Professional Documents
Culture Documents
Control Systems
Control Systems
CONTROL SYSTEMS
YEAR 2012
MCQ 6.1
MCQ 6.2
TWO MARKS
(D) a1 ! 0, a2 ! 0, a 3 = 0
MCQ 6.3
MCQ 6.4
(D) a = 3, b = 1
6 rad/s
(D) 1/ 3 rad/s
ISBN: 9788192276243
www.gatehelp.com
PAGE 314
CONTROL SYSTEMS
CHAP 6
YEAR 2011
MCQ 6.5
1.3
+G (j) 130c
MCQ 6.6
MCQ 6.7
ONE MARK
1.2
1.0
0.8
0.5
0.3
140c
150c
160c
180c
200c
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
(B) 0.1
(C) 1
(D) 10
YEAR 2011
MCQ 6.8
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
GATE Previous Year Solved Paper By RK Kanodia & Ashish Murolia
Published by: NODIA and COMPANY
ISBN: 9788192276243
www.gatehelp.com
CHAP 6
CONTROL SYSTEMS
PAGE 315
-plane
(B) One real root is found on the right half of the s -plane
(C) The root loci cross the j axis for a finite value of K; K ! 0
(D) Three real roots are found on the right half of the s -plane
MCQ 6.9
TWO MARKS
1
The frequency response of G (s) =
plotted in the complex
s (s + 1) (s + 2)
G (j) plane (for 0 < < 3) is
ISBN: 9788192276243
www.gatehelp.com
PAGE 316
MCQ 6.11
MCQ 6.12
CONTROL SYSTEMS
CHAP 6
The
characteristic
equation
of
a
closed-loop
system
is
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.
YEAR 2009
MCQ 6.13
MCQ 6.14
ONE MARK
(A) 1 + 2 + 1
3
(B) 1 2
3
(C) 1 + 2 3
(D) 1 + 2 + 3
The polar plot of an open loop stable system is shown below. The closed
loop system is
ISBN: 9788192276243
www.gatehelp.com
CHAP 6
MCQ 6.15
CONTROL SYSTEMS
PAGE 317
The first two rows of Rouths tabulation of a third order equation are as
follows.
s3 2 2
s2 4 4
This means there are
(A) Two roots at s = ! j and one root in right half s -plane
(B) Two roots at s = ! j2 and one root in left half s -plane
(C) Two roots at s = ! j2 and one root in right half s -plane
(D) Two roots at s = ! j and one root in left half s -plane
MCQ 6.16
(A)
10 (s + 5)
s (s + 2) (s + 25)
(C)
100 (s + 5)
s (s + 2) (s + 25)
1000 (s + 5)
s (s + 2) (s + 25)
80 (s + 5)
(D) 2
s (s + 2) (s + 25)
(B)
YEAR 2009
MCQ 6.17
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
(B) 2
(C) 4
(D) 6
ISBN: 9788192276243
www.gatehelp.com
PAGE 318
MCQ 6.18
CONTROL SYSTEMS
CHAP 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
(A) 11.95 dB
(B) 17.67 dB
(C) 21.33 dB
(D) 23.9 dB
MCQ 6.20
e 3t e - 2t e - 3t
(D) =
G
0
e - 2t
YEAR 2008
MCQ 6.21
ONE MARK
(D) e - t u (t)
YEAR 2008
MCQ 6.22
TWO MARK
ISBN: 9788192276243
www.gatehelp.com
CHAP 6
CONTROL SYSTEMS
PAGE 319
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
MCQ 6.23
(D) 2
MCQ 6.24
MCQ 6.25
ISBN: 9788192276243
www.gatehelp.com
PAGE 320
CONTROL SYSTEMS
CHAP 6
The system is
(A) An over damped system
MCQ 6.27
MCQ 6.28
s
(s 2)
(D)
1
s (s + 2)
For a unit step input r (t), the steady state error in the input will be
(A) 0
(B) 1
(C) 2
(D) 3
YEAR 2007
MCQ 6.29
ONE MARK
(A) Stable
(B) Unstable
(C) Conditionally stable
(D) Stable for input u1 , but unstable for input u2
GATE Previous Year Solved Paper By RK Kanodia & Ashish Murolia
Published by: NODIA and COMPANY
ISBN: 9788192276243
www.gatehelp.com
CHAP 6
CONTROL SYSTEMS
PAGE 321
YEAR 2007
MCQ 6.30
If x = Re [G (j)], and y = Im [G (j)] then for " 0+ , the Nyquist plot for
G (s) = 1/s (s + 1) (s + 2) is
(B) x = 3/4
(A) x = 0
(C) x = y 1/6
MCQ 6.31
TWO MARKS
(D) x = y/ 3
MCQ 6.32
If the loop gain K of a negative feed back system having a loop transfer
function K (s + 3) / (s + 8) 2 is to be adjusted to induce a sustained oscillation
then
(A) The frequency of this oscillation must be 4 3 rad/s
(B) The frequency of this oscillation must be 4 rad/s
(C) The frequency of this oscillation must be 4 or 4 3 rad/s
(D) Such a K does not exist
MCQ 6.33
ISBN: 9788192276243
www.gatehelp.com
PAGE 322
CONTROL SYSTEMS
CHAP 6
with
(A) X = c0 s + c1, Y = 1/ (s2 + a0 s + a1), Z = b0 s + b1
(B) X = 1, Y = (c0 s + c1) / (s2 + a0 s + a1), Z = b0 s + b1
(C) X = c1 s + c0, Y = (b1 s + b0) / (s2 + a1 s + a0), Z = 1
(D) X = c1 s + c0, Y = 1/ (s2 + a1 s + a), Z = b1 s + b0
MCQ 6.34
(A) 1
(B) 0.25
(C) 0.1
(D) 0
Data for Q.35 and Q.36 are given below. Solve the problems and
choose the correct answers.
