Control Systems Electrical

3
CONTROL SYSTEMS
YEAR 2013
MCQ 3.1
ONE MARK
The Bode plot of a transfer function G ^s h is shown in the figure below.
A
I
D
O
N
in 1 rad/s and 10 rad/s respectiveThe gain _20 log G ^s h i is 32 dB and 8 dBo.at

c
. ^s h is
ly. The phase is negative for all . Then
iaG
d
.no (B) .
(A) .
w
s
s
w
(C)
MCQ 3.2
s
Assuming zero initial condition, the response y ^ t h of the system given below to
a unit step input u ^ t h is
(A) u ^ t h
2
(C) t u ^ t h
2
YEAR 2013
MCQ 3.3
(D)
(B) tu ^ t h
(D) et u ^ t h
TWO MARKS
Y ^s h
The signal flow graph for a system is given below. The transfer function
U ^s h
for this system is
GATE Electrical Engineering Topicwise Solved Paper by RK Kanodia & Ashish Murolia
s+1
5s2 + 6s + 2
s+
(C)
s + s+
s+
s + s+
(D) 2 1
5s + 6s + 2
(A)
MCQ 3.4
Page 252
(B)
^s h
The open-loop transfer function of a dc motor is given as
.
=
+ s
Va ^s h
When connected in feedback as shown below, the approximate
value of Ka that
will reduce the time constant of the closed loop system by one hundred times as
compared to that of the open-loop system is
(A) 1
(C) 10
O
N
A
I
D
(B) 5
(D) 100
.in
co
ia.
Common Data Questions: 5 & 6nod
w.
The state variable formulation

ww of a system is given as
o
0
x
1
x1
x1
1
> H=>
H> H + > H u , x1 ^0 h = 0 , x ^0 h = 0 and y = 61 0@> H
0 1 x
1
x
xo
MCQ 3.5
The response y ^ t h to the unit step input is

(B) 1 1 e2t 1 et
(A) 1 1 e2t
2 2
2
2
(C) e t et
MCQ 3.6
The system is
(A) controllable but not observable
(B) not controllable but observable
(C) both controllable and observable
(D) both not controllable and not observable
YEAR 2012
MCQ 3.7
(D) 1 et
TWO MARKS
The state variable description of an LTI system is given by

Jxo1N J 0 a1 0NJx1N J0N
K O K
OK O K O
Kxo O = K 0 0 a2OKx2O + K0O u
Kxo O Ka
0 0OKx 3O K 1O
3
L P L
PL P L P
Jx1N
K O
y = _1 0 0iKx2O
Kx 3O
GATE MCQ Electrical
L P Engineering (Vol-1, 2 & 3)
by RK Kanodia & Ashish Murolia
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Page 253
where y is the output and u is the input. The system is controllable for
(A) a ! a = a !
(B) a = a ! a !
(C) a = a ! a =
(D) a ! a ! a =
MCQ 3.8
The feedback system shown below oscillates at 2 rad/s when
(A) K =
(C) K =
and a = .
and a = .
(B) K =
(D) K =
and a = .
and a = .
Statement for Linked Answer Questions 9 and 10 :
MCQ 3.9
MCQ 3.10
The transfer function of a compensator is given as

Gc (s) = s + a
s+b
Gc (s) is a lead compensator if
(A) a = b =
(B) a = b =
(C) a = b =
(D) a = b =
(C)
6 rad/s
O
N
.no
YEAR 2011
MCQ 3.11
ww
co
.(D)
a
1/
i
d
3 rad/s
ONE MARK
The frequency response of a linear system G (j) is provided in the tubular form
below
G (j)
1.3
+G (j) 130c
(A) 6 dB and 30c
(C) 6 dB and 30c
MCQ 3.12
A
I
D
The phase of the above lead compensator is maximum at

(A) 2 rad/s
(B).in 3 rad/s
1.2
1.0
0.8
0.5
0.3
140c
150c
160c
180c
200c
(B) 6 dB and 30c

(D) 6 dB and 30c
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 is
(A) 0
(C) 1
(B) 0.1
(D) 10
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MCQ 3.13
An open loop system represented by the transfer function

(s 1)
is
G s =
(s + 2) (s + 3)
(A) Stable and of the minimum phase type
(B) Stable and of the nonminimum phase type
(C) Unstable and of the minimum phase type
(D) Unstable and of nonminimum phase type
YEAR 2011
MCQ 3.14
Page 254
TWO MARKS
The open loop transfer function G (s) of a unity feedback control system is given
as
G (s) =
K bs + l
s (s + )
From the root locus, at 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 j axis for a finite value of K K !
(D) Three real roots are found on the right half of the s -plane
MCQ 3.15
A
I
D
A two loop position control system is shown below
O
N
no
w.
.in
co
ia.
ww
The gain K of the Tacho-generator influences mainly the

(A) Peak overshoot
(B) Natural frequency of oscillation
(C) Phase shift of the closed loop transfer function at very low frequencies
( " 0)
(D) Phase shift of the closed loop transfer function at very high frequencies
( " 3)
YEAR 2010
MCQ 3.16
TWO MARKS
The frequency response of G (s) =
s (s + ) (s + )
complex G (j) plane (for 0 < < 3) is
plotted in the
GATE MCQ Electrical Engineering (Vol-1, 2 & 3)

MCQ 3.17
o = AX + Bu with A = >
The system X
H B = > H is
A
I
D
(A) Stable and controllable

(C) Unstable but controllable
MCQ 3.18
(B) Stable but uncontrollable

(D) Unstable and uncontrollable
The characteristic equation of a closed-loop system is

s (s + ) (s + ) k (s + ) = k > .Which of the following statements is true ?
n
(A) Its root are always real
o.i
c
.
diniathe range 1 < Re [s] < 0
(B) It cannot have a breakaway point
o
.n along the asymptotes Re [s] = 1
w
(C) Two of its roots tend to infinity
ww
(D) It may have complex roots in the right half plane.
O
N
YEAR 2009
MCQ 3.19
MCQ 3.20
Page 255
ONE MARK
The measurement system shown in the figure uses three sub-systems in cascade
whose gains are specified as G G
G . The relative small errors associated
with each respective subsystem G G and G are 1, 2 and 3 . The error associated with the output is :
(A) 1 + 2 + 1
3
(B) 1 2
3
(C) 1 + 2 - 3
(D) 1 + 2 + 3
The polar plot of an open loop stable system is shown below. The closed loop
system is

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Page 256
(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
MCQ 3.21
MCQ 3.22
The first two rows of Rouths tabulation of a third order equation are as follows.
s
s
This means there are
(A) Two roots at s = ! j and one root in right half s -plane
(B) Two roots at s = ! j and one root in left half s -plane
(C) Two roots at s = ! j and one root in right half s -plane
(D) Two roots at s = ! j and one root in left half s -plane
O
N
A
I
D
The asymptotic approximation of the log-magnitude

frequency plot of a
inis shown.v/s
.
o
system containing only real poles and zeros
Its
transfer function is
.c
ww
(A)
(s + )
s (s + ) (s +
(C)
(s + )
s (s + ) (s + )
ia
d
.no
(s + )
s (s + ) (s + )
(s + )
(D)
s (s + ) (s + )
(B)
YEAR 2009
MCQ 3.23
TWO MARKS
The unit-step response of a unity feed back system with open loop transfer
function G (s) = K/ ((s + ) (s + )) is shown in the figure.
The value of K is

(A) 0.5
(C) 4
MCQ 3.24
Page 257
(B) 2
(D) 6
The open loop transfer function of a unity feed back system is given by
G (s) = (e 0. s) s . The gain margin of the is system is
(A) 11.95 dB
(B) 17.67 dB
(C) 21.33 dB
(D) 23.9 dB
Common Data for Question 25 and 26 :

A system is described by the following state and output equations
dx1 (t)
= 3x1 (t) + x2 (t) + 2u (t)
dt
dx2 (t)
= 2x2 (t) + u (t)
dt
y (t) = x1 (t)
when u (t) is the input and y (t) is the output.in
MCQ 3.25
MCQ 3.26
A
I
D
O
N
.co
The system transfer function is

dia
o
.n
(A) 2 s + 2
(B) 2 s + 3
w
w
s + 5s 6
s + 5s + 6
w
(C) 2 2s + 5
(D) 2 2s 5
s + 5s + 6
s + 5s 6
The state-transition matrix of the above system is
e - 3t
0
e - 3t e - 2t e - 3t
(B) =
(A) = - 2t
G
- 3t
- 2t G
e +e e
0
e - 2t
e - 3t e - 2t + e - 3t
(C) =
G
0
e - 2t
e 3t e - 2t e - 3t
(D) =
G
0
e - 2t
YEAR 2008
MCQ 3.27
A function y (t) satisfies the following differential equation :

dy (t)
+ y (t) = (t)
dt
where (t) is the delta function. Assuming zero initial condition, and denoting
the unit step function by u (t), y (t) can be of the form
(B) e - t
(A) et
(C) et u (t)
YEAR 2008
MCQ 3.28
ONE MARK
(D) e - t u (t)
TWO MARK
The transfer function of a linear time invariant system is given as

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Page 258
G s =
s + s+
The steady state value of the output of the system for a unit impulse input applied at time instant t = will be
(A) 0
(B) 0.5
(C) 1
(D) 2
MCQ 3.29
The transfer functions of two compensators are given below :

10 (s + 1)
C1 =
C2 = s + 10
(s + 10)
10 (s + 1)
Which one of the following statements is correct ?
(A) C1 is lead compensator and C2 is a lag compensator
(B) C1 is a lag compensator and C2 is a lead compensator
(C) Both C1 and C2 are lead compensator
(D) Both C1 and C2 are lag compensator
MCQ 3.30
The asymptotic Bode magnitude plot of a minimum phase transfer function is

shown in the figure :
A
I
D
O
N
no
w.
.in
co
ia.
ww
This transfer function has

(A) Three poles and one zero
(C) Two poles and two zero
MCQ 3.31
(B) Two poles and one zero

(D) One pole and two zeros
Figure shows a feedback system where K > 0
The range of K for which the system is stable will be given by

(A) 0 < K < 30
(B) 0 < K < 39
(C) 0 < K < 390
(D) K > 0
MCQ 3.32
The transfer function of a system is given as

100
s2 + 20s + 100
The system is
(A) An over damped system
(B) An under damped system
(C) A critically damped system
(D) An unstable system
Statement for Linked Answer Question 27 and 28.

