Control Systems Test 2

Number of Questions: 35 Time: 60 min.

Directions for questions 1 to 35: Select the correct alterna- (A) 1 (B) zero
tive from the given choices. (C) infinite (D) not possible to find
1. For given block diagram, the limiting value of k for sta- 7. The Bode plot is used to analyse
bility of inner loop is found to be a < k < b. The overall (A) minimum phase network
system will be stable if and only if (B) non-minimum phase network
(C) All phase
R(s) k C(s)
+ + (D) All the above
– – (s – p)(s + 4q)(s – 2r)
8. The break away points of root-locus occur at
(A) single root of characteristic equation
2 (B) imaginary axis
3 (C) Real axis
(D) multiple roots of characteristic equation
(A) 5a < k < 5b (B) 6a < k < 6b 9. A unity feedback system has an open loop transfer
a b a b
(C) <k< (D) <k< 36
6 6 5 5 function, G( s) = , the time required to reach
s ( s + 9.6)
1+ s
2. The transfer function represent a the peak input will be
1 + 0.5s
(A) 0.65 sec (B) 1 sec
(A) lag network (C) 0.83 sec (D) 0.87 sec
(B) lag-lead network 10. The step error co-efficient of a system
(C) lead network
1
(D) proportional controller G ( s) = , with unity feed back is
3. The angles of asymptotes of given unity feed back
( )( s + 2)
s + 3
k ( s + 1) (A) 6 (B) 0
transfer function are G ( s ) = 1
s ( s + 3)(2 s + 4 )( s + 7) (C) ∞ (D)
6
2p 4p p 5p
(A) 0, , (B) , p, 11.
3 3 3 3 +
R(s) 1 y(s)
2p 5p p 5p KA
(C) , p, (D) 0, , + – s(0.5s + 1)
3 3 3 3 –

4. Characteristic equation of a feedback control system SKB

( )(
is given by s + 8s + 15 s + 10 s + 21 + ks + k 9 = 0
2 2 2
)
and k > 0. The open loop DC gain of a unity negative feed back
The point where the asymptotes meet in s – plane is system with closed loop transfer function
(A) (+2, –j3) (B) (–2, +j3) s+5
is
(C) (10, 0) (D) (–9, 0) s + 8s + 20
2

5. Which one of the following must have negative real 1 1

(A) 4 (B)
parts for a system to be stable? 3
(A) Gain margin (C) 4 (D) 3
(B) the zeros of the transfer function
12. Non-minimum phase transfer function for a stable sys-
(C) the system eigen values
tem is defined as the transfer function
(D) all the above
(A) which has zeros in the right-half of s plane
C ( s) (B) which has zeros only in the left-half of s plane
6. For the given signal flow graph is
R( s) (C) which has poles in the left-half s plane
6 (D) which has poles in the right-half s plane
C(s) 13. Consider the following statements
In root-locus plot, the breakaway points
R(s) 1 2 1
(1) Need-not always lie be on the real-axis alone
–7 (2) Must be on the root loci
 Control Systems Test 2 | 3.91