R-L-C circuit shown in figure
MCQ 6.35
MCQ 6.36
(D) 48 %
ISBN: 9788192276243
www.gatehelp.com
CHAP 6
CONTROL SYSTEMS
PAGE 323
YEAR 2006
MCQ 6.37
ONE MARK
MCQ 6.38
TWO MARKS
ISBN: 9788192276243
www.gatehelp.com
PAGE 324
MCQ 6.39
MCQ 6.40
CONTROL SYSTEMS
CHAP 6
10 4 (1 + j)
The Bode magnitude plot H (j) =
is
(10 + j) (100 + j) 2
A
closed-loop
system
has
the
characteristic
2
(s 4) (s + 1) + K (s 1) = 0 . Its root locus plot against K is
ISBN: 9788192276243
function
www.gatehelp.com
CHAP 6
CONTROL SYSTEMS
PAGE 325
YEAR 2005
MCQ 6.41
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
(A) 0.5 rad/sec
(B) 1 rad/sec
(C) 2 rad/sec
MCQ 6.42
(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
MCQ 6.43
ONE MARK
K
s2 (s + 1)
K
K
(C)
(D)
s (s2 + 1)
s (s2 1)
The gain margin of a unity feed back control system with the open loop
(s + 1)
is
transfer function G (s) =
s2
(A) 0
(B) 1
2
(C) 2
(D) 3
(B)
ISBN: 9788192276243
www.gatehelp.com
PAGE 326
CONTROL SYSTEMS
CHAP 6
YEAR 2005
MCQ 6.44
TWO MARKS
MCQ 6.45
MCQ 6.46
(A) K > 1
(B) K > 1
(C) 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
(A) 1.0
(B) 0.5
(C) 0
(D) 0.5
In the G (s) H (s)-plane, the Nyquist plot of the loop transfer function
G (s) H (s) = es passes through the negative real axis at the point
(B) ( 0.5, j0)
(A) ( 0.25, j0)
-0.25s
(C) 0
MCQ 6.47
(D) 0.5
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
(A) 0.366
(B) 0.732
(C) 1.366
(D) 2.738
Data for Q.48 and Q.49 are given below. Solve the problem and choose
the correct answer.
0 1
1
X (t) + = Gu (t) with the initial
G
0 3
0
T
condition X (0) = [ 1, 3] and the unit step input u (t) has
A state variable system Xo (t) = =
ISBN: 9788192276243
www.gatehelp.com
CHAP 6
MCQ 6.48
CONTROL SYSTEMS
MCQ 6.49
1
3
(e3 t e 3t)
H
e 3t
PAGE 327
1
(B) >
0
1
(D) >
0
1
3
(e t e 3t)
H
e t
(1 e t)
H
e t
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
MCQ 6.50
The Nyquist plot of loop transfer function G (s) H (s) of a closed loop control
system passes through the point ( 1, j 0) in the G (s) H (s)plane. The phase
margin of the system is
(A) 0c
(B) 45c
(C) 90c
MCQ 6.51
(D) 180c
MCQ 6.52
ONE MARK
5
3
(D) 0
(D) Kt
YEAR 2004
MCQ 6.53
TWO MARKS
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
ISBN: 9788192276243
www.gatehelp.com
PAGE 328
MCQ 6.54
MCQ 6.55
MCQ 6.56
MCQ 6.57
CONTROL SYSTEMS
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)
(C) 2 and 2
(D) + 2 and + 2
1
s +s+1
o = AX
The state variable description of a linear autonomous system is, X
where X is the two dimensional state vector and A is the system matrix
0 2
given by A = =
. The roots of the characteristic equation are
2 0G
(A) 2 and + 2
(B) j2 and + j2
2
The block diagram of a closed loop control system is given by figure. The
values of K and P such that the system has a damping ratio of 0.7 and an
undamped natural frequency n of 5 rad/sec, are respectively equal to
MCQ 6.58
CHAP 6
(D) 1.0
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
(B)
1 sin (t + 45c)
2
ISBN: 9788192276243
www.gatehelp.com
CHAP 6
CONTROL SYSTEMS
PAGE 329
The open loop transfer function of a unity feedback control system is given
as
1.
