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HARINARAYANAN K K

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COMPUTER SCIENCE & ENGINEERING TOPPERS

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MALLADI HARIKRISHNA

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r, J

GATE SYLLABUS

. .,
.

CONTROL SYSTEMS (ECE & EEE)

Basic control system components: block diagrammatic
description, reduction of block diagrams: Open loop
and closed loop (feed back) systems and stability analysis of these systems. Signal flow graphs and their
use in determining transfer functions of systems;
transient and steady staj:e - analysis of LTI control
systems and frequency resports.e. Tools and techniques
for LTI control systems analysis: root loci,
Routh - Hurwitz criterion, Bode and Nyquist plots.
Control system compensators : elements of lead and lag
compensation, elements of Proportional - Integral Derivative (Pl])) control. State variable representation
and solution of state equation of LTI control systems.

CONTROL SYSTEMS
CQ.NTENTS

S.No.

Page No.

Chapters

--Ol;;-

Introduction
Open loop and closed loop, Principles of
Feedback, Transfer Function

01-05

02.

Block diagrams and Signal Flow Graphs

Objective Qutions

06-16
12 -16

03.
04.

05.

- 06.
07.

Time Domain analysis:

Transient and Steady State Response
Obiet:tivc QuestiQns
Stability
RH- Criterion, Root Locus Technique
Ob_jctive Questions
Frequency Response analysis
Bode plot ,Polar plot, Nyquist plot,
M and N circles, Nichol's chart
Objective Questions
Compensators and Controllers
Lead, Lag and PID
_Objective Questions
State Variable Analysis:
STM, Controllability & Observability
Objective Questions

17-35
27 & 28, 30 - j5
36-56
41 - 43, 53 - 56.
57-78
69 - 75, 77 & 78
79-87
82-84, 86 & 87
.. .

88-95
93-95
96-98

Model Grand Test

Objective Questions: Revision and Practice Set

-- - -

99-113

For

. GATE, DRDO & IES

Managing Director
Y.V. Gopala_Krishna Murthy

. ..

CHAPTER-I

INTRODUCTION

System: A system is an arrangement or combination of different physical components such

that it gives the proper {)Utput to given input. A kite is an example of a physical
system, because it is made up of paper and sticks. A -classroom is an example -0f a
'
physical system.
Control: The meaning of control is to regulate, direct or command a system -so that desired
objective is obtained.
Plant: It is defined as the portion of a system which is to be controlled or regulated. It is also
called a process
Controller: It is the element of the system itself, or may be external to the system. It controls
the plant or the process.
Input: The applied signal or excitation signal that is applied to a control system to get a
specified output is called input.
Output: The actual response that is obtained from a control system due to the_ application of
the input is termed as output.
Disturbancs: TI1e signal that has some adverse effect on .the value of-the output of a system
is called disturbance. If a disturbance is produced within the system, it is
termed as an internal disturbance: otherwise, it is known as an external
disturbance.
Control Systems: It is an arrangement of different physical components such that it give the
desire output for the given input by means of regulate or contrQ.L either
direct or indirect method.
A control system must have (I) input, (2) output, (3) ways to achieve input and output
objectives and (4) control action.
Fig. The following shows the cause-and-effect relationship between the input and the output.
Reference input
. r{t)

Control
system

Controlled output
C(t)

ACEAcademv

Control Systems

Any system can,be characterized mathematically by (1) Transfer function (2) State modff

Laplace transform ofoutput

Transfer Function =
Laplace tra,,fonn ofioput
L [ c(t) J

L [ r(t)]

c (s)
R (s)

;.;ti,J oon<litionsc O

initial conditions = 0

Transfer function is also called impulse response of the system.

C(s) = T.F. x R(s)
Classification of Control System :

Open-loop C.S

Closed-loop (or) feedback-C.S

I) Positive feedback C.S
2) Negative feedback C.S

Open-loop Control System :

The Ope11-loop control system can be described by a block diagram as shown in the
figure.
Reference
Output

Controller
Process
I nput
The reference input controls the output through a control action process. In the block
diagram shown, it is observed the output has no effect on the control action. Such a system is
termed as open-foop control system.
In an open-loop control system, the output is neither measured nor fed-back for
comparison with the input. Faithfulness of an open-loop control system depends on the
accuracy ofinput calibration.
Examples for open - loop control systems are traffic lights, fans, any system which is
not ha&g the sensor.

ACE Academy

INTRODUCTION.

Advantages and disadvantages of open - loop system:

Advantages

These systems are simple in onstruction and design.

These systems are economic.
These systems are easy from maintenance point of view.
Usually these systems are not much troubled with problems ofstability.
These systems are convenient to use when output is difficult to measure,

Disadvantages
TheS@-Systems are not accurate-and reliable because their accuracy is dependent on
the accuracy of calibration.
In these systems, inaccurate results are obtained with parameter variations, i.e.,
internal disturbances.
Recalibration of the controller
. . is required from time. to time for maintaining quality
and accuracy
Closed-loop Controi System :
In a closed-loop control system, the output has an effect on control action through a
feedback as shown and hence closed-loop control systems are also termed as feedback
control systems. The control action is actuated by an error signal 'e(t)' which is the difference
between the input signal 'r(t)' and the output signal 'c(t)'. This process of comparison
between the output and input maintains the output at a desired level through control action
process.
Referenc
Input . r(t)

Output
c(t)

------; Feed Back network 1---__,

The control systems without invotving-human intervention-for normal operation are
called automaticcontrol systems. A closed-loop.{feedllck) control system using a power
amplifying device prior to controller and the output of such a system being mechanical i.e.,
position, velocity, acceleration is called servomechanism.
Advantages and disadvantages of closed - loop system
Advantages

In these syste_ms accuracy is very high due to correction of any arising error.
Since these systems sense envirorunentil changes as well as internal disturbances, the
errors are modified.
There is reduced effect of non linearity in these systems.
These systems have high bandwidth, i.e., high operating frequency zone.
There are facilities of automation in these systems.-----

Disadvantages

These systems are complicated in design and, hence, costlier.

These systems may be unstable.

Control Systems

ACE Academy

Comparison of O pen-loop and Closed-loop Control systems :

Open - loop C.S.
I. The accuracy of an open-loop system
depends on the calibration of the input.
.. Anf departure from pre determined
-- . calibration affects the output.

Closed - loop C.S.

I. As the error between the reference input
and the output is continuously mred
through feedback, the closed - loop
system works more accurately.

2. The open- loop system is simple to

construct and cheap

2. The closed - loop system is complicated

to construct and costly

3. The open .:..loop systems are generally

stable.

3. The closed - loop system:s can become

unstable under certain conditions

4. The operation of open - loop system is

affected due to presence ofnon
linearity's in its elenients.

4. In terms ofthe performance, the closedloop systems adjusts to the effects of

non - linearity's present in its elements.

Open-loop C.S. :
C(s)
= G(s) or C(s) = G(s) R(s)
R(s)

. 'Closed-loop C.S. :
C(s)

R(s)

Iferror signal e(t) is zero, output is controlled.

If error signal is not zero, output is not controlled.
C(s)

For Positive feedback, error signal = x(t) + y(t)

For Negative feedback, erroqignal = x(t)-y(t)
The purpose offeedback is to reduce the error between the.reference inpmc<l<m;ru,,
-Ve feedback
+Ve feedback.
output.

/'-.....

Unity FIB ( H(s)= l)

Non unity FIB(H(s) ,t:. l)

G(s)
= G(s) -=
R(s)
I - G(s) ' R(s)
1-G(s) H(sf

/'-.....

Unity FIB

Non unity FIB

G(s)
= G(s) . C(s) =
l + G(s) ' R(s) l + G(s) H(s)
R(s)

Where G(s) = T.F without feedback (or) T.F of the forward path
H(s) = T.F ofthe feedback path
_ ..e feedback has effects on such system performance characteristics as stability, bandwidth,
overallgain, impedance and sensitivity.

INTRODUCTION

ACE Academy

1.1 Effect of feedback on Stability :

Stability is a notion that describes whether the system will be able to follow the input
command. A system is said to be unstable, if its output is out of control or increases without
bound. It can be demonstrated that one of the advantages of incorporating feedback is that it
can.stabilize an unstable system.
Effect of feedback on Overall gain :

'

Feedback affects the gain G of a non-feedback system by a factor of I GH. The

general effect of feedback is that it may increase or decrease the gain. In a practical control
system, G and H arelimctiuns offrequenc)1,-SO-the magnitude of I +GH may be greater than
.I in one frequency range but less than I in another. Therefore, feedback could increase the
gain of the system in one frequency range but decrease it in another.
.. 1.2 Effect offeedback on Sensitivity:
Consider Gas a parameter that may vary. The sensitivity of the gafn of the overall
system M to the variation in G is defined as

oMIM
oG/G

where a M denotes the incremental change in M due to the incremental change in G;

a MI M a11d a GIG denote the percentage change in M and G, respectively.

M

SG

oM

OG

= -.- -- = ---

I +GH

This relation shows that the sensitivity function can be made arbitrarily small by
increasing .GH, provided that the system remains.stable. I an open-loop system, the gain of
the system will respond in a one-to-one fashion to the variation in G. In general, the
sensitivity of the system gain of a feedback system to-parameter variations depends on where .
theparameter is-looated.. -The effects of feedback are as follows.
(i)Gain is reduced by a factor
(ii) There is reduction of parameter variation by a factor I + G(s)H(sJ.
(iii) There is improvement in sensitiyity.
(iv) There inay be reduction ofstaoirity.
The disadvantages ofreduction of gain and reduction of stability can be overcome by gain
amplification and good design, respectively.

For a complicated system, it is easy_to find the transfer function of each and.eyecy element,
and 'Output of a certain block may act as an input to other block or blocks. Therefore, the
knowledge oftransfer function of each block is not sufficient in this 'Case. The interrelation
between the elements is required to find the overall transfer function of the system. There are
f
two method: (I) Block diagram and (2) signal low graph.

I I

CHAPTER- 2

BLOCK DIAGRAMS AND SIGNAL FLOW GRAPHS

There are two methods: (1) by using Block diagram or (2) Signal flow graph, to find the
overall transfer function of a big complicated control system.

2.1 BLOCK DIAGRAM ALGEBRA

-

Block diagram reduction techniques:

_ Some of the important mies for block diagram reduction techniques ;e given l,elo_w ;
I. The block diagram shown below relates the output and input as per the transfer function
- relation given below :
C(s)
G(s} == R(s)

(or)

C(s) = R(s). G(s)

where G(s) is known as the transfer function of the system.

2. Take off point :

)
R(s)
----"

Application of one input source to two or more systems is represented by a take off point -as
shown at point A in the below figure.

3. Blocks in cascade :
When several blocks are connected in cascade, the overall equivalent transfe
function is determined below.
R(s)

--------,

C1(s)
R(s)

=Gi(s)

C2(s)
=G2(s)
C1(s)
C(s)
C2(s)

=G3(s)

--

ACE Academy

BLOCK DIAGRAMS AND. SIGNAL FLOW GRAPHS

Multiplying above three equations, the equivalent transfer function is

C(s)
= G1(s) G2(s)-G3(s)
R( s)
The equivalent diagram is given by
R(s)

1U1(s) G2(s) G3(s)

1-j -->

C(s)
.

'

4. Summing point :
Summing point repre sents swnmation of two or more signal entering in a system. The
output of a summing point being the sum of the -entering in..QU, .

R(s)___.$@

gs).= R(s) +(s)- Y(s)

(s)

5. Interchanging summing points: Consecutive summing points can be interchanged, as this

interchange does not alter the output signal.

R(s)

X(S)

)_0

.T

R(s)+X(s)-Yg;)_

-TY(S)

R(s)- Y(s) +

R(s) - Y(s) + X{s)

Y(S)

6. Blocks in parallel:

. When on,tor m blocks are connected in parallel, the overall equivalent

.
transfer functio is determined below.

C(s)

C(s) = R(s) G1(s) + R(s) G2(s) + R(s) G;(s)

or

C(s) = R(s){v1(s) +G2(s) + G3(s))

Therefore, the overall equivalent transfer function is,

--C(s)
-R{s)

= { G1{s) + G2(s) + Gs(s)]

Cqntrol Systems

The equivalence 1>f above diagram is

R(s)

--?!

G1(s) + Gi(s) + G3(s)

C(s)

- ACE Academy

7; Shifting of a take off point from a position before a block to a position after the block is
shown below.

,,
R(s)

', '.:\

.
R(,T,
>

A ,,/

R(,)

''.:\ B
'-- ---) C(s)
c
B-(s)
R(s)G(

8. Shifting of a take off point from a position after a block to a position before the block is
shown below. ....... .. ......

R(s) A

1,:.''

R(s) A

_s__C(_s)

---.,

)1--

i:.'

...........

:1--- _:

G41

].___>_I

] c

',,,

.B

C(s)

C(,J

9. Shifting of a summing point from a position

before
a block to a position after the block is
shown below.

R(s)

A,-,----'..,\ B

1
.

X'(s)

C(s) = [ R(s) X(s)] G(s)

)

ACE Academy

BLOCK DIAGRAMS AND SIGNAL FLOW GRAPHS

19

C(s)= [ R{li) X(s)] G(s)

.,
10. Shifting of a summing point from B position after'a block to a position A before the
- block is shown below.

i;'
-

A c

R(s)

-@]
..

R(s) G(s)

. ...

---- .......

C(s)= [ R(s) G(s) X(s)]

>

X(s)

s C(s)= [ R(s) X(s) (I/ G(s))] G(s)

---""'"Vi---------->

R(s)

I
I

= [R(s) G(s) X(s)]

11. Shifting of a take off point from A position before a summing point to a position B after
the_ .5ng point is shown below.
R(s)

R(s)

---,--r-
_- --.............. ,
C(s_ )_=_[
A >'l__B___

A''

-?

(s) X(s)]

Txcs>
..__------------>

,,,-----

-->Q:9

......

......

:.\ B

C(s)= [ R(s) X(s)]

>

- L
X(s)

R(s)

R(s)
X(s)

I I

I I

ACE Academy

O,mtrot Systems

10

12. Shifting a-take uff point from a position after a summing point to a position before the
summing point is as shown.... --- .. ...
i;
C(s) = [ R(s) X(s)]
',. B
A :
R(s)

----

-------)

X(s)

C(s) = [ R(s) X(s)]

L-----)

(
C<_s)_=-[_R(...,.;) X s)]
R_(s_ )....,....A_i;._ --,,i -- - -- _--_-._a_ _____
(

'

T}X s)

C(s)" f Rj:J X(s)]

X(s)

2.2 SIGNAL FLOW GRAPHS

A signal flow graph may be defuted as a graphical means of portraying the input
output relationships between the variables of a set of linear algebraic equations.

Consider that a linear system is described by the set ofN algebraic equations
Yi

I ak Yk

k=I

j = 1, 2, ...... , N

Basic properties iif signal flow .graphs :

l. A. signal flow grap app!!ec_mly1 iin systms.
2. The equations based on which a signal flow graph is drawn must be algebraic equations in
the form of effects as functions of causes.
3. odes are used o represent variable. NorI11lliiy, the nodes are arrangecl_from left to right,
following a success of causes and effects through the system.
4:Signals travel along branches only in.tile direction described by the arrws of the branches.
5. The branch directing from node Yk to Yi represents the dependence of the variable Yk upon
Yi, but not the reverse.
6. A -signal Yk traveling along a branch between nodes Yk and Yi is multiplied by-the gain of
lhe:branch.-ai.:i, so that a signal llici ykis delivered at node Yi

ACE Academy

- BLOCK.DIAGRAMS AND SJGNAL FLOW GRAPHS

!11

Definitions for Signal Flow Graphs:

Input Node (Soul'CC): An input node is a node that has only outgc:>ing branches.
Output Node (Sink): An output node is a node which has only _incoming brandies.
.
Path: A path is any .collection of a continuous
cif branches traversed
in the
- succession

same
-
-'---:- . - .
direction.
Forward Path: A forward path is a path that starts at an input node and ends at'an output
node and alopg which no node is _traversed more than once.
_
A
loop
is
a path that originates and temiinates orithe samtinde and along which no
Loop:
other nodeisericountered more than once.
Path gain: The product of the branch gains encountered in traversing a path is called the
path gain.
ForwardJath gain:_ Forward path gain is defined as the path gin of a forward path.
_
Loop gaiiif Loop ,gain is defined as the path gain of a loop.

Masons Gain formula:

The general gain fonnula is

-.. -A

where

M = gain between Yin and Yout

Yout = output

node variable

Yin = input node variable

N = tal number of forward paths

Mt= gain-of the k forward path
lh

1 - ( sum of all individual loop gains)+

(sum of gain products of all
.
.

possible combinations of two noritouching loops) - (sum of the gain

products of all possible combinations of three non-touching loops)+..... .
Pmr = .gain product of the m possible combination of 'r' non-touching loops lh

_ Ak = the A for the11art of the signal&w graph which is non-touching with the
k forward path
lh

--

12

ACE Academy

Control Systems
()bjective Questions

01. The block diagram contains

(a) system output variable
(b) system input variable
(c) the functional relations of the
variables
(d) all the above

05. In the block diagram shown, the output

- {} (s) is equal to
U2(s) _

U1(S)""7e (s)

(a) U 1 (s) +U2 (s)

(b) U1 (s) G (s)
(c) G1 (s) G3 (s) U1 (s)-G3(s) U2 (s)

02. In a block diagram, when a take off

point is moved ahead of a block, G1.

06. The transfer functioirEo (s)/ E1 (s) of the

_ . RC-network stiown is given by

(a) The blockG1 will be added in

parallel.
(b) The block G1 will be added in the
forward path.
(c) The. block G I will be added in
series.
(d) The block G1 will be added in the
feedback path.
03. What is the gain of the system
.(outpu put) given below? .!v

rn---3 -L@J
(b) 10

(d) ---tO-

04. The closed-loop gain of the system

sketched below is
.
Rt:f

(a) -4/3
(c) 4

81--fC(s)

fii4lj

(b) -4
(d) .4/3

70/P

IB--4@--4

(a) 36_
(c) 90

(a
) RC+ 1
(c) RCS
RCS+ I -

(b)

R6s

(d) None

J::fl

. The transfer functio11Y(s)/U(s) is

-- given by
(a) G1(s) G2(s)
l -G1(stihW
(b) G1(s) G2(s)

i
I

07. The block diagram of a certain system is

shown below
U(s)

I
I.

ACE Academy

BLOCK DIAGRAMS AND SIGNAL FLOW GRAPHS

08. The figure below gives two equivalent

block diagrams

OBJECTIVE QUESTIONS
11. In a signal flow graph, the nodes
X represent

X1
G
X1

The value of transfer function of block

marked 'X' is given by
(a) G (s)
(b) I / G (s)
(d) I +G
- (s)
(c) I
09. The figure shows two equivalent block
diagrams
X1

:r
X2 ..

x, _ >

X2
The transfer function of the block
marked 'X' is given by
(a) G(s)
(b) I I G(s)
(d) I -i- G(s)
(c) I
_ I 0. For the system shown, the transfer
function C(s)/R(s) is equal to
. (s)
..J1L..
'0 '"<:j
's s+I
.

t .

.5

IO
b)
(a) 2 IO
s +s+ 10 ( s 2+1ls+ IO
(d) 2 10
(c) 2 IO
s +2s+IO
s +9s+ IO
Key for Objective Questions :
I. d 2. d 3. b 4. a 5. C.
6. a 7. d 8. b 9. b 10. b

{a)
(b)
{c)
(d)

the system variables

the-system gain
the system parameters.,
all the above

12. The branch of a signal flow graph

represents
(a) the system variable
(b) the functional relations of the
variables
(c the system parameters
(d) none ofthe above
13. By applying Mason's gain formula, it is
possible to get
(a) the ratio of the output variable to
input variable only
(b) the system functional relations
between any two variables
(c) the overall gain of the system
(d) tlie ratio of any variable to input
variable only
.

14. Two or more loops in a signal flow graph

are said to be non-touching
(a) if they do not have any common
branch
(b) if they do not have any common loop
(c) if they have common node
(d) if they do not have any common
, node
15. The transfer function of the system
shown in the given
. fig.,

(a) . ACE
I +ACE
(c) 2ACE
l+ACE

-1
(b)
(d)

ACE
I-ACE
I!E

I I

I I

ACE A-cademy.

CQntrol Systems

14
16. SignaHlowgraph is a

{a) Topological representation ofa non

linear differential equation.

(b) Schematic graph.

(c) Special type ofgraph for analysis of

modern control system.

(d) Plot between frequency and

magnitude in dB.

