2 are lag compensator
The asymptotic Bode magnitude plot of a minimum phase transfer function is
shown in the figure :
Q. 30
This transfer function has

(A) Three poles and one zero
(C) Two poles and two zero
(B) Two poles and one zero

(D) One pole and two zeros
Figure shows a feedback system where K > 0
Q. 31
The range of K for which the system is stable will be given by

(A) 0 < K < 30
(B) 0 < K < 39
(C) 0 < K < 390
(D) K > 390
The transfer function of a system is given as
100
s2 + 20s + 100
The system is
(A) An over damped system
(B) An under damped system
(C) A critically damped system
(D) An unstable system
Q. 32
Statement for Linked Answer Question 33 and 34.
Q. 33
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The state space equation of a system is described by Xo = AX + Bu,Y = CX

where X is state vector, u is input, Y is output and
0 1
0
A ==
, B = = G, C = [1 0]
0 - 2G
1
The transfer function G(s) of this system will be
s
(B) s + 1
(A)
s (s - 2)
(s + 2)
CONTROL SYSTEMS
s
1
(D)
(s - 2)
s (s + 2)
A unity feedback is provided to the above system G (s) to make it a closed loop
system as shown in figure.
(C)
Q. 34
For a unit step input r (t), the steady state error in the input will be
(A) 0
(B) 1
(C) 2
(D) 3
ONE MARK
YEAR 2007
Q. 35
The system shown in the figure is
(A) Stable
(B) Unstable
(C) Conditionally stable
(D) Stable for input u1 , but unstable for input u2
TWO MARKS
YEAR 2007
Q. 36
If x = Re [G (jw)], and y = Im [G (jw)] then for w " 0+ , the Nyquist plot for
G (s) = 1/s (s + 1) (s + 2) is
(A) x = 0
(B) x =- 3/4
(C) x = y - 1/6
Q. 37
(D) x = y/ 3
The system 900/s (s + 1) (s + 9) is to be such that its gain-crossover frequency

becomes same as its uncompensated phase crossover frequency and provides a 45c
phase margin. To achieve this, one may use
(A) a lag compensator that provides an attenuation of 20 dB and a phase lag of
45c at the frequency of 3 3 rad/s
(B) a lead compensator that provides an amplification of 20 dB and a phase
lead of 45c at the frequency of 3 rad/s
(C) a lag-lead compensator that provides an amplification of 20 dB and a phase
lag of 45c at the frequency of 3 rad/s
(D) a lag-lead compensator that provides an attenuation of 20 dB and phase
lead of 45c at the frequency of 3 rad/s
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Q. 38
CONTROL SYSTEMS
If the loop gain K of a negative feed back system having a loop transfer function
K (s + 3) / (s + 8) 2 is to be adjusted to induce a sustained oscillation then
(A) The frequency of this oscillation must be 4 3 rad/s
(B) The frequency of this oscillation must be 4 rad/s
(C) The frequency of this oscillation must be 4 or 4 3 rad/s
(D) Such a K does not exist
Q. 39
The system shown in figure below
can be reduced to the form
with
(A) X = c0 s + c1, Y = 1/ (s2 + a0 s + a1), Z = b0 s + b1
(B) X = 1, Y = (c0 s + c1) / (s2 + a0 s + a1), Z = b0 s + b1
(C) X = c1 s + c0, Y = (b1 s + b0) / (s2 + a1 s + a0), Z = 1
(D) X = c1 s + c0, Y = 1/ (s2 + a1 s + a), Z = b1 s + b0
Q. 40
Consider the feedback system shown below which is subjected to a unit step
input. The system is stable and has following parameters Kp = 4, Ki = 10, w = 500
and x = 0.7 .The steady state value of Z is
(A) 1
(B) 0.25
(C) 0.1
(D) 0
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CONTROL SYSTEMS

R-L-C circuit shown in figure
Q. 41
For a step-input ei , the overshoot in the output e0 will be

(A) 0, since the system is not under damped
(B) 5 %
(C) 16 %
Q. 42
(D) 48 %
If the above step response is to be observed on a non-storage CRO, then it would

be best have the ei as a
(A) Step function
(B) Square wave of 50 Hz
(C) Square wave of 300 Hz
(D) Square wave of 2.0 KHz
YEAR 2006
Q. 43
3 (s - 2)
,
4s 2 - 2s + 1
the matrix A in the state space form Xo = AX + Bu is equal to
V
V
R
R
S0 1 0
S1 0 0 W
(B) S 0 0 1
(A) S 0 1 0 W
SS- 1 2 - 4
SS- 1 2 - 4 WW
XV
TR
V X
RT
S0 1 0 W
S1 0 0 W
(C) S3 - 2 1 W
(D) S 0 0 1 W
SS1 - 2 4 WW
SS- 1 2 - 4 WW
X
X
T
T
For a system with the transfer function H (s) =
YEAR 2006
Q. 44
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ONE MARK
TWO MARKS
Consider the following Nyquist plots of loop transfer functions over w = 0 to

w = 3 . Which of these plots represent a stable closed loop system ?
CONTROL SYSTEMS
(A) (1) only

(B) all, except (1)
(C) all, except (3)
(D) (1) and (2) only
10 4 (1 + jw)
is
(10 + jw) (100 + jw) 2
Q. 45
The Bode magnitude plot H (jw) =
Q. 46
A closed-loop system has the characteristic function (s2 - 4) (s + 1) + K (s - 1) = 0

. Its root locus plot against K is
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CONTROL SYSTEMS
YEAR 2005
Q. 47
A system with zero initial conditions has the closed loop transfer function.
s2 + 4
T (s) =
(s + 1) (s + 4)
The system output is zero at the frequency
(B) 1 rad/sec
(A) 0.5 rad/sec
(C) 2 rad/sec
Q. 48
(D) 4 rad/sec
Figure shows the root locus plot (location of poles not given) of a third order
system whose open loop transfer function is
(A) K3
s
(C)
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ONE MARK
K
s (s2 + 1)
K
s2 (s + 1)
K
(D)
s (s2 - 1)
(B)
CONTROL SYSTEMS
The gain margin of a unity feed back control system with the open loop transfer
(s + 1)
function G (s) =
is
s2
(B) 1
(A) 0
2
(C) 2
(D) 3
Q. 49
YEAR 2005
TWO MARKS
A unity feedback system, having an open loop gain

K (1 - s)
,
G (s) H (s) =
(1 + s)
Q. 50
becomes stable when

(A) K > 1
(C) K < 1
(B) K > 1
(D) K < - 1
When subject to a unit step input, the closed loop control system shown in the
figure will have a steady state error of
Q. 51
(A) - 1.0
(C) 0
(B) - 0.5
(D) 0.5
In the G (s) H (s)-plane, the Nyquist plot of the loop transfer function
G (s) H (s) = pes passes through the negative real axis at the point
(A) (- 0.25, j0)
(B) (- 0.5, j0)
(C) 0
(D) 0.5
Q. 52
0 25s
If the compensated system shown in the figure has a phase margin of 60c at the
crossover frequency of 1 rad/sec, then value of the gain K is
Q. 53
(A) 0.366
(C) 1.366
(B) 0.732
(D) 2.738

0 1
1
A state variable system Xo (t) = =
X (t) + = Gu (t) with the initial condition
G
0 -3
0
X (0) = [- 1, 3]T and the unit step input u (t) has
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Q. 54
The state transition matrix

