BITS-Pilani Hyderabad Campus Second Semester 2016-17

EEE/ECE/INSTR F242 – Control Systems

Comprehensive Exam (Closed Book) SET-A

Date: 16 May 2017 (Tuesday) Max Marks: 120 Time: 180 minutes
Name: ID No:

Answers must be written using blue/black ink pen, in upper case only in the tables provided below. All rough work
must be done on the provided answer sheet. Each blank/ambiguous answer carries 0 mark.
Part A: Each correct answer carries +2 marks; each incorrect answer carries –1 mark.
Part B: Each correct answer carries +3 marks; each incorrect answer carries –1 mark.

Part - A Max Marks: 60 (30x2M)

Ques. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
Ans. A C D B B C B A A D D A B A A
Ques. 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30
Ans. A D A B A A A A D B C A C B C

Part – A Correct Ans. Wrong Ans. Total Marks

Part - B Max Marks: 60 (20x3M)

Ques. 1 2 3 4 5 6 7 8 9 10
Ans. B A D A B B D B B C
Ques. 11 12 13 14 15 16 17 18 19 20
Ans. C D D B A A D A A B

Part – B Correct Ans. Wrong Ans. Total Marks

Total Marks (Part A + Part B) =

 BITS-Pilani Hyderabad Campus Second Semester 2016-17
EEE/ECE/INSTR F242 – Control Systems

Comprehensive Exam (Closed Book) SET-A

Date: 16 May 2017 (Tuesday) Max Marks: 120 Time: 180 minutes
Name: ID No:

Answers must be written using blue/black ink pen, in upper case only in the tables provided. All rough work must be
done on the provided answer sheet. Each blank/ambiguous answer carries 0 mark.
Part A: Each correct answer carries +2 marks; each incorrect answer carries –1 mark.
Part B: Each correct answer carries +3 marks; each incorrect answer carries –1 mark.

Part - A
100
1. The positional control system with velocity feedback has G ( s)  and H (s)  0.1s  1. The time response of
s( s  2)
the system for unit step input is ___:
6t 8t
a) 1  1.25e (sin 8t  53.130 ) b) 1  1.25e (sin 6t  36.87 0 )

6t 8t
c) 1  1.25e (sin 8t  36.87 0 ) d) 1  e (sin 6t  53.130 )

10( s  2)
2. For the unity feedback control system the open loop transfer function G ( s)  . The steady state error will be
s 2 ( s  1)
3 2 1
____ when input R( s)   2  3.
s s 3s
a) 1/20 b) 1/10 c) 1/60 d) 10
C ( s) 10
3. The closed loop transfer function of second order system is  2 . The type of damping in the system
R( s) s  6s  10
is ____ with   _____.
a) Overdamped with   1.2 b) Underdamped with   0. 5
c) Critically damped with   1 d) Underdamped with   0.95
10000
4. A unity feedback system has an open-loop transfer function G( s)  . The magnitude of G(jω) in dB at an
s( s  10)2
angular frequency of ω = 20 rad/s is
a) 1 dB b) 0 dB c) – 2 dB d) 10 dB
K
5. Consider a simple open loop industrial control system G ( s)  . If a step input is applied the output reaches 50%
sa
of its final value in one second. The value of  would be ___:
a) 0.5 b) ln (2) c) ln (0.5) d) 2

6. Time response to a unit step input function of a control system is given as c(t )  1  e 2t . The value of delay time Td
would be___
a) 0.683 sec b) 1 sec c) 0.346 sec d) 0.15 sec
  5 8 
7. The eigenvalues of matrix A    are
 3  3
a) 9 and 1 b) 1 and -9 c) -1 and 9 d) -1 and -9
0 1 1
8. The transfer function of the system having state model X    X   u , Y  1 0X is:
 2  3 0
s3 s3 s2 s
a) b) c) d)
s  3s  2
2
s  2s  2
2
s  3s  2
2
s  3s  2
2

k ( s  2)
9. For G( s) H ( s)  the centroid and angles of root locus asymptotes are respectively.
s( s 2  2s  2)
a) Zero and 90 , 90 b) -2/3 and 60 , 60 c) Zero and 30 , 30 d) -2/3 and 90 , 90
10. Consider the following statements regarding the root-locus technique for analyzing linear control system.
I. Root-locus is the locus of roots of characteristic equation as the closed loop gain K is varied from 0.
II. The number of branches of the root-locus is equal to the number of poles of the open loop transfer function.
III. The breakaway points need not always be on the real axis.
Which of the statements given above are correct?
a) I and II b) II and III c) I and III d) I, II and III
11. The state space model of the system shown in the figure below is:

 x1   7 0 0   x1  1  x1 
1 1  
  
a)  x 2    0  6 0   x2   1u , y   1 x2
2 2   
 x3   0 0  5  x3  1  x3 
 x1   5 0 0   x1  1  x1 
1 1  
  
b)  x 2    0  7 0   x 2   0u , y   1 x2
2 2   
 x 3   0 0  6  x3  1  x3 
 x1   5 0 0   x1  1  x1 
1 1  
c)  x 2    0  6 0   x 2   1u , y   1 x2
2 2   
 x 3   0 0  7  x3  0  x3 
 x1   5 0 0   x1  1  x1 
1 1  
d)  x 2    0  6 0   x 2   1u , y  
   1 x2
2 2   
 x 3   0 0  7  x3  1  x3 
 Y ( s) 5s  1
12. The state space model for the given transfer function is;  2
U ( s) s  7 s  8

 x1   0 1   x1  0 x 
a)          u, y  1 5 1 
 x 2   8  7  x2  1  x2 
 x1   0 1   x1  0 x 
b)          u, y  1 5 1 
 x 2   7  8  x2  1  x2 
 x1   0 1   x1  0 x 
c)          u, y  5 1 1 
 x 2   8  7  x2  1  x2 
 x1   0 1   x1  0 x 
d)          u, y  5 1 1 
 x 2   7  8  x2  1  x2 

13. Which of the following are the features of the breakaway point in the root-locus of a closed-loop system with
characteristic equation 1+KG1(s) H1(s) = 0?
I. At this point G1(s) H1(s) =0 II. At this point dK/ds = 0 III. Must lie on the root-locus
Which of the statements given above are correct?
a) I and II b) II and III c) I and III d) I, II and III
2
k (s  )
14. Given a unity feedback system with open-loop transfer function, G ( s) H ( s)  2
3 . From the root locus, it
s ( s  2)
can be inferred that when K tends to positive infinity,
a) Three roots with nearly equal real parts exist on the left half of the s plane
b) One real root is found on the right half of the s-plane
c) The root loci cross the jω axis for a finite value of K
d) Three real roots are found on the right half of the s-plane
15. Figure below shows the root-locus plot (location of the pole not given) of a third order system whose open loop
transfer function is

K K K K
a) b) 2 c) d)
s 3
s ( s  1) s ( s  1)
2
s ( s 2  1)
16. The frequency response of a linear system G(jw) is provided in the tabular form below. Determine the gain margin
and phase margin for the given system.
G( jw) 1.3 1.2 1.0 0.8 0.5 0.3

G( jw) 130 140 150 160 180 200

a) 6 dB and 30 b) 6 dB and 30 c) -6 dB and 30 d) -6 dB and 30

17. The polar plot of an open loop stable system is shown in figure below.

The closed loop system is

a) Always stable b) marginally stable
c) Un-stable with one pole on the RH s -plane d) un-stable with two poles on the RH s –plane
18. The Nyquist plot of open-loop transfer function G(s)H(s) of a closed loop control system passes through the point
(-1, j0) in the G(s)H(s) plane. The phase margin of the system is
a) 0 b) 45 c) 90 d) 180
19. Consider the Nyquist plot shown in figure below. This system is

a) Type – 0 system b) Type – 1 system c) Type – 2 system d) Type – 3 system

1  4s
20. The open loop transfer function of a control system is G( s) H ( s)  . The polar plot of the transfer
s(1  s)(1  2s)
function crosses the imaginary axis at point
a) (0, -3.75) b) (0, -4.10) c) (0, 3.75) d) does not cross imaginary axis
Common data for questions 21 to 22
sa
The transfer function of a compensator is given as G ( s) 
sb

21. G(s) is a lead compensator if

a) a = 1, b = 2 b) a = 3, b = 2 c) a = – 3, b = – 1 d) a = 3, b = 1

22. The phase of the above lead compensator is maximum at

a) 2 rad/s b) 3 rad/s c) 6 rad/s d) 1 rad/s

3
23. The steady state error of a unity feedback linear system for a unit step input is 0.1. The steady state error of the
same system, for a pulse input r(t) having a magnitude of 10 and a duration of one second, as shown in the figure below
is

a) 0 b) 0.1 c) 1 d) 10

24. The first two rows of Routh’s tabulation of a third order equation are as follows:

This means there are

a) Two roots at s =± j and one root in right half s –plane b) Two roots at s = ± j2 and one root in left half s -plane
c) Two roots at s = ± j2 and one root in right half s –plane d) Two roots at s = ± j and one root in left half s –plane