G (s) = as +
2
s
The value of a to give a phase margin of 45c is equal to
(A) 0.141
(B) 0.441
(C) 0.841
(D) 1.141
YEAR 2003
MCQ 6.60
MCQ 6.61
(D) x = 2
A lead compensator used for a closed loop controller has the following
transfer function
K (1 + as )
(1 + bs )
For such a lead compensator
(B) b < a
(A) a < b
(C) a > Kb
MCQ 6.62
ONE MARK
(D) a < Kb
2
A second order system starts with an initial condition of = G without any
3
e - 2t 0
external input. The state transition matrix for the system is given by =
G
0 e-t
. The state of the system at the end of 1 second is given by
0.271
0.135
(A) =
(B) =
G
1.100
0.368G
0.271
(C) =
0.736G
0.135
(D) =
1.100 G
YEAR 2003
MCQ 6.63
TWO MARKS
ISBN: 9788192276243
www.gatehelp.com
PAGE 330
CONTROL SYSTEMS
CHAP 6
MCQ 6.65
MCQ 6.66
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%
(B) 0.75 %
(C) 6%
(D) 33%
The roots of the closed loop characteristic equation of the system shown
above (Q-5.55)
(A) 1 and 15
(B) 6 and 10
(C) 4 and 15
(D) 6 and 10
S dt W
Where Tthe PX matrix is given by
K
K
BJ LJ
LJ
BJ
(A) =
(B) =
G
G
1
0
0
1
2
0
1
(C) = K B G
LJ
J
2
MCQ 6.67
1
0
(D) = B K G
J
LJ
2
The loop gain GH of a closed loop system is given by the following expression
K
s (s + 2) (s + 4)
The value of K for which the system just becomes unstable is
GATE Previous Year Solved Paper By RK Kanodia & Ashish Murolia
Published by: NODIA and COMPANY
ISBN: 9788192276243
www.gatehelp.com
CHAP 6
MCQ 6.68
MCQ 6.69
CONTROL SYSTEMS
PAGE 331
(A) K = 6
(B) K = 8
(C) K = 48
(D) K = 96
(B) 5.7c, 3 dB
(C) 4.9c, 3 dB
1
18`1 + s j`1 + s j
12
3
1
(C)
s
27`1 + j`1 + s j
12
9
(A)
1
27`1 + s j`1 + s j
6
9
1
(D)
s
27`1 + j`1 + s j
9
3
(B)
YEAR 2002
MCQ 6.70
ONE MARK
The state transition matrix for the system Xo = AX with initial state X (0)
is
(A) (sI A) - 1
GATE Previous Year Solved Paper By RK Kanodia & Ashish Murolia
Published by: NODIA and COMPANY
ISBN: 9788192276243
www.gatehelp.com
PAGE 332
CONTROL SYSTEMS
CHAP 6
TWO MARKS
2 3
1
For the system Xo = =
X + = Gu , which of the following statements is true
G
0 5
0
?
(A) The system is controllable but unstable
(B) The system is uncontrollable and unstable
(C) The system is controllable and stable
(D) The system is uncontrollable and stable
MCQ 6.72
MCQ 6.73
MCQ 6.74
A unity feedback system has an open loop transfer function, G (s) = K2 . The
s
root locus plot is
ISBN: 9788192276243
www.gatehelp.com
CHAP 6
CONTROL SYSTEMS
(C) 2e 4t
PAGE 333
(D) 4e 4t
MCQ 6.75
MCQ 6.76
MCQ 6.77
ISBN: 9788192276243
www.gatehelp.com
PAGE 334
MCQ 6.78
MCQ 6.79
MCQ 6.80
CONTROL SYSTEMS
CHAP 6
(B) 10
3
(C) 4
(D) 8
YEAR 2001
MCQ 6.81
ONE MARK
The polar plot of a type-1, 3-pole, open-loop system is shown in Figure The
closed-loop system is
3 1
Given the homogeneous state-space equation xo = =
x the steady state
0 2G
value of xss = lim x (t), given the initial state value of x (0) = 810 10B
t"3
0
(A) xss = = G
0
3
(B) xss = = G
2
10
(C) xss = =
10 G
3
(D) xss = = G
3
YEAR 2001
MCQ 6.83
is
TWO MARKS
ISBN: 9788192276243
www.gatehelp.com
CHAP 6
CONTROL SYSTEMS
PAGE 335
of a minimum phase system with real poles and one zero is shown in Figure.
