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ECE Control System - 1
ECE Control System - 1
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. i n
c o
a .
d i
o
The gain _20 log G ^s h i is 32 dB and - 8 dB at 1 rad/s and 10 rad/s respectively.
.n
The phase is negative for all w. Then G ^s h is
(A) 39.8 (B) 392.8
w
s s
w
(C) 32 (D) 232
s s
w
©
2013 TWO MARKS
Y ^s h
Q. 2 The signal flow graph for a system is given below. The transfer function for
U ^s h
this system is
Q. 3 The state-variable equations of the system shown in the figure above are
o = >- 1 0 H X + >- 1H u
X Xo = >- 1 0 H X + >- 1H u
(A) 1 -1 1 (B) -1 -1 1
y = 61 - 1@ X + u y = 6- 1 - 1@ X + u
o = >- 1 0 H X + >- 1H u
X Xo = >- 1 - 1H X + >- 1H u
(C) -1 -1 1 (D) 0 -1 1
y = 6- 1 - 1@ X - u y = 61 - 1@ X - u
The state transition matrix eAt of the system shown in the figure above is
n
Q. 4
i
e-t 0 e-t 0
.
(A) > -t -tH (B) > H
te e - te e-t
-t
c o
.
e-t 0 e-t - te-t
(C) > -t -tH (D) > H
a
e e 0 e-t
Q. 5
d i
The open-loop transfer function of a dc motor is given as V ^^shh = 1 +1010s . When
ws
o
a
.n
reduce the time constant of the closed loop system by one hundred times as
compared to that of the open-loop system is
w
w
w
©
(A) 1 (B) 5
(C) 10 (D) 100
(s2 + 9) (s + 2)
Q. 6 A system with transfer function G (s) =
(s + 1) (s + 3) (s + 4)
is excited by sin (wt). The steady-state output of the system is zero at
(A) w = 1 rad/s (B) w = 2 rad/s
(C) w = 3 rad/s (D) w = 4 rad/s
Q. 9 The root locus plot for a system is given below. The open loop transfer function
corresponding to this plot is given by
. in
c o
a .
d i
n o
(A) G ^s h H ^s h = k
.s (s + 1)
(B) G ^s h H ^s h = k
(s + 1)
w
(s + 2) (s + 3) s (s + 2) (s + 3) 2
w
1 (s + 1)
(C) G ^s h H ^s h = k (D) G ^s h H ^s h = k
s (s - 1) (s + 2) (s + 3) s (s + 2) (s + 3)
w
For the transfer function G (jw) = 5 + jw , the corresponding Nyquist plot for
Q. 10
positive frequency has the form
©
GATE SOLVED PAPER - EC CONTROL SYSTEM
Q. 11 The block diagram of a system with one input u and two outputs y1 and y2 is
given below.
A state space model of the above system in terms of the state vector x and the
output vector y = [y1 y2]T is
n
(A) xo = [2] x + [1] u ; y = [1 2] x
1
(B) xo = [- 2] x + [1] u; y = > H x
. i
o
2
c
-2 0 1
.
(C) xo = >
0 - 2H
x + > H u ; y = 81 2B x
1
2 0 1 1
(D) xo = > H x + > H u ; y = > H x
i a
d
0 2 1 2
o
.n
Common Data For Q. 12 and 13
w
The input-output transfer function of a plant H (s) = 100 .
s (s + 10) 2
w
The plant is placed in a unity negative feedback configuration as shown in the
w
figure below.
©
Q. 12 The gain margin of the system under closed loop unity negative feedback is
(A) 0 dB (B) 20 dB
(C) 26 dB (D) 46 dB
Q. 13 The signal flow graph that DOES NOT model the plant transfer function H (s) is
GATE SOLVED PAPER - EC CONTROL SYSTEM
(A) 0 (B) 1
s+1
(C) 2 (D) 2
s+1 s+3
Y (s)
Q. 15 A system with transfer function = s has an output y (t) = cos a2t - p k
X (s) s + p 3
p
for the input signal x (t) = p cos a2t - k. Then, the system parameter p is
2
(A) 3 (B) 2/ 3
in
(C) 1 (D) 3 /2
Q. 16
o.
For the asymptotic Bode magnitude plot shown below, the system transfer
c
function can be
a .
d i
n o
.
w
w
(A) 10s + 1 (B) 100s + 1
0.1s + 1 0.1s + 1
(C) 100s
10s + 1
w (D) 0.1s + 1
10s + 1
2010
© TWO MARKS
1 1 0 -1 1 0
xo = > H x +> Hu xo = > H x +> Hu
(C) -1 0 2 (D) -1 0 2
y = 80.5 0.5B x
o y = 80.5
o 0.5B x
Q. 18 The transfer function of the system is
(A) s2+ 1 (B) s2- 1
s +1 s +1
(C) 2 s + 1 (D) 2 s - 1
s +s+1 s +s+1
Q. 19 A unity negative feedback closed loop system has a plant with the transfer
function G (s) = s + 21s + 2 and a controller Gc (s) in the feed forward path. For a unit
2
set input, the transfer function of the controller that gives minimum steady state
error is
(A) Gc (s) = s + 1 (B) Gc (s) = s + 2
s+2 s+1
(C) Gc (s) =
(s + 1) (s + 4)
(s + 2) (s + 3)
. i n
(D) Gc (s) = 1 + 2 + 3s
s
c o
2009
a . ONE MARK
i
The magnitude plot of a rational transfer function G (s) with real coefficients is
Q. 20
d
shown below. Which of the following compensators has such a magnitude plot ?
o
.n
w
w
w
©
(A) Lead compensator (B) Lag compensator
(C) PID compensator (D) Lead-lag compensator
Q. 23 The unit step response of an under-damped second order system has steady state
value of -2. Which one of the following transfer functions has theses properties ?
(A) 2 - 2.24 (B) 2 - 3.82
s + 2.59s + 1.12 s + 1.91s + 1.91
. in
o
Common Data For Q. 24 and 25 :
. c
The Nyquist plot of a stable transfer function G (s) is shown in the figure are
a
interested in the stability of the closed loop system in the feedback configuration
i
shown.
o d
. n
w
w
w
©
Q. 24 Which of the following statements is true ?
(A) G (s) is an all-pass filter
(B) G (s) has a zero in the right-half plane
(C) G (s) is the impedance of a passive network
(D) G (s) is marginally stable
Q. 25 The gain and phase margins of G (s) for closed loop stability are
(A) 6 dB and 180c (B) 3 dB and 180c
(C) 6 dB and 90c (D) 3 dB and 90c
Q. 26 Step responses of a set of three second-order underdamped systems all have the
same percentage overshoot. Which of the following diagrams represents the poles
of the three systems ?
GATE SOLVED PAPER - EC CONTROL SYSTEM
. i n
c o
a .
d i
o
.n
(A) Law pass filter (B) High pass filter
(C) Band filter (D) Notch filter
w
2008
w TWO MARKS
Q. 28
w
A signal flow graph of a system is given below
Q. 29 Group I lists a set of four transfer functions. Group II gives a list of possible step
response y (t). Match the step responses with the corresponding transfer functions.
. in
c o
a .
i
(A) P - 3, Q - 1, R - 4, S - 2
d
(B) P - 3, Q - 2, R - 4, S - 1
o
(C) P - 2, Q - 1, R - 4, S - 2
n
.
(D) P - 3, Q - 4, R - 1, S - 2
w
Q. 30 A certain system has transfer function
w
G (s) = 2 s + 8
s + as - 4
w
where a is a parameter. Consider the standard negative unity feedback
configuration as shown below
©
Which of the following statements is true?
(A) The closed loop systems is never stable for any value of a
(B) For some positive value of a, the closed loop system is stable, but not for
all positive values.
(C) For all positive values of a, the closed loop system is stable.
(D) The closed loop system stable for all values of a, both positive and
negative.
(A) 0 (B) 1
(C) 2 (D) 3
GATE SOLVED PAPER - EC CONTROL SYSTEM
. i n
o
Match the impedances in Group I with the type of controllers in Group II
c
a .
d i
o
.n
(A) Q - 1, R - 2
w (B) Q - 1, R - 3
(C) Q - 2, R - 3
w (D) Q - 3, R - 2
w
©
2007 ONE MARK
Q. 35 A control system with PD controller is shown in the figure. If the velocity error
constant KV = 1000 and the damping ratio z = 0.5 , then the value of KP and KD
are
in
The gain K for which s = 1 + j1 will lie on the root locus of this system is
.
