Control Systems Test 1

Number of Questions: 35 Time: 60 min.

Directions for questions 1 to 35: Select the correct alterna- (A) 0.5 (B) 0.75
tive from the given choices. (C) 0.9 (D) 1
1. A system has a damping ratio of 1.25, a natural fre- 9. Which one of the following is correct when a pole is
quency of 400rad/sec and DC gain of 1. The response added to a forward path transfer function.
of the system to a unit step input is (A) System becomes less stable
800 −800 t (B) Bandwidth of system Decreases
(A) 1 +
3
(e − e −200t ) (C) Stability improves
(D) Both A and B
800 −200 t
(B) 1 −
3
(e + e −800t ) 10. Consider the sketch shown below
jω jω
x
800 −200 t
(C) 1 −
3
(e − e −800t ) (1) (2)
σ
σ
800 −200 t
(D) 1 +
3
(e − e −800t ) x

jω jω
2. Gain margin is the amount of gain to make the system
(A) Oscillatory (B) Stable (3) X X σ (4) X X σ
(C) Exponential (D) Unstable
3. A system with gain margin close to unity or a phase
The root locus can be
margin close to zero is
(A) 1 and 3 (B) 2 and 4
(A) relatively stable (B) highly stable
(C) 1, 2 and 4 (D) None of the above
(C) oscillatory (D) none
11. Consider a feedback control system with loop transfer
4. The unit step response of a particular control system is
K
c(t) = 1 – 5e–t, then the transfer function is function G(S) H(S) = then order of the
s (1 + s )(1 + 2 s )
1 + 4s − (1 + 4 s )
(A) (B) given system is
( s + 1) s s +1
(A) 1 (B) 3
1 − 4s −1 + 4 s (C) 2 (D) 4
(C) (D)
( s + 1) ( s + 1) s 12. A minimum phase unity feedback system has a Bode
5. A phase – lead compensator will plot with a constant slope of 0dB/decade for all fre-
(A) Improve the speed of the response quencies. What is the value of the maximum phase
(B) Increases Bandwidth margin for the system?
(C) Reduces the amount of overshoot (A) 180° (B) 90°
(D) All the above (C) –90° (D) 0°
6. There are three poles and two zeros of G(s) H(s). there 13. The inter section of Asymptotes of root loci of a
will be system with open loop transfer function
(A) One root locus (B) Two root loci K ( s + 2)
G(s)H(s) = is
(C) Three root loci (D) Five root loci s ( s + 1)( s + 3)
7. A control system has G(s) (A) –2 (B) –1
K (C) –0.67 (D) 1
H(s) = , for (0 < K < ∞).
s( s + 3)( s + 4 s + 20)
2
14. Which one of the following characteristic equations of
Then the number of break away points occurs in the results in the stable operation of feedback system
root locus are (A) s3 + 7s2 + 5s – 6 = 0
(A) One (B) Two (B) s3 + 2s2 + 3s + 7 = 0
(C) Three (D) Four (C) s3 + 4s2 + 10s + 11 = 0
(D) s4 + s3 – 3s2 + 5s+ 6 = 0
8. The output of a given system settles within ± 5%
for a unit step input. Then the settling time is 15. Transfer function of a lag compensator is given by G(s)
s+4 s + 0.2
G(s) = 2 H(s) = then the frequency
s + 6 s + 36 s + 0.026
3.84 | Control Systems Test 1