Its transfer functions is
(A)
20 (s + 5)
s (s + 2) (s + 25)
(C)
20 (s + 5)
s (s + 2) (s + 25)
2
10 (s + 5)
(s + 2) 2 (s + 25)
50 (s + 5)
(D) 2
s (s + 2) (s + 25)
(B)
MCQ 6.84
MCQ 6.85
MCQ 6.86
MCQ 6.87
MCQ 6.88
(D) 10 dB
(B) 36.86c
(C) 36.86c
(D) 90c
(B) 6.02 dB
(C) 13.97 dB
The system is
(A) Stable
(B) Un-stable
ISBN: 9788192276243
www.gatehelp.com
PAGE 336
CONTROL SYSTEMS
CHAP 6
************
ISBN: 9788192276243
www.gatehelp.com
CHAP 6
CONTROL SYSTEMS
PAGE 337
SOLUTION
SOL 6.1
SOL 6.2
ISBN: 9788192276243
www.gatehelp.com
PAGE 338
CONTROL SYSTEMS
CHAP 6
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)
s2 =
(k + 1)
s = j k+2
j = j k + 2
= k+2 = 2
(Oscillation frequency)
k =2
and
a = 2 + 1 = 3 = 0.75
2+2 4
SOL 6.3
SOL 6.4
ISBN: 9788192276243
www.gatehelp.com
CHAP 6
CONTROL SYSTEMS
PAGE 339
1/a
1/b
d
=
=0
2
2
d
1 +a k 1 +ak
a
b
2
2
1 + = 1+1
a ab2
b b a2
1 1 = 2 1 1
a b
ab b a b l
= ab = 1 # 2 =
SOL 6.5
2 rad/ sec
SOL 6.6
ISBN: 9788192276243
www.gatehelp.com
PAGE 340
CONTROL SYSTEMS
CHAP 6
(1 es)
s # 10
10 (1 e0)
s
=
el
=
=0
lim
ss
1+9
s"0
1 + G (s)
SOL 6.7
SOL 6.8
ISBN: 9788192276243
www.gatehelp.com
CHAP 6
CONTROL SYSTEMS
PAGE 341
Three roots with nearly equal parts exist on the left half of s -plane.
SOL 6.9
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
s2 + 2n s + n2 = 0
We get
= 1+K
2
Peak overshoot
M p = e /
1 2
1
s (s + 1) (s + 2)
1
G (j) =
j (j + 1) (j + 2)
G (s) =
ISBN: 9788192276243
www.gatehelp.com
PAGE 342
CONTROL SYSTEMS
CHAP 6
1
2 + 1 2 + 4
+G (j) = 90c tan 1 () tan 1 (/2)
In nyquist plot
For = 0, G (j) = 3
G (j) =
+G (j) = 90c
For = 3, G (j) = 0
+G (j) = 90c 90c 90c = 270c
Intersection at real axis
1
1
G (j) =
=
2
j (j + 1) (j + 2)
j ( + j3 + 2)
32 j (2 2)
1
2 #
3 + j (2 ) 32 j (2 2)
32 j (2 2)
=
94 + 2 (2 2) 2
2
j (2 2)
= 4 23
9 + (2 2) 2 94 + 2 (2 2) 2
=
At real axis
Im [G (j)] = 0
(2 2)
So,
=0
94 + 2 (2 2)
2 2 = 0 & = 2 rad/sec
At = 2 rad/sec, magnitude response is
1
G (j) at = 2 =
=1<3
6 4
2 2+1 2+4
SOL 6.11
ISBN: 9788192276243
www.gatehelp.com
CHAP 6
CONTROL SYSTEMS
PAGE 343
0 2
[B: AB] = > H
1 2
Y 0
6B: AB@ =
So it is controllable.
SOL 6.12
K>0
s3
3+K
s2
2K
s1
4 (3 + K) 2K (1) 12 + 2K
=
>0
4
4
s0
2K
There is no sign change in the first column of routh table, so no root is lying
in right half of s -plane.
For plotting root locus, the equation can be written as
K (s + 2)
=0
1+
s (s + 1) (s + 3)
Open loop transfer function
G (s) =
K (s + 2)
s (s + 1) (s + 3)
No. of Zeroes m = 1, at s = 2
3.
4.
Breakaway point lies between open loop poles of the system. Here
breakaway point lies in the range 1 < Re [s] < 0 .
5.
nm
(0 1 3) ( 2)
=
31
ISBN: 9788192276243
www.gatehelp.com
PAGE 344
CONTROL SYSTEMS
CHAP 6
= 1
As no. of poles is 3, so two root loci branches terminates at infinity along
asymptotes Re (s) = 1
SOL 6.13
SOL 6.14
s2
s1
ISBN: 9788192276243
www.gatehelp.com
CHAP 6
CONTROL SYSTEMS
PAGE 345
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 6.16
3.
Transfer function
K (s + 5)
s (s + 2) (s + 25)
Constant term can be obtained as.