Page 259
The state space equation of a system is described by Xo = AX + Bu Y = CX

where X is state vector, u is input, Y is output and
, B = = G, C =
G
The transfer function G(s) of this system will be
s
(A)
(B) s +
(s + 2)
s (s )
A ==
MCQ 3.33
s
(D)
(s 2)
s (s + )
A unity feedback is provided to the above system G (s) to make it a closed loop
system as shown in figure.
(C)
MCQ 3.34
For a unit step input r (t), the steady state error in the input will be
(A) 0
(B) 1
(C) 2
(D) 3
MCQ 3.35
IA
D
O
YEAR 2007
The system shown in the figure is
no
w.
ONE MARK
.in
co
ia.
ww
(A) Stable
(B) Unstable
(C) Conditionally stable
(D) Stable for input u1 , but unstable for input u2
YEAR 2007
MCQ 3.36
If x = e G (jw) , and y = Im G (jw) then for " 0+ , the Nyquist plot for
G (s) = 1 s (s + 1) (s + 2) is
(A) x = 0
(B) x =
(C) x = y 1
MCQ 3.37
TWO MARKS
(D) x = y
The system 900/s (s + 1) (s + 9) is to be such that its gain-crossover frequency

becomes same as its uncompensated phase crossover frequency and provides a
45c phase margin. To achieve this, one may use
(A) a lag compensator that provides an attenuation of 20 dB and a phase lag of
45c at the frequency of 3 3 rad/s
(B) a lead compensator that provides an amplification of 20 dB and a phase

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Page 260
lead of 45c at the frequency of 3 rad/s

(C) a lag-lead compensator that provides an amplification of 20 dB and a phase
lag of 45c at the frequency of 3 rad/s
(D) a lag-lead compensator that provides an attenuation of 20 dB and phase
lead of 45c at the frequency of 3 rad/s
MCQ 3.38
If the loop gain K of a negative feed back system having a loop transfer function K (s + 3) / (s + ) 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
MCQ 3.39
The system shown in figure below
O
N
A
I
D
can be reduced to the form
no
w.
.in
co
ia.
ww
with
(A) X = c0 s + c Y = / (s2 + a0 s + a ) Z = b0 s + b
(B) X =
Y = (c0 s + c ) / (s2 + a0 s + a ) Z = b0 s + b
(C) X = c s + c0 Y = (b s + b0) / (s2 + a s + a0) Z =

(D) X = c s + c0 Y = / (s2 + a s + a) Z = b s + b0
MCQ 3.40
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 = 0 w = 00
and = 0.7 .The steady state value of Z is
(A) 1
(C) 0.1
(B) 0.25
(D) 0

Page 261
Data for Q.41 and Q.42 are given below. Solve the problems and choose
the correct answers.
R-L-C circuit shown in figure
MCQ 3.41
For a step-input ei , the overshoot in the output e will be

(A) 0, since the system is not under damped
(B) 5 %
(C) 16 %
(D) 48 %
MCQ 3.42
If the above step response is to be observed on a non-storage CRO, then it

would be best have the ei as a
(A) Step function
(B) Square wave of 50 Hz
(C) Square wave of 300 Hz
(D) Square wave of 2.0 KHz
YEAR 2006
MCQ 3.43
O
N
A
I
D
.in
.co
a
i
For a system with the transfer function
d
no
3 (s 2)
.
w
,
H (s) = 2
4s 2s + 1 ww
ONE MARK
the matrix A in the state space form Xo = AX + Bu is equal to

V
V
R
R
S1 0 0 W
S0 1 0 W
(A) S 0 1 0 W
(B) S 0 0 1 W
SS 1 2 4 WW
SS 1 2 4 WW
XV
TR
V X
RT
0
1
0
1
0
0
W
W
S
S
(C) S3 2 1 W
(D) S 0 0 1 W
SS1 2 4 WW
SS 1 2 4 WW
X
X
T
T
YEAR 2006
MCQ 3.44
TWO MARKS
Consider the following Nyquist plots of loop transfer functions over = 0 to

= 3 . Which of these plots represent a stable closed loop system ?

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(A) (1) only

(C) all, except (3)
MCQ 3.45
Page 262
(B) all, except (1)

(D) (1) and (2) only
The Bode magnitude plot H (j) =
1 (1 + j)
is
(1 + j) (1 + j) 2
A
I
D
O
N
no
w.
.in
co
ia.
ww
MCQ 3.46
A closed-loop system has the characteristic function

(s2 4) (s + 1) + K (s 1) = 0 . Its root locus plot against K is

YEAR 2005
MCQ 3.47
MCQ 3.48
.in
co
ia.
ONE MARK
A system with zero initial conditions

.nohas the closed loop transfer function.
w
s2 + 4 ww
T s =
(s + 1) (s + 4)
The system output is zero at the frequency
(A) 0.5 rad/sec
(B) 1 rad/sec
(C) 2 rad/sec
(D) 4 rad/sec
Figure shows the root locus plot (location of poles not given) of a third order
system whose open loop transfer function is
(A) K
s
MCQ 3.49
O
N
A
I
D
Page 263
K
s2 (s + 1)
K
K
(C)
(D)
s (s2 + 1)
s (s2 1)
The gain margin of a unity feed back control system with the open loop transfer
(B)

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function G s =
s+
s
is
1
2
(D) 3
(A) 0
(C)
(B)
2
YEAR 2005
MCQ 3.50
Page 264
TWO MARKS
A unity feedback system, having an open loop gain

K (1 s)
,
G (s) H (s) =
(1 + s)
becomes stable when
(A) K >
(C) K <
MCQ 3.51
When subject to a unit step input, the closed loop control system shown in the
figure will have a steady state error of
(A) 1.0
(C) 0
MCQ 3.52
(B) K >
(D) K <
A
I
D
O
N
no
w.
.in 0.5
o(B)
c
.
ia (D) 0.5
In the G (s) H (s)-plane, the Nyquist

plot of the loop transfer function
w
w
pe
G (s) H (s) = s passes through the negative real axis at the point
(A) ( 0.25, j0)
(B) ( 0.5, j0)
(C) 0
(D) 0.5
-0.25s
MCQ 3.53
If the compensated system shown in the figure has a phase margin of 60c at the
crossover frequency of 1 rad/sec, then value of the gain K is
(A) 0.366
(C) 1.366
(B) 0.732
(D) 2.738
Data for Q.54 and Q.55 are given below. Solve the problem and choose
the correct answer.
0 1
1
X (t) + = Gu (t) with the initial
G
0 3
0
and the unit step input u (t) has
A state variable system Xo (t) = =

condition X (0) = 1, 3 T
MCQ 3.54
The state transition matrix

MCQ 3.55
Page 265
1
(A) =
0
1
3
(1 e 3t)
G
e 3t
1
(B) >
0
1
3
1
(C) >
0
1
3
(e3 t e 3t)
H
e 3t
1
(D) >
0
(1 e t)
H
e t
(e t e 3t)
H
e t
The state transition equation

te t
(A) X (t) = = t G
e
(B) X (t) = =
te t
(C) X (t) = =
G
e t
te t
(D) X (t) = =
G
et
YEAR 2004
e t
G
e t
ONE MARK
MCQ 3.56
The Nyquist plot of loop transfer function G (s) H (s) of a closed loop control
system passes through the point ( 1, j 0) in the G (s) H (s)plane. The phase
margin of the system is
(A) 0c
(B) 45c
(C) 90c
(D) 180c
MCQ 3.57
Consider the function,
A
I
D
F (s) =
s (s + s + )
where F (s) is the Laplace transform of the of the function f (t). The initial value
of f (t) is equal to
(A) 5
(B).i25n
(C)
MCQ 3.58
5
3
O
N
no
.
ww
.co
a
i
d (D) 0
For a tachometer, if (t) is the

w rotor displacement in radians, e (t) is the output
voltage and Kt is the tachometer constant in V/rad/sec, then the transfer funcE (s)
tion,
will be
Q (s)
(A) Kt s
(C) Kt s
(B) Kt s
(D) Kt
YEAR 2004
MCQ 3.59
MCQ 3.60
For the equation, s s + s + =

-plane will be
(A) Zero
(C) Two
TWO MARKS
the number of roots in the left half of s

(B) One
(D) Three
For the block diagram shown, the transfer function
(A) s +
s
C (s)
is equal to
R (s)
(B) s + s +
s

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(C) s + s +
s
MCQ 3.61
(D)
s +s+
o = AX where
The state variable description of a linear autonomous system is, X
X is the two dimensional state vector and A is the system matrix given by
A ==
G. The roots of the characteristic equation are
(A) 2 and + 2
(C) 2 and 2
MCQ 3.62
(B) j and + j
(D) + 2 and + 2
The block diagram of a closed loop control system is given by figure. The values
of K and P such that the system has a damping ratio of 0.7 and an undamped
natural frequency n of 5 rad/sec, are respectively equal to
(A) 20 and 0.3

(C) 25 and 0.3
MCQ 3.63
MCQ 3.64
(B) 20 and 0.2

(D) 25 and 0.2
A
I
D
The unit impulse response of a second order under-damped system starting

from rest is given by c (t) = 2.5e - t sin t, t $ 0 . The steady-state value of the
unit step response of the system is equal to
(A) 0
(B) 0.25
.in
(C) 0.5
.co(D) 1.0
O
N
dia
o
.n input x (t) = sin t . In the steady-state, the
In the system shown in figure,wthe
response y (t) will be
ww
(A)
1 sin (t 45c)
2
(C) sin (t 45c)

MCQ 3.65
(B)
1 sin (t + 45c)
2
(D) sin (t + 45c)
The open loop transfer function of a unity feedback control system is given as
1.
G (s) = as +
s2
The value of a to give a phase margin of 45c is equal to
(A) 0.141
(B) 0.441
(C) 0.841
(D) 1.141
YEAR 2003
MCQ 3.66
Page 266
ONE MARK
A control system is defined by the following mathematical relationship

d2 x + dx + 5x = 12 (1 e - 2t)
dt
dt2
The response of the system as t " 3 is
(A) x =
(B) x = 2
(C) x = 2.4
(D) x = 2