(A) 4 (B) 5.5
(C) 6.5 (D) 10
c o
Q. 39
a .
The asymptotic Bode plot of a transfer function is as shown in the figure. The
i
transfer function G (s) corresponding to this Bode plot is
o d
.n
w
w
w
©
(A) 1 (B) 1
(s + 1)( s + 20) s (s + 1)( s + 20)
(C) 100 (D) 100
s (s + 1)( s + 20) s (s + 1)( 1 + 0.05s)
where w is the speed of the motor, ia is the armature current and u is the
w (s)
armature voltage. The transfer function of the motor is
U (s)
(A) 2 10 (B) 2 1
s + 11s + 11 s + 11s + 11
(C) 2 10s + 10 (D) 2 1
s + 11s + 11 s + s + 11
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n
0 1 1 1
i
(A) =
- 1 1G
(B) =
- 1 - 2G
(C) =
2 1
- 1 - 1G
(D) =
o.
0 1
- 2 - 3G
. c
2006
i a ONE MARK
Q. 43
K
o d
The open-loop function of a unity-gain feedback control system is given by
.n
G (s) =
(s + 1)( s + 2)
w
The gain margin of the system in dB is given by
(A) 0 (B) 1
(C) 20
w (D) 3
w
©
2006 TWO MARKS
Q. 45 The Nyquist plot of G (jw) H (jw)for a closed loop control system, passes through
(- 1, j0) point in the GH plane. The gain margin of the system in dB is equal to
(A) infinite (B) greater than zero
(C) less than zero (D) zero
Q. 46 The positive values of K and a so that the system shown in the figures below
oscillates at a frequency of 2 rad/sec respectively are
in
Statement for Linked Answer Questions 49 and 50:
.
Consider a unity - gain feedback control system whose open - loop transfer
function is : G (s) = as +
o
1
c
s2
Q. 49
a .
The value of a so that the system has a phase - margin equal to p is approximately
4
i
equal to
od
(A) 2.40 (B) 1.40
(C) 0.84 (D) 0.74
.n
With the value of a set for a phase - margin of p , the value of unit - impulse
Q. 50
4
w
response of the open - loop system at t = 1 second is equal to
(A) 3.40 (B) 2.40
(C) 1.84
w (D) 1.74
w
©
2005 ONE MARK
The eigenvalues of the representations are also computed as [l] and [m]. Which
one of the following statements is true ?
(A) [l] = [m] and X = W (B) [l] = [m] and X ! W
(C) [l] ! [m] and X = W (D) [l] = [m] and X ! W
Q. 53 Despite the presence of negative feedback, control systems still have problems of
instability because the
(A) Components used have non- linearities
(B) Dynamic equations of the subsystem are not known exactly.
(C) Mathematical analysis involves approximations.
(D) System has large negative phase angle at high frequencies.
n
The polar diagram of a conditionally stable system for open loop gain K = 1 is
i
Q. 54
.
shown in the figure. The open loop transfer function of the system is known to be
o
stable. The closed loop system is stable for
. c
i a
o d
.n
w
w
w
(A) K < 5 and 1 < K < 1 (B) K < 1 and 1 < K < 5
©
2 8 8 2
(C) K < 1 and 5 < K (D) K > 1 and 5 > K
8 8
Q. 55 In the derivation of expression for peak percent overshoot
- px
Mp = exp e o # 100%
1 - x2
Which one of the following conditions is NOT required ?
(A) System is linear and time invariant
(B) The system transfer function has a pair of complex conjugate poles and no
zeroes.
(C) There is no transportation delay in the system.
(D) The system has zero initial conditions.
. in
Statement for Linked Answer Question 59 and 60
c o
.
The open loop transfer function of a unity feedback system is given by
i a
-2s
G (s) = 3e
s (s + 2)
Q. 59
(A) 0.632 and 1.26
o d
The gain and phase crossover frequencies in rad/sec are, respectively
w
(D) 1.26 and 0.632
w
Q. 60 Based on the above results, the gain and phase margins of the system will be
(A) -7.09 dB and 87.5c
©
(B) 7.09 dB and 87.5c
(C) 7.09 dB and - 87.5c
(D) - 7.09 and - 87.5c
Q. 61 The gain margin for the system with open-loop transfer function
2 (1 + s)
G (s) H (s) = , is
s2
(A) 3 (B) 0
(C) 1 (D) - 3
Q. 63 Consider the Bode magnitude plot shown in the fig. The transfer function H (s) is
(s + 10) 10 (s + 1)
(A) (B)
(s + 1)( s + 100) (s + 10)( s + 100)
102 (s + 1) 103 (s + 100)
(C) (D)
(s + 10)( s + 100) (s + 1)( s + 10)
n
A causal system having the transfer function H (s) = 1/ (s + 2) is excited with
i
Q. 64
.
10u (t). The time at which the output reaches 99% of its steady state value is
o
(A) 2.7 sec (B) 2.5 sec
. c
(C) 2.3 sec (D) 2.1 sec
i a
Q. 65 A system has poles at 0.1 Hz, 1 Hz and 80 Hz; zeros at 5 Hz, 100 Hz and 200 Hz.
d
The approximate phase of the system response at 20 Hz is
o
(A) - 90c (B) 0c
.n
(C) 90c (D) - 180c
w
Q. 66
x1
w
w
©
1 - (be + cf + dg) bedg
(A) (B)
abcd 1 - (be + cf + dg)
abcd 1 - (be + cf + dg) + bedg
(C) (D)
1 - (be + cf + dg) + bedg abcd
-2 2
If A = =
1 - 3G
Q. 67 , then sin At is
Q. 70 The state variable equations of a system are : xo1 =- 3x1 - x2 = u, xo2 = 2x1 and
y = x1 + u . The system is
(A) controllable but not observable
(B) observable but not controllable
(C) neither controllable nor observable
(D) controllable and observable
1 0
Q. 71 Given A = = G, the state transition matrix eAt is given by
0 1
0 e-t et 0
(A) > -t H (B) = t G
in
e 0 0 e
(C) >
e-t 0
0 e-t
H
.
0 et
(D) = t G
oe 0
c
a.
2003 ONE MARK
Q. 72
d i
Fig. shows the Nyquist plot of the open-loop transfer function G (s) H (s) of a
o
system. If G (s) H (s) has one right-hand pole, the closed-loop system is
. n
w
w
w
(A) always stable
©
(B) unstable with one closed-loop right hand pole
(C) unstable with two closed-loop right hand poles
(D) unstable with three closed-loop right hand poles
Q. 74 The signal flow graph of a system is shown in Fig. below. The transfer function
C (s)/ R (s) of the system is
GATE SOLVED PAPER - EC CONTROL SYSTEM
(A) 6 (B) 6s
s2 + 29s + 6 s2 + 29s + 6
s (s + 2) s (s + 27)
(C) 2
(D) 2
s + 29s + 6 s + 29s + 6
Q. 75 The root locus of system G (s) H (s) = K has the break-away point
s (s + 2)( s + 3)
located at
(A) (- 0.5, 0) (B) (- 2.548, 0)
(C) (- 4, 0) (D) (- 0.784, 0)
. i n
c o
a .
(A) 10 8 (s + 0.1) 3
(s + 10) 2 (s + 100)
d i (B) 10 7 (s + 0.1) 3
(s + 10)( s + 100)
o
.n
2
(s + 0.1) (s + 0.1) 3
(C) (D)
(s + 10) 2 (s + 100) (s + 10)( s + 100) 2
w
Q. 77 A second-order system has the transfer function
C (s)
w
= 2 4
R (s) s + 4s + 4
w
With r (t) as the unit-step function, the response c (t) of the system is
©
represented by
Q. 78 The gain margin and the phase margin of feedback system with
G (s) H (s) = 8 are
(s + 100) 3
GATE SOLVED PAPER - EC CONTROL SYSTEM
tet et
(A) = G (B) = G
t t
et t
(C) = t G (D) = t G
te te
in
(D) 6
6
Q. 81
c
s (s + 1)( s + 3)
.
(A) s =- j 3 (B) s =- 1.5
i a
(C) s =- 3 (D) s =- 3
d
The phase margin of a system with the open - loop transfer function
Q. 82
G (s) H (s) =
n o
(1 - s)
.
