WALJAT COLLEGES OF APPLIED SCIENCES

In academic partnership with

BIRLA INSTITUTE OF TECHNOLOGY
Question Bank-II
Course: EC Session: 2005-2006

Subject: EE6307 Linear Control Theory Semester: VI

________________________________________________________________________

1. What do you understand by a control system? Compare open loop and closed loop
systems, and quote a few examples of practical importance of each group.
2. What is a servomechanism? Explain with the aid of a suitable figure.
3. Give the basic requirement of a servomotor. Examine the characteristic features of
ac and dc servomotors.
4. What do you understand by a control system? Compare open loop and closed loop
systems, and quote a few examples of practical importance of each group.
5. What is a servomechanism? Explain with the aid of a suitable figure.
6. Give the basic requirement of a servomotor. Examine the characteristic features of ac
and dc servomotors.
7. Discuss the effect of feedback on:-
i. stability ii. Gain iii. Bandwidth iv. Noise.
8. Draw an illustrative schematic diagram of an ac position control system and
explain its functioning.
9. Find the transfer function of an armature controlled dc motor?
10. What is compensation? What are the different types of compensation? Explain
phase lag compensator with the help of a figure and show that its behavior is like
a low pass filter.
11. Draw an illustrative schematic diagram of an ac position control system and
explain its functioning.
12. What are various standard test signals in control engineering? Explain.
13. A thermometer requires 1 minute to indicate 98% of the response to a step input.
Assuming the thermometer to be a first order system, find the time constant.

Prepared by Mohammad Mohatram

 If the thermometer is placed in a bath, the temperature of which is changing
?linearly at a rate of 100 / min., how much error does the thermometer show
14. Consider the unit step response of unity feedback control system whose open loop

1
transfer function is G ( s )  . Obtain the rise time, peak time, maximum
s  s  1

overshoot and settling time.

C (s)  n2
15. Consider the closed loop control system given by  .
R( s ) s 2  2 n s   n2
Determine the value of ξ and ωn so that the system responds to a step input with
approximately 5% overshoot and with a settling time of 2 seconds. (Use 2%
criterion).
16. Obtain the unit impulse response and the unit step response of a unity feedback

2s  1
system whose open loop transfer function is G ( s )  .
s2
Y ( s)
17. Consider the system shown in Fig.(). Show that the transfer function has a
X ( s)

zero in the right half s-plane. Then obtain y(t) when x(t) is unit step. Plot y(t)
versus t.

6
s2 +
Y(s)
X(s)

-
4
s 1
.()Fig

18. Consider the unity feedback control system with the following open loop transfer
function:
10
G (s)  . Is this system stable?
s  s  1 2 s  3

19. Consider the unity feedback control system with the closed loop transfer function:

Prepared by Mohammad Mohatram

 Ks  b
G(s) 
 s  as  b . Determine the open loop transfer function G(s). Show that the
2

1 aK
steady state error in the unit ramp response is given by ess   .
Kv b

20. Consider a unity feedback control system whose open loop transfer function is
0.4 s  1
G ( s)  . Obtain the response to a unit step input. What is the rise time for
s  s  0.6 

this system? What is the maximum overshoot and what is the time constant at which
it occurs measured from the instant the step is applied?
21. Derive an expression for maximum percentage overshoot in terms of the damping
ratio and plot the curve on a graph paper to scale showing % overshooting versus

C (s)  n2
ξ for the system whose transfer function is 
R( s ) s 2  2 n s   n2
22. Determine the position, velocity and acceleration constants for the following unity
feedback control systems. The open loop transfer functions are given by
50 101  2 s 1  4 s 
a. G ( s )  b. G ( s ) 
1  0.1s 1  2s  , 
s s 2  2 s  10 
Also determine the steady state errors for a unit step input, a unit ramp input, t and an
acceleration input t2/2
23. The open loop transfer function of a servo system with unity feedback is given by

500
G (s)  . Evaluate the error series for the system. Also determine the
s  s  0.1s 

steady state error of the system when the following inputs are applied:
t2
a. r (t )  , b) r (t )  1  2t  t 2
2
24. Determine the damping ratio, undamped natural frequency, and the frequency of
the oscillatory components of the transient response:
10
C (s) 
s  s  3 s  4 

Prepared by Mohammad Mohatram

25. For each of the system with open loop transfer function given below find the
steady state position error if it exists for: a) a step displacement of θ(t) = 10u(t)
radians, b) a ramp input of 1 rad/sec.
1 5 s  1
a). G ( s )  b) G ( s) 
 s  2 s  4 s 2  s  2

