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Gate Academy - Control System

The document is a workbook for Control Systems aimed at students in Electronics, Electrical, Electrical & Electronics, and Instrumentation Engineering, covering topics relevant for GATE, ESE, and PSUs. It includes a syllabus outline, chapter contents, and video lecture information, along with practice questions and solutions. The workbook is published by GATE Academy and is intended for use with various digital formats including PEN-Drive and G-Drive courses.

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Asif Jamal

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0% found this document useful (0 votes)

1K views108 pages

Gate Academy - Control System

Uploaded by

Asif Jamal

We take content rights seriously. If you suspect this is your content, claim it here.

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Edition 2021 - 22

Control Systems
PEN-Drive / G-Drive Course / VOD & Tablet Users

English Workbook

Electronics & Telecommunication Engineering

Electrical Engineering
Electrical & Electronics Engineering
Instrumentation Engineering

GATE / ESE / PSUs

Control Systems
PEN-Drive / G-Drive Course / VOD & Tablet Users

Workbook
ETC / EE / EEE / IN

Copyright © All Rights Reserved

GATE ACADEMY ®

No part of this publication may be reproduced or distributed in any form or by any means, electronic,
mechanical, photocopying, recording, or otherwise or stored in a database or retrieval system without
the prior written permission of the publishers. The program listings (if any) may be entered, stored
and executed in a computer system, but they may not be reproduced for publication.

Printing of books passes through many stages - writing, composing, proof reading, printing etc. We
try our level best to make the book error- free. If any mistake has inadvertently crept in, we regret it
and would be deeply indebted to those who point it out. We do not take any legal responsibility.

Edition : 2021-22

GATE ACADEMY ®
A/114-115, Smriti Nagar, Bhilai - 490 020 (C.G.)
Phone : 0788 - 4034176, 0788 - 3224176
Help Desk No. - +91-97131-13156
For Feedback & Suggestions...
[email protected]
GATE Syllabus
Electronics & Communication (EC) : Basic control system components; Feedback
principle; Transfer function; Block diagram representation; Signal flow graph; Transient and
steady-state analysis of LTI systems; Frequency response; Routh-Hurwitz and Nyquist
stability criteria; Bode and root-locus plots; Lag, lead and lag-lead compensation; State
variable model and solution of state equation of LTI systems.
Electrical Engineering (EE) : Mathematical modeling and representation of systems,
Feedback principle, transfer function, Block diagrams and Signal flow graphs, Transient and
Steady‐state analysis of linear time invariant systems, Stability analysis using Routh-Hurwitz
and Nyquist criteria, Bode plots, Root loci, Lag, Lead and Lead‐Lag compensators; P, PI and
PID controllers; State space model, Solution of state equations of LTI systems.
Instrumentation Engineering (IN) : Feedback principles, signal flow graphs, transient
response, steady-state-errors, Bode plot, phase and gain margins, Routh and Nyquist criteria,
root loci, design of lead, lag and lead-lag compensators, state-space representation of
systems; time-delay systems; mechanical, hydraulic and pneumatic system components,
synchro pair, servo and stepper motors, servo valves; on-off, P, PI, PID, cascade,
feedforward, and ratio controllers, tuning of PID controllers and sizing of control valves.