(1 + s)( 2 + s)
(A) 0c (B) 63.4c
(C) 90c
w (D) 3
Q. 83
w
The transfer function Y (s)/ U (s) of system described by the state equation
(A) 0.5 w
xo (t) =- 2x (t) + 2u (t) and y (t) = 0.5x (t) is
1
©
(B)
(s - 2) (s - 2)
(C) 0.5 (D) 1
(s + 2) (s + 2)
Q. 87 The system with the open loop transfer function G (s) H (s) = 1 has a
2
gain margin of s (s + s + 1)
(A) - 6 db (B) 0 db
(C) 35 db (D) 6 db
2001
. i n ONE MARK
o
Q. 88 The Nyquist plot for the open-loop transfer function G (s) of a unity negative
. c
feedback system is shown in the figure, if G (s) has no pole in the right-half of s -
a
plane, the number of roots of the system characteristic equation in the right-half
i
of s -plane is
d
(A) 0 (B) 1
o
(C) 2 (D) 3
.n
Q. 89 The equivalent of the block diagram in the figure is given is
w
w
w
©
Q. 90 The root-locus diagram for a closed-loop feedback system is shown in the figure.
The system is overdamped.
GATE SOLVED PAPER - EC CONTROL SYSTEM
Q. 92 An electrical system and its signal-flow graph representations are shown the
figure (A) and (B) respectively. The values of G2 and H , respectively are
. in
c o
a .
i
Z3 (s) - Z3 (s) - Z3 (s) - Z3 (s)
(A) , (B) ,
d
Z1 (s) + Z3 (s) + Z4 (s) Z1 (s) + Z3 (s) Z2 (s) - Z3 (s) + Z4 (s) Z1 (s) + Z3 (s)
o
Z3 (s) Z3 (s) - Z3 (s) Z3 (s)
(C) , (D) ,
n
Z2 (s) + Z3 (s) + Z4 (s) Z1 (s) + Z3 (s) Z2 (s) - Z3 (s) + Z4 (s) Z1 (s) + Z3 (s)
Q. 93
.
The open-loop DC gain of a unity negative feedback system with closed-loop
w
transfer function 2 s + 4 is
s + 7s + 13
w
(A) 4 (B) 4
13 9
w
(C) 4 (D) 13
©
Q. 94 The feedback control system in the figure is stable
Q. 95 An amplifier with resistive negative feedback has tow left half plane poles in its
open-loop transfer function. The amplifier
(A) will always be unstable at high frequency
(B) will be stable for all frequency
(C) may be unstable, depending on the feedback factor
(D) will oscillate at low frequency.
GATE SOLVED PAPER - EC CONTROL SYSTEM
n
(C) 3.0 (D) 4.0
. i
o
Q. 98 The gain margin (in dB) of a system a having the loop transfer function
c
G (s) H (s) = 2
a.
is
s (s + 1)
(A) 0 (B) 3
di
(C) 6 (D) 3
o
The system modeled described by the state equations is
Q. 99
X =>
0 1
2 - 3H
. n 0
x + > Hu
1
w
Y = 81 1B x
w
(A) controllable and observable (B) controllable, but not observable
w
(C) observable, but not controllable (D) neither controllable nor observable
Q. 100
©
The phase margin (in degrees) of a system having the loop transfer function
G (s) H (s) = 2 3 is
s (s + 1)
(A) 45c (B) - 30c
(C) 60c (D) 30c
Q. 102 If the closed - loop transfer function T (s) of a unity negative feedback system is
given by
T (s) = n an - 1 s + an
s + a1 sn - 1 + .... + an - 1 s + an
then the steady state error for a unit ramp input is
GATE SOLVED PAPER - EC CONTROL SYSTEM
(A) an (B) an
an - 1 an - 2
(C) an - 2 (D) zero
an
Q. 103 Consider the points s1 =- 3 + j4 and s2 =- 3 - j2 in the s-plane. Then, for a
system with the open-loop transfer function
G (s) H (s) = K 4
(s + 1)
(A) s1 is on the root locus, but not s2
(B) s2 is on the root locus, but not s1
(C) both s1 and s2 are on the root locus
(D) neither s1 nor s2 is on the root locus
in
If the control signal u is given by u = [- 0.5 - 3 - 5] x + v , then the eigen values
.
of the closed-loop system will be
o
(A) 0, - 1, - 2 (B) 0, - 1, - 3
c
(C) - 1, - 1, - 2 (D) 0, - 1, - 1
a .
1998
d i ONE MARK
o
Q. 105 The number of roots of s3 + 5s2 + 7s + 3 = 0 in the left half of the s -plane is
n
(A) zero (B) one
(C) two
. (D) three
Q. 106
w
The transfer function of a tachometer is of the form
(A) Ks
w (B) K
w
s
(C) K (D) K
©
(s + 1) s (s + 1)
Q. 107 Consider a unity feedback control system with open-loop transfer function
G (s) = K .
s (s + 1)
The steady state error of the system due to unit step input is
(A) zero (B) K
(C) 1/K (D) infinite
Q. 109 In the Bode-plot of a unity feedback control system, the value of phase of G (jw)
at the gain cross over frequency is - 125c. The phase margin of the system is
(A) - 125c (B) - 55c
(C) 55c (D) 125c
GATE SOLVED PAPER - EC CONTROL SYSTEM
Q. 111 The transfer function of a phase lead controller is 1 + 3Ts . The maximum value
1 + Ts
of phase provided by this controller is
(A) 90c (B) 60c
(C) 45c (D) 30c
Q. 112 The Nyquist plot of a phase transfer function g (jw) H (jw) of a system encloses the
(–1, 0) point. The gain margin of the system is
i n
(A) less than zero (B) zero
.
(C) greater than zero (D) infinity
2
c o
The transfer function of a system is 2s + 26s + 5 . The characteristic equation
.
Q. 113
(s + 1) (s + 2)
a
of the system is
i
(A) 2s2 + 6s + 5 = 0 (B) (s + 1) 2 (s + 2) = 0
d
(C) 2s2 + 6s + 5 + (s + 1) 2 (s + 2) = 0 (D) 2s2 + 6s + 5 - (s + 1) 2 (s + 2) = 0
o
.n
Q. 114 In a synchro error detector, the output voltage is proportional to [w (t)] n, where w (t)
is the rotor velocity and n equals
w
(A) –2 (B) –1
w
(C) 1 (D) 2
1997
w ONE MARK
Q. 115
©
In the signal flow graph of the figure is y/x equals
(A) 3 (B) 5
2
(C) 2 (D) None of the above
Q. 116 A certain linear time invariant system has the state and the output equations
given below
Xo1 1 - 1 X1 0
> o H = >0 1 H>X H + >1H u
X2 2
dy
y = 81 1B: X1 D, If X1 (0) = 1, X2 (0) =- 1, u (0) = 0, then is
X2 dt t=0
(A) 1 (B) –1
(C) 0 (D) None of the above
***********
GATE SOLVED PAPER - EC CONTROL SYSTEM
SOLUTIONS
in
=- 40 dB/decade
Therefore, the transfer function can be given as
G ^s h = k2
o.
. c
S
at w = 1
a
G ^ jwh = k 2 = k
i
w
d
In decibel,
o
20 log G ^ jwh = 20 log k = 32
. n
32
or, k = 10 = 39.8
20
w
Hence, the Transfer function is
G ^s h = k2 = 392.8
w
s s
Sol. 2 Option (A) is correct.
w
For the given SFG, we have two forward paths
Pk1 = ^1 h^s-1h^s-1h^1 h = s-2
= 5 + 6s1 + 2s2
From Mason’s gain formulae
Y ^s h s-2 + s-1
= SPk Dk = = 2s+1
U ^s h D 5 + 6s-1 + 2s-2 5s + 6s + 2
Sol. 3 Option (A) is correct.
For the shown state diagram we can denote the states x1 , x2 as below
n
xo1 =- x1 - u
i
xo2 =- x2 + ^1 h^- 1h^1 h^- 1h u + ^- 1h^1 h^- 1h x1
xo2 =- x2 + x1 + u
o.
c
and y = ^- 1h^1 h x2 + ^- 1h^1 h^- 1h x1 + ^1 h^- 1h^1 h^- 1h^1 h u
= x1 - x 2 + u
a .
xo1 - 1 0 x1 i
Hence, in matrix form we can write the state variable equations
d -1
o
> o H = > 1 - 1H >x H + > 1 H u
x2
.n
2
x1
and y = 81 - 1B > H + u
w
x2
which can be written in more general form as
w Xo = >
-1 0
1 - 1H
-1
X +> H
w
1
y = 81 - 1B X + u
Sol. 4
©
Option (A) is correct.
