6

RW- T2

RANK IMPROVEMENT COURSE

EE | EC

Session 2016 -17

Control Systems

S.No. : 130816_SK1

ANSWERS
1.

(b)

7.

(a)

13.

(c)

19.

(d)

25.

(a)

2.

(a)

8.

(c)

14.

(b)

20.

(b)

26.

(d)

3.

(c)

9.

(d)

15.

(c)

21.

(b)

27.

(a)

4.

(d)

10.

(a)

16.

(b)

22.

(c)

28.

(b)

5.

(d)

11.

(c)

17.

(a)

23.

(d)

29.

(b)

6.

(a)

12.

(b)

18.

(d)

24.

(c)

30.

(d)

EXPLANATIONS
1.

(b)
Intersection with negative real axis is the magnitude at that frequency.

180 = 90 0.1

180
pc

pc = 15.7 rad/sec.

M =

pc

j0.1pc

pc

= 0.2

So the intersection with negative real axis is 0.2

2.

(a)
0 2
A=

2 0

for eigen values

sI A = 0
s 2
=0
2 s

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RIC-16 | Control Systems

s2 + 4 = 0
s = 2j
Poles on imaginary axis, therefore system is undamped.
3.

(c)

P = 12 ; z = 4
So highest slope
= 20 (p z) = 20 (12 4)
= 20 8 = 160 db/decade
4.

(d)
Since the bode plot will be as

M
120 db

20 db/decade

decade
200 k
= 0.2 M
120 db

octave
2M

4M

120-20
100-6
= 100 db = 94 db

As 20db/decade = 6db/octave
5.

(d)
s3

2 2

4 4

s1

s
s

A(s) = 4s2 + 4 = 0
s=1
s=j
No sign change.
6.

(a)
k +s +1
k
+1 =
s +1
s +1

k=1
7.

(a)
Only (a) is a valid root loci since in (b), (c) and (d) the root loci lies to the left of an even number of zeros and
poles. Hence option (a) is correct.

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8
8.

(c)
The location of the poles (i.e., the points at which the root locus starts) are at s = 0 and s = 1. The location
of the zero (i.e., the points at which the root locus ends) are at s = 2 and s = .
Hence,

G(s) =

K (s + 2)
s(s + 1)

9.

(d)
It is immune to instability is the incorrect statement.

10.

(a)
For stability the dB value of gain should be negative. After adding +5 dB, gain is still negative,
1
1
or 20 log
= 20 log GH
GH
GH
So as log it is negative. GH is always less than 1 so that GM becomes positive.

GM =

11.

(c)
From the equations, we have
1 0
[A] =

0 2
[C] = [1, 2]
Check for Controllability:

0
[B] =
1
[D] = [0]

1 0 0 0
[AB] =
=
0 2 1 2
0 0
[B AB] =

1 2
Whose determinant is zero. Hence the system is not controllable.
Test for Obser
vability:
Observability:
[C] = [1 2]
1 0
[CA] = [1 2]
= [1 4]
0 2
C
1 2
CA =

1 4
1 2
The determinant =
= 2 0
1 4

Hence,

Hence the system is completely observable.

Hence choice (c) is correct.

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RIC-16 | Control Systems

12.

(b)
Since the slope of the plot at the origin is zero, there are no poles at the origin. The only corner frequency
is at
log10 = 1;

= 10 rad/sec

G(s) =

Hence,

K
s + 10

At initial slope,`
20 log (K) = 20;
K = 10

G(s) =

Hence,

13.

10
100
=
s

(s + 10)
+ 1

10

(c)
The characteristic equation is
s 5
1+
.K = 0
s + 4

(s + 4) + K(s 5) = 0
s(1 + K) + (4 5 K) = 0
S1 1 + K
S 0 4 5K

45K 0
5K 4

14.

4
5

(b)
The state equations can be written as
x&1(t )
a b x1(t )
& =
+

x2 (t )
c d x2 (t )
Since,
x1(t) = x2(t);
a+b=c+d
The controllability matrix is

= [B AB];

e
e u(t )

e
B = and
e

a b e (a + b)e
e (a + b)e
AB =
=
e = (c + d )e ;

c
d

e (c + d )e
Let
= e2 (c + d) e2 (a + b) = 0
Since
a + b = c + d.
Hence the system is uncontrollable. We cannot say anything further about the stability or observability of
the system. Hence choice (b) is correct.

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10
15.

(c)
s3
s2

12 A
s1
3
s0
A

12 A > 0
A < 12 and A > 0
0 < A < 12
16.

(b)
Initial = 40 dB/decade
20 N = 40
N=2

Hence,
Type of the system,
For type 2 system;
steady state error for
(a)
step input ess = 0
(b)
ramp input ess = 0
for (c)

Parabolic input ess =

s 2G(s) = finite
Ka = slim
0

and
17.