25. If the loop-gain K of a negative feedback system having a loop transfer function 𝑲(𝒔 + 𝟑)/(𝒔 + 𝟖)𝟐 is to be
adjusted to induce a sustained oscillation then

a) The frequency of this oscillation must be 4 3 rad/s b) The frequency of this oscillation must be 4 rad/s

c) The frequency of this oscillation must be 4 or 4 3 rad/s d) Such a K does not exist

26. The open loop transfer function of a unity feedback control system is given as 𝑮(𝒔) = (𝒂𝒔 + 𝟏)/𝒔𝟐 . The value of
‘a’ to give a phase margin of 45𝑜 is equal to
a) 0.141 b) 0.441 c) 0.841 d) 1.141

27. The asymptotic Bode plot of the transfer function K/[1+(s/a)] is given in figure below. The error in phase angle and
dB gain at a frequency of ω = 0.5a are respectively

a) 4.06𝑜 , 0.96 dB b) 5.7𝑜 , 3 dB c) 4.06𝑜 , 3 dB d) 5.7𝑜 , 0.96 dB

s4
28. The transfer function of a lead compensator (realized using RC passive network) is G( s)  . The
s  20.09
parameters of the network are (assume R2 is taken as load)

a) R1 = R2 = 250 kΩ; C = 1 µF b) R1 = R2 = 62.2 kΩ; C = 1 µF

c) R1 = 250 kΩ; R2 = 62.2 kΩ; C = 1 μF d) R1 = 62.2 kΩ; R2 = 250 kΩ; C = 1µF

29. The Bode plot of open loop transfer function of a unity feedback system is shown below.

Consider the following ststements for the given system:

I. System has positive gain margin and positive phase margin

II. System has negative gain margin and negative phase margin

III. Gain cross-over frequency is less than phase cross-over frequency

IV. Gain cross-over frequency is greater than phase cross-over frequency

Which of the statements given above are correct?

a) I and IV b) I and III c) II and III d) II and IV

30. Consider the Bode plot shown below:

Gain margin and phase margin are:

a) 15 dB and 45𝑜 b) infinite and −135𝑜 c) infinite and 45𝑜 d) – 15 dB and−135𝑜

Part - B
K
1. The open loop transfer function of a unity feedback system is given by G ( s)  , where K and T are positive
s( sT  1)
constant. By what factor should the amplifier gain K be reduced, so that the peak overshoot of unit step response of the
system is reduced from 75% to 25%.
a) Approx. 10% b) Approx. 20% c) Approx. 15% d) Approx. 8%
K
2. The sensitivities S GT and S HT if G ( s)  and H (s)  s , taking   1 and K=10 would be___.
s( s  1)
a) 0.128 & 0.905 respectively b) 0.905 & 0.128 respectively d) 0.28 & 0.705 respectively d) None of the these
3. Considering VC and Ii as state variables and Ix as the output variable in the circuit shown below, the state model
matrices would be:

 1 1  1 
R C  C R C 0 
 1  1 
a) A 1 , B   1 , C   0 , D   0
 1 R2   0 R  R1   R1 
 2
 L L  
 L
 1 1   1 
 R C 
C , B  R1C  0 
1  1 
b) A 1   , C   0 , D   0
 1 R R  R1   R1 
 2  0  2
 L L   L 
 1 1   1 
 R C  C  R C 0   1   1 
c) A 1 , B   1 , C   0 , D    0
 1 R R2   R1   R1 
 2  0
 L L   L
 1 1   1 
 R C  C  R C 0 
 1  1 
d) A 1 , B   1 , C   0 , D   0
 1 R R  R1   R1 
 2  0  2
 L L   L 

K ( s  1)
4. The forward transfer function of a unity feedback system is given by G( s)  where K = 20, J = 50. The
Js 2
acceleration error Ka and the steady state error for a parabolic input t 2 / 2 are:

a) 2/5, 5/2 b) 5/2, 2/5 c) 50, 20 d) 20, 50

5. The damping ratio and natural frequency of a second-order system are 0.6 and 2 rad/s respectively. Which of the
following combinations gives the correct values of Maximum overshoot and settling time, respectively, for the unit-
step response of the system?
a) 3.33 % and 1.95 s b) 9.478 % and 3.33 s c) 10.95 % and 1.5 s d) 1.5 % and 1.95 s
d2y
6. Consider the following statements in connection with the differential equation 4  36 y  36 x
dt 2
I. The natural frequency of the response is 6 rad/sec.
II. The response is always oscillatory.
III. The percentage overshoot is 10%, and damping ratio of the system is 0.6.
IV. Settling time is infinite.
Which of the statements given above are correct?
a) I and III b) II and IV c) I, II and III d) II, III and IV
 dx d2y dy
7. The value of a matrix in  Ax for the system described by the differential equation 2
 2  3y  0
dt dt dt