MCQ 3.67
MCQ 3.68
A lead compensator used for a closed loop controller has the following transfer
function
K (1 + as )
(1 + bs )
For such a lead compensator
(A) a < b
(B) b < a
(C) a > Kb
(D) a < Kb
2
A second order system starts with an initial condition of = G without any exter3
e- t
nal input. The state transition matrix for the system is given by =
G. The
e-t
state of the system at the end of 1 second is given by
0.271
0.135
(A) =
(B) =
G
1.100
0.368G
0.271
(C) =
0.736G
0.135
(D) =
1.100 G
YEAR 2003
MCQ 3.69
Page 267
A
I
D
TWO MARKS
A control system with certain excitation is governed by the following mathematical equation
d x + 1 dx + 1 x = 10 + 5e 4t + 2e 5t
dt
1
dt
The natural time constant of the response of ithe
n system are
.
o
(A) 2 sec and 5 sec
(B)
c 3 sec and 6 sec
ia.
d
(C) 4 sec and 5 sec
.no (D) 1/3 sec and 1/6 sec
MCQ 3.70
O
N
w
w
w
The block diagram shown in figure gives a unity feedback closed loop control
system. The steady state error in the response of the above system to unit step
input is
(A) 25%
(C) 6%
MCQ 3.71
The roots of the closed loop characteristic equation of the system shown above
(Q-5.55)
(A) 1 and 15
(C) 4 and 15
MCQ 3.72
(B) 0.75 %
(D) 33%
(B) 6 and 10
(D) 6 and 10
The following equation defines a separately excited dc motor in the form of a

differential equation

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Page 268
d + B d + K = K V
dt
J dt
LJ
LJ a
The above equation may be organized in the state-space form as follows
R
V
Sd W
d
S dt W = P dt + QV
>
H
a
S d W
S dt W
Where Tthe PX matrix is given by
K
B LJ
K BJ
(B) = LJ
(A) = J
G
G
2
0
(C) =
1
G
1
(D) =
0
G
2
MCQ 3.73
The loop gain GH of a closed loop system is given by the following expression
K
s (s + ) (s + )
The value of K for which the system just becomes unstable is
(A) K =
(B) K =
(C) K =
(D) K =
MCQ 3.74
The asymptotic Bode plot of the transfer function K

+ (s a) is given in
figure. The error in phase angle and dB gain at a frequency of = 0.5 are
respectively
A
I
D
O
N
no
w.
.in
co
ia.
ww
(A) 4.9c, 0.97 dB

(C) 4.9c, 3 dB
MCQ 3.75
(B) 5.7c, 3 dB
(D) 5.7c, 0.97 dB
The block diagram of a control system is shown in figure. The transfer function
G (s) = Y (s) U (s) of the system is
(A)
1
18`1 +
1+ j
12 j`
3
(B)
1
27`1 + j`1 + j
6
9

(C)
1
s
27`1 + j`1 + s j
12
9
(D)
1
s
27`1 + j`1 + s j
9
3
YEAR 2002
MCQ 3.76
Page 269
ONE MARK
The state transition matrix for the system Xo = AX with initial state X ( ) is
(A) (sI A) - 1
(B) eAt X ( )
(C) Laplace inverse of [(sI A) - 1]
(D) Laplace inverse of [(sI A) - 1 X (0)]
YEAR 2002
MCQ 3.77
TWO MARKS
For the system Xo = =
GX + = Gu , which of the following statements is true ?
(A) The system is controllable but unstable

(B) The system is uncontrollable and unstable
(C) The system is controllable and stable
(D) The system is uncontrollable and stable
MCQ 3.78
A
I
D
A unity feedback system has an open loop transfer function, G (s) = K The
s
root locus plot is
O
N
.in
no
w.
co
ia.
ww
MCQ 3.79
MCQ 3.80
The transfer function of the system described by

d y dy
+
= du + u
dt
dt
dt
with u as input and y as output is
(s + 2)
(s + 1)
(A) 2
(B) 2
(s + s)
(s + s)
(C) 2 2
(D) 22s
(s + s)
(s + s)
For the system
Xo = =
GX + = Gu ; Y = 8
B X,
with u as unit impulse and with zero initial state, the output y , becomes
(A) 2e2t
(B) 4e2t
(C) 2e 4t
(D) 4e 4t

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MCQ 3.81
The eigen values of the system represented by

R
V
S
W
S
W
Xo = S
WX are
W
(A) 0, 0, 0, 0SS
(B) 1, 1, 1, 1
W
T 1
X
(C) 0, 0, 0,
(D) 1, 0, 0, 0
MCQ 3.82
*A single input single output system with y as output and u as input, is described by
dy
dy
+
+ 10y = 5 du 3u
dt
dt
dt
for an input u (t) with zero initial conditions the above system produces the
same output as with no input and with initial conditions
dy (0)
= 4 , y (0) = 1
dt
input u (t) is
(B) 1 (t) 7 e 3t u (t)
(A) 1 (t) 7 e(3/5)t u (t)
5
25
5
25
(C) 7 e (3/5)t u (t)
(D) None of these
25
MCQ 3.83
A
I
D
*A system is described by the following differential equation

d2 y dy
+
- 2y = u (t) e t
dt
dt2
dy
the state variables are given as x1 = y and .xin = b y l et , the state
dt
.co
variable representation of the system iis
a
od
1 1 x1
1
1
xo1
xo1
1 e t x 1
n
.
(B) > o H = > H> H + > H u (t)
(A) > o H = > tH> H + > H u (t) w
0 1 x
0
0
x
x
0 e x
ww
O
N
1
xo1
1 e t x 1
(C) > o H = >
>x H + >0H u (t)
H
x
0 1
(D) none of these
Common Data Question Q.84-86*.
MCQ 3.84
MCQ 3.85
MCQ 3.86
The open loop transfer function of a unity feedback system is given by

(s + )
G (s) =
s (s + ) (s + 10)
Angles of asymptotes are
(A) 60c, 120c, 300c
(B) 60c, 180c, 300c
(C) 90c, 270c, 360c
(D) 90c, 180c, 270c
Intercepts of asymptotes at the real axis is
(A) 6
(B) 10
3
(C) 4
(D) 8
Break away points are

(A) 1.056 , 3.471
(C) 1.056, 6.9433
(B) 2.112, 6.9433

(D) 1.056, 6.9433

Page 271
YEAR 2001
MCQ 3.87
ONE MARK
The polar plot of a type-1, 3-pole, open-loop system is shown in Figure The
closed-loop system is
(A) always stable

(B) marginally stable
(C) unstable with one pole on the right half s -plane
(D) unstable with two poles on the right half s -plane.
MCQ 3.88
3 1
Given the homogeneous state-space equation xo = =
x the steady state
G
T
value of xss = lim x (t), given the initial state value of x ( ) = 81 1 B is
A
I
D
t"3
3
(B) xss = = G
(A) xss = = G
1
(C) xss = =
1 G
YEAR 2001
MCQ 3.89
O
N
3
(D) xss = = G
.in 3
no
.
ww
co
.
dia
TWO MARKS
The asymptotic approximation

w of the log-magnitude versus frequency plot of
a minimum phase system with real poles and one zero is shown in Figure. Its
transfer functions is
(A)
(s + )
s (s + ) (s +
(C)
(s + )
s (s + ) (s +
10 (s + 5)
(s + 2) 2 (s + 25)
(s + )
(D)
s (s + ) (s + )
(B)
Common Data Question Q.90-93*.

A unity feedback system has an open-loop transfer function of
G (s) = 1
s (s + 1 )

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MCQ 3.90
Determine the magnitude of G j in dB at an angular frequency of = 20

rad/sec.
(A) 1 dB
(B) 0 dB
(C) 2 dB
(D) 10 dB
MCQ 3.91
The phase margin in degrees is

(A) 90c
(C) 36.86c
(B) 36.86c
(D) 90c
The gain margin in dB is

(A) 13.97 dB
(C) 13.97 dB
(B) 6.02 dB
(D) None of these
The system is
(A) Stable
(C) Marginally stable
(B) Un-stable
(D) can not determined
MCQ 3.92
MCQ 3.93
MCQ 3.94
*For the given characteristic equation

s3 + s2 + Ks + K = 0
The root locus of the system as K varies from zero to infinity is
A
I
D
O
N
.in
no
w.
co
ia.
ww
************

Page 273
SOLUTION
SOL 3.1
Option (B) is correct.

From the given plot, we obtain the slope as
Slope =
20 log G2 20 log G1
log w2 log w1
From the figure

20 log G2
20 log G1
and
1
2
So, the slope is
= 8 dB
= 32 dB
= 1 rad/s
= 10 rad/s
Slope = 8 32
log 10 log 1
= 40 dB/decade
Therefore, the transfer function can be given as
G ^s h = k
S
at = 1
G ^ jh = k = k
w
n
o.i
In decibel,
c
.
ia
20 log G ^ jh = 20 log k = 32 o d
n
w..8
or,
k = 10 =w39
Hence, the Transfer functionwis
G ^s h = k = .
s
s
A
I
D
O
N
32
SOL 3.2
20

The Laplace transform of unit step fun n is
U ^s h =
s
So, the O/P of the system is given as
Y ^s h = b lb l
s s
=
s
For zero initial condition, we check
dy ^ t h
u^t h =
dt
U ^s h = SY ^s h y ^ h
&
&
U ^s h = s c
or,
U ^s h =
m y^ h
s
Hence, the O/P is correct which is
Y ^s h =
^y ^ h = h

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Page 274
its inverse Laplace transform is given by

y ^ t h = tu ^ t h
SOL 3.3
Option (A) is correct.

For the given SFG, we have two forward paths
Pk = ^1 h^s1h^s1h^1 h = s2
Pk = ^1 h^s1h^1 h^1 h = s1
since, all the loops are touching to both the paths Pk and Pk so,
k = k =
Now, we have
= 1 (sum of individual loops)
+ (sum of product of nontouching loops)
Here, the loops are
L = ^ 4h^1 h = 4
L = ^ 4h^s1h = 4s1
L = ^ 2h^s1h^s1h = 2s2
L = ^ 2h^s1h^1 h = 2s1
As all the loop L , L , L and L are touching to each other so,
A
I
D
= 1 ^L1 + L2 + L 3 + L 4h
= 1 ^ 4 4s1 2s2 2s1h

= 5 + 6s1 + 2s2
n
From Masons gain formulae
o.i
c
.
ia
Y ^s h
d
P
k k
o
=
n
U ^s h
w.
O
N
w
SOL 3.4
s2 + sw1
=
5 + 6s1 + 2s2
= 2s+1
5s + 6s + 2
Option (C) is correct.
Given, open loop transfer function
G ^s h = 10Ka = Ka 1
1 + 10s s + 10
By taking inverse Laplace transform, we have
g ^ t h = e t
Comparing with standard form of transfer function, Aet t , we get the open
loop time constant,
ol = 10
Now, we obtain the closed loop transfer function for the given system as
G ^s h
10Ka
H ^s h =
=
1
10
s + 10Ka
+
1 + G ^s h
Ka
=
s + ^Ka + h
By taking inverse laplace transform, we get
h ^ t h = ka .e^k + ht
So, the time constant of closed loop system is obtained as
a
cl =
ka +

or,
Page 275
cl =
(approximately)
ka
Now, given that ka reduces open loop time constant by a factor of 100. i.e.,
cl = tol
100
or,
= 10
100
ka
or,
ka = 10
SOL 3.5

Given, the state variable formulation,
2 0 x1
1
xo
> o H = > 0 1H>x H + >1H u
x
2
x1
and
y = 61 0@> H
x2
....(1)
....(2)
From Eq. (1) we get

xo1 = 2x1 + u
Taking Laplace transform
So,
sX1 x1 ^ h = 2X1 + 1 (Here, X1 denotes Laplace transform of x1 )

s
^s + 2h X1 = s1
D
O
1
s ^s + 2h
Now, from Eq. (2) we have
n
o.i
y = x1
c
.
Taking Laplace transform both the sides,
dia
o
.n
Y = XL
w
1 ww
or,
Y =
s ^s + 2h
or,
Y = 1 ;1 1 E
2 s s+2
Taking inverse Laplace transform
y = 1 8u ^ t h e2t u ^ t hB
2
1
= 1 e2t
2 2
From the given state variable system, we have
2 0
A =>
0 1H
or,
X1 =
SOL 3.6
IA
^x1 ^ h = h
....(3)
(from eq. (3))
^for t > 0h
1
B = > H; C = 61 @
1
Now, we obtain the controllability matrix
AB@
CM = 6B
and
1 2
=>
2 1H
and the observability matrix is obtained as
C
OM = > H
CA

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1 0
H
=>
2 0
So, we get
Rank of the controllability matrix " Rank ^CM h =
Rank of the observability matrix " Rank ^OM h =
Since, the order of state variable is 2 ^x1 and x2h. Therefore, we have
Rank ^CM h = order of state variables
but,
Rank (OM ) < order of state variables
Thus, system is controllable but not observable
SOL 3.7
Option (D) is correct.

