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 Controllers &
11 Compensators

Objective & Numerical Ans Type Questions : (A)  20 dB/dacade (B)  40 dB/dacade
(C)  60 dB/dacade (D)  80 dB/dacade
. Common Data For Questions 1 & 2 . Q.4 The open-loop transfer function of a plant is
The transfer function of a compensator is 1
given as G ( s )  2 . If the plant is
given as ( s  1)
sa
GC (s)  operated in a unity feedback configuration,
s b then the lead compensator that can stabilize
[GATE EC/EE/IN 2012, IIT Delhi] this control system is
Q.1 GC ( s) is a lead compensator if [GATE EC 2007, IIT Kanpur]
(A) a = 1, b = 2 (B) a = 3, b = 2 10( s  1) 10( s  4)
(A) (B)
(C) a = – 3, b = – 1 (D) a = 3, b = 1 ( s  2) ( s  2)
Q.2 The phase of the above lead compensator is 10( s  2) 2( s  2)
maximum at (C) (D)
( s  10) ( s  10)
(A) 2 rad/s (B) 3 rad/s Q.5 For the feedback system given below, the
(C) 6 rad/s (D) 1 / 3 rad/s 1
transfer function G ( s )  . The system
Q.3 ( s  1) 2
Input GC ( s ) G (s) Output CANNOT be stabilized with
[GATE IN 2016, IISc Bangalore]
C (s) G (s)
+

A closed loop system, employing lag-lead –

compensator GC (s) is shown in the figure
given above
3 7
  (A) C( s )  1  (B) C ( s )  3 
  s s
 1  1s   1  2 s 
GC ( s )  ,  1 9 1
  1s   1  2 s  (C) C ( s )  3  (D) C ( s) 
1      s s
   Q.6 A double integrator plant.
If G ( s ) has 3 poles in the left half of s- K
G( s)  2 , H ( s)  1
plane, then the slope of the Bode plot for s
| G(s) GC (s) | in the highest frequency range is to be compensated to achieve the damping
will be ratio   0.5, and an undamped natural
Control Systems [Work Book] 96 GATE ACADEMY®

frequency, n  5 rad/s. Which one of the (A) 52deg at 4 rad/ sec

following compensator GC (s) will be (B) 52 deg at 10 rad/ sec
[GATE EC 2005, IIT Bombay] (C) 52 deg at 12 rad/ sec
s3 s  9.9 (D) None of the answers is correct
(A) (B)
s  9.9 s3
Q.2 The proportional gain of a PID controller
s6 s6 can be expressed in terms of its proportional
(C) (D)
s  8.33 s band (PB) as
Q.7 A unity negative feedback closed loop
100
system has a plant with the transfer function (A) PB (B)
PB
1
G ( s)  2 and a controller GC ( s ) PB
s  2s  2 (C) (D)None
in the feed forward path. For a unit step 100
input, the transfer function of the controller Q.3 A closed loop control system is shown
that gives minimum steady error is below. The range of the controller gain K C
[GATE EC 2010, IIT Guwahati] which will make the real parts of all the
s 1 s2 closed loop poles more negative than 1 is
(A) GC ( s )  (B) GC ( s ) 
s2 s 1 1
R( s) +– KC C (s)
( s  1)( s  4) s ( s + 3)
(C) GC ( s ) 
( s  2)( s  3)
2
(D) GC ( s )  1   3s (A) KC   4 (B) K C  0
s
Q.8 For the following feedback system (C) K C  2 (D) K C  2
1 2
G ( s)  . The 2% settling time Q.4 A plant with a transfer function is
( s  1)( s  2) s ( s  3)
of the step response is required to be less controlled by a PI controller with K P  1
than 2 seconds.
and KI  0 in a unity feedback
[GATE EC 2014, IIT Kharagpur]
configuration. The lowest value of KI that
r C (s) G (s) y
– ensures zero steady state error for a step
change in the reference input is
Which one of the following compensators 1
(A) 0 (B)
C ( s ) achieves this? 3
1
 1   0.03  (C) (D) 1
(A) 3   (B) 5   1 2
 s5  s 
Q.5 Which of the following can be the pole-zero
 s 8
(C) 2( s  4) (D) 4   configuration of a phase-lag controller (lag
 s3
compensator)?
Practice (objective & Num Ans) Questions : (A) jw

(0.5s  1)
Q.1 G ( s)  Maximum phase- lead of s
(0.05s  1)
the compensator is
GATE ACADEMY® 97 Controllers & Compensators

(B) jw  1  1
 s   s 
1   1  
(A) (B)
s  1   1 
s  s 
     
 1  1
jw  s   s 
(C) 1   1  
(C) (D)
 1   1 
s s  s 
     
Q.9 A phase lead compensator has its transfer
1  0.5s
(D) jw function, GC ( s )  . The maximum
1  0.05s
phase lead and the corresponding frequency,
s
respectively are nearly
(A) sin 1 (0.9) and 6 r/s