ESE Syllabus
Electronics & Communication (EC) : Classification of signals and systems; Application
of signal and system theory; System realization; Transforms& their applications; Signal flow
graphs, Routh‐Hurwitz criteria, root loci, Nyquist/Bode plots; Feedback systems‐open
&close< loop types, stability analysis, steady state, transient and frequency response
analysis; Design of control systems, compensators, elements of lead/lag compensation, PID
and industrial controllers.
Electrical Engineering (EE) : Principles of feedback, transfer function, block diagrams and
signal flow graphs, steady‐state errors, transforms and their applications; Routh‐Hurwitz
criterion, Nyquist techniques, Bode plots, root loci, lag, lead and lead‐lag compensation,
stability analysis, transient and frequency response analysis, state space model, state
transition matrix, controllability and observability, linear state variable feedback, PID and
industrial controllers.
Table of Contents
Chapter 1
Basics of Control System ………...…….……..…………………. 1
Chapter 2
Block Diagram ……………………………..……………………. 6
Chapter 3
Signal Flow Graph …..……………………..……………………. 15
Chapter 4
Routh-Hurwitz Stability …….….……………….….……………. 20
Chapter 5
Time Response Analysis ……….………..………………………. 28
Chapter 6
Root Locus Diagram ……………..……………..………………. 40
Chapter 7
Polar & Nyquist Plot …………….……………..……..…………. 51
Chapter 8
Bode Plot ………………………………………..………….……. 60
Chapter 9
Gain & Phase Margin ……………………………………....……. 70
Chapter 10
State Space Error ………….………………………….…………. 77
Chapter 11
Frequency Response of Second Order System ……….…………. 79
Chapter 12
State Space Model …………………………………….…………. 82
Chapter 13
Compensators & Controllers ……...………………….…………. 96
Video Lecture Information
Sr. Lecture Name Duration
Lecture 00 How to Study Control System ? 0:17:02
Chapter 01 Basics Of Control System
Lecture 01 Basics of Laplace Transform 0:45:08
Lecture 02 Practice Question on Laplace Transform 0:53:39
Lecture 03 Workbook Questions 1-5 0:22:38
Lecture 04 Initial and Final Value Theorem 0:38:29
Lecture 05 Workbook Questions 6-11 0:48:13
Lecture 06 Workbook Questions 12-14 0:26:26
Lecture 07 Transfer Function (Part 1) 0:51:38
Lecture 08 Transfer Function (Part 2) 0:43:14
Lecture 09 Workbook Questions 15-23 0:36:07
Lecture 10 Workbook Questions 24-26 0:14:04
Lecture 11 Concept of BIBO Stability 0:44:22
Lecture 12 Basics of Control System (Part 1) 0:50:44
Lecture 13 Basics of Control System (Part 2) 0:58:10
Chapter 02 Block Diagram
Lecture 01 Basics of Block Diagram (Part 1) 0:59:23
Lecture 02 Basics of Block Diagram (Part 2) 0:53:24
Lecture 03 Basics of Block Diagram (Part 3) 0:32:06
Lecture 04 Workbook Questions 1-8 0:57:26
Lecture 05 Workbook Questions 9-15 0:59:55
Lecture 06 Workbook Questions 16-17 0:54:52
Lecture 07 Sensitivity 0:50:36
Lecture 08 Workbook Questions 18-22 0:24:54
Chapter 03 SFG
Lecture 01 Basics of SFG 0:59:36
Lecture 02 Important Terms in SFG 0:47:35
Lecture 03 Workbook Questions 1-5 0:55:02
Lecture 04 Mason Gain Formula 0:52:32
Lecture 05 Workbook Questions 6-11 0:41:43
Lecture 06 Workbook Questions 12-16 1:02:20
Chapter 04 Routh Hurwitz Criterion
Lecture 01 Basics of Routh Hurwitz Criterion 0:56:15
Lecture 02 Routh Hurwitz Practice Problems (Part 1) 0:58:52
Lecture 03 Routh Hurwitz Practice Problems (Part 1) 0:44:38
Lecture 04 Routh Hurwitz Special Case-2 0:54:23
Lecture 05 Routh Hurwitz (Time Constant) 0:36:43
Lecture 06 Workbook Questions 1-5 0:57:36
Lecture 07 Workbook Questions 6-9 0:28:28
Lecture 08 Workbook Questions 10-13 0:31:12
Chapter 05 Time Response Analysis
Lecture 01 Basics of Time Response 0:56:10
Lecture 02 First Order System (Part 1) 0:49:46
Lecture 03 First Order System (Part 2) 0:42:09
Lecture 04 Introduction of Second Order System 1:01:53
Lecture 05 Poles of Second Order System 0:55:08
Lecture 06 Time Parameter Second Order System (Part 1) 0:57:41
Lecture 07 Time Parameter Second Order System (Part 2) 1:07:52
Lecture 08 Workbook Questions 1-6 0:58:39
Lecture 09 Workbook Questions 7-15 0:51:34
Chapter 06 Root Locus
Lecture 01 Basics of Root Locus (Part 1) 0:58:14
Lecture 02 Basics of Root Locus (Part 2) 0:46:02
Lecture 03 Practice Question (Part 1) 0:52:40
Lecture 04 Practice Question (Part 2) 1:05:30
Lecture 05 Practice Question (Part 3) 0:32:58
Lecture 06 Practice Question (Part 4) Angle of Arrival & Departure 0:52:45
Lecture 07 Practice Question (Part 5) Complementary Root Locus 0:41:49
Lecture 08 Workbook Questions 1-7 0:59:04
Lecture 09 Workbook Questions 8-13 0:25:54
Lecture 10 Effect of Poles and Zeros 0:19:48
Chapter 07 Polar and Nyquist Plot
Lecture 01 Basics of Polar Plot 0:40:20
Lecture 02 Angle and Magnitude Calculation 0:53:27
Lecture 03 Polar Plot Practice Question (Part 1) 0:33:23
Lecture 04 Polar Plot Practice Question (Part 2) 0:49:21
Lecture 05 Polar Plot Practice Question (Part 3) 0:55:04
Lecture 06 Polar Plot Practice Question (Part 4) 0:37:37
Lecture 07 Principal of Argument 0:44:03
Lecture 08 Thought Process Nyquist Plot 0:38:04
Lecture 09 Nyquist Plot Practice Question 0:55:24
Lecture 10 Workbook Questions 1-8 0:58:07
Lecture 11 Workbook Questions 9-15 0:58:37
Chapter 08 Bode Plot
Lecture 01 Basics of Bode Plot 0:45:14
Lecture 02 Impact of Different Components (Part 1) 1:01:22
Lecture 03 Impact of Different Components (Part 2) 0:54:05
Lecture 04 Practice Question on BMP (Part 1) 0:55:54
Lecture 05 Practice Question on BMP (Part 2) 0:51:11
Lecture 06 Practice Question on BMP (Part 3) 0:53:15
Lecture 07 Error at Corner Frequency 0:18:12
Lecture 08 Bode Plot of Second Order System 0:16:49
Lecture 09 Workbook Questions 1-8 1:11:46
Lecture 10 Workbook Questions 9-15 0:38:16
Chapter 09 Gain and Phase Margin
Lecture 01 Basics of Gain & Phase Margin (Part 1) 0:57:02
Lecture 02 Basics of Gain & Phase Margin (Part 2) 0:58:53
Lecture 03 Workbook Questions 1-8 1:18:33
Chapter 10 Steady State Errors
Lecture 01 Basics of Steady State Errors 1:09:32
Lecture 02 Workbook Questions 1-6 0:27:11
Chapter 11 Frequency Response of Second Order System
Lecture 01 Basics of Frequency Response of Second Order System 0:52:41
Lecture 02 Workbook Questions 1-3 0:10:42
Chapter 12 State Space Model
Lecture 01 Introduction of State Space Model 1:05:20
Lecture 02 Electrical Network to State Space Model (Part 1) 0:51:35
Lecture 03 Electrical Network to State Space Model (Part 2) 0:31:31
Lecture 04 Transfer Function to State Space Model Canonical Form (Part 1) 0:42:03
Lecture 05 Transfer Function to State Space Model Canonical Form (Part 2) 0:53:39
Transfer Function to State Space Model using SFG & Differential
Lecture 06 1:14:37
Equation
Lecture 07 SSM to Transfer Function 1:04:31
Lecture 08 Solution of State Space Model 1:05:02
Lecture 09 Controllability and Observability 0:59:31
Lecture 10 Workbook Questions 1-6 0:57:27
Lecture 11 Workbook Questions 7-12 0:54:34
Chapter 13 Controller and Compensator
Lecture 01 Lead Compensator 1:03:31
Lecture 02 Lag Compensator 0:47:25
Lecture 03 Composite Compensator 0:34:56
Lecture 04 Workbook Questions 1-4 0:18:22
Lecture 05 Controller 0:59:23
1 Basics of Control System

Objective, NAT & MSQ Type Questions : (1 − e sT )

Q.3 F (s) = is the Laplace transform of
Q.1 Match List I with List II and select the s
correct answer using the codes given below (A) a pulse of width T
the (B) a sequence wave of period T
Lists : (C) a unit step delayed by T
List - I List – II (D) a ramp delayed by T
[GATE-IN-1997-IIT Madras]
(Laplace
(Time Function) Q.4 The Laplace transform of a transportation lag
Transform)
of 5 seconds is
1
A. 1 1. (A) exp(−5s) (B) exp(5s )
s
1
1 (C) (D) exp  − s 
B. t 2. s+5  5 
s2
s
[ESE EE 2001]
C. sinωt 3. Q.5 The inverse Laplace transform of 1.5/s (s+1)
s + ω2
2

is :
ω
D. cos ωt 4. (A) (1 − e−1.5t ) (B) 1.5(1 − e1.5t )
s + ω2
2

Codes: (C) 1.5(1 − e − t ) (D) (1.5 + e −1.5t )