General form of state equations are given as
xo = Ax + Bu
yo = Cx + Du
For the given problem
R 0 a 0V
R V
1
W
S
S W
A = S 0 0 a2W, B = S W
SSa
SS WW
0 0WW
3
XVR V R VT X
TR
0
a
0
1
WS0W S 0W
S
AB = S 0 0 a2WS0W = Sa2W
SSa
0 0WWSS1WW SS 0WW
3
XT X VTR XV R
TR
V
0
0
a1 a2WS0W Sa1 a2n
S
i
.W
A B = Sa2 a 3
0
0WS0W =.Sco 0W
ia
SS 0 a a
0WWSSo1dWW SS 0WW
3 1
.nXT X T X
T
w
For controllability it is necessary
that following matrix has a tank of n = .
ww
R0 0 a a V
1 2W
S
U = 6B AB A B@ = S0 a2
0W
SS1 0
0WW
So,
a !0
X
T
aa !0 & a !
a may be zero or not.
A
I
D
O
N
SOL 3.8

K (s + )
Y (s) =
s + as + s +
R (s) Y (s)
K (s + )
K (s + )
R (s)
=
E
s + as + s +
s + as + s +
Y (s) s + as + s ( + k) + ( + k) = K (s + ) R (s)
Transfer Function,
K (s + )
Y (s)
H (s) =
=
R (s) s + as + s ( + k) + ( + k)
Routh Table :
Y (s) ; +

SOL 3.9
Page 277
For oscillation,
a +K +K
=0
a
a = K+
K+
Auxiliary equation
A s = as + k + =
s = k +
a
k
+ 1 (k + 2) = (k + 2)
s =
(k + 1)
s = j k+
j = j k +
(Oscillation frequency)
= k+ =
k =2
and
a = 2 + 1 = 3 = 0.75
2+2 4
jw + a
GC (s) = s + a =
s+b
jw + b
Phase lead angle,
= tan1 a w k tan1 a w k
a
b
Jw wN
1 K a
bO
= tan
2
KK
OO
w
1+
ab
L
P
n
oa.)i
c
1 w (b .
= tan c ia 2 m
d +w
oab
n
.
For phase-lead compensation >
ww 0
w
ba > 0
b >a
Note: For phase lead compensator zero is nearer to the origin as compared to
pole, so option (C) can not be true.
A
I
D
O
N
SOL 3.10

= tan1 a w k tan1 a w k
a
b
1/a
1/b
d
=
=0
2
2
d
1 +awk 1 +awk
a
b
+ w = + w
a ab
b ba
a
=wb l
ab a b
= ab = 1 # 2 =
SOL 3.11
2 rad/ sec

Gain margin is simply equal to the gain at phase cross over frequency ( p ). Phase
cross over frequency is the frequency at which phase angle is equal to 180c.
From the table we can see that +G (jp) =
c, at which gain is 0.5.
1
GM = 20 log 10 e
= 20 log b 1 l = 6 dB
0.5
G (jp) o

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Page 278
Phase Margin is equal to 180c plus the phase angle g at the gain cross over
frequency ( g ). Gain cross over frequency is the frequency at which gain is unity.
From the table it is clear that G (jg) = , at which phase angle is 150c
PM = 180c + +G (jg) = 180 150 = 30c
SOL 3.12

We know that steady state error is given by
sR (s)
ess = lim
s " 0 1 + G (s)
where
R (s) " input

G (s) " open loop transfer function
For unit step input
R (s) =
So
sb 1 l
s
ess = lim
= 0.1
s " 0 1 + G (s)
1 + G (0) = 10
G( ) = 9
Given inputr (t)
A
I
D
R (s) = 10 :1 1 esD = 10 :1 e D
s
s s
So steady state error
n
(1 es)
o.i 0
c
s # 10
.
s
ia10 (1 e ) = 0
el
=
d
ss = lim
o
1+9
s"0
1 + G (s).n
w
ww
Transfer function having at least one zero or pole in RHS of s -plane is called
non-minimum phase transfer function.
s1
G (s) =
(s + 2) (s + 3)
In the given transfer function one zero is located at s = (RHS), so this is a
non-minimum phase system.
Poles 2, 3 , are in left side of the complex plane, So the system is stable
or
SOL 3.13
SOL 3.14
= 10 [ (t) (t 1)]
O
N

G (s) =
K bs + l
s (s + )
Steps for plotting the root-locus
(1) Root loci starts at s = , s = and s =
(2) n > m , therefore, number of branches of root locus b =
(3) Angle of asymptotes is given by
(2q + 1) 1 c
, q = ,1
nm
(2 # 0 + 1) 180c
(I)
= 90c
(3 1)
(2 # 1 + 1) 180c
(II)
= 270c
(3 1)
(4) The two asymptotes intersect on real axis at centroid

Page 279
2 b 2 l
3
/
x
=
= 2
nm
31
3
(5) Between two open-loop poles s = and s = there exist a break away point.
s (s + )
K =
bs + l
/
=
dK = 0
ds
s =0
Root locus is shown in the figure
A
I
D
Three roots with nearly equal parts exist on the left half of s -plane.
SOL 3.15
O
N

.in
The system may be reduced as shown below
.co
ww
ia
d
.no
1
s (s + 1 + K )
Y (s)
1
= 2
=
1
R (s) 1 +
s + s (1 + K ) + 1
s (s + 1 + K )
This is a second order system transfer function, characteristic equation is
s + s ( + K) + = 0
Comparing with standard form
s + n s + n = 0
We get
= 1+K
2
Peak overshoot
M p = e
So the Peak overshoot is effected by K .

SOL 3.16

Given
G (s) =
s (s + ) (s + )

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G j =
j j +
Page 280
j +
1
+ 1 2+ 4
+G j = 90c tan 1 () tan 1 (/2)
In nyquist plot
For = 0, G (j) = 3
G j
+G j = 90c
For = 3, G (j) = 0
+G j = 90c 90c 90c = 270c
Intersection at real axis
G j =
At real axis
j j +
j +
j + j +
32 j (2 2)
1
=
#
32 + j (2 2) 32 j (2 2)
32 j (2 2)
=
94 + 2 (2 2) 2
2
j (2 2)
= 4 23
9 + (2 2) 2 94 + 2 (2 2) 2
A
I
D
Im [G (j)] = 0
(2 2)
So,
=0
n
94 + 2 (2 2)
o.i
c
.
2 2 = 0 & = 2 rad/sec
dia
o
n
.response
At = 2 rad/sec, magnitude
is
w
w
w 1
G j at = =
=1<3
6 4
2 2+1 2+4
SOL 3.17
O
N

Stability :
Eigen value of the system are calculated as
A I = 0
1 2
0
1 2
>
=>
A I = >
H
H
0 2
0
0
2 H
A I = ( 1 ) (2 ) 2 # 0 = 0
&
1, 2 = 1, 2
Since eigen values of the system are of opposite signs, so it is unstable
Controllability :
1 2
, B=> H
A =>
0 2H
2
AB = > H
2
0 2
[B: AB] = > H
1 2
Y 0
6B: AB@ =
So it is controllable.

SOL 3.18
Page 281

Given characteristic equation
s (s + ) (s + ) + K (s + ) = 0 ;
s (s + s + ) + K (s + ) = 0
s + s + ( + K) s + K = 0
From Rouths tabulation method
K>
3+K
2K
s1
4 (3 + K) 2K (1) 12 + 2K
=
>0
4
4
2K
There is no sign change in the first column of routh table, so no root is lying in
right half of s -plane.
For plotting root locus, the equation can be written as
K (s + 2)
=0
1+
s (s + 1) (s + 3)
A
I
D
Open loop transfer function

G (s) =
K (s + )
s (s + 1) (s + )
O
N
Root locus is obtained in following steps:

n
o.si =
1. No. of poles n = , at s = , s = 1 and
c
.
ia
2. No. of Zeroes m = 1, at s = 2no d
w. between s = and s = 1, between s = 3
w
3. The root locus on real axis
lies
w
and s = 2 .
4. Breakaway point lies between open loop poles of the system. Here breakaway point lies in the range 1 < Re [s] < 0 .
5. Asymptotes meet on real axis at a point C , given by
C =
/ real part of poles / real parts of
nm
(0 1 3) ( 2)
=
31
eroes
= 1
As no. of poles is 3, so two root loci branches terminates at infinity along
asymptotes Re (s) = 1
SOL 3.19
SOL 3.20

Overall gain of the system is written as
G = G1 G 2 1
G3
We know that for a quantity that is product of two or more quantities total
percentage error is some of the percentage error in each quantity. so error in
overall gain G is
3 G = 1 + 2 + 1
3

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Page 282
From Nyquist stability criteria, no. of closed loop poles in right half of s -plane is
given as
Z = PN
P " No. of open loop poles in right half s -plane
N " No. of encirclement of ( 1, j0)
Here N = (` encirclement is in clockwise direction)

P = (` system is stable)
So,
Z = ( )
Z = , System is unstable with 2-poles on RH of s -plane.
SOL 3.21
A
I
D

Given Rouths tabulation.
s
s2
O
N
.in
co
ia.
So the auxiliary equation is given by,

od
.n
4s2 + 4 = 0 ww
w
s2 = 1
s =! j
From table we have characteristic equation as
2s3 + 2s + 4s2 + 4 = 0
s + s + 2s2 + 2 = 0
s (s2 + ) + 2 (s2 + ) = 0
(s + 2) (s2 + 1) = 0
s = 2 , s = ! j
SOL 3.22

Since initial slope of the bode plot is 40 dB/decade, so no. of poles at origin is 2.
Transfer function can be written in following steps:
1. Slope changes from 40 dB/dec. to 60 dB/dec. at 1 = 2 rad/sec., so at
1 there is a pole in the transfer function.
2. Slope changes from 60 dB/dec to 40 dB/dec at 2 = 5 rad/sec., so at
this frequency there is a zero lying in the system function.
3. The slope changes from 40 dB/dec to 60 dB/dec at 3 = 25 rad/sec, so
there is a pole in the system at this frequency.
Transfer function
T (s) =
K (s + )
s (s + 2) (s + 2 )
2

Page 283
Constant term can be obtained as.