Zero - Pole - (B) sin 1 (0.82) and 4 r/s

Q.6 Which of the following statements is (C) sin 1 (0.9) and 4 r/s
INCORRECT? (D) sin 1 (0.82) and 6 r/s
(A) Lead compensator is used to reduce the Q.10 The pole-zero configuration of the transfer
settling time. function of a compensator and the
(B) Lag compensator is used to reduce the corresponding Bode plot are shown in the
steady state error. figure. The configuration is indicative of
(C) Lead compensator may increase the
order of a system.
(D) Lag compensator always stabilizes an
unstable system.
Q.7 The transfer function C ( s ) of a compensator
is given below.
 s  s 
1   1  
C (s)   0.1   100 
 s  (A) lag compensator
(1  s ) 1  
 10  (B) lag-lead compensator
The frequency range in which the phase (C) P-D compensator
(lead) introduced by the compensator (D) lead compensator
reaches the maximum is Q.11 The bandwidth of a control system can be
(A) 0.1    1 (B) 1    10 increased by using
(A) Phase-lead network
(C) 10    100 (D)   100
(B) Phase-lag network
Q.8 What is the transfer function of a phase lag
(C) Both Phase-lead network and Phase-lag
compensator? The values of  and  are
network
given   1 and   0
(D) Cascaded amplifier in the system
Control Systems [Work Book] 98 GATE ACADEMY®
Q.12 An integral control is used to 100
r KP + KD s c
(A) Improve the transient response. s ( s + 10)

(B) Reduce the offset.

(C) Eliminate the offset. (A) K P  100, K D  0.09
(C) Reduce the settling time.
(B) K P  100, K D  0.9
Q.13 A proportional integral (PI) controller has
0.4 (C) K P  10, K D  0.09
the transfer function 2 + , with the unit
s (D) K P  10, K D  0.9
of time expressed in minutes. The
parameters proportional band and reset time . Common Data For Questions 17 & 18 .
for the above controller are respectively The following figure represents a
(A) 200 % and 0.4 min. proportional control scheme of a first order
(B) 50 % and 0.4 min. system with transportation lag.
(C) 200 % and 5 min. e- s
R(s) KC C (s)
(D) 50 % and 5 min. s +1
Q.14 The proportional band of a Proportional
Integral (PI) controller is 50 % and the reset Q.17 The angular frequency in rad/sec at which
time is 0.2 sec. The transfer function of the
the loop phase lag becomes 1800 is
controller is given by
(A) 0.408 (B) 0.818
(A) 50  1 
1 
(B) 50  1 
1 
  (C) 1.56 (D) 2.03
 0.2s   5s 
Q.18 The steady state error for a unit step input
(C) 2  1   (D) 2  1  
5 1
 s  s when the gain K C  1 is

Q.15 The range of the controller gains ( K P , K I ) 1 1

(A) (B)
that makes the closed loop control system 4 2
(shown in the following figure) stable is (C) 1 (D) 2
given as Q.19 Group I gives two possible choices for the
K 1 impedance Z in the diagram. The circuit
R( s) KP + I C (s)
s ( s + 2) ( s + 10)
elements in Z satisfy the condition
V0
R2C2  R1C1 . The transfer function
KI Vi
(A) K I  0 and K P   20
12 represents a kind of controller. Match the
(B) K I  0 and K P  0 impedances in Group I with the types of
KI controllers in Group II.
(C) K I  0 and K P  20
12 Z
K C1
(D) K I  0 and K P  I  20 Vi
12
R1 V0
Q.16 A control system with a PD controller is
shown in the figure. If the velocity error
constant Kv  1000 and the damping ratio
  0.5, then the values of K P and K D are
GATE ACADEMY® 99 Controllers & Compensators
Group I 900
Q.22 The system is to be
Q. s ( s  1) ( s  9)
R2 C2 compensated such that its gain-crossover
frequency becomes same as its
R.
uncompensated Phase-crossover frequency
0
and provides a 45 phase margin. To
achieve this, one may use
(A) A lag compensator that provides an
attenuation of 20 dB and a phase lag of
450 at the frequency of 3 3 rad/s.
Group II
1. PID Controller (B) A lead compensator that provides an
amplification of 20 dB and a phase lead
2. Lead Compensator
0
3. Lag Compensator of 45 at the frequency of 3 rad/s.
(A) Q - 1, R - 2 (B) Q - 1, R – 3 (C) A lag-Lead compensator that provides
(C) Q - 2, R - 3 (D) Q - 3, R – 2 an amplification of 20 dB and a phase
0
Q.20 A proportional controller with transfer lag of 45 at the frequency of 3
function, K P is used with a first-order rad/s.
system having its transfer function as (D) A lag-lead compensator that provides
K an attenuation of 20 dB and phase lead
G (s)  , in unity feedback structure.
(1  s )
0
of 45 at the frequency of 3 rad/s.
For step inputs, an increase in K P will Q.23 For the given phase-lead network, the
(A) Increase the time constant and decrease maximum possible phase lead is,
the steady state error 1F
(B) Decrease the time constant and
1W
decrease the steady state error
(C) Decrease the time constant and increase Vi 1/2W V0
the steady state error
(D) Increase the time constant and increase
the steady state error (A) sin 1 (1/ 3) (B) 300
Q.21 Output rate control is used to improve the (C) 450 (D) 600
damping of the system given in the figure. If Q.24 A lead compensator network includes a
the closed-loop system is required to have a parallel combination of R and C in the feed-
damping factor of 0.5 what is the value of forward path. If the transfer function of the
K0 ? s2
compensator is Gc ( s )  , the value of
1 s4
R( s) 100 C (s)
s (1 + 4 s ) RC is _______.