17. The signal flow graph shown, X2 =

TX1 where T is equal to
0 .5

xd

(a) 2.5

-
(b)

(c) S.S

(d) 10

18. For the signal flow graph shown in

figure, XJ I Xi =

. . ._Q
a

))

(c) 20

(b) 15

(d) 25

Key for Objective Questions :

1 I. a 12. b 13. c 14. d IS. d

16. c 17. d 18. e

OBJECTIVE QUESTIONS:

01. Which ofthe.following is/are the

example ofthe open loop control
system?
(A) Metadyne
(B) Field control d.c. motor
(C) An automatic toaster
(D) Both 'B' and 'C'

02. The 0/P ofa feedback control-system

. must be a function of
(A) reference UP and output

(B) output

(C) reference 1/P

(D) reference UP and error signal

03. AC control system has the advantage (s)

X of
(A) availability ofrugged high power
amplifiers
(B) smaller frame size ofac
components
(C) both A and B
(D)None

04.. i:he transfer functio of a system is the

i.ap1aGCJransfonn ifits
(A) ramp response

(B) impulse response

(C) square wave response

(D) step response

OS. Any physical system which does not

automatically correct for variation on iti
0/P is called a/an
(A) unstable system

(8) open loop system

(C) closed loops system

(D) None

ACE Academy

BLOCK DIAGRAMS AND SIGNAL FLOW GRAPHS

06. In a control system the comparator

compares the 0/P response and reference
1/P and actuates the
(A) primary sensing element
_ -(8) transducer
_ . _ _ _ (C) signal conditioner
(D) control elements
07. Transfer function of a control system
depends on
(A) nat of output (8) nature of input
(C) initial conditions of input and output
(D) system parameters only
08. The open loop control system is one in
which?
(A) 0/P is independent of control 1/P
(8) only system parameters have effect
on-the control output
(C) o/P-is dependent on control 1/P
(D) all of these
09. A unit step function on integration
results in a
(A) unit parabolic function
(8) unit doublet
(C) unit step function
(D) unit ramp function
I 0. The transfer function of a systerri is
defined as the
(A) step response
(8) response due to an exponentially
varying input
(C) Laplace transform of the impulse
response
(D) All of the above
11. The order of the system is determined by
number of
(A) multiplying terms in the denominator
(8) poles at the origin
(C) stable roots of the system
(D) none

15

12. In a control system an-error detector

(A) produces an-error signal as actual
difference of value and desired
value ofoutput
(8) detects the system errors
. {C) detects the error .and signal out an
alarm
(D) none
'

13. Potentiometers are used in Control

system
(A1 to improve stability
{8) to improve frequency response
(C) as error sensing transducer
(D) to improve time response
14. A control system with excessive noise, I
likely to suffer from (A) loss of gain
(8) vibrations
(C) oscillations
(D) saturation is amplifying stages
15. The type number of a transfer function
denotes
(A) the number of poles at infinity
(8) the number of finite poles
(C) the number of zeros at origin
(D) the number of poles at origin
16. For the network given below, what.is the
transfer function?

(
I - c

V;,n_(s)

sRC
(A) I +sRC

(C)

RC

(8) s RC+ l
I
(D) I +sRC

I +sRC
17. The system response can be tested etter
with __- signal
(A) exponential decaying
{B) unit impulse input
(C) sinusoidal input
(D) ram input

16

ACE Academy

. Control Systems

02. The impulse response nf an initially

r.elaxed linear system' is e-2 u (t).
To produce a response ofte"21 u (t).
The input must be equal to
(A) 2 e 1 u (t)
(8) Y, e-21 u (t)
21
(D) e -l u (t)
(C)e - u (t)
03. The Laplace transformation off(t)is
F(s).
ro
Given theF(s)=
2
2
5 + ro
final value off (t)is

18. In a control system, the use of

negative feedback
(A) increases the influence of
variations ofcomponent
parameters on the system
performance
(B)reduces the effects of
disturbance and noise signals in
the forward path
(C) increases the reliability
([)}-eliminates the chances of
instability

(A) inifinity

(C)one

_20. The signal flow graph for a system is

shown below.The number of forward
paths is_.
812

Xs

(A)4
(C) I
KEYS:-
Ol. A 02.D
06 . D 07.D
11.8 12.A
16. A 17, 8

(D)indeterminate

04. As compared to closed loop system,

an open loop is

19. A signal flow graph is a

(A)log log graph
(B)special type ofgraph to analys
modern control systems

(C)polar graph
(D)topological representation ofa
set of differential equation

XJ .

(8) zero

(A)more stable as well as more

accurate
(8) less stable as well as less
accurate
(C)more stable but less accurate
(D)less stable but more accurate
05. The impulse response ofa system
is given by Y. e21 Which one of
the following is its unit step
responses.
(B)l -e1
(A)1 -- e-iat
(C)2-e-21
(D) l -e21
06. Sigpal flow graph is used to find
(A)stability ofthe system

(B) controllability of the system

03; 8 l)lt1;
08.A 09.D
14.D
13.C
-- ---rg: 8 -19. 8

05. B --10.C
15.8
20.8

Previous PSU's Qution

- --:::-01. The Laplace tot.di!-a

transportation.ta.oQ'..,,!lifamds is
(A)exp( 5.sy :l_'{S s)
(C) s 5

lCJ

1-;J

(C)Transfer function ofthe system

(D) poles ofthe system
07.. The transfer function ofa
technometer is ofthe form
(A)Ks
(c) __JS_
s+ 1

(B) .
(D)

-f

-. _K_

s(s+1}

(1)A (2)C (3)i) (4) C (5)A

(6)C (7)A

CHAPTER-3

TIME DOMAIN ANALYSIS

The time response has utmost importance for the design and analysis of control
systems because these are inherently time domain systems where time is the independent
variable. During the analysis of response, the variation of output with respect to time can be
studied and it is known as time response. To obtain satisfactory performance of the system,
the output beh11vior of the system with respect to time must be within the specified limits.
From time response analysis . and corresponding results, the stability of system, accuracy of
systemaiid-coniplete evaluation can be studied very easily.
Due to the application of an excitation to a systein, the response of.the system is
known as time response and it is a function of time. There are two parts of response of any
system: (i) transient response. and . (ii) steady- state response.
Transient Response:
The part of the time response which goes to zero after large interval of time is known as
transient response. In this case Lt C(t), = 0. From transient response, we get the following
t = o-o
information:
. ., .
.
(a) The time interval after which the system responds taking the instant of application of
excitation as reference.
(b) The total time that it takes to achieve the output for the first time,
(c) whether or not the output shoots beyond the desired value and how much.
(d) whether or not the output oscillates about its final value.
(e) The time that it takes to settle to the final value.
Steady State Response
The part of response that remains even after the transients have died out is said to be steady
state response. From steady - state response, we get the following information:
(a) The time that output takes to reach the steady -state
(b) Whether or not any error exists between the desired and the.actual value.
(c) Whether this error is constant, zero, or infinite.
The total response of a system is the sum of transient response and steady - state response:
C(t) = Cu(t) +
Figure shows the transient and steady - state responses along with stead)[- state error.
C(t)

..

c..

l __

1.0

____ _____________
error
0.98 ----------.::;-;::.-.=.--=t"-".--

0.- . Transient
Response

.-

Steady
State

--+ t

I I

18

ACE Academy

Control systems

3.1 Transiantanalysis

Standard.test signals:
(1) Step function : Step function is described as sudden application of input signal
as illustrated in figure.
r(t)
. .

if
A

.i. ______7-t--

0
Step function /displacement function:-

r(t) = A u(t)
u(t) = 1; t0
=0; t <0
In the Laplace transform fonn, R(s) = A Is

(2) Ranip function : the Ramp is a signal which starts at a value of zero and
increases linearly withtime. Mathematically,
r(t) = At ; for t 0
=O fort<O
In the Laplace fonn from, R(s) = A I s2
. Ramp function is also called velocity function.
(3) Parabolic function: Parabolic function is described as more gradual application.of
input in comparison with ramp function as illustrated in figure.
r(t)
.
r(t) = Ar/2 ; fortO
.
; for t< 0
r(t) = 0
If A =l, then r{t) = r/2 and the parabolic function iscalled
. .
unit parabolic function and the corresponding Laplace
t
transfonn is
O
R(s) = A/s3 ; Parabolic function is alo called acceleration function

(4) Impulse function: A unit-impulse is defined as a signhl which has zeio value
everywhere except at t = 0, where its magnitude is infinite. It is generally called the 6 function and has the following property : 6 (t) = 0 ; t 0

.
d
= - ( unit step function )
Unit impulselunction
.
dt
.

,. Hence the Laplace transfonn of unit impulse function is derived

from the Laplace transform ofunit step function as follows
:. ( unit impulse function ) = s . 1/s = 1
.,. .

.. Time response of a First order Cotrol System :

7f
R

ik

"A-firstorder control system is one wherein highest power of's' in the denominator of its
'transfer Junction equals 1. Thus a first order control system is expressed oy a transfer
-function,givenw:

19

Time Domain Analysis

ACE Academy

R{s) -

,rm
1
__
sT+ 1

The block diagram representation of the above expression is shown in the below figure.
R(s)

C(s)

Block diagram representation of a first order control system. .,

Time response of a first order control system subjected to unit step input function :
The output for the system is expressed as
1
C(s) = R(s) -. (1)
sT+l
As the input is a unit step function r (t) = 1 and R(s) 1 Is
Therefore, substituting in Eq. { l )

C(s) =

sT+1
T

Breaking R.H.S into partial fractions

C(s) =

or

-J . ;

C(s) =

sT+l

,
Ta\(ing Laplace transform on both sides
s+ 1/T
1
"1C{s) = r 1 [ - c(t) = 1- e-IT
s - s+l/T
s

,,,.-

The error is given by_,,, e (t) = r (t)- c {t) = 1 -{.l - e-tT) = e-t/T
-The steady state error = Lim e -t/T = 0\
1-+00

The time response in relation to abov fluation is shown in the !igure.

r.

'.=-r

V-1 1
0. 9 8

0.63

. Transient

>

--+-- Steady state 4

4T

t-+oo

Time response of a first order control system sul!jected to step input

The graphical representation of the time response shovm in figure indicates that the
response is exponential type and the steady-state value is 1 unit. As the time increases the
disparity between the output and input pproaches to nil, hence, the steady state error is rero.

20

Control systems

ACE Academy

Time response of a first order control system subjected to unit ramp input function :
l
The out put for the sys tem is expressed as C(s) = R{s) --.s T+l
As the input is p lUlit ram p function is r (t) = t and R (s) = l Is 2. _
.
l
l
Breaking R.H.S. into partial fractions .
Therefore c (s) =
l.
s2 sT+
2
l
.l
T
. l -s T
C(s)
=
T
- + T-- .
C s) = ---+
______ ....,.
s
s +l/T
s2
s T+l
s2
Taking jnverse L aplace transfor m on both;ides,
l
I
1
" 1 C(s )=" 1 [
--T-+T--- c(t ) = ( t-T+Te-tiT)
s2
s
s +II T '
.
Theerrorisgivenby e(t) = r(t)-c(t) = t-( t-T+Te- 11 T) = (T-Te-t'T)

The s tead y stateerror is e ss = Lim ( T-Te-" T) = T

t-4-GO

The time res pon sein relation to the aboveequation is s hown in the figure.
Th time response sh own in figure indicates that during
s tead y s t ate , the output vel ocity matches with the input velocity
but lags behind theinput by time T and a pos itional error ofT
unit s exist s in the system. It is also observed that lower the time
c onstant les ser is the positional error and als o lesser time lag.

Time response of a first order control systm subjected to unit impulse input funciion
I
The output for the_system is expressed as C(s) = R(s)-
sT + I
As the input t o the system is a unit im puls function, its Laplace transfonn isl, i.e.
R(s ) = l, t herefore,
I
C(s)=I.--
sT+I
Taking inverse Laplace transform on both sides ofEq.(2)
I
I
"1 C(s) = "1{1 /T). -.-
-1 C(s) = "1 __
or
s T+l
s +/T
I
c (t} = (1 IT) e -ti T

ACE Academy

21

Time Domain Analysis

Time Response of Second Order control System :.

. A second order control system is one wherein the highest power of 's' in the-denomiat'or
of its transfer function equals 2.
A general expression for the T.F of a second order control system is given by

.,
_.;.. ---

The.block diagram representation of the transfer function given above is shown in the figure.
.
.
'
.
2
C(s)
-R
O>n
,.
)
s (s +2sron)
-L'
Block diagram of a

second order control system

Characteristic Equation :
The general pression for the T.F. of a second order'control system is given by
C(s) _
ron 2
2
R (s)"- s + 2sron s + ro/
The characteristic equation of a second order control system is given by
_.s .+ isron s + Oln 2 = 0
lJtell<kation of roots of the chara. equation for various values of. S (keeping IDn fixed).
lmd the corresponding time. response for a second order control
system is shown in below
figure.

d..t>

>.hfu\

:ft:
-_ ---

v=

c()

=O

)t

+Re

t
-img
Fig : Location of roots of the characteristic-equation and corresponding t_ime response.
From above figre, it is inferred that the change over iom underdamped to overped
Response ta1ces place at {; = 1. The value of from the focation of roots is calculated as
l;; = cos

ej
I I

I I

22

ACE Academy

Control systems

Time,response of a second order control system subjected to unit step input function;,
The output for the system is given by
C{s)=R{s).
As the input is a unit step function

2
Oln

. s2 + 2 l; Oln S + Oln2

r{t)= l and R{s)= 1 I s

Therefore, substituting in above Equation

ro/
1
C{s)= -.-----s
s2 + 2 l; Oln S + Oln2

The solution for the above equation

: c{t) = l-,
:'

exp{-i;ro.,t)

t . J !

sin {ro0 ..ri-=v)t+ tan-1-(

c;
.

:
':

'--------------------------------------------------------------------4

The time response expression is given bythe above equation for values of c;< 1 is,
exponentia lly decaying oscillations having a frequency Oln ) and the time constant
of exponential decay is {l I c; Oln ).
Where ro; is called natural frequency of oscillations.
, 'rod' = Oln .J ( 1 - 1;2 ) s called damped freuenc of oscillations.
. c; ' affectsthe dampmg and called dampmg ratio.
i
l c; ro; is called damping factor or actual damping or damping coefficient -I

fig.( a )

fig.( b)

Fig. Time response and error of a second order control system ( c;< 1, under damped case)
subjected to unit step input function. ___ _
The time response of a second order control system is influenced by its damping ratio
{i;).Thecases forthe valuesofdampingrcitio as {a)i;< 1 (b
)c;=O {c)O<i;< I (d)i;= 1
.
(d)c; > 1 are considered beiow:

ACE Academy

Time-Domain Analysis

23

UNIT STEP RESPONSE ((0 <{, <1), UNDERDAMPED)

As stated above, if < I the time response presents,damped
oscillation and such a response is
called underdamped response.
The response settles within 2% of the desired value(I unit) after damping out the
oscillations in a time 4T. where T =( I I 1;010
). -

){ - ._ (]]

Unit step response when ( t;; = 0 , undamped system) :

C(t)

or

= I-

exp(-Oco 0

n .,/} - 0

.,/} - 0 t
.
1
c(t) = l - sin( co0 t + tan - co)
or

t + tan- - I

- -_--

0
c (t) = I - sin [ co0 t + 11: / 2 ]

or
c(t) = ( I - cos COn t )
The time response to above equation is plotted in the below figure which indicates sustained
( undamped ) oscillations.

I UNIT

0
Unit step response when O < t; < 1 : (Under Damped systems only)
Transient response specification of second order control system :
The.time response.of an underdamped control system exhibits damped oscillations
prior to reaching steady state. The specifications pertaining to time response during transient
part are shown in the following figure.
Max.
over-shoot

(1) Delay Time : t d

The time required for the response to rise from zero to 50% of the final value.
I ----. -----,

l = I+ 0.7 lI
I'-----------J

C0d

24

ACE Academy

Control svstems

(2) The rise time : t r

The rise time is the time needed for the response to reach from l Oto 90 % or O to I 00
r
% of the desired value of the output at the very first t. Usually O - 100 % basis is used
for underdamped systemsand l O to 90 % for overdamped system.

,-----------------------1t'

=
: t .,
: .

O>n
'-----------------------:-

. , where

cl>

. .

=tan-1

tJ
l,;

(3) peak time : tp

It is the time required for required for the response to rise zero to peaks of the time
response tp = 1t I cod
(4) Maximum overshoot : Mr
It gives the normalized difference between time response peak to steady state 0/P
Percentage Mr =

c(t)max-C(oo)
C(oo)

C(t) l

. x 100 =

-.-

x 100%

%M

exp(-l,;x/) xlOO:

p
-------------------------------------

A graph relating MP and l,; is plotted in below figure.

100%

%M p

Graph between M P and l,;

(5) The Settling time : t s

For 2 % tolerance band , the settling
order time is given by
l

On 5 % basis the settling time for a second

control systemis_given by
l

4 -Is = 3 -l,;ron
l,;ron
An expression for the time response of a second order control system having
Is

= 1 (critically damped) when subjected to a unit step input function is:

c (t) = [I - exp( -l,;ro0 t)( I + O>n t)]

.,

25

Time Domain Analysis

ACE Academy

The time rpoRSe in relation Eq. (11)is plotted in the below figure. The response is 'Called
critically-damped response.

------------------t-- --1-
0.02 UNIT

C (t)

1 Unit

'

t ..
0
Time response of a second order C.S.( =1 , critically..damped ) subjec::teg t o a wtlt step

function.
An expression for the time response of a second order control "system having
> 1 (Ovenlamped) wben subject ed to unit st.ep _input functionis derivedherewider :
The output for the systemis given by
ro.2
C (s) = R(s) ----As the input is a wtlt step function r (t) = 1
substituting in the above equation C(s)

and R, (s) = l/s, therefore,

..
l"l)n

(l/s) . ------

It can also.be written as C (s) = (1/s) . ------

- (s+l,;mn)2 "'-ro/(i; 2 -' 1)
m.2
or
C(s) = (l/s).
. .. _ : .. ..
.
_ .
.
[s +-4+ ;J l,; 2-l)IQJ_(s :!: ::c--.lt; 2 - l) COn]
Expanding R.H.S of above equation into partial fractions,
1
1
C(s) = - 2
1
s
2 (l;- -l)[s+(-'----.Ji,; -1 )mni
1
2{,2-1 (l,;+){s+(l,;+ )mn]
Taking inverse Lapl ace transform on both sides
c(t) = 1-

exp{( - ) mn t]
2 ({,;- )

exp[-({,;+" --.J 2 --i)ma-t]

2
2
2 ...., -1 (<;+ -l,; -1)

I I

I I

26

Controlsvstems
--- --- ___________

o(t)

J,.

0.98

"f"

ACE Academy

!Unit

4T

Time res. of a second order C.S.(i;; > I, over-damped) subjected to a unit step input function.

>I

C=O

.
Comparison
of unit step input time response ofa second order
control system for different values of 'I;'.

I
27

Time Domain Analysis

ACE Academy

OBJECTIVE QUESTIONS
O I. The radial distance between a pole and
the origin gives
a) damped frequency of oscillation.
b) undamped frequency of osciUatin,
c) time constant
d) natural frequency of oscillation.
02. For a type l, second order .control
system, when there is an increase of 25
-%-in-its natural-frequency, the steady
state em)r to unit ramp input is
a) increased by 20 % of its value.
b) equiti to 2 l; IC.On, where l; =
damping factor.
c) decreased by 2.1 %
d) decreased effectively by 20 .%
03. In a type I, second order system, first
peak overshoot occurs at a time equal
to
. C.O
(a) . it o l
l-l;
(a)

7t C.Oo
l+l; l

C.Og
( b)

(d)

7tl!2g

'11-l;z

04. Type number of a system gets

decreased if
- . a)Jirst an.integrator and then a
differentiatoris...include4 .!n_th_e__
system.
b) an integrator is included in the
forward-path.
c) a differentiator is included in a
- - parallel path.
d) a differentiator is included in the
forward path. -05. When the pole of-a-system is moved
towards the imaginary axis, then
a) settling time decreases.
b) settling time incr-eases by 20_%._of_
initial value.
c) steady-state error isi'educed-to
zero.
d) settling time of the system
increases.

06. The damping factor of a second order

system whose response to writ step
foput is having 'SUStained oscillations is
a)= I
.c) <l

b) > l
d) =O

.,

07. The transient response of a system

with feedback when compared to that
without feedback
a)
b)
c)
d)

decays slowly.
rises slowly .
rises more quickly.
decays more quickly.

OS.The settling time for the system

_
(s + 3)
G(s) - s 2 + 5 s + 25
is .............. seconds when the output
ettles within 2 % for a unit step
input.
a) 0.8
c) 2.0

b) 1.2
d) 1.6

09. The type of the system whose transfer

function is given by
s +3
_ . s s + 4+( 3 + ) 2
is
G(s)s s 3s +2s

( 3

(b) 2

(c) 5

(d) I

10. Physically the damping rati.o represents

the
a) energy available for transfer,
b) energy available for exchange.
c) ratio of energy available for
exchange to thafavailable fur
transfer.
d) ratio of energy-lost to the energy
available for exchange.
I 1. The static acceleration con$Irt of a

type 2 system is
b) zero
a) infinite
1:) cannot be found out

d) finite_

Control systems

28

12. The time domain specification which is

dependent only on, the damping factor
is
b) peaktime
a) rise time
d) peak overshoot.
c) setting time

ACE Academy

Key for Objective Questions :

1 to 12 ........... .. (d)

3.2 Steady state Analysis:

The steady state part of time response reveals the accuracy of a control system. Steady state
error is observed if the actual output does not exactly match with the input.
e(t) = r(t) - c(t)
Steady state error, e55 = Lt e(t)
1-+oo

= Lt [ r(t) - c(t) l
Using final value theorem,
ess = Lt s E(s)
C(s) = E(s) G(s) :::) E(s)

C(s)

=G(s)

Q&= ._fil&_
G(s)
1 +G(s)

-------------------------,

:.. ess = Lt s. R(s) :

S-+o
:
1 + G(s) :

: ----- .. -------------------!

The open-loop transfer function, the type indicates the number of poles at the origin and the
order indicates the total number of poles. The type of the !lystem detennines steady state
response and the order of the system determines traQSient response.
Standard test signals used in Steady state response :

(I) Step input signal : .

(2) Ramp input signal :

r(t) = A u(t)

r(t) = At

R(s) = Als

R(s) = Al s 2

29

Time Domain Arialysis

ACE Academy
(3) Parabolic input signal :

r(t) = At 2 /2
R(s)=A/s 3
For step input

'
ess = Lt s.
S-+0

Lt s.

S-+0

Lt

where Kp =

.1

S-+0

R(s)
1 + G(s)
Als

A
1 +Kp

A
1 + G(s)

Lt

1 + G(s)

S-+0

G(s) = Position error constant

For ramn innut

ess =_ Lt s.

R(s)
1 + G(s)

Lt s.

A/s 2
1 + G(s)

S.-+0

S-+0

where K

S-+0

S-+0

R(s)
I+ G(s)

Lt s. A/s 3
_-:!-=1 +G(s)

_
A
= Lt
Ho s 2 [I + G(s)1
-

A
Ka

Lt s2 G(s) ;;;Acceleration error constant

5-+0

0-

00

A!Kv

00

00

Type O

A
Kv

A
s (1 + G(s)]

Lt s G(s) = Velocity error constant

For parabolic input

ess = Lt s.

