MATHEMATICAL MODELS AND BLOCK DIAGRAMS

Matrices and Solution of Partial fraction Determinant, Solution of first-

differential second-order expansions inverse and order coupled
equations differential eigenvalues of a differential
equation matrix equations

Transfer Feedback Difference Controller for a Transfer function

function of a model of a equation of a multiloop unity of a two –mass
multiloop system system feedback control mechanical
feedback system system
control system
Signal-flow Magnitude and Solution of a To determine the Transfer function
graph for a phase angle of second-order roots of a using Mason’s
water level G (j) differential polynomial Rule
controller equation
Roots of a OBJECTIVE
third-order TYPE
polynomial QUESTIONS:

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Problem 1 Matrices and differential equations

(a) Find matrices X and Y such that AX =B and YA=B where

A= 2 -1 , B= 3 2
-3 2 -6 -5

(b) Determine the solution of the following set of first-order coupled differential equations:

dx1/dt = x2
dx2/dt = -6x1 -5x2

when the initial conditions are x1(0) =1 and x2(0) = 0.

Solution
(a)

X= 0 -1
-3 -4
Y= 12 7
-27 -16

(b)

Answer:

x1= 3e-2t -2 e-3t

x2 = -6(e-2t - e-3t)

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Problem 2 Solution of second-order differential equation

(a) Determine the solution of the following differential equation when all the initial
conditions{i.e. y(0) and dy/dt│0 }are zero and f(t) = 4t:

d2y/dt2 + 3 dy/dt + 2y = f (t)

(b) Determine the inverse transformation of the following transformed equation:

Y(s) = 75/ [s2 + 4s + 13) (s +6)]

Solution
(a)

Answer: y = 4e-t – e-2t +2t -3

(b)

Answer: y = e-2t (4 sin3t- 3cos3t) +3 e-6t

Or: y =3e-2t sin (3t- 36.90) +3 e-6t

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Problem 3 Partial fraction expansions

Find the partial fraction expansions of the following algebraic fractions:

(a) F (x) = 2(x2+3x+1)

x (x2+3x+2)

(b) F (x) = 2x+3

(x+1)(x2+4x+5)

(c) F (x) = 1/[x2 (x+1)]

Solution

(a) Answer: (1/x) – (2/(x+1)) –(1/(x+2))

(b) Answer: [(0.25+j.75)/(x+2+j1)] +[(-0.25-j.75)/(x+2-j1)] +0.5/(x+1)
(c) Answer: (1/x2)- (1/x) +(1/(x+1))

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Problem 4 Determinant, inverse and eigenvalues of a matrix

(a) Find the determinant and inverse of the following matrix.

-2 3 1
A = 4 6 -2
8 4 1

(b) Find the eigenvalues of the following matrix.

-2 -5 -5
B = 1 -1 0
0 1 0

(c) Find exp (-Ct) for the following matrix.

C= 0 1 ,
-2 -3
Solution

(a) Determinant of A = -120

Inverse of A = 14 -1 -12
- (1/120) -20 10 0
-32 -32 -24

(b) Eigenvalues of B = = -1, -1+j2, -1-j2

(c) exp (Ct) = L-1 [(sI-C)-1]

sI –C = s -1
2 s+3

(sI-C)-1 = (1/ (s2+3s+2)). s+3 1

-2 s

= [2/(s+1)] - [2/(s+2)] [1/(s+1)] - [1/(s+2)]

[2/(s+2)] - [2/(s+1)] [2/(s+2)] - [1/(s+1)]

exp (Ct) = L-1 [(sI-C)-1] =

= 2e-t- e-2t e-t- e-2t

2e-2t- 2e-t 2e-2t- e-t

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Problem 5 Solution of first-order coupled differential equations

(a) Describe a procedure to solve a set of first order coupled differential equations

(b) Solve the following system of linear differential equations with constant coefficients:

3 dx1 + 2x1 + dx2 =1 t0

dt dt

dx1 + 3x2 + 4 dx2 =0

dt dt

The initial conditions are:

x1 = 0 at t = 0
x2 = 0

Solution

(b) Let L-Transform of X1 =Y1

Let L-Transform of X2 =Y2
Transform the differential equations to
(3s+2) Y1 +sY2 =1
sY1 + (4s+3) Y2=0

Solve these two equations to obtain

Y1 = (4s+3)/(s+1) (11s+6) = L (X1)

Partial fractions and Laplace inverse gives

X1 =0.5-0.2e-t –0.3 e-6t/11

Similarly,

X2 = 0.5(e-t – e-6t/11)

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Problem 6 Transfer function of a multiloop feedback control system

(a) Fig. 1 shows a multiple loop feedback control system.