K0 s

(A) 4 (B) 19
(C) 1 / 4 (D) 6
Control Systems [Work Book] 100 GATE ACADEMY®

Assignment Questions : Assignment 2

A second order control system with
Assignment 1
proportional derivative controller is shown
A phase lead compensator has a transfer in the figure. Derive expressions for its
1  2s
function G ( s )  . Determine the K
2 (1  s ) R( s) +
-
K p + KDs C (s)
s (ts + 1)
maximum value of the phase lead and the PD Controller
frequency at which it occurs. Sketch the
bode diagram for this network. (i) Steady state error in velocity input.
(ii) Natural frequency of oscillation.
(iii) Damping ratio in terms of the system
parameters.

Answer Keys

Objective & Numerical Answer Type Questions

1. A 2. A 3. C 4. C 5. C
6. A 7. D 8. C
Practice (Objective & Numerical Answer) Questions
1. D 2. B 3. C 4. A 5. A
6. D 7. A 8. A 9. D 10. B
11. A 12. C 13. D 14. C 15. D
16. B 17. D 18. B 19. B 20. B
21. B 22. D 23. B 24. 0.5
Assignment Questions
 m  19.47 ,  m  0.707 rad/sec
G ( jw) dB

1
(i) ess 
KK P
1 æ1ö
-10 log 20 log ç ÷ = - 6 dB
a èaø
= - 3dB KK P
1. 0 w rad/sec 2. (ii) n  rad/sec
1
= 0.5
1
=1 
t at
ÐG ( jw)
1  KK P
(iii) 
2 KK P 
fm = 19.50

w rad/sec
1
wm = = 0.707 rad/sec
t a


 13
Controller/Compensators
COMPENSATOR IDENTIFICATION (C) Both C1 and C2 are lead compensator
(D) Both C1 and C2 are lag compensator
[GATE-EE-1994-IITKGP]
(1) The pole– zero configuration of a phase lead AD [GATE-EC-1990-IISc]
compensator is given by (3) The transfer function of a simple RC network
functioning as a controller is:
s  z1
GC (s)  The condition for the RC
s  p1
(A) network to act as a phase lead controller is:
(A) p1  z1 (B) p1  0
(C) p1  z1 (D) p1  z1

AA [GATE-EE-2003-IITM]
(4) A lead compensator used for a closed loop
(B) controller has the following transfer function
 s
K 1  
 a
 s
1  
 b
For such a lead compensator
(C)
(A) a < b (B) b < a

(C) a > Kb (D) a < Kb

AD [ESE-EE-2007]
(5) The pole– zero plots shown in the figure is
that of which one of the following?
(D)

AA [GATE-EE-2008-IISc]
(2) The transfer function of two compensators is
given below:
(A) Integrator
10(s  1) (s  10)
C1  , C2  (B) PD controller
(s  10) 10(s  1)
(C) PID controller
Which one of the following statements is
(D) Lag– led compensator
correct ?
(A) C1 is lead compensator and C2 is a lag AC [ESE-EC-2010]
compensator (6) Which one of the following represents the
pole– zero location in the s– plane for lead–
(B) C1 is a lag compensator and C2 is a lead compensator?
compensator

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CONTROL SYSTEM

(A)

(A) lag compensator

(B) lag-lead compensator

(B) (C) P-D compensator

(D) lead compensator
AD[ESE-EC-1999]
(9) If the transfer function of a phase lead
compensator is (s + a)/(s + b) and that of a lag
compensator is (s + p)/(s + q), then which one
(C) of the following sets of conditions must be
satisfied?
(A) a > b and p > q
(B) a > b and p < q
(C) a < b and p < q
(D) a < b and p > q
(D)
AB[ESE-EC-2001]
(10) The transfer function of a phase lead network
AB[ESE-EC-2019] can be written as
(7) For a lead compensator having transfer 1  sT
function (A) ;  1
1  sT
 1
( s  zc ) s  (B)
1  sT
;  1

Gc ( s)    1  sT
( s  pc )  1 
s   (1  sT )
   (C) ;  1
1  sT  T
zc
1.  1 (1  sT )
pc (D) ; 1
(1  sT )
zc
2.  1
pc AB
(11) The transfer function given below
3. 0
1  R2C 2 s
4. 0 Gc ( s )  , Represents
1  ( R1  R2 )C 2 s
Which of the above are correct?
(A) Lead – network
(A) 1 and 4 (B) 1 and 3
(B) lag– network
(C) 2 and 4 (D) 2 and 3
(C) lag– lead network
AB[ESE-EC-2018] (D) feed– back network
(8) The pole-zero configuration of the transfer
function of a compensator and the AC [ESE-EC-2014]
corresponding Bode plot are shown in the (12) Two compensators have transfer functions :
figure. The configuration is indicative of 5(s  10) (s  50)
G1 (s)  and G2 (s) 
(s  50) 5(s  10)
respectively
(A) Both are lag
(B) Both are lead
(C) G1 is lead and G2 is lag
(D) G1 is lag and G2 is lead

Page 164 TARGATE EDUCATION GATE-(EE/EC)