T (s) =
T (j) at = 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 6.17
ISBN: 9788192276243
www.gatehelp.com
PAGE 346
CONTROL SYSTEMS
CHAP 6
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 6.18
j0.1
0.1p = 90c #
180c
p = 15.7 rad/sec
1
So the gain margin (dB)
= 20 log e
= 20 log
G (jp) o
>
1
1
b 15.7 l H
Similarly
sX1 (s)
(s + 3) X1 (s)
sX2 (s)
(s + 2) X2 (s)
ISBN: 9788192276243
...(1)
...(2)
www.gatehelp.com
CHAP 6
CONTROL SYSTEMS
PAGE 347
Y (s) = X1 (s)
Y (s) = U (s)
So,
(2s + 5)
(s + 2) (s + 3)
SOL 6.21
ISBN: 9788192276243
www.gatehelp.com
PAGE 348
CONTROL SYSTEMS
CHAP 6
1
s+1
1
s + 3s + 2
2
r (t) = (t 1)
R (s) = L [ (t 1)] = e s
Output is given by
s
Y (s) = R (s) G (s) = 2 e
s + 3s + 2
Steady state value of output
s
lim y (t) = lim sY (s) = lim 2 se
=0
t"3
s"0
s " 0 s + 3s + 2
Input
SOL 6.23
1+
10 P
Similarly for C2 , phase is
L
C2 = tan 1 a k tan 1 ()
10
J N
1 K 10
O = tan 1 9 < 0 (Phase lag)
= tan
2
c 10 + 2 m
KK
O
1+ O
10 P
L
Option (C) is correct.
From the given bode plot we can analyze that:
1. Slope 40 dB/decade"2 poles
1
SOL 6.24
2.
3.
ISBN: 9788192276243
www.gatehelp.com
CHAP 6
SOL 6.25
CONTROL SYSTEMS
PAGE 349
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 6.26
or
s2 + 20s + 100 = 0
n2 = 100 & n = 10 rad/sec.
2n = 20
= 20 = 1
2 # 10
ISBN: 9788192276243
www.gatehelp.com
PAGE 350
CONTROL SYSTEMS
So
CHAP 6
` Y (s) = CX (s)
Y (s) = C (sI A) 1 BU (s)
Y (s)
= C (sI A) 1 B
T.F =
U (s)
s 0
0 1
s 1
=>
(sI A) = > H >
H
0 s
0 2
0 s + 2H
R
V
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
T
X
Transfer function
V
V
R
R
1 W
S 1 W
S1
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
S (s + 2) W
S0 (s + 2) W
X
X
T
T
1
=
s (s + 2)
SOL 6.28
Here
SOL 6.29
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)
System response is
ISBN: 9788192276243
www.gatehelp.com
CHAP 6
CONTROL SYSTEMS
PAGE 351
(s 1)
(s + 2)
(s 1)
H1 (s) =
=
(s 1) 1
(s + 3)
1+
(s + 2) (s 1)
Poles of the system is lying at s = 3 (negative s -plane) so this is stable.
For input u2 the system is (u1 = 0)
System response is
1
(s 1)
(s + 2)
H2 (s) =
=
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 6.30
By simplifying
1 j
2 j
j
1
1
G (j) = c 1 #
j j mc 1 + j # 1 j mc 2 + j # 2 j m
j (2 2 j3)
j 1 j 2 j
=
2 mc 1 + 2 mc 4 + 2 m
2 (1 + 2) (4 + 2)
j (2 2)
32
= 2
+
(1 + 2) (4 + 2) 2 (1 + 2) (4 + 2)
G (j) = x + iy
x = Re [G (j)] " 0 = 3 = 3
1#4
4
= c
SOL 6.31
ISBN: 9788192276243
www.gatehelp.com
PAGE 352
CONTROL SYSTEMS
CHAP 6
p
9k
J + p N
p
9 O
90c = tan KK
2 O
K1 p O
9 P
L
2p
1
=0
9
1
p = 3 rad/sec.
So,
(g) compensated = 3 rad/sec.
At this frequency phase margin of compensated system is
PM = 180c + +HC (jg)
45c = 180c 90c tan 1 (g) tan 1 (g /9) + +GC (jg)
45c = 180c 90c tan 1 (3) tan 1 (1/3) + +GC (jg)
R
1 V
3
+
S
3 WW + +GC (jg)
45c = 90c tan 1 S
SS1 3 b 1 lWW
3
45c = 90c 90c +T+GC (jgX)
+GC (jg) = 45c
The gain cross over frequency of compensated system is lower than uncompensated system, so we may use lag-lead compensator.
At gain cross over frequency gain of compensated system is unity so.