H2
-
+ + + C(s)
R(s) G1 G2 G3 G4
- +
-
H1

H3
Fig.1

Determine the transfer function of the system, C(s)/R(s), when

G1 = G2= G3= G4 =1, and H1 = H2 = H3 = 1/s.

(b) Fig.2 shows a two-path signal–flow graph of a multi-legged robot.

H2 H3
Fig.2

G2 G3
R(s) G1 G4 C(s)

G5 G6 G7 G8 H6 H7

Use Mason’s loop rule to determine the transfer function, C(s)/R(s).

Solution
(a) Using block diagram reduction of the system, we get

H2/G4
-
+ + + C(s)
R(s) G1 G2 G3 G4
- +

H1

H3

H2/G4
-
+ + C(s)
R(s) G1 G2 G3G4/ (1-
-
G3G4H1)

H3

+ G2G3G4/ (1-G3G4H1+G2G3H2) C(s)

R(s) G1
-

H3

Transfer function=C(s)/R(s) = s/(s+1) Ans.

 (b) path1: P1 =G1G2G3G4

Path2: P2 = G5G6G7G8

Self-loops: L1=G2H2, L2 =G3H3, L3 =G6H6, L4 =G7H7

Determinant,  = 1 –(L1+L2+L3+L4)-(L1L3+L1L4+L2L3+L2L4)

Co-factors: 1=1-(L3+L4), 2 = 1-(L1+L2),

C(s)/R(s) = (P11+P22)/

=[G1G2G3G4(1-L1-L4)+G5G6G7G8(1-L1-L2)]/(1-L1-L2-L3-L4+L1L3+L1L4+L2L3+L2L4)

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Problem 7 Feedback model of a system

(a) The student–teacher learning process is inherently a feedback process intended to reduce
the system error to a minimum.
The desired input is the knowledge being studied and the student may be considered the
process. With the aid of Fig. 3,
construct a feedback model of the learning process and identify each block of the system.

Output
Comparison Controller Process
Desired
output
response
Measurement

Fig.3
(b) Consider the pendulum of Fig.4. The torque on the mass is

T = MgLsin

where g is the gravity constant. The equilibrium condition for the mass is 0 = 00. Determine,
from first principles, the linear approximation of the nonlinear relation between T and. State the
range of  for which the approximation is reasonably accurate.

Length, L


Mass, M

Fig.4

Solution
(a)

Comparison Controller Process Output(Exam results)

(Teacher) (Student)
(Input)
Desired Exam
results Measurement

(b) T = MgL  Sin ( - 0)

  = 0

= MgL (cos0o) ( -0o)

= MgL
This approximation is reasonably accurate for -/4    /4.

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Problem 8 Difference equation of a system

(a) Fig.5 shows a mechanical system, where

F (t) =Force applied to the system

M= Mass
B= Coefficient of friction
K= Spring constant
y= Displacement of the mass.

Write the state equations of the system, choosing displacement and velocity of the mass as state
variables, x1 and x2, respectively.

Y (t)

K M
F (t)

B
Fig.5

(b) Write the difference equation obeyed by a sum of money in a bank account at a yearly
interest rate of R percent, compounded every T years. Denote the amount immediately following
the kth interest period as A (kT). Find the differential equation which results as T 0.
Solution

(a) Force absorbed by mass, fM= Md2y/dt2

Force absorbed by friction, fB= Bdy/dt

Force absorbed by spring, fs= Ky

fM+ fB + fs =F

Let x1 = y, x2= dy/dt

The state equations are:

dx1/dt = x2

dx2/dt = -Kx1/M –Bx2/M +F (t)/M

(b) The principal obeys the difference equation

A (kT+T) =A (kT) [1+RT/100].

Re-writing, [A (kT+T)-A (kT)]/T =RA (kT)/100.

Taking the limit as T 0 and letting kT t gives the differential equation

dA/dt =RA (t)/100.

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Problem 9 Controller for a multiloop unity feedback control system

Fig.6 shows a closed-loop multivariable control system.