 TOPIC 13 – CONTROLLER / COMPENSATORS
AB [GATE-EC-2008-IISc] MAXIMUM PHASE LEAD / LAG
(13) The pole– zero plot given below corresponds
to a AB
(17) The transfer function of a lead compensation
network is given below:
The mid– corner frequency is given by
α(1  sT )
Gc (s) 
(1  sαT )
1 1
(A) m  (B) m 
αT T α
(A) Low pass filter
1
(C)  m  αT (D)  
(B) High pass filter α T
(C) Band pass filter AD[ESE-EC-2001 & ESE-EE-2001]
(18) The transfer function of phase-lead
(D) Notch filter
1  aTs
compensator is given by G(s)  ,
AC[ESE-EE-2016] 1  Ts
(14) An R-C network has the transfer functions: where T  0 , a  1 . What is the maximum
s 2  10 s  24 phase shift provided by this compensator?
Gc ( s)  2
s  10s  16
 a 1  a 1
(A) tan 1   (B) tan 1  
The network could be used as  a 1  a 1
1. lead compensator
 a 1   a 1
2. lag compensator (C) cos 1   (D) sin 1  
 a 1  a 1
3. lag-lead compensator
AD [ESE-EE-2001]
Which of the above is/are, correct? (19) The transfer function of a phase lead
(A) 1 only (B) 2 only 1  aTs
compensator is given by where a > 1
(C) 3 only (D) 1, 2 and 3 1  Ts
and T > 0. The maximum phase shift
AD[ESE-EE-2015] provided by such a compensator is
(15) For the following network to work as lag  a 1  a 1 
compensator, the value of R2 should be : (A) tan 1   (B) tan 1  
 a 1   a 1
 a 1  a 1
(C) sin 1   (D) sin 1  
 a 1  a 1
AD[ESE-EC-2019]
(20) The attenuation (magnitude) produced by a
(A) R2  20  (B) R2  10  lead compensator at the frequency of
maximum phase lead m  ab is
R12C
(C) R2 C  (D) Any value of R2 b
2 (A) (B) ab
a
AA[ESE-EC-2017]
(16) For a lead compensator, whose transfer a
(C) ba (D)
sa b
function is given by K ; a, b  0 .
s b AD [GATE-EC-1998-IITD]
(A) a  b (B) a  b (21) The transfer function of a phase lead
(C) a  Kb (D) a  0 controller is
1  3Ts
. The maximum value of phase
******** 1  Ts
provided
by this controller is :

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CONTROL SYSTEM

(A) 900 (B) 600 (A) 2 rad/s (B) 3 rad/s

0 0
(C) 45 (D) 30
(C) 6 rad/s (D) 1/ 3 rad/s
AD [GATE-EE-2000-IITKGP]
(0.5s  1) A0.30 to 0.33 [GATE-EE-2016-IISc]
(22) D(s) = Maximum phase lead of (28) For the network shown in the figure below,
(0.05s  1) the frequency (in rad/s) at which the
the compensator is : maximum phase lag occurs is, __________.
(A) 52 deg at 4 rad/sec
(B) 52 deg at 10 rad/sec
(C) 55 deg at 12 rad/sec
(D) None of the answers is correct
AD [GATE-EC-2006-IITKGP]
(23) The transfer function of a phase– lead AB[ESE-EE-2017]
compensator is given by (29) A phase-lead network has its transfer function
1  3Ts (1  0.04 s)
G(s) = , where T > 0. GC ( s )  . What is the frequency at
1  Ts (1  0.01s)
The maximum phase shift provided by such a which the maximum phase-lead occurs?
compensator is
(A) 25 rad/sec (B) 50 rad/sec
(A)  / 2 (B)  / 3
(C) 75 rad/sec (D) 100 rad/sec
(C)  / 4 (D)  / 6
ANSWER : (A) [GATE-EE-2017-IITR]
AA[ESE-EE-2018] (30) The transfer function C(s) of a compensator is
(24) A transfer function of a compensator is given below.
(1  3sT )  s  s 
. The maximum possible phase shift
(1  sT ) 1   1  
0.1  100 
C ( s)  
is  s 
(1  s) 1  
(A) 300 (B) 450  10 
(C) 600 (D) 900 The frequency range in which the phase
(lead) introduced by the compensator reaches
AC [ESE-EC-2013] the maximum is
(25) The network having transfer function,
s (A) 0.1    1 (B) 1    10
1
G(s)  4 will provide maximum phase (C) 10    100 (D)   100
s
1
25 AD[ESE-EC-2016]
lead at a frequency of : (31) A phase lead compensator has its transfer
(A) 4 rad/sec (B) 25 rad/sec 1  0.5s
(C) 10 rad/sec (D) 100 rad/sec function, Gc (s )  . The maximum
1  0.05s
Statement for Linked Answer Questions for Next phase lead and the corresponding frequency,
two Questions : respectively are nearly
The transfer function of a compensator is given as (A) sin 1 (0.9) and 6 r/s
sa (B) sin 1 (0.82) and 4 r/s
Gc ( s ) 
sb
(C) sin 1 (0.9) and 4 r/s
AA [GATE-IN-2012-IITD]
(26) Gc ( s) is a lead compensator if (D) sin 1 (0.82) and 6 r/s
(A) a = 1, b = 2 (B) a = 3, b = 2 AC[ESE-EC-1999]
(C) a = –3, b = –1 (D) a = 3, b = 1 (32) The compensator
5(1  0.3s)
AA [GATE-IN-2012-IITD]
GC (s ) 
1  0.1s
(27) The phase of the above lead compensator is
maximum at would provide a maximum phase shift of

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 TOPIC 13 – CONTROLLER / COMPENSATORS