A B C D Q.6 The final value theorem is used to find the
(A) 1 2 3 4 (A) Steady state value of the system output.
(B) 2 1 3 4 (B) Initial value of the system output.
(C) 1 2 4 3 (C) Transient behavior of the system output.
(D) 2 1 4 3 (D) None of these.
[ESE EE 2007]
[GATE-EC-1995-IIT Kanpur]
−2t
Q.2 The Laplace transform of e sin 2t is 2
Q.7 The value of function F ( s ) = 2 at
4 4 s +3
(A) (B) 2
(s + 2)2 + 4 s +4 t = 0 + is
2 2 (A) 3 (B) 2
(C) (D)
2
s + 4s + 8 s +4 2
(C) 3/2 (D) zero
Gate Academy Shop Address : Street 04, Narsingh Vihar, Katulbod, Bhilai 490022 (C.G.), Contact : 97131-13156 Online Test Series
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Control Systems [English Workbook] 2 GATE ACADEMY®
2( s + 1) Q.13 The steady-state response c(t) for an input
Q.8 If L [ f (t ) ] = 2
then f (0+ ) and f (∞)
s + 2s + 5 r (t ) = sin 2t to a system transfer function
are given by 1
is :
(A) 0, 2 respectively s+4
(B) 2, 0 respectively (A) 0.25 sin 2t
(C) 0, 1 respectively (B) sin(2t − 450 )
(D) 2/5, 0 respectively (C) 0.316sin(2t − 26.50 )
[Note: ‘L’ stands for ‘Laplace Transform of’] (D) 0.632cos 2t
[GATE-EC-1995-IIT Kanpur] [ESE EE 2018]
2 Q.14 The closed–loop transfer function of a
Q.9 The value of function F ( s ) = at
2
s +3 C(s) 1
control system is given by =
t = 0 + is R(s) (1 + s)
(A) 3 (B) 2 For the input r (t ) = sin t , the steady state
(C) 3/2 (D) zero value of c (t) is equal to
Q.10 The transfer function of a linear time 1
(A) cos t (B) 1
invariant system is given as 2
1
G(s) = The steady state value of 1 1  π
2
s + 3s + 2 (C) sin t (D) sin  t − 
2 2  4
the output of the system for a unit impulse
[GATE-EE-1996-IISc Bangalore]
input applied at time instant t = 1 will be
Q.15 The transfer function of a linear system is the
(A) 0 (B) 0.5
(C) 1 (D) 2 (A) Ratio of the output, v0 (t) and input v1
[GATE-EE-2008-IISc Bangalore] (t)
Q.11 The steady value of the output on application (B) Ratio of the Laplace transform of the
of unit step input to transfer function output and that of the input with all
initial conditions zeros.
C ( s) 2.5
= 2 , will be (C) Ratio of the derivatives of the output
R(s) s + 2.5s + 10
and the input
1
(A) (B) 1 (D) None of these.
2.5
[GATE-EC-1995-IIT Kanpur]
(C) 0.25 (D) 2.5
Q.16 The transfer function of a system is the
Q.12 A first order system with a transfer function Laplace transform of its
1 (A) Square wave response
is excited by a signal 10sin t.
1+ s
(B) Step response
Its steady state output will be : (C) Ramp response
(A) 10sin  2t −  (B) 10sin  t − 
π π (D) Impulse response
 4  4 [GATE-IN-1998-IIT Delhi]
10  π 10  π Q.17 In following :
(C) sin  t −  (D) sin  t + 
2  4 2  4 1) Mathematical modelling of physical
[GATE-IN-1994-IIT Kharagpur] systems.
Gate Academy Shop Address : Street 04, Narsingh Vihar, Katulbod, Bhilai 490022 (C.G.), Contact : 97131-13156 Online Test Series
https://www.gateacademy.shop/ Live class room: https://play.google.com/store/apps/details?id=com.gateacademy1 http://onlinetestseries.gateacademy.co.in
GATE ACADEMY® 3 Basics of Control System
2) Block diagrams and signal flow graphs Q.20 Relationship between input x (t) and output
and their reduction. y(t) of a system is given as
3) Time domain and frequency domain d2y d2x
analysis of linear dynamical system. = x (t − 2) +
dt 2 dt 2
4) Errors for different type of inputs and Then transfer function of this system is
stability criteria for feedback systems.
e −2 s e2 s
5) Stability analysis using Routh-Hurwitz (A) 1 + (B) 1 +
s2 s2
array, Nyquist plot and Bode plot.
6) Root locus and Nicols chart and the (C) 1 + s 2 e −2 s (D) 1 + s 2 e 2 s
estimation of gain and phase margin. [GATE-IN-1999-IIT Bombay]
7) Basic concepts of compensator design. Q.21 Unit step response of a linear time invariant
8) State variable matrix and its use in (LTI) system is given by y(t ) = (1 − e−2t )u(t ) .
system modelling. Assuming zero initial condition, the transfer
The transfer function is defined as function of the system is
(A) the ratio of Laplace transform of output 1 2
(A) (B)
to Laplace transform of input s +1 ( s + 1)( s + 2)
considering initial condition as zero 1 2
(C) (D)
(B) the ratio of Laplace transform of input s+2 s+2
to Laplace transform of output [GATE-IN-2018-IIT Guwahati]
considering initial conditions as zero
Q.22 The transfer function of the system described
(C) the ratio of input to output 2

(D) the ratio of output to input by d 2y + dy = du + 2 u with u as input and y

dt dt dt
Q.18 The transfer function of the system described as output is
2
by d 2y + dy = du + 2 u with u as input and y (A) ( s2 + 2) (B) ( s2 + 1)
dt dt dt (s + s) (s + s)
as output is
2 2s
(C) (D)
(A) ( s2 + 2) (B) ( s2 + 1) 2
(s + s) 2
(s + s)
(s + s) (s + s)
[GATE-EE-2002-IISc Bangalore]
(C) 2 2 (D) 22 s Q.23 The transfer function for the diagram is given
(s + s) (s + s)
by which one of the following?
[GATE-EE-2002-IISc Bangalore]
Q.19 A system is represented by the differential
equation
d 2x dx
M 2 + F + Kx = u(t )
dt dt
The transfer function relating X(s) and U(s)
is 1 sRC
(A) (B)
(1 + sRC ) (1 + sRC )
M F
(A) 2
(B) 2 sRC
Ms + Fs + K Ms + Fs + K (C) (D) 1+ sRC
(1 − sRC )
K 1
(C) (D)
2
Ms + Fs + K 2
Ms + Fs + K [ESE EE 2008]
Gate Academy Shop Address : Street 04, Narsingh Vihar, Katulbod, Bhilai 490022 (C.G.), Contact : 97131-13156 Online Test Series
https://www.gateacademy.shop/ Live class room: https://play.google.com/store/apps/details?id=com.gateacademy1 http://onlinetestseries.gateacademy.co.in
Control Systems [English Workbook] 4 GATE ACADEMY®
Q.24 Negative feedback in a closed-loop control 1 ε1 ε 2
(A) ε1 + ε2 + (B)
system DOES NOT ε3 ε3
(A) reduce the overall gain
(C) ε1 + ε2 − ε3 (D) ε1 + ε2 + ε3
(B) reduce bandwidth
Q.2 The relationship between the force f (t ) and
(C) improve disturbance rejection
(D) reduce sensitivity to parameter variation the displacement x(t ) of a spring-mass
[GATE-EC-2010-IIT Guwahati] system (with mass M, viscous damping D and
spring constant K) is
Q.25 The error detector element in a control
system gives d 2 x (t ) dx (t )
M 2
+D + Kx (t ) = f (t )
(A) the sum of the reference signal and dt dt
feedback signal X (s) and F (s) are the Laplace transforms of
(B) the sum of the reference signal and error x(t ) and f (t ) respectively. With M = 0.1,
signal D = 2, K = 10 in appropriate units, the
(C) the difference of the reference signal X ( s)
transfer function G ( s ) = is
and feedback signal F (s)
(D) the difference of the reference signal 10
and output signal (A) 2
(B) s 2 + 20s + 100
s + 20 s + 100
Q.26 Consider the following statements:
10 s 2 s
Feedback in control system can be used (C) (D) 2
s 2 + 20 s + 100 s + 20 s + 100
1. To reduce the sensitivity of the system Q.3 In a closed-loop control system
to parameter variations and
(A) control action is independent of output
disturbances.
(B) output is independent of input
2. To change time constant of the system.
(C) there is no feedback
3. To increase loop gain of the system.
(D) control action is dependent on output
Which of the statements given above are
correct? Q.4 The pole zero plot of open transfer function
system shown in figure and the steady state
(A) 1, 2 and 3 (B) 1 and 2
gain is 2, the transfer function G ( s ) will be
(C) 2 and 3 (D) 1 and 3
given by,
[ESE EC 2004] Im
Practice Questions :
j
Q.1 The measurement system shown in the figure
uses three sub-systems in cascade whose
Re
1 –2 –1
gains are specified as G1 , G2 and The
G3
relative small errors associated with each –j

respective subsystem G1 , G2 and G3 are

ε1 , ε 2 and ε3 . The error associated with the 2( s + 1) 5( s + 1)
(A) 2
(B) 2
output is s + 4s + 5 s + 4s + 5
1 10( s + 1) 10( s + 1)
Input G1 G2 Output (C) (D)
G3 s 2 + 4s + 5 ( s + 2)2

ei C C e0

1 1
(A) 2 2
(B) 2 2
s T + 2 sT + 1 s T + 3sT + 1
1 1
(C) 2 2 (D) 2 2
s T + sT + 1 s T +1

Answer Keys

Objective, NAT & MSQ Type Questions

1. C 2. C 3. A 4. A 5. C
6. A 7. D 8. B 9. D 10. A
11. C 12. C 13. C 14. D 15. B
16. D 17. A 18. A 19. D 20. A
21. D 22. A 23. B 24. B 25. C
26. B
Practice Questions
1. C 2. A 3. D 4. C 5. B



Objective, NAT & MSQ Type Questions :

Q.1 (A)

(B)
Which one of the following block diagrams
is equivalent to the above diagram?