From the obtained state-variable equations
We have
-1 0
A =>
1 - 1H
S+1 0
SI - A = >
- 1 S + 1H
So,
1 >S + 1 0 H
and ^SI - Ah-1 =
^S + 1h2 1 S + 1
R 1 V
S 0 W
S+1
=S 1 1 W
W
S
S^S + 1h2 S + 1W
T X
Hence, the state transition matrix is obtained as
eAt = L-1 ^SI - Ah-1
ZR 1 V_
]]S 0 Wbb -1
= L-1 [S 1
S+1 W` = >e 0
H
S 1 W te e-t
-t
]S^S + 1h2 S + 1Wb
\T Xa
GATE SOLVED PAPER - EC CONTROL SYSTEM
Comparing with standard form of transfer function, Ae-t/t , we get the open
loop time constant,
tol = 10
Now, we obtain the closed loop transfer function for the given system as
G ^s h
H ^s h = = 10Ka = Ka
1 + G ^s h 1 + 10s + 10Ka s + ^Ka + 101 h
Taking inverse Laplace transform, we get
h ^ t h = ka .e-^k + ht
1
a 10
in
ka
.
Now, given that ka reduces open loop time constant by a factor of 100. i.e.,
o
tcl = tol
100
or, 1 = 10
. c
a
ka 100
i
Hence, ka = 10
Sol. 6 Option (C) is correct.
o d
(s2 + 9) (s + 2)
n
G (s) =
.
(s + 1) (s + 3) (s + 4)
w
(- w2 + 9) (jw + 2)
=
(jw + 1) (jw + 3) (jw + 4)
w
The steady state output will be zero if
w
G (jw) = 0
-w 2 + 9 = 0 w = 3 rad/s
©
&
Sol. 7 Option (A) is correct.
K (s + 1)
Y (s) = [R (s) - Y (s)]
s + as2 + 2s + 1
3
K (s + 1) K (s + 1)
Y (s) ;1 + 3 2 E = 3 R (s)
s + as + 2s + 1 s + as2 + 2s + 1
Y (s) [s3 + as2 + s (2 + k) + (1 + k)] = K (s + 1) R (s)
Y (s) K (s + 1)
Transfer Function, H (s) = = 3
R (s) s + as + s (2 + k) + (1 + k)
2
Routh Table :
GATE SOLVED PAPER - EC CONTROL SYSTEM
a (2 + K) - (1 + K)
For oscillation, =0
a
a = K+1
K+2
Auxiliary equation A (s) = as2 + (k + 1) = 0
s2 =- k + 1 = - k + 1 (k + 2) =- (k + 2)
a (k + 1)
s = j k+2
jw = j k + 2
w = k+2 = 2 (Oscillation frequency)
k =2
and a = 2 + 1 = 3 = 0.75
2+2 4
i n
Sol. 8 Option (D) is correct.
.
General form of state equations are given as
xo = Ax + Bu
c o
.
yo = Cx + Du
a
For the given problem
i
R 0 a 0V R0V
d
S 1 W S W
A = S 0 0 a2W, B = S0W
o
SSa 0 0WW SS1WW
.n
3
RT 0 a 0VXR0V R 0VT X
S 1 WS W S W
w
AB = S 0 0 a2WS0W = Sa2W
SSa 0 0WWSS1WW SS 0WW
w
3
RT 0 0XT aX1 a2VWTRS0XVW RSa1 a2VW
S
w
A2 B = Sa2 a 3 0 0WS0W = S 0W
SS 0 a a 0WWSS1WW SS 0WW
3 1
©
T XT X T X
For controllability it is necessary that following matrix has a tank of n = 3 .
R0 0 a a V
S 1 2W
U = 6B : AB : A2 B@ = S0 a2 0W
SS1 0 0WW
So, a2 ! 0 T X
a1 a 2 ! 0 & a1 ! 0 a 3 may be zero or not.
Sol. 9 Option (B) is correct.
For given plot root locus exists from - 3 to 3, So there must be odd number of
poles and zeros. There is a double pole at s =- 3
Now poles = 0, - 2, - 3, - 3
zeros =- 1
k (s + 1)
Thus transfer function G (s) H (s) =
s (s + 2) (s + 3) 2
Sol. 10 Option (A) is correct.
We have G (jw) = 5 + jw
Here s = 5 . Thus G (jw) is a straight line parallel to jw axis.
Sol. 11 Option (B) is correct.
dy
Here x = y1 and xo = 1
dx
GATE SOLVED PAPER - EC CONTROL SYSTEM
y1 x 1
y = > H = > H = > Hx
y2 2x 2
Now y1 = 1 u
s+2
y1 (s + 2) = u
yo1 + 2y1 = u
xo + 2x = u
xo =- 2x + u
xo = [- 2] x + [1] u
Drawing SFG as shown below
in
y1 = x1 ; y2 = 2x1
y1 1
y = > H = > H x1
o.
c
y2 2
Here x1 = x
a .
i
Sol. 12 Option (C) is correct.
We have
o d
G (s) H (s) = 100
s (s + 10) 2
. n
Now G (jw) H (jw) = 100
jw (jw + 10) 2
w
If wp is phase cross over frequency +G (jw) H (jw) = 180c
w
wp
- 180c = 100 tan-1 0 - tan-1 3 - 2 tan-1 a
10 k
Thus
or
w - 180c =- 90 - 2 tan-1 (0.1wp)
©
or 45c = tan-1 (0.1wp)
or tan 45c 0.1wp = 1
or wp = 10 rad/se
Now G (jw) H (jw) = 100
w (w2 + 100)
At w = wp
G (jw) H (jw) = 100 = 1
10 (100 + 100) 20
Gain Margin =- 20 log 10 G (jw) H (jw)
=- 20 log 10 b 1 l
20
= 26 dB
Sol. 13 Option (D) is correct.
From option (D) TF = H (s)
= 100 ! 100
s (s2 + 100) s (s + 10) 2
GATE SOLVED PAPER - EC CONTROL SYSTEM
.
(s + 1)
a
E (s)
i
Y (s) = ...(2)
s+1
From (1) and (2)
o d
sY (s) = R (s) - Y (s)
.n
(s + 1) Y (s) = R (s)
Transfer function
w
Y (s)
= 1
R (s) s + 1
Sol. 15
w
Option (B) is correct.
w
Transfer function is given as
©
Y (s)
H (s) = = s
X (s) s + p
jw
H (jw) =
jw + p
Amplitude Response
H (jw) = w
w +p2
2
1 = 2 , (w = 2 rad/ sec)
p 4+p2
or 4p 2 = 4 + p 2 & 3p 2 = 4
or p = 2/ 3
Alternative :
qh = 9- p - a- p kC = p
3 2 6
GATE SOLVED PAPER - EC CONTROL SYSTEM
So, p = p - tan-1 a w k
6 2 p
tan-1 a w k =p-p =p
p 2 6 3
w = tan a p k = 3
p 3
2 = 3, (w = 2 rad/ sec)
p
or p = 2/ 3
Sol. 16 Option (A) is correct.
Initial slope is zero, so K = 1
At corner frequency w 1 = 0.5 rad/ sec , slope increases by + 20 dB/decade, so
there is a zero in the transfer function at w 1
At corner frequency w 2 = 10 rad/ sec , slope decreases by - 20 dB/decade and
becomes zero, so there is a pole in transfer function at w 2
K a1 + s k
w1
in
Transfer function H (s) =
s
a1 + w 2 k
o.
1 a1 + s k (1 + 10s)
c
0.1
.
= =
s (1 + 0.1s)
a1 + 0.1 k
Sol. 17 Option (D) is correct.
i a
d
Assign output of each integrator by a state variable
n o
.
w
w
w
xo1 =- x1 + x2
xo2 =- x1 + 2u
© y = 0.5x1 + 0.5x2
State variable representation
-1 1 0
xo = > H x + > Hu
-1 0 2
yo = [0.5 0.5] x
Sol. 18 Option (C) is correct.