which of these statements are correct  1 3 −2t 7 −4 t 

(A) only 1 (B) only 2 (C)  − e + e  u(t)
2 4 4 
(C) both statements (D) None of the above
14. If the transfer function of a phase lead compensator is  3 5 −2t 15 −4 t 
(D)  − e + e  u(t)
(s + p) / (s + q) and transfer function of a lag compen- 8 4 8 
sator is (s + a) / (s + b) then which of the following sets C ( s)
of conditions are required 19. The transfer function of the given signal flow is
R( s)
(A) a > b and p > q (B) a > b and p < q
(C) a < b and p < q (D) a < b and p < q 1 1
1 3 s 6 s
15. A system described by given differential equation R(s)
dy 2 dy
2
+ 5 + 4 y = x(t ) is initially at rest. For input
dt dt 1 –2
–1
x(t) = 3u(t),the output y(t) at = 0.5 sec is –4
(A) 0.75 (B) 0.64 C(s)
(C) 1.39 (D) 0.11
3s ( s + 26) 3s 2 + 78s + 96
16. Consider the block diagram shown below. (A) (B)
s 2 + 27 s + 2 s 2 + 27 s + 2
R(s) C(s)
+
–
+
–
a1 +
–
a2 3 ( s + 26) s ( s + 26)
(C) (D)
s 2 + 27 s + 2 s 2 + 27 s + 2
b1 b2
20. When the poles of a system is on imaginary axis with
b3 out repeating, then the system is
(A) stable (B) absolutely stable
For given system the transfer functions is
(C) marginally stable (D) unstable
a1 a2
(A) 21. The transfer function of a system
1 + a2 b2 + a1b1 + a2 a1b3
200
a1 a2 G(s) =
(B)
1 + a2 b2 + a1b1 − a1a2 b3
( s + 2)( s + 200)
a1 a2 for a unit step input to the system. The approximate
(C) seltling time for 5% criterion is
1 + a2 b2 + a1a2 b3 + a1a2 b1b2 (A) 1.5 sec (B) 2 sec
a1 a2 (C) 0.03 sec (D) 0.04 sec
(D)
1 + ( a2 b2 + a1a2 b1b2 + a1a2 b3 ) 22. In order to stabilize the system given below ‘A’ should
satisfy
17. The state-space representation of a system is given by
+ C(s)
R(s) 1
 −2 0  1 (1 + sA)
X (t) =   x (t ) +   u (t ) s s(1 + sT)
 0 −3 1 –

Y(t) = 1 1 x (t ) , The initial value of this system is

3
(A) 2 (B) 1
(A) A > T (B) A > T
(C) 6 (D) 5
(C) A = T (D) A ≤ T
18. Given state-space representation of a transfer function
23. Find the rise time tr, if damping ratio is 0.5
.  −2 0  1 
as X =   x +   u(t ) R(s) c(s)
 −1 −4  2  + 12
– s(s + 0.6)
1
y = 0 1 x and x (0 ) =   a+s
1
Where U(t) is unit step input then output is given as (A) 0.11 sec (B) 0.109 sec
 1 1 2t 7 −4 t  (C) 0.19 sec (D) 0.25 sec
(A)  − e + e  u(t)
6 4 8  24. The positive values of ‘K’ and ‘a’, so that the given sys-
 1 7 −2t 1 −4 t  tem oscillates at a frequency of 3 rad/sec, respectively
(B)  − e + e  u(t) are
6 8 4 
3.92 | Control Systems Test 2

R(s) + C(s) k
K(s + 2) transfer function Gc ( s ) = is kept in the forward path
–
s3 + as2 + 5s + 2 s
of feedback system. The compensated system has an
open – loop gain margin of 5 then the value
K =4 K =10 9 of k is
(A) a =10 9
(B) a= 4
2
K =72 K =1817
(A) (B) 22
(C) (D) 5
a =1817 a= 7 2
1 5
25. Consider a closed – loop system shown in figure (a) (C) (D)
22 2
below and its root locus is in figure (b). The closed loop
transfer function for the system is 29. Find the Kv value so that the maximum overshoot in the
unit step response is 0.35 and peak time is 2 sec
R(s) + C(s) R(s) C(s)
K G(s) + K
– s(s + 4)
–

fig (a)
3 + K vs
jω
(A) 1.914 (B) 2.317
–2.25
(C) –3.23 (D) –2.317
× ×
–4 –0.5 Re 30. For the system given below, obtain the value of con-
stant ‘a’ to satisfy, Mr = 1.04 and wr = 12 rad/sec.
fig (b)
R(s) C(s)
K
k s(s + a)
(A) –
1 + (2 s + 1)(0.25s + 1) 2
k
(B) (A) 27 (B) 57
(2s + 1)(0.25s + 1) (C) 25 (D) 37
k 31. The step response of second order system is given
(C)
1 + k ( s + 0.5)( s + 4 ) below, for an input of 5u(t) the closed loop transfer
function is
k
(D)
k + (2 s + 1)(0.25s + 1) 6
5
15
26. The polar plot of G ( s ) = , intersects real axis
s ( s + 2)
2