1
Ka

(a)
From figure (a)
Eliminating first loop
y
=
u

10
s (s + 21)
10
= 2
10
s + 21s + 10
1+
s (s + 21)
u

For the figure (b)

Comparing,

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10
s + 21

1
s

10
s (s + 1)
y
10
=
= 2
10
u
s + s + 10H
1+
H
s (s + 1)

s2 + 21s + 10 = s2 + s + 10H,
10H = 20s + 10,
H = 2s + 1

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RIC-16 | Control Systems

18.

(d)
From log -magnitude plot,
corner frequency at
log =
or
=
Hence pole at
=
and gain;
log G =
Hence transfer fuction

19.

TF =

11

1;
0.1;
0.1,
1, G = 10,

10
1
=
(1+ s / 0.1)
s + 0.1

(d)
Centroid, = 2
Break away point = 2. In choice (c), break away point is between 1 and 2 and centroid = 2.

20.

(b)
Transportation lag causes instability in a system.

21.

(b)
At = 0, M = , = 90. So there is a pole at origin.
1 + sT
TF will be =

So,

The addition of a zero pulls high frequency portion of the polar plot in the counter clockwise direction.
Hence, pole is nearer to origin than zero.
22.

(c)
TD the delay time, is not a desirable feature. It is the time taken by the system before starting to respond.
Hence. TS/TD cannot be less than 1 as the system is unstable in this case. So the ratio TS /TD should be
made as large as possible to make the sytem controllable.Therefore, the answer at (c) (greater than 10) is
appropriate.

23.

(d)
(s + 3 + j4) (s + 3 j4) = 0
(s + 3)2 (j4)2 = 0; s2 + 6s + 9 + 16 = 0; s2 + 6s + 25 = 0
n =
=

24.

(c)

25 ;

n = 5 rad/sec; 2n = 6

6
= 0.6
25

y(t ) = AM sin (2t + )

Where,

A = 2, & M =

At

= 2, M =

and

1
2 2

1
1
= tan = tan (1 / 1) = 45 = /4
2

y(t ) =

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1
j + 2

1
sin(2t /4)
2

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12
25.

(a)

G(s) =

1
sT1 (1 + sT2 )

1
sT1 (1 + sT2 )
1
1
TF =
=
= 2
1
sT1 (1 + sT2 ) + 1
s T1T2 + sT1 + 1
1+
sT1 (1 + sT2 )

n =
=
for << 1,
26.

1
2 s
1
+
T1T2 s +
T2 T1T2

1
;
TT
12
1 T1
2 T2

T1<< T2

(d)
From plot,
Hence
and
Hence

intial slope =

(60 0) dB
= 20 dB / decade
2 1

type = 1
pole at = 0.05, zero at = 0.1

T(s) =

K (1+ s / 0.1)
s(1+ s/ 0.05)

From initial slope line equation

60 dB = 20 log K 20 log
At = 0.01
60 = 20 log K 20 log (0.01)

K = 10
Now

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T(s) =

10(1+ s / 0.1) 5(s + 0.1)

=
s(1+ s / 0.05) s(s+ 0.05)

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RIC-16 | Control Systems

27.

(a)
Zeros
Poles:
The transfer function is

s = 2
s = 1 + j2, 1 j 2

G(s) =
K=

where

K (s + 2)
(s + 1 j 2)(s + 1+ j 2)
multiplication of vector lengths drawn from all poles
multiplication of vector lengths drawn from all zeros
10 2
=2
5

G(s = j1) =
=

2( j1+ 2)
2(2 + j1)
=
( j1+ 1 j 2)( j1+ 1+ j 2) (1 j1)(1+ j 3)
2 2.236 26.6
= 10
1.4142 45 3.162 71.57

Hence choice (a) is correct.

28.

(b)
Characteristic equation
1 + G(s) H(s) = 0

1+

11
3

s + 4s 2 + 3s + 1

=0

or, s3 + 4s2 + 3s + 1 + 11 = 0
Routh array
S
S
S
S

(11 + 1)

1
0

12(11 + 1)
4

(11 + 1)

for stability,

or
or

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12 (11 + 1)
0
4
12 (11 + 1)
1

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13

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29.

(b)
The transfer function for the given block diagram is

C(s)
G1(s)G2 (s)
N (s)G2 (s)
+
=
=
R (s)
1 + G1(s)G2 (s)H (s) 1 + G1(s)G2 (s)H (s)

N(s)
G1(s)
1+ G1(s)G2 (s)H(s)

G1(s)G2 (s) 1+

Thus, In order to reduce the effect of noise element the gain G1(s) should be increased.
30.

(d)

T (s) =

Also,
or

K + 1
2
s

s + 1
5

26 dB = 0.1 = 20 log K 20 log

K=2

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