R(s) C(s)
Gc (s) G(s)
+ -

Fig.6

The transfer function for the plant is

5 50
G(s) = 1+2s 1 + 2s
1 -10
1+ s 1+ s

The desired closed-loop transfer function is

1 0
T(s) = 1+ 0.5s

0 1
1+ 0.2s

Determine the required controller Gc(s).

Solution

It can be easily shown that Gc(s) = G-1 (T-1-1) -1

(T-1-1) = .5s 0
0 .2s

(T-1-1) -1 = 2/s 0
0 5/s
G-1 = (1/) -10/(1+2s) -50/(1+2s)
-1/(1+s) 5/(1+s)

where  = -100/(1+2s)(1+s)

Therefore, Gc = 0.2(1+2s) 2.5(1+s)

s s
0.02 (1+2s0 -0.25(1+s)
s s

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Problem 10 Transfer function of a two –mass mechanical system

(a) Show that a system, which gives a response x corresponding to an input u, and governed by
the equation

u = d2x/dt2 + a.dx/dt + b.x

is linear. Here a and b are constants,

(b) Fig.7 shows a two-mass mechanical system.

 Spring constant K
Velocity
Friction f2 M2 v2 (t)

Friction f1

Velocity
M1 v1 (t)

r (t)
Force

Fig.7
i Determine the transfer function, V1(s)/R(s), if the velocity of mass M1 is the output variable
and the applied force on M1 is the input variable.

ii What would be the transfer function when the position x1(t) of mass M1 is the output variable?

Solution

(a) x= [d2/dt2 +a.d/dt +b]-1 .u =T.u, where T is the system operator.

Multiply both sides of the given equation by a scalar quantity k. We have

k.u = k d2x/dt2 +k.a.dx/dt +k.bx

= d2 (kx)/dt2 +a.d (kx)/dt +b (kx)

Thus, if x is the response of the system due to an input u, then for an input ku, the response will
be kx. Also, let x1 be the

response to u1, and x2 be the response to input u2, then

u1 = d2x1/dt2 +adx1/dt +bx1

u2 = d2x2/dt2 +adx2/dt +bx2

Adding the two equations

u1+u2 = d2(x1+x2)/dt2 +ad(x1+x2)/dt +b(x1+x2)

Thus when, x1=T.u1 and x2 =T.u2,

(x1+x2)=T. (u1+u2) =Tu1+Tu2

Therefore, the system operator is linear.

(c) (i) The simultaneous equations, assuming the initial conditions are zero, are

M1s V1(s) + (f1+f2) V1(s) –f1V2(s) +R(s)

M2s V2(s) + f1 (V2(s) –V1(s)) + KV2(s)/s=0

Solve the above two equations for V1(s) [by eliminating V2(s)] and obtain the transfer function
G(s) =V1(s)/R(s) = (M2s2+f1s+K)
(M1s+f1+f2)(M2s2+f1s+K)

(ii)X1(s)/R(s) = V1(s)/sR(s) =G(s)/s

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Problem 11 Signal-flow graph for a water level controller

(a) Fig.8 shows a water level controller in which the input valve closes completely when the
level of water in the tank reaches a height hr.

a b
L

V qi

x= (hr-hi) (a/b) F

hr hi

qo

Fig.8

The water level in the tank at any time is h and the valve gate-opening x is caused by the
arrangement of the float F and lever L. The cross-sectional area of the tank is A. The valve
discharge qi is proportional to the gate-opening x with proportionality factor k, and the output
flow qo is proportional to the head h with proportionality factor B. Assume that the maximum
input qi, max corresponding to the full gate opening never exceeds the output q o.
Develop a signal flow graph between the input qi and the output hi. Assume that the Laplace
transforms of qi, x, hr, and hi are Qi, X, Hr, and Hi respectively.

(b)Determine the transfer function, C/R, for the control system shown in Fig.9.
+ +
R G1 G2 G3 C
- -

H1
Fig.9

Solution

(a) (i) qi = Adhi/dt +Bhi

x = (hr- hi) (a/b)

qi = kx

Taking the Laplace transforms, we have after rearranging

X = (Hr-Hi) (a/b)

Qi = kX

Hi = Qi/ (As+B)

Hr 1 X k Qi 1/ (As+B) Hi

-1

(b)

C/R = G1G2G3/ (1+ G1G2G3+G3H1)

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Problem 12 To determine the magnitude and phase angle of G (j)

(a) Describe a subroutine and draw a flow-chart for obtaining the magnitude and angle of G (j)
when the transfer function is

G (s) = 10
s (1+0.25s) [(s2+10s+64)/64].