26. The characteristic equation is: s(s2 + 8s + a ) + 4(s+8) = 0

Determine the range of values of ‘a’ for which the system is stable. Also, determine
the range of values of ‘a’ for which the characteristic equation has roots more
negative than s = -1.
27. Consider the proportional error system with
500
G ( s)  . What is the maximum overshoot to a unit step input and the
s  s  50.5

damping ratio for the system? If a derivative feedback is added with kd = 0.005,
determine the maximum overshoot to unit step input. If instead output ratio feedback
is employed, find the maximum overshoot to unit step input for the same value of k.
28. For a unity feedback system, the forward path transfer function is

50
G (s) 
 s  2 s  1  s 2  2s  6 . Determine whether closed loop system is stable.
Use Routh Hurwitz method.
k  s  13
29. A unity feedback system has G ( s )  .
s  s  3 s  7 
a) using Routh’s criterion calculate the range of values of k for the system to be
stable.
b) Check if for k = 1, all the roots of characteristic equation have damping factor
greater than 0.5.
ke  s
30. A feedback system has an open loop transfer function of G ( s )  .
s  s 2  5s  9 

Determine by Routh’s criterion the maximum value of k for the closed loop
system to be stable. (Hint: since Routh’s criterion can be applied only rational
polynomials you may approximate e-s as (1-s). the factor (1-s) is due to
transportation lag or measurement delay).

Prepared by Mohammad Mohatram

31. The transfer function of a system is given by
K  s  8
G s  

s  s  4 s  5 s 2  13s  42 
Determine the poles and zeros and show the pole-zero configurations in s-plane.
32. The impulse response of a system is given by g  t   1 (1  cos 2t )
Determine the transfer function of the system.
33. A force F when applied to a mass of M result in a displacement of X, obtain the
transfer function relating the force applied and the mass displacement.
34. A series circuit consisting of a resistance R and the inductance of L is connected
to a d.c. supply of E volts. Determine the transfer function relating the current
flowing in the circuit and the input voltage.
35. A unity feed-back control system has its open-loop transfer function given by
G (s) = (4s+1) / 4s2. Determine an expression for the time response when the system
is subjected to (a) Unit impulse input function and (b) Unit step input function.
36. A load is controlled by an electric motor. The position of the input shaft is
adjusted to r. The motor torque constant is 360 Nm per radian of error between
the input and output position. The moment of inertia and the coefficient of viscous
friction are 10 kg-m2 and 60 Nm / (rad / sec) respectively. The system being at
rest. Determine an expression relating time and angular position of the output
following a sudden shift of 50 in the input shaft.
37. The maximum overshoot for a unity feed back control system having its forward
path transfer function as G (s) = K/s (sT +1) is to be reduce from 60% to 20%.
The system input is a unit step function.
Determine the factor by which should be reduced to achieve aforesaid reduction.
38. An automatic speed control system used an error detected whose gain in 1V/
(rad / sec), the error signal is given to an electric motor having a torque constant
75Nm/V. The combined moment of inertia and coefficient of viscous friction of
the motor and load are 10kg-m2 and 5 Nm / (rad / sec) respectively. If the input
setting is suddenly increased by 60 r.p.m. obtain an expression relating the load
speed and time. Also calculate: (a) The steady state speed and (b) The steady
state error.

Prepared by Mohammad Mohatram

 39. A second order control system is represented by a transfer function given below:
 0  s 1
 2
T  s  Js  fs  K

Where 0 is the proportional output and T is the input torque.

A step input of 10 Nm is applied to the system and test results are given below:
(a) Mp = 6%, (b) tp = 1 sec and (c) The steady state value of the output is 0.5 radian.
Determine the value of J, f and K.
40. A two phase a.c. servomotor having a torque constant of 0.045Nm/V controls a
position load through a ratio of 10:1. The effective moment of inertia and
coefficient of viscous friction referred to load side are 0.25kg-m 2 and 1.0N-m
(rad/sec). The synchro (megslip) error detector produces an error signal of 0.1V
per degree error in misalignment. Develop the block diagram representation of the
control system and there from obtain the transfer function.
(a) Calculate the natural frequency of oscillation and damping ratio.
(b) If the damping is to be made critical using a derivative error control, determine the
time constant of the phase advance circuit.
41. The moment of inertia referred to the load side of a unity feedback proportional
type control system is 250kg-m2 while the controller gain is 8104 Nm per radian
error of misalignment between the output and input shafts.
The system is to be critically damped by incorporation output derivative (rate) feedback.
Determine the characteristic equation and the steady state error if the input is 5 r.p.m.
42. The open loop transfer function of a unity feedback control system is given by
25
G s  
s  s  5

Calculate:
(i) The natural frequency of oscillations, damped frequency of oscillations, damping
factor, damping ratio and the maximum overshoot of a unit step input.
(ii) The steady state error for a unit ramp input.
(iii) If the damping ratio is to be made 0.75 using a tachometer feedback, calculate the
tachometer constant and determine the maximum overshoot.