corresponding to maximum phase lead angle is Im Im

(A) 7.69 rad/sec (B) 4.9 rad/sec –2/9
ω=∞ –2/9 ω=∞
(C) 2.77 rad/sec (D) 0.072 rad/sec (C) (D)
–Re –Re
16. Find the Transfer function for the given bode plot of a
unit feedback system
ω=0 ω=0
dB
20. The unity feedback system R(s) has
40dB – 40dB/dec
R(s) K C(s)
20dB – s(s + 9)
–20dB/dec
0dB
0.1 ω1 ω (A) Steady state velocity error of k/9units
(B) Steady state position error of K/9units
0.33 0.331 (C) Zero steady state velocity error
(A) (B)
s ( s + 0.316) s ( s + 0.316)
2 2
(D) Zero steady state position error
21. If maximum peak overshoot is 16.3% then the resonant
1 1
(C) (D) peak is
s 2 (1 + 0.3165) s (1 + 0.3165)
2
(A) 0.5 (B) 0.15
17. What should be the value of l in order to the given (C) 1.15 (D) 00.86
system is controllable 22. Determine Transfer function of given system
• •
x1 = x + m; x2 = lx – 6x – 2m R(s) + +
2 2 1 G1 G2 C(s)
(A) l = – 5 (B) l ≠ –5 – –
(C) l = – 6 (D) l ≠ –6
18. For a given transfer function choose the state variable
G1G2 + G1
C (s) 30 (A)
matrix = 3 1 + G1 + G2 + G1G2
R ( s ) s + 8s + 7 s + 30
2

2G1G2 + G1
 0 1 0 0 (B)
• 1 + 2G1 + G2 + G1G2
(A) x =  0   
0 1  x (t ) +  0  r
G1G2 + G1
 −30 −7 −8 30  (C)
1 + 2G1 + G2 + 3G1G2
 0 1 0 0
•
    2G1G2 + G1
(B) x =  0 0 1  x (t ) +  0  r (D)
1 + 2G1 + G2 + 3G1G2
30 7 8  30 
23. The radius of M and N circles are 2 , 1 respectively
0 1 0  0
•
    then the values of M and N respectively are
(C) x = 0 0 −1  x (t ) +  0  r
(A) 2 , 1 (B) 2, 1 / 3
 −8 −7 −30  30 
(C) 1/ 3, 2 (D) ∞, 0
0 1 0  0
• 24. Maximum peak overshoot in the unit step response is
(D) x =  0 0   
1  x (t ) +  0  r 0.4 and peak time is 2sec. Then settling time for 5%
 −8 −7 −30  30  error is
19. A unity feed back has open – loop transfer function (A) 0.65 (B) 0.57
1 (C) 0.75 (D) 0.4564
G(s) =
s ( 4 s + 1)( s + 2) 25. Find Angle of arrival for given system
Im R(s)
C(s)
j2/9 (s2 – 2s + 5)K
ω=0 (s + 2)(s – 0.5)
ω=∞ 2/9 ω=∞
(A) (B)
–Re –Re
(A) 160.355° (B) 109.65°
ω=0 (C) 199.645° (D) 189.7°
 Control Systems Test 1 | 3.85

26. Find the phase margin of a system with open loop (A) Stable
1 (B) Unstable
transfer function G(S) =
s (1 + s ) (C) Marginally stable
(D) More information is required
(A) –141.78° (B) 38.21°
(C) –38° (D) 180° 31. For a second order system overshoot is 20% and set-
tling time is 0.6seconds then characteristic equation
27. The open loop transfer function of a feedback control roots are.
K ( s + 2) (A) –6.6576 ± j13
system is given by GH(s) = , then find
s (1 + as )(1 + 5s ) (B) –6.6576 ± j14.6
error due to unit parabolic input if K = 9 and a = 3 (C) 13 ± j14.6
(A) ∞ (B) 0 (D) 14.6 ± j13
(C) 9 (D) 3
Common Data for Questions 32 and 33:
28. The open loop transfer function of a system is
b0
A (1 + s )
2
The Bode plot of the transfer function is given in
GH(s) = , then Nyquist plot for given (1 + st)
s3
below figures.
system is
Im dB Phase
Im