T j
So,
at = .
= 80
80 = 20 log
K (5)
(0.1) 2 # 50
K = 1000
therefore, the transfer function is
s+
T s =
s s+
s+
SOL 3.23

From the figure we can see that steady state error for given system is
ess = 1 0.75 = 0.25
Steady state error for unity feed back system is given by
sR (s)
ess = lim =
G
s " 0 1 + G (s)
s ^ 1s h
; R (s) =
(unit step input)
= lim
s
s"0>
K
H
1+
(s + 1) (s + 2)
= 1K = 2
2+K
1+ 2
So,
ess = 2 = 0.25
2+K
A
I
D
2 = 0.5 + 0.25K
K = 1. 5 = 6
0.25
SOL 3.24
O
N
.in
co
ia.
d
no
.
w figure is given by,
Open loop transfer function ofwthe
w
. s
G (s) = e
s
j .
G (j) = e
j
Phase cross over frequency can be calculated as,
+G (jp) = 180c
180
b 0.1p # l 90c = 180c
0.1p # 180c = 90c
0.1p = 90c #
180c
p = 15.7 rad/sec
So the gain margin (dB)
1
= 20 log e
= 20 log
G (jp) o
>
1
1
b 15.7 l H
= 20 log 15.7 = 23.9 dB

SOL 3.25

Given system equations
dx (t)
= 3x1 (t) + x2 (t) + 2u (t)
dt

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Page 284
dx t
= 2x2 (t) + u (t)
dt
y t =x t
Taking Laplace transform on both sides of equations.
sX s = 3X1 (s) + X2 (s) + 2U (s)
(s + 3) X1 (s) = X s + U s
Similarly
sX (s) = 2X2 (s) + U (s)
(s + 2) X2 (s) = U (s)
From equation (1) & (2)
U (s)
(s + 3) X1 (s) =
+ 2U (s)
s+2
U (s) 1 + 2 (s + 2)
X1 (s) =
E
s+ ; s+2
(2s + )
= U (s)
(s + 2) (s + )
From output equation,
Y (s) = X1 (s)
So,
SOL 3.26
Y (s) = U (s)
...(1)
...(2)
A
I
D
(2s + )
(s + 2) (s + )
System transfer function

(2s + )
Y (s)
(2s + 5)
= 2
T.F =
=
U (s) (s + 2) (s + 3)
s + s+
.in
o
c
.
Given state equations in matrix formia
can be written as,
d
o
3 1 .n
x1
2
xo1
+ > H u (t)
>o H = > 0 w
H
>
H
w
x2
w 2 x2 1
dX (t)
= AX (t) + Bu (t)
dt
State transition matrix is given by
O
N
(t) = L 1 6F (s)@
(s) = (sI A) 1
s
1
(sI A) = > H >
s
2H
s+
(sI A) = >
1
s + 2H
s+2 1
1
> 0 s + 3H
(s + 3) (s + 2)
R
V
1
S 1
W
(s + 3) (s + 3) (s + 2)W
S
-1
So (s) = (sI - A) = S
W
1
S 0
(s + 2) W
T t 2t
X
e
e e t
-1
(t) = L [ (s)] = >
H
e 2t
(sI A) 1 =
SOL 3.27

Given differential equation for the function
dy (t)
+ y (t) = (t)
dt

Page 285
Taking Laplace on both the sides we have,

sY s + Y s = 1
(s + 1) Y (s) = 1
Y s =
s+
Taking inverse Laplace of Y s

y t = e t u t , t >
SOL 3.28

Given transfer function
G (s) =
s + s+
r (t) = (t 1)
R (s) = L [ (t 1)] = e s
Output is given by
e s
Y (s) = R (s) G (s) =
s + s+
Steady state value of output
s
lim y (t) = lim sY (s) = lim 2 se
=0
t"3
s"0
s " 0 s + 3s + 2
Input
SOL 3.29

For C Phase is given by
A
I
D
O
N
SOL 3.30
C = tan 1 () tan 1 a ok.in

c
.10
a
i
d
oN
J n
.
1 K
10
O
w
= tan w
wKK 1 + 2 OO
10 P
L
= tan 1 c 9 2 m > 0 (Phase lead)
10 +
Similarly for C , phase is
C = tan 1 a k tan 1 ()
10
J N
1 K 10
O
= tan
2
KK
O
1+ O
10 P
L
= tan 1 c 9 2 m < 0 (Phase lag)
10 +
From the given bode plot we can analyze that:
1. Slope 40 dB/decade"2 poles
2. Slope 20 dB/decade (Slope changes by + 20 dB/decade)"1 Zero
3. Slope 0 dB/decade (Slope changes by + 20 dB/decade)"1 Zero
So there are 2 poles and 2 zeroes in the transfer function.
SOL 3.31

Characteristic equation for the system
K
=0
1+
s (s + 3) (s + 10)

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s s+
Page 286
s+
+K = 0
s + s + s+K = 0
Applying Rouths stability criteria
s
30
13
s1
(13 # 30) K
13
K
s0
For stability there should be no sign change in first column

So,
390 K > 0 & K < 3 0
K >0
0 <K< 0
SOL 3.32

Given transfer function is
100
s + 0s + 100
Characteristic equation of the system is given by
H (s)) =
or
A
I
D
s + 0s + 100 = 0
n = 100 & n = 10 rad/sec.
2n = 20
n
= 20 = 1
o.i
c
2 # 10
.
a
O
N
di
( = 1) so system is critically damped.

.no
SOL 3.33

ww
State space equation of the system is given by,
o = AX + Bu
X
Y = CX
Taking Laplace transform on both sides of the equations.
So
sX (s)
(sI A) X (s)
X (s)
` Y (s)
Y (s)
T.F =
= AX (s) + BU (s)
= BU (s)
= (sI A) 1 BU (s)
= CX (s)
= C (sI A) 1 BU (s)
Y (s)
= C (sI A) 1 B
U (s)
s 0
0 1
s 1
=>
(sI A) = > H >
H
0 s
0
0 s+ H
R
V
1 W
S1
1 >s + 1H = Ss s (s + )W
(sI A) 1 =
S0
1 W
s (s + ) 0 s
S (s + ) W
T
X
Transfer function

G s = C sI A
SOL 3.34

Steady state error is given by,
Here
sR (s)
ess = lim =
G
s " 0 1 + G (s) H (s)
R (s) = L [r (t)] = 1 (Unit step input)
s
G (s) =
SOL 3.35
Page 287
V
V
R
R
1 W
S1
S 1 W
s s (s + 2)W 0
Ss (s + 2)W
=
1
0
B = 81 0BSS
>
H
8
B
S 1 W
1 W1
S0 (s + 2) W
S (s + 2) W
X
X
T
T
=
s s+
s (s + )
H (s) = 1 (Unity feed back)

V
R
sb 1 l
W
S
s
W
So,
ess = lim S
1
s"0S
W
+
1
S
s (s + 2) W
X
T
s (s + 2)
= lim =
G =0
s " 0 s (s + 2) + 1
For input u , the system is (u2 = 0)
A
I
D
O
N
no
w.
.in
co
ia.
ww
System response is
(s 1)
(s 1)
(s + 2)
H (s) =
=
(s 1) 1
(s + 3)
1+
(s + 2) (s 1)
Poles of the system is lying at s = (negative s -plane) so this is stable.
For input u the system is (u1 = 0)
System response is
1
(s 1)
(s + 2)
H (s) =
=
1
s
(
)
(
s
1) (s + 3)
1+ 1
(s 1) (s + 2)
One pole of the system is lying in right half of s -plane, so the system is unstable.

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SOL 3.36
Page 288

Given function is.
G (s) =
G (j) =
s (s + ) (s + )
j ( + j ) ( + j )
By simplifying
j
j
j
G (j) = c #
j j mc + j # j mc + j # j m
= c
j (2 2 j3)
j 1 j 2 j
=
2 mc 1 + 2 mc 4 + 2 m
2 (1 + 2) (4 + 2)
j (2 2)
32
+
2 (1 + 2) (4 + 2) 2 (1 + 2) (4 + 2)
G (j) = x + iy
x = Re [G (j)] " 0 = 3 = 3
1#4
4
Let response of the un-compensated system is
=
SOL 3.37
A
I
D
H (s) =
s (s + ) (s + )
Response of compensated system.
H (s) =
O
N
s (s + ) (s + )
G (s)
.in
Where GC (s) " Response of compensator

.co
a
i
d
Given that gain-crossover frequency
no of compensated system is same as phase
.
crossover frequency of un-compensated
system
ww
w
So,
(g) compensated = (p) uncompensated
180c = +H (jp)
180c = 90c tan 1 (p) tan 1 a
p
9k
J + p N
p
9 O
90c = tan KK
2 O
K 1 p O
9 P
L
2
1 p = 0
9
1
p = 3 rad/sec.
So,
(g) compensated = 3 rad/sec.
At this frequency phase margin of compensated system is
PM = 180c + +HC (jg)
45c = 180c 90c tan 1 (g) tan 1 (g /9) + +GC (jg)
45c = 180c 90c tan 1 (3) tan 1 (1/3) + +GC (jg)
R
1 V
3
+
S
3 WW + +GC (jg)
45c = 90c tan 1 S
SS1 3 b 1 lWW
3
X
T

Page 289
45c = 90c 90c + +GC (jg)

+G jg = 45c
The gain cross over frequency of compensated system is lower than un-compensated
system, so we may use lag-lead compensator.
At gain cross over frequency gain of compensated system is unity so.
H jg
G jg
g
g +
=1
=1
g +
G jg
in dB G g
= 3 9 + 1 9 + 81 = 3 # 30 = 1
900
900
10
= 20 log b 1 l
10
= 20 dB (attenuation)
SOL 3.38