By masson’s gain formula
Transfer function
H (s) =
Y (s)
=
/ PK DK
U (s) D
GATE SOLVED PAPER - EC CONTROL SYSTEM
i n
1 :1+1:1
.
s 2 s (1 + s)
= = 2
o
1
1+ + 2 1 (s + s + 1)
s s
Sol. 19 Option (D) is correct.
. c
i a
Steady state error is given as
d
sR (s)
eSS = lim
s " 0 1 + G (s) GC (s)
o
.n
R (s) = 1 (unit step unit)
s
w
eSS = lim 1
s " 0 1 + G (s) GC (s)
w = lim 1
GC (s)
w
s"0
1+ 2
s + 2s + 2
©
eSS will be minimum if lim GC (s) is maximum
s"0
In option (D)
lim GC (s) = lim 1 + 2 + 3s = 3
s"0 s"0 s
So, eSS = lim 1 = 0 (minimum)
s"0 3
. in
c o
a .
i
- qd - qp1 + qz1 + qz2 = 180c
d
- qd = 180c - (- qp1 + qz1 + q2)
o
= 180c - (90c + 180 - 45c) =- 45c
. n
Sol. 23 Option (B) is correct.
For under-damped second order response
w
T (s) = kwn2 where x < 1
w
s + 2xwn s + wn2
2
w
Thus (A) or (B) may be correct
For option (A) wn = 1.12 and 2xwn = 2.59 " x = 1.12
Sol. 24 ©
For option (B)
Option (B) is correct.
wn = 1.91 and 2xwn = 1.51 " x = 0.69
The plot has one encirclement of origin in clockwise direction. Thus G (s) has a
zero is in RHP.
Sol. 25 Option (C) is correct.
The Nyzuist plot intersect the real axis ate - 0.5. Thus
G. M. =- 20 log x =- 20 log 0.5 = 6.020 dB
And its phase margin is 90c.
Sol. 26 Option (C) is correct.
Transfer function for the given pole zero plot is:
(s + Z1)( s + Z2)
(s + P1)( s + P2)
From the plot Re (P1 and P2 )>(Z1 and Z2 )
So, these are two lead compensator.
Hence both high pass filters and the system is high pass filter.
GATE SOLVED PAPER - EC CONTROL SYSTEM
. i n
From this SFG we have
c o
xo1 =- gx1 + bx3 + m1
a .
i
xo2 = gx1 + ax3
R V R d
xo3 =- bx1 - ax3 + u2
o
VR V R V
Sx1 W S- g 0 b WSx1 W S0 1 W u1
.n
Thus Sx2 W = S g 0 a WSx2 W + S0 0 We o
SSx WW SS- b 0 - a WWSSx WW SS1 0 WW u2
w
3 3
T X T XT X T X
Sol. 29 Option (D) is correct.
P = 2 25
w 2xwn = 0, x = 0 " Undamped Graph 3
w
s + 25
62
©
Q= 2xwn = 20, x > 1 " Overdamped Graph 4
s + 20s + 62
2
or s5 + 2s 4 + 3s3 + 6s2 + 5s + 3 = 0
Substituting s = z1 we have
3z5 + 5z 4 + 6z3 + 3z2 + 2z + 1 = 0
The routh table is shown below. As there are two sign change in first column,
there are two RHS poles.
z5 3 6 2
4 5 3 1
z
z3 21
5
7
5
z2 4
3 3
z1 - 74
z0 1
in
T (s) = Kwn2
.
s + 2xwn s + wn2
2
o
It peaks at resonant frequency. Therefore
c
Resonant frequency wr = wn 1 - 2x2
and peak at this frequency
a .
i
mr = 5
d
2x 1 - x2
o
We have wr = 5 2 , and mr = 10 . Only options (A) satisfy these values.
n
.
3
1
w
wn = 10, x =
2
where
w
wr = 10 1 - 2` 1 j = 5 2
4
and
w
mr = 1 5
22 1- 4 1
= 10
3
Hence satisfied
Sol. 33
©
Option (B) is correct.
The given circuit is a inverting amplifier and transfer function is
Vo = - Z = - Z (sC1 R1 + 1)
Vi R
sC R + 1
1
R1
1 1
(sC2 R2 + 1)
For Q , Z =
sC2
Vo (sC2 R2 + 1) (sC1 R1 + 1)
=- # PID Controller
Vi sC2 R1
For R, Z = R 2
(sC2 R2 + 1)
Vo R2 (sC1 R1 + 1)
=- #
Vi (sC2 R2 + 1) R1
Since R2 C2 > R1 C1, it is lag compensator.
the s -plane. In given system as there is right half zero (s = 5), the system is a
non-minimum phase system.
(Kp + KD s) 100
or 1000 = lim s = Kp
s"0 s (s + 100)
Now characteristics equations is
1 + G (s) H (s) = 0
(Kp + KD s) 100
1000 = lims " 0 s = Kp
s (s + 100)
Now characteristics equation is
n
1 + G (s) H (s) = 0
1+
(100 + KD s) 100
=0
. i Kp = 100
o
or
s (s + 10)
. c
or s2 + (10 + 100KD) s + 10 4 = 0
a
Comparing with s2 + 2xwn + wn2 = 0 we get
2xwn = 10 + 100KD
d i
o
or KD = 0.9
.n
Sol. 36 Option (D) is correct.
We have T (s) = 5
w
(s + 5)( s2 + s + 1)
5 = 2 1
w
=
5`1 + s j (s2 + s + 1) s +s+1
5
w
In given transfer function denominator is (s + 5)[( s + 0.5) 2 + 43 ]. We can see
©
3
easily that pole at s =- 0.5 ! j 2 is dominant then pole at s =- 5 . Thus we
have approximated it.
Sol. 37 Option (A) is correct.
G (s) = 1 = 1
s2 - 1 (s + 1)( s - 1)
The lead compensator C (s) should first stabilize the plant i.e. remove 1
(s - 1)
term. From only options (A), C (s) can remove this term
1 10 (s - 1)
Thus G (s) C (s) = #
(s + 1)( s - 1) (s + 2)
= 10 Only option (A) satisfies.
(s + 1)( s + 2)
Sol. 38 Option (D) is correct.
For ufb system the characteristics equation is
1 + G (s) = 0
or 1+ K =0
s (s2 + 7s + 12)
or s (s2 + 7s + 12) + K = 0
Point s =- 1 + j lie on root locus if it satisfy above equation i.e
(- 1 + j)[( - 1 + j) 2 + 7 (- 1 + j) + 12) + K] = 0
GATE SOLVED PAPER - EC CONTROL SYSTEM
or K =+ 10
Sol. 39 Option (D) is correct.
At every corner frequency there is change of -20 db/decade in slope which indicate
pole at every corner frequency. Thus
G (s) = K
s (1 + s)`1 + s j
20
Bode plot is in (1 + sT) form
20 log K = 60 dB = 1000
w w = 0. 1
Thus K =5
Hence G (s) = 100
s (s + 1)( 1 + .05s)
Sol. 40 Option (A) is correct.
dw
-1 1 w 0
> di H = =- 1 - 10G=in G + =10Gu
dt
We have a
dt
or dw =- w + i ...(1)
in
n
dt
.
and dia =- w - 10i + 10u ...(2)
o
a
dt
c
Taking Laplace transform (i) we get
sw (s) =- w (s) = Ia (s)
a .
i
or (s + 1) w (s) = Ia (s) ...(3)
Taking Laplace transform (ii) we get
o d
sIa (s) =- w (s) - 10Ia (s) + 10U (s)
or
. n
w (s) = (- 10 - s) Ia (s) + 10U (s)
w
= (- 10 - s)( s + 1) w (s) + 10U (s) From (3)
w
or w (s) =- [s2 + 11s + 10] w (s) + 10U (s)
or (s2 + 11s + 11) w (s) = 10U (s)
or
w w (s)
= 2 10
©
U (s) (s + 11s + 11)
Sol. 41 Option (A) is correct.