–40dB 0.1
ω=0
T 1/T
(A) (B) ω
ω = ∞ Re ω = ∞ Re 1/T ω –60°/dec

0.5
32. The error in phase angle at w = is
ω=0 T
ω = 0 Im Im (A) 3.44° (B) 26.56°
(C) 60° (D) 30°
0.5
33. The error in gain at w = is
(C) (D) ω=∞ T
ω = ∞ Re
(A) –40 dB (B) –30 dB
(C) 0 dB (D) 0.97dB
ω=0
Linked Answer Questions 34 and 35:
29. The system has damping ratio 0.8 and a frequency of The open loop transfer function of a unity feedback control
damped oscillations of 10rad/sec. Then the value of K2 system is given by
K
G(S) =
R(s)
K1
1
s(s + 2) + k2s
C(s)
( )
( s + 3)( s + 1) s2 + 6s + 25
–
34. Find the values of K which will cause sustained oscilla-
tions in the closed – looped system.
(A) 16.7 (B) 26.7 (A) 3993.6 (B) –75
(C) 24.7 (D) 5.16 (C) –118 (D) 399.36
30. Forward path transfer function of a unity, feedback sys- 35. Find the oscillating frequency.
tem is given by (A) 11.8 rad/sec
125 (B) 3.43 rad/sec
G(s)H(s) = ,
( )( )( s + 3)(0.25s + 1)
s + 1 s + 2 (C) 0.547 rad/sec
then the system is (D) 1.8 rad/sec

Answer Keys
1. D 2. D 3. C 4. C 5. D 6. C 7. C 8. D 9. D 10. D
11. B 12. A 13. B 14. C 15. D 16. B 17. B 18. A 19. C 20. D
21. C 22. D 23. B 24. D 25. C 26. B 27. A 28. C 29. C 30. B
31. A 32. A 33. D 34. D 35. B
3.86 | Control Systems Test 1

Hints and Explanations

wn 2 13. Intersection of asymptotes i.e., centroid

1. T(S) = ` Σ real parts of poles − Σreal part of zeros
s 2 + 2xwn s + wn 2 =
number of poles − number of zeros
160000
= −1 − 3 − ( −2) −4 + 2
s + 2 × 1.25 × 400 s + ( 400 )
2 2
= = = –1
3 −1 2
160000
=  Choice (B)
s + 1000 s + 160000
2
14. For stable operation, all co-efficient of the characteris-
160000 tic equation should be real & have the same sign and
C(S) =
s ( s + 1000 s + 160000 )
2
none of the co-efficient should be zero. Choice (C)
s +1
1 1600 1600
= + −
s 6 ( s + 200 ) 6 ( s + 800 ) 15. Transfer function of a lag compensator G(S) = T
s +1
800 −200 t 800 −800 t bT
C(t) = 1 + e − e  Choice (D)
3 3 1 1
= 0.2; = 0.026 ⇒ β = 7.69
2. Choice (D) T bT
3. Choice (C) 1 0.2
1 5 s + 1 − 5s 1 − 4 s wm = = = 0.072 rad/sec Choice (D)
T b 7.69
4. C(S) = − = =
s s +1 s ( s + 1) s ( s + 1)
16.
1 − 4s 1 − 4s 40dB –40 dB/dec
T(S) = =  Choice (C)
s ( s + 1)1 s +1
20dB
s
–20dB/dec
5. Choice (D) 0dB
6. Choice (C) 0.1 ω1 ω2

7. 40 – 20 = –40(log(0.1) – logw1)
+j4
⇒ w1 = 0.316rad/sec
2B.A 1B.A 3B.A 20 = –20(1log0.316 – logw2)
w2 = 3.16
–3  K 
–2 40 = 20  log
 (0.1) (0.31) 
2

–j4
K = 0.331
 Choice (C) Transfer function of system
0.331
8. On 5% basis the setting time for a system is given by = 2  Choice (B)
3 3 s ( s + 0.316)
tS = xw = 6 = 1 Choice (D)
n •
 0 1 1
2 17. x =   X +  U
 −6 l   −2 
9. Choice (D)
 0 1 1
10. Root locus path should starts from pole to zero so none From above A =   and B =  −2 
of the given diagram root locus starts from pole.  −6 l   
 Choice (D) Controllability Qc= [ B : AB ]
K K
11. GH(S) =
s (1 + s )(1 + 2 s )
= 3
2 s + 3s 2 + s  0 1   1   −2 
AB =    =  
 −6 l   −2   −6 − 2l 
So order is 3. Choice (B)
12. Choice (A) 1 −2 
QC =  
 −2 −6 − 2l 
 Control Systems Test 1 | 3.87