.:.:... - - , where Ka =

Lt

S-+0

Step
Ramp
Parabolic

A
--

l_+Kp

-- -

______A I Ka,

I I

I I

30

. ACE Academy

Control systems

OBJECTIVE QUESTIONS

o1 . The presence of non-linearities in a

control system tends to introduce

a) transient error b) instability
c) static error d) steady-state error

02. The static accelerati1m constant of a

type 2system is
_b) ,zero
a) infinite
c) cannot be found out d) finite
03. The transfer function.of the system
whic;.h will have more steady state
error for step input _is
80
(a)
( s+ I )( s+2)( s+3)
120
(b)
s( s+1 )( s+ 15)
(c)
(d)

( s+o.s )( ;3)( s +5.5)

120
( s+I){ s+4)( s+l5)

0 4. The presence or absence of steady

state error for any given system
depends upon
a) presence or absenceof pole at the
infinity.
b) presence or absence of poles and
zeros
at the origin.
. c) absence or presence of ?eros at the
origin.
d) absence or presence of pole at the
origin.
05. When the gain 'k' of a system is
increased, the steady-state error of
'the stem
... a) increases.
b) reinains-0nehanged
c) may increase-or decrease.
11) decreases.

06. The plant is represented by the

transfer function.The system'is given
a degenerative feedback. The
effective of the feedbackis to shift
the pole
a) positively to s =( a+k) and
reduce the time constant to
a+( l/ k)
b) negativel)'-t6-t -(la + k) and
increase the tiine constant to
a+k.
(c) negatively to s = ,...(a+k) and
reduce the time.constant to
a+(l/ k).
(d) negatively to s = -(a+ k) and
de<,:rease the time constant to
[1/(a+k)].
07. In a system with input R(s) and
output C (s), the transfer functions of
the plant and the foe<,lbacksystem is
given by G(s) andH (s)
respectively . The system has got a
negative feedback. Then the error
signal is given by the expression
G (s) R (s)
(a) E(s)
I +G(s)H(s)
(s) ==:.. C .(s) G(sr.....:... ..=I
{c) E(s)
I +G(s)H(s)
R(s)
(d) E(s)
l +G(s)H(s)
08. The staticerror constants depends on
a) the order of the system
b) tiie type of the system
c) both type and order of the-system
d) None of the above Ke.y:
1. d 2. d 3. d

4.

6. d

9. d

7. d 8. b

er

5. d

JTO Previous Questions

O I. Control systems are normally
designed with damping factor
(A) more than unity

-07. A unity feed back system has

transfer
9
function G(s)= S(S + 3) , its?
(A) natural frequency_"" 2

(B)of zero

{B)natural frequecy =; 3

(C) less than unity

(C)damping ratio = 0.5 .,

(D)ofunity

)damping ratio = 0.9

02. A type - 2 system has a finite non=_ __ ...

zero value of error constant
(A) cc

(B)zero

(C} Ka

(D) I/Ka

03. The type 2 system has which of the

following
(A)constant position error as well as
velocity error
(B)zero position error and constant
velocity error
(C)constant position error and zero
velocity error
(D) zero position error as well as
velocity error
04. The time required for the response to
reach half the final value for the first
time is
- (A) cay time

(B)rise time

(C) pick - up time (D) delay time

31

Time Domain Analysis

ACE Academy

05. For the characteristic equation S2 +

4.8s + 72 = 0, the damping ratio and
natural frequency respectively are?
(A)0.812, 9.1 rad/sec
(BT0.283, 8.48 raa1sec
(C) 0.256, 8.31 rad/sec
(D) 0.913, 8.5 rad/sec
06. The type - 0 system has a finite
non - zero value-of
(A)Kv
{B)Ka
(DtallofThe above
(C) Kp

08. The system whose characteristic

- equation I- + 6s + 5 = 0 has the
following roots
(A)- 3, - 2, - I

(B)- j, j, l, I

(C)- 3, - 2, 0 _(D)- 2+3j, -2-3j-2

09. The overshoot of the system having
the transfer function 25/l-+25 For a
unit step input applied would be
. (A)20%

(B)30%

(C) 35%

(D)100%

I 0. Potentiometers are used in control

system(A) to improve stability
(B)to improve frequency response
(C) as error sensing transducer
- (D)to improve time response
11. The position and velocity errors of a
type 2 system are
.(A)zero, constant
{B) constant, constant
(C)zero, zero
(D)constant, infinity
12. Bandwidth is used as means of
specifying performance of a control
system related to
(A) the speed of response
(B) the constant gain
(C) relative stability of the system
{D)all of the above

32

Control systems

13. Tiie value ofsteady- state error to

the type 1 system, when the input
signal is a step ofmagnitude 2, will
be
(A) 0.5
(C) 1.54

(B) 2.5

(D) zero

14. Which ofthe following system is

generally preferred
(A) critically damped
(B) under damped
(C) over damped

(D) oscillatory
15. As the system type becomes higher

steady state error

(A) remains constant

(B) increases
(C) is eliminated

(D) none ofthe above

16. The steady state acceration error

for a t)'p _uystemis

ACE Academy

19: With the feedback system, thr

transient response
(A) rises slowly

(B) rises quickly-- -

(C) decays slowly

(D) decays rapidly

20. Error constants ofa system are
measure of
(A) steady tate response

(B) steady state as well as transient

-.--staTe-response

(C) relative stability

(D) transient stat tespons;

21. Static error coefficients are used as a

measure ofthe effectiveness of
closed - loop systems for specified
(A) velocity input signal
(B) ac.celeration input signal
(C) position input_ signal

(D) all ofthe above

22. The transient response ofa system is

(B) zero

mainly due to .
(A)friction

(D) unity

(C) internal forces (D) inertia forces

(A) between zero and unity

(C) infinite

17. For a second order differential

equation ofthe damping ratio i I,
them
(A) the poles are equal, negative and
. real
(B) both poles are negative and real
(C) the poles are in right halfofthese
plane
(D) the poles are in a left halfofthe s
plane
18. The position and velocity errors ofa
type 2 systems
(A) zero, infinity
.(B) zero, zero
(C) zero,-constant

'(D)constant, zero

(B) stored eriergy

23. For any given closed lqop system __ - (A) all the cofficintsare always non= zero
(B) all the coefficients can have zero
value
(C) only one ofthe static error
coefficients has a till!_te non zero
value
(D) any oftli: abye
1

24. A unity feedback system has open loop transfer function

G(s) == 1/(1+s). The pole ofthe
closed loop system is located
on the real axis.in tiie S - plane is
(A)-2
(B)-1
(C)2

(D)-5

ACE Academy

25. The output ofa linear system for a

unit step input is given by t2e11 The
transfer function is given by

(C) s2(!+1)

(D) - :-1 3(s )

26.
- The steady - state error coefficient
for a system are given by Kp =0,
Kv = finite constant, Ka= oo. The
system is

(A) Type - I system

(B) Type-2 system
(C) Type -3 system

(D) Type-0 system

27. In the case ofsecond order

differential equation when the
damping ratio is less than 1 then
(A) poles will be unequal
(B) poles will be complex conjugate
& negative
(C) poles will be equal, negative and
real
(D) poles will be positive
28. The error signal produced in a
control system is a constant. The
output of P action will be
(A) linear
(B) infinity
(C) constant
(D) zero

29. The transient response of the system

depends on
(B) output
(A) input
(C) system (D) none

30. The steady -state response ofthe

system depends on
(A) input
(B) output
-(C) system
(D) Input & output
--l,The nonnal range of damping.ratio
for a control system is
-(A) 0.5 to 1. 0
-(C)0.3 to 0.5

33

Time Domain Analysis

(B) 0:81o 2.0

(D)0 .5 to 2.5

Previous PSU's Question

01. Tpe steady state error due to a ramp

input for a type two system is equal
to
(A) zero {B) infinite - - -
(C) constant (D) data iirfrtstifficient

02. Given the transfer function'

-

3 5
( )

121
=s2 + 13.2s+ 121

ofa---system. Which ofthe

following characteristics does it
have?
(A) Overdamped and.settling time
l.ls.
(B) Underdamepd and settling time
0.6s.
(C) Ctitically damped and. settling
time0 .8 s
(D) uncerdamped and settling ti_me
0.707s.

03. Consider the following statements

with a reference to a system with
velocity error constant kv = 1000
I. The system is stable
- 2 . The system is of type 1
3. The test signal used is a step
input.
Which of these statements are
_ correct? -(A)l&2

(C)2&3

(B)l & 3

(D) 1, 2,&3

04. The close loop transfer function of

- control system is given
=-11 +s
R(s)

For the input r(t) = sint, the

steady state value ofC(t) is equal
to

{B) 1:
(0)

Tz

Sin (t - n/4)

I I

34

ACE Academy

Control systems

1)5. TI1e transientresponseof a system

is mainly.due to
{A)internal forces
(B)Stored energy
(C)Friction
(D)inertia orces
06. A system is critically damped.

Now ifthe gain ofthe system is

increased. The system will behaves
- .. as
(A)over damped
(B)Uriderdamprd
(C)oscillatory
(D) Critically damped

07. Consider a system with the transfer

function
S+6
G(s). =
2

Ks +s+6

It damping ratio will be 0.5

when-the value ofk is
(A)2/6 (B)3 (C)1/6

( D) 6

08. The transfer functi ofa control

system is given as:
k

s2+4s+k).

Where k is gain of
the system in radian/ amp. For this
system to be critically damped the
value ofk should be -

-.=

(A) I . (B)2
(C 3 --tBJ 4
09.
The
unit
impulse
response
ofa
.,
system is given by c_(t)..=J).5e-112
.Its transfer function is

(A) (s+ 2)
-
2
(C) (1+2s)

( B)
(D)

_1_.
(1+2s)

-1.:::::
(s +2)

10. The impulse response of a system

is-given by C (t) = Y, e-112
Which one ofthe following is
its unit step responses.
(A) 1 - e"1121
(C) 2-e21

(B)l -e-t
(D)l -e-21

11. A system is represented by

_s!y__ + 2y = 4t u(t)
dt
The ramp component in the forced

response will be
(A)t u(t)

(B)2t u(t)

(C)3t u(t)

(D) 4t u (t)

12. Which one ofthe following is the

steady state error ofa step input
applied to a unity feedback will e
the open loop Transfer function
10
G(s). =
s2 + 14 + 50
(A)es, = 0

(B)e.. = 0.83

(C) e,s = I

(D)e,, = oo

13. The unit step response ofa

particular control system is given
by c (t)= 1 - 10e1, then its
transfer function is
(A)

-1L
s+1

(B)

1-9s
{C) _ , s+ 1 _(D)

s+1

1-9s
s(s+ 1)

14. The open loop transfer function

G(s)of

1
s(s + 1)

an unity feed back control system

is The system is subjected to an
input r(t) sin f. The steady stafo
error will be
(A)zero (not defined)
(B)1
(C)..J2 sin (t - n/4)
(D)..,/ 2 sin (t +n/4)

I.
Time Domain Analysis

ACE Academy

15. A second order system has the

damping ratio and undamped
natural frequency of oscillation
Clln, the settling time at 2%
tolerance band of the system is

.
2
. . ..
3
. . '(8)
(A) ------,
ron
{ron
(C)

4
ron

--->. The response c(t)to a system is

described by the differential
equation
1>+sc(t)o;
+

19; When the time period1>f

observation is large, the type ofthe
error is
(A) Ti'llllsient error
(B) steadystateerror
(C) Half - power error
(D) position erron:onstant

20. 'For which of the following input, the

error series using dynamic-error
coefficients doesn't converge
(A) step input
(B) ramp put

The system response is

(C) acceleration (parabolic)input

(A)undamped ..

(D) sinusoidal input

(B) underdamped.

(C)critically damped
(D)oscillatory
17. The steady state error of a stable type
unity feed back system for a.unit
step function is
(A)O

1
(B) 1 + lG, .

(C)llO

1
(D)

18. What is the steady state errr for a

unity feedback control system having
1
G(s) =
s (s + l)

35

. JTOKEYS:
01.C 02.C 03.D 04.D 05.B
06.C 07.B 08.C 09.D 10.C

11. c 12.A 13.B 14.B 15.C

16. B 17.A 18. B 19.D 20.A

21.D 22.B 23.C 24.A 2.A

26.A 27.B 28.C 29.C 30.A
31.A

PSU'sKEYS:
O I.A"--02.""B 03.A 04.D 05.B

due to unit ramp input?

06.B 07.C 08.D 09. B 1-0.A

(A)l

(B) 0.5

(C)0.25

(D)0.5

16.B 17. B 18.A 19.B .20.1)

11. B 12.B 13.C 14.A lS.C

STABILITY

CHAPTER-4
Concept of stii:bility:

Any"system is called as a stable system if the output of the system is bounded

for a bounded input Any signal is called bounded if the max. and min. value are finite.
BlO
-

tg:
I

...

"' u(t)

-Bounded

-,(t)

Unbounded

IL-
0

{Jnbounded

Bounded

Stability of any system depends only on the location of poles but not on the
location of zeros.
If the poles

are located in left side of s - plane, then the system is stable.

I

If the roots are located on imaginary axis including the o,rigin (except repeated roots),
the system is stable.
If the pules are_ located in right half of s - plane, then the system is unstable.
As pole 'is approaches origin, stability decreases.
When roots are located on imaginary axis, then the system is marginally stable .
the poles which are.c;lose to the origin are called dominant poles.
}-}Absolutely stable systems
The systems are classified as
2) Unstable systems
3) Conditionally stable systems
. When variable parameter is_ varied1i'om-O to oo, if the pples..are located ,on left side
.:..._an_g it is always stable, then it is_absoluteltabl:. -.............When variable parameter is varied and a system is stable for values O to oo, at some
point onwards there is (are) pole(s) in right side then it is called conditionally stable.
Techniques used to calculate stability are

l) Routh-Hurwitz criterion
2)__ Root locus
3) Bode plot
4) . Nyquist plot
5) Nicholas chart

ACE Academy

STABILITY

37

Relative Stability Analysis :

Oce a system is -shown to be stable, we proceed to <letennine its relative

stability quantitatively by finding the settling time-ofthe dominant roots of its characteristic
equation. The settling time is inversely pR>portional to the part of the-dominant roots, the
relative stability'can be speci _by-requiring that all the roots of the characteristic equation
be more negative than a certain..value, i.e., all the roots must lie to the left of the lines s=
-s 1 (s 1 > 0). The characteristic-equation of the system under study is then modifi<;,d by-shifting
the origin of the s-plane to s = - 01, i.e., y the substitution
s = z.-s1
If the new characteristic equation in z satisfies the Routh criterion, it implies that-al-I
the roots-of-the original characteristic equation are more negative than--01.
z-piane axis 7

. Splane axis

4.1 ROUfH.,.. HURWITZ CRITERION:

The Routh - Hwwitz criterion represents a method of determining the location of
poles of a polynomial with constant real coefficients with respect to the left half and the rigb,t
half of the s-plane, without actually solving for the poles.
Consider that the characteristic equation ofa linear time-invariant system is of the form
F(s)=ao s +a1 s n-l +a2 s n-2 +........ +a..-1 ',!+a.. = 0
bl.order that there be no roots of the last equation with positi real parts, it is
necessary but not sufficient that
1. All the coefficients of the polynomial have the same sign.
2. None of the coefficients vanishes.
The necessary' and sufficient condition that all roots of above equation lies in the left
half of the s-plane is that the Polynomial's Hurwitz determinants must all be positive.
The roots of the polynomials are all in the left half of the s-phme if all the elements of
the first column of the Routh tabulation are of the same sign. If there are changes of signs in
the number of roots
the elements of the first column,
- the number of sign changes indicates
--- with positive teal parts.
The following fficulties may occ occasionally when carrying out the Routh test
1. The fust element in any one row of the Routh tabulation is 7.Cl"Q, but the other
elements are not.
2. The elements in one row of the Routh tabulation are all zero.

I I

I I

ACE Academy

Control Systems

38

Example : Consider-ilie following equation :

ss+ 1.5 s4+ 2 s3+4 s2+5 s+10 = 0
The Routh array is given below
1.5

2
4

5
10

-0.66

-0.66

0.227
27.4
10

10
0

s4
Sign change
s3
Sign change
s2
S

so
.

O
0
0

As there are two sign changes in first column orRouth table, it is concluded that the
system under consideration is unstable having two poles in the right half of the s-plane.

Example : Consider the characteristic equation :

s4 +5 s3 +5 s2+4 s+ K=O
The Routh array for this equation is

12

21/5

[ 84/5

- 5K ] I (2115)
K

. i

Since for a stable system, the signs of elements f the first column of the
Routh array should be all positive, the condition of system stability requires that
K>O
and

(84/5 - 5K)>0

_ Therefore for stability, K should be lie in the range_

84/25>K>O

Special Cases:
Difficulty 1 : When the first ierm is in any row ofthe Routh array is zero while rest ofthe
row has at least,one nonzero term.
Because-0f this zero term, the terms in the next row become infinite and Routh's test
breaks-down. The following method can be used to overcome this difficulty.

STABILITY

.. ACE Academy
42

Example : Determine the stability ofa -closed-loop control system whose .characteristic
equation is
ss + s4 + 2 s3 + 2 s2 + 11 s + 10 = 0
The Routh array is fonned below :

11

2
2

S
4

s3

HJ

,,

while fonning the Routh array..as above, the third element in the first column is zero and thus
the Routh criterion fails at this stage. The difficulty is solved ifzero in the third row of the-
first column is replaced by a symbol 'e' and Routh array is fonneil as follow:

2
2

S
4

s3
s2
I

Lim (2E - J

Lim
.... o

so

10
0

E
.... 0

11

J: Q

(,-J "'
2E - J

10

-o

10

The limits ofthe fourth and fifth element in the first column as E 0 from positive side are oo and +I respectively indicating two sign changes, therefore, the system is unstable and the
riumber ofroots with positive real parts ofthe characteristic equation is 2.

Diff,cu/Jy 2 : When all the elements in any one row ofthe Routh array are zero.

This condition indicates there are symmetrically located roots in the s-plane. Because
ofa zero row in the array, the Routh' s test breaks down. This situation is overcome by
replacing the row ofzeros in the Routh array by a row of coefficients ofthe polynomial -
generated by taking the first derivative ofthe auxiliary polynomial. The following example
illustrates the procedure.
Example : Determine the stability ofa system having following characteristic equation :
S

+S + 5

s4 + 3 'S3 + 2 s2 - 4 S - 8 = 0

The Routh table is fornied below

s6

-8-

-4

-8

s4
s3

Auxiliary equation

40

Control systems

ACE Academy

It is observed in this example that all the elements in the fourth row vanish and the
application of Routh criterion falls. This situation occurs when the array has two consecutive
rows having the same ratio of corresponding elements.
This difficulty faced is overcome by forming an auxiliary equation using elements of
the last but one vanishing row. The derivative of this auxiliary equation is taken w.r.t. 's' and
the coefficients of the differentiated equation are taken as the elements of the following row: ___ _ _
The auxiliary equation is
A(s) = 2s4 + 6 s2 - 8
-----
dA(s)[ds=8s3 +12s-O
The coefficients of the fourth row are thus 8, 12 and 0. The modifieifRouth array is
given below
56
-8
5
2
And

-4

-8

12

-8

s
s

coefficients of differentiated A.E.

I
S
0
100/ 3
0
0
Sign change
s0 - 8
0
0
0
As there is one sign change in the first column, the system has one root with positive
real part indicating that the system is unstable.

ACE Academy

STABILITY

OBJECTIVE QUESTIONS

05. The characteristic-equation ofa unigt

feedback system is given by

QO 1. The transfer function of a system is

."i1

2
s 3 +s +4s+4 = 0
a) The system has one pole in the
RH-splane
b) The s)'$tem has no poles in the
RH-splane
c) The system is asymptotiEally stable
d) The system ibits oscillatory
- tiehaviour

'K
3
2
a.3 s +a 2 s +a1 s+a.,

or the system to be absolutely stable,

a) 83, a2 , a1, a.,> 0 and a2 a1 - a3 a.,> 0

b) a3, a2 . a1, a.,> 0 and a2 a1 -a3 a.,<0
c) a3 , a2, a1, a.,>" 0 and a2 a1 - a3 a., = 0
d) aa.,> 0 and a3 .a1 <0

06. An electromechanical closed-loop

control system has the following
characteristic equation
2
s 3+ 6Ks +(K+2)s+8 = 0
where K is the forward gain ofthe system.
The condition. for closed-loop stability is
'
a) K=0.528
b)-K=2
c) K=O
d) K=- 2.528

92. Routh's array for a system is giver

"below.
s

07. The case in the Routh table in which a

particular row elements are zero, show
that
a) a differentiation has to be carried out
and conveys no other information
b) it is a special case in Routh array
c) whether the system is stable or not
d) some roots are distributed
symmetrically about the "origin.

-3

s
5
The system is
a) stable
b) unstable
c) marginally stable
d) conditionally stable
03. The number of sign changes in the.
entries in the first colum.n ofRouth's
array denotes
a) the ri_iliilber ofzeros ofthe system in
the RHP
b) the number ofroots ofcharacteristic
polynomial in RHP
c) the number ofopen-loop poles in RHP
d) the number ofopen-loop zeros in RHP
04. Consider a characteristic equation
4
3
s +3s +5s-os+K+ IO=O;
The condition for stability:-
.. a) K>5
c) K>-4

b) -IOK
. d): IO<K<-4

41

08. The system is represented by its transfer

function has some poles lying on the
imaginary axis, it is
a)
b)
c)
d)

unconditionally stable
conditionally stable
unstable
marginally stable
.