(A) 20 0 (B) 450 AA

(38) The lead compensation network is considered
(C) 30 0 (D) 60 0 to be
AB [GATE-EE-2019-IITM] (A) High pass filter
(33) The transfer function of a phase lead (B) low pass filter
compensator is given by
(C) Equalizer
 1 
3 s   (D) none
3T
D (s )  
 1 ANSWER : (D) [GATE-EC-2017-IITR]
s   (39) Which of the following statements is
 T
incorrect?
The frequency (in rad/sec), at which D ( j)
is maximum, is : (A) Lead compensator is used to reduce the
settling time.
3
(A) (B) 3T 2 (B) lag compensator is used to reduce the
T2 steady state error.
1 (C) Lead compensator may increase the
(C) (D) 3T order of a system.
3T 2
(D) Lag compensator always stabilizes an
AA[ESE-EC-2015] unstable system.
(34) The transfer function of a controller is
1  3s AB[ESE-EE-2019]
GC (s)  . The maximum phase control (40) The lag system of a ‘lag-lead compensator’
1 s
has one pole and one zero. Then pole and
provided by this controller is
zero are
(A) 30 0 lead (B) 30 0 lag
(A) Real and pole is to the left of zero.
(C) 45 0 lead (D) 45 0 lag (B) Real and pole is to the right of zero.
(C) Imaginary and pole is above zero.
******** (D) Imaginary and pole is below zero.
AA[ESE-EE-2016]
COMPENSATOR (ADDITIONAL) (41) Statement (I) : n type-0 and type-1 systems,
AB [GATE-EE-1998-IITD] stable operation is possible if gain is suitably
(35) The phase leads compensations used to reduced.
(A) Increase rise time and decrease Statement (II) : Any one of the
overshoot compensators lag, lead, lag-lead may be used
(B) Decrease both rise time and overshoot to improve the performance.
(C) Increase both rise time and overshoot Codes :
(D) Decrease rise time and increase (A) Both Statement (I) and Statement (II) are
overshoot individually true and Statement (II) is
the correct explanation of Statement (I).
AB
(36) The lag– compensation has a (B) Both Statement (I) and Statement (II) are
individually true but Statement (II) is not
(A) Zero nearer to the origin the correct explanation of Statement (I).
(B) Pole nearer to the origin
(C) Statement (I) is true but Statement (II) is
(C) Pole at the origin false.
(D) Zero at the origin (D) Statement (I) is false but Statement (II)
AA is true.
(37) The lag– compensator AA[ESE-EE-2015]
(A) Decreases the bandwidth (42) Phase lead compensation
(B) Increases the bandwidth (A) increase bandwidth and increase steady-
state error
(C) Does not affect the bandwidth
(D) Increases steady state error (B) decreases bandwidth and decreases
steady-state error

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CONTROL SYSTEM
(C) will not affect bandwidth but decreases Which of the above statements are correct?
steady-state error
(A) 1, 2 and 3 only
(D) increases bandwidth but will not affect
(B) 1, 2 and 4 only
steady-state error
(C) 2, 3 and 4 only
AB[ESE-EE-2017]
(43) A linear time-invariant control system with (D) 1, 2, 3 and 4
unsatisfactory steady state error is to be
AA
compensated. Which is/are the correct type of
(47) The phase lag– lead network shifts the phase
cascade compensation to be provided? of a control signal in order that the output
1. Lead phase
2. Lag
(A) Lags at low frequencies and leads at
3. Lag-lead
high frequencies
Select the correct answer using the codes
given below: (B) Leads at low frequencies and lags at
high frequencies
(A) 1 only (B) 2 only
(C) becomes independent of frequencies
(C) 3 only (D) 1, 2 and 3
(D) leads at all frequencies
AD[ESE-EC-2016]
AD [ESE-EC-2004]
(44) Consider the following statements:
(48) The effects of phase lead compensator on
1. Lead compensation decreases the
gain cross– over frequency ( eg ) and the
bandwidth of the system.
bandwidth (BW) are that
2. Lag compensation increases the (A) Both are decreased
bandwidth of the system
(B) eg is decreased but BW is increased
Which of the above statements is/are correct?
(C) eg is increased but BW is decreased
(A) 1 only (B) 2 only
(D) Both are increased
(C) Both 1 and 2 (D) Neither 1 nor 2
AB [ESE-EC-2005]
AA[ESE-EC-2015]
(49) What is the effect of phase– lag compensation
(45) Statement (I) : Lead compensation is used to
on the performance of a servo system?
improve system stability margins.
(A) For a given relative stability, the velocity
Statement (II) : Lead compensation achieves
constant is increased.
the desired result through the merits of its (B) For a given relative stability, the velocity
phase lead contribution. constant is decreased.
(A) Both Statement (I) and Statement (II) are (C) Bandwidth of the system is increased.
individually true and Statement (II) is the (D) Time response is made faster.
correct explanation of Statement (I). AC [GATE-EC-2007-IITK]
(B) Both Statements (I) and Statement (II) are (50) The open– loop transfer function of a plant is
individually true but Statement (II) is not 1
given as G(s) = 2 . If the plant is
the correct explanation of Statement (I). s 1
operated in a unity feedback configuration,
(C) Statement (I) is true but Statement (II) is then the lead compensator that can stabilize
false. this control system is
(D) Statement (I) is false but Statement (II) is 10( s  1) 10(s  4)
(A) (B)
true. s2 s2
A*[ESE-EC-2015] 10(s  2) 2(s  2)
(46) Consider the following statements: (C) (D)
s  10 s  10
The effect of phase lead network is given as
AB
1. Increased velocity constant.
(51) With regard to the filtering property, the lead
2. Increased phase margin. compensator and the lag compensator are,
respectively
3. Increased bandwidth.
(A) Low pass and high pass filters
4. Slower response. (B) High pass and low pass filters