HC (jg) = 1
900 GC (jg)
=1
g2 + 1 g2 + 81
GC (jg) = 3 9 + 1 9 + 81 = 3 # 30 = 1
900
10
900
in dB GC (g) = 20 log b 1 l
10
ISBN: 9788192276243
www.gatehelp.com
CHAP 6
CONTROL SYSTEMS
PAGE 353
= 20 dB (attenuation)
SOL 6.32
64 + 3K
s1
16 + K
s0
64 + 3K
SOL 6.33
s2 + 64 + 3 # ( 16) = 0
s2 + 64 48 = 0
s2 = 16 & j = 4j
= 4 rad/sec
ISBN: 9788192276243
www.gatehelp.com
PAGE 354
SOL 6.34
CONTROL SYSTEMS
CHAP 6
So,
SOL 6.35
R
V
sb 1 l
S
W
s
Wb Ki l
Z = lim S
2
s"0S
K
W s
i
S1 + b s + K p l (s2 + 2s + 2) W
T
X
Ki
= lim
= Ki = 1
2
s"0
>s + (Ki + K p s) 2
H Ki
(s + 2s + 2)
1
b LC l
1
=
LCs2 + RCs + 1
s2 + R s + 1
L
LC
= 10
2
C
L
ISBN: 9788192276243
www.gatehelp.com
CHAP 6
CONTROL SYSTEMS
PAGE 355
1 2
# 100 = e
# 0.5
1 (0.5) 2
# 100 = 16%
SOL 6.36
Option ( ) is correct.
SOL 6.37
SOL 6.38
SOL 6.39
4
10 91 + j C 10 91 + j
a1 + j 10 ka1 + j 100 k
10
100 C
The system is type 0, So, initial slope of the bode plot is 0 dB/decade.
Corner frequencies are
1 = 1 rad/sec
2 = 10 rad/sec
3 = 100 rad/sec
As the initial slope of bode plot is 0 dB/decade and corner frequency 1 = 1
GATE Previous Year Solved Paper By RK Kanodia & Ashish Murolia
Published by: NODIA and COMPANY
ISBN: 9788192276243
www.gatehelp.com
PAGE 356
CONTROL SYSTEMS
CHAP 6
(2 # 0 + 1) 180c
= 90c
(3 1)
(II)
(2 # 1 + 1) 180c
= 270c
(3 1)
ISBN: 9788192276243
www.gatehelp.com
CHAP 6
CONTROL SYSTEMS
T (j) =
PAGE 357
(j) 2 + 4
(j + 1) (j + 4)
SOL 6.43
/ Poles / Zeros = 0 0 = 0
nm
30
+G (jp) = 180c
tan 1 (p) = 180c
p = 0
Gain margin of the system is.
G.M =
SOL 6.44
1
G (jp)
1
=
2p + 1
2p
2p
=0
2p + 1
ISBN: 9788192276243
www.gatehelp.com
PAGE 358
CONTROL SYSTEMS
CHAP 6
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 6.45
6
= R (s) ; 6 2s E
s (s + 2)E
s (s + 2)
(6 2s)
(s + 2s + 6)
(6 2s)
So,
E (s) = R (s) 2
R (s)
(s + 2s + 6)
2
= R (s) ; 2 s + 4s E
s + 2s + 6
For unit step input R (s) = 1
s
Y (s) = R (s)
(s2 + 4s)
ess = lim =s 1 2
=0
s (s + 2s + 6)G
s"0
ISBN: 9788192276243
www.gatehelp.com
CHAP 6
SOL 6.46
CONTROL SYSTEMS
PAGE 359
2 # 0.25
s = j = 2
Put s = 2 in given open loop transfer function we get
0.25 # 2
= 0.5
G (s) H (s) s = 2 = e
2
So it passes through ( 0.5, j0)
SOL 6.47
K + j0.366
j (j + 1)
ISBN: 9788192276243
www.gatehelp.com
PAGE 360
SOL 6.48
CONTROL SYSTEMS
CHAP 6
SOL 6.49
1
3
(1 e3t)
H
e3t
So
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
X (s) = SS
1 W> 3 H + S
1 W>0H s
0
0
S (s + 3) W
S
s+3 W
X V
T
X V
TR
R
1
3
1
S +
W
1
s s (s + 3)W 1 1 SS s + 3WW
s
=S
+
=
+
s
> 2H
S 0+ 3
W >0H s
S 3 W
0
S s+3 W
S
s+3 W
T
X
T
X
ISBN: 9788192276243
www.gatehelp.com
CHAP 6
CONTROL SYSTEMS
PAGE 361
R
V
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 6.50
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 6.51
5
s (s + 1) (s + 2)
d (t)
dt
ISBN: 9788192276243
www.gatehelp.com
PAGE 362
SOL 6.53
CONTROL SYSTEMS
CHAP 6
s2
s1
4 6 = 2.5
4
6
s0
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 6.54
SOL 6.56
ISBN: 9788192276243
www.gatehelp.com
CHAP 6
CONTROL SYSTEMS
1+
PAGE 363
K (1 + sP) = 0
s (s + 2)
s (s + 2) + K (1 + sP) = 0
s2 + s (2 + KP) + K = 0
From the equation.
n = K = 5 rad/sec (given)
So,
K = 25
and
2n = 2 + KP
2 # 0.7 # 5 = 2 + 25P
or
P = 0.2
so K = 25 , P = 0.2
SOL 6.57
t"3
s"0
s"0
100
1 = 1.0
= lim s ; 2
E
s
s"0
s + 12s + 100
SOL 6.58
Amplitude response
+1
Given input frequency = 1 rad/sec.