09. In the first column of the Routh array, an

element was found io be zero. The first
column element above this zero and
below this ro has-the same.sign. This
-condition indicate that the system
a) is stable
b) "is unstable
c) has all the roots in LHP except one
.
d) has some roots
on the jro-ll?'is

I I

I I

42

Control Systems

10. The statements-thatholds,good for

relative stabAity -analysis is :
.a) Ruuth array method cannot be used
be used and
b) iraphical methods
Routh array cannot be used
c) graphical methods canno be used
d) both graphical as well aslfoutli array
can be used

can

Key for Objective Questions :

I. a 2. b 3. b 4. d 5. b, d
6.a,-<l Ld_ 8. d 9.. d }O. d

JTO Previous Question

. 0 I. The closed loop transfer function of
system is given by
C(s)/R(s) = l/[(s+2)(s2+4)].
The system is
(A) completely unstable
_ (B) completely stable
(C) marginally stable
. (D) conditionally stable
02. A system which has some roots with real
parts equal to zero, but none with +ve
real parts, is
(A) absolutely unstable
(B) absolutely stable
(C) relatively stable
(D) marginally stable
03. A step function is applied to the input of
. a system and output is of the form
y = t, the system is
(A) conditionally stable

(B) not necessarily stable

(C) un stable.
(D) stable

04. When gain K of the loop transfer

function is varied from zero to infinity
.the closed loop system
(A) stability is improved
(B) always become unstable
(C) stability is not affected
(0) may become unstable

ACE Academy

05. ln a non - linear control system limit

cycle is self sustained oscillations of
(A) variable amplitude
(B) fixed frequency and amplitude
(C) fixed frequency
. . (D) variable frequency
06. In a control system, the use of negative
feedback
(A) increases the influence of variations
of component parameters on the
system performance
(B) reduces the effects of diS!Urbance
and noise signals in the forward
path
(C) increases the reliability
(D) eliminates the chances of instability
07. If a step function is applied to the input
of a system and the output remains below
a certain level for all the time, the
system is
(A) stable
(B) marginally stable
(C) not necessarily stable (D) unstable
08. The condition that all roots of the_
following polynomial
aos3 + a1s2 + a. s + a3 = 0
(A) a1a2 > aoa3 (B) a2ao > a1a3
(D) a,a2 > aoa3
(C) a1a3 > aoa2
09, Which of the foilowing statements is in
-corrent?
(A) If the output response to a bounded
input signal results in constant
amplitude or constant amplitude
oscillation, then the system is
limited stable
(B) If a system response is stable for all
variation of its parameters, it is
called absolutely stable system
(B) If a system response is stable for a
limited range-of variations of its
parameters, it is called conditionally
stable system
(D) If a system output is an oscillatory
signal for a sinusoi4at signal, it is
called relatively stable

ACE Academy

STABIUTY

l 0. If a system is subjected to an unbounded

input produce1m unbounded response,
then the system is
(A) nothing can be predicted about its
stability
(B) absolutely stable
(C) unstable
(D) stable

43

KEYS:
(1) C (2)D (3) C {4) D {5) B
(6) B (7) C (8) B (9)1J ;(IO) A

'

4.2 ROOT LOCUS TECHNIQUE

It is the graphical representation of the roots of the characteristic equation, then the variable
parameter is VIU"ied from O tooo.
l) Root Locus ( RL)

(K-+ O tooo)

2) Complementary RL

(K-+ 0 to,-oo)

3) Complete RL

(K-+ -oo tooo)

4) Root contour

( Multiple parameter variation )

Concept of Root locus

It is not possible to plot the root locus if there is no variable parameter in characteristic equation.
Classification of stable systems L

2) Underdamped systerr'

(roots on imaginary axis i.e., real part = 0)

.. -
(imaginary but real part is negative)

3) Critically damped

(roots are real and same)

4) Over damped system

(roots are real and different)_

l) Undamped system

44

Control Systems

ACE Academ,1

Rules for the construction of Root locus

*
*
*

The root locus is always symmtrical with respect to the real axis.
The root locus always starts (K= 0) from the open - loop poles and terminates (K= <XJ)
on either finite open - loop zeros or infinity: This statement is valid.only if P = Z.
The number of separate branches of the root locus equals either the number of open loop poles or number of open - loop zeros whichever is greater.
N=P,if P>Z
_N_==Z; if Z >.P

*
*

A section of root locus lies on the real axis if the total number of open - loop poles and zeros
to the right of the section is odd.
The value of 'K' at any point on the root locus can be calculated by using the magnitude
criteria.
K=

Product of poles magnitude (or length)

Product of zeros magnitude (or length)

If P :;t Z, some of the branches terminate at or some of the branches will start from '<XJ'.
If P > Z, (P-Z) branches will terminate at '<XJ'.
If Z > P , (Z - P) branches will start from 'QJ'.
Whenever any branch will terminate at '<XJ' means that a zero is located at '<XJ'.
Whenever any branch is start from '<XJ' means that a pole is located at '<XJ'.

The angle of asymptotes :

If P > Z, (P - Z) branches
. will terminate at '<XJ' along straight line asymptotes whose angles
are,
.L..

(2q + 1) 180
P-Z

- If Z > P , (Z _: P) branches .will start from '<XJ' along straight line asymptotes whose angles are

(2q + 1) 180
Z-P

;.

I1r

ik:

:t
f1}-'. f

STABILITY

ACE Academy

45

Centroid : The asymptotes meet the real axis at-centroid.

O' =

Sum ofreali)arts-ofpoles - Sum of real parts of zeros

P-Z

* Intersection points with imaginary axis : T-he value of 'K' and the point at which the
Root locus branch-crosses the imaginary axis.is determined by applying Routh criterion to
.,
the characteristic equation.The roots at the intersection point are imaginary.
* Break - a,vay point and break - in point :
Break - away point is calculated when root _locus lies_betWeen two poles.
Break - in point is calculated when root locus lies between two zeros.
Break - away or break - in point is calculated
by soiving

( dK

!-

1
= 0 J

l___ds ..___ _J

Procedure:
a) From the characteristic equation (C.E.)
b) Rewrite the characteristic equation in the form of K = f( s)
c) dK/ ds = 0
d) The root of dk /ds = 0 gives the valid and invali4 break point
c) The valid break point which must be on root locQs branch
Angle of arrival :
It is applied when there are complex zeros.

jcpA = )80 ++

where.+ = Lpoles - L zeros

Angle of departure :
It is applied when there are complex pol.
!cpo

= 180 -+

I I

I I

Control Systems

ACE Academy

Complementary )!ot1ocus
In this the magnitude criteria remains same but angle criteria changes.
i.e., LZeros-LPoles = even multiples ofn
I) Asymptotic angles =

(2q) 180

P-Z
2). Angle ofdeparture = 180 cl>
where cl> = Lpoles- L zeros
3) Angle ofarrival = 180 + cj,
4) A point on the real axis lies in the complementary RL, ifthe number ofpoles and
zeros to the right side ofany point is a even number.

Example: Sketch the complete root locusJor the system having

G(s) H(s) =

K(s +5)
(s2 + 4s+ 20)

Sol: Step 1: Number ofpolesP=2, Z=I, N=P-Z

. One branch has to temiinate at finite zero s=-5 whileP-Z =I branch has to
tenninate at co.
Starting points ofbranches are, -2 j 4.
Step 2: Pole-zero plot ofthe system is shown below.

t
One breakaway

NRL

-5

-2i

j4
NRL

x-- -j4

Step 3 : Angle ofasymptotes

9=

(2q+ I) 180
P-Z

q=O

ACE Academy.

47

STABILITY

Step 4 : Centroid.

As there is one branch approaching to oo and one asymptote exists, centroid is not required.

Step 5 : Breakawaypoint

I +G(s) H(s)

s +4s+ 20+ K-(s+5)

dK

= 0

=> - s

ds

'
(s+ IO) =

s = 0 and s =-IOare breakaway points. But s = 0 cannot be breakaway point.

Hence s = -IO is valid breakaway point.
.Step 6: {ntersection with imaginlll)' axis.

Characteristic equation ,

s2+4s+ 20+ K (s+5) = 0

s2+ s (K+4) + (20 + SK) =

Routh's Array can be fonned as below

20+5K
K+4

s0

20+ SK
.. Kmar .= -4 makes s I row as row of zeros.
But as it is negative, there is no intersection of root locus with imaginary axis.
Step 7 : Angle of departure.

-s.

. ::.

2
4>p1
- -X - -::J4

90,

4>z1

:= tan 1 (4{3)

53.13

l .= X 4>P. .-:- I 4>z = 36,86

180 - 4>

4>d

= - 143.13

+ 143.13

at - 2+j 4 pole.
at -2-j 4 pole.

Control Systems

48

. .

- ".

. .

ACE Academy

<X} <E----4f----<>-----+----+--
0
-S
-2
-10
0

61 = 180

Step 9 : Prediction of stability

For all ranges of K i.e., 0 < K < <X} both the roots are always in left half of s-plane.
So system is inherently stable.
Example : Sketch the complete root locus of system having
ei(s) H(s)

s(s+ l )(s+2)(s+3)

Sol. : Step 1 : P = 4, t = 0 & N = 4 i.e., four branches in the root iocus.

Step 2 : All four branches starts from open-loop poles and terminates at <X},
Step 3 : Angle of asymptotes =

(2q+ I) 180

0-1-2-3

45, 135, 225. 315

Step 4: Centroid = ---- = -1.5

Step 5-: Breakaway point

K = -s4 -6s3 i'I i'-6s

dK

--s- = - l.5, - 0.381, - 2.619

= 0
ds
Here, - 1.5 lies in the root locus and-0.381, & 2.619 lies in the complementary
root locus.

STABILITY

ACE Academy

49

Step 6: Intersection of root locus imaginary axis.

s4 + 6 s3 + 11 s2 + 6s + K = 0

Characteristic Equation

11

10

-0

(60-6K)/ 10

53
52

'

:. Kmar = + 10

60-6K = 0
- Auxiliary equati_on :
10s2+K=O
At K = 10, s2 = - l, s c= j

Step _'{ Complete root locus.

-3

.2

fu.=2"3

,'j', .

-I

,, ,,, ,'ntroi-

s=-1.5
--

_ Step B : For O < K < 10, system is absolutely stable. At K = 10, system is marginally
stable oscillating with l rad/sec. For K > 10, system is unstable.

I I

I I

so

. ACE Academy

Control .Systems

-<:otnplemeRtary Root Locus :

Step I : P = 4, Z = 0 &N = 4 i.e;, four branches in the root focus.

Step 2 : All four branches starts from open-loop poles and tenninates at oo.
(2q) 180

Step 3: Angle of asymptotes =

0-1-2-3

= 0,90 , 180 , 270

. 4

Step 4 : Centroid = ---- : = - 1.5

4

Step 5 : Breakaway point

K = - s4 -6 s - II s2- 6s
3

dK
ds

= 0

=> s = -1.5,-0.381;-2.619

Here, -1.5 lies iri the root locus and-0.381, & 2.619 lies in the complementary rootiocus.

I .- .
RL of system with transportation lag :
t)
r( _
r(t)

---;I

Transfer function

c t .:..
te I-""---- _ (--'
Sys m!
c(t)

LI Output]
L [Input]

R(s)

St .

STABILITY

ACE Academy

Root Locus Plots for Typical Transfer Functions

Root Locus

G(s)

I.

---

'

Root locus

'

sT1 + I

-----

jro

;. O"

.1iT1
---jro
I

2.

3.

K
- liT1

. (sT1 + l)(sT2 + I)

; O"

. ,:fr2

jro
'D-

K
- l /T1

(sT1 + I)(sT2 + l)(sT3 + I)

-1/Tz

O"

i-

' jro
4.

.,

'

O"

..
.

I\

5.

s(sT1 +"!)

,.

'

..

jro

.....

. __ -

-1 /Tt
,11

--;-----;-:--.

6.

K
s (sT1 + l)(sT2 + I)
-

--

-l /T1

-1 ii-2

'>fjro

/
\

- .

;. O"

52

Control Systems

7.

8.

9.

ACE Academy

K(sT0 + l)

.
s(sT1+l){sT2+l)

er

52 .

K
I/Tl

s2 (sT1 + l}

K(s r. + l)
10. ---O

I/T1

I/Ta

K(sT.+l)

11. ---sl

-I /Ta

ACE Academy

STABILITY

53

OBJECTIVE QUESTIONS
l. The root-locus plot is shown alongside.
What is the transfer function ?
jm

-jro

4
s+ l

4
b)
{ (s+l)2

(a) _ _

(c)

(s + 1)3

(d)

(s + 1)4

02. The asymptotlEs and th,e break point

coincide at s = 2. The transfer function
can be
K
(a)
(s+ l)(s+2)
K(s+2)
(b)
(s+ l)(s+2)
(c)

- --

K
(s+l)(s+2)(s+3)

i< .

03. The transfer function is

' K
(s+ t)(s+2)(s+3)
The break point will lie between
a)-0 and.:.. I

05.The open-loop transfer-function of an

. unity feedback system is given"'byG (s) ""

(s+ l)(s+2)(s+3)
The number of asymptotes of the root
locus plot that tend to infinity is given by
a) 3

b) l

c) 2

d) 4

06.The open-loop transfer function ofan

unity feedback system is given by
G(s) =

s(s+ l)(s+2)
The breakaway point of the root locus
plot is given by
a) -0.423
b) -0.523
d) -0.5
c) -0.700
07.A unity feedback system has an open
. loop transfer function
G(s) =

s(s 2+!s+l3)
The angle of asymptotes are given by
a) 45, 135, 225 b) 60, i80, 300
c) 90, 180, 270 d) 45, 90; 135

.--(4) (s+2)3

c) - 2'imd- 3

04.A unity feedback system has an open

lo op transfer function
K
G.t-s)'
s(s 2+ 4 s+ 13)
The centroid of the asymptotes of the
root locus plot lies at
,
a) -4
b) -(4/3)
-10
tj T\3

b) -1 and-2
d) beyond-3

08. The open-loop transfer function of a

feedback system is,
K
. G(s) H(s) =.. { 4) 2+ s
s s+ (s 4 + 20)
The four branches of root-locus
originate at
a) -2, - 3, - I +j4, - l - j4
b) -1,-2,-3 +j4,-3-j4
c) o,-4,-2+j4,-2-j4
d) o,-2,-1+j4;- l-j4

I I

I I

Control.Systems
il9. The open-loop transfer function ofa

feedback system is
The real axis segments of the root locus
lies between
a} 0 and-I; -:-2 and-3; -4and-oo
b) -1 arid -2; -3 and -4
c) -land-LS; .:..3;5 and-'4
d) I and 2; 3 and 4
I 0. The main objective of drawing the root
locus is.
a) To find tht:_ time-response of the

system
b) To find the frequency response of the
system
c) To find the roots of the characteristic
equation for different values of
system parameters
11. There are three zeros and two poles of
GH(s). There will be
a) Three root loci b) Two root loci
d) One root locus
c) Five root loci
12. The root loci
a) Start from zeros and end_at poles
.
b) Start from and end at infinity
c) Start from poles and end atzeros and
' infinity
d) Start from _zeros and end at poles and
infinity

13. For the root locus, the phase angle

crit,:rion is .
.
a) Odd multiple of!80
.
b} Even multiple:ofi80
- c) Odd multiple.ollW0 d) Non fthe above ..

. \
14. For positive value ofK artd negative
feedback, the root loci exist oil 'the real
axis only in those parts .
.
a) Where odd number of poles andzeros
present to the right of a jl<)inl
b) Where even number'fp(iles and
zeros pres:ent to tfie right of the point.
c) Where odd number of poles and zeros
present to the foft-0f the point.
d) Where even number 'Ofpols and
zerospresent to the left of the point.

ACE Academy

15. For negative feedback system, for

complementary root locus
(K varied from Oto -oo), the phaseangle

criterion is
a)
b)
c)
d)

Odd multiple of 180

Even multiple of 180

Odd multiple of90

270 only .

16. The intersection-a_rthe asymptote is

given by
(A) x. =

I Poles ofGH(s)-I Zeros ofGH(s)

p-z

(B) x =

I Zeros ofGH(s)- I Poles oftiH(s)

.
p-z

C) x = .

Poles ofGH(s) +I Zeros ofGH(s)

p-z

(D) x =

I Zeros of GH(s)-:- L. Poles ofGH(

p+z

17. The angles which the asymptotes

with the real axis is given by
=
(a)$

(2n+ l )1t
( p+z)

(bH=

(2n-1)1t
(p+z)

-CC)$f

{2n+ !)1t
( p- z)

'

make

'

(2n-1}1t
(d)$= ( p-z)
the
18. The intersection of root locus with
.
imaginary-axis is obtained
a).Byputtingjco:=OinQH(s).
b)i3y putting real part ofGH(s) = 0
c)--&om Routh array ofl+Gl-l(s) find,
critical value of K and find ro from
the auxiliary equatin ofa row.
d) From the Rguth array get auxiliary
equation and get K

ACE Academy

55

STABILITY

19. The break away points are obtained by

05. The intersection-point of the asymptotes
for G (s} H (s)= K/ s (s +5)(s + IO) is
a) Putting l + GH(jro)= 0 and solving
hro
.b) Putting GH(jro)= 0 and solving for ro
(C)-10
{D)-oo
c) Differentiating l + GH(s)with respect . . .
. - 06. The angle ofdeparture at complex
to s and equating (dK/ds)= 0
conjugatejxile-1 + jl to the system
d) Differentiating l + GH(s)with
G (s)H (s)= k I (s2 + 2s +2) is
-'
respect to ro and equating (dK/dro) = 0
(B)-180
(A)+ 180
20. The spirule. is used
. (D)90o
(C) +90o . . . .
a) To draw the root locus only
T
b) To ara,, tlferoot locus and
07.A root locus is symmetrical.about
calibrate it in terms of variable
(A)imaginary axis
parameter
(B)real axis
c) To find the closed loop roots only
(C)Both real and imaginary axis
d) To-find the damping ratio only .
(D)None .
Key for Objective Questions :
Previous PSU's Question
l. d 2. d 3. b 4. b 5. c 6. a
01.The characteristicsequation ofa systelll,..
7. b 8. c 9. a 10. c 11. a 12.c
is given by3s4 + 10s3 +5s2+2 = 0.
13. a 14; a 15. b 16. a 17. c 18.<'
This system is
19. c 20. b
(A) stable
(B)marginal stable
(C)unstable
JTO PREVIOUS QUESTIONS:
(D) data is insufficient
O I. The root of a system has three
asymptotes. The system can have.
02. A control system has
(A)four poles and one zero
K
G(S),H (s) -s-s( _ _ "-' '-(s_2 _ _ _s_ _ _ I
(B)three poles
4 ) +4 +2 Q
+
(

(C)five poles ahd two zeros

for (O<K<<X>).
(D)all of these
What is the number of breakaway
02. Root locus diagram can be used to
points in the root locus diagram?
determine
.. . .
(B)Two
..
. (A)One .
(A}conditfonal stability
(D)Fotir
(C)Three
(B)absolute stability
(C)relative stability
03. By a suitable choice of the scalar
.
(D) none
parameter 'K' the system shown in
figure can be made to oscillate
03. The value of K for which the system.
continuously at a frequency of
s3 + 3s2 + 3s + 1 + k = o becomes stable is
(A)K=8
(B)K=7.
(C) K > 7
"(D)None
04.The sfer fnction of a, closf.XI -:- loop
systein is this system is
(A) marginally stable
(B) conditionally stable
(B)2 rad/sec
(A) I rad/sec
(C) unstable (D) stable
(C) 4 rad/sec
.(D) 8rad/

wo

.J' ,_,_:

56

- Control Svstems

04- The intersection of asymptotes of root

loci of a s ys tem with open loop
trans fer function is
G(s).H(s) =
(A) 1.44.
(C)-1.44

K
( + I)(s +3)

s s

(B) 1.33
(D)-1.33

05. The value of 'K' for which the unity

feedback svstem
G(

s).=.s(s+(s+4)

C rosses the imaginary axis is

(A)2
_(B)4
(C ) 6
_(D)48

09.The root locus plot of the s ys tem

. hjng the loop trans fer function
.\
K
( ) H( )
s . s
s(s + 4) (s2 + 4s + 5)
has
(A)no breakaway,point
(B) three real breakaway point
(C) only one breakaway point
(D) one r4!lll and two complex
breakaway points

I 0. The open -'- loop transfer function of

unity feedback control system is
G(s ) =

07.The trans fer function of the s ystem is

2

2 s +s +5
2
(s + 1) (s +2)
, the characteristic equation of the
system is
2
(A)2s + 6s .+5 "'0
(B){s +-1)2 (s +2} 0::_:___ _ _ (C)2s2 + .6s 5 +(s!+ 1 i(S + 2)= 0
/
(D)2s2+ 6s +5(s-t I) (s+2=0

08. Which one of the following

techniques is utilizedtodetermine the
actual point at whi<;h the root locus--.-
cross es the imaginfry axis?
(A)Nyquist techni4ue
(B)Routh - Hurwitz criterion
(C)Nichol' s criterion
(D)Bode techniquie

K
s (s + a) (s + b)

, 0 < a :S b.

The s ystem is s table, if

1 a + b\
.
. (A) O<K<
ab

06. The root locus of the syste

K
G(s).H(s)
s (s +2)(s +3),

has the break - away point located at

(A) (-0.5,0)
(B)(-2.548,0)
(C)(...t,6)
(D)(-0.784,0)

ACE Academy

(B) 0 < K <

ab
(a + b)

(C) Oi< K < ab (a+ b)

.
a
_ (D) 0 < K < b (a +,b)

KEYS:
JTO:
(l)D (2)-c-("3}1) (4) C (5)-&-
(6) C (7)B
PSU':
(l)C: (2)C (3)C (4)0 (S)D

(6) D (7) B (8}B- (9) B (10) C

,('

'

FREQUE;lliCY RESPONSE ANALYSIS

CHAPTER-5

The various frequency response analysis techniques are

I) Bode plot

2) Polar plot
3) Nyquist plot
4) M & N circles
5) Nicholas chart

'

1) Bode plots :
It is used to draw theirequency response ot a upen loop and closed-loop system.
The representation of the logarithm ofl GGro) I and phase angle ofGGro), both plotted against
uency in_ logarithmic scale. These plots are called Bode plots.
-Bode Plot of first order system :

Let the Transfer Function

= -1 +T s

subs. s = j ro
T.F. = --l+jroT

..Ji+(roT) 2

I
= -10 log [l+ (coT) 2 L
M = 201og. il+T) 2
CO<< I /T

co<<l /T
co

M.m

lOlogl
-o

11<111
1/T

= -10 log(coT) 2 .
= -20logroT

-20dB/dec

Therefo the error at the comer uy ro =l / T is- -10 log2+1-0 log l

-3 dB

The error at frequency (ro =l /2T) one octave below the comer frequency is
-10 log(l + )+lOlog 1 = -1 Db

I I

I I

58

ACE Academy

Control Systems

Bodeflot of"scco.11d-onler-system:
T.F. =
subst. s = jc.o
T.F. =

2
+ 2
-c.o + j2l;c.o,,c.o c.o.