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 TOPIC 13 – CONTROLLER / COMPENSATORS
(C) Both high pass filters natural frequency, n  5 rad/s. Which one
(D) Both low pass filters of the following compensator Ge(s) will be
suitable?
AD [ESE-EE-2007]
(52) Which of the following are the characteristics
s3 s  9.9
(A) (B)
of a phase– lead controller? s  9.9 s3
1. When used properly it can increase the s 6 s6
damping of the system. (C) (D)
s  8.33 s
2. It improves rise time.
AB [ESE-EC-2002]
3. It improves settling time (57) Consider following statements regarding a
phase– lead compensator:
4. It affects the steady state error.
1. It increases bandwidth of the system.
Select the correct answer using the code
given below: 2. It helps in reducing the steady state error
due to ramp input.
(A) 1, 2 and 4 (B) 1, 3 and 4
3. It reduces overshoot due to step input.
(C) 2, 3 and 4 (D) 1, 2 and 3 Which of the above statements is/are correct?
AA [ESE-EE-2009] (A) 1 and 2 (B) 1 and 3
(53) Consider the following statements: (C) 2 and 3 (D) 1 alone
1. Bandwidth is increased.
2. Peak overshoot in the step response is AA [ESE-EE-2009]
increased. (58) A network function Z(s) = V ( s ) has a single
I (s)
Which of these are the effects of using lead
compensation in a feedback system? pole at s =  1 and a single zero s   3 . If
3
(A) 1 only
the excitation υ ( t ) = sin t , then what is the
(B) 2 only angle of lead or lag of the current?
(C) Both 1 and 2
(A) Lead the voltage by 30 0
(D) neither 1 nor 2
(B) Lag the voltage by 30 0
AA [ESE-EC-2013] (C) Lead the voltage by 90 0
(54) By adding zero to the system transfer
function, the improvement to transient (D) Lag the voltage by 900 A-f,B
response is called as : AC [GATE-IN-2006-IITKGP]
(A) Phase lead compensation (59) The transfer function of a position servo
(B) Phase lag compensation 1
system is given as G ( s )  . A first
(C) Phase lag and phase lead compensation s ( s  1)
(D) Phase lead and phase lag compensation order compensator is designed in a unity
feedback configuration so that the poles of
AA [ESE-EE-2013] the compensated system are placed at 1  j1
(55) An effect of Phase-lag compensation on and –4. The transfer function of the
servo-system performance is that compensated system is :
(A) For a give relative stability, the velocity s3 2s  3
constant is increased. (A) (B)
2( s  3) s5
(B) For a given relative stability, the velocity
constant is decreased. 5( s  1.6) 3(2 s  3)
(C) (D)
(C) The bandwidth of the system is s5 s4
increased
(D) The time response of the system is made ********
faster
AA [GATE-EC-2005-IITB]
K
(56) A double integrator plant, G(s) = 2 , H(s) =
s
1 is to be compensated to achieve the
damping ratio  = 0.5 and an undamped

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CONTROL SYSTEM

NOT IN GATE SYLLABUS (A) derivative of the error signals

(B) integral of the error signals
CONTROLLERS HAVE BEEN REMOVED
FROM GATE SINCE 2018 ONWARDS (C) steady-state error
AC (D) a constant which is a function of the
(60) The transfer function of an integral system type
compensator is given by
AB[ESE-EC-2016]
1 1 (65) The controller which is highly sensitive to
(A) (B) 2
s s noise is
(A) PI
K
(C) (D) K s (B) PD
s
(C) Both PI and PD
AB [GATE-EE-1997-IITM]
(61) Introduction of integral action in the forward (D) Neither PI nor PD
path of a unity feedback system results in a AA[ESE-EC-2000]
(A) Marginally stability (66) Consider the following statements:
(B) System with no steady state error A proportional plus derivative controller
(C) System with increased stability margin
1. has high sensitivity
(D) System with better speed of response
2. increase the stability of the system
AB[ESE-EE-2017]
(62) What is the effect on the natural frequency 3. improves the steady-state accuracy
(n ) and damping factor () in the control Which of these statements are correct?
systems when derivative compensation is
(A) 1, 2 and 3
used?
(A) n increases and  decreases (B) 1 and 2

(B) n remains unchanged and  increases (C) 2 and 3

(D) 1 and 3
(C) n remains unchanged and  decreases
AA
(D) n decreases and  increases (67) Without affecting steady state error the
maximum overshoot can be decreased by
AA[ESE-EC-2017] incorporating.
(63) Consider the following statements regarding a (A) Derivative error control
PID controller:
(B) Integral error control
1. The error is multiplied by a negative (for
(C) Gain adjustment
reverse action) proportional constant P,
(D) Proportional error control
and added to the current output.
AC [ESE-EC-2005]
2. The error is integrated (averaged) over a
(68) Which one of the following is an advantage
period of time, and then divided by a of a PD controller in terms of damping Ration
constant I, and added to the current
and natural frequency (  n ), if K P is kept
control output.
unity?
3. The rate of change of the error is (A) Damping Ration Remains fixed but  n
calculated with respect to time, increases
multiplied by another constant D, and (B) Damping Ration Remains fixed but  n
added to the output. decreases
Which of the above statements are correct? (C)  n Remains fixed but damping Ration
(A) 1, 2 and 3 (B) 1 and 3 only increases
(C) 1 and 2 only (D) 2 and 3 only (D)  n Remains fixed but damping Ration
decreases
AA[ESE-EC-2017]
(64) For derivative control action, the actuating AB [GATE-IN-2001-IITK]
signal consists of proportional error signal (69) A second order feedback system is found to
with addition of be oscillating with a high frequency.