(C)

(A)
(D)

(B) Q.3 The equivalent of the block diagram in Fig.

below is given in

(C)

(A)

(D)
(B)
[ESE-EE-2009]
Q.2 Indicate the correct equivalent of the block
diagram given below:
(C)

H1 H2

G1G2
(A)
1 + G1 H1 + G2 H 2
G1 H1G2 H 2
(B)
(1 + G1 H1 )(1 + G2 H 2 ) G G
(A) (B)
G1G2 1 − FG + GH 1 + FG − GH
(C)
1 − G1 − G2 + G1G2 H1 H 2 FG GH
(C) (D)
G1G2 1 + FGH 1 − FGH
(D) [ESE-EE-2006]
1 + G1 H1 + G2 H 2 + G1G2 H1 H 2
Q.8 A feedback system shown below is subjected
[ESE-EE-2015]
to noise N(s)
Q.5 For the block diagram shown in figure, the
transfer function is equal to

C (s)
The noise transfer function is :
N (s)
s2 + 1 s2 + s + 1
(A) (B) G1 G2
s2 s2 (A) (B)
1 + G1G2 H2 1 + G1G2 H2
s2 + s + 1 1
(C) (D) 2 H2 G1G2
s s + s +1 (C) (D)
1 + G1G2 H2 1 + H2
[GATE-EE-2004-IIT Delhi]
C (s) Q.9 The closed loop transfer function  C ( s )  of
: Q.6 The closed-loop transfer function of  R(s) 
R(s)
the system shown below is:
the system represented by the block diagram
in the figure is
R(s) 1 C(s)
+
- s +1
1
-+
s +1

1 1
(A) (B)
( s + 1) 2 s +1

G1G2 G3
(A)
1 + H 2G2 G3 + H1G1G2
G1G2G3
(A) 1/6 (B) 1/4 (B)
1 + G1G2G3 H1 H 2
(C) 1/2 (D) 1
G1G2G3
Q.11 The closed loop transfer function  C ( s )  of (C)
1 + G1G2G3 H1 + G1G2G3 H 2
 R(s) 
the system shown below is : G1G2G3
(D)
1 + G1G2G3 H1
G1
[GATE-EE-1998-IIT Delhi]
R (s ) + C (s )
+ + G2 Q.14 What is the overall transfer function of the
-
block diagram given below?
H1
+
-
H2

(A) G2 [G1 + H1 − H2 ]
G1G2
(B)
1 + G1G2 H1H 2

Q.12 The overall gain of the system given below: (C) G1G2 + G2 G3 (D) G1G3 + G2G3
1 + G2G3 H1

[ESE-EE-2005]
Q.15 The block diagram of a system is shown in
the figure
R (s ) 1 - C (s )
+ + G (s ) s
- s -

G1 + G2
(A)
1 + G1G2 + G1H + G2 H If the desired transfer function of the system
G1G2 C ( s) s
(B) is = 2 then G(s) is
1 + G1 + G2 + G1H + G2 H R( s ) s + s + 2

s+1 s 2 +1
(A) H(s) = (B) H(s) =
2
s +s+1 s3 +2s 2 +s+1 (A) 10 ± 1% (B) 10 ± 2%
s 2 +1 s 2 +1 (C) 10 ± 5% (D) 10 ± 10%
(C) H(s) = (D) H(s) =
2s 2 +1 s3 +s 2 +s+1 [GATE-EE-2010-IIT Guwahati]
AC[GATE-EC-2019-IIT Madras] Q.22 A feedback control system with high gain K,
Q.18 Feedback control system, with high OLTF is shown in the figure below
(GH>>1) is :
(A) Insensitive to both forward – and
feedback path parameter changes.

variant system shown in figure is

H2
G1 ( s ) H1

X (s) C
Q.8 The ratio is
R
G2 ( s ) Y (s)
G1G2G3 + G2G3G4
(A)
G1 ( s) ( G2 ( s ) + 1) 1 + G3 H 2 + G1G3G4 H1
(A)
1 − G1 ( s)G2 ( s ) G1G3G4 + G2G3G4
(B)
G2 ( s) ( G1 ( s ) + 1) 1 + G3 H 2 + G1G3G4 H1 + G2G3G4 H1
(B)
1 − G1 ( s)G2 ( s ) G1G3G4 + G2G3G4
(C)
G1 ( s)G2 ( s ) + 1 1 + G3 H 2 + G1G3G4 H1
(C)
1 − G1 ( s)G2 ( s ) (D) None of these
G2 ( s )G1 ( s ) + 1 Q.9 The ratio
C
is
(D)
1 + G1 ( s )G2 ( s ) D

Q.7 For a linear time invariant system shown in G4

(A)
figure, X ( s ) is the input and Y ( s ) is the G3 H 2 + G1G3G4 H1
output. G4
(B)
N (s) 1 + G3 H 2 + G1G3G4 H1 + G2G3G4 H1

Ge ( s ) G4 (1 + G3 H 2 )
(C)
1 + G3 H 2 + (G1 + G2 )G3G4 H1
s+a c
X (s) Y (s)
s+b s(s + d ) (D) None of these
Q.10 The block diagram of a second order system
In order to nullify the effect of noise N ( s ) , is given below
the gain of the feed-forward path Ge ( s) is 8

s( s + a) ( s + d )
(A) _
c ( s + b) r(t)
+
_
+
ò 4
+
_ ò c(t)

c( s + a)
(B) 5 10
s( s + a) ( s + d )

C (s) 4
(C) = 2
R ( s ) s + 15s + 80
C ( s)
C (s) 4 The transfer function is
(D) = 2 R( s )
R ( s ) s + 15s + 82
G1G2
(A) (B) G1G2 + G1 + 1
. Common Data For Questions 11 & 12 . 1 + G1G2
A feedback control system is shown in figure G1
is subject to Noise N ( s ) . (C) G1G2 + G2 + 1 (D)
1 + G1G2
N (s)
Y (s)
Q.14 Find the transfer function of the
R( s) G1 G2 C (s) X (s)
system given below.
H1
G1
H2

C (s)
Q.11 The overall transfer function is X (s) Y (s)
R (s) N H
Y (s)
( s )=0

G1 G2
(A)
1 + H1 G2 + G1 G2 H 2 G2

G1 G2 G1 G2
(B) (A) +
1 − H1 G2 − G1 G2 H 2 1 − HG1 1 − HG2
G1 + G2 G1 G2
(C) (B) +
1 + H1 G2 + G1 H 2 (1 + H1 G2 ) + G2 H 2 1 + HG1 1 + HG2
G1 + G2 (1 + H1 G2 ) G1 + G2
(D) (C)
1 + H1 G2 + G1 H 2 + H 2 G1 (1 + H1 G2 ) 1 + H (G1 + G2 )