. '
Divide with 'ro2
[ =c.o/c.on ]

M=-------

<t(I _ 2)2 + (21;)2

Mde = - 10 log ( (I -22) + 41; 22)

Case I) When<1 =>(c.o/c.o,,)<I =>c.o<c.on
M.in= -IOlogl

= OdB

. Casc2) When>I =>(ro/ron )> I =>ro>ron

M.ie

= - 10 log = -40 log

4

The error between the actual magnitude and the asymptotic 6pproximation is as given
-below.=for"O <<<I f the error is
2
-:- 10 log[{) -2) + 4 22 ] + 10 log l

and

for1 <<< <Xl, the error is

2 2
2
- 10 log[{)i} +_4 ) +40 log

ACE Academy ..

Frequency Response Ana1ysis

Bode Plots for Typical Transfer Functions:

Bode Plot

G(s)

-0 dB/oct

I.

OdB

--------...c.logw

- 6d8 I oct

2.-----

. -40 dB/dee

3; -------__
OdB -+---'---'-....._
1 1/TJ logw
I/Tl
60 dB/dee

4.

1j0

Control S stems
M

5.

6.

ACEAcadem

s (sT1 + 1)

o ro

-40 dB/dee
M

K
s(sT, + I)(sT2+ I)

OdB

goo

-20dB/dec

K(sTa + I)
7.----- 40dB I dee

8.

K
s 2

9.

IO.

11.

K(sT.+ I)

s2 (sT 1 +.J.)-

OdB
-40dB/dee

K
s

K_(sT.+l)

OdB

ACE Academy

.. Frequency Response Analysis

61

2) Polar plot :
The sinusoidal transfer function GGro) is a complex function:and is given by
. GGro) = Re {GQro)] + j Im [GQro) ]
GGro) = I GGro) I LGGro) = M Lcj,

or

from above equation, it is seen that GGro) may be represented as a phas9r of

magnitude
M and phase .angle cj,. As the .input
frequency ro is varied . from O to oo, the magnitude
.
.

Mand phase angie cj,changeand hence the tip of the phasor GGro)traces a locus in the complex
plane. The locus thus obtained is known as polar plot.
When a transfer function consists of'P' poles and 'Z' zeros,and it dsn't consist poles

at or_igin then the polar plot Starts from o0 with some magnitude and tenninats at - 90 x (P - Z)
with zero magnitude.
When a transfer function consists of poles at origin, then the polar plot from
- 90 . no. of poles at origin with 'oo' magnitude

d ends at - 90

x (P - Z) wi zero

magnitude..

2) Nyquist Stability Criteria :

It is used to detennh:e the stability ofa closed-loop system using polar plots. This
concept is derived from complex analysis using 'Principle of Argument'.
Let

G(s) =

(s + Z1)(s + Z2)
(s +P1)(s +P2)

--, (1)

Characteristic Equation, Le, I+ G(s)

l+G(s) = I+----(s +P1)(s + P2)
(s+P1)(s +P2) + (s + Z1)(s +Z2)
(s + Pi)l:s+ P2)

(2)

I I

I I

62

ACE Academy

Control- Systems

F;rom(I) and (2), the open-loop poles and CE poles are same.
.CE. =

{s + Z/)(s + Z/)

(3)

(s + P1) (s + P2)

Overall transfer function =

(s +-Z1).(s d-- Z2)

G(s)

(4)
I+ G(s)

from{J) and (4), the C.E..zews..and closed-loop poles are same.

--tF-Or the closed-loop system to be stable, the zeros of the C.E should not be located on the right
half ofthe s-plane.
Using Principle of Argument
Q(s) =_I + G(s)

Consider a contour as shown which covers the entire

right halfofthe s-plane. If each and every point is along the
,-boundary ofthe contour is substituted in C.E according to the principle of argument
The no. of encircles with respect to origin, N = Z- - P
where Zand P are the zeros and poles of the C.E l<icated,foside the contour or located in right
hatf ofthe s-plane.
For the closed-loop system to be stable, Z= 0.
or the open-loop system to be stable, P = 0, then N = Z.
In N = Z- P, Zbecomes '0' only ifN = 0 [ q(s) contour shouldn't encircle the origin]
Nyquist
If the open-loop system is stable, the closed-loop system- will be sta_'ble only -ifthe
contour__doesn't encircles origin:

--tFor the open-loop system to be unstable, P 0.

-ffthe open:loop system is unstable, the closed-loop system will be.stable only if the
Nyquist contour encircles origin in clockwise direction. The number ofencirclements should be
equaho.the number of open-loop poles_located ins/de the cntour.

ACE Academy

63

Frequency ResPonse Analysis

Nyquist Plots for Typical Transfer Functions : .

. G(s)

Nyquist Plot

I.

o,=O

'

-I

sT1 + I

2.------

m =O

-I

K
3.

<i>=O

(s T1 + l)(s T2 + l)(s T3 + I)

K
4.

<i>=O
,,

-1

5.

o,=O

K
s(sT, + I)

...... ... ...

6.------

... ...... '

\
<o = co '
-I

i.. ,'

___ ,,,

64

ACE Academy

Control Systems
ID = O

K(sT.+I)

7.------

8.

',:r ---
'
= oc>1

-0> = 0'

I} -1

co

'\, ...... _ ...... )}

9.

,.,' - -- -- .\

K(s Ta + 1)
s

.... !>,. ..

1<..... '

(sT1 + I)

.,i

'll., - I

.,,.. -;:;- = - --

. _,
"" .. --

' '

'

10.

11.

m = ao

'I

<o=>

' ..
... ......
...... :

K(s T.+ 1)
S

,,

. -:,,.-;:( ..... . .. .
.. v
-t-.._. --'-:, ,,'

I
I

'

ko =oo I

al

'

, , !

ACE Academy

65

Frgguency Response Analysis

4) M & N Circles

Constant Magnitude Loci : M-Circle

M- circles are used to determine the magnitude response.ofa closed-loop system

using open-loop transfer function.

It is applicable only for unity feedback system. The open-loop transfer function G(jro)
of a unity feedback control system is a complex quantity and can be expressed as

'

G(jO)). l =x+jy
Since

C (jro)
- . G (jO))
M=- =
R (jO))
l+G(jO))
x+ jy
M=--I+ x + jy
M=

R"+?

..J(l+x)2 +y 2

. . On squaring on both sides and simplifying following equation is obtained :

. (l-M2 )x 2 -zM2 x+(l-M-2 )y 2 = M2
or

2M. 2
x ___- x+y 2 =
2

(1

-M

(I - M 2 )

For.different values ofM, above Eq. represents a family of circles with centre at
x = ( M2 / \-M2 ), y = O and radius as ( M 2 / l -M2 ). On a particular circle the value of M
(magnitude of closed-loop transfer function) i_s constant, therefore, these circles are called M
eireles.
The centres and radii ofM-circles for different valuesuf Mare given in the following
table and M-circles are11rawn in the following figure.

I I

I I

Control Systems

66

centre x = M 1 I I -M 2 , y = O

ACE Academy
Radius r = Ml I -M 1

:0.5

0.33

0.67

l.O

00

00

-.

--L2-.

2.73

-3.27

1.6

-L64

2.0

-1.33

1.03
0.67

In G (jro) plane the Nyquist plot is superimposed on M-circle and the points of
intersection that gives the magnitude of C(jto) IR (jco) at different values of 'co'.
Constant Phase Angles Loci : N-circles:
N - circles are used to determine the phase response ofa c/osed/oop system using open/oop transfer junction.
. ..

by

The phase angle of the closed-loop transfer function of a unity feedback system is given

L C(ro)

+jy
L +x +xy
R(Jco)
l x
The phase angle is denoted by tj,, therefore,
or

tancj, = tanftan- 1 (y/x) tan- 1 {y/(l+x)J

:-

tan(tan-1(y/x

r
i

-tan(tan- 1[y/(l+x)])
1

I+ tan ( tan- 1 ( y Ix)) . tan (tan- _ [ y I (l+x)])

(y/x)-[y/(1+x)]
I+(y/x). [y I (P--)]
or

y
tantj, = --
2
2
x +x+y

ACE Academy

67

Frequency Response Analysis

Substituting tan tj,= N in above equation

y
N=
x 2+ x + y 2
x 2+ x + y 2 -(y/N) = 0

or

1
on both sides
Add [ + 4
4 N2j

_l

'

+
+
=
x 2+ x +
l+fi---; 4 (4- -4N2 J
(

(x

or

(y - j =(
2
2

J
4

For different values ofN, above equation repres-ents a family of circles with centre at x = - Y, , y
= l /2 N and radius as

On a particular circle the value of N 9r the value phase angle of the closed-loop transfer
function is constant , therefore, these circles are c11lled N-circles.
tj,

N=tantj,

00
-90
-60 -1.732
-1.19
-so
--30 -0.577
-0.176
-10
o
.o
+ 10 0.176
+30
0.577
+ so
1.19
+60 1.732
00
+90

center x = - Y, ,y = I / 2N

--

0
-0.289
-0.42
0.866
-2.84
284
0.866
0.42
0.289
0

00

--

Radius R = ..J 114 + l/4N2

. .

0.5
0.577
0.656
1.0
2.88
---- -00
----2.88"
-

-----

--

1.0

0.656
0.577
0.5

68

ACE Academy

. Control Systems
y

-30

Cutoff frequency and Bandwidth :

The closed-loop frequency response of a system is shown in the figure. The
response falls by 3 dB from its low frequency value to a frequency value roe. Th.e frequency roe
is called cut
Off frequency and the frequency range Oto roe is called the bandwidth of the system.The
resonant
Peak M, occurs at resonance frequency ro,.
M

The bandwidth is defined as the frequency at which

The mnitude gain of the frequency response plot reduces
to -Jlv 2 = 0.707 ; i.e. 3 db of its low frequency value.
.

For a second order system

ron 2.

DTII

-:
.,r!'

M(s)=-----

s 2+2/;mn s + ro.2

The bandwidth of a second order system having non-zero magnitude at ro = 0 is given by

I ---------i
11 2
2
:
: B.W.= ron (1-21; +4 1; 4 -41; 2 +2 )
I . ........ I

The resonant frequency is ro, = ro 0 ..J l - 21; 2

The resonant magnitude is
:'

!'

- I; 2--) .. -:
- .. ----- ---21;...J---(I ---:Mr

...

ACE Academy

Frequency Response Analysis

69

5) Nichols Chart
The transfonnation of-constant - M and constant - N circles to log-magnitude and
phase angle coordinates and the resulting chart is known as the Nichols chart.
G(s)-plane

jlmG

'

OBJECTIVE QUESTIONS
O I. In a polar plot, the curve was found to
cross the negative real axis at -1.2. Then
a) The gain margin is 1.2 and the system
is stable.
b) Th gain margin is 0.833 and the
system is stable.
c) The gain margin is 1.2 and the syste
is W1stable; c) The gairi margin is 0.8hmd1he-- =
system is unstable.

- 03. The poiai- plot of a transfer function is

shown alongide. It can be stated that
JmG

_/ro = oo
-----+-=-...,...- +R., G

a) the finite zero is closer lo the ongm

than the finite pole
b) the finite-pale-is closer to the origin
02. Th,e. polar plot of a closedJoop system
than the zero is
--c)-the system !s unstab!e
drawn
is
_G_
function
with a transfet"
.
d) the system ts nonIIllQ.tm\lm phase
- J-+-Gij --- -- - 04 The polar plot is drawn__
a) G
a) decibel versus <!l- G _b)
decihel verss w1w1i
c) GH
)
d 1 +-GH
c) decitiefltase angle
d) magnitude and -phase
incorporated in the x - _y plane.-- --

I I

i I

70

-05 ;For a ansfer function with pure

transportation iag, the polar plot is

a) asemicircle with centre at(-\, 0) and

radius I in the clockwise direction.
b) a semi circle with centre at (- l, 0) and
radius l in the anti-clockwise direction.
c) a circle with origin as the centre and
radius l.
d) polar plot does not exist.

06.By substituting s = jro, the frequency

response plot gives

a) transient reswnse of the system

b) steady state response <if the system
c) initially transient and then steady state
response
d) none of the above

07.The polar plot of a system with transfer

function

K
G(s) = s(s + T)
for +ve T and -ve K will be

a)
b)
c)
d)

in the first quadrant

in the second quadrant
in the third quadrant
in the fourth quadrant

08.Which of the following transfer function

is a non-minimum phase transfer
function?
(s+ I)
()
a (s + 2)(s + 3)(s+ 4)
+ I )w,(S + 2 )
( --l(.::..
S .:...:..
::.. .:... :.i
b)
s (s + 3)(s + 4)
( ____,:1:..::0..>:(s=--+l::L)_ _
c)
s 2(s + 3)
(c)

ACE Academy

Control Systems

(s + I)

(s +2) (s+ 3)

09. In the G - 1 ( jro) plane, the constant phase

angle loci are
a) straight lines passing through the/
origin
b) straight lines passing through (-1, 0)
point
c) straight lines passing through(I, 0)
point
d) some pass through (-1, 0), some pass
through(I, 0) and some pass through
origin.
I0. The inverse poiar plot is the plot of the
following sinusoidal transfer function
a) G(l/jro)

I
G ( iro)
c) . I
G(l/iro)
d) None

b)

Key:
I. d 2. c 3. a 4. d 5. c
7. a 8. d 9. a 10. b

6. b

OBJECTIVE QUESTIONS

OI. A stable feedback control system has

open-loop tranfer_function with a pole at

RHP and zero at RHP-:-The

correspondig Nyquist plot will
a) 'encircle(-1,jO) point in counter
clockwise direcio once.
b) have anti-cloc i "se ecirclement of

the (-1,jO) poin once.

c) encircle(-1,jO) point as many times
- in the counter clockwise direction as
the numbe;,ofLHP poles ofthe
closed-loop transfer function.
d) no encircle (-1,jO) point at all.

"'Frequency Response Analysis

ACE Academy
02. Nyquist plot can be used

a) only to find the closed-loop ,poles in

the right halfplane.
b) ascertain the stability only.
c) to find the open-loop poles in the
right halfplane.
d) to find the number ofclosed-loop
poles in the left halfplane.
03._Nyquist plot ofa system is shown
--alongside. What is the type ofthe
system?
jG
w == a:,

co=O

%. A unit feedback system has an open-loop

transfer function
K
G(jro) =
jro (j 0.2ro + I) (j0.05 ro + I)
The phase cross-over frequency of the
Nyquist plot is given by
a) I rad I sec
c) IO rad I sec

a) 0 .

b) 1

c) 2

d) 3

. 04. Nyquist plot ofa system is shown in

. alongside: The system is

'

b) 100 rad I sec

d) 0.1 rad I sec

07. lfthe Nyquist plot ofa certain feedback--

system crosses the negative real axis of
- 0.1 point, the gain margin ofthe
system is given by
b) IO
d) 200

a) 0.1
c) 100
0)

71

08. The Nyquist plot (for positive

frequencies) ofthe open-loop transfer
function is shown in figure.
The gain margin is
-0.2

a)
b)
c)
d)

maily"stable
conditionally_$ble
--stable
unstable

. 05. The unit circle ofthe Nyquist plot

transfonns into O db line ofthe amplitude
plot of the Bode diagram is
a)
b)
c)
d)

at zero frequency
at low frequency
at high frequency
at any frequency

b) 3

c) 4

d) 5

09. The Nyquist plot given figure

corresponds to e system whose transfer
function is

(a)

{c)

(s + 1)3

(b) '(s+- 2
1)

I
s 2+2s+2

(d)

s+ 1

10. ffthe gain margin ofa certain feedback

system is given as 20 dB,the Nyquist
plot will cross the negative real a xis at
the point
b) s
-0.2
a) s = -0.05
d) s = -0.01
c) s = -0.1

Key:
I. d 2. d
7. b 8. d

3. a 4. b 5. d
9. bore IO. c

6. c

--objective Questions
O I J fthe phase cp which is the angle between
radial line connecting a pole and origin is
equal to 45, then the peak overshoot is
a)0.5 %

c) 3 %

ACE Academy

Control Systems

72

b) 1.2 %

I
2
2dI-21;

06. The centre and radius ofa co.nstant M

circles are given by
a) x =

(I

M
_ M 2 , y = O; r = (I _ M 2)
)
M

b) x = (M-I ,y = O;r =
2
(M -l )
)
)

M
- _
(M2__
, y O, r-I)

07. The centre and radius of a constant N

circles are given by
a) x = -(1/2), r(l/2N); r

d) ro n I -21; 2 +v2 - 41;2 +41; 4

11 2

03. The resonant and damping frequency of

a certain system was found to be 7.07
rad/s and 8.666 rad Is respectively. The
real co-ordinate of the dominant pole is:

312

c) ro.[1-21; +v2- 41; +4i; )

a) -8.12
c) -6.65

I
I;

c) Mp =
d) M

=
=
-d) x = (MI) , y O; r (Mtl )

b) (ro n +1; )

b) Mp = ro.vl-1;

02. The denormalised bandwidth for a

particular value of O>n and damping
factor I; is
a) CJl n

2
a) Mp = e xp (-i;roJT1" )

M
c) x = (M2-I

d) 4.32 %

05. The resonant peak-ofa second order

system is given by

b) -7
d) -5

04. Large bandwidth corresponds to

a, small rise time and suppresses.noise

b) small rise time and increases noise
c) high rise time and suppresses noise
d) high rise time and increases noise

b) x = -(l/2), y=(l/2N); r

{(N2+o
2N

v(N +1 )
2N
2

.
i
_

. (N2 +1)
c) x = -(l/2),y = l/2N):;r = 2N

GJ x = -(l/2),y = -(l/2N);r =
1

v(W+I)
N
2

08. In the a- (jro) plane, the constant M

circles has the following centre and
radius.
a) (x,y) = (-1,0);r = M
b)-(x,y) = {+l,O);r = M
c) (x,y) = ( 1,0);r = l/M
d) (x,y) = (+l,O);r = l/M

Frequency Response Analysis

ACE Academy

09.Undamped natural frequency con and

resonance frequency co, of a unity
feedback system with open-lop transfer
-- function (M. Gopal)
co.2
; (, < 11"' 2 ,
G (s)
s (s + 2(,co.)
are related as
b) COn > CO,
a) CO n = co,
d) None
c) CO n < co,

I 0. Undamped natural frequency co n and

bandwidth cob of a unity feedback system

with open-lop transfer function
co.2

G(s)=--

s (s + 2(,co.)
are related as
b) CO n > COb
a) CO,i = COb _
d) None
c) CO n <<O b
Key:
1: d 2. d
7. a 8. c

3. d
9: b

4. b

5. d

04. Band width ofa control system is used as

a means ofspecifying its performance
relating to ?
(A) stability ofthe system
'{8) speed of the system
(C) constant gainofthe systerri
{!)) none
05.

can be extended to systems

which are time - varying?
(A) Root locus design
(8) Bode - Nuquist stability methods
(C) State model representatives
(D) Transfer functions

06. When gain K of the loop transfer

function is varied from zero to infinity the closed loop system
(A) stability is improved
(8) always become unstable
(C) Stability is not affected
(D) may become unstable

6. d

10. c

JTO PREVIOUS QUESTION:

O I. The bode plot is applicable to network
(A)all phase
(8)maximum phase
(C) minimum phase
(D)none
- 02.Nyquist criterion is used.to. find which of
the following
(A) Relative stability
(B) Absolute stability
(C) Both A and B
(D)None
- 03.- The frequency range specificatLon
-- -- required to satisfactorily describe the
system responsible is?
(A)resonance
(C) voltage

73

(B) band width

{D) all of the above

07. Frequency domain analysis is preferred

when dealing with systems having input
is
(A) ramp and parabolic
(B) sinusoidal with fixed frequency
(C) sinusoidal with variable frequency
and amplitude
(D) non - sinusoidal with lagging powerfactor
08. For gain K log- magnitude curve in
Bode polt is
(A) negative or positive depending
upon the value ofK
(B)Zero
(C) negative
(D) positive

for

09. What is the type ofthe system,

the
Nyquist plot ofa system shown below?
(Aj I
(B) 0

-0.5
--=--+---

(C)2
(D)3

I I

I I

Control Systems

74

tO. Which oftherollowing statements is not

. true for Nyquist criterian?
{A) It indicates -the degree ofstability of
.a stable 'System
(B)1t's provides some amount of
information about.absolute stability
as the Routh Criterion
(C) Either A or B
.(D) None
l l. A minimum phase function has m finite
poles and n finite Zeros.Its phase angle-
at infinity is
(A) TI radians
(B) (n -m) Il/2 radians
(C) (m - n) Il/2 radians
(D) none
12.A transfer function which has one or
more zeros in the R.H.S. plane is known
as
transfer function
(A) all phase
(B) minimum phase
(C) non - minimum phase
(D) none ofthe above
PREVIOUS PSU'S QUESTION-

01. If the Nyquist plot cuts the negative

real axis at a distance of0.4. The
gain margin of the system is
(A) 0.4
(C)4%

(Bt0.4
(D)2.5

02. A minimum phase unity feedback

system has a Bode plot with a
constant slope of O db/decade for .all
frequencies. What is the value of
the maximum phase margin for the
system?