- 3t
1
1
)
3 (1 - e
(A) =
G
- 3t
0
e
1
(C) >
0
Q. 55
1
3
(e3 - t - e- 3t)
H
e- 3t
CONTROL SYSTEMS
(e- t - e- 3t)
H
e- t
1
(B) >
0
1
3
1
(D) >
0
(1 - e- t)
H
e- t
The state transition equation

t - e-t
(A) X (t) = = - t G
e
1 - e-t
(B) X (t) = = - 3t G
3e
t - e 3t
(C) X (t) = = - 3t G
3e
t - e - 3t
(D) X (t) = = - t G
e
YEAR 2004
Q. 56
Q. 57
The Nyquist plot of loop transfer function G (s) H (s) of a closed loop control
system passes through the point (- 1, j 0) in the G (s) H (s)plane. The phase
margin of the system is
(A) 0c
(B) 45c
(C) 90c
(D) 180c
5
s (s2 + 3s + 2)
where F (s) is the Laplace transform of the of the function f (t). The initial value
of f (t) is equal to
(A) 5
(B) 25
Consider the function, F (s) =
(C)
Q. 58
ONE MARK
5
3
(D) 0
For a tachometer, if q (t) is the rotor displacement in radians, e (t) is the output
voltage and Kt is the tachometer constant in V/rad/sec, then the transfer function,
E (s)
will be
Q (s)
(A) Kt s2
(C) Kt s
(B) Kt s
(D) Kt
TWO MARKS
YEAR 2004
Q. 59
For the equation, s3 - 4s2 + s + 6 = 0 the number of roots in the left half of s
-plane will be
(A) Zero
(B) One
(C) Two
(D) Three
Q. 60
For the block diagram shown, the transfer function
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C (s)
is equal to
R (s)
2
(A) s +2 1
s
2
(B) s + s2 + 1
s
2
(C) s + s + 1
s
(D)
1
s2 + s + 1
CONTROL SYSTEMS
Q. 61
o = AX where
The state variable description of a linear autonomous system is, X
X is the two dimensional state vector and A is the system matrix given by
0 2
A = = G. The roots of the characteristic equation are
2 0
(A) - 2 and + 2
(B) - j2 and + j2
(C) - 2 and - 2
(D) + 2 and + 2
Q. 62
The block diagram of a closed loop control system is given by figure. The values
of K and P such that the system has a damping ratio of 0.7 and an undamped
natural frequency wn of 5 rad/sec, are respectively equal to
Q. 63
(A) 20 and 0.3
(B) 20 and 0.2
(C) 25 and 0.3
(D) 25 and 0.2
The unit impulse response of a second order under-damped system starting from
rest is given by c (t) = 12.5e - 6t sin 8t, t $ 0 . The steady-state value of the unit
step response of the system is equal to
(A) 0
(B) 0.25
(C) 0.5
Q. 64
In the system shown in figure, the input x (t) = sin t . In the steady-state, the
response y (t) will be
(A)
1 sin (t - 45c)
2
(C) sin (t - 45c)

Q. 65
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(B)
1 sin (t + 45c)
2
(D) sin (t + 45c)
The open loop transfer function of a unity feedback control system is given as
1.
G (s) = as +
s2
The value of a to give a phase margin of 45c is equal to
(A) 0.141
(B) 0.441
(C) 0.841
(D) 1.141
YEAR 2003
Q. 66
(D) 1.0
ONE MARK
A control system is defined by the following mathematical relationship

d2 x + 6 dx + 5x = 12 (1 - e - 2t)
dt
dt2
The response of the system as t " 3 is
(A) x = 6
(B) x = 2
(C) x = 2.4
(D) x =- 2
Q. 67
A lead compensator used for a closed loop controller has the following transfer
K (1 + as )
function
For such a lead compensator
(1 + bs )
(A) a < b
(C) a > Kb
Q. 68
CONTROL SYSTEMS
(B) b < a
(D) a < Kb
2
A second order system starts with an initial condition of = G without any external
3
e - 2t 0
input. The state transition matrix for the system is given by =
G. The state
0 e-t
of the system at the end of 1 second is given by
0.135
0.271
(B) =
(A) =
G
0.368G
1.100
0.271
(C) =
0.736G
0.135
(D) =
1.100 G
TWO MARKS
YEAR 2003
Q. 69
A control system with certain excitation is governed by the following mathematical

equation
d2 x + 1 dx + 1 x = 10 + 5e- 4t + 2e- 5t
2 dt
18
dt2
The natural time constant of the response of the system are
(A) 2 sec and 5 sec
(B) 3 sec and 6 sec
(C) 4 sec and 5 sec
Q. 70
The block diagram shown in figure gives a unity feedback closed loop control
system. The steady state error in the response of the above system to unit step
input is
(A) 25%
(C) 6%
Q. 71
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(B) 0.75 %
(D) 33%
The roots of the closed loop characteristic equation of the system shown above
(Q-5.55)
(A) - 1 and - 15
(C) - 4 and - 15
Q. 72
(D) 1/3 sec and 1/6 sec
(B) 6 and 10
(D)- 6 and - 10
The following equation defines a separately excited dc motor in the form of a

differential equation
CONTROL SYSTEMS
d2 w + B dw + K2 w = K V
dt
J dt
LJ
LJ a
The above equation may be organized in the state-space form as follows
R 2 V
Sd w W
dw
S dt2 W = P dt + QV
> H
a
S dw W
w
S dt W
Where Tthe PX matrix is given by
K
- B - LJ
- K - BJ
(A) = J
(B) = LJ
G
G
1
0
0
1
2
0
1
(C) =- K - B G
LJ
J
2
1
0
(D) =- B - K G
J
LJ
2
Q. 73
The loop gain GH of a closed loop system is given by the following expression
K
The value of K for which the system just becomes unstable is
s (s + 2) (s + 4)
(A) K = 6
(B) K = 8
(C) K = 48
(D) K = 96
Q. 74
The asymptotic Bode plot of the transfer function K/ [1 + (s/a)] is given in figure.
The error in phase angle and dB gain at a frequency of w = 0.5a are respectively
(A) 4.9c, 0.97 dB

(C) 4.9c, 3 dB
Q. 75
(B) 5.7c, 3 dB
(D) 5.7c, 0.97 dB
The block diagram of a control system is shown in figure. The transfer function
G (s) = Y (s) /U (s) of the system is
1
18^1 + 12s h^1 + s3 h
1
(C)
27^1 + 12s h^1 + s9 h
(A)
1
27^1 + s6 h^1 + s9 h
1
(D)
27^1 + s9 h^1 + s3 h
(B)
***********
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CONTROL SYSTEMS
SOLUTION
Sol. 1
Option (B) is correct.

From the given plot, we obtain the slope as
Slope =
From the figure
20 log G2
20 log G1
and
w1
w2
So, the slope is
20 log G2 - 20 log G1
log w2 - log w1
=- 8 dB
= 32 dB
= 1 rad/s
= 10 rad/s
Slope = - 8 - 32
log 10 - log 1
=- 40 dB/decade
Therefore, the transfer function can be given as
G ^s h = k2
S
at w = 1
G ^ jwh = k 2 = k
w
In decibel,
20 log G ^ jw h = 20 log k = 32
or,
k = 10 = 39.8
Hence, the Transfer function is
G ^s h = k2 = 392.8
s
s
32
Sol. 2
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20

The Laplace transform of unit step fun n is
U ^s h = 1
s
So, the O/P of the system is given as
Y ^s h = b 1 lb 1 l = 12
s s
s
For zero initial condition, we check
dy ^ t h
u^t h =
dt
U ^s h = SY ^s h - y ^0 h
&
U ^s h = s c 12 m - y ^0 h
&
s
1
or,
U ^s h =
s
Hence, the O/P is correct which is
Y ^s h = 12
s
its inverse Laplace transform is given by
y ^ t h = tu ^ t h
^y ^0 h = 0h
Sol. 3
CONTROL SYSTEMS
Option (A) is correct.