C (s) G1 + G2
Q.12 The noise transfer function is (D)
N ( s ) R s =0 1 − H (G1 + G2 )
( )
Q.15 The overall closed loop transfer function
G2
(A) C (s)
1 + G2 H1 + G1 G2 H 2 , represented in the figure, will be
R( s )
G1 G2 G2 ( s )
(B)
1 + G2 H1 + G1 G2 H 2 +
+ + +
R(s) G1 ( s ) G3 ( s ) C(s)
G1 – –
(C)
1 + G2 H1 + G1 G2 H 2 H1 ( s )

G1 ( s )G2 ( s ) H1 ( s )
(D)
1 + G1 ( s ) H1 ( s ) + G1 ( s ) ⋅ G3 ( s )
R (s ) G1 G2 G3 C (s)
Assignment Questions :

Assignment 1 : H1 H2

A negative feedback control system has

10
G ( s) = and H (s) = 5 . Determine
s ( s + 1)
sensitivity of closed loop transfer function
with respect to G and H for ω = 1 rad/sec.
Assignment 2 :
Drew a signal flow graph and evaluate the
closed loop transfer function of a system
whose block diagram is given below.
G2

x4
x1 x2 - x5
R + G1 G3 + C
- x3

-+
H2 H1
x6
G4

Assignment 3 :
Use block diagram reduction methods to
obtain the equivalent transfer function R to C.

+
R G1 + - G2 G3 + C
-

+
H1 + H2

Answer Keys

Objective, NAT & MSQ Type Questions

1. B 2. C 3. D 4. D 5. B
6. B 7. B 8. B 9. D 10. A
11. D 12. D 13. A 14. A 15. B
16. B 17. B 18. C 19. A 20. A
21. A 22. C
Practice Questions
1. C 2. B 3. D 4. C 5. B
6. B 7. C 8. B 9. C 10. D
11. A 12. A 13. C 14. C 15. A
Assignment Questions
G1G3 − G1G2 + G1G3G4 H 2 − G1G2G4 H 2
1. 0.028, 1.02 2.
1 + G1G3 H1 H 2 − G1G2 H1 H 2

G1G2 (1 + G3 ) G1G2G3 + G1G2

3. 1 + G1 + G2 H1 + G2G3 H1 H 2 + G2 H1 H 2
4. 1 + G1 + G2 H1 + G2 H1 H 2 + G2G3 H1 H 2



Objective, NAT & MSQ Type Questions : Q.4 The signal flow graph of Fig. shown below,
has ______ forward paths/and ________
Q.1 The number of closed loops in the signal feed–back loops.
flow graph shown below:

(A) 6 (B) 8
(C) 7 (D) 5
Q.2 The number of forward paths in the signal
flow graph shown below : (A) 4, 4 (B) 5, 3
(C) 3, 3 (D) 6, 4
[GATE-EE-1991-IIT Madras]
Q.5 The signal flow graph shown below has M
(A) 1 (B) 2 number of forward paths and P number of
individual loops. What are their values?
(C) 3 (D) 5
Q.3 The number of forward paths and the number
of non–touching loop pairs for the signal
flow graph given in the figure are
respectively
(A) M = 4 and P = 2 (B) M = 6 and P = 3
(C) M = 4 and P = 3 (D) M = 6 and P = 2
[ESE-EE-2006]
Q.6 The transfer function of the open loop system
G(s) which is represented by the signal flow
graph shown in the figure below is
(A) 1, 3 (B) 3, 2
(C) 3, 1 (D) 2, 4
[ESE-EE-2002]

s +1 s +1
(A) 2
(B) 2
5s + 6 s + 2 s + 6s + 2
s +1 1
(C) 2
(D) 2 1 s2 + 1
s + 4s + 2 5s + 6 s + 2 (A) (B)
s s(s 2 + 2)
[GATE-EC-2013-IIT Bombay]
Gate Academy Shop Address : Street 04, Narsingh Vihar, Katulbod, Bhilai 490022 (C.G.), Contact : 97131-13156 Online Test Series
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GATE ACADEMY® 17 Signal Flow Graph

s ( s 2 + 1) 1 −(1 + ks) (1 − ks )
(C) (D) 1 − (A) (B)
( s 2 + 2) s s+k s−k
−(1 − ks) (1 − ks )
[GATE-IN-2006- IIT Kharagpur] (C) (D)
s+k s+k
Q.12 For the signal flow diagram shown in the [GATE-IN-2009- IIT Roorkee]
given figure, the transmittance between x2 Q.15 For the signal flow graph shown in the
and x1 is figure, which one of the following
t
expressions is equal to the transfer function
x1 x2 Y(s)
r u ?
s X 2 (s) x (s) = 0
1

e g h

rsu efh rsu efh

(A) + (B) +
1 − st 1 − fg 1 − fg 1 − st
efh rsu rst rsu G1 G2
(C) + (D) + (A) (B)
1 − ru 1 − eh 1 − eh 1 − st 1 + G 2 (1 + G1 ) 1 + G1 (1 + G2 )
[ESE-EC-2001] G1 G2
(C) (D)
Q.13 The signal flow graph of a system is shown 1 + G 1G 2 1 + G 1G 2
C(s) [GATE-EE-2015 IIT Kanpur]
in Figure. The transfer function of the
R(s) Q.16 An electrical system and its signal–flow
system graph representation are shown in figure ,
The values of G2 and H, respectively, are

6 6s
(A) 2
(B) 2
s + 29 s + 6 s + 29 s + 6
s ( s + 2) s ( s + 27)
(C) 2
(D) 2
s + 29 s + 6 s + 29 s + 6
[GATE-EC –2003]
Q.14 A filter is represented by the signal flow Z3 ( s ) − Z3 ( s )
(A) ,
graph shown in the figure. Its input is x(t) Z2 (s) + Z3 (s) + Z4 (s) Z1 (s) + Z3 (s)
and output is y(t). The transfer function of − Z3 ( s ) − Z3 ( s )
(B) ,
the filter is Z2 (s) − Z3 (s) + Z 4 (s) Z1 (s) + Z3 (s)
Z3 ( s ) Z3 ( s )
(C) ,
Z2 (s) + Z3 (s) + Z4 (s) Z1 (s) + Z3 (s)
−Z3 ( s) Z3 ( s )
(D) ,
Z2 (s) − Z3 (s) + Z 4 (s) Z1 (s) + Z3 (s)
[GATE-EC-2001 IIT Kanpur]
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Control Systems [English Workbook] 18 GATE ACADEMY®

Practice Questions :
Q.1 For the flow diagram shown in figure the
Y (s)
transfer function is
R( s )
1 3
s +1 s+4
R( s) Y (s)

-1
-1

3 (A) x1 + x2 + x3 (B) − x1 − x2 + x3
(A) 2
s + 6 s + 11 (C) x1 − x2 + x3 (D) − x1 − x2 − x3
3
(B) 2 Q.4 For the signal flow graph shown in figure,
s + 5s + 4
X 3 / X 1 is __________.
3
(C) 2
s + 6s + 8
−3
(D) 2
s + 6 s + 11
Q.2 The signal flow graph of the network in
figure is
. Common Data For Questions 5 & 6 .
Y (s)
Consider the following Signal flow graph for
+ + a system
Ei ( s ) I (s) Z ( s ) E0 ( s )
- -

(A)
Ei ( s ) Y (s) I (s) Z ( s ) E0 ( s ) 1 E0 ( s )

- Y (s)

(B)
Ei ( s ) Y ( s ) I ( s ) Z ( s ) E0 ( s ) 1 E0 ( s )
C ( s)
Q.5 is ______.
R( s )

(C) Q.6 Number of pairs of non-touching loops are

Ei ( s ) Y (s) I (s) Z ( s ) E0 ( s ) 1 E0 ( s ) _______.