(B) 90
(D) 180

ACE Academy

03. A minimum phase unity feedback

system has a bode plot with a constant
slope of -20 db/decade for all
-fr.equencies. What is the value of
the maximum phase margin for the
system? __
(B) 90
(D) 180

(A) 0
(C)-90

04. The bde -plot is valid for

(A) minimum phase network
(B) all phase.network
(C) non - minimum phase network
(D) none of the above
05. The initial slope of the bode - plot
gives an indication of
(A) type of the system
{B) nature of the system time
response
(C) system stability
(D) gain margin
06. lfthe magnitude ofthe polar plot at
phase crossove_r is 'a', the gain
margin is
(A)-a

(B) 0

(C) a

(D) 1/a

07. In the bode - plot of a unity feed back

control system, _the v_alue ofphase of
G Gro) at the gain cross <Wee-frequency
is -125. The phase margiiiof
the system is
(B)-55
(A)-125

(C)+55
(0)+125
08. Nichol's chart is useful for detailed
study-and .analysis of
(Atclosed loop frequency response
- tBfopen loop frequency response
(C) close loop and open loop-frequency
response
(D) none of the above

ACE Academy

09. Constant M ciFCles have their <:entre and

radius as.
2
(A)
and ( M2 1

(B)
(C )

t f}/1_\

M 1

(D) M
1

75

Frequency Response Analysis

J
J

J
J
J

and ( M2 1

2
and ( M 2 1

and ( M1--J -----

10. Nyquist plot shown in the given figure

is for a type
_ 1 01.
(A)zero system

(B)one system

(C)two system

(D)three system

....... ..
...

(A)zero
(C)I dB

KEYS:
JTO

'(B)-1 dB
(D)infinity
'

(I)C (2)C (3)B (4)B (5)A

(6)D (7)C (8)A (9)B (10)D

(l l)C (I2)C

....J:::--....:--Re PSU's

..... ,,,'

'
,'

11. The open loop transfer function of a

unity feedback control system is given
as
1 ..;_
G(s). = -- _+_s_ ...,1 """ _+ _s - '- T 2)
(1 T ) (1

The phase crossover frequency and the

.gain margin are respectively
+
I
and T1 Tz (A)JT1 T2
T1T2
and '.l :iz2
(B) JTi T2
r

T1T2
an d
(C) vT1 T2
T1 + T2

a nd
(D)JT1T2
-

12. The-polar plot of a transfer function

passes through the critical point (-1;0).
Gain margin is

Tfh-

(l)D (2)8. (3)8 (4)A (5)A

(7)C (8 )A (9)8 (10)8 (ll)B

(12)B

control Systems

76

ACE Academy

GAIN MARGIN AND PHASE MARGIN

Gain cross - over frequency:The frequency at which the magnitude equal to one ori) dB
Phase cross over frequency: The frequency at which the phase anglds_equal to -180.
Gain margin

GM=

I GGro)-H Gro) I

(In Linear)

The gain margin is a factor by which the gain of a stable system is allowed to
increase before the system reaches instability.
The gain margin in dB is

1
G.M = 20 logio ------

dB

Procedure to calculate Gain margin :

I. Calculate Phase crossover frequency
a) by equating phase equation to 180 or
b) by equating imaginary part to zero
2. Calculate the maginitude at phase crossover frequency and is equal to 'a'.
3. Gain margin is equal to 20 log (I/ a).
For stable systems as I GGroc) HGroc) I < I, the gain margin in dB is positive.
For marginally stable systems as I GGro,,) H(.iroc) I= I, the gain margin in dB is ero.
For unstable systems as I GGroc) HGroc) I> I, the gain margin in dB is negative an the
gain is to be reduced to make the system is stable.
Phase margin :
The phase margin of a stable system is the amount of additional phase lag1equ1red to
bring the system to the point of instability.
The phase margin is given by P.M. = 180 + L G(s) H(s)

Procedure for calculation ofP.M:

i.
2.
3.
4.

Calculate 'roG ' by equating magnitude equation to' I'.

Calculate the phase at ro = roG
P.M. = 180 + . G(s) H(s).
P.M is positive, the system is stable.
P.M is negative, the system is unstable.
P.M is zero, the syste is marginally stable.

ACE Academy

frequency Response Analysis

77

JTO PREVIOUS QUESTION

O I .Phase margin is the amount of angle
to make the system.
(A) Oscillatory
(B) unstable
(C)exponential (D)stable
02. A system with gain margin close to
unity or a ph;ise margin close to zero
is
(A) relatively stable
(B)highly stable
(C)oscillatory
(D)none
03. The phase shift ofthe second order
system with transfer function I /s is
(A)-90
(B) 180

(8)90
(D) s)80

04. A minimum phase unity feedback

system has a Bide plpt with a
constant slope ofO db/decade for
all frequencies. What is the value
ofthe maximum,phase margin for
the syste?
(A)0
(C)-90

(B) 90
(D)180

05. The gain-margin ofa unity

negative feed back system having
forward transfer function
is
K
s(sT+1)
(A)infinity
{B)KT
(C) I
(D) Zer9
_

06. Ifthe magnitude ofthe polar plot at

phase-crossover is 'a';the gain
margin is
(A)-a
(C)a

(B)O
"(I)) l/a

07. For the transfer function

I
G(s).H(s) =
s (s + IH + 0.5}
The phas crossover fi'cifuhcy is
I
(A) 0.5 rad I sec
(B) 0.707 rad I sec
(C) 1.732 rad I sec
-- (A) 2 rad I sec
08. The open loop transfer function
of a feedback control system is
I
G(s).H(s) =
The gain margin ofthe system is
(A)2
(B) 4
(C) 8
(D) 16
09. The gain margin(in dB) ofa system
having the loop transfer function
.

G(s).H(s) =
(A) 0

(C) 6

,J2

s(s + I)
(B) 3

(D) a

10. lfthe gain ofthe loop system is

doubled, the gain margin of the
syem is
(A) not affected
(B) doubled
(C) halved
(D) one fourth of original value

11. The forward path transfer function of

an unity feedback system is given by
I
G(s) =
s(s+Ii
What is the phase margm 10r this
system?
(A)-1t rad
(B) 0 rad
{C)1t/2 rad (D) uad

I I

I I

78

ACE Academy

Control Systems

12. The open loop transfer function of

a system is
G($).

The phase crossover frequency roe

is
(B) I
(A)-.J2
(C)zero
(D)-.J3
open--foop

13. The
transfer function of
a unity feedback control system is
given as The phase crossover
frequency and the gain margin are
. respectively
I
a d T, + T2
(A) JT1 T2 n
T1T2

T2 an d T\:T
( 8) JT 1
and
) vT1T2
(D) JT T and
(C

T 1T2

T1+ T2
T

14. The polar plot of a transfer

function passes through the critical
point (-1,0). Gain margin is
.
(A) zero
(B)-1 dB
(C) I dB
(D) infinity
/

KEYS: (I) B (2) C (3) A (4) D (5) D (6) B (7) A (8) B (9) C (10) B
(11) C (12) B (13) A (14) B

NOTE:
Minimum phase transfer function : Transfer function have no poles and zeros in the RHS
of s-plane
Non-minimum phase transferfunction :. Transfer function having at least one pole or
-zero in the RHS ofs-ple.

II pass transfer function-+---'.fransfer function have symmetric pole and zero about the
ary
axis in splane .
...,__ --

CHAPTER-6

DESIGN OF CONTROLSYSTEMS

6.1 COMPENSATORS
Lag compensator

A compensator having the characteristic of a]ag network is called a lag compensator.

Lag compensation results in a large improvement in steady state performance but results in a
slower response due to reduced bandwidth. Lag compensator is-essentially a low pass filter
and.so high frequ<!ncy noise signals are atte.nuated ..
jro
s+ Zc
Transfer function of lag compensator, Ge (s) = -s+ Pc
R1
+
.
.
-I
1
s+(J/T)
T
BT
E;
R2
Eo
+r-TI
l /sC
s+ (II PT)
T
Pole0zero plot of lag
Compensator.
Electrical lag compensator

+-

-t

IGc Gro)I
in!lb

O
-db

Approximate
magnitude plot

i--!,---""".....: --

j
20 log /11/ji
-20 db/decade ,
:

_,: =wPf
..L
T

20 log (I/ P)

-log ro

(Olc1) (00111) (roc2)

Fig : Bode plot of lag compensator

As 'ro' is varied from Oto>, the phase angle decreases from Oto a maximum value of
At ro = Olm, then increases from maximum vale,_to_O.
Frequency of maximum phase h1g, Olm = -./ Olc1 O>cz = 1(11 PT). ( l ff}
I

:. Maximum lag angle, 4>m = tan -I

[1-13]
--.

2.Jij

4'm

Design of Control System

80

ACE Academy

Lead compensator

A compensator having the characteristics of a lead network is called a lead compensator.

The lead compensation increases the bandwidth, which improves the speed of the response
and also reduces.the amount of overshoot. Lead compensation appreciably improves the
transient response.
A lead compensator is basically a high pass filter and so it amplifies high frequency noise
si gnals.
jro

Transfer function of a lead compensator

s+(l/T)
s+z c
Gc (s) = -- =
s+p c - s+ (l/aT)
l/sC

.=.!....
aT

-=.L
T

Fig : Electrical lead network

Frequency response of a lead compensator :

Consider the general form of lead compensator,
{l + sT)
s+(l/T)
Gc .(s) =
:: a
s+(l/aT)
(l + as T)

Approximate magnitude

+
iGc(jro)I
indb

201og (Ila)

- 1-

1-,----;---i

i___

-+---i---..

1--

Fig : Bode plot of lead

compensator.

+ 45 1-- __;;.,;::a!=
LGc(jro)

.. .. ..

--- ooi-------''-----'--'- logro

cl

c2

I
T

Frequency of maximum phase lead,

rom = ...J roc1 roc 2 = V(l/ aT). (lffj--1

ACE Academy

. 81

Control Systems

The expression for maximum phase lead $m in terms of a and a in terms of+m are given
below
I -sin+.,.
I
$m tan-I -a =

....

( I-a]
2..fa

Lag - Lead Compensator :

A compensator having the characteristics oflag -- lead network is called a lag 71
--compensator. A lag - lead compensator improves both transientand steady state respons
JOO
The transfer function oflag - lead compensator

Gc (s) =

{s+ I/aT2)
{s+ IIPT1)
w fi>land O<a<l

--i . ..:, - _.,

T.TPT

aT
2

. Fig : Pole - zero plot lag

. lead compensator

0
IGc(jro)I
in db

Fig : Bode plot oflag compensator.

k, -tI +2

..L

aT
2

I I

I I

82

Design of Control System

ACE Academy

OBJECTIVE QUESTIONS
O I. The lead compensator introduces
a) Phase lead in the system
b) Attenuation in the system
c) Amplification in the system
d) Initially phase lead and then
phase lag in the system.
02. The lead comperisator mainly
a) improves the steady state error
b) improves the transient response
c) improves both steady state and
transients equally
d) None of the above

06. A lag network for compensation

normally consists of
a)
b)
c)
d)

Ronly
Rand C elements -- .. - .
Rand L elements
R, L and C elements

07. The transfer function is l+ 0.? s

l+s
--- - -Jt represents a
a) lead network
b) lag network
c) lag-lead network
d) proportional controller

03. The lag compensator

a) improves both steady state and
transient response
b) improves steady state only
c) improves transients only
d) improves steady state and reduces
speed of transient response.

08. A network has a pole at s = -I

and a zero at s = - 2. If this network
is excited by sinusoidal input, the
output
a) leads the output
b) lags the input
c) is in phase with input
d) decays exponentially to zero

04. The lag-lead compensator

Key:

a) improves steady state but reduces

speed of response.
b)- improves transient response but
no effect on steady state
c) imprdves both steady state and
transient response
a) improves o
b) nly the transient
response
05. The lag network achieves the desired
result through its
a) attenuation property,__at high
frequencies
b) attenuation property at low
frequencies
-c) amplification propert}
,. "d) None.of the above

I. a 2. b
6. b 7. b

3. d 4. c 5. a
s. b

JTO PREVIOUS QUESTIONS

O l. The.high cut off frequency function
of the is
.
:0 {i1
IO
(I+s/50)

L +...L) .

(B) 120 /21t HZ

(A) 106 l21t HZ
(0) 30 /21t HZ
.. (C) 50 !i.1t HZ
02. 'The transportation delays' occurring
in distributed systems are deter
inental to stability because they
produce.
(A) a phase lag
(B) transients
(C) attenuation
(D) both attenuation and a phase log

ACE Academy

03. Phase log network-does which ofthe

following?
(A) increases system stability
(B) Decreases bandwidth
(C) optimal control policy
(D) maximization control
04. Adding pole in a system causes
which of the following?
. (A) Lead compensation.
(B) lead - lag - compensation
(C) Lag compensation
(D)None
05. Lead compensator in a feedback
System
(A) increase the system error
constant to some extent
(B) speeds up the transient response
(C) increases.the margin of stability

(D)All of the above

06. The pole - zero plot given below is
that of

(A) PID controller

(B) Integrator
(C) Lag - Lead compensating

network
(D) PD controllr

07. Which of the following increases the

steady stat accuracy?
(A) Phase - lead compensatory
(B) Phase - lag compory,
(C) Differentiator
(D) Jntegrator

--ns. A phase lag compensating wiU

(A) improve the speed of response

(8) increase overshoot

(C) inc relive stability

(D) increase band width -

83

Control SYstems
09. The bandwidth ofa'<:ontrol system

can be increased by
(A) phase lead -compensator
{B) phase lagoompensator
(C) phase fag- lad compensator
'(D) All ofthese
PREVIOUS PSU'S QUESTIONS

O I. Indicate which of the following . '

transfer function represents phase
lead compensator?
s+ 1
(A) s +5
s+5
(C) 3s +2

"Gs+ .3
(8) --s+5
s2 +5s + 6

(D)

02. Which of the following is correct

expressiorr for the transfer function
of an Electrical RC Phase lag
compensating network?
(A)

RCs
(1 + RCs)

(C ) (1 + RCs)

(B )

RCs
(1 + RCs)

(D) (1 + RCs)2

03. A $ystem has the transfer function

(s+zd
(1 + s)

its gain at ro = 1 rad/sec.

(A) l
(C) - I

(B) 0

(D) none of these

04. The transfer function is

It is represents a
(A) iead network
(B) lag network.
.. (C) Jag - lead network

. (D) proportional network

OS. A lag network for compensation
- nonnally:consists of
(A)Ronly

(B)Rand. C elements
{C) R and L .elemets.

(D) R, L and C elemen

84

Design of Control System

-06. A phase - iag compensation, wi

(A) improve relative stability
(B) increase the speed of response

(C) increase bandwidth

(D) increase over_ shoot

07. Which one of the following

Compensations is adopted for
improving transient response of a
negative unity feedback system?
(A) Ph lead compensation
(B) Phase lg compensation

(C) gain compensation

(D) both phase lag compensation

, ACE Academy

Q8. With regard to the filtering

property;
the lead compensator and the lag
compensator are respectively

(A) low pass and high pass filters

(B) high pass and low pass filters .

(C) both high pass filters
(D) both Iowpass filters

09. The p lead JJetwork function

s + ,1.

----Gc(s)-

I
---_1_
s+ aT

Where.a< I would provide

. maximum phase - lead at a
frequency of
(A)_

- _1_
. (C) T.fa
JTOKEYS:
(l)C (2)A (3)D (4)D (S)D
(6)C (7)D (8)C (9)A

PSU'sKEYS:

(l)A (2)A (3)C (4)C (S)A

(6)A (7)D (8)A (9)A

i.

ACE Academy

Control Systems

85

6.2 CONTROLLERS
(1) Proportional Conti:oller:
Ge (s) = Kp = OLTF with controller
It is used to vary the transient response of a system. Proportional controller is usually
a amplifier with gain Kr.
One cannot determine the steady state response by changing Kp. Steady sate response
.,
depends on the of the system.

m Integral Contro!ll!r : .

G0 (s) = KTIS
It is used to de the steady state error by increasing the type of the system.
Disadvantage : Stability decrees
(3) Derivative Controller : .
Ge (s) = Ko:s
It is used to increase the stability of the system. Stability of any system is
increased by adding zeros.
Disadvantage : Steady state error increases, since type of the system decreases.

(4) Proportional+ Integral (Pl) Controller:

Ge (S) = Kp + K,t.s
It is used to decrease. the steady state error without effecting stability.
:)ince a pole at origin and zero is added.
(5) Proportional+ Derivative (PD) Controller :
'\(s) = Ko. s + Kp
.
. It is used to increase the stability without _effecting steady state error.
Since type is notchanged_and..a zero is added.
(6) Proportional+ Integral+ Derivative .(PID) Controller :
Ge (s) = Kp + K1 Is + Ko , s
(s)
"It is usclto dece the stdy state error and to increase the stability. Since pole at
- origin and two s are added. One zero compensate the pole and.other zero will
.increase the stability;

I I

I I

86

ACE Academy

Design of Control Svstem

OBJECTIVE QUESTIONS

OI. An integral cootroller is used to

i1!1prove the transient response of a
first-order system. If
l ...
G(s) = n=?.
and the system is operated in closed
loop with unity feedback,
what is the value ofT; ifthe integral
controller transfer function is I/ Ti to
__ _p_!ovide damping ratio of0.5 ?
b) 2 . c) I d) 4
a) 0.5
02. A step response ofa system is given
below. TO represents the delay due to
transportation lag and t. is the rise
time ofthe system. As a thumb rule,
the system is easily controllable if
T.IT0is
A

OJA

a) less than I b) less than 3

c) greater than IO d) equal to 6
03. A system has open-loop transfer
- given by
I

(I+ s) (l + 0.5 s)
The perfonnance of this system
K (I +T1 s)
( I+ T2 s)
is made faster with a controller of the
fonn. The system with controller is
operated in closed-loop with unity
feedback. In order. to increase the
speed ofresponse

a)
b)
c)
d)

T1 = I
T1 = 0.5andT2 = I.
T1 =landT2 = I
T1 =0.5 and T2 < 0.5

04. If stability error for step input and

speed of response be the criteria for
design what controller would you
recommend?
a) P controller
b) PD controller
c) Pl controller
d) PIO controller
05. An ON:-O_FF controller is a
a) P controller
b) Integral controller
c) Non-linear controller
d) PIO controller

06.The tenn 'reset control' reefers to

a) proportional control
b) integral control
c) derivative control
d) PIO controller.
07. The pole-zero plot given below is.
jro
that ofa /an

a) Integrator
b) PD controlier
c) PIO controller
d) Lag-lead compensating network

1
08. The log-mabiitude plot of a system
is given belpw :

\__/
+I

-I

log co
The system is-an
a) Integrator
b) PID controller
c) PD controller
d) Proportional controller

Control Systems

ACE Academy
09.The phase angle versus frequency

:,

log ro

The network is a
a) PID controller
b) Lag-lead.network
c) PD controller d) Pl controller
I 0. The input-output relationship of a
network is given overleaf. The
network is a /an
OulpUI

Input

a) Integrator
b) PID controller
c) PD controller
d) Proportional controller
Key for Objective Questions :
I. c 2. c 3. d 4 .. d . 5. c 6. b
1. ds. b 9.b 10. c
JTO PREVIOUS QUESTION:
01. The use of PI controllers
(A)reduces oscillations
(B) results in zero steady- state
error for step input
(C)lowers peak overshoot-
(D) improves relative stability
02. In a PID controller, the offset has .
increased. The integral time constant
has to be
so as to reduce
offset
(A)increased (B) reduced to zero
(C)reuced
(D)none
05. The transfer function of a rate
controller is of the type
(A) 1/TS + I
(B)I /TS
(C)TS
(D)Kc

87

Previous PSU's Qirestion

OI. Derivative feedback control
(A) increases feedback time
(B) increases over shoot
(C) decreases steady state-error
(D) does not affect the steady state
error
02. A PD controller is used to
compensate a system, Compared to
The uncompensated system, the
compensated system has
(A) a higher type number
(B) reduced. damping
(C) higher noise amplification
(D) larger transient over shoot
03. The industrial controller having the
best steady state accuracy is
(A)a derivative controller
(B) an integralcontroller
(C) critically damped
(D) Oscillatory
04. In industrial control systems, which
one of the following methods is
most commonly used iri designing
a system for meeting performance
specifications?
(A) .The transfer function is first
determined a:nd then either a
lead compensation or lag
. compensation is implemented.
(B) The transfer function is first
detennined and PID controllers
- =are implemented by thematically-
determining PID constants.
(C)PID controllers are implemented
without the knowledge ofthe
system parameters using Ziegler
Nichols method.
(D)PID controllers are implemented
using-Ziegler Nichols method
after detennining the system
transfer function
JTO KEYS: (I)B (2)A (3)C
{
PSU's KEYS: (l)A (2) (3)8 4)D

STATE VARIABLE ANALYSIS

Chapter: 7
Advantages :

1) Analysis is done by consideriniinitial conditions.

2) More accurate than transfer-ftmt:tion

3) Analysis of multi-input-multi-output systems are less complex
ur(t)

g:.

--u2(t)

Output equations

System

ii

Y1(t)

Yz(t)

X1(t) X2 (t)

Y1(t) = Cu x,(t) + C12 X2(t) + du u1(t) + d12 U2(t)

Yz(t) = C21 X1(t) + C22 X2(t) + d21 U1(t) + d22 U2(t)

By representing these in matrix form,

Cu C12 . X1(t)
du. d12 . u1(t)
Y1(t)
J (
J + (
J == [
[
J
J (
x2(t)
ei1 en
Y1(t)
d21 d22
u2(t)
.
IY(t) =

State equations

c X(t) + D U(t)I

- x1(t) == X1(t) == an x1(t) + 812 X2(t) + bu u1(t) + b12 U2(t)

dt

- x2(t) = i2(t) = a21 X1(t) + a22 xi(t) + bi1 u1(t) + bn u2(t)

dt

ACE Academy

89

State Variable Analysis

State transition matrix :

The transition matrix is defined as a matrix that satisfies the linear homogeneous state
equation.
d X(t)
dt

= AX(t)

'

Let cjl(t) be an n x n matrix that represents the state transition matrix; then it must
satisfy the equation
d (t)
= A (t)
(1)
dt
Let X(O) denote the initial state at t = O; then (t) is also defined by the matrix equation
X(t) = (t) X(O)
which is the solution of the homogeneous state equation for t 0.
One way of determining (t) is by taking the Laplace Transform on bcith sides of
Eq.(l); we have
S X(s)- X(O) = A X(s)
Solving for X(s) from the last equation, we get
X(s) = (sl-A)- 1 X(O)
where it is assumed that the matrix (sl - A) is nonsingular. Talcing the inverse Laplace
transform onboth sides;
X(t)=x- 1 (<sl-A)- 1 )x(O)

tO

Properties of the State Transition Matrix: , .