(b) Determine the magnitude and angle of G (j) for the transfer function G(s) of Part (a).

Solution

(b) G(jw) = 10
jw (1+. 25jw)(64-w2 + j10w)/64

Let G (jw) = 10G1(jw) G2 (jw) G3(jw)

Mag.G1 (jw) = 1/w

Mag.G2 (jw) = 1/sqrt (1+(.25w) 2)

Mag.G3 (jw) = 64/sqrt ((64-w2) +(10w) 2)

Angle G1 (w) = -45deg = -1.57 rad.

Angle G2 (w) = - tan-1.25w rad.

Angle G3 (w) =- tan-1 10w

(64-w2)
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Problem 13 Solution of a second-order differential equation

(a) Find the 2 x 2 matrices X and Y such that AX =B and YA =B , where

 A= 2 -1 B= 3 2
-3 2 -6 -5

(b) Find the eigenvalues of the matrix:

A= 2 1 1
2 3 4
-1 -1 -2

(c) Using the state variables: x1 = y, x2 = dy/dt, determine the solution of the following
differential equation:

d2 y/dt2 +5 dy/dt +6y =0.

The initial conditions are y (0) =1, dy/dt (0) = 0.

Solution

(a) A-1 = 2 1 X= A-1B = 0 -1

3 2 -3 -4

Y = B A-1 = 12 7
-27 -16

(b)

Eigenvalues are given by the characteristic equation

2- 1 1
2 3- 4 =0
-1 -1 -2-

Thus,  = 1, -1, 3

(c) The state space representation is

dx1/dt = x2
dx2/dt = -6x1- 5x2

Laplace transform is

SX1(s) –x1 (0) =X2(s)

SX2(s) –x2 (0) =-6X1(s) –5X2(s)

Matrix A = 0 1
-6 -5

(s) = ( sI-A) –1 = 3 - 2 1 - 1
(s+2) (s+3) (s+2) (s+3)

-6 + 6 -2 + 3
(s+2) (s+3) (s+2) (s+3)

Find (t). Solution is: x (t) = (t). x (0).

Therefore, y = 3exp(-2t) 2exp(-3t)

dy/dt = -6(exp (-2t) –exp (-3t)

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Problem 14 To determine the roots of a polynomial

(a) Describe a subroutine and draw a flow-chart to determine the polynomial whose roots are
located at s = -a, s = -b, and s = -c respectively.

(b) Determine the roots of the following polynomial:

4s3 –20s2 +17s +14 =0

( c) Find the inverse Laplace transform of the following function:

C(s) = s2+2s +3
(s+ 1 ) 3
Solution

(b) 4s3-20s2+17s+14 = 0

The exact roots are –0.5,2, 3.5

(c) Partial fraction expansion is F(s) = 2/(s+1) 3 +1/(s+1)

f (t) =(t2+1) exp (-t), t >0

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Problem 15 : Transfer function using Mason’s Rule

(a) The block diagram of a control system is shown in Fig.10.

Using block-diagram reduction, find the transfer function, C(s)/R(s).

H2

R(s) G1 G2 G3 G4 C(s)
+ + - +

- +
H1

H3

Fig.10
(b) Find the transfer function, C(s)/R(s) using Mason’s Rule also.

Solution

(a) Transfer function after block diagram reduction

C(s)/R(s) = G1G2G3G4/ (1- G3G4H1+ G2G3H2+ G1G2G3G4H3)

(b)Transfer function= P1 1/ (1-L1-L2-L3)

P1= G1G2G3G4

L1 = - G2G3H2

L2 = - G3G4H1

L3 = - G1G2G3G4H3

Path P1 touches all the loops. Hence 1=1.

Transfer function is given in Part (a)

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Problem 16 Roots of a third-order polynomial

(a) Describe a method of determining the roots of a third –order polynomial.