For the given SFG, we have two forward paths
Pk1 = ^1 h^s-1h^s-1h^1 h = s-2
Pk2 = ^1 h^s-1h^1 h^1 h = s-1
since, all the loops are touching to both the paths Pk1 and Pk2 so,
D k 1 = Dk 2 = 1
Now, we have
D = 1 - (sum of individual loops)
+ (sum of product of nontouching loops)
Here, the loops are
L1 = ^- 4h^1 h =- 4
L2 = ^- 4h^s-1h = 4s-1
Sol. 4
L 3 = ^- 2h^s-1h^s-1h =- 2s-2
L 4 = ^- 2h^s-1h^1 h =- 2s-1
As all the loop L1, L2, L 3 and L 4 are touching to each other so,
D = 1 - ^L1 + L2 + L 3 + L 4h
= 1 - ^- 4 - 4s-1 - 2s-2 - 2s-1h
= 5 + 6s-1 + 2s-2
From Masons gain formulae
Y ^s h
s-2 + s-1
= SPk Dk =
= 2s+1
D
U ^s h
5s + 6s + 2
5 + 6s-1 + 2s-2
Option (C) is correct.
Given, open loop transfer function
G ^s h = 10Ka = Ka 1
1 + 10s s + 10
By taking inverse Laplace transform, we have
g ^ t h = e- t
1
10
Comparing with standard form of transfer function, Ae-t/t , we get the open
loop time constant,
tol = 10
Now, we obtain the closed loop transfer function for the given system as
G ^s h
10Ka
=
H ^s h =
1 + G ^s h 1 + 10s + 10Ka
Ka
=
s + ^Ka + 101 h
By taking inverse laplace transform, we get
h ^ t h = ka .e-^k + ht
So, the time constant of closed loop system is obtained as
tcl = 1 1
ka + 10
or,
(approximately)
tcl = 1
ka
Now, given that ka reduces open loop time constant by a factor of 100. i.e.,
tcl = tol
100
1 = 10
or,
100
ka
or,
ka = 10
a
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1
10
Sol. 5
CONTROL SYSTEMS

Given, the state variable formulation,
- 2 0 x1
1
xo1
> o H = > 0 - 1H>x H + >1H u
x2
2
x1
and
y = 61 0@> H
x2
....(1)
....(2)
From Eq. (1) we get

xo1 = 2x1 + u
Taking Laplace transform
So,
sX1 - x1 ^0 h =- 2X1 + 1 (Here, X1 denotes Laplace transform of x1 )

s
^x1 ^0 h = 0h
1
s ^s + 2h
Now, from Eq. (2) we have
y = x1
Taking Laplace transform both the sides,
Y = XL
1
or,
Y =
s ^s + 2h
or,
Y = 1 ;1 - 1 E
2 s s+2
Taking inverse Laplace transform
y = 1 8u ^ t h - e-2t u ^ t hB
2
1
= - 1 e-2t
2 2
From the given state variable system, we have
-2 0
A =>
0 1H
or,
Sol. 6
^s + 2h X1 = s1
X1 =
....(3)
(from eq. (3))
^for t > 0h
1
B = > H; C = 61 0@
1
Now, we obtain the controllability matrix
CM = 6B : AB@
and
1 -2
=>
2 1H
and the observability matrix is obtained as
C
1 0
H
OM = > H = >
CA
-2 0
So, we get
Rank of the controllability matrix " Rank ^CM h = 2

Rank of the observability matrix " Rank ^OM h = 1
Since, the order of state variable is 2 ^x1 and x2h. Therefore, we have
Rank ^CM h = order of state variables
but,
Rank (OM ) < order of state variables
Thus, system is controllable but not observable
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Sol. 7
CONTROL SYSTEMS
Option (D) is correct.

General form of state equations are given as
xo = Ax + Bu
yo = Cx + Du
For the given problem
R 0 a 0V
R0V
1
S
W
S W
A = S 0 0 a2W, B = S0W
SSa
SS1WW
0 0WW
3
TR
XVR V R VT X
S 0 a1 0WS0W S 0W
AB = S 0 0 a2WS0W = Sa2W
SSa
0 0WWSS1WW SS 0WW
3
TR
XT X T X
0
0 a1 a2VWRS0VW RSa1 a2VW
S
0
0WS0W = S 0W
A2 B = Sa2 a 3
SS 0 a a
WWSS1WW SS 0WW
0
3 1
T
XT X T
X
For controllability it is necessary that following matrix has a tank of n = 3 .
R0 0 a a V
1 2W
S
2
0W
U = 6B : AB : A B@ = S0 a2
SS1 0
0WW
So,
a2 ! 0
T
X
a1 a 2 ! 0 & a1 ! 0
a 3 may be zero or not.
Sol. 8

Y (s) =
K (s + 1)
[R (s) - Y (s)]
s + as2 + 2s + 1
3
K (s + 1)
K (s + 1)
R (s)
=
s3 + as2 + 2s + 1E s3 + as2 + 2s + 1
Y (s) [s3 + as2 + s (2 + k) + (1 + k)] = K (s + 1) R (s)
Transfer Function,
Y (s)
K (s + 1)
H (s) =
=
R (s) s3 + as2 + s (2 + k) + (1 + k)
Routh Table :
Y (s) ;1 +
For oscillation,
a (2 + K) - (1 + K)
=0
a
a = K+1
K+2
Auxiliary equation
A (s) = as2 + (k + 1) = 0
s2 =- k + 1
a
k
+ 1 (k + 2) =- (k + 2)
2
s =
(k + 1)
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CONTROL SYSTEMS
= j k+2
= j k+2
(Oscillation frequency)
= k+2 = 2
=2
and
a = 2 + 1 = 3 = 0.75
2+2 4
jw + a
GC (s) = s + a =
s+b
jw + b
Phase lead angle,
f = tan-1 a w k - tan-1 a w k
a
b
s
jw
w
k
Sol. 9
Jw - wN
b O = tan-1 w (b - a)
= tan K a
c ab + w 2 m
2
O
KK
1+ w O
ab P
L
For phase-lead compensation f > 0
-1
b-a > 0
b >a
Note: For phase lead compensator zero is nearer to the origin as compared to
pole, so option (C) can not be true.
Sol. 10

f = tan-1 a w k - tan-1 a w k
a
b
1
/
a
1
/
b
df
=
=0
2
2
dw
1 +awk 1 +awk
a
b
2
2
1 + w = 1+1w
a ab2
b b a2
1 - 1 = w2 1 - 1
a b
ab b a b l
w = ab = 1 # 2 =
Sol. 11
2 rad/ sec

Gain margin is simply equal to the gain at phase cross over frequency ( wp ). Phase
cross over frequency is the frequency at which phase angle is equal to - 180c.
From the table we can see that +G (jwp) =- 180c, at which gain is 0.5.
1
GM = 20 log 10 e
= 20 log b 1 l = 6 dB
0.5
G (jwp) o
Phase Margin is equal to 180c plus the phase angle fg at the gain cross over
frequency ( wg ). Gain cross over frequency is the frequency at which gain is unity.
From the table it is clear that G (jwg) = 1, at which phase angle is - 150c
fPM = 180c + +G (jwg) = 180 - 150 = 30c
Sol. 12

We know that steady state error is given by
sR (s)
ess = lim
s " 0 1 + G (s)
where
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R (s) " input

G (s) " open loop transfer function
CONTROL SYSTEMS
For unit step input

R (s) = 1
s
So
sb 1 l
s
= 0.1
ess = lim
s " 0 1 + G (s)
1 + G (0) = 10
Sol. 13
G (0) = 9
r (t) = 10 [m (t) - m (t - 1)]
Given input
-s
or
R (s) = 10 :1 - 1 e-sD = 10 :1 - e D
s
s s
So steady state error
(1 - e-s)
s # 10
10 (1 - e0)
s
el
=
=0
ss = lim
1+9
s"0
1 + G (s)
Transfer function having at least one zero or pole in RHS of s -plane is called
non-minimum phase transfer function.
s-1
G (s) =
(s + 2) (s + 3)
In the given transfer function one zero is located at s = 1 (RHS), so this is a
non-minimum phase system.
Poles - 2, - 3 , are in left side of the complex plane, So the system is stable
Sol. 14