Characteristic equation for the given system,
K (s + 3)
=0
1+
(s + 8) 2
(s + 8) 2 + K (s + 3) = 0
s + ( + K) s + ( + K) = 0
By applying Rouths criteria.
64 + 3K
s
1
s
16 + K
s0
64 + 3K
O
N
A
I
D
For system to be oscillatory
no
w.
.in
co
ia.
ww
16 + K = 0 & K = 1
Auxiliary equation A (s) = s + (
&
SOL 3.39
s +
+ K) = 0
+ # ( 1 ) = 0
=0
s +
s = 1 & j = j
= 4 rad/sec

From the given block diagram we can obtain signal flow graph of the system.
Transfer function from the signal flow graph is written as
c 0 P + c1 P
s
s2
T.F =
a
Pb
a
0
1 + 1 + 2 2 0 Pb1
s
s
s
s
(c 0 + c1 s) P
(s + a1 s + a 0) P (b 0 + sb1)
(c 0 + c1 s) P
2
s
^ + a1 s + a 0 h
=
P (b + sb1)
1 2 0
s + a1 s + a 0
from the given reduced form transfer function is given by
=

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Page 290
XYP
1 YPZ
by comparing above two we have
T.F =
X = (c 0 + c1 s)
Y =
s +a s+a
Z = (b 0 + sb1)
SOL 3.40

For the given system Z is given by
Z = E (s) Ki
s
Where E (s) " steady state error of the system
Here
sR (s)
E (s) = lim
s " 0 1 + G (s) H (s)
Input
R (s) =
(Unit step)
A
I
D
G (s) = b Ki + K p le
s
s + s + o
H (s) = 1 (Unity feed back)
So,
SOL 3.41
O
N
R
V
n
sb 1 l
i
S
W
.
s co
Wb Ki l
.
Z = lim S
a
2
i
s"0S
Ki
W s
d
p lo 2
2 W
S1 + b s + K.n
w (s + 2s + ) X
T
w
w
Ki
= lim
= Ki =
2
s"0
>s + (Ki + K p s) 2
H Ki
2
(s + 2s + )

System response of the given circuit can be obtained as.
H (s) =
H (s) =
bCs l
e (s)
=
ei (s)
bR + Ls + Cs l
LCs + RCs +
b LC l
s +Rs+
L
LC
Characteristic equation is given by,

=0
s +Rs+
L
LC
Here natural frequency n =
LC
2n = R
L
Damping ratio
= R LC = R
2
2L
Here
= 10
2
C
L
1 # 10 3 = 0.5 (under damped)

10 # 10 6

Page 291
So peak overshoot is given by

SOL 3.42
SOL 3.43
% peak overshoot = e
Option ( ) is correct.
=e
= 16%

In standard form for a characteristic equation give as
sn + an sn + ... + a s + a = 0
in its state variable representation matrix A is given as
R
V
1
0 g
0 W
S 0
S 0
0
1 g
0 W
A =S
W
Sh h h h h W
S a 0 a1 a2 g an 1W
T
X
Characteristic equation of the system is
SOL 3.44
SOL 3.45
4s2 2s + 1 = 0
So, a = , a = , a =
R 0
1
0 VW RS 0
S
0
1 W=S 0
A =S 0
SS a a a WW SS 1
0
1
2
T
X T
In the given options only in option (A)
circle ( 1, j0), So this is stable.
1 0 VW
0 1W
2 4WW
X
A
I
D
O
N
the nyquist plot does not enclose the unit
in

co.
.
a
di
Given function is,
o
n
.
10 4 (1 + j
)w
w
H (j) =
w + j ) 2
(10 + j) (100
Function can be rewritten as,
10 4 (1 + j)
H (j) =
2
10 91 + j C 10 4 91 + j C
10
100
=
0.1 (1 + j)
2
a1 + j 10 ka1 + j 100 k
The system is type 0, So, initial slope of the bode plot is 0 dB/decade.
Corner frequencies are
1 = 1 rad/sec
2 = 10 rad/sec
3 = 100 rad/sec
As the initial slope of bode plot is 0 dB/decade and corner frequency 1 = 1 rad/
sec, the Slope after = 1 rad/sec or log = 0 is(0 + 20) =+ 20 dB/dec.
After corner frequency 2 = 10 rad/sec or log 2 = 1, the Slope is (+ 20 20) = 0
dB/dec.
Similarly after 3 = 100 rad/sec or log = 2 , the slope of plot is (0 20 # 2) = 40
dB/dec.
Hence (A) is correct option.
SOL 3.46

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Page 292
Given characteristic equation.

(s2 4) (s + 1) + K (s 1) = 0
K (s 1)
or
=0
1+ 2
(s 4) (s + 1)
So, the open loop transfer function for the system.
K (s 1)
,
no. of poles n =
G s =
(s 2) (s + 2) (s + 1)
no of zeroes m =
Steps for plotting the root-locus
(1) Root loci starts at s = , s = 1, s =
(2) n > m , therefore, number of branches of root locus b =
(2q + 1) 1 c
, q = ,1
nm
(I)
(2 # 0 + 1) 180c
= 90c
(3 1)
(II)
(2 # 1 + 1) 180c
= 270c
(3 1)
A
I
D
(4) The two asymptotes intersect on real axis at

/ oles / eroes = ( 1 2 + 2) (1) = 1
x =
31
nm
(5) Between two open-loop poles s = 1 and s = 2 there exist a break away
point.
.in
(s2 4) (s + i1a).co
K =
(s n1o) d
O
N
dK = 0
ds
w
ww
s = 1.5
SOL 3.47

Closed loop transfer function of the given system is,
s2 + 4
T (s) =
(s + 1) (s + 4)
T (j) =
(j) 2 + 4
(j + 1) (j + 4)
If system output is zero

4 2
T (j) =
=0
^ j + 1h (j + 4)
4 2 = 0
2 = 4
& = 2 rad/sec
SOL 3.48

From the given plot we can see that centroid C (point of intersection) where
asymptotes intersect on real axis) is 0
So for option (a)
G (s) = K3
s

Centroid =
SOL 3.49
o e / ero
=
nm
Page 293

Open loop transfer function is.
(s + )
G (s) =
s
j + 1
G (j) =
2
Phase crossover frequency can be calculated as.
+G (jp) = 180c
tan 1 (p) = 180c
p = 0
Gain margin of the system is.
G.M =
SOL 3.50
G (jp)
p +
p
p
p +

Characteristic equation for the given system
1 + G (s) H (s) = 0
(1 s)
=0
1+K
(1 + s)
A
I
D
O
N
(1 + s) + K (1 s) = 0
n
s ( K) + ( + K) = 0
o.i
c
.
For the system to be stable, coefficient
dia of characteristic equation should be of
o
.n
same sign.
w
w
1 K > 0 , K + >w
K < , K >
1 < K <
K <1
SOL 3.51

In the given block diagram
Steady state error is given as

ess = lim sE (s)
s"0
E (s) = R (s) Y (s)

Y (s) can be written as
Y (s) = :"R (s) Y (s), R (s)D
s
s+
= R (s) ;
Y (s) ;
s (s + ) s + E
s (s + )E
Y (s) ; +
= R (s) ; s E
s (s + )E
s (s + )

join the community
s
s + s+
s
E s =R s
s + s+
Page 294
Y s =R s
So,
R s
=R s ; s + s E
s + s+
For unit step input R s =
Steady state error ess = lim sE (s)

s"0
(s2 + 4s)
ess = lim =s 1 2
=0
s (s + 2s + 6)G
s"0
SOL 3.52

When it passes through negative real axis at that point phase angle is 180cSo
+G (j) H (j) = 180c
0.25j =
2
0.25j =
2
j . =
2
j=
2 # 0.25
A
I
D
O
N
.in
s = j = a.co
di function we get
Put s = in given open loop transfer
o
n
we. 0.25 # 2
w
G (s) H (s) s = w
=
= 0.5
2
So it passes through ( 0.5, j0)
SOL 3.53

Open loop transfer function of the system is given by.
G (s) H (s) = (K + 0.366s) ; 1 E
s (s + 1)
G (j) H (j) =
K+j .
j (j + )
Phase margin of the system is given as

PM = 60c = 180c + +G (jg) H (jg)
Where g " gain cross over frequency = 1 rad/sec
0.366g
So,
60c = 180c + tan 1 b
90c tan 1 (g)
K l
= 90c + tan 1 b 0.366 l tan 1 (1)
K
= 90c 45c + tan 1 b 0.366 l
K
15c = tan 1 b 0.366 l
K
.
K
= tan 15c

SOL 3.54
Page 295
K = 0.366 = 1.366
0.267
Given state equation.
o (t) = >0 1 H X (t) + >1H u (t)
X
0 3
0
Here
0 1
1
,B = > H
A =>
H
0 3
0
State transition matrix is given by,
(t) = L 1 [(sI A) 1]
s
s
=>
[sI A] = > H >
H
s
s+ H
R
V
S
W
s+
s s (s + )W
S
1
=
[sI A] =
>
W
sH S
s (s + )
S (s + ) W
T
X
(t) = L 1 [(sI A) 1]
1
=>
0
SOL 3.55
1
3
A
I
D
(1 e3t)
H
e3t
O
N

State transition equation is given by
.in
co
ia.
X (s) = F (s) X (0) + F (s) BUd(s)

.no
Here (s) " state transition matrix
w
R
Vww
S
W
s s (s + )W
S
(s) = S
W
S (s + ) W
T
X
X ( ) " initial condition
1
X( ) = > H
3
1
B => H
0
R
V
R
V
S
W
S
W
s s (s + )W
s (s + ) s W
S
S
So
X (s) = S
W> H + S
W> H s
S (s + ) W
S
s+ W
T
X V
X V
RT
R
S +
W
S
W
s s (s + )W
s+ W
S
S
=
+ s
=
+ >s H
S
W > Hs
S
W
+
S
W
s+
S
W
s+
T
X
TR
V X
S
W
s+ W
s
S
X (s) =
S
W
S s+
W
T
X
Taking inverse Laplace transform, we get state transition equation as,

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Page 296
t e t
X t => t H
e
SOL 3.56
Option () is correct
Phase margin of a system is the amount of additional phase lag required to bring
the system to the point of instability or ( 1, j0)
So here phase margin = 0c
SOL 3.57

Given transfer function is
F (s) =
F (s) =
s (s + s + )
s (s + ) (s + )
By partial fraction, we get

5
F (s) = 5 5 +
2s s + 1 2 (s + 2)
Taking inverse Laplace of F (s) we have
f (t) = 5 u (t) 5e t + 5 e 2t
2
2
SOL 3.58
A
I
D
So, the initial value of f (t) is given by

lim f (t) = 5 5 + 5 (1) = 0
2
2
t"0
n
In A.C techo-meter output voltage is directly
o.i proportional to differentiation of
c
.
rotor displacement.
dia
o
.n
e (t) \ d (t)
w
dt
w
O
N
d (t)
e (t) = Kt
dt
Taking Laplace tranformation on both sides of above equation
SOL 3.59
E (s) = Kt s (s)
So transfer function
E (s)
T.F =
= ^Kt h s
(s)
Given characteristic equation,
s s +s+ = 0
Applying Rouths method,
s
s
s
1
4
4 6 = 2.5
4
s0
6
There are two sign changes in the first column, so no. of right half poles is 2.
No. of roots in left half of s -plane = (3 2) = 1
SOL 3.60

Block diagram of the system is given as.