(b) Determine the roots of a polynomial
s3+4s2+6s+4=0
(c) Obtain the partial fraction expansion of
2(s2+3s+1)
s(s+1)(s+2)

Solution

(b):
F(s) = s3 +4s2 +6s +4

Table of synthetic division is :

1 4 6 4 -1 = trial root

1 -3 -3

1 3 3 1 = remainder

for a trial root of s= -1. In this Table, multiply the trial root and successively add in each column.
With a remainder of 1 ,try

s = -2 which results in

1 4 6 4-2 = trial root

-2 -2 -4

1 2 2 0= remainder

Because the remainder is zero, one root is s=-2.

Let(s+2) (s2 +as + b) = 0. Comparing coefficients, a = 2, b =2. Therefore, the remaining roots
are: s=-1+j and –1-j.

( c ) F(s) =( 1/s ) +(2/(s+1) ) -( 1/(s+2))

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Problem 16
OBJECTIVE TYPE QUESTIONS:

Choose the correct answers from those given below:

by writing (a), (b), or (c):

(i) The partial fraction expansion of 2(x2+ 3x +1) is

x (x+1) (x+2)

A1 + A2 + A3
x (x+1) (x + 2)
where

(a) A1= 1, A2 = -2, A3 = -1

(b) A1= 1, A2 = 2, A3 = 1
(c) A1= 1, A2 = -1, A3 = -2

Ans: (a)
(ii) The eigenvalues of the matrix 0 1
 -6 -5

are:

(a) –1 and –2
(b) –2 and –3
(c) –3 and –4

Ans: (b)

(iii) Which one of the following properties of the root locus is not true?
(a) A branch of the root locus starts from each open-loop pole and terminates at each
open-loop zero at infinity
(b) The root locus is symmetrical about the real axis of the s-plane.
(c) If the number of finite zeros m is less than the number of finite poles n, then n+m
branches of the root locus must end at zeros at infinity.

Ans: (c)

(iv) The transfer function of a system is

10(1+0.2s)
(1+0.5s)
The corner frequencies will be
(a) 00 and-900
(b) 1800 and-1800
(c) 900 and-900

Ans: (a)

(v) Which one of the following statements is not true?

(a) The eigenvalues of the matrix B = P -1 AP cannot be the same as those of A, when
P is any nonsingular matrix.
(b) A matrix of order n will have n eigenvalues, which may not all be distinct (i.e.
some eigenvalues may be repeated).
(c) The sum of the eigenvalues of a matrix is equal to the negative of its trace. (The
trace of a matrix is equal to the sum of the elements on its main diagonal).

Ans: (a)

(vi)Which one of the following statements is true?

(a) The multiplication of a row vector and a column vector is a column vector
(b) The multiplication of a row vector and a column vector is a square matrix
(c) The multiplication of a row vector and a column vector is a scalar quantity

Ans: (c)

(vii) The roots of the cubic equation

x3+ 3x2+4x +2 = 0

are
(a) 2, 3 and 4
(b) -1, -1 +j, -1 –j
(c) 1, 1+j, 1-j

Ans: (b)

(viii) The Laplace inverse transform of

F(s) = 10(s2+2s+5)/ [(s+1) (s2+6s+25)]

is
(a) e-t + e-3t (8cos 4t -6 sin4t)
(b) 2e-t + e-3t (3cos 4t -4 sin4t)
(c) 2e-t + e-3t (8cos 4t -6 sin4t)

Ans: (c)

(ix) Which one of the following statements is not true?

(a) The transfer function of a system (or element) does not represent the relationship
describing the dynamics of the system
(b) A transfer function may only be defined for a linear, stationary (constant parameter)
system
(c) The Laplace transformation may not be utilized for a time-varying system.
(d) The transfer function description does not include any information concerning the
internal structure of the system and its behaviour.

Ans: (a)
 (x) Which one of the of the following set of block diagrams is equivalent?

(a)

x1 + G x3 x1 G x3


x2 1
G x2

(b)

x1 + G x3 G + x3

+
x2 G
x2

(c)

x1 + G x3 x1 G x3

+
x2 G
x2

The symbol  stands for equivalence.

Ans: (b)

(x) A servo-mechanism is called a proportional error device when the output of the system is
(a) a function of error and the first derivative of error
(b) a function of the first derivative of error only
(c) a function of error only
(d) none of the above.

Ans :( c )

(xi) Fig.11 shows a differentiating circuit.