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 TOPIC 13 – CONTROLLER / COMPENSATORS
(A) Can be reduced by increasing the AB [ESE-EC-2008]
proportional action (74) The input to a controller is
(B) Can be reduced by increasing the (A) Input reference signal
integral action (B) error signal
(C) Can be reduced by increasing the (C) desired variable value
derivative action
(D) signal of fixed amplitude not dependent
(D) Cannot be reduced
on desired variable value
AC [GATE-IN-2002-IISc]
AB [ESE-EC-2014]
(70) An integral control is used to
(75) A proportional plus derivative controller
(A) Improve the transient response
1. has high sensitivity.
(B) Reduce the offset
2. increases the stability of the system.
(C) Eliminate the offset
3. improves the steady-state accuracy.
(D) Reduce the settling time
Which of the above statements are correct
AA [ESE-EC-2006] (A) 1, 2 and 3
(71) Which one of the following is a disadvantage
(B) 1 and 2 only
of proportional controller?
(A) It destabilises the system (C) 1 and 3 only
(D) 2 and 3 only
(B) It produces offset
(C) It makes response faster AC [ESE-EC-2014]
(76) Which one of the following is the transfer
(D) It has very simple implementation function of the PI-controller ?
AD [ESE-EE-2005] (k1 s  k2 )
(A) G( s) 
(72) Consider the following statements k3
A first order system with a proportional
(k1s  k2 s  k3 )
controller exhibits and offset to a step input. (B) G(s) 
In order to reduce the offset, it is necessary to k4 s
1. Increase the gain of proportional (k1 s  k2 )
(C) G( s) 
controller k3 s
2. Add a derivative mode k1 s
(D) G ( s) 
3. Add an integral mode k2 s

Select the correct answer using the codes AC [GATE-EC-2003-IITM]

given below (77) A PD controller is used to compensate a
Codes: system. Compared to the uncompensated
system, the compensated system has
(A) 1, 2 and 3 (B) 1 and 2
(A) A higher type number
(C) 2 and 3 (D) 1 and 3
(B) Reduced damping
AD [ESE-EC-2009] (C) Higher noise amplification
(73) The transfer function of a controller is given
as (D) Larger transient overshoot
K AB [GATE-IN-1997-IITM]
K p  Kd .s  i
s (78) The transfer function of a basic PD controller
is given by (K’s are real constants)
Where K p , K d and Ki are constants. K
(A) K0  1  K2 s (B) K 0  K 2 s
What type of controller is this? s

(A) Proportional K1
(C) K 1 s  K 2 s (D) K0 
s
(B) Proportional plus derivative
AA[ESE-EC-1999]
(C) Proportional plus integral
(79) The transfer function G( s) of a PID
(D) Proportional plus integral plus derivative controller is :

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CONTROL SYSTEM

 1  (C) amplitude increases linearly with

(A) K 1   Td s  frequency
 Ti s 
(D) amplitude decreases linearly with
(B) K 1  Ti s  Td s  frequency

 1 1  AD [GATE-IN-1992-IITD]
(C) K 1   
 Ti s Td s  (84) A temperature control system is usually very
sluggish. To improve its dynamics
 1  (A) a PI controller can be used
(D) K 1  Ti s  
 Tds (B) an I controller can be used
AC [ESE-EC-2011] (C) a PID controller with large I and a
(80) negligible D action can be used
(D) a PD controller can be used

AB [GATE-IN-1993-IITB]
(85) A first order system with a proportional
controller exhibits an offset to step input. The
offset can be reduced by
The circuit diagram of a controller is given in (A) increasing the gain
figure. What type of controller is this? (B) adding integral mode
(A) Derivative
(C) adding derivative gain
(B) Integral
(C) Proportional (D) decreasing the gain
(D) Proportional+ integral
AC [GATE-IN-2002-IISc]
AA [GATE-IN-2009-IITR] (86) A transfer function of a PID controller is
2 1
(81) A plant with a transfer function is given by G ( s )  4  1  
 0.5 s  , as 
s ( s  3)  2s 
controlled by a PI controller with Kp = 1 and tends to infinity
Ki  0 in a unity feedback configuration. (A) magnitude of G( j) tends to zero and
The lowest value of Ki that ensures zero phase angle of G( j) tends to infinity
steady state error for a step change in the
reference input is (B) magnitude of G( j) tends to infinity
1 and phase angle of G( j) tends to zero
(A) 0 (B)
3
1 (C) magnitude of G( j) tends to infinity
(C) (D) 1 and phase angle of G( j) tends to +900.
2
AB [GATE-IN-1999-IITB] (D) magnitude of G( j) tends to zero and
(82) A first order system with a proportional phase angle of G( j) tends to +900.
controller in the negative feedback loop has
an offset to a step input. This offset can be AD [GATE-IN-2003-IITM]
eliminated by (87) A PID controller has the transfer function
(A) Adding a derivative mode to the 0.4
controller 2 with the unit of time expressed in
s
(B) Adding an integral mode to the minutes. The parameters proportional band
controller and reset time for the above controller are
(C) Decreasing the magnitude of the gain of respectively
the proportional controller
(A) 200% and 0.4 min
(D) Adding a delay in the controller loop
(B) 50% and 0.4 min
(AC [GATE-EE-1997-IITM]
(83) A differentiator has transfer function whose (C) 200% and 5 min
(A) phase increases linearly with frequency
(D) 50% and 5 min
(B) amplitude remains constant

