Y(s) = CX(s)

So Y(s) = C(sI - A)-1BU(s)

( )
( )
s
s
U Y
T.F = = C(sI - A)-1B
(sI - A)
s
0 s
0 0
0
1
= > H-> -2H
s
0 s
1
= 2
> + H
(sI - A)-1
s(s )
s
2 s
1 2
= + 0
+ 1
> H
( )
( )
s s s
s
1
0
2
1
2
= 1
+
+
R
T
SSSSS
V
X
WWWWW
Transfer function
G (s) = C[sI - A]-1B
( )
( )
s s s
s
1 0
1
0
2
1
2
1

0
= 1
+
+
R
T
SSSSS
8 >
V
X
WWWWW
B H
( )
( )
s s
s
1 0
2
1
2
= 1
+
+
R
T
SSSSS
8
V
X
WWWWW
B
s(s 2)
= 1+
SOL 6.28 Option (A) is correct.
Steady state error is given by,
ess
1 () ()
( )
lim
G s H s
sR s
s 0
= + "= G
Here R(s) [r(t)] s
1 = L = (Unit step input)
G(s)
s(s 2)
= 1+
H(s) = 1 (Unity feed back)
So, ess
1
( 2)
1
1
lim
s s
s s
s 0
=
+ +

"
b l R
T
SSSS
V
X
WWWW
( 2) 1
( 2)
lim
s s
s s
s 0
= + +
+
"= G = 0
SOL 6.29 Option (D) is correct.
For input u1, the system is (u2 = 0)
System response is
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CHAP 6 CONTROL SYSTEMS PAGE 351
H1(s)
( )
( )
( )
( )
( )
s
s
s
s
s
1
2
1
1
1
mplifying
G(j?) j j
j
j j
j
j j
1 j
1
1
1 1
2
1
2 2
? # ? # #
?
? ?
?
? ?
= ? + + -

c mc mc - m
1
1
4
j j 2 j
?2 2 2
?
?
?
?
= - ?
+
+
c mc mc - m
( )( )
j ( j )
1 4
2 3
2 2 2
2
? ? ?
= ? ? ?
+ +
- - ( )( ) ( )( )
j ( )
1 4
3
1 4
2
2 2 2
2
2 2 2
2
? ? ?
?
? ? ?
= ? ?
+ +
- +
+ +
G(j?) = x + iy
x Re[G(j )] 1 4
3
4 3
0 #
= ? = - =?" +
SOL 6.31 Option (D) is correct.
Let response of the un-compensated system is
HUC(s)
s(s 1) (s 9)
= 900 + +
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PAGE 352 CONTROL SYSTEMS CHAP 6
Response of compensated system.
HC(s)
( )( )

( )
s s s
G s
1 9
900
= + + C
Where GC (s) " Response of compensator
Given that gain-crossover frequency of compensated system is same as phase
crossover frequency of un-compensated system
So,
(?g)compensated = (?p)uncompensated
-180c HUC(j p) = + ?
-180c 90 tan ( p) tan 9
=- c - -1 ? - -1a?p k
90c tan
1 9
9
p
p
p
1
?2
? ?
=
+ J
L
KKK
N
P
OOO
1 9
p
?2 - = 0
?p = 3 rad/sec.
So,
Characteristic equation for the given system,
1
( )
( )
s
K s
8
3
2 +
+
+
= 0
(s + 8)2+ K(s + 3) = 0
s2+ (16 + K)s + (64 + 3K) = 0
By applying Routh s criteria.
s2 1 64 + 3K
s1 16 + K 0
s0 64 + 3K
For system to be oscillatory
16 + K = 0 & K =- 16
Auxiliary equation A(s) = s2+ (64 + 3K) = 0
& s2 64 3 ( 16) + + # - = 0
s2+ 64 - 48 = 0

s2 =- 16 & j? = 4j
? = 4 rad/sec
SOL 6.33 Option (D) is correct.
From the given block diagram we can obtain signal flow graph of the system.
Transfer function from the signal flow graph is written as
T.F
s
a
s
a
s
Pb
s
Pb
s
c P
s
c P
1 0 0 1
1
1
2 2
2
0
=
+ + - +
( ) ( )
( )
s as a Pb sb
c csP
2
1 0 0 1
= 0 1
+ + - +
+
( )
( )
s as a
P b sb
s as a
c csP
1
2
1 0
2
1 0
0 1
0 1
=
+ +
+
+ +
+
^ h
from the given reduced form transfer
( )(s