C1

V1(s) V 2(s)
R1 R2

Fig.11

The transfer function of the circuit, V2(s)/V 1(s), is

(a) R2/(1 + s CR1)

(b) (s + 1/R1C)
s+ (R1+R2)/R1R2C

( c) R1/(1 + s CR2)

( d) (s + 1/R2C)
s+ (R1+R2)/R1R2C

Ans :( b)

(xii) A home heating feedback- control system consists of the valve which controls the
gas or power input, the heater, and the thermo-sensor. Which one of the following
statements is true?

(a) The heater is in the feedback path

(b) The valve is in the feedback path
(c) The thermo-sensor is in the feedback path
(d) The thermo-sensor is in the forward path
Ans :( c)
 (xiii) Match List E that gives the physical element with List F that gives the type
of element.

List E- List F

A-Translational spring
I-Energy dissipater
B-Rotational mass
II-Capacitive storage
C-Thermal resistance
III-Inductive storage
-
The correct matching is

(a) AIII BII CI

(b) AII BI CIII
(c)AI BIII CII

Ans: (a)

(xiv) In general, the programmer does not write the computer program in
machine language, because

(a) The program is not executable by the machine.

(b)It is a tedious job for the programmer and is best left to the machine to convert the source
program to the machine language program.
(c) There is no need to do it
(d) The machine takes more time to solve the required problem.

Ans: (b)

(xv) Which of the following statements is true?

(a) The FORTRAN compiler changes the object program to the source program.
(b) FORTRAN language is the same as the machine language
( c) It is the object program that is actually executed by the computer to obtain results
( d) The computer executes the source program to obtain the results.

Ans: (c)
(xvi) Programming is a difficult task in one of the following
:
(a) Analogue computer
(b) Digital computer
(c) Microprocessor or microcomputer
(d) Minicomputer.

Ans: (c)

(xvi) The number of roots of the polynomial

s4+2s3+4s2+8s+15 =0

in the right-half of the s-plane are:

(ii.) Four
(ii)None (two pairs of roots on the j axis)
(iii.) None (two roots on the j axis)
(iv.) Two.

Ans: (d)

(xvii) Choose the correct answers from those given below:

i. The following matrix is singular

1 1 2
2 0 2
3 1 2

FALSE

ii. The Laplace transform of

f (t) = 1 . (be-bt - ae-at)

(b-a)

is

F(s) = 1
 .
(s+a)(s+b)

TRUE

(xviii) The partial fraction expansion of

F(s) = s2 +2s +3
(s+1)3
is
(a) 2 1
+
(s+1)3 (s+1)

(b) 2 3
+
(s+1)3 (s+1)

(c) 1 2 3
+ +
(s+1)3 (s+1)2 (s+1)

(d) 1 3
+
(s+1)3 (s+1)

Ans: a

(xix) The transfer function, Eo(s)/Ei(s) of the ideal resonant filter of Fig.12 is

Ei(s) C E o(s)

Fig.12

(a) s2LC
 s2LC+1

(b) Zero

(c) Unity

(d)1/ (s2LC+1)

Ans: (d)

(xx) Modern control theory

(a) is not applicable to multiple-input-multiple-output systems, non-linear systems and time-

varying systems
(b) is essentially a time-domain approach, while conventional control theory is a frequency
domain approach
(c )does not enable us to design optimal control systems with specific performance indices.
(c) does not enable us to include initial conditions in the design of the control system.

Ans: (b)

(xxi) The resultant equivalent transfer function C(s)/R(s) of the system shown in
Fig.13 is

(a) G1G2/(1+G1G2H1)
(b) G1G2/(1+G1G2+G1G2H1)
(c) G1G2/(1+G1G2+G2H1)
(d) G1G2/(1+G1G2+G1H1)

R G1 G2 C

- -
H1
H1
 Fig.13
Ans: (b)

(xxii) Match List E with List F in the following Table of closed-loop systems and their outputs,
C (z).

List E
List F
A

R(s) C(s) C (z)

+
G(s
- )
H(s)

I
C (z) =RG (z)
1+HG (z)

R(s) C(s) C (z)

+
G(s
- )
H(s)
II
C (z) =G (z) R (z)
1+G (z) H (z)
C

R(s) C(s) C (z)

+
G(s
- )

H(s)
III
C (z) =G (z) R (z)
1+GH (z)

The correct matching is

(a)AIII BII CI
(b)AI BIII CII
(c)AII BIII CI
(d)AI BIICIII

Ans: (a)

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