Prepared by Mohammad Mohatram

 43. A closed –loop control system is shown below. The system is to have a damping
ratio of 0.7. Determine the value of K to satisfy this condition and calculate the
setting time, peak time and maximum overshoot for the value of K thus
determined.
R(s) C(s)
+ K
s s  6
-

0.2

44. The open loop transfer function of a unity feedback control system is given by :
K  s  2
G s  
s   s 2  4s  1
3

Determine the value of K and such that the closed loop unit step response has
n=3 rad/sec and =0.2.
45. For the control system shown in figure below.

R(s) TL(s) C(s)

+ -
1
6
+ 0.15s  0.9 s
2

.Fig Block diagram for question 33(a)

R(s) C(s)
+ 1
6
0.15s 2  0.9 s
-

.Fig Block diagram for question 33(b)

(a) Determine (i) Mp for a unit step input. (ii) ess for unit ramp input.
(b) Calculate the steady state value of the output when the unput shaft is held fixed and a
sudden torque TL = 1 Nm is applied.
46. Determine the damping ratio and undamped natural frequency of oscillatory roots
and %MP for a unit step given that:

Prepared by Mohammad Mohatram

 C s 1
 and the system is unity feedback type.
E  s  s 1  0.5s 1  0.2 s 
47. The open loop transfer function of a control system is given below:

G  s H  s 

2 s 2  3s  20 

s  s  2  s 2  43  10 
Determine the static error coefficients and steady state error for the input given as:
(a) 5 (b) 4t (c) 4t2/2.
48. Determine the position, velocity and acceleration error coefficients for a system
given by:
K
 i  G s    unity feedback

s s 2  2 n s  n
2

 ii  G  s  H  s   100 s  2 s  40

s s  4 s  200
3 2

49. The closed loop transfer function of a unity feedback system is given below:
C s Ks  
 2
R s  s   s  

Determine the steady state error for unit ramp input.

50. The open loop transfer function of a unity feedback control system is given by:
20 
G s   .The input function is r  t    0  1t  2 t 2
s s  2 2

Determine the generalized error coefficients and expression for steady state error.
1
51. A unity feedback control system has G  s 
s s  2
The input to the system is given by r (t) = 2 + st 2t 2. Determine the generalized error
coefficients and steady state error.
52. A closed loop control system for regulating the generator terminal voltage E 0 is
shown in Fig. The forward path gain G = 200 and feedback factor H = 0.1.
Determine
(a) The reference voltage Er for keeping E0 = 250.
(b) The % change in generator terminal voltage if the forward path gain is reduced by
10%. Determine the results (a) and (b) if the system is made open loop.

Prepared by Mohammad Mohatram

 Er E0
+
G

53. Determine the sensitivity of the overall transfer function for the system shown in
fig. with respect to change in parameter (a) K; (b) H.

R(s) C(s)
+
K
 n2
s 2  2 n s
-
H
Fig

54. A positional control system has a damping ratio of 0.6. The damped frequency of
oscillations is 8 Hz. Derive an expression relating the output and the time when
the input is suddenly changed from 0 to r and calculate the percentage maximum
overshoot.
55. The maximum overshoot and setting time for a control system whose overall
transfer function is given by
are 10% and 4 second respectively. The input being a unit step function. Determine
the value of  and n in order to satisfy these requirements.
45. The unity feedback control system has forward path transfer function given by

s2
G  s  . Determine: (a) The expression for unit step response; (b) The rise
s s  1
time and (c) The maximum overshoot.
46. A control system is used to drive a load. The moment of inertia and the coefficient
viscous friction referred to the motor shaft size are 16 10-4 Nm/(rad/sec). The motor
produces a torque of 0.075 Nm per degree of error. The load is connected to the motor
through a gear having a ratio of 100:1. Determine: (a) The natural frequency of