Page 297
From the figure we can see that

C s = :R s
+R sD +R s
s
C s =R s : + + D
s
s
C s
= +s+s
R s
s
SOL 3.61

Characteristic equation is given by,
sI A = 0
s
(sI A) = > H >
s
A
I
D
s
H = > s H = s
s , s =! 2
SOL 3.62
=0

For the given system, characteristic equation ican
n be written as,
.
o
c
1 + K (1 + sP) = 0
ia.
d
s (s + 2)
o
O
N
.n
s (s + ) + K ( + sP) = w
0w
w
s + s ( + KP) + K = 0
From the equation.
n = K = 5 rad/sec (given)
So,
K=
and
2n = 2 + KP
2 # 0.7 # 5 = 2 + 25P
or
P = 0.2
so K = , P = 0.2
SOL 3.63

Unit - impulse response of the system is given as,
c (t) = 12.5e 6t sin 8t , t $
So transfer function of the system.
H (s) = L c (t)
12.5 # 8
(s + 6) 2 + (8) 2
H (s) =
s + s+
Steady state value of output for unit step input,
lim y (t) = lim sY (s) = lim sH (s) R (s)
t"3
s"0
s"0
100
1 = 1.0
= lim s ; 2
E
s
s"0
s + 12s + 100

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SOL 3.64
Page 298

System response is.
H (s) = s
s+
j
H (j) =
j +
Amplitude response
+1
Given input frequency = 1 rad/sec.
1
So
H (j) = rad/sec =
= 1
1+1
2
Phase response
H (j) =
SOL 3.65
h () = 90c tan 1 ()
h () = = 90c tan 1 (1) = 45c
So the output of the system is
y (t) = H (j) x (t h) = 1 sin (t 45c)
2
Given open loop transfer function
ja + 1
G (j) =
(j) 2
Gain crossover frequency (g) for the system.
A
I
D
O
N
G (jg) = 1
a g +
g
=1
no
w.
.in
co
ia.
ww
a g + = g
g a g = 0
Phase margin of the system is
SOL 3.66
PM = 45c = 180c + +G (jg)

45c = 180c + tan 1 (g a) 180c
tan 1 (g a) = 45c
g a = 1
From equation (1) and (2)
1 11 = 0
a
a = 1 & a = 0.841
2
Given system equation is.
d 2 x + dx + x = 12 (1 e 2t)
dt
dt 2
Taking Laplace transform on both side.
s2 X (s) + sX (s) + X (s) = 12 :1 1 D
s s+2
...(1)
(2)
(s2 + 6s + 5) X (s) = 12 ; 2 E
s (s + 2)

Page 299
System transfer function is

X s =
s s+
s+
s+
Response of the system as t " 3 is given by

lim f (t) = lim sF (s) (final value theorem)
t"3
s"0
24
= lim s ;
s"0
s (s + 2) (s + 5) (s + 1)E
=
SOL 3.67
24 = 2.4
2#5

Transfer function of lead compensator is given by.
K a1 + s k
a
H (s) =
s
a1 + b k
R
V
S + j a a kW
H (j) = K S
W
SS + j a kWW
b
T
X
So, phase response of the compensator is.
h () = tan 1 a k tan 1 a k
a
b
A
I
D
O
N
J N
1 K a
b O = tani1n (b a)
= tan
2
KK
O
o. ; ab + 2 E
1 + O ia.c
ab Pd
L
o
h should be positive for phase lead
.ncompensation
w
w(b a)
So,
h () = tan 1w;
>0
ab + 2 E
b >a
SOL 3.68

Since there is no external input, so state is given by
X (t) = f (t) X (0)
(t) "state transition matrix
X "initial condition
So
e
x (t) = >
e t
H> H
2e 2t
x (t) = > t H
3e
At t = , state of the system
0.271
2e 2
x (t) t = = > 1H = >
1.100H
2e
SOL 3.69

Given equation
d x + dx + x = 10 + 5e 4t + 2e 5t
dt
dt
Taking Laplace on both sides we have

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s X s + sX s +
X s =
s+
s+
s+
s+ + s s+
(s2 + 1 s + 1 ) X (s) =
2
18
s s+
s+
System response is,
s+
s+ + s s+ + s s+
X s =
s s+
s + bs + s + l
=
s+
s+
s s+
+ s s+
s+
Page 300
+ s s+
+ s s+
bs + lbs + l
We know that for a system having many poles, nearness of the poles towards
imaginary axis in s -plane dominates the nature of time response. So here time
constant given by two poles which are nearest to imaginary axis.
Poles nearest to imaginary axis
s = 1 , s =
3
So, time constants )
SOL 3.70
A
I
D
1 = 3 sec
2 = 6 sec

Steady state error for a system is given by
sR (s)
ess = lim
.in
s " 0 1 + G (s) H (s)
.co
O
N
Where input R (s) =
G (s) = b
s+
ia
d
(unit step)
no
.
w
ww
lb s + l
H (s) = 1
So
SOL 3.71
(unity feedback)
sb 1 l
s
ess = lim
= 15
= 15
60
15
+
45
45
s"0
1+
(s + 15) (s + 1)
%ess = 15 # 100 = 25%

60
Characteristic equation is given by
Here
1 + G (s) H (s) = 0
H (s) = 1
(unity feedback)
G (s) = b
So,
s + lb s + l
1 + b 3 lb 15 l = 0
s + 15 s + 1
(s + 15) (s + 1) + 45 = 0
=0
s + s+
(s + 6) (s + 10) = 0
s = 6, 10
SOL 3.72

Page 301
Given equation can be written as,

d = d K + K V
J dt LJ
LJ a
dt
Here state variables are defined as,
d = x
dt
=x
So state equation is
In matrix form
So matrix P is
xo = B x K x + K Va
J
LJ
LJ
xo = d = x
dt
K LJ
xo
B J K LJ x
>o H = >
>x H + >
H Va
H
x
R
V
Sd W
S dt W = P >dH + QVa
dt
S d W
S dt W
T
X
A
I
D
B J K
>
SOL 3.73
LJ
O
N

in
Characteristic equation of the system is given
co. by
a.
di
1 + GH = 0
o
n
w.
K
w
=
0
1+
s (s + 2) (s + 4) w
s (s + ) (s + ) + K = 0
s + s + s+K = 0
Applying rouths criteria for stability
s
s
s
s
SOL 3.74
6
K 48
6
System becomes unstable if K 48 = 0 & K = 8

6
The maximum error between the exact and asymptotic plot occurs at corner
frequency.
Here exact gain(dB) at = 0.5a is given by
1 + 2
a
(0.5a) 2 1/2
= 20 log K 20 log ;1 +
E
a2
= 20 log K 0.96
Gain(dB) calculated from asymptotic plot at = 0.5a is
gain(dB) = 0.5a = 20 log K 20 log

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Page 302
= 20 log K
Error in gain (dB) = 20 log K (20 log K 0.96) dB = 0.96 dB
Similarly exact phase angle at = 0.5a is.
h () = . a = tan 1 a k = tan 1 b 0.5a l = 26.56c
a
a
Phase angle calculated from asymptotic plot at ( = 0.5a) is 22.5c
Error in phase angle = 22.5 ( 26.56c) = 4.9c
SOL 3.75

Given block diagram
Given block diagram can be reduced as
O
N
A
I
D
.in
co
ia.
3 = s+
1
1 + b l .no d
sw
w
w1
bs l
G =
=
s+
1 + b 1 l 12
s
Further reducing the block diagram.
Where
G =
1
bs l
2G1 G2
1 + (2G1 G2) 9
(2) b 1 lb 1 l
s + 3 s + 12
=
1 + (2) b 1 lb 1 l (9)
s + 3 s + 12
Y (s) =
2
=
(s + 3) (s + 12) + 18
s + s+
1
2
=
=
s
(s + 9) (s + 6)
27 a1 + ka1 + s k
9
6
Given state equation is,
o = AX
X
=
SOL 3.76

Page 303
Taking Laplace transform on both sides of the equation,

sX s X
= AX s
(sI A) X (s) = X
X s = (sI A) 1 X (0) = (s) X (0)
Where (t) = L- 1 [ (s)] = L 1 [(sI A) 1] is defined as state transition matrix
SOL 3.77

State equation of the system is given as,
o = >2 3H X + >1H u
X
0 5
0
Here
2 3
A = > H, B = > H
0 5
Check for controllability:

2 3 1
2
AB = > H> H = > H
0 5 0
0
1 2
U = [B : AB] = > H
0 0
A
I
D
U = (1 # 0 2 # 0) = 0
Matrix U is singular, so the system is uncontrollable.
Check for Stability:
Characteristic equation of the system is obtained as,
O
N
sI A = 0
n
o.i
s
c
.
(sI A) = > H > H ia
s
d
no
.
s w
w
=>
ws H
sI A = (s 2) (s 5) = 0
s= ,s=
There are two R.H.S Poles in the system so it is unstable.
SOL 3.78

Given open loop transfer function,
no of poles = 2
G (s) = K ,
s
no of zeroes = 0
For plotting root locus:
(1) Poles lie at s1, s =
(2) So the root loci starts (K = 0) from s = 0 and s = 0
(3) As there is no open-loop zero, root loci terminates (K = 3) at infinity.
(2q + 1) 1 0c
, q = 0, 1
nm
So the two asymptotes are at an angle of
(i)
(2 # 0 + 1) 180c
= 90c
2
(2 # 1 + 1) 180c
(ii)
= 270c
2
(5) The asymptotes intersect on real axis at a point given by

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x=
Page 304
oles / e os
= 00 = 0
nm
2
(6) Break away points

1 + K2 = 0
s
K = s
dK = 2s = 0 & s =
ds
So the root locus plot is.
SOL 3.79

System is described as.
d y dy
= du + u
+
dt
dt
dt
A
I
D
Taking Laplace transform on both sides.
s Y (s) + sY (s) = sU (s) + U (s)

(s2 + s) Y (s) = (s + 2) U (s)
n
So, the transfer function is
o.i
c
.
Y (s)
(s + 2)
dia
T.F =
= 2
o
U (s) (s + s)w.n
SOL 3.80
O
N
w
w
Here, we have
2 0
A = > H, B = > H, C =
0 4
We know that transfer function of the system is given by.