If QC ≠ 0 then system is said to be controllable K

KV = LtS → 0 s = K/9
–6 – 2l – 4 = 0 s ( s + 9)
⇒ 2l = –10 ess = 9/k
l = –5 Hence steady state error is 9/K for ramp input.
l ≠ –5  Choice (D)
For the system to be controllable Choice (B) − px / 1− x 2
21. MP = e = 0.163
C (s) b0 ⇒ x = 0.5
18. = 3
R ( s ) s + a2 s 2 a1 s + a0 1
Mr = = 1.15 Choice (C)
⇒ (s3 + a2s2 + a1s + a0)C(s) = R(s) b0 2x 1 − x 2
 0 1 0  0 22. Draw signal flow graph
•
x =  0 0
  
1  X +  0 r 1

 − a0 − a1 − a2  b0 
1 G1 1 G2 1 1 1
•
 0 1 0 0 R(S) C(S)
    – –
⇒ x =  0 0 1  X +  0 r  Choice (A)
1
1
 −30 −7 −8 30 
1
1
19. Given system is
s ( 4 s + 1)( s + 2) G1 G2 + G1 (1 + G2 )
T/F =
f = –90° – tan–1(4w) – tan–1(w/2) 1 + G2 + G1 + G1G2 + G1 + G1G2 + G1G2
2G1G2 + G1
=  Choice (D)
–2/9
ω=∞ 1 + 2G1 + G2 + 3G1G2

M2
23. radius of M circle = = 2
(M − 1)
2 2

ω=0
M
= 2
Transfer function cuts the real axis when imaginary M 2 −1
part is equal to zero.
⇒ M= 2
–180 = –90 – tan–1(4w) – tan–1w/2
90 = tan–14w + tan–1w/2 1 1
Radius of N circle = +
1 – 4w × w/2 = 0 4 (2N )2
2w2 = 1
1 1 1 3 1
w= 1= + 2 ⇒
=
2 4 (2N ) 4 (2N )2
Magnitude Nyquist plot can be real axis is 1 3 1
1 1 ⇒ = ⇒ N=  Choice (B)
= = 2N 2 3
w 16w + 1 w + 4
2 2
1 / 2 16 × 1/ 2 + 1 1/ 2 + 4
2
− xp / 1− x
= 2/9 Choice (C) 24. MP = e = 0.4
A ⇒ x = 0.28
20. For unit step i/p the steady state error is p
1+ K p tp = 2sec =
wn 1 − x 2
KP = Lt GH ( s)
S →0 3.14
K ⇒ wn= = 1.63 rad/sec
2 1 − (0.28)
2
= SLt
→ 0 s ( s + 9)
=∞

A A 3 3
ess = = =0 Ts = xw =
0.28 × 1.63
= 0.4564
1+ ∞ ∞ n

A  Choice (D)
⇒ for unit ramp input ess =
KV
3.88 | Control Systems Test 1

C ( s ) ( s − 2 s + 5) K C (s)
2
K1
= 29. = 2
25.
R ( s ) ( s + 2)( s − 0.5) R ( s ) s + ( 2 + K 2 ) s + K1

K ( s − 1 − 2 j )( s − 1 + 2 j ) wd = wn 1 − x
2

=
( s + 2)( s − 0.5)
10 = wn 1 − (0.8)
2

K (1 + 2 j − 1 + 2 j )
∠GH(S) = at s = 1 + 2j 10
(1 + 2 j + 2)(1 + 2 j − 0.5) wn =
0.6
= 16.66
K (4 j ) ⇒ 2 + K2 = 2xwn
=
(3 + 2 j )(0.5 + 2 j ) 2 + k2 = 2 × 0.8 × 16.7
⇒ K2 = 24.66 Choice (C)
∠GH(S) = 90° – tan–12/3 – tan-12/0.5
= –19.645° 30. Closed loop transfer function
fA = 180 – f = 199.645° Choice (C) 125 × 4
= 2
1
( )
s + 3s + 2 ( s + 3)( s + 4 ) + 125 × 4
26. Given that G(S) = . At gain cross over
s (1 + s ) 500
=
frequency w gc the magnitude of G(j w ) is unity. ( s + 3s + 2)( s2 + 7s + 12) + 500
2