. Common Data For Questions 7 & 8 .

Y (s) Signal Flow Graph (SFG) of a control system
(D) is shown in figure.
A13 A 46
Ei ( s ) Y ( s ) I ( s ) - Z ( s ) E0 ( s ) 1 E0 ( s )
A 66

A12 A 23 A 34 A 45 A 56
R C
Q.3 The value of C from the given below figure X1 X6 1
X2 X3 X4 X5
is A 21 A 32 A 43 A 54 A 65

1 1
h0 1 s 1 s 1
U (s) C (s) –k2

k1
-a1 (A) 2
JLs + JRs + k1k2
-a0
k1
(B)
Assuming, h1 = b1 and h0 = b0 − b1a1 , the 2
JLs − JRs − k1k2
C (s) k1 − U 2 ( R + sL)
input-output transfer function, G ( s ) =
U (s) (C) 2
JLs + ( JR − U 2 L) s + k1k2 − U 2 R
of the system is given by,
k1 − U 2 ( sL − R)
b s + b1 (D)
(A) G ( s ) = 2 0 2
JLs − ( JR − U 2 L) s − k1k2 + U 2 R
s + a0 s + a1
a1s + a0
(B) G ( s ) = 2
s + b1s + b0
b1s + b0
(C) G ( s ) = 2
s + a1s + a0
a0 s + a1
(D) G ( s ) = 2
s + b0 s + b1

Answer Keys

Objective, NAT & MSQ Type Questions

1. A 2. D 3. C 4. A 5. B
6. A 7. C 8. A 9. B 10. D
11. A 12. A 13. D 14. A 15. B
16. C
Practice Questions
1. A 2. A 3. D 4. 20 5. 100
6. 2 7. 12 8. 5 9. C 10. A



Objective, NAT & MSQ Type Questions : Q.3 The forward path transfer function of a unity
negative feedback system is given by
Q.1 A system described by the transfer function
K
1 G(S ) =
H(s) = 3 2
is stable. The ( S + 2 )( S − 1)
s + αs + Ks + 3
constraints on α and k are : The value of k which will place both the
(A) α > 0, αk < 3 (B) α > 0, αk > 3 poles of the closed-loop system at the same
location is ….....
(C) α < 0, αk > 0 (D) α > 0, αk < 0
[GATE-EC-2014-IIT Kharagpur]
[GATE-EC-2000-IIT Kharagpur] Q.4 The transfer function of a linear time
Q.2 A certain system has transfer function, where invariant system is given by
α is a parameter. Consider the standard H (s) = 2s 4 − 5s3 + 5s − 2
negative unity feedback configuration as
The number of zeros in the right half of the
shown below.
s-plane is _______ .
[GATE-EC-2016-IISc Bangalore]
Q.5 The number of open right half plane poles
10
G(s) = is
s +8 s + 2 s + 3s 3 + 6 s 2 + 5 s + 3
5 4
G(s) = 2
s + αs − 4 (A) 0 (B) 1
Which of the following statement is true? (C) 2 (D) 3
(A) The closed loop system is never stable [GATE-EC-2008-IISc Bangalore]
for any value of α Q.6 The system shown in the figure remains
(B) For some positive values of α , the stable when
closed loop system is stable, but not for
all positive values
(C) For all positive values of α , the closed
loop system is stable
(D) The closed loop system is stable for all
(A) k < −1 (B) −1< k <1
values of α , both positive and negative
(C) 1< k < 3 (D) k < −3
[GATE-EC-2008-IISc Bangalore]
[GATE-EC-2002-IISc Bangalore]
Gate Academy Shop Address : Street 04, Narsingh Vihar, Katulbod, Bhilai 490022 (C.G.), Contact : 97131-13156 Online Test Series
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GATE ACADEMY® 21 Routh-Hurwitz Stability
Q.7 Consider a transfer function (C) One negative real root, two imaginary
ps + 3 ps − 2
2
roots, and two roots with positive real
G p (s) = with p a
s + (3 + p ) s + (2 − p )
2
parts
positive real parameter. The maximum (D) One positive real root, two imaginary
value of p until which G p remains stable is roots, and two roots with negative real
_________. parts
[GATE-EC-2014-IIT Kharagpur] [GATE-EE-2006-IIT Kharagpur]
Q.12 The characteristic equation of a control
Q.8 Consider the unity feedback system with
system is given by
K
G( s ) = 2 s 6 + 2 s 5 + 8 s 4 + 12 s 3 + 20 s 2 + 16 s + 16 = 0
(s + 2s + 2)(s + 2)
The number of roots of the equation which
The system is marginally stable. What is the lie on the imaginary axis of s – plane is
radian frequency of oscillation?
(A) Zero (B) 2
(A) 2 (B) 3 (C) 4 (D) 6
(C) 5 (D) 6 [ESE-EC-2003]
[ESE-EC-2008] Q.13 The feedback system shown below oscillates
at 2 rad/s when
Q.9 The positive values of "K" and "a" so that the
system shown in the figure below oscillates
at a frequency of 2 rad/sec respectively are

(A) K = 2 and a = 0.75

(A) 1,0.75 (B) 2, 0.75 (B) K = 3 and a = 0.75
(C) 1, 1 (D) 2, 2 (C) K = 4 and a = 0.5
[GATE-EC-2006-IIT Kharagpur] (D) K = 2 and a = 0.5
[GATE-EE-2012-IIT Delhi]
Q.10 For the polynomial P(s) =
5 4 3 2 Practice Questions :
s + s + 2 s + 2 s + 3s + 15 , the
number of roots which lie in the right half of Q.1 The characteristic equation of a feedback
the s – plane is control system is
(A) 4 (B) 2 2s 4 + s 3 + 3s 2 + 5s + 10 = 0
(C) 3 (D) 1 The number of roots in the right half of s-
[GATE-EC-2004-IIT Delhi] plane are
(A) zero (B) 1
Q.11 The algebraic equation
(C) 2 (D) 3
F (s) = s5 − 3s4 + 5s3 − 7s2 + 4s + 20
Q.2 The system shown in the given figure
is given. remains stable when
F(s) = 0 has 1 K s -1 1
R( s) Y (s)
(A) Single complex root with the remaining
roots being real
3
(B) One Positive real root and four complex
-1
roots, all with positive real parts
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Control Systems [English Workbook] 22 GATE ACADEMY®
(A) K < –1 (B) –1 < K < 1 Q.7 Which one of the following is correct ?
(C) 1 < K < 3 (D) K > 3 A unity feedback system with forward path
Q.3 The open-loop transfer function of a unity K
transfer function G( s) = is
feedback system is s (1 + sT1 )(1 + sT2 )