We have xo (t) = Ax (t)
p q
A ==
r sG
Let
1 e-2t
For initial state vector x (0) = = G the system response is x (t) = > H
-2 - 2e-2t
d
e-2t p q 1
> d (- 2e-2t)H ==
r s G=- 2G
dt
Thus
dt
t=0
- 2e-2 (0) p q 1
or > 4e-2 (0) H = =r s G=- 2G
-2 p - 2q
= 4 G = =r - 2s G
1 e-t
For initial state vector x (0) = = G the system response is x (t) = > -tH
-1 -e
d
e-t p q 1
> d (- e-t)H ==
r s G=- 1G
dt
Thus
dt
t=0
- (0)
-e p q 1
> e- (0) H = =r s G=- 1G
-1 p-q
= 1 G = =r - s G
. i n
o
lI - A = 0
. c
l -1
=0
a
2 l+3
or
or
l (l + 3) + 2 = 0
l =- 1, - 2
d i
o
.n
Thus Eigen values are - 1 and - 2
Eigen vectors for l1 =- 1
w
(l1 I - A) X1 = 0
w
l1 - 1 x11
or = 2 l + 3G=x G = 0
w
1 21
- 1 - 1 x11
= 2 2 G=x G = 0
©
21
or - x11 - x21 = 0
or x11 + x21 = 0
We have only one independent equation x11 =- x21.
Let x11 = K , then x21 =- K , the Eigen vector will be
x11 K 1
=x G = =- K G = K =- 1G
21
or - x11 - x21 = 0
or x11 + x21 = 0
We have only one independent equation x11 =- x21.
Let x11 = K, then x21 =- K , the Eigen vector will be
x12 K 1
=x G = =- 2K G = K =- 2G
22
GATE SOLVED PAPER - EC CONTROL SYSTEM
in
1 + G (s) H (s) = 0
1+
K (s + 1)
=0
o.
c
s + as2 + 2s + 1
3
s3 + as2 + (2 + K) s + K + 1 = 0
a .
d i
The Routh Table is shown below. For system to be oscillatory stable
o
a (2 + K) - (K + 1)
=0
n
a
or
.
a = K+1 ...(1)
w
K+2
Then we have
w
as2 + K + 1 = 0
w
At 2 rad/sec we have
©
s = jw " s2 =- w2 =- 4 ,
Thus - 4a + K + 1 = 0 ...(2)
Solving (i) and (ii) we get K = 2 and a = 0.75 .
s3 1 2+K
s 2
a 1+K
(1 + K) a - (1 + K)
s1 a
s0 1+K
H
2
s2 + 1
(sI - A) -1 = -1 s
s2 + 1 1 s 2
s +1 s2 + 1
cos t sin t
f (t) = eAt = L-1 [(sI - A)] -1 = =
- sin t cos t G
Sol. 49 Option (C) is correct.
G (s) = as + 1
n
We have
i
2
s
+G (jw) = tan-1 (wa) - p
Since PM is p i.e. 45c, thus
o.
4
. c
p = p + +G (jw ) w " Gain cross over Frequency
a
g g
i
4
d
or p = p + tan-1 (w a) - p
g
4
p = tan-1 (w a)
o
.n
or g
4
w
or awg = 1
At gain crossover frequency G (jwg) = 1
w 1 + a2 wg2
w
Thus =1
wg2
©
or 1 + 1 = wg2 (as awg = 1)
1
or wg = (2) 4
T (jw) = 1 + w2 T2
1 + w2 b2 T2
GATE SOLVED PAPER - EC CONTROL SYSTEM
in
Despite the presence of negative feedback, control systems still have problems of
.
instability because components used have nonlinearity. There are always some
o
variation as compared to ideal characteristics.
c
Sol. 54 Option (B) is correct.
Sol. 55 Option (C) is correct.
a .
i
The peak percent overshoot is determined for LTI second order closed loop system
d
with zero initial condition. It’s transfer function is
T (s) =
n o
wn2
.
s2 + 2xwn s + wn2
w
Transfer function has a pair of complex conjugate poles and zeroes.
Sol. 56 Option (A) is correct.
w
For ramp input we have R (s) = 12
w
s
Now ess = lim sE (s)
©
s"0
R (s) 1
= lim s = lim
s"0 1 + G (s) s " 0 s + sG (s)
or ess = lim 1 = 5% = 1 Finite
s " 0 sG (s) 20
But kv = 1 = lim sG (s) = 20
ess s"0
2
or K = s + 3s
1-s
For break away & break in point
dK = (1 - s)( 2s + 3) + s2 + 3s = 0
ds
or - s2 + 2s + 3 = 0
which gives s = 3 , - 1
Here - 1 must be the break away point and 3 must be the break in point.
Sol. 59 Option (D) is correct.
-2s
G (s) = 3e
s (s + 2)
-2jw
or G (jw) = 3e
jw (jw + 2)
i n
G (jw) = 3
.
w w2 + 4
o
Let at frequency wg the gain is 1. Thus
. c
3 =1
wg (wg2 + 4)
i a
d
or wg4 + 4wg2 - 9 = 0
o
or wg2 = 1.606
.n
or wg = 1.26 rad/sec
+G (jw) =- 2w - p - tan-1 w
w
Now
2 2
w
Let at frequency wf we have +GH =- 180c
w
- p =- 2wf - p - tan-1 f
w 2 2
©
w
or 2wf + tan-1 f = p
2 2
w w 3
or 2wf + c f - 1 ` f j m = p
2 3 2 2
5wf wf3
or - =p
2 24 2
5wf
.p
2 2
or wf = 0.63 rad
Sol. 60 Option (D) is correct.
The gain at phase crossover frequency wf is
G (jwg) = 3 = 3
wf (wf2 + 4)
1
0.63 (0.632 + 4) 2
or G (jwg) = 2.27
G.M. =- 20 log G (jwg)
- 20 log 2.26 =- 7.08 dB
Since G.M. is negative system is unstable.
The phase at gain cross over frequency is
w
+G (jwg) =- 2wg - p - tan-1 g
2 2
GATE SOLVED PAPER - EC CONTROL SYSTEM
in
or wf = 0
The gain at wf = 0 is
o.
c
2
G (jw) H (jw) = 2 1 + w =3
.
w2
3
i a
Thus gain margin is = 1 = 0 and in dB this is - 3 .
d
Sol. 62 Option (C) is correct.
o
Centroid is the point where all asymptotes intersects.
n
SReal of Open Loop Pole - SReal Part of Open Loop Pole
.
s =
SNo.of Open Loop Pole - SNo.of Open Loop zero
w = - 1 - 3 =- 1.33
3
Sol. 63
w
Option (C) is correct.
w
The given bode plot is shown below
n
or 1 - e-2t = 0.99
e-2t = 0.1
. i
o
or - 2t = ln 0.1
. c
or t = 2.3 sec
a
Sol. 65 Option (A) is correct.
w
Due to zero at 100 Hz " 0
w
Due to zero at 200 Hz " 0
w
Thus approximate total - 90c phase shift is provided.
Sol. 66 Option (C) is correct.
©
Mason Gain Formula
T (s) =
Spk 3 k
3
In given SFG there is only one forward path and 3 possible loop.
p1 = abcd
31 = 1
3= 1 - (sum of indivudual loops) - (Sum of two non touching loops)
= 1 - (L1 + L2 + L3) + (L1 L3)
Non touching loop are L1 and L3 where
L1 L2 = bedg
C (s) p1 3 1
Thus =
R (s) 1 - (be + cf + dg) + bedg
= abcd
1 - (be + cf + dg) + bedg
Sol. 67 Option (A) is correct.
-2 2
A ==
1 - 3G
We have
Characteristic equation is
GATE SOLVED PAPER - EC CONTROL SYSTEM
[lI - A] = 0
l + 2 -2
or =0
-1 l + 3
or (l + 2)( l + 3) - 2 = 0
or l2 + 5l + 4 = 0
Thus l1 =- 4 and l2 =- 1
Eigen values are - 4 and - 1.
Eigen vectors for l1 =- 4
(l1 I - A) X1 = 0
l1 + 2 - 2 x11
or = 1 l + 3G=x G = 0
1 21
- 2 - 2 x11
=- 1 - 1G=x G = 0
21
or - 2x11 - 2x21 = 0
or x11 + x21 = 0
in
We have only one independent equation x11 =- x21.
.
Let x21 = K , then x11 =- K , the Eigen vector will be
o
x11 -K -1
=x G = = K G = K = 1 G
. c
21
n
22
.