1
So
H (j) = 1 rad/sec =
= 1
1+1
2
Phase response
H (j) =
h () = 90c tan 1 ()
h () = 1 = 90c tan 1 (1) = 45c
GATE Previous Year Solved Paper By RK Kanodia & Ashish Murolia
Published by: NODIA and COMPANY
ISBN: 9788192276243
www.gatehelp.com
PAGE 364
CONTROL SYSTEMS
CHAP 6
...(1)
24
s (s + 2) (s + 5) (s + 1)
s"0
ISBN: 9788192276243
(2)
www.gatehelp.com
CHAP 6
CONTROL SYSTEMS
PAGE 365
24
= lim s ;
s"0
s (s + 2) (s + 5) (s + 1)E
=
SOL 6.61
24 = 2.4
2#5
b >a
SOL 6.62
SOL 6.63
ISBN: 9788192276243
www.gatehelp.com
PAGE 366
CONTROL SYSTEMS
CHAP 6
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,
X (s) =
10 (s + 4) (s + 5) + 5s (s + 5) + 2s (s + 4)
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 )
SOL 6.64
1 = 3 sec
2 = 6 sec
So
SOL 6.65
ISBN: 9788192276243
www.gatehelp.com
CHAP 6
CONTROL SYSTEMS
Here
So,
PAGE 367
H (s) = 1
(unity feedback)
G (s) = b 3 lb 15 l
s + 15 s + 1
1 + b 3 lb 15 l = 0
s + 15 s + 1
(s + 15) (s + 1) + 45 = 0
s2 + 16s + 60 = 0
(s + 6) (s + 10) = 0
s = 6, 10
SOL 6.66
SOL 6.67
ISBN: 9788192276243
www.gatehelp.com
PAGE 368
CONTROL SYSTEMS
CHAP 6
s1
s0
K 48
6
K
SOL 6.69
ISBN: 9788192276243
www.gatehelp.com
CHAP 6
CONTROL SYSTEMS
Where
G1 =
G2 =
1
bs l
3
1 + b1l
s
1
bs l
1 + b 1 l 12
s
PAGE 369
1
s+3
1
s + 12
2G1 G2
1 + (2G1 G2) 9
(2) b 1 lb 1 l
s + 3 s + 12
=
1 + (2) b 1 lb 1 l (9)
s + 3 s + 12
2
2
= 2
=
(s + 3) (s + 12) + 18
s + 15s + 54
1
2
=
=
s
(s + 9) (s + 6)
27 a1 + ka1 + s k
9
6
Y (s) =
SOL 6.70
SOL 6.71
1
2 3
A = > H, B = > H
0
0 5
ISBN: 9788192276243
www.gatehelp.com
PAGE 370
CONTROL SYSTEMS
CHAP 6
2 3 1
2
AB = > H> H = > H
0 5 0
0
1 2
U = [B : AB] = > H
0 0
U = (1 # 0 2 # 0) = 0
Matrix U is singular, so the system is uncontrollable.
Check for Stability:
Characteristic equation of the system is obtained as,
sI A = 0
s 0
2 3
(sI A) = > H > H
0 s
0 5
s 2 3
=>
0 s 5H
sI A = (s 2) (s 5) = 0
s = 2, s = 5
There are two R.H.S Poles in the system so it is unstable.
SOL 6.72
(2 # 0 + 1) 180c
= 90c
2
(ii)
(2 # 1 + 1) 180c
= 270c
2
ISBN: 9788192276243
www.gatehelp.com
CHAP 6
CONTROL SYSTEMS
PAGE 371
K = s2
dK = 2s = 0 & s = 0
ds
So the root locus plot is.