1.2
at w = wo, then, the real part and wo are respectively.
15 16 2.94 8.65
(A) ,2 (B) ,2 (A) (B)
16 15 s 2 + 2.67 s + 2.94 s 2 + 2.67 s + 8.65
15 16 8.65 2.94
(C) 2, (D) 2, (C) (D)
16 15 s + 2.67 s + 2.94
2
s + 2.67 s + 8.65
2

27. The open loop transfer function of a feedback control Statement for common data questions 32 and 33
1
system is G ( s ) = , the gain margin of Block A, B, C, D are connected as shown in the figure and
s ( s + 1)( s + 2) their impulse responses are cos2t, sin2t, Ke–4t, e–t respec-
the system is tively.
1 32. The overall transfer function of given system is
(A) (B) 2
6 A

(C) 6 (D) 6 x xC D x
x(t) y(t)
B
28. A unity feedback system has transfer function
1
G1 = . An integral controller with k ( s + 2)
( s + 2)(5s + 1) (A)
(s 2
+ 2) ( s + 4 )( s + 1)
 Control Systems Test 2 | 3.93

k Statement for linked questions 34 and 35

(B)
(s + 2) ( s + 4 )( s + 1)
2 2 +
R(s) 1 y(s)
KA
+ – s(0.5s + 1)
k –
(C)
( s + 4) ( s + 1)
2
SKB

k ( s + 2)
(D) 34. Find the steady – state error to unit ramp input when
(s + 2) ( s + 1)( s + 4 )
2 2
KB = 0 and KA =10.
(A) 10 (B) 20
33. Find the range of k for which the system become
(C) 0.05 (D) 0.1
stable
(A) all values of k 35. Find suitable values of the parameters KA and KB so
(B) No value of k that the damping ratio is 0.7 and steady state error is as
(C) –4 < k < 0 obtained in 34 question
(D) All values of k except (–4, 0) range (A) KA = 98 (B) KB = 98
KB = 8.8 KA = 8.8
(C) KA = KB = 9.8 (D) KA = KB = 8.8

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

Hints and Explanations

1. The overall transfer function look like 4. Characteristic equation
C (S )
=
G (S )
1+
k s2 + 9( )
=0
R ( S ) G ( S ) + 2k + 3k ( s + 3)2 + ( s + 5)( s + 7)
If stability k range is given as a < k < b, a < 5k < b Poles are –3, –3, –5, –7, zeros are –j3, j3
a b Intersection of Asymptotes is
<k<  Choice (D)
5 5 −3 − 3 − 5 − 7 − ( − j 3 + j 3)
= = –9
2. Polar plot is 4−2
s = –1 zero The point of intersection of asymptotes is (–9, 0)
s = –2 pole  Choice (D)
Im 5. Choice (C)
6. 1 6+2–7
x R(s) C
–2 –1 Re 1
 Choice (A)
7. Choice (A)
So it is lead network Choice (C) 8. Break – away or break – in point occurs at multiple
(2k + 1) p roots of characteristic equation. Choice (D)
3. Angle of asymptotes
no. of poles − No. of zeros p
9. t p =
(2k + 1) p wn 1 − z 2
36
=
4 −1 Closed loop Transfer function = 2
s + 9.6 s + 36
p wn = 6
3 for k =0 9.6
 x= = 0.8
Qa =  p for k =1 Choice (B) 2 x6
 5p p p
 for k =2 tp = = = 0.87 s  Choice (D)
3 6 1 − (0.8) 3.6
2
3.94 | Control Systems Test 2