K bs + 2 l
3
G (s) = 2
s (s + 2)
Steps for plotting the root-locus
(1) Root loci starts at s = 0, s = 0 and s =- 2
(2) n > m , therefore, number of branches of root locus b = 3
(3) Angle of asymptotes is given by
(2q + 1) 180c
, q = 0, 1
n-m
(2 # 0 + 1) 180c
(I)
= 90c
(3 - 1)
(2 # 1 + 1) 180c
(II)
= 270c
(3 - 1)
(4) The two asymptotes intersect on real axis at centroid
- 2 - b- 2 l
3
Poles - / Zeroes
/
x =
=
=- 2
3-1
n-m
3
(5) Between two open-loop poles s = 0 and s =- 2 there exist a break away point.
s2 (s + 2)
K =2
bs + 3 l
dK = 0
ds
s =0
Root locus is shown in the figure
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CONTROL SYSTEMS
Three roots with nearly equal parts exist on the left half of s -plane.
Sol. 15

The system may be reduced as shown below
1
s (s + 1 + K )
Y (s)
1
= 2
=
1
R (s) 1 +
s + s (1 + K ) + 1
s (s + 1 + K )
This is a second order system transfer function, characteristic equation is
s2 + s (1 + K) + 1 = 0
Comparing with standard form
We get
s2 + 2xwn s + wn2 = 0
x = 1+K
2
Peak overshoot
M p = e- px/
1 - x2
So the Peak overshoot is effected by K .

Sol. 16

Given
1
s (s + 1) (s + 2)
1
G (jw) =
jw (jw + 1) (jw + 2)
1
G (jw) =
w w2 + 1 w 2 + 4
+G (jw) =- 90c - tan- 1 (w) - tan- 1 (w/2)
G (s) =
In nyquist plot
For
w = 0, G (jw) = 3
+G (jw) =- 90c
For w = 3, G (jw) = 0
+G (jw) =- 90c - 90c - 90c =- 270c
Intersection at real axis
1
1
G (jw) =
=
jw (jw + 1) (jw + 2)
jw (- w2 + j3w + 2)
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CONTROL SYSTEMS
- 3w2 - jw (2 - w2)
1
2 #
- 3w + jw (2 - w ) - 3w2 - jw (2 - w2)
- 3w2 - jw (2 - w2)
=
9w4 + w2 (2 - w2) 2
2
jw (2 - w2)
= 4 -23w
9w + w (2 - w2) 2 9w4 + w2 (2 - w2) 2
At real axis
Im [G (jw)] = 0
w (2 - w2)
So,
=0
4
9w + w2 (2 - w2)
2 - w2 = 0 & w = 2 rad/sec
At w = 2 rad/sec, magnitude response is
1
G (jw) at w = 2 =
=1<3
6 4
2 2+1 2+4
=
Sol. 17

Stability :
Eigen value of the system are calculated as
A - lI = 0
-1 - l 2
-1 2
l 0
=
A - lI = >
2 - lH
0 2H >0 lH > 0
A - lI = (- 1 - l) (2 - l) - 2 # 0 = 0
&
l1, l2 =- 1, 2
Since eigen values of the system are of opposite signs, so it is unstable
Controllability :
0
-1 2
, B=> H
A =>
1
0 2H
2
AB = > H
2
0 2
[B: AB] = > H
1 2
Y 0
6B: AB@ =
So it is controllable.
Sol. 18

Given characteristic equation
s (s + 1) (s + 3) + K (s + 2) = 0 ;
s (s2 + 4s + 3) + K(s + 2) = 0
s3 + 4s2 + (3 + K) s + 2K = 0
From Rouths tabulation method
3+K
s3
1
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s2
s1
4(3 + K) - 2K (1)
4
s0
2K
2K
=
12 + 2K
4
>0
K>0
CONTROL SYSTEMS
There is no sign change in the first column of routh table, so no root is lying in
right half of s -plane.
For plotting root locus, the equation can be written as
K (s + 2)
1+
=0
s (s + 1) (s + 3)
Open loop transfer function
G (s) =
K (s + 2)
s (s + 1) (s + 3)
Root locus is obtained in following steps:

1. No. of poles n = 3 , at s = 0, s =- 1 and s =- 3
2. No. of Zeroes m = 1, at s =- 2
3.
The root locus on real axis lies between s = 0 and s =- 1, between s =- 3

and s =- 2 .
4.
Breakaway point lies between open loop poles of the system. Here
breakaway point lies in the range - 1 < Re [s] < 0 .
5.
Asymptotes meet on real axis at a point C , given by

C =
/ real part of poles - / real parts of zeroes
n-m
(0 - 1 - 3) - (- 2)
=
3-1
=- 1
As no. of poles is 3, so two root loci branches terminates at infinity along
asymptotes Re (s) =- 1
Sol. 19
Sol. 20

Overall gain of the system is written as
G = G1 G 2 1
G3
We know that for a quantity that is product of two or more quantities total
percentage error is some of the percentage error in each quantity. so error in
overall gain G is
3 G = e1 + e2 + 1
e3
From Nyquist stability criteria, no. of closed loop poles in right half of s -plane is
given as
Z = P-N
P " No. of open loop poles in right half s -plane
N " No. of encirclement of (- 1, j0)
Here
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N =- 2 (` encirclement is in clockwise direction)
CONTROL SYSTEMS
P = 0 (` system is stable)
So,
Z = 0 - (- 2)
Z = 2 , System is unstable with 2-poles on RH of s -plane.
Sol. 21

Given Rouths tabulation.
s3
s2
So the auxiliary equation is given by,

4s2 + 4 = 0
s2 =- 1
s =! j
From table we have characteristic equation as
2s3 + 2s + 4s2 + 4 = 0
s3 + s + 2s2 + 2 = 0
s (s2 + 1) + 2 (s2 + 1) = 0
(s + 2) (s2 + 1) = 0
s =- 2 , s = ! j
Sol. 22

Since initial slope of the bode plot is - 40 dB/decade, so no. of poles at origin is 2.
Transfer function can be written in following steps:
1. Slope changes from - 40 dB/dec. to - 60 dB/dec. at w1 = 2 rad/sec., so at
w1 there is a pole in the transfer function.
2. Slope changes from - 60 dB/dec to - 40 dB/dec at w2 = 5 rad/sec., so at
this frequency there is a zero lying in the system function.
3.
The slope changes from - 40 dB/dec to - 60 dB/dec at w3 = 25 rad/sec, so

there is a pole in the system at this frequency.
Transfer function
K (s + 5)
s2 (s + 2) (s + 25)
Constant term can be obtained as.
T (s) =
T (jw) at w = 0.1 = 80
So,
80 = 20 log
K (5)
(0.1) 2 # 50
K = 1000
therefore, the transfer function is
1000 (s + 5)
T (s) = 2
s (s + 2)(s + 25)
Sol. 23

From the figure we can see that steady state error for given system is
ess = 1 - 0.75 = 0.25
Steady state error for unity feed back system is given by
sR (s)
ess = lim =
G
s " 0 1 + G (s)
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CONTROL SYSTEMS
s ^ s1 h
1
= lim >
H; R (s) = s (unit step input)
K
s"0 1 +
(s + 1)(s + 2)
1
=
= 2
2+K
1 + K2
ess = 2 = 0.25
2+K
So,
2 = 0.5 + 0.25K
K = 1.5 = 6
0.25
Sol. 24

Open loop transfer function of the figure is given by,
- 0.1s
G (s) = e
s
- j0.1w
G (jw) = e
jw
Phase cross over frequency can be calculated as,
+G (jwp) =- 180c
180
b- 0.1wp # p l - 90c =- 180c
0.1wp # 180c = 90c
p
0.1wp = 90c # p
180c
wp = 15.7 rad/sec
So the gain margin (dB)
= 20 log e
1
= 20 log = 11 G
G (jwp) o
^ 15.7 h
= 20 log 15.7 = 23.9 dB