K stable provided the value of K is given by

G( s) = 2
s( s + s + 2) (s + 3) T +T TT
(A) K < 1 2 (B) K < 1 2
T1T2 T1 + T2
The range of K for which the system is stable
is T1 + T2 T1T2
(C) K > (D) K >
21 T1T2 T1 + T2
(A) >K >0 (B) 13 > K > 0
4 Q.8 What is the range of K for which the open
21 K
(C) <K <∞ (D) − 6 < K < ∞ loop transfer function G( s) = 2
4 s ( s + a)
Q.4 For the polynomial represents an unstable closed loop system?
P( s) = s 5 + s 4 + 2s 3 + 2s 2 + 3s + 15 (A) K > 0 (B) K = 0
(C) K < 0 (D) − ∞ < K < ∞
The number of roots which lie in the right
half of the s-plane is Q.9 Which one of the following statements is
(A) 4 (B) 2 correct for the open-loop transfer function?
K ( s + 3)
(C) 3 (D) 1 G (s) = for K > 1
Q.5 The open loop transfer function of a unity s ( s − 1)
feedback control system is given by (A) Open-loop system is stable but the
K ( s + 1) closed-loop system is unstable.
G ( s) = , K > 0, T > 0
s (1 + Ts )(1 + 2 s ) (B) Open-loop system is unstable but the
closed-loop system is stable.
The closed loop system will be stable if,
(C) Both open-loop and closed-loop systems
4( K + 1)
(A) 0 < T < are unstable.
K −1
(D) Both open-loop and closed-loop systems
4(T + 2)
(B) 0 < K < are stable.
T −2
Q.10 The oscillation frequency of the system with
T +2 the characteristic equation
(C) 0 < K <
T −2
s 6 + 2 s 5 + 3s 4 + 4s 3 + 3s 2 + 2s + 1 = 0 is
8( K + 1)
(D) 0 < T < (A) + 1 radian/sec (B) – 1 radian/sec
K −1
(C) j1 radian/sec (D) − j1 radian/sec
Q.6 The system having characteristic equation :
Q.11 Routh Hurwitz criterion is used to determine
s 4 + 2s 3 + 3s 2 + 2 s + K = 0 is to be used as
(A) Relative stability of the system
an oscillator. What are the values of K and
(B) Time response of the system
the frequency of oscillation ω ?
(C) Absolute stability of the system
(A) K = 1 and ω = 1 rad/sec
(D) Roots of characteristic equation
(B) K = 1 and ω = 2 rad/sec
Graphically
(C) K = 2 and ω = 1 rad/sec Q.12 The roots of the characteristic equation
(D) K = 2 and ω = 2 rad/sec 2s3 + 3s 2 + 4s + 6 = 0 are
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GATE ACADEMY® 23 Routh-Hurwitz Stability

(A) s = −1.5, s = ± j 2 Q.19 The number of roots on the equation

(B) s = −1, s = ± j 2 2 s 4 + s 3 + 3s 2 + 5s + 7 = 0 that lie in the right
half of s-plane is
(C) s = −1.5, s = − 4, s = − 6
(A) Zero (B) One
(D) s = −1, s = − 2, s = − 3 (C) Two (D) Three
Q.13 The number of roots of the equation Q.20 The characteristic equation of a feedback
s 6 − 2s 5 − s 4 − 2s 2 + 8s + 8 = 0 in the right control system is :
half plane is 2s 4 + s 3 + 3s 2 + 5s + 10 = 0
(A) two (B) zero The number of roots in the right half of s-
(C) three (D) four plane are
Q.14 The characteristic equation of an LTI system (A) zero (B) 1
is given as s 3 + Ks 2 + 5s + 10 = 0 . When the (C) 2 (D) 3
system is marginally stable, the value of K Q.21 The partial Routh Array of the characteristic
and the sustained oscillation frequency ω , equation of a system is given by,
respectively are s4 1 a 8
(A) 2 and 5 (B) 0.5 and 5 s3 3 12
(C) 0.5 and 5 (D) 2 and 5 The system oscillates with a frequency of 2
rad/s. The value of the parameter ‘a’ of the
Q.15 For a linear system having the characteristic
system is
equation s 4 + s3 + 2s 2 + 2s + 3 = 0 , the
(A) 6 (B) 2
number of roots in RHS of s-plane is
(C) 8 (D) 12
(A) 4 (B) 3
Q.22 For the equation, s3 − 4s 2 + s + 6 = 0 .
(C) 2 (D) 1
The number of roots in the left half of s-plane
Q.16 For the given system, it is desired that the
will be
system to be stable. The minimum value of α
for this condition is _________. (A) zero (B) one
(C) two (D) three
( s + a)
R( s) +– C (s) Q.23 The system shown in figure is
s 3 + (1 + a) s 2 + (a - 1) s + (1 - a)
s -1
U1
s+2
Q.17 A system with the open loop transfer function
K 1
G (s) = U2
s ( s + 2)( s 2 + 2 s + 2) s -1
is connected in a negative feedback (A) Stable
configuration with a feedback gain of unity. (B) Unstable
For the closed loop system to be marginally (C) Conditionally unstable
stable, the value of K is _________. (D) Stable for input U1 , but unstable for
Q.18 The characteristic equation of a control
input U 2
system is given by
Q.24 A plant transfer function is given as
s5 + s 4 + 2s3 + 2s 2 + 4s + 6 = 0
 K  1
The number of roots of the equation which lie G (s) =  K P + I  . When the plant
 s  s ( s + 2)
in the right half of s-plane is ______.
operates in a unity feedback configuration,
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Control Systems [English Workbook] 24 GATE ACADEMY®
the condition for the stability of the closed Q.30 A closed-loop system is shown in the figure.
loop system is The system parameter α is not known. The
K condition for asymptotic stability of the
(A) K P > I > 0 (B) 2K I > K P > 0
2 closed loop system is
(C) 2K I < K P (D) 2K I > K P + s+a
R(s) C(s)
s + 2a s 2 + a s + 1
3

Q.25 The characteristic equation of an LTI system –

is given by F ( s) = s5 + 2s 4 + 3s3 + 6s 2
− 4 s − 8 = 0. The number of roots that lie (A) α < − 0.5
strictly in the left half s-plane is ______. (B) − 0.5 < α < 0.5
Q.26 The first two rows in the Routh table for the (C) 0 < α < 0.5
characteristic equation of a certain closed- (D) α > 0.5
loop control system are given as Q.31 Consider a standard negative feedback
1
s3 1 (2K + 3) configuration with G ( s) = and
( s + 1)( s + 2)
s2 2K 4
s+α
H (s) =. For the closed loop system to
s
The range of K for which the system is stable
have poles on the imaginary axis, the value of
is
α should be equal to (up to one decimal
(A) −2.0 < K < 0.5 (B) 0 < K < 0.5 place) ________.
(C) 0 < K < ∞ (D) 0.5 < K < ∞ Q.32 The characteristic equation of a control
Q.27 A unity feedback control system is system is given as
characterized by the open-loop transfer s 4 + 4s 3 + 4s 2 + 3s + K = 0
function What is the value of K for which this system
2( s + 1) is marginally stable ?
G ( s) =
s + Ks 2 + 2s + 1
3
9 19
(A) (B)
The value of K for which the system 16 16
oscillates at 2 rad/sec is____. 29 39
(C) (D)
Q.28 A closed loop system has the characteristic 16 16
equation given by Q.33 The characteristic equation of a control
system is given as :
s3 + Ks 2 + ( K + 2) s + 3 = 0 .
s 4 + 8s 3 + 24 s 2 + 32 s + K = 0
For this system to be stable, which one of the
What is the values of K for which the system
following conditions should be satisfied?
is unstable?
(A) 0 < K < 0.5 (B) 0.5 < K < 1
(A) 10 (B) 20
(C) 0 < K < 1 (D) K > 1 (C) 60 (D) 100
Q.29 The range of K for which all the roots of the Q.34 The first element of each of the rows of a
equation s 3 + 3s 2 + 2 s + K = 0 are in the left Routh-Hurwitz stability test showed the signs
half of the complex s-plane is as follows :
(A) 0 < K < 6 (B) 0 < K < 16 Row I II III IV V
(C) 6 < K < 36 (D) 6 < K < 16 Sign + + – + –