1 0 1 0  0 1 0 1 
a)   b)   c)   d) 
 2  1   1  2  2  1   3  2

8. A closed loop system has the characteristic equation (s 2  4)(s  1)  K (s  1)  0 . Its root-locus plot against k is

 e0.25 s
9. The nyquist plot of the open-loop transfer function G( s) H ( s)  passes through the negative real axis at point
s

a) (− 0.25, j0) b) (− 0.5, j0) c) 0 d) 0.5

Common data for Q. 10 to 12

1
A unity feedback system has open-loop transfer function, G( s) H ( s) 
s(1  s)(1  2s)
10. The polar plot of the system is

11. The phase crossover and gain crossover frequencies (in rad/sec) are
a) 1.414, 0.57 b) 1.414, 1.38 c) 0.707, 0.57 d) 0.707, 1.38
12. The gain margin and phase margin are
a) -3.52 dB, 168.5 b) -3.52 dB, 11.6 c) 3.52 dB, 168.5 d) 3.52 dB, 11.6

Common data for Q. 13 and 14

The open loop transfer function of a control system is G( s) H ( s)  K2 (1  sT1 ) . Where, K, T1, T2 are real positive
s (1  sT2 )

constants.
13. If T1 > T2 then how many times the Nyquist plot encircle the point (-1+0j)?
a) one in clockwise direction b) Two in clockwise direction
c) one in counterclockwise direction d) both a and c
14. Consider the following statements for the system if T1 < T2
I. Nyquist plot encircles the critical point two times in clockwise direction.
II. Nyquist plot encircles the critical point one time in clockwise direction and one time in counter clockwise
direction
III. The closed loop system is unstable with two poles in right half of s-plane
IV. The close loop system is stable
Which of the statements given above are correct?
a) I and IV b) I and III c) II and III d) I and IV
15. Consider the feedback system shown in figure below.

For this system, the root locus plot (for positive values of K ) is

16. Consider the feedback system shown below which is subjected to a unit step input. The system is stable and has
following parameters 𝐾𝑝 = 4, 𝐾𝑖 = 10, 𝜔 = 500 𝑎𝑛𝑑 𝜁 = 0.7. The steady state value of Z is

a) 1 b) 0.25 c) 0.1 d) 0

𝑲(𝒔+𝟐)
17. The forward path transfer function of a unity feedback system is 𝑮(𝒔) = .
(𝒔𝟐 +𝟏)(𝒔+𝟒)(𝒔−𝟏)

The range of K that will make the system stable is

a) – 12 < K < 2 b) – 33 < K < 2 c) K > 2 d) None of these

𝑲
18. A unity feedback system has 𝑮(𝒔) = as the forward path transfer function. Which of the
𝒔(𝒔+𝟏)(𝒔+𝟐)(𝒔+𝟒)
following is correct for the system?

S1: System is marginally stable for K = 14.69

S2: When system is marginally stable, two poles lie on jω-axis and two poles lie on negative real axis.

a) Only S1 b) Only S2 c) Both S1 and S2 d) Neither S1 nor S2

19. The closed loop frequency response, |M(jω)| versus frequency plot of a second order system is shown below.

The values of damping ratio and natural frequency of oscillations of the system for a unit step input are respectively

a) 0.12 and 0.91 rad/s b) 0.9 and 1.14 rad/s c) 0.43 and 2.3 rad/s d) None of these

20. The Bode plot of a system is shown below

The transfer function of the system is

𝟔𝟐𝟖(𝒔+𝟐.𝟓)(𝒔+𝟏𝟎) 𝟎.𝟔𝟐𝟖(𝒔+𝟐.𝟓)(𝒔+𝟏𝟎) 𝟑.𝟏𝟒(𝒔+𝟐.𝟓)(𝒔+𝟏𝟎)
a) b) c) d) None of these
𝒔(𝒔+𝟐𝟓) 𝒔(𝒔+𝟐𝟓) 𝒔(𝒔+𝟐𝟓)