The state transition matrix (t) possesses the following properties
1.

the identity matrix

2.

- 1 (t) = H)

3.

(t2-t1)(t1-to) =(t2-to)

4.

[ (t)] k = kt)

Characteristic Equation, Eigen valus, and Eigen vectors :

.
Thecharacteristic,eqwition can be-yxpressed as
Isl-Al= 0

90

Control Systems

ACE Academy

The roots of the characteristic equation are often referred to as the eigen values ofthe
matrix A.
The n x-1 nonzero vector Pi that satisfies the matrix equation
(,..il-A)Pi = 0
where ).1 is the eigen value ofA, is called the eigenvector of A associated with the
-eigen value A;,
Controllability of linear systems :
Consider that a linear time-invariant system is described by the following dynamic
equations:
X(t) = A x(t) + B u(t)
Y(t) = C x(t) + D u(t)
where X(t) = n x 1 state vector
U(t) = r x l input vector
c(t) = p x l output vector
A = n x n coefficient matrix
B = n x r coefficient matrix
C = p x n coefficient matrix
D = p x r coefficient matrix
The state X(t) is said to be controllable at t = to ifthere exists a piecewise
continuous input u(t) that will drive the state to any final state X(tr) for a finite time (tr- to);;::
-O. Ifevery state X(to) ofthe system is said to be completely state controllable or simply state
controllable.
.The following shows that the condition ofcontro1iability depends on the
coefficient matrices A and B ofthe system. The theorem also gies one way of testing state
controllability.
FQr the system to be completely state controllable, it is necessary and
sufficient that the following n x nr matrix has a rank of n :

ince the matrices A and Bare involved, sometimes we say that the pair [A, B] is
controllable, which implies that 'S' is ofrank 'n'.
Observahility .of Linear systems:
Given a.linear time-invariant system is said to be observable ifany given input
u(t), there exists a finite time tr2! to such that the knowledge ofu(t) for to s; t <tr; the matrices
A,B,C,D;

ACE Academy

State Variable Ana4ysis

and the output 'C(t) for to t < tr are sufficientto deteimine X{to). If everystate of the system
is observable for a finite tr, we-say that the-system is-complete1y observable, or simply
observable.

The following shows that the condition of observability depends on the

coefficient matrices A and D of the system. The theorem also gives one method of testing
observability.
For the sy to be completely observable, it is necessary and sufficient that
the following n x np matrix has a rank of n :
.,
The condition is also referred to as the pair [A', CJ being observable. In particular. If
the system has only one output, C is an I x n matrix ; V is an n x n square matrix. Then the
system is completely observable ifV is nonsingular.

[
Example: Obtain the time response
of the system given below:
.2

X = AX

where
and

-- =
A

-1]

y = [I

Sol. : The tim response is given by

:J;

given x(O) = [I

I] T

[:J

X(t) = $(t) x(O)

1
-I
( t) = X - _00._- A)

(sI-A)

(so

)-'
(-A

1 =
. (sl-A)-

Since

4sJ

c -:r

[O

Adj (sl-A)
Isl-Al

$(s) = (sl - Ar I

-2

oJ -

':2
= ['
dl

(s2

?+2

-IJ- s

*2]
s
s 2 +2

92

Control Systems

ACE Academy

s'+2

$(s) = [

-2

T+T

The state transition matrix $(s) is

$(t) = X - I $(s) =

*'

[
[

}
. s +2

- 2\

s2

cos 'J2 t

:2J
{l/'12) sin '12 t

-"2 sin'J2 t

cos {2 t

X(t) = $(t) x(O)

[

X1(t)
x2(t)

COS fl t
(
.
= - '12 sin fi t

(l/'12)sin

x1(t) = cos fi t + (l/'12) sin "2 t

x2(t) =

'12 sin '12 t

- cos '12 t

y = (3/'12) sin "2 t

...ff [

cos '12 t

J
1

]
1

ACE Academy

State Variable Analysis

93

OBJECTIVE QUESTIONS

01. Given a statevariable model

x: =Ax+bu
y=cx+du

Under this transfonnation x = P x ; P is a nonsingular matrix, the model becomes

'
i=Ax+bu
y = cx+du

b) A=P- 1 AP;b=P- 1 b;c=cP

d) A = p - I AP ; b = p. I b ; c = c p - I

a)--A;,;PAP- 1 ;b=P=cP
c) A.=P- 1 AP;b=Pb;c=cP

02. A statevariable fonnation of a system is g iven by the equations

= [

O]

[:J

The transfer function of the system is

I
I
a)
b)
s+ I
(s + l)(s+3)

c)

s+3

d) None

03. A statevariable formulation of a system is given by the equations

[xJ
X

OJ [xJ +Jr t11.r ;

(-1
.. Q

y = [I O]

.[ xJ
x

The response y(t) to unit-step input is

a) I + e- 1
c) 1-e

04. The Eigenvalues of the matri x

a)0,-1,-3

..

=
X1(0) =x2(0) 0

[
0

-3

.]

-4

b)0,-3,-4.

b)(I/ 3)[1-e- 31]

d) None of the answersis correct
are
c)0,0,-4

d) None

I I

I I

94

Control Systems

OS. 'Given the system

ACE Academy

0 -20
0 -24] x+
l -9

y = [O O I] x

The characteristic equation of the system is

2
b) s3+9s2+24s+20=0
.a) s3+20s +24s+9=0
3
2
. d) None ofthcanswers is correct.
c) s + 24s +9s + 20= 0

[ x1] (

( x'] [ OJ

06. A state variable model of a system is given by

lJ

:2 -I

X2 =

y = [l OJ ( J
X

X2

-le

The system is
a) controllable and observable
c) observable and uncontrollable

07. The transfer function

b) controllable but unobservable

d) uncontrollable and unobservable

G(s) = c (sl -A)" 1 b

of the system

x"'Ax+bu

y=cx+du

has pole-zero cancellation. The system is

a) uncontrollable and unobservable
c) controllable but unobservable

08. The transfer function

b) observable but uncontrollable

d) may be any one of ( a), (b), and ( c)

G(s).= c (sl-A)- 1b
of the system
x=Ax+b
y

cx+d

hasno.pole-uro cancellation. The system is

a) controllable and-0bservable
b) observable but uncontrollable
d) may be any one of(a), (b), and (c)
c) controllable-but unobservable
--.

ACE Academy

95

State Variable Analysis .

09. Consider the system

A =

c ::J ;

b =

r: ] ;

c = IO 1]

The transfer function of the system has pol-zero canceUatkm ..The system is
. - .

-.

- . .

b) uncontrollable and unob59"'able

d) observable but uncontrollable

a) controllable and obs.ervable

c) controllable but l,!nobservable

l 0. Fo_ all values of 't', the matrix exponential..nonsingular for

b) nonsingular A
d) nothirig can be said, in general, about
non-singularity of e Ai for a given A.

a) singular A
c) all A

Key:
l. b

2. b

3. c

4. a

5. b

6. a

7. d.

8. a

9. d

10. c

MODEL GRAND TEST

ACE Academy
Marks: 30

Time : 45 mts.
01. The transfer function of the system
shown is
R
o--NVI
=RC

V;(s)

a)1 /(1 + ts)

b)1 /(1 + ts}2

c) ts /(1 + ts)

d) tS /(1 + ts}2

02. The peifonnance specifications for a

unity feedback control system having
an open loop transfer function
G(s) = Kl [s(s + I) (s + 2)] are
i)Velocity error coefficient
Kv > 10 sec 1
ii)Stable closed - loop operation
The value of K, satisfying above
specifications, is
a)K >6
c) K > 10

b)6<K <10
d) None of the above

03. A system has a complex conjugate root

pair ofmultiplicity two or more in its
characteristic equation. The impulse
response of the system will be
a)a sinusoidal oscillation which
decays exponentially; the system i
therefore stable
b)a sinusoidal oscillation with time
multiplier, the system is therefore
unstable
c)a sinusoidal oscillation which rises
exponentially with_time, the _system
is therefore unstable
d)a de tenn and harmonic oscillation ;
the system therefore becomes
limitingly stable

04. The unit step response ofa second

order linear system with zero initial
tate is given by
c(t) = 1+1.25 e 1sin (8t - tan. 1 1.333)
+
where t 2: 0.The damping ratio and
Vo(s)
the undamped natural frequency1 of
oscillation ofsystem are respectively
a)0.6& 10 rad Is b)Q.6_&12.5 rad Is
-40.8& 10 rad/ so)0.8& 12.5 rad Is
05. Laplace Transfonn ofa unit ran1p
starting at 't = a' is
a)l /[(s+a)2 ]
c) (e""')I [(s+a)2J

06.The open loop transfer function ofa

system is
G(s)H(s)= K/[(l+s)(l+2s+3s2)].
The phase crossover frequency Olp is
a)../2
c)zero

b)1
d) ../3

07. An open loop transfer function is given

by G(s)= K(s+l)/[s (s+l)(s 2+2s+;2)]. It
has
a)one zero at infinity
b)two zeroes at infinity -,
- - three zroes at infinity
d)four zeros at
08. Which of the following system is
unstable?

a) K/[(l +sTy(l+sT )
2
b) K(s+l)/[s (s+4)(s+5)], K>9
c)K(s+2)/[(s+l)(s-3)], K>2
d)Kl[ (Ts-+1)3], -1<K<8.-

infimr

09. The open loop transfer function ofa

unity feed back control system is given
by G(s)= K/[s(s+l)]
Ifthe gain is increased to infinity, then
the damping ratio will tend to become
a)ld2
c) 0

b)a /s2
d) (e ')I s2

b)l
d)ao

ACE Academy

Contml Systems

lO. The characteristic equation of a closed

-loop system is given by
s4 +6s3 + l l s2 +6s +K=O.
Stable closed - loop behaviour can be
ensured when gain K is such that
a)O<K<IO
b)K> 10
c)-CXJ:S:K>CXJ d)O<KQO
11 . The maximum phase shift that can be
obtained by using a lead compensator
with transfer function
Gc(s) = 4(1+O.I5s)I ( 1 0.05s)
is equal to
a) 15
c)45

b) 30
d)60

12. Consider a system shown. If the

sysiem is disturbed so that c(O)= 1,
thenc(t)for a unit.step input will be

:---<B,__-__.,

U(s).....

a) 1 + t

b) 1 -t

c)1 + 2t

d) 1 - 2t

C(s)

13. The closed loop transfer function of a

control system is given by 1/(l+s). For
the input r(t)= sint the steady state
value of c(t) is equal to
a) (l /-./2 )cos t b) I
c)(llWJsfn t d) (1/-./2) sin[t - (ir/4))
14 . The impulse response of an initially
relaxed linear system is e21 u(t). To
produce a response of te-21 u(t), the
input must be equal to
a) 2 e1 u(t)
c)e21 u(t)

b) Y, e21 u(t)
d) e1 u(1)

15. The closed loop transfer function of a

control system is given by
C(s)/R(s)=2(s-l )/{{s+2Xs+l)]
FoHHHlit--step input the output is
a) -3e21 + 4 e1 - I b)-3e"21 - 4 e1 + 1
d)Infinity
9) Zero

97

1-6. The Laplace transformation -0f .f{t)is

F{s). Given F{s)= K/{(s+2Xs2 + 4)),
the finai value of.I{t) is
a) Infinity b) zero
c)one
d) none of the above
17. For M > 1, the constant M - circles
corresponding to the magnitude (M)of
the closed loop transfer function of a
linear system lie in the G - plane and
to the
a) right of the M =-1--line
b) left of the M = I line
c) upper side of the M = +j 1 line
c) lower side of the M = -j I line
18. The position and acceleration error
coefficients for the open loop transfer
function
G(s) =KI [ s2 (s + 10) (s+100) ] are
respectively
a)zero and infinity
b)infinity and zero
c) (K /100) and zero
d)infinity and (KI 1000)
19. The position and velocity error
coefficients for the system of transfer
function
G(s) =KI [(l + O.l s) (I+ 2s)] are
respectively
a)K&zero
b)ero& infinity
c) [1/(K+l)] &zero
d)[1/(K+l)] & infinity
20. The transfer function of system is
F{s) = 10(1+0.2s)/[(2 + 0.5 s)].
The phase shift at ro ,;, 0 and
ro = CXJ will be
a) 90 and o0 . b)-180 and 180
c)-90 and.70 d)None of the above
21. A system has the transfer function
( (1-s)I (I + s)); !tis known as
a)low pass system b)-high pass system
c) all pass system d)none of the above

I I

I I

98

MODEL GRAND TEST

22. '.f<hetransfer function-ofa -control

system,is given as
T(s)= KI [ (s2 + 2s + K)],
where K is the gain ofthe system in
radian/ amp. For this system to be
critically damped, the value of K
should be
(a) I

(b)2

(c)3

(d)4

23. A second order differential equation is

given ey._ The-natural frequency.in
rad/sec and damping ratio are
respectively
(a) 1,5
(c) I, v7

(b)5, 7
(d)v1

24. The transfer function ofa system is

10 l(I + s). When operated as a unity
feedback system, the steady state
error to a unit step input. will be
(a) zero
(c) 10

ACE Academy

28. The transfer function oftransportation

lag is e-sT Ifthe lag is small as
compared with the time
constant ofthe system, it can be
approximated by
(b)l + sT
(a)sT
(d)l/( l + sT)
(c)l-sT
29. The characteristic equation of a certain
system is s5+ 4s4+2s3+8s2+s+4 = 0.
This system is
(a) stable
(c)unstable

(b) marginally Stable

(d)critical damped

30. Phase margin ofa system is used to

specify
(a)relative stability
(b) absolute stability
(c) time response
(d)frequency response

(b)illl
( d) Infinity

25. By Routh's stability criterion, it is

possible to find the roots in RHP of
the vertical line passing through (a, o)
KEY FOR GRAND TEST
by substituting in the characteristic
polynomial

01.b 02.d 03.b 04.a 05.d

(a) s = ( 11. - a )
(a)s =,o,.. + a)
(c)s = (11.+ l.+ a)(d)s = (11.+ 1-a ) --::_oo.b 07.c ; 08.h__ 09.c JO.a 26. Ifthe gairn>fthe open loop system is
doubled, the gain margin

11.b

12:c 13.d

14.c

15.a

(a)is not affected (b)gets doubled

(c) becomes half
(d)becomes one - fourth

16.d

17.b

18.d

19.a

20.d

21.c

22.d

23.d

24.b

25.a

26.c

27.a

28.c

29.c

30.a

Q7. Given G(s)= ( l-st-1-{s(s +2) ]. The

system with this transfer function is
operated in a closed loop with unity
feedback. The closed loop system is
(a) stable
(b)unstable
{c) tnar.ginally stable
(,cl) -conditionally stable

"All Th-e-Best"

OBJECTIVE QUESTIONS : REVISION AND PRACTICE SET

One Mark Questions
01. For a second-order system with the
closed-loop transfer function
T(s) =

: .

s 2 + s+9

the settlgtim (or

2-percent band, in seconds, is

GATE-1999
--{a}l.5 (b)2.0 (c)3.0 (d)4.0
02. The gain margin (in dB) of a system
having the loop transfer function

.fi.

. G(s)H(s) =-- is GATE-1999

s(s+l)
(a)O

(c)6

(b)3

06. A system described by the transfer

1
is
s3 +as 2 +ks+3
'
stable.
The constraints on a and k are,
GATE-2000
(a)a> 0, ak-"-.J (b)a> 0, ak>3
{c)a<O,ak>O {d)a>O,ak<O
function H(s) =

07. The equivalent of the block diagram in

Fig-I is given in
GATE-2001
E C

(d)oo

..
FJ
fig-I

03. The system mode described by the

state equations

x=[-20 -3.t]x+[I0Ju ,y=[I

t]xis

GATE-1999
(a) controllable and observable
(b) controllable, but not observable
(c) observable, but not controllable
(d) neither controllable nor observable
04. The pl.!_ase margin (in degrees) ofa
. system having the loop transfer
function
2
G(s)H(s) = .fS is
s(s+I)
(a)45
(c)60

GATE-1999

(b)-30
(d)30

05. An amplifier with resistive negative

. feedback has two left halfplane poles
in its open-loop transfer function. The
amplifier
GATE-2000
(a) will always be unstable at high
frequency
(b) will be stable for all frequency
(c) may be unstable, depending on the
feedback factor
(d) will oscillate at low frequency

EC
(a)

(b)

F
FigA
.E

1
2 G
C
.

Fig-B

( c)

EC
F
Fig-C

G2 - 1
::r
(d)
H/G2
F
E

Fig-D
(a) Fig-A
(c) Fig-C

(b) Fig0B
(d) Fig-D

ACE Academy

Control systems

100

08. 1f the characteristic euation of a

closed-loop system is s +2s+2 = 0,
GATE-2001
then the system is
(a) overdamped
(b) critically damped
(c)underdamped
(d) undamped

11. An electrical system and its signal

flow graph representation are shown in
figure(a) and (b) respectively. The
values of G2 and H, respectively, are
GATE-2001

V;(s)

09. The root-locus diagram for a closed

loop feedback system is shown in
figure. The system is overdamped.

G1 li(s)G2 Ii(s) G3

Vo(s)

Figure (b)

-GATE-2001

jro

V;(s)

OH

Vo(s)

Figure (b)

.
-Zi (s)
Z3 (s)
'
(s)
(s)
s)
(s)
Z
+Z3 (s)
+Z
Z
+Zi
4
1
. i

(a) only ifO :S K :S l

(b) only if I < K < 5
(c) only ifK > 5
(d) ifO :SK< l or K> 5

.(a)

-Z3 (s)
.
-Z3 (s)
)
(b Z2 (s)-Z3 (s)+Zis)'Z1 (s)+Zis)

I 0. The Nyquist plot for the open-loop

transfer function G(s) of a unity
negative feedback system is shown in
figure.If G(s) has no pole in the right
half of s-plane, the number of roots of
the system characteristics equation in
the right-half of s-plane is
GATE-2001

lm(s)

(c)

.
Z3(s)
Zi(s)
'
Z2 (s)+Zis)+Z4 (s) Z1 (s)+Z3 (s)

,
-Z3 (s)
Z3 (s) .
d)
( Zi (s)-Z3 (s)+Zis)'Z1 (s)+Zis)
12. The open-loop DC gain of a unity
negative feedback system with closeds
!oop trans
- ti,
.
+4
.
et f,unction
82 + 7s + 13 1S
4
(a) .-13

4
(b) 9

(c) 4

GATE-2001
(d) 13

13. The feedback -control system in the

GATE-2001
figure is stable.
(a) 0

(b)l (c)2

s-2
(s+2/

C(s)

'----1 s-2 --
(a)for all K 0
(b) only ifK l
(c) onlyifO :S K<I (d)only ifO:S K:Sl

Objective Questions: Revision and Practice Set

ACE Academy

101

18. A linear system is equivalently

14. Figure shows the Nyquist plot of the
represented by two sets of state
open-loop transfer function -G(.s)H(s)
of a system. lf-G(s)H(s) has -one right
J.uations.

x =AX+BU and W=CW+DU

hand pole, the closed-loop system is
The-eigen values ofithe representations
GATE-2003
Im
are also computed as P..l and {1].
GH-plane
Which one of the follng statements
---.--. is true?
GATE2005 .,
(a) P.l =[]and X = W
(a) always stable--(b) unstable with one closed-loop right
hand pole
(c) unstable with two closed-loop right
hand poles
(d) unstable with three closed-loop
right hand poles
15. A PD controller is used to
compensate a system. Compared to
the uncompensated system, the
compensated system has GATE-2003
(a) a higher type number
(b) reduced damping
(c) higher noise amplification
(d) larger transient overshot
i 6. The gain margin for the system with
open-loop transfr! function
G(s)H() =
(a)ao

2(1
; s) ," i
s

(b) 0

(c) I

(b) [X] =;" [land x ,iv/.