Prepared by Mohammad Mohatram

 oscillations; (b) The damping factor; © The steady state error if the reference input is
10 rpm; (d) The maximum overshoot for step input and (e) The settling time.
47. A closed-loop control system when subjected to a unit step input has an expression
for the time response given by
c t   0.5  1.253t  1.7512 t .
Determine the overall transfer function of the system.
48. Determine the unit step time response of a system having closed-loop transfer

C  s 1
function given below: 
R s  s  1  s 2  1

49. The overall transfer function of a unity feedback control system is given by
C  s 10
 2 .

R s   s  6s  10
Find (a) KP, KV, and Ka
(b) Determine the steady state error if the input is r (t) = 1 + t + t2.
50. Determine the steady state error for a system whose open loop transfer function is
given by
5 s  4
G s H  s 
s s  1  s  5

0, for t  0
The input to the system being r  t   
2  2t, for t  0

51. Sketch the Root Locus Diagram of each of the following feed back control
systems. In each case determine all the necessary information. Poles and zeros of G(s)
H(s) of the systems are given as :
a) poles at 0, -2, -3, and zero at -5
b) poles at -2 + j2, -2 - j2, and zero at -3
c) poles at 0, -10 + j10, -10 - j10 and zero at -20
d) poles at 0, -20, -10, -10  j10; no finite zero

Prepared by Mohammad Mohatram

52. The open loop transfer function of a unity feedback control system is given by

k  s  3
G s  
 
s s  5 s  6  s 2  2 s  2
.

a) Sketch the Root Locus Diagram as a function of k.

b) Determine the value of k which makes the relative damping ratio of the closed loop
complex poles equal to 0.4.
53. A unity feedback control system has an open loop transfer function given by

k
G s   .
s 1  0.2 s 1  0.1s 

c) Sketch the Root Loci.

d) Determine marginal value of the gain k which will cause instability.
e) Determine the value of k when the system is critically damped.
k
54. If G  s   and H(s) =1, sketch root loci and determine stability. The
s  s  2 s  5
2

transfer function of feedback element is now changed to H(s) = (1+2s), determine the
stability of the modified system and investigate effect on the root locus diagram due
tin this change in H(s).
55. The characteristic equation of the feedback control system is given by
s3 + 3s2 + (k+2)s + 10k = 0, sketch the Root Locus Diagram.
56. Show that the root loci for a unity feedback control system in which
k  s 2  6 s  10
G s  
 s 2  2s  10 are arcs of circle centered at the origin with radius 10.
k
Sketch the Root Locus plot of a system with G  s  
57.
 s  2s  2 s 2  2s  5 ; H(s)
2

= 1. Determine the points where the root loci cross the j- axis.
58. Sketch the Root Locus plot of a unity feedback control system with an open loop

k
transfer function given by G  s   . Find the range of values of k for
s  s  2  s  4 

which the system has damped oscillatory response. What is the largest value of k
which can be used before continuous oscillations occurs? Also determine frequency
of oscillations.

Prepared by Mohammad Mohatram

59. Find the root of the following polynomial by use of the root locus method
3s4 + 10s3 + 21s2 + 24s + 30 = 0
60. Draw the root locus and determine the break away point in the root locus if

k
G s  H  s   .
 s  1 s  2 s  3
61. The open loop transfer function of a servo system with unity feedback is given by
C s 1
G s   

E  s  s s  5s  6
2 .

a) When the input is unit step, find the time required for the output response to settle
down to 1% of its final value.
b) Calculate the initial value of c(t) and its first three derivatives c(0),
c(0), and c(0).
1
62. The transfer function of a simple first order system is G  s  
 0.5s  1 . Determine
the unit step response of the system and plot it on the graph paper choosing
appropriate scales. From the plot verify both the definitions of the time constant.
63. What is a servomechanism?
64. What is a Synchro? Discuss its application in control system engineering.
65. Derive the expression for transfer function of two types (armature control
and field control ) of DC servomotors. Discuss their distinguishing features
and applications.

66. Sketch the root locus diagram for the following control system. Determine all the
necessary information. Poles and zeros of G(s)H(s) of the system are given as:
Poles at 0, -2, -3 and Zero at -5

Prepared by Mohammad Mohatram

56. The block diagram of a unity feed back control system is shown in figure.
Determine the characteristic equation of the system, n, , d, tp, Mp, the time at
which the first undershoot occurs, the time period of oscillations and the number
of cycles completed before reaching the steady state.

Prepared by Mohammad Mohatram