Sol. 25

Given system equations
dx1 (t)
=- 3x1 (t) + x2 (t) + 2u (t)
dt
dx2 (t)
=- 2x2 (t) + u (t)
dt
y (t) = x1 (t)
Taking Laplace transform on both sides of equations.
sX1 (s)
(s + 3) X1 (s)
Similarly
sX2 (s)
(s + 2) X2 (s)
From equation (1) & (2)
=- 3X1 (s) + X2 (s) + 2U (s)

= X2 (s) + 2U (s)
=- 2X2 (s) + U (s)
...(1)
= U (s)
...(2)
U (s)
+ 2U (s)
s+2
U (s) 1 + 2 (s + 2)
(2s + 5)
X1 (s) =
E = U (s) (s + 2) (s + 3)
s + 3; s + 2
From output equation,
(s + 3) X1 (s) =
Y (s) = X1 (s)
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Y (s) = U (s)
So,
Sol. 26
CONTROL SYSTEMS
(2s + 5)
(s + 2) (s + 3)
System transfer function

(2s + 5)
(2s + 5)
Y (s)
=
T.F =
= 2
U (s) (s + 2) (s + 3)
s + 5s + 6
Given state equations in matrix form can be written as,
- 3 1 x1
2
xo1
> o H = > 0 - 2H>x H + >1H u (t)
x2
2
dX (t)
= AX (t) + Bu (t)
dt
State transition matrix is given by
f (t) = L- 1 6F (s)@
F (s) = (sI - A) - 1
-3 1
s 0
(sI - A) = > H - >
0 s
0 - 2H
s + 3 -1
(sI - A) = >
0 s + 2H
s+2 1
1
> 0 s + 3H
(s + 3) (s + 2)
R
V
1
S 1
W
(s + 3) (s + 3) (s + 2)W
S
-1
F (s) = (sI - A) = S
W
1
S 0
(s + 2) W
T - 3t - 2t
X
e
e - e- 3t
-1
f (t) = L [F (s)] = >
H
0
e- 2t
(sI - A) - 1 =
So
Sol. 27

Given differential equation for the function
dy (t)
+ y (t) = d (t)
dt
Taking Laplace on both the sides we have,
sY (s) + Y (s) = 1
(s + 1) Y (s) = 1
Y (s) =
1
s+1
Taking inverse Laplace of Y (s)

y (t) = e- t u (t), t > 0
Sol. 28

Given transfer function
G (s) =
Input
1
s 2 + 3s + 2
r (t) = d (t - 1)
R (s) = L [d (t - 1)] = e- s
Output is given by
Y (s) = R (s) G (s) =
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e- s
s + 3s + 2
2
CONTROL SYSTEMS
Steady state value of output

se- s
=0
s " 0 s + 3s + 2
lim y (t) = lim sY (s) = lim
t"3
Sol. 29
s"0

For C1 Phase is given by
qC = tan- 1 (w) - tan- 1 a w k
10
Jw - w N
-1 K
10 O
= tan
2
O
KK
w
1+ O
10
P
L
= tan- 1 c 9w 2 m > 0 (Phase lead)
10 + w
1
Similarly for C2 , phase is
Sol. 30
qC2 = tan- 1 a w k - tan- 1 (w)

10
J w - wN
- 1 K 10
O
= tan
2
O
KK
w
1+ O
10
P
L
= tan- 1 c - 9w 2 m < 0 (Phase lag)
10 + w

From the given bode plot we can analyze that:
1. Slope - 40 dB/decade"2 poles
2. Slope - 20 dB/decade (Slope changes by + 20 dB/decade)"1 Zero
3.
Slope 0 dB/decade (Slope changes by + 20 dB/decade)"1 Zero
So there are 2 poles and 2 zeroes in the transfer function.

Sol. 31

Characteristic equation for the system
K
=0
1+
s (s + 3)(s + 10)
s (s + 3) (s + 10) + K = 0
s3 + 13s2 + 30s + K = 0
Applying Rouths stability criteria
s3
30
s2
13
s1
(13 # 30) - K
13
K
s0
For stability there should be no sign change in first column

So,
390 - K > 0 & K < 390
K >0
0 < K < 90
Sol. 32
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Given transfer function is
CONTROL SYSTEMS
100
s2 + 20s + 100
Characteristic equation of the system is given by
H (s)) =
or
s2 + 20s + 100 = 0
wn2 = 100 & wn = 10 rad/sec.
2xwn = 20
x = 20 = 1
2 # 10
(x = 1) so system is critically damped.

Sol. 33

State space equation of the system is given by,
o = AX + Bu
X
Y = CX
Taking Laplace transform on both sides of the equations.
sX (s) = AX (s) + BU (s)
(sI - A) X (s) = BU (s)
X (s) = (sI - A) - 1 BU (s)
So
` Y (s) = CX (s)
Y (s) = C (sI - A) - 1 BU (s)
T.F =
Y (s)
= C (sI - A) - 1 B
U (s)
s 0
0 1
s -1
(sI - A) = > H - >
=
0 s
0 - 2H >0 s + 2H
V
R
1 W
S1
1 >s + 2 1H = Ss s (s + 2)W
(sI - A) - 1 =
S0
1 W
s (s + 2) 0 s
S (s + 2) W
X
T
Transfer function
V
V
R
R
1 W
S1
S 1 W
s s (s + 2)W 0
Ss (s + 2)W
G (s) = C [sI - A] - 1 B = 81 0BSS
>1H = 81 0BS 1 W
W
1
S0 (s + 2) W
S (s + 2) W
X
X
T
T
1
=
s (s + 2)
Sol. 34

Steady state error is given by,
Here
So,
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sR (s)
ess = lim =
G
s " 0 1 + G (s) H (s)
R (s) = L [r (t)] = 1 (Unit step input)
s
1
G (s) =
s (s + 2)
H (s) = 1 (Unity feed back)
s ^ s1 h
s (s + 2)
ess = lim >
H = lim
=
G =0
1
s " 0 s (s + 2) + 1
s"0 1 +
s (s + 2)
Sol. 35
CONTROL SYSTEMS

For input u1 , the system is (u2 = 0)
System response is
(s - 1)
(s - 1)
(s + 2)
=
H1 (s) =
(s - 1) 1
(s + 3)
1+
(s + 2) (s - 1)
Poles of the system is lying at s =- 3 (negative s -plane) so this is stable.
For input u2 the system is (u1 = 0)
System response is
1
(s + 2)
(s - 1)
=
H2 (s) =
1
s
s
1)(s + 3)
(
)
(
1+ 1
(s - 1) (s + 2)
One pole of the system is lying in right half of s -plane, so the system is unstable.
Sol. 36

Given function is.
1
s (s + 1) (s + 2)
1
G (jw) =
jw (1 + jw) (2 + jw)
G (s) =
By simplifying
- jw
1 - jw
2 - jw
1
1
G (jw) = c 1 #
jw - jw mc 1 + jw # 1 - jw mc 2 + jw # 2 - jw m
- jw (2 - w2 - j3w)
j w 1 - j w 2 - jw
=
w2 mc 1 + w2 mc 4 + w2 m
w2 (1 + w2)(4 + w2)
jw (w2 - 2)
- 3w2
= 2
2
2 + 2
w (1 + w ) (4 + w ) w (1 + w2) (4 + w2)
G (jw) = x + iy
x = Re [G (jw)] w " 0 = - 3 =- 3
1#4
4
Let response of the un-compensated system is
900
H UC (s) =
s (s + 1) (s + 9)
Response of compensated system.
= c-
Sol. 37
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HC (s) =
CONTROL SYSTEMS
900
G (s)
s (s + 1) (s + 9) C
Where GC (s) " Response of compensator

Given that gain-crossover frequency of compensated system is same as phase
crossover frequency of un-compensated system
So,
(wg) compensated = (wp) uncompensated
- 180c = +H UC (jwp)
- 180c =- 90c - tan- 1 (wp) - tan- 1 a
wp
9k
J w + wp N
p
9 O
90c = tan KK
2 O
w
K1- p O
9 P
L
w2p
1=0
9
-1
wp = 3 rad/sec.
So,
(wg) compensated = 3 rad/sec.
At this frequency phase margin of compensated system is
fPM = 180c + +HC (jwg)
45c = 180c - 90c - tan- 1 (wg) - tan- 1 (wg /9) + +GC (jwg)
45c = 180c - 90c - tan- 1 (3) - tan- 1 (1/3) + +GC (jwg)
R
1 V
S 3+3 W
-1
45c = 90c - tan S
W + +GC (jwg)
SS1 - 3 b 1 lWW
3
T
X
45c = 90c - 90c + +GC (jwg)
+GC (jwg) = 45c
The gain cross over frequency of compensated system is lower than un-compensated
system, so we may use lag-lead compensator.
At gain cross over frequency gain of compensated system is unity so.
HC (jwg) = 1
900 GC (jwg)
wg
wg2 + 1 wg2 + 81
=1
GC (jwg) = 3 9 + 1 9 + 81 = 3 # 30 = 1
10
900
900
in dB GC (wg) = 20 log b 1 l
10
=- 20 dB (attenuation)
Sol. 38

Characteristic equation for the given system,
K (s + 3)
1+
=0
(s + 8) 2
(s + 8) 2 + K (s + 3) = 0
s2 + (16 + K) s + (64 + 3K) = 0
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CONTROL SYSTEMS
By applying Rouths criteria.

64 + 3K
s2
1
s1
s
16 + K
64 + 3K
For system to be oscillatory

16 + K = 0 & K =- 16
Auxiliary equation A (s) = s2 + (64 + 3K) = 0
&
Sol. 39
s2 + 64 + 3 # (- 16) = 0
s2 + 64 - 48 = 0
s2 =- 16 & jw = 4j
w = 4 rad/sec

From the given block diagram we can obtain signal flow graph of the system.
Transfer function from the signal flow graph is written as
c 0 P + c1 P
s
s2
T.F =
a
Pb
a
0
1
1 + + 2 - 2 0 - Pb1
s
s
s
s
(c 0 + c1 s) P
(s + a1 s + a 0) - P (b 0 + sb1)
(c 0 + c1 s) P
2
^s + a1 s + a 0h
=
P (b + sb1)
1- 2 0
s + a1 s + a 0
from the given reduced form transfer function is given by
T.F = XYP
1 - YPZ
by comparing above two we have
=
X = (c 0 + c1 s)
1
Y = 2
s + a1 s + a 0
Z = (b 0 + sb1)
Sol. 40

For the given system Z is given by
Z = E (s) Ki
s
Where E (s) " steady state error of the system
sR (s)
Here
E (s) = lim
s " 0 1 + G (s) H (s)
Input
R (s) = 1 (Unit step)

s
w2
G (s) = b Ki + K p le 2
s
s + 2xws + w2 o
H (s) = 1 (Unity feed back)
So,
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CONTROL SYSTEMS
R
V
sb 1 l
S
W
s
Wb Ki l
Z = lim S
2
s"0S
K
w
W s
i
S1 + b s + K p l (s2 + 2xws + w2) W
T
X
Ki
= Ki = 1
= lim
2
s"0
w
>s + (Ki + K p s) 2
H Ki
(s + 2xws + w2)
Sol. 41

System response of the given circuit can be obtained as.
1
bCs l
e 0 (s)
H (s) =
=
1
ei (s)
bR + Ls + Cs l
1
b LC l
1
=
H (s) =
LCs2 + RCs + 1
s2 + R s + 1
L
LC
Characteristic equation is given by,
s2 + R s + 1 = 0
L
LC
Here natural frequency wn = 1
LC
2xwn = R
L
Damping ratio
x = R LC = R C
2 L
2L
x = 10
2
So peak overshoot is given by
Here
Sol. 42
Sol. 43
% peak overshoot = e
Option ( ) is correct.
1 # 10- 3 = 0.5 (under damped)

10 # 10- 6
- px
1 - x2
# 100 = e
- p # 0.5
1 - (0.5) 2
# 100 = 16%

In standard form for a characteristic equation give as
sn + an - 1 sn - 1 + ... + a1 s + a 0 = 0
in its state variable representation matrix A is given as
V
R
1
0 g
0 W
S 0
S 0
0
1 g
0 W
A =S
W
Sh h h h h W
S- a 0 - a1 - a2 g - an - 1W
X
Characteristic equation Tof the system is
Sol. 44
4s2 - 2s + 1 = 0
So, a2 = 4, a1 =- 2, a 0 = 1
R 0
1
0 VW RS 0 1 0 VW
S
A =S 0
0
1 W=S 0 0 1 W
SS- a - a - a WW SS- 1 2 - 4WW
0
1
2
X T
X
Option (A) is correct. T
In the given options only in option (A) the nyquist plot does not enclose the unit
circle (- 1, j0), So this is stable.
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Sol. 45
CONTROL SYSTEMS

Given function is,
10 4 (1 + jw)
(10 + jw) (100 + jw) 2
Function can be rewritten as,
10 4 (1 + jw)
H (jw) =
2
10 91 + j w C 10 4 91 + j w C
10
100
H (jw) =
0.1 (1 + jw)
w
w 2
a1 + j 10 ka1 + j 100 k
The system is type 0, So, initial slope of the bode plot is 0 dB/decade.
Corner frequencies are
w1 = 1 rad/sec
w 2 = 10 rad/sec
w 3 = 100 rad/sec
As the initial slope of bode plot is 0 dB/decade and corner frequency w1 = 1 rad/
sec, the Slope after w = 1 rad/sec or log w = 0 is(0 + 20) =+ 20 dB/dec.
After corner frequency w2 = 10 rad/sec or log w2 = 1, the Slope is (+ 20 - 20) = 0
dB/dec.
Similarly after w3 = 100 rad/sec or log w = 2 , the slope of plot is (0 - 20 # 2) =- 40
dB/dec.
Hence (A) is correct option.
Sol. 46

Given characteristic equation.
(s2 - 4) (s + 1) + K (s - 1) = 0
K (s - 1)
or
1+ 2
=0
(s - 4) (s + 1)
So, the open loop transfer function for the system.
K (s - 1)
,
no. of poles n = 3
G (s) =
(s - 2) (s + 2) (s + 1)
no of zeroes m = 1
Steps for plotting the root-locus
(1) Root loci starts at s = 2, s =- 1, s =- 2
(2) n > m , therefore, number of branches of root locus b = 3
(3) Angle of asymptotes is given by
(2q + 1) 180c
, q = 0, 1
n-m
(I)
(2 # 0 + 1) 180c
= 90c
(3 - 1)
(II)
(2 # 1 + 1) 180c
= 270c
(3 - 1)
(4) The two asymptotes intersect on real axis at

/ Poles - / Zeroes = (- 1 - 2 + 2) - (1) =- 1
x =
n-m
3-1
(5) Between two open-loop poles s =- 1 and s =- 2 there exist a break away
point.
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CONTROL SYSTEMS
K =-
(s2 - 4) (s + 1)
(s - 1)
dK = 0
ds
s =- 1.5
Sol. 47

Closed loop transfer function of the given system is,
s2 + 4
T (s) =
(s + 1) (s + 4)
T (jw) =
(jw) 2 + 4
(jw + 1) (jw + 4)
If system output is zero

T (jw) =
4 - w2
=0
^ jw + 1h (jw + 4)
4 - w2 = 0
w2 = 4
& w = 2 rad/sec
Sol. 48

From the given plot we can see that centroid C (point of intersection) where
asymptotes intersect on real axis) is 0
So for option (a)
G (s) = K3
s
/ Poles - / Zeros = 0 - 0 = 0
Centroid =
n-m
3-0
Sol. 49

Open loop transfer function is.
(s + 1)
G (s) =
s2
jw + 1
G (jw) =
- w2
Phase crossover frequency can be calculated as.
+G (jwp) =- 180c
tan- 1 (wp) =- 180c
wp = 0
Gain margin of the system is.
G.M =
Sol. 50
1
G (jwp)
1
=
2
wp + 1
w2p

Characteristic equation for the given system
1 + G (s) H (s) = 0
(1 - s)
1+K
=0
(1 + s)
(1 + s) + K (1 - s) = 0
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w2p
=0
w2p + 1
CONTROL SYSTEMS
s (1 - K) + (1 + K) = 0
For the system to be stable, coefficient of characteristic equation should be of
same sign.
1 - K > 0, K + 1 > 0
K < 1, K > - 1
-1 < K < 1
K <1
Sol. 51

In the given block diagram
Steady state error is given as

ess = lim sE (s)
s"0
E (s) = R (s) - Y (s)

Y (s) can be written as
Y (s) = :"R (s) - Y (s), 3 - R (s)D 2
s
s+2
So,
= R (s) ; 6
- 2 - Y (s) ; 6 E
s (s + 2) s + 2 E
s (s + 2)
6
Y (s) ;1 +
= R (s) ; 6 - 2s E
s (s + 2)E
s (s + 2)
(6 - 2s)
Y (s) = R (s) 2
(s + 2s + 6)
(6 - 2s)
R (s)
E (s) = R (s) - 2
(s + 2s + 6)
2
= R (s) ; 2 s + 4s E
s + 2s + 6
1
For unit step input R (s) =
s
Steady state error ess = lim sE (s)

s"0
(s2 + 4s)
ess = lim =s 1 2
=0
s (s + 2s + 6)G
s"0
Sol. 52
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When it passes through negative real axis at that point phase angle is - 180cSo
+G (jw) H (jw)
=- 180c
- 0.25jw - p =- p
2
- 0.25jw =- p
2
j0.25w = p
2
p
jw=
2 # 0.25
CONTROL SYSTEMS
s = jw = 2p
Put s = 2p in given open loop transfer function we get
- 0.25 # 2p
=- 0.5
G (s) H (s) s = 2p = pe
2p
So it passes through (- 0.5, j0)
Sol. 53

Open loop transfer function of the system is given by.
G (s) H (s) = (K + 0.366s) ; 1 E
s (s + 1)
G (jw) H (jw) =
K + j0.366w
jw (jw + 1)
Phase margin of the system is given as

fPM = 60c = 180c + +G (jwg) H (jwg)
Where wg " gain cross over frequency = 1 rad/sec
0.366wg
So,
- 90c - tan- 1 (wg)
60c = 180c + tan- 1 b
K l
= 90c + tan- 1 b 0.366 l - tan- 1 (1)
K
= 90c - 45c + tan- 1 b 0.366 l
K
15c = tan- 1 b 0.366 l
K
0.366 = tan 15c
K
K = 0.366 = 1.366
0.267
Sol. 54

Given state equation.
Here
o (t) = >0
X
0
0
A =>
0
1
1
X (t) + > H u (t)
- 3H
0
1
1
,B = > H
H
-3
0
State transition matrix is given by,

f (t) = L- 1 [(sI - A) - 1]
s 0
0 1
s -1
[sI - A] = > H - >
=>
H
0 s
0 -3
0 s + 3H
V
R
1 W
S1
1 >s + 3 1H = Ss s (s + 3)W
[sI - A] - 1 =
S0
1 W
s (s + 3) 0 s
S (s + 3) W
X
T
f (t) = L- 1 [(sI - A) - 1]
1
=>
0
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1
3
(1 - e-3t)
H
e-3t
Sol. 55
CONTROL SYSTEMS

State transition equation is given by
X (s) = F (s) X (0) + F (s) BU (s)
Here F (s) " state transition matrix
V
R
1 W
S1
s s (s + 3)W
F (s) = SS
1 W
0
S (s + 3) W
X
X (0) " initial conditionT
-1
X (0) = > H
3
1
B => H
0
V
R
R1
1 W
1 VW
S1
S
s s (s + 3)W - 1 Ss (s + 3) s W 1 1
So
X (s) = SS
1 W> 3 H + S
1 W>0H s
S0 (s + 3) W
S0 s + 3 W
X V
T
X
RT 1
R
3 VW
1
S- +
S
1
s s (s + 3)W 1 1 S- s + 3WW
S
s
+
=
+ >s2 H
=
S 0+ 3
W >0H s
S 3 W
0
S s+3 W
S
s+3 W
X
T
TR
V X
S 12 - 1 W
s + 3W
X (s) = Ss
S
W
3
S s+3 W
T
X
Taking inverse Laplace transform, we get state transition equation as,
t - e- 3t
X (t) = > - 3t H
3e
Sol. 56
Option () is correct
Phase margin of a system is the amount of additional phase lag required to bring
the system to the point of instability or (- 1, j0)
So here phase margin = 0c
Sol. 57

Given transfer function is
F (s) =
5
s (s2 + 3s + 2)
F (s) =
5
s (s + 1) (s + 2)
By partial fraction, we get

5
F (s) = 5 - 5 +
2s s + 1 2 (s + 2)
Taking inverse Laplace of F (s) we have
f (t) = 5 u (t) - 5e- t + 5 e- 2t
2
2
So, the initial value of f (t) is given by
lim f (t) = 5 - 5 + 5 (1) = 0
2
2
t"0
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Sol. 58
CONTROL SYSTEMS

In A.C techo-meter output voltage is directly proportional to differentiation of
rotor displacement.
e (t) \ d [q (t)]
dt
e (t) = Kt
dq (t)
dt
Taking Laplace tranformation on both sides of above equation
Sol. 59
E (s) = Kt sq (s)
So transfer function
E (s)
T.F =
= ^Kt h s
q (s)
Given characteristic equation,
s3 - 4s2 + s + 6 = 0
Applying Rouths method,
s3
s
s1
1
-4
1
6
- 4 - 6 = 2.5
-4
s0
6
There are two sign changes in the first column, so no. of right half poles is 2.
No. of roots in left half of s -plane
= (3 - 2) = 1
Sol. 60

Block diagram of the system is given as.
From the figure we can see that

C (s) = :R (s) 1 + R (s)D 1 + R (s)
s
s
C (s) = R (s) : 12 + 1 + 1D
s
s
2
C (s)
= 1 + s2+ s
R (s)
s
Sol. 61

Characteristic equation is given by,
sI - A = 0
s 0
0 2
s -2
= s2 - 4 = 0
(sI - A) = > H - > H = >
0 s
2 0
-2 s H
s1, s2 = ! 2
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Sol. 62
CONTROL SYSTEMS

For the given system, characteristic equation can be written as,
1 + K (1 + sP) = 0
s (s + 2)
s (s + 2) + K (1 + sP) = 0
s2 + s (2 + KP) + K = 0
From the equation.
wn = K = 5 rad/sec (given)
So,
K = 25
and
2xwn = 2 + KP
2 # 0.7 # 5 = 2 + 25P
P = 0. 2
or
so K = 25 , P = 0.2
Sol. 63

Unit - impulse response of the system is given as,
c (t) = 12.5e- 6t sin 8t , t $ 0
So transfer function of the system.
H (s) = L [c (t)] = 12.52# 8 2
(s + 6) + (8)
100
s2 + 12s + 100
Steady state value of output for unit step input,
H (s) =
lim y (t) = lim sY (s) = lim sH (s) R (s)
t"3
Sol. 64
s"0
s"0
100
1 = 1.0
= lim s ; 2
s"0
s + 12s + 100 E s
System response is.
H (s) = s
s+1
jw
H (jw) =
jw + 1
Amplitude response
w
w+1
Given input frequency w = 1 rad/sec.
1
So
H (jw) w = 1 rad/sec =
= 1
1+1
2
Phase response
H (jw) =
Sol. 65
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qh (w) = 90c - tan- 1 (w)

qh (w) w = 1 = 90c - tan- 1 (1) = 45c
So the output of the system is
y (t) = H (jw) x (t - qh) = 1 sin (t - 45c)
2
Given open loop transfer function
jaw + 1
G (jw) =
(jw) 2
CONTROL SYSTEMS
Gain crossover frequency (wg) for the system.

G (jwg) = 1
a2 wg2 + 1
=1
- wg2
a2 wg2 + 1 = wg4
wg4 - a2 wg2 - 1 = 0
Phase margin of the system is
...(1)
fPM = 45c = 180c + +G (jwg)

45c = 180c + tan- 1 (wg a) - 180c
tan- 1 (wg a) = 45c
Sol. 66
wg a = 1
From equation (1) and (2)
1 -1-1 = 0
a4
a 4 = 1 & a = 0.841
2
Given system equation is.
d 2 x + 6 dx + 5x = 12 (1 - e- 2t)
dt
dt 2
Taking Laplace transform on both side.
s2 X (s) + 6sX (s) + 5X (s) = 12 :1 - 1 D
s s+2
(s2 + 6s + 5) X (s) = 12 ; 2 E
s (s + 2)
System transfer function is
X (s) =
24
s (s + 2) (s + 5) (s + 1)
Response of the system as t " 3 is given by

lim f (t) = lim sF (s) (final value theorem)
t"3
s"0
24
= lim s ;
s"0
s (s + 2) (s + 5) (s + 1)E
=
Sol. 67
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24 = 2.4
2#5

Transfer function of lead compensator is given by.
K a1 + s k
a
H (s) =
s
a1 + b k
R
w V
S1 + j a a kW
H (jw) = K S
W
SS1 + j a w kWW
b
T
X
So, phase response of the compensator is.
qh (w) = tan- 1 a w k - tan- 1 a w k
a
b
(2)
CONTROL SYSTEMS
Jw - wN
w (b - a)
= tan K a b2 O = tan- 1 ;
O
KK
ab + w2 E
1+ w O
ab P
L
qh should be positive for phase lead compensation
w (b - a)
So,
>0
qh (w) = tan- 1 ;
ab + w2 E
-1
b >a
Sol. 68

Since there is no external input, so state is given by
X (t) = f (t) X (0)
f (t) "state transition matrix
X [0] "initial condition
e- 2t 0 2
So
x (t) = >
H> H
0 e- t 3
2e- 2t
x (t) = > - t H
3e
At t = 1, state of the system
0.271
2e- 2
x (t) t = 1 = > - 1H = >
1.100H
2e
Sol. 69

Given equation
d2 x + 1 dx + 1 x = 10 + 5e- 4t + 2e- 5t
dt2 2 dt 18
Taking Laplace on both sides we have
s2 X (s) + 1 sX (s) + 1 X (s) = 10 + 5 + 2
s
2
18
s+4 s+5
10 (s + 4) (s + 5) + 5s (s + 5) + 2s (s + 4)
(s2 + 1 s + 1 ) X (s) =
2
18
s (s + 4) (s + 5)
System response is,
10 (s + 4) (s + 5) + 5s (s + 5) + 2s (s + 4)
X (s) =
s (s + 4) (s + 5) bs2 + 1 s + 1 l
2
18
=
10 (s + 4) (s + 5) + 5s (s + 5) + 2s (s + 4)
s (s + 4) (s + 5) bs + 1 lbs + 1 l
3
6
We know that for a system having many poles, nearness of the poles towards
imaginary axis in s -plane dominates the nature of time response. So here time
constant given by two poles which are nearest to imaginary axis.
Poles nearest to imaginary axis
s1 =- 1 , s2 =- 1
3
6
So, time constants )
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t1 = 3 sec
t2 = 6 sec
Sol. 70
CONTROL SYSTEMS

Steady state error for a system is given by
sR (s)
ess = lim
s " 0 1 + G (s) H (s)
Where input R (s) = 1 (unit step)
s
G (s) = b 3 lb 15 l
s + 15 s + 1
H (s) = 1
(unity feedback)
sb 1 l
s
= 15
ess = lim
= 15
60
45
+
45
15
s"0
1+
(s + 15) (s + 1)
So
Sol. 71
%ess = 15 # 100 = 25%

60
Characteristic equation is given by
1 + G (s) H (s) = 0
H (s) = 1
Here
(unity feedback)
G (s) = b 3 lb 15 l
s + 15 s + 1
1 + b 3 lb 15 l = 0
s + 15 s + 1
So,
(s + 15) (s + 1) + 45 = 0
s2 + 16s + 60 = 0
(s + 6) (s + 10) = 0
s =- 6, - 10
Sol. 72

Given equation can be written as,
d 2 w =- b dw - K 2 w + K V
LJ a
J dt LJ
dt 2
Here state variables are defined as,
dw = x
1
dt
w = x2
So state equation is
In matrix form
So matrix P is
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2
xo1 =- B x1 - K x2 + K Va
J
LJ
LJ
dw
= x1
xo2 =
dt
K/LJ
xo1
- B/J - K 2 /LJ x1
>o H = >
>x H + > 0 H Va
H
x2
1
0
2
R 2 V
Sd w
W
S dt2 W = P >dwH + QVa
dt
S dw W
S dt W
T
X
CONTROL SYSTEMS
- B/J - K 2 /LJ
> 1
H
0
Sol. 73

Characteristic equation of the system is given by
1 + GH = 0
K
=0
1+
s (s + 2) (s + 4)
s (s + 2)(s + 4) + K = 0
s3 + 6s2 + 8s + K = 0
Applying rouths criteria for stability
s3
8
K
s1
6
K - 48
6
s0
Sol. 74
System becomes unstable if K - 48 = 0 & K = 48

6
The maximum error between the exact and asymptotic plot occurs at corner
frequency.
Here exact gain(dB) at w = 0.5a is given by
2
1 + w2
a
(0.5a) 2 1/2
= 20 log K - 20 log ;1 +
E
a2
= 20 log K - 0.96
Gain(dB) calculated from asymptotic plot at w = 0.5a is
gain(dB) w = 0.5a = 20 log K - 20 log
= 20 log K
Error in gain (dB)
= 20 log K - (20 log K - 0.96) dB = 0.96 dB
Similarly exact phase angle at w = 0.5a is.
qh (w) w = 0.5a =- tan- 1 a w k =- tan- 1 b 0.5a l =- 26.56c
a
a
Phase angle calculated from asymptotic plot at (w = 0.5a) is - 22.5c
Error in phase angle
=- 22.5 - (- 26.56c) = 4.9c
Sol. 75

Given block diagram
Given block diagram can be reduced as
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CONTROL SYSTEMS
^ s1 h
= 1
s+3
1 + ^ s1 h3
1
bs l
G2 =
= 1
s + 12
1
1 + b l 12
s
Further reducing the block diagram.
Where
G1 =
2G 1 G 2
1 + (2G1 G2) 9
(2) b 1 lb 1 l
s + 3 s + 12
=
1 + (2) b 1 lb 1 l (9)
s + 3 s + 12
Y (s) =
2
2
= 2
(s + 3) (s + 12) + 18
s + 15s + 54
2
1
=
=
s
(s + 9) (s + 6)
27 a1 + ka1 + s k
9
6
=
***********
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