Answer Keys

Objective, NAT & MSQ Type Questions

1. B 2. C 3. 2.25 4. 3 5. C
6. D 7. 2 8. D 9. B 10. B
11. C 12. C 13. A
Practice Questions
1. C 2. D 3. A 4. B 5. C
6. C 7. A 8. D 9. B 10. A
11. C 12. A 13. A 14. D 15. C
16. 0.618 17. 5 18. 2 19. C 20. C
21. A 22. B 23. D 24. A 25. 2
26. D 27. 0.75 28. D 29. A 30. D
31. 9 32. D 33. D 34. B 35. B
36. D 37. A 38. C 39. C 40. 0
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GATE ACADEMY® 27 Routh-Hurwitz Stability

Assignment Questions

K ( s + 1)( s + 0.1)
T ( s) =
1. s + 3.1s 2 + s( K + 0.3) + K
3
2. 25.35 < K < 53.65
K > 0 system is stable
3. 18 5 < K < 20 4. K = 3.25 , p = 1.36
(i) − 4 < K < 20.4 84
5. 6. 0< K <
(ii) ω = 1.362 rad/sec 25

7. K > − 0.175



Objective, NAT & MSQ Type Questions : (A) 5, 10 (B) 8, 10

(C) 6, 10 (D) 1, 2
Q.1 A causal system having the transfer function
[GATE-EE-1991-IIT Madras]
1
G(s) = is excited with 10u (t). The time Q.4 The unit impulse response of a system
s+2
K
at which the output reaches 99% of its steady having transfer function is shown
s+a
state value is below. The value of α is
(A) 2.7 sec (B) 2.5 sec
(C) 2.3 sec (D) 2.1 sec
[GATE-EC-2004-IIT Delhi]
Q.2 A first order process has a static gain of 1, a
time constant of 1 sec and transport delay of
0.1 sec. Its transfer function is
e− s e − 10 s
(A) (B) 1
1 + 0.1s 1+ s (A) t1 (B)
e − 0.1 s e −0.1s t1
(C) (D)
1+ s 1 + 0.1s 1
(C) t 2 (D)
[GATE-IN-1994-IIT Kharagpur] t2
Q.3 A first order system and its response to a unit [ESE-EC-2003]
step input are shown in Fig. below, the
Q.5 The unit step response of a system with the
system parameters are
1 − 2s
a = _______ transfer function G(s) = is given by
1+ s
K= _______
which one of the following waveforms?

(A)

(D)

(A) 0.5 (B) 2

(C) 4 (D) 6
[GATE-EE-2015-IIT Kanpur]
[GATE-EE-2009-IIT Roorkee]
Q.6 R – L – C circuit shown in figure
Q.9 The differential equation
d2y dy
100 2
− 20 + y = x(t ) describes a system
dt dt
with an input x(t) and an output y(t). The
system, which is initially relaxed, is excited
by a unit step input. The output y(t) can be
represented by the waveform
For a step input ei , the overshoot in the
output e0 will be :
(A) 0, since the system is not under damped
(B) 5%
(C) 16% (A)

(D) 48%
[GATE-EE-2007-IIT Kanpur]
Q.7 A second-order real system has the following
properties:
a) the damping ratio ζ = 0.5 and undamped
natural frequency ω n =10 rad/s ,
(B)
b) the steady state value of the output, to a
unit step input, is 1.02.
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Control Systems [English Workbook] 30 GATE ACADEMY®

(C)

(D)

(A) P-3, Q-1, R-4, S-2

[GATE-EC-2011-IIT Madras] (B) P-3, Q-2, R-4, S-1
Q.10 Group I lists a set of four transfer functions.
(C) P-2, Q-1, R-4, S-3
Group II gives a list of possible step
(D) P-3, Q-4, R-1, S-2
responses y(t). Match the step responses with
the corresponding transfer functions. [GATE-EC-2008-IISc Bangalore]
Group I Q.11 A second – order system has transfer
25 C ( s) 4
P= 2 function = 2 With r(t) as the
s + 25 R(s) s + 4s + 4
36 unit–step function, the response c(t) of the
Q=
s + 20s + 36
2 system is represented by
36 (A)
R=
s + 12s + 36
2

36
S=
s + 7s + 49
2

Group II

(B)

3 4
(C) (D)
s + 2s + 3
2
s + 2s + 4
2

[GATE-EC-2015-IIT Kanpur]
1
Q.15 A system with transfer function G(s) = 2
s +1
has zero initial conditions. The percentage
overshoot in its step response is _____ %.
(D)
[GATE-IN-2015-IIT Kanpur]
Practice Questions :
Q.1 The open-loop DC gain of a unity negative
feedback system with closed-loop transfer
s+4
function 2 is
s + 7 s + 13
4 4
(A) (B)
13 9
[GATE-EC-2003-IIT Madras] (C) 4 (D) 13
Q.12 The dominant poles of a servo system are Q.2 Let C (t ) be the unit step response of a system
located at s = (−2 ± j 2) . the damping ratio of K ( s + a)
with transfer function . If
the system is (s + K )
(A) 1 (B) 0.8 C (0 + ) = 2 and C (∞ ) =10 , then the values of
(C) 0.707 (D) 0.6 a and K, respectively, are
[GATE-IN-2004-IIT Delhi] (A) 2 and 10 (B) − 2 and 10
Q.13 The block diagram of a closed-loop control
(C) 10 and 2 (D) 2 and – 10
system is shown in the figure. The values of
Q.3 The closed-loop transfer function of a control
k and k p are such that the system has a
system is given by,
damping ratio of 0.8 and an undamped
C ( s) 2( s − 1)
natural frequency ω n of 4rad/s respectively. =
R( s) ( s + 2) ( s + 1)
The value of k p will be ________.
For a unit step input the output is
−2 t
(A) −3e + 4e − t − 1
(B) −3e −2t − 4e − t + 1
(C) zero
(D) infinity
0.8
[GATE-IN-2017-IIT Roorkee] Q.4 The system G ( s ) = is subjected to
2
s +s−2
Q.14 The output of a standard second-order
step input. The system output y (t ) as t → ∞
system for a unit step input is given as
is
2 −t  π
y(t ) = 1 − e cos  3t −  . The transfer (A) 0.8 (B) 0.4
3  6
function of the system is (C) – 0.4 (D) Unbounded

(A) 8 + e − t − 4e−2t (B) 8 + e − t + 4e −2 t of K and a are

K
(C) 8e − t − 8e −2t (D) e− t − 4e−2t R( s) C (s)
s (s + 2 )
Q.9 The impulse response of an LTI system is
given by 5u(t ) . If the input to the system is
1 + as
given by e −t then the output of the system is
(A) K = 4, a = 0.35
(A) 5(1 − e − t ) u (t ) (B) (1