1 18. X(s) = (sI – A)–1 x(0) + B.U

10. Step error co-efficient (kp) = sLt = 1/6 −1
→0 ( s + 2)( s + 3)   s 0   −2 0    1 1  1 
=  −    +   
 Choice (D)  0 s   −1 −4    1 2  s 
G s+5 1 s + 4 0   1 1  1 
= 2 = +
( s + 2)( s + 4 )  −1 s + 2  1 2 s 
11. 
1 + G s + 8s + 20
s+5
⇒ G (s) = 1  s 2 + 5 s +1 
s 2 + 7 s + 15 =  2 s 
( s + 2)( s + 4 )  s +ss + 3 
5 1
So open loop DC gain is = =  Choice (B)  s 2 + 5 s +1 
15 3
y ( s ) = 0 1  s( ss+2 2+)(s +s +3 4) 
12. A system in which one or more zeros lie on the right  s( s + 2)( s + 4) 
half of s – plane and remaining all poles and zeros lie
on the left half of s – plane is called Non-minimum s2 + s + 3
y (s) =
phase. Choice (A) s ( s + 2)( s + 4 )
13. Choice (C) 3 5 15
y (s) = − +
14. In phase lead compensator, zero is nearer to origin. In 8s 4 ( s + 2 ) 8 ( s + 4 )
phase lag compensator, pole is near to origin.
 Choice (B) 3 5 15 
=  − e −2t + e −4 t  u(t )  Choice (D)
15. Given differential equation is 8 4 8 
d2 y dy 19.
2
+ 5 + 4 y = x (t ) 1 1
dt dt R(s) 1 3 s 6 s
3
⇒ y (s) =
s ( s + 1)( s + 4 ) –1 –2
1
3 1 1 –4
y (s) = − −
4s s + 1 4 ( s + 4) C(s)

3 1   2 24 
=  − e − t − e −4 t  u (t ) = 0.109 3 1 + + 
4 4  C ( s)  s s  3s ( s + 26)
= = 2
≈ 0.11 Choice (D) R ( s ) 1 + 1 + 2 + 24 + 2 s + 27 s + 2
16. Draw signal flow graph for given block diagram. s s s s2
 Choice (A)
–b1b2
20. Choice (C)
200
21. G ( s ) =
R(S) a1 a2 C(S) ( s + 2)( s + 200)
1 Dominate pole is at –2 and setting time is = 3T
–b2 3
–b3
= xw = 1.5 sec Choice (A)
n

c (s) a1a2 (1 + sA)

=  Choice (C) 22. Transfer function =
R ( s ) 1 + a2 b2 + a1a2 b3 + a1a2 b1b2 s 2 (1 + sT ) + 3 (1 + sA)
⇒ characteristic equation is
17. T(S) = C (sI – A)–1 B + D
−1 s3 T + s2 + 3sA + 3 = 0
  s 0   −2 0   1 s3 T 3A
= 1 1   −    + 0
 0 s   0 −3  1 s2 1 3

( s + 3) + ( s + 2) 2s + 5 3 A − 3T
= = s1 0
( s + 2)( s + 2) ( s + 5) ( s + 2) 1
s0 3A
Appling initial value theorem
A>0
s ( 2 s + 5)
Lt sT ( s ) = Lt = 2 Choice (A) A–T>0
s →∞ s →∞ ( s + 3)( s + 2 ) A > T Choice (A)
 Control Systems Test 2 | 3.95

C ( s) 12 15
23. = 26. G ( s ) =
R( s) s 2 + 0.6 s + 12 ( a + s ) s ( s + 2)
2

12 w
= –180° = –90° – 2tan–1 2
s + s (12.6) + 12a
2

1 ⇒ w=2
⇒ 2 × × wn = 12.6 b 2 − 4 ac 15 15 15
2 M = = =  Choice (A)
2 (8) 16
wn = 12.6 w (w 2
+2 2 2
)
p − cos −1 x
⇒ rise time = w
wd 27. wpc = –180 – 90° – tan–1w – tan–1 2
wd = wn 1 − x 2 w
90 = tan–1w + tan–1 2
= 12.6 1 − 0.25 = 12.6 0.75
p − cos −1 0.5 w2
1− =0
Rise time = = 0.19 sec w
12.6 0.75
 Choice (C) w= 2
24. Given transfer function 1 1
M= =
C (s) k ( s + 2) w 1+ w 2
4+w 2
2 3 6
= 3
R ( s ) s + as + 5s + 2 + k ( s + 2)
2
1
characteristic equation is M w pc =
6
s3 + as2 + (5 + k)s + 2 (1 + k) = 0.
1
s3 1 5+k G. M = =6 Choice (D)
M w pc
s2 a 2(1 + k)