1 - 2 x12
or =- 1 2 G=x G = 0
w
22
w
Let x22 = K , then x12 = 2K . Thus Eigen vector will be
w
x12 2K 2
=x G = = K G = K =1 G
©
22
Digonalizing matrix
x11 x12 -1 2
M ==
x21 x22 G = 1 1G
=
1 -2
M-1 = ` - 1 j=
1 - 1G
Now
3 -
Now Diagonal matrix of sin At is D where
sin (l1 t) 0 sin (- 4t) 0
D == G ==
0 sin (l2 t) 0 sin (l2 t)G
Now matrix B = sin At = MDM-1
- 1 2 sin (- 4t) 0 1 -2
=-` 1 j= G=
3 1 1 0 sin (- t) - 1 - 1G
G=
- sin (- 4t) - 2 sin (- t) 2 sin (- 4t) - 2 sin (- t)
=-` 1 j=
3 sin (- 4t) + 2 sin (t) - 2 sin (- 4t) - sin (- t)G
- sin (- 4t) - 2 sin (- t) 2 sin (- 4t) - 2 sin (- t)
=-` 1 j=
3 sin (- 4t) - sin (- t) - 2 sin (- 4t) + 2 sin (- t)G
GATE SOLVED PAPER - EC CONTROL SYSTEM
n
This gives 0<K<
i
4
s4 1 5 K
o.
s3 4 6 0
. c
a
2 7
K
i
s 2
d
21 - 4K
s1 7/2
0
o
s0 K
w
The routh table is shown below.
w
If e " 0+ then 2e +e 12 is positive and -15e2-e +2412e - 144 is negative. Thus there are two
2
sign change in first column. Hence system has 2 root on RHS of plane.
©s
s4
5 1
1
2
2
3
15
s3 e - 12 0
2e + 12
s2 e 15 0
s1
2
-15e - 24e - 144
2e + 12
s0 0
in
Z = P-N
N " Net encirclement of (- 1 + j0) by Nyquist plot,
o.
c
P " Number of open loop poles in right hand side of s - plane
.
Z " Number of closed loop poles in right hand side of s - plane
a
i
Here N = 1 and P = 1
d
Thus Z =0
o
Hence there are no roots on RH of s -plane and system is always stable.
n
.
Sol. 73 Option (C) is correct.
w
PD Controller may accentuate noise at higher frequency. It does not effect the type
of system and it increases the damping. It also reduce the maximum overshoot.
Sol. 74
w
Option (D) is correct.
w
Mason Gain Formula
Spk 3 k
©
T (s) =
3
In given SFG there is only forward path and 3 possible loop.
p1 = 1
31 = 1 + 3 + 24 = s + 27
s s s
L1 = - 2 , L2 = - 24 and L3 = - 3
s s s
where L1 and L3 are non-touching
C (s) p1 3 1
This =
R (s) 1 - (loop gain) + pair of non - touching loops
^ s +s27 h ^
s + 27
h
= = s
s (s + 27)
= 2
s + 29s + 6
Sol. 75 Option (D) is correct.
We have
GATE SOLVED PAPER - EC CONTROL SYSTEM
1 + G (s) H (s) = 0
or 1+ K =0
s (s + 2)( s + 3)
or K =- s (s2 + 5s2 + 6s)
dK =- (3s2 + 10s + 6) = 0
ds
which gives s = - 10 ! 100 - 72 =- 0.784, - 2.548
6
The location of poles on s - plane is
i n
Since breakpoint must lie on root locus so s =- 0.748 is possible.
Sol. 76 Option (A) is correct.
The given bode plot is shown below
o.
. c
i a
o d
.n
w
w
At w = 0.1 change in slope is + 60 dB " 3 zeroes at w = 0.1
At w = 10 change in slope is - 40 dB " 2 poles at w = 10
w
At w = 100 change in slope is - 20 dB " 1 poles at w = 100
©
K ( 0s.1 + 1) 3
Thus T (s) = s
( 10 + 1) 2 ( 100
s
+ 1)
Now 20 log10 K = 20
or K = 10
10 ( 0s.1 + 1) 3 108 (s + 0.1) 3
Thus T (s) = =
( 10s + 1) 2 ( 100
s
+ 1) (s + 10) 2 (s + 100)
Sol. 77 Option (B) is correct.
The characteristics equation is
s2 + 4s + 4 = 0
Comparing with
s2 + 2xwn + wn2 = 0
we get 2xwn = 4 and wn2 = 4
Thus x =1 Critically damped
ts = 4 = 4 = 2
xwn 1#2
Sol. 78 Option (B) is correct.
Sol. 79 Option (C) is correct.
We have
GATE SOLVED PAPER - EC CONTROL SYSTEM
xo1 1 0 x1 x1 (0) 1
=xo G = =1 1G=x2 G
and =
x2 (0)G =0 G
=
2
1 0
A ==
1 1G
s 0 1 0 s-1 0
(sI - A) = = G -= G= =
0 s 1 1 - 1 s - 1G
1 >(s - 1)
1
0 0
H > H
s-1
(sI - A) -1 = = +1
(s - 1) 2 + 1 (s - 1)
1
(s - 1) 2 s-1
et 0
L-1 [(sI - A) -1] = eAt = = t t G
te e
et 0 1 et
x (t) = eAt # [x (t0)] = = t t G= G = = t G
te e 0 te
Sol. 80 Option (C) is correct.
The characteristics equation is
ks2 + s + 6 = 0
s2 + 1 s + 6 = 0
in
or
K K
.
Comparing with s2 + 2xwn s + wn2 = 0 we have
we get 2xwn = 1 and wn2 = 6
K K
c o
a.
or 2 # 0.5 # 6 Kw = 1 Given x = 0.5
i
K
d
or 6 = 2 & K =1
1
o
K K 6
n
Sol. 81 Option (B) is correct.
.
Any point on real axis lies on the root locus if total number of poles and zeros
w
to the right of that point is odd. Here s =- 1.5 does not lie on real axis because
w
there are total two poles and zeros (0 and - 1) to the right of s =- 1.5 .
Option (D) is correct.
w
Sol. 82
From the expression of OLTF it may be easily see that the maximum magnitude
©
is 0.5 and does not become 1 at any frequency. Thus gain cross over frequency
does not exist. When gain cross over frequency does not exist, the phase margin
is infinite.
Sol. 83 Option (D) is correct.
We have xo (t) =- 2x (t) + 2u (t) ...(i)
Taking Laplace transform we get
sX (s) =- 2X (s) + 2U (s)
or (s + 2) X (s) = 2U (s)
2U (s)
or X (s) =
(s + 2)
Now y (t) = 0.5x (t)
Y (s) = 0.5X (s)
0.5 # 2U (s)
or Y (s) =
s+2
Y (s) 1
or =
U (s) (s + 2)
GATE SOLVED PAPER - EC CONTROL SYSTEM
. i n
For overdamped system settling time can be determined by the dominant pole
o
of the closed loop system. In given system dominant pole consideration is at
c
s =- 1. Thus
1 =1
.
and Ts = 4 = 4 sec
a
i
T T
d
Sol. 86 Option (B) is correct.
o
Routh table is shown below. Here all element in 3rd row are zero, so system is
.n
marginal stable.
w
s5 2 4 2
w
s4 1 2 1
w
s3 0 0 0
s2
©
s1
s0
wf = 1 rad/sec
The gain margin at this frequency wf = 1 is
GM =- 20 log10 G (jwf) H (jwf)
= 20 log10 (wf (1 - w2f) 2 + w2f =- 20 log 1 = 0
Sol. 88 Option (A) is correct.
Z = P-N
N " Net encirclement of (- 1 + j0) by Nyquist plot,
P " Number of open loop poles in right had side of s - plane
Z " Number of closed loop poles in right hand side of s - plane
Here N = 0 (1 encirclement in CW direction and other in CCW)
and P = 0
Thus Z = 0
Hence there are no roots on RH of s - plane.
Sol. 89 Option (D) is correct.
Take off point is moved after G2 as shown below
. in
c o
a .
Sol. 90 Option (D) is correct.
d i
If roots of characteristics equation lie on negative axis at different positions (i.e.
o
unequal), then system response is over damped.
n
.
From the root locus diagram we see that for 0 < K < 1, the roots are on imaginary
w
axis and for 1 < K < 5 roots are on complex plain. For K > 5 roots are again on
imaginary axis.
w
Thus system is over damped for 0 # K < 1 and K > 5 .
w
Sol. 91 Option (C) is correct.
©
The characteristics equation is
s2 + 2s + 2 = 0
Comparing with s2 + 2xwn + wn2 = 0 we get
2xwn = 2 and wn2 = 2
wn =
2
and x = 1
2
Since x < 1 thus system is under damped
Sol. 92 Option (C) is correct.