Y (s)
G (s) =
= C (sI A) B
U (s)
s
[sI A ] = >
sH >
s
H =>
s H
(s 4)
0
1
> 0
(s 2)H
(s 2) (s 4)
R
V
S 1
0 W
(s 2)
W
= SS
1 W
S 0
(s 4)W
T
X
R
V
R
V
S 1 W
S 1
0 W1
(s 2)
S(s 2)W
W
= [4 0] SS
1 W>1H = [4 0] S 1 W
S(s 4)W
S 0
(s 4)W
T
X
X
T
4
=
(s 2)
(sI A) 1 =
So,
Y (s)
U (s)
Y (s)
U (s)

Here input is unit impulse so U s =

Y s = 4
(s 2)
Page 305
and output
Taking inverse Laplace transfer we get output

y t = 4e2t
SOL 3.81

Given state equation
R
V
S0 1 0 0W
S
W
o = S0 0 1 0W X
X
S0 0 0 1W
S0 0 0 1W
RT
VX
S0 1 0 0W
S0 0 1 0W
Here
A =S
W
S0 0 0 1W
S0 0 0 1W
T obtained
X as
Eigen value can be
A I = 0
R
V R
V
S0 1 0 0W S 0 0 0W
S0 0 1 0W S0 0 0W
(A I) = S
WS
W
S0 0 0 1W S0 0 0W
S0 0 0 1W S0 0 0 W
T
X T
X
n
R
V
o.i
c
1
0
0
.
S
W ia
S 0 1
0 nWo d
=S
w1. WW
w
S 0 0
w
S 0 0 0 1 W
T
X
A I = 3 (1 ) = 0
1, 2, 3 = 0 , 4 = 1
A
I
D
O
N
or
SOL 3.82

Input-output relationship is given as
d y
dy
+
+ y = 5 du 3u
dt
dt
dt
Taking Laplace transform on both sides with zero initial condition.
Y (s) = 5sU (s) 3U (s)
(s + 2s + 10) Y (s) = (5s 3) U (s)
(5s 3)
Output
Y (s) = 2
U (s)
(s + 2s + 10)
With no input and with given initial conditions, output is obtained as
d y
dy
+
+ y =0
dt
dt
s Y (s) + sY (s) +
2
Taking Laplace transform (with initial conditions)

[s2 Y (s) sy (0) y' (0)] + 2 [sY (s) y (0)] + 10Y (s) = 0
Given that y ( ) = , y ( ) =
[s2 Y (s) s ( 4)] + 2 (s 1) + 10Y (s) = 0

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Page 306
= (s 2)
(s 2)
Y s = 2
(s + 2s + 10)
Output in both cases are same so
(5s 3)
(s 2)
U (s) = 2
(s2 + 2s + 10)
(s + 2s + 10)
Y s s + s+
U s =
(s 2)
(5s 10)
=1
5 (5s 3)
(5s 3)
(5s 3)
7
= 1=
5 5s 3
(5s 3)G
7
U s = 1 ;1
5
(5s 3)E
Taking inverse Laplace transform, input is
u t = 1 : (t) 5 e3/5t u (t)D
5
5
= 1 (t) 7 e3/5t u (t)
5
25
SOL 3.83
A
I
D

d y dy
+
y = u (t) e t
dt
dt
State variable representation is given as
o = AX + Bu
X
Or
Here
O
N
...(1)
o.i
x1
xo1
c
.
> o H = A >x H + Bu ia
x
od
x1 = y , x = b
.
ww
dy
t
yw
le
dt
dx1 = dy = x e t + y = x e t + x
1
dt
dt
dx1 = x + x e t + ( ) u (t)
or
1
dt
Similarly
2
dx2 = d y et + dy et et dy yet
dt
dt
dt
dt 2
d 2y
Put
from equation (1)
dt 2
dx2 = u (t) e t dy + 2y et yet
So,
:
D
dt
dt
= u (t)
...(2)
dy t
e + 2yet yet
dt
= u (t) x2 e t + y et + yet
= u (t) x2
dx2 = 0 x + u (t)
2
dt
...(3)
From equation (2) and (3) state variable representation is

0
xo1
1 e t x 1
>o H = >
>x H + >1H u (t)
H
x2
0 1 2

SOL 3.84
Page 307

Characteristic equation of the system
1 + G (s) = 0
2 (s + )
=0
1+
s (s + 2) (s + 10)
s (s + ) (s +
) + (s + ) = 0
s + s + s+ s+ = 0
s + s + s+ = 0
2
=0
1+ 3
s + 12s2 + 22s
No of poles n = 3
No. of zeros m = 0
Angle of asymptotes
( q+ )
c
A =
q=
nm
A =
(2q + 1) 180c
= (2q + 1) 60c
3
A
I
D
A = 60c, 180c, 300c

SOL 3.85

Asymptotes intercepts at real axis at the point
/ real arts of oles / real arts of zeros
C =
nm
in
Poles at
no
.
ww
C = 0 2 10 0 = 4
30
Break away points
d = 0
ds
So
SOL 3.86
O
N
s =0
s = 2
s = 10
o.
.c
dia
= 1 [s3 + 12s2 + 22s]

2
d = 1 [3s2 + 24s + 22] = 0
2
ds
s s = 1.056, 6.9433
SOL 3.87
Option ( ) is correct.
SOL 3.88

Given state equation
o = > 3 1 H X
X
0 2
Or
o = AX , where A = >
X
Taking Laplace transform on both sides.

sX (s) X ( ) = AX (s)

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Page 308
X s sI A = X
X s = (sI A) 1 X (0)
Steady state value of X is given by
xss = lim sX (s) = lim s (sI A) 1 X (0)
s"0
s
(sI A) = >
s"0
>
H
s
s+
=>
H
s+ H
s+2 1
1
> 0 s + 3H
(s + 3) (s + 2)
R
V
1
S 1
W
(s + 3) (s + 2) (s + 3)W
S
=S
W
1
S 0
(s + 2) W
T value
X
So the steady state
R
V
1
S 1
W
(s + 3) (s + 2) (s + 3)W 10
S
xss = lim s S
W> 10H
1
s"0
S 0
(s + 2) W
TR
XV
10
10
S
W
0
(s + 3) (s + 2) (s + 3)W
S
=> H
= lim s S
W
0
s"0
10
S
W
(s + 2)
T
X
n So no. of poles at origin is 2.
Initial slope of the bode plot is 40 cdB/dec.
o.i
.
Then slope increased by 20 dB/dec.
diaat = 2 rad/sec, so one poles lies at this
o
.n changes by + 20 dB/dec, so there is one zero
frequency. At = 5 rad/sec slope
w
ww slope decrease by 20 dB/dec at = 25 so one
lying at this frequency. Further
pole of the system is lying at this frequency.
Transfer function
K (s + )
H (s) = 2
s (s + 2) (s + 2 )
At = 0.1, gain is 54 dB, so
5K
54 = 20 log
(0.1) 2 (2) (25)
(sI A 1) =
SOL 3.89
A
I
D
O
N
K = 50
H (s) =
SOL 3.90
5 (s + 5)
s (s + 2) (s + 25)
2

Open loop transfer function of the system is
G (s) =
G (j) =
Magnitude
)2
s (s +
4
j (
2 + j2 )
10 4
G (j) =
(100 2) 2 + 4002
j (j +
)2
At = 20 rad/sec

Page 309
10 4
20 9 # 10 4 + 16 # 10 4
10 4
=1
=
20 # 5 # 102
Magnitude in dB = 20 log 10 G (j20) = 20 log 10 1 = 0 dB
G j
SOL 3.91

Since G (j ) = at = 20 rad/sec, So this is the gain cross-over frequency
g = 20 rad/sec
Phase margin PM = 180c + +G (jg)
20 g
+G (jg) = 90c tan 1 =
100 g2 G
PM = 180 90c tan 1 ; 20 # 20 2 E
100 (20)
= 36.86c
SOL 3.92

To calculate the gain margin, first we have to obtain phase cross over frequency
(p).
At phase cross over frequency
A
I
D
+G (jp) = 180c
20p
= 180c
90c tan 1 =
100 2p G
20p
n
= 90c
tan 1 =
o.i
100 2p G
c
.
dia
rad/sec.
100 2p = 0 & p = 10
o
.n
w
1
Gain margin in dB =
20 log 10 e
ww
G (jp) o
10 4
G (jp) = G (j ) =
10 (100 100) 2 + 400 (10) 2
O
N
10 4
=5
10 # 2 # 102
G.M. = 20 log 10 b 1 l = 13.97 dB
5
Since gain margin and phase margin are negative, so the system is unstable.
=
SOL 3.93
SOL 3.94

Given characteristic equation
s + s + Ks + K = 0
K (s + 1)
=0
1+ 3
s + s2
K (s + 1)
=0
1+ 2
s (s + 2)
so open loop transfer function is
K (s + )
G (s) =
s (s + )
root-locus is obtained in following steps:
1. Root-loci starts(K = ) at s = , s =
and s =

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2.
3.
4.
There is one zero at s = , so one of root-loci terminates at s =

other two terminates at infinity
No. of poles n = 3 , no of zeros ,m =
Break - Away points
Page 310
and
dK = 0
ds
Asymptotes meets on real axis at a point C
/ poles / zeros
C =
nm
(0 + 0 2) ( 1)
= 0.5
=
31
***********
A
I
D
O
N
no
w.
.in
co
ia.
ww


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The Bode plot of a transfer function G ^s h is shown in the figure below.

in 1 rad/s and 10 rad/s respectiveThe gain _20 log G ^s h i is 32 dB and 8 dBo.at

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This transfer function has

(B) Two poles and one zero

Figure shows a feedback system where K > 0

The range of K for which the system is stable will be given by

The transfer function of a system is given as

Statement for Linked Answer Question 27 and 28.

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The state space equation of a system is described by Xo = AX + Bu Y = CX

The system shown in the figure is

The system 900/s (s + 1) (s + 9) is to be such that its gain-crossover frequency

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lead of 45c at the frequency of 3 rad/s

The system shown in figure below

can be reduced to the form

(C) X = c s + c0 Y = (b s + b0) / (s2 + a s + a0) Z =

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For a step-input ei , the overshoot in the output e will be

If the above step response is to be observed on a non-storage CRO, then it

the matrix A in the state space form Xo = AX + Bu is equal to

Consider the following Nyquist plots of loop transfer functions over = 0 to

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(A) (1) only

(B) all, except (1)

The Bode magnitude plot H (j) =

A closed-loop system has the characteristic function

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