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 TOPIC 13 – CONTROLLER / COMPENSATORS
AC [GATE-IN-2004-IITD] for which the disturbance response at the
(88) The proportional band of a PI controller is output y(t) is zero mean, is
50% and the reset time is 0.2 s. The transfer
function of the controller is given by
(A) 50  1  1  (B) 50  1  1 
 0.2s   5s 
1 1
(C) 2  1   (D) 2  1  
 0.2s   s  (A) 1 (B) –1

AB [GATE-IN-2006-IITKGP] (C) 2 (D) –2

(89) The control action recommended for reducing
the effect of disturbance signal is measurable) AA[ESE-EE-2018]
is : (93) What is the error-rate factor Ke to yield a
(A) cascade control damping factor of 0.5 for the system shown in
the block diagram?
(B) P-D control
(C) ratio control
(D) feedback-feedforward control

Common Data for Next Two Questions : (A) 0.116 (B) 0.232
A disturbance input d(t) is injected into the unity (C) 0.284 (D) 0.332
feedback control loop shown in the figure. Take the
AC[ESE-EE-2018]
reference input r(t) to be a unit step.
(94) Compensation derived from the P-D network
whose differential equation is governed by
 de 
e0  20  ei  T i  as shown in the figure is
 dt 
to be investigated. For what value of T will be
closed-loop response be critically damped?
AD [GATE-IN-2009-IITR]
(90) If the disturbance is measureable, its effect on
the output can be minimized significantly
using a feedforward controller Gff (s) . To
(A) 1.612 (B) 0.806
eliminate the component of the output due to
(C) 0.306 (D) 0.161
d ( t )  sin t . G ff ( j) |  should be
1 3 1  AB[ESE-EC-2018]
(A)  (B)  (95) The transfer function G(s) of a PID controller
2 4 2 4 is
 (A) K1  K 2 s  K 3 s 2
(C) 2 (D) 2 
4
K2
(B) K1   K3 s
AA [GATE-IN-2009-IITR] s
(91) Let Gff (s) be a PD controller. If d(t) = sin2t,
K2
the amplitude of the frequency component of (C) K1 
s
y(t) due to d(t) is
5 9 (D) K 1s  K 2 s 2  K 3 s 3
(A) (B)
13 13
AB[ESE-EC-2016]
17 20 (96) A proportional controller with transfer
(C) (D)
13 13 function, K p is used with a first-order system
having its transfer function as
AD [GATE-IN-2014-IITKGP]
K
(92) Consider the control system shown in figure Gc ( s )  , in unity feedback structure.
with feed forward action for rejection of a (1  s)
measurable disturbance d(t). The value of K, For step inputs, an increase in K p will

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CONTROL SYSTEM
(A) Increase the time constant and decrease
the steady state error
(B) Decrease the time constant and decrease
the steady state error
(C) Decrease the time constant and increase
the steady state error
(D) Increase the time constant and increase
the steady state error
AA[ESE-EC-2000]
(97) PID control for a plant is shown in Figures I
and II.

Figure-I

Figure-II
Assertion (A) : Figure-II is preferred over
Figure-I as it avoids large changes in control
signal for a sudden change in reference input.
Reason (R) : Placement of P-D action in the
feedback path and larger values of K p and
Td can be chosen in Figure-II.
(A) Both A and R true and 'R' is the correct
explanation of 'A'
(B) Both A and R true and 'R' is NOT the
correct explanation of 'A'
(C) 'A' is true, 'R' is false
(D) 'A' is false, 'R' is true

-----000-----

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 TOPIC 13 – CONTROLLER / COMPENSATORS

Answer :

1. 2. 3. 4. 5. 6. 7. 8. 9. 10.
? A D A D C B B D B
11. 12. 13. 14. 15. 16. 17. 18. 19. 20.
B C B C D A B D D D
21. 22. 23. 24. 25. 26. 27. 28. 29. 30.
D D D A C A A * B A
31. 32. 33. 34. 35. 36. 37. 38. 39. 40.
D C B A B B A A D B
41. 42. 43. 44. 45. 46. 47. 48. 49. 50.
A A B D A @ A D B C
51. 52. 53. 54. 55. 56. 57. 58. 59. 60.
B D A A A A B A C C
61. 62. 63. 64. 65. 66. 67. 68. 69. 70.
B B A A B A A C B C
71. 72. 73. 74. 75. 76. 77. 78. 79. 80.
A D D B B C C B A C
81. 82. 83. 84. 85. 86. 87. 88. 89. 90.
A B C D B C D C B D
91. 92. 93. 94. 95. 96. 97.
A D A C B B A

28. 0.30 to 0.33

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