From SFG we have
I1 (s) = G1 Vi (s) + HI2 (s) ...(1)
I2 (s) = G2 I1 (s) ...(2)
V0 (s) = G3 I2 (s) ...(3)
Now applying KVL in given block diagram we have
Vi (s) = I1 (s) Z1 (s) + [I1 (s) - I2 (s)] Z3 (s) ...(4)
GATE SOLVED PAPER - EC CONTROL SYSTEM
c o
.
For unity negative feedback system the closed loop transfer function is
i a
G (s) s+4
CLTF = = , G (s) " OL Gain
1 + G (s) s2 + 7s + 13
or
1 + G (s)
G (s)
2
o d
= s + 7s + 13
s+4
.n
or 1 = s2 + 7s + 13 - 1 = s2 + 6s + 9
w
G (s) s+4 s+4
s + 4
w
or G (s) = 2
s + 6s + 9
w
For DC gain s = 0 , thus
Thus G (0) = 4
©
9
Sol. 94 Option (C) is correct.
From the Block diagram transfer function is
G (s)
T (s) =
1 + G (s) H (s)
K (s - 2)
Where G (s) =
(s + 2)
and H (s) = (s - 2)
The Characteristic equation is
1 + G (s) H (s) = 0
K (s - 2)
1+ (s - 2) = 0
(s + 2) 2
or (s + 2) 2 + K (s - 2) 2 = 0
or (1 + K) s2 + 4 (1 - K) s + 4K + 4 = 0
Routh Table is shown below. For System to be stable 1 + k > 0 , and 4 + 4k > 0
and 4 - 4k > 0 . This gives - 1 < K < 1
As per question for 0 # K < 1
GATE SOLVED PAPER - EC CONTROL SYSTEM
s2 1+k 4 + 4k
s1 4 - 4k 0
s0 4 + 4k
s3 1 K
in
s2 a 3
s1 aK - 3
a 0
o.
c
s0 3
a .
i
Sol. 97 Option (B) is correct.
d
Closed loop transfer function is given as
T (s) = 2 9
n o
s + 4s + 9
.
by comparing with standard form we get natural freq.
w
wA2 = 9
w
wn = 3
2xwn = 4
w
Damping factor 4 = 2/3
x =
©
2#3
For second order system the setting time for 2-percent band is given by
ts = 4 = 4 =4 =2
xwn 3 # 2/3 2
Sol. 98 Option (D) is correct.
Given loop transfer function is
G (s) H (s) = 2
s (s + 1)
G (jw) H (jw) = 2
jw (jw + 1)
Phase cross over frequency can be calculated as
f (w) at w = w =- 180c
p
Gain margin
20 log 10 = 1
G (jw) H (jw) G
at w = wp
G.M. = 20 log 10 e 1
G (jw) H (jwp) o
G (jwp) H (jwp) = 2 =0
wp w2p + 1
so G.M. = 20 log 10 b 1 l = 3
0
Sol. 99 Option (A) is correct.
0 1 0
Here A == G, B = = G and C = [1 1]
2 -3 1
The controllability matrix is
n
0 1
QC = [B AB ] = =
1 - 3G
. i
o
det QC ! 0 Thus controllable
. c
The observability matrix is
a
1 2
Q0 = [CT AT CT ] = =
1 - 2G
i
!0
det Q0 ! 0
o d Thus observable
.n
Sol. 100 Option (D) is correct.
we have G (s) H (s) = 2 3
w
s (s + 1)
w
or G (jw) H (jw) = 2 3
jw (jw + 1)
w
Gain cross over frequency
G (jw) H (jw) at w = w = 1
©
g
or 2 3 =1
w w2 + 1
12 = w2 (w2 + 1)
w4 + w2 - 12 = 0
(w2 + 4) (w2 - 3) = 0
w2 = 3 and w2 =- 4
which gives w1, w2 = ! 3
wg = 3
f (w) at w = w =- 90 - tan-1 (wg)
g
=- 90 - tan-1 3
=- 90 - 60 =- 150
Phase margin = 180 + f (w) at w = w
g
an - 1 s + an
n n-1
= s + a 1s + ...an - 2 s2
a n - 1 s + an
1+ n
s + a1 sn - 1 + ...an - 2 s2
in
n
= lim 12 s + a1 sn - 1 + .... + an - 2 s2
.
s"0 s s + a1 sn - 1 + .... + an
n
o
= an - 2
c
an
Sol. 103 Option (B) is correct.
a .
Option (A) is correct.
i
Sol. 104
.
s + 5s + 7s + 3 = 0
n
s3 1
w 7
s2
w
5 3
w
7#5-3
s 1
5 = 32
5 0
©
s0 3
There is no sign change in the first column. Thus there is no root lying in the
left-half plane.
Sol. 106 Option (A) is correct.
Techometer acts like a differentiator so its transfer function is of the form ks .
Sol. 107 Option (A) is correct.
Open loop transfer function is
G (s) = K
s (s + 1)
Steady state error
sR (s)
E (s) = lim
s " 0 1 + G (s) H (s)
s1 s (s + 1)
so E (s) = lim s = lim 2 =0
s"0
1+ K s"0 s + s + K
s (s + 1)
Sol. 108 Option (B) is correct.
Fig given below shows a unit impulse input given to a zero-order hold circuit
which holds the input signal for a duration T & therefore, the output is a unit
step function till duration T .
h (t) = u (t) - u (t - T)
. i n
o
Taking Laplace transform we have
c
H (s) = 1 - 1 e-sT = 1 61 - e-sT @
.
s s s
Sol. 109 Option (C) is correct.
i a
d
Phase margin = 180c + qg where qg = value of phase at gain crossover
frequency.
o
.n
Here qg =- 125c
w
so P.M = 180c - 125c = 55c
w
Sol. 110 Option (B) is correct.
Open loop transfer function is given by
w
K (1 + 0.5s)
G (s) H (s) =
s (1 + s) (1 + 2s)
©
Close looped system is of type 1.
It must be noted that type of the system is defined as no. of poles lies at origin
lying
in OLTF.
Sol. 111 Option (D) is correct.
Transfer function of the phase lead controller is
1 + (3Tw) j
T.F = 1 + 3Ts =
1+s 1 + (Tw) j
Phase is
f (w) = tan-1 (3Tw) - tan-1 (Tw)
f (w) = tan-1 ; 3Tw - T w
2 2E
1 + 3T w
f (w) = tan ; 2Tw2 2 E
-1
1 + 3T w
For maximum value of phase
df (w)
=0
dw
or 1 = 3T 2 w2
Tw = 1
3
GATE SOLVED PAPER - EC CONTROL SYSTEM
So maximum phase is
fmax = tan-1 ; 2Tw2 2 E at Tw = 1
1 + 3T w 3
1
2 3 1 = 30c
= tan-1 > H = tan ;
3E
-1
1 + 3 # 13
Sol. 112 Option (A) is correct.
G (jw) H (jw) enclose the (- 1, 0) point so here G (jwp) H (jwp) > 1
wp = Phase cross over frequency
Gain Margin = 20 log 10 1
G (jwp) H (jwp)
so gain margin will be less than zero.
Sol. 113 Option (B) is correct.
The denominator of Transfer function is called the characteristic equation of the
system. so here characteristic equation is
(s + 1) 2 (s + 2) = 0
Sol. 114 Option (C) is correct.
in
In synchro error detector, output voltage is proportional to [w (t)], where w (t) is
.
the rotor velocity so here n = 1
Sol. 115 Option (C) is correct.
c o
.
By masson’s gain formulae
a
y / Dk Pk
i
=
x D
Forward path gain
o d
P1 = 5 # 2 # 1 = 10
n
D = 1 - (2 # - 2) = 1 + 4 = 5
. D1 = 1
w
y
so gain = 10 # 1 = 2
x 5
Sol. 116
w
Option (C) is correct.
w
By given matrix equations we can have
©
Xo1 = dx1 = x1 - x2 + 0
dt
Xo2 = dx2 = 0 + x2 + m
dt
x1
y = [1 1] > H = x1 + x2
x2
dy
= dx1 + dx2
dt dt dt
dy
= x1 + m
dt
dy
= x1 (0) + m (0)
dt t = 0
= 1+0 = 0
***********