(5 + k )a − 2(1 + k ) 28. G ( s ) = G1 ( s ) Gc ( s )
s1 0
a k
=
s0 2(1 + k) s ( s + 2)(5s + 1)

(5 + k ) a − 2 (1 + k ) ⇒ wpc = –180° = ∠G(jw)

For oscillations =0 w −1
a –180° = –90° – tan–1 − tan 5w
2
2 (1 + k )
a= →@ 5.5w
(5 + k ) tan −1 = 90°
5 2
1− w
⇒ as2 + 2(1 + K) = 0 and wn = 3 2
Sub s = jw
2 2
s2 = w2 = – 9 w2 = ⇒w=
– 9a = – 2(1 + K) 5 5
2 K
a = (1 + k ) → (b ) G.M = 5 =
9 w 4+w 2
25w 2 + 1
⇒ equate (a) & (b)
K
2 (1 + k ) 2 5= ⇒ K = 22
= (1 + k ) 2 2 2
5+ k 9 4+ 25 × + 1
5 5 5
10
⇒ k = 4 and a =  Choice (A)  Choice (B)
9
1 8 29. Characteristic equation
25. G ( s ) = = s (s + 4) + k (3 + kVs) = 0
( s + 0.5) s + 4 (2s + 1)(0.25s + 1) s2 + (4 + kkv)s + 3k = 0
C ( s) k wn = 3k
=  Choice (D)
R ( s ) k + (2 s + 1)(0.25s + 1) 2x x x 3k = 4 + kk v
3.96 | Control Systems Test 2

4 + kk v 32. H(S) = (A + B) CD
= 4+s k 1
2 3k = 2 × ×
s + 4 s + 4 s +1
− xp 2
1− x
→ peak overshoot e = 0.35 k
 Choice (C)
⇒ x = 0.317 ( s + 4) ( s + 1)
2

→ Given that tp = 2 sec

p 33. Characteristic equation
2= = (s2 + 4) (s + 1) + k
wn 1 − x 2 = s3 + s2 + 4s + 4 + k
p
wn = = 1.65 rad/sec s3 1 4
2 1 − (0.317)
2
s2 1 4+k
s1 –k 0
⇒ 1.65 = 3k
s0 4+k
4 + 0.914 k Ω
⇒ 0.317 = −k > 0
2 × 1.65
kv = –3.23 Choice (C) ⇒k >0
4+k > 0
C ( s) k
30. = k > −4
R ( s ) s 2 + as + 2k
–4 < k < 0 is the range of k for the system to be stable.
1
Mr = 1.04 =  Choice (C)
2x 1 − x 2 34.
1 R(s) 1 y(s)
x = 0.6; 0.798 but Mr is valid only for x < 10 s(0.5s + 1)
2
So x = 0.6
–1
2x x 2k = a
x 10 × 2
x= = 0.6 =
2 2k s ( s + 2)
And wr = 12 20
k = Lt s = 10
wn 1 − 2x = 12 2 s→0 s ( s + 2)
wn = 22.677 1
ess = = 0.1  Choice (D)
But wn = 2k 10
k = 257.14 35. Transfer function
⇒ a = 2xwn
KA
= 2 x 0.6 x 22.677 = 27 Choice (A) H (s) =
s (0.5s + 1) + sK B + K A
6−5
31. Maximum peak over short Mp = × 100 = 20% 2K A
5 =
− − xp
s + 2 s (1 + K B ) + 2 K A
2

1− x 2
e = 0.2
Given that damping ratio is 0.7
⇒ x= 0.455
p 2 x (1 + KB) = 2 x 0.7 x 2K A
tp = 1.2 =
wn 1 − x 2 and steady state error is to be 0.1
1
wn = 2.94 0.1 =
2K A
And order closed loop transfer function is
2 (1 + K B )
C (s) wn 2
= 2
R ( s ) s + 2xwn s + wn2 ⇒ (1 + k B ) = 0.1K A
8.65 ⇒ KA = 98
=  Choice (B)
s 2 + 2.67 s + 8.65 KB = 8.8 Choice (A)