(c) [l] *[]and X = w-

(d) [A] i []and X W

19. Which one of the following polar
diagrams corresponds to a lag
GATE 2005
network?
(a) Im

(b)

(c)

Im

Im

GATE2004
(d)--ao

, the
K
s(s+ l)(s+ 3)
point of intersection of the asymptotes
of the root loci with'-the real axis is
GATE2004
(b) l.33
(a)-4
(d)4
(c)-1.33

Im

17. Given G(s)H(s) =

(d)

ro=O

-..=-----+Re

I I

I I

l02

ACE Academy

Control Systems

20. Despite the presence of negative

feedback, control systems still have
problems of instability because the
GATE2005
(a) components used have
nonlinearities
(b) dynamic equations ofthe
subsystems are not known exactly
(c) mathematical analysis involves
approximations
(d) system has large negative phase
angle at high frequencies.
21. The open-loop transfer function of a
unity-gain feedback control system is
GATE 2006
given by.
. K
G(s)=- -(s+l)(s+2)
The gain margin of the system in dB is
.given by
(a)O (b) 1
(c) 20 (d)<XJ

24. lfthe Laplace transfom1 ofa signal y(t)

isY(s)= _I_
s(s-1)
is
(a)-1
(c) l

,then its final value

GATE-2007
(b) 0

(d)unbounded

25. The pole-zero plot given below

corresponds to a
. GATE2008
(a) Low pass filter
(b) High passiilter- ( c)Band pass filter
(d) notch filter

26. Step responses ofa set ofthree second

order undei-damped systems all have
the same percentage overshoot. Which
of the following diagrams represents
the poles of3 systems? GATE2008
jro

),(
(a)

).('

(J

).(

22. In the system shown below,

x(t) = (sint)u(t). In steady-state the
response y(t) will be
GATE2006

),(

- x x -------

jro
---(j

-c

(a)
(

ii. smH)4
}

Sill

c} .fi. e smt

n)
(b) .fi. sm t +
1

. (

__ (c)

s-5+ then1t1s
..
(s+2)(s 3f

ATE2007
{a) an unstable system
{-b) anunconti:oltable system
{c) a minimum phase system
(d) a non-minimwn phase system

-*-X;X------- --cs '

( d) sint - cost

21.Jfthe closed-loop transfer functwn ofa

control system is given as
T()
s =

(b)

jro

-0
)t
x
.()

(J

,
,,

---

jro

ACE Academy

Objective Questions: Revision and Practice Set

27. Which of the following P.Oints is NOT

on the root locus of a system with -the
open-loop transfer function
GATE-2002
k
G(s)H(:sJ.J =
?
s (s +l)(s +3)
.. (a) s-j./3

(c) s = -3

(b)s= -1.5
(d)s = -co

28. The phase margin of a system with the

openloop transfer function
(l-s) GATE-2002
G(s)H(s)=
(l+s)( 2 +s)
(a)

o0

(c)90

(b) 63.4
. (d)oo

29. The transfer function Y(s)/U(s) of a

system described by the state equations
x(t)=-2x(t)+2u (t)and y (t)= 0.5x(t)is
GATE-2002.
(a)0.5/(s-2}
(b) l/(s-2)
(d) l/(s+2)
(c)0.5/(s+2)
30. Consider the system dx
-=Ax+Bu
dt
with A[] and B

=[:]

where p and q are arbitrary real

numbers. Which of the following
statements about the controllability of
. .
the system is true?
(a) The system is completely state
controllable for any nonzero values
ofpandq.
(b) Only p =O andq=O result in
controllability.
(c) The system is uncontrollable for all
values ofp.andq.
(d) We cannot conclude about
controllability from the given data

1-03

ACE Academy

Control Systems

104
Two Mark Questions

01. If the closed-loop transfer function

T(s) of a unity negative feedback
system i s given by
a.-r s+a.
T(s) =
s" +a 1 s"-1 +....+a._1 s+a.
then the steady state error for a unit
ramp input is
GATE-1999

a . 1

(c) -a n2

(d) zero

0 2. Consider the points s 1 3+j4 and

s2 = -3-j2 in the s-plane. Then, for a
system with the open-loop transfer
function
K
GATE-1999
G(s)H(s) = --4
(s+1)
=-

(a) s 1 is on the root locus, but not s2

(D) S2 is on the root locus, but not SJ
(c) both s 1 and s2 are on the root locus
(d) neither s1 nor-s2 is on the root locus
03. For the system described by the state
equation

1 Hl-

if the control signal u is given by u =

.--(-0.5 --'3 -5jx+v, then the eigenvalues
of the closd-loop s ystem will be
GATE-1999
(a) <l,_--: 1, -2
(b) 0,-1, -3
(c) -1, -1, -2
(d) 0, -1, -1
04. Consider a system with the transfer
function G(s ) =. . . Its
ks + s+ 6
damping ratio will be 0.5 when the
value ofk is
(a) 2/6 (b) 3 (c) 1/6 (d) 6

05. The system shown in the figure

remains stable when
GATE-2002
R(s) l

iY(s)

(b-y=r-<k < 1
(d) k > 3

(a)k<-1
(c) 1 <k<3

06. The transfer function of a system is

100 .
G(s) =
unitstep
(s +l)(s+lOO ) . For.a
input to the -ystem the approx imate
for 2% criterion is

settlingtinie

(b) 4 sec
(d) 0.01 sec

(a) 100 sec

(c) 1 sec

07. The characteristic polynomial of a

4
2
system q(s) =2 s +s +4s +2s +2s+l.
The system is
GATE-2002
5

(a) stable
( c) unstable

(b) marginally stable

(d) ocillatory

08, The system with the open loop transfer

has a
functionG(s)H(s) = 2 1
s(s +s+l)
GATE-2092
gain marginof
(a) -6 dB
(c) 3.5 dB

(b) O dB
(d) 6 dB

09. The root locus of the system

K
G(s)H(s) =
has the break
s (s + 2)(s + 3)
- away point located at
(a)_(=:0.5, 'O)
{c) (-4, 0)

GATE-2003

(b) (-2.548, 0)
(d) (""'.74'8, 'O)

CE Academy. Objective Questions: Revision and Practice Set

1-0. The signal flow graph of a system is

shown in figure. The transfer

t-."- ..

s)
function C( of the system is
R(s) .
GATE-2003
i
l
l
R(s)
!

12. A second-order system has the transfer

function {;,(s ) 2 4
. With-r(t)
R{s) s +4s+4
as the unit-step function, the response
c(t) of-thesystem is represented by

(c)

..
c:

s +29s+6

(b)

GATE-2003
Ste n
n.es onse

1.5

(a)

105

'

6s
2
s + 9s+6
2

s(s +2)
s(s+ 27)
(d) 2
s +29s+6
s 2 +29st6

11. The approximate Bode magnitude plot

of a minimum-phase system is shown
in figure. The transfer function of the
sytem is
GATE.2003

]o:s

(b)

Time (sec)
Fig-2
Steo Resnonse
ff

(c) u 1.5
"Cl

::s l

(s+OJ)J .
(a) 10s
(s+10)2 (s+100)
(b) 10'

(s+0.1) 3 .
(s+IO)(s+IOO)

(c) IOs

. (s+0.1)
(s+10}2 (s+106)-

9
d) 10

- ..

--(0.5
15 0
Time (sec)
Fig-3
Step Response

0 'S 1(

(s+ 0.1)3
(s+IO)(s+100) 2

15

(<l)

]
:=0.5
C.

Time{sec)
Fig-4

lO

106

<(a) Fig-I

'(!>) Fig-2

(d) Fig-4

(c) Fig-3

13. The gain margin and the phase margin

ofa feedback system withGATE-2003
s
\3 are
(s+I001
(b ) oo, oo
(a) 0 dB, o0
G(s)H(s)

(c) oo, o

--

(d) 88.5 dB, oo

14. The zero-input response of a system

rlH:':r.=rrm
is
(a)

( )

[t]

(c)

GATE-2003

b (;']

(d)

[ete' 1 J

[tet t]

15. Consider the Bod magnitude plot

shown in figure. The transfer function
H(s) is
GA.TE-2004

o
-2

20 log!HGro)I
IO

ACE Academy

Control Systems

-20dB/decade
100 ro in rad

{s+IO)
ht IO(s+J)
(a )
(
(s+lXs+IOO)
(s+toXs+IOO)
J.0 2 (s +1)
l0 3 {s+ 100 )
()
(c )
(s+ t0XH IOO) d {s+1Xs+10)

16. A causal system having the transfer

l .
. d wit'h
ct1on H(s) = - is
fun.
excite
s+2
IOu(t). The time at winch the output
... reaches
99% of its steady site value is
.
ATE-2004
(c) 2.3 ec

(d) 2.1 sec

- {a)27sec

(b)2.5sec

17. A system has poles at 0;01 Hz, !Hz

and 80 Hz; zeros at 5Hz, l00 Hz and
200 Hz. The approximate pnase of the
system response at 20 Hz is
GATE-2004

o
(a)-90
( b) o

(d)-180
(c) 90

18. Consider the signal flow graph shown

in figure. The gain is
X1

x,

GATE-2004

xt:etJ,
e

bedg
I(be+cf+dg) (b)
(a)
+dgj
(be+cf
1
abed
abed
(c )-.,------,--1-{be+cf+dg)+bedg

1 be+cf+dg}+bedg
(d) -(

19. The open-loop transfer function of a

unity feedback system is
G(s)-

s(s2 +s+2Xs+3)

The range of K for which the system is.

GATE-2004
stable is
21
(a)-,->K>O
4
(b,)

21

4<K<

00

(b)I3>K>O

(d)-6 K <oo

ACE Academy

20. For the polynomial

P(s)=s5+s 4+2s 3+2s2+3s+IS, the number
of roots which lie in the right half of
the s-plane is
GATE--2004
(a) 4 (b) 2 (c).3
(d) 1
21. - The state variable equations of a
system are:

X1

\_

1-

GA TE-2004
The system is
(a) controllable but not observable
(b) observable but not controllable
(c) neither controllable nor observable
(d) controllabe and ob!l;t!rvable
22. A system described by the following
differential equation
d 2 y 3 dy
+
+2y = x (t) 1s
. IIy at
. m1t1a
dt 2

dt

rest. For input x(t) = 2u(t), the output

GATE-2004
_ y(t) is
(a) (t-2e- +e-21 )u(t)
(c) (o.s+e- +1.Se-21 )u(t)
(d)(o.s+2e- + 2e-21 )u(t)

23. Given A=
[

the state transition

matrix eA1 is given by

(b)

(c)

.,

[e- o ] O e_1

OH plane

,y=x1+ u

(b) (1+ 2e- -2e-21 )u(t)

1-

24. The polar diagram of -a 'COnditionally

stable -system for open loop gain K 1
-is shown in figure. The open loop
mmsfer function of the system is
known to be stable. The closed loop
system loop syst is stable fur
GATE-2005

= -3X1 - X2 + U

:ic2-=2x 1

107

Objective-Questions:_Revision and Practice Set

(d)

GATE-2004

[e' 0]
O e'

[o e'J
e' 0

1
1
(a) K<5and<K<-

1
1
(b)K<-and-<K<5

1
(c)K <-and5 <K
8
1
(d) K > -andK< 5
8
25. In the derivation of expression for peak
percent overshoot,
M P =eJ )xl00%,
2
.
whlch o:i vl-

.
of the following conditions is NOT
GATE-2005
requirc:d?
(a) System is linear and time invariant
. _(b) Toe system transfer-function has a
pail"4f-compl.ex-conjugate poles
and no zeroes.
(c) There is no transportation delay in
the system.
(d) The system has zero initial
conditions.
26. A ramp input applied t9 an unity
feedback -system results 5% -steady
state error. The type number and
frequency gain of the . system are
GATE-2005
respectively

(a) 1 and20

(b) Oand-20

(-c) O and _!__

20

{d) 1 and

20

1-08

Control Systems

27. A double integrator plant,

G(s) = ,H(s) = 1 is
to
be
compeHsated to achieve the damping
ratio!; = 0.5, and an widamped natural
frequency, ro.=5 rad/s. Which one of
the following compensator Gc(s) will
be suitable?
GATE-2005
(a)
s+9.9

(b)

s+9 9
.
s+3

::--s+-6-
(d) -

(b)
s +8.33

28. An wiity feedback system is given as,

G(s) =

.
K(l-s)
.
. Indicate the correct
s(s+3)

root locus diagram

(a)

GATE-2005

jro

ACE Academy

Common Data for Questions 29 and 30.

The open loop transfer function of a unity
feedback system is given by
3e-2s
G(s)=-
s(s+2)
29. The gaip and phase crossover
frequencies in rad/sec are, respectively
GATE-2005
(a) 0.632 and 1.26
(b) 0,632 and 0.485
(c) 0.485 and o.632
(d) 1.26 and 0.632
30. Based on the above results, the gain
and phase margins of the system will
be
GATE-2005
.(a)-7.09 and 87.5
(b) 7 .09 and 87.5
(c) 7.09 dB and-87.5

(d)-7.09 dB and-87.5
31. Consider two transfer functions

andG 2 (s)=-2--G 1 (s)= 2

s +as+b
s +as+b
The 3-dB bandwidths of their
frequency rcisponses are, respectively
GATE,2006

jro
(b)

(a).Ja 2 -4b , .Ja 2 +4b

cr-

(b}Ja 2 +4b
, .Ja 2 -4b
.
.
(c).Ja 2 -4b, .Jz -4b

(c)

(d).Ja 2 +4b ,.Ja 2 +4b

C1

32. The unit-step response of a system

starting from rest is given by
c(t) = l-e-21 for t
The transfer function of the system is
GATE-2006

(a)1+2s

(c)

1
2+s

(b)
d
( )

2
2+s
2s
1+2s

33. The Nyquist plot ofG(jro) H(jro) for a

dosed loop control system, passes
through {-ljO) point in the GH plane.
The gain margin of the system in dB is
equal to
GATE-2006
(a) infinite
(b} greater than zero
(c) less than zero
(d) zero
34; The positive values of"K" and "a" so
that the system shown in the figure
below oscillates at a frequency of 2
rad/sec respectively are GATE-2006
K(s+-1)
s3 +as2 +2s+l

R(s

(a) I, 0.75
(c) 1, I

Common U'"ata for Questions 38 and 39.

Consider a unity-gain feedback control
system whose open-loop transfer

. . G
as+ I
functi on JS (S) =-52

38. The value of"a" so that the system has

a phase-margin equal to x/4 is
approximately equal to 'GATE-2006
(b) 1.40
(a) 2.40
(d) 0.74
(c) 0.84

39. With-the value of "a" set for phase.

margin of x/4, the value of' unit- .
impulse response of the open-loop
system art=l secopd is equal.to
, .
GATE-2006
(b) 2.40
(a) 3.40
(d) 1.74
(c) 1.84

C(s)

(b) 2, 0.75
(d) 2, 2

40. The frequency response of a linear,

time-invariant system is given by

35. The unit impulse response of a system

1
is h(t)=e" ,
For this system, the steady-state value
of the output for unit step input is
equal to
GATE-2006
(a)-1 (b) 0 (c) 1
(d) ex>

. The step response of

H(f)- 1 + j 1 Ortl

51
(a)S(l-e" )u(t) (b) s(t-e-i}(t)

36. The transfer function of a phase-lead

compensator is given by

37.

1+3Ts
G 0 (s)=--where T> 0
t+ Ts
The maximum phase-shift provided by
uch a compensator is
GATE-2006
(b) rt/3
(a) rt/2
(d) rt/6
(c) x/4

A linear system is described by the

following state equation

X(t)= AX(t) + B (t), A =

The state-transition
systemis
(a)

[::t

::t]

(b)

[ I ]

matrix of the

[:::

_::t]

-cost -sint
cost sint
(c) [ .
. ]
] .(d) I
-smt cost ',_
cost smt

GATE-2007

the system is

(c) .!.(1 e-5' (t) (d) .!.(1-e -1-)u(t)

5.

41. A control system with a PD controller

is shown in the figure. If the velocity
error constant Kv=1000 and the
damping ratio 1;=0.5, then the values of
Kp and Ko are
GATE-2007

(a)\Kp==toO, Ko=0.09
(b)''Kp==HlO, Ko=0.9
(c) Kp==IO, Ko=0.09
{d) Ki,==to, Ko=0.9

110

Control Systems

42. The transferfunotion of a plant is

5
T s) =
" .The seconds
('
( . s+ 2 +s+I)

sX

order approximation of T(s) using

dominant ple conciept is GATE-2007

(a)

I
(s+5Xs+I)

(b (s+5Xs+I)
(d)

ACE Academy

(a)

I
I
(b)
(s+IXs+20)
s(s+IXs+20)

(c)

100
100
(d)
s(s+IXs+20) s(s+IXI+0.05s)

46. Th e state space representation of a

s eparat ely excited DC s ervo motor
dynamics is given as
GATE-2007

s +s+I
2

43. The open-loop transfer function of a

I_ . If
plant is given as G(s);,, __
s 2 +s+l
the plant is op erated in a unity
feedback configuration, then the lead
compensator that can stabilize this
control system is
GATE-2007
(a)

IO(s-1)
s+2

(b) IO(s+4)
s+2

IO(s+2)
(b) IO(s+2)
(d)
s+IO
s+IO
44. A unity feedback control system has an
op en-loop transfer function
G(s)

. The gainK for

K
s(s 2 +7s+l2)
. .
=which s l+jl wiU lie on the root
locus of this system is GATE-2007
(a) 4 (b) 5.5 (c) 6.5 (d) IO
45. The asymptotic Bode plot of a .transfer
function is as shown in the figure . The
transfer function G(s) corresponding to
this Bode plot is
GATE-2007
)
(
ro)
G
I G l dB
-2-0-dB /de cade

-60 dB /decade

where ro is the speed of thee: motor, ia is

the . armature current and u is the
armature voltage . The transfer function
ro(s)
of the motor is
U(s)

GATE-2007

(b)
IO
s 2 +I ls+II
s 2 +1Is+II
_
IOs+IO
(d) 2 I _
(c). 2
s +Ils+II
s +s+I
_
(a)

Statement for Linked Answer Questions

47 & 48:
Consider a linear system whos e state space

representation iJ;(t) =Ax(t). If the initial

state -vector of the system is x(O) =[_
,then the syste m r esponse _is ........... .
x(t) = [

e- '
2

-2e _21].

If the initial state vector

of the syste m changes to x(O)= [ ] , then

_
the syste m r esponse becomes

ACE Academy

Objective Questions: Revision and Practice Set

47. The eigenvalue and eigenvector

pairs(t.;, v;) for the system are
GATE-2007

50. Group I lists a set of four transfer

functions. Group II .gives a -list .of
possible step responses y{t). Match the
step responses with the corresponding
transfer functions.
GATE-2008
Group I
36
Q=
P=
s 2 +25
s) +2-0s+36
3_6__
R=-s 2 +12s+36

S=

49
s +7s+49
2

Group II
1. 1

(c)

[ 1 ]

[_ -]

(b)
(d)

1
[}1 - 2]

y(t )

--+-----t

48. The system matrix A is GATE-2P07 .

(a)

2. 1

[ 0 l]
-2 - 3

49. A linear, time-invariant, causal.

continuous time system has a rational
transfer function with simple poles at
s = -2 and s = -4, and one simple zero
at s.= -LA unit step u(t) is applied at
the inputofihe_sxstem.At steady state,
the output has constant value of 1. The
impulse response of this system is
GATE-2008
(a) [exp(-2t) + exp(-4t)] u(t)
(b) [-4exp(-2t) +12exp(-4t)
exp(-t)]u(t)
(c) [-4 exp(-2t) + 12exp(-4t)]u(t)

(d) [-0.5exp(-2t) + l.5exp(-4t)]u(t)

111

3.
4._+ y(t).

(a) P-3, Q-1, R-4, S-2

(b)_f>-3, Q-2, R-4, S-1

(c) P-2, Q-1, R-4, S-3
(d) P-3, Q-4, R-1, S-2

112

Control Systems

51. A certain system has transfer function

G(s)=

s+8
2
,where ais a
s +cxs- 4

ACE Academy

54. A signal flow graph ofa system is

given below.

parameter. Consider the standard

negative unity feedback configuration
as shown below.

-P

G(s)
Which ofthe following statements is
true?
GATE-2008
(IIJ',.Ibe closed loop system is never
le for any value ofa
(b) For some positive values ofa, the
closed loop system is stable, but
not for all positive values
(c) For all positive values ofa, the
closed system is stable
(d) The closed loop system_is stable
for all values ofa, both positive
and negative

1/s

-y

The set ofequations that correspond to

this signal flow graph is GATE-2008

52. The number ofopen right halfplane

poles of
G(s) =

10
is
s 5 +2s 4 +3s 3 +6s2 + 5s+3

GATE-2008
(a) 0 (b) 1 (c)2 (d) 3
53. The magnitude of frequency response
of an underdamped srcond order
system is 5 at O rad/sec and peaks to
IQ. at 5..fi rad/sec. The transfer
function ofthe system is GATE-2008
(

a)

(b)

375
500
b
s 2 +10s+IOO ( ) s 2 +5s+75

720
1 125
(d) 2
s 2 +12s+l44
s +25s+225

55. The unit step response of an under

damped second order system has
steady value of -2. Which one of the
following transfer-fwwtions has these
properties?
(a)

. _ -2.24
-3.82 . (b) 2
2
s +2.59s+l. 12
s +I.9ls+I.91

-2.24
-3.-82
d)
)
(c s 2 -2.59s+u/ s 2 -1.9 ls+I.91

"'c 11U:1uemy
56.

Objective Questions: Revision and Practice Set

Group I gives two .possible choices for

the impedance Z in the ,diagram. The
circuit clements in Z satisfy the
i:ondition C2 > R1C1. The transfer
function Vo represents a kind of

V;
controller. Match the impedances in
Group I with the types of controllers
in Group II.
C1

(a) .J2an d0 (b)

(c) "3and0

113

.J2and4S 0

(d) "3and45

Common Data for Questions:iS-"Bt59:

The Nyquist plot of a stable . transfer
function G(s) is shown in the figure. We
are interested - in the stability of the closed
loop system in the feedback configuration
shown--.-.. ----

Vo

Group-I
Group-II
Q. 1. PID controller

Re

-c2

R.2.Lead
compensator
Ri
3. Lag compensator
(a)Ql, R-2
(c) Q-2, R-3

(b)Q-1,R-3
(d)Q-3, R-2

57. The feedback configuration and the .

pole-zero locations of
s 2 -2s+2
are shown below.
G(s) = 2
s +2s+-2"-- the root locus for negati".e values of
--v1c,- i.e, for --> < k <0, has
breakaway/break-in points and angle
of departure at pole P (with respect to
the positive real axis) equal to

Im(s

---1----.. Rs)
p
X
O

58. Which ..of the following statements is

true?
(a) G(s) is an all-pass filter
(I?) G(s} has a zero in the right-half
plane(c) G(s}is the impedance of-a passive
. network
(d) G(s) is marginally stable
59. The gain and phase margins of G(s) for
closed loop stability are
(a) 6 dB and 180 (b) 3 dB and 180
(c) 6 dB and 90 (d) 3 dB and 90
60. Ho many- roots with Jl()sitive real
paits do the equation s3 + ?- - s + I = 0
have?
(a) Zero (b) One (c) Tv,:o, (d) Three

I I

114 ....
, ... .

Coqtrol svstem

ACE Academy

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