At w = w gc Characteristic equation
1 = (s2 + 3s + 2) (s2 + 7s + 12) + 500
⇒ G ( jw ) = 2 =1 ⇒ s4 + 10s3 + 35s2 + 50s + 524 = 0
w gc 1 + w 2 gc
S4 1 35 524
w gc 1 + w gc = 1
2
⇒ S 3
10 50 0
⇒ w 2gc(1 + w 2gc) = 1 S 2
30 524
w 4gc – w 2gc – 1 = 0 S 1 −124.7 0
w 2gc = 1.27 S 0 524
fjc = –90° – tan–1 w gc There are two sign changes so it unstable.
= –141.78°  Choice (B)
Phase margin = 180° + fjc =38.21° Choice (B) − xp / 1− x 2
31. MP = e = 0.2
27. Given system ⇒ x = 0.456
9 ( s + 2) 4
G(S) H(S) = Ts = xw
s (1 + 3s )(1 + 5s ) n

Error due to Ramp input is = 1/Ka 4 4

⇒ wn = = = 14.6
Where Ka = Lim s 2G ( S ) = 0 xTs 0.456 × 0.6
s→0

Unit parabolic i/p = 1/Ka Then poles are = −xwn ± j wn 1 − x2

1
= = ∞ Choice (A) = −14.6 × 0.456 ± j14.6 1 − (0.456)
2
0
= –6.6576 ±j13 Choice (A)
K (1 + j w )
2

28. GH(jw) = 0.5

( j w )3 32. w =
T
K (1 + w 2 )  0.5 
⇒ GH = ∠G  w =  = –tan–1 wT
w 3  T 

∠GH(jw) = –270° + 2tan–1w = –tan–10.5 = –26.56°

0.5
As w increases from 0 to ∞, phase –270° to –90°. From the phase plot at w =
T
Due to S3 term there will be 3 infinite semicircles.
 Choice (C) ∠GH(S) = –30°
Error = –26.56° + 30° = 3.44° Choice (A)
 Control Systems Test 1 | 3.89

0.5 ⇒ 75 + K > 0
33. At w = K > –75
T
⇒ 3993.6 – 10K > 0
⇒ K < 399.36
K K ⇒ The range of K for the system to be stable
GH = =
0.5 1.25 0 < K < 399.36
1 + jT
T [∴ K range is starts from zero]
20 log GH = 20log K – 10 log1.25 ⇒ For K = 399.36 system will oscillate
 Choice (D)
= 20log K – 0.97
0.5 35. If K = 399.36 then S row become zero. The co-efficient
1

From the plot at w = = 20log K of auxiliary equation are given by the s2 row.
T
40.2s2 + 75 + 399.36 = 0
So error in gain = 0.97 dB Choice (D) s2 = –11.8
34. Given system is open loop transfer function ⇒ s = ±j3.43
K When K = 399.36, the system has roots on imag-
G(S) =
(
( s + 3)( s + 1) s2 + 6s + 25 + K ) inary axis and so it oscillates. The frequency of
oscillation is given by the value of root on imagi-
⇒ Characteristic equation is nary axis.
(s2 + 4s + 3) (s2 + 6s + 25) + K = 0 Frequency of oscillation w= 3.43 rad/sec
s4 + 10s3 + 52s2 + 118s + 75 = 0  Choice (B)
S4 1 52 75+K

S3 10 118 0

S2 40.2 75 +1C

S1 3993.6 – 10K

S0 40.2
75 + K