SOL 6.73
SOL 6.74
R
V
S 1
W
0
(s 4)
0
(s 2)
S
W
1
1
=
(sI A) =
>
1 W
(s 2)H S
(s 2) (s 4) 0
S 0
(s 4)W
TR
X
R
V
V
S 1 W
S 1
0 W1
(s 2)
Y (s)
S(s 2)W
W
So,
= [4 0] SS
>1H = [4 0] S
W
1
U (s)
1 W
S(s 4)W
S 0
(s 4)W
T
T
X
X
GATE Previous Year Solved Paper By RK Kanodia & Ashish Murolia
Published by: NODIA and COMPANY
ISBN: 9788192276243
www.gatehelp.com
PAGE 372
CONTROL SYSTEMS
CHAP 6
Y (s)
= 4
U (s) (s 2)
Here input is unit impulse so U (s) = 1 and output
Y (s) = 4
(s 2)
Taking inverse Laplace transfer we get output
y (t) = 4e2t
SOL 6.75
or
SOL 6.76
A I = 0
R
V R
S0 1 0 0W S
S0 0 1 0W S0
(A I) = S
WS
S0 0 0 1W S0
S0 0 0 1W S0
T
X T
3
A I = (1 ) = 0
1, 2, 3 = 0 , 4 = 1
0
0
0
0
V
V R
0W S 1 0
0 W
0W S 0 1
0 W
=S
W
0W S 0 0 1 WW
W S 0 0 0 1 W
X
X T
ISBN: 9788192276243
www.gatehelp.com
CHAP 6
CONTROL SYSTEMS
PAGE 373
(s 2)
(5s 10)
=1
5 (5s 3)
(5s 3)
(5s 3)
7
= 1=
5 5s 3
(5s 3)G
7
U (s) = 1 ;1
5
(5s 3)E
Taking inverse Laplace transform, input is
u (t) = 1 : (t) 5 e3/5t u (t)D = 1 (t) 7 e3/5t u (t)
5
5
5
25
SOL 6.77
...(1)
x1
xo1
> o H = A >x H + Bu
x2
2
x1 = y , x 2 = b
dy
y l et
dt
dx1 = dy = x e t + y = x e t + x
2
2
1
dt
dt
dx1 = x + x e t + (0) u (t)
or
1
2
dt
Similarly
2
dx2 = d y et + dy et et dy yet
dt
dt
dt
dt 2
2
d y
Put
from equation (1)
dt 2
...(2)
ISBN: 9788192276243
www.gatehelp.com
PAGE 374
CONTROL SYSTEMS
So,
CHAP 6
dy t
e + 2yet yet = u (t) [x2 e t + y] et + yet
dt
= u (t) x2
dx2 = 0 x + u (t)
2
dt
...(3)
(2q + 1) 180c
= (2q + 1) 60c
3
s1 = 0
s2 = 2
s 3 = 10
ISBN: 9788192276243
www.gatehelp.com
CHAP 6
CONTROL SYSTEMS
So
SOL 6.80
PAGE 375
C = 0 2 10 0 = 4
30
SOL 6.81
Option ( ) is correct.
SOL 6.82
o = AX , where A = > 3 1 H
X
0 2
s"0
s 0
3 1
s + 3 1
=>
(sI A) = > H >
H
0 s
0 2
0 s + 2H
s+2 1
1
> 0 s + 3H
(s + 3) (s + 2)
R
V
1
S 1
W
(s + 3) (s + 2) (s + 3)W
S
=S
W
1
S 0
(s + 2) W
T
X
So the steady state value
R
V
1
S 1
W
(s + 3) (s + 2) (s + 3)W 10
S
xss = lim s S
W> 10H
1
s"0
0
S
(s + 2) W
T
X
GATE Previous Year Solved Paper By RK Kanodia & Ashish Murolia
(sI A 1) =
ISBN: 9788192276243
www.gatehelp.com
PAGE 376
CONTROL SYSTEMS
CHAP 6
R
V
10
S 10
W
0
(s + 3) (s + 2) (s + 3)W
S
=> H
= lim s S
W
0
s"0
10
S
W
(s + 2)
T
X
SOL 6.83
SOL 6.84
50 (s + 5)
s (s + 2) (s + 25)
2
G (j) =
Magnitude
At = 20 rad/sec
10 4
10 4
=1
=
20 # 5 # 102
20 9 # 10 4 + 16 # 10 4
Magnitude in dB = 20 log 10 G (j20) = 20 log 10 1 = 0 dB
G (j20) =
SOL 6.85
ISBN: 9788192276243
www.gatehelp.com
CHAP 6
CONTROL SYSTEMS
PAGE 377
20 g
+G (jg) = 90c tan 1 =
100 g2 G
PM = 180 90c tan 1 ; 20 # 20 2 E = 36.86c
100 (20)
SOL 6.86
= 180c
= 180c
= 90c
= 0 & p = 10 rad/sec.
1
Gain margin in dB = 20 log 10 e
G (jp) o
G (jp) = G (j10) =
10 4
10 (100 100) 2 + 400 (10) 2
10 4
=5
10 # 2 # 102
G.M. = 20 log 10 b 1 l = 13.97 dB
5
=
SOL 6.87
SOL 6.88
ISBN: 9788192276243
www.gatehelp.com
PAGE 378
CONTROL SYSTEMS
3.
4.
CHAP 6
dK = 0
ds
Asymptotes meets on real axis at a point C
/ poles / zeros
C =
nm
(0 + 0 2) ( 1)
= 0.5
=
31
***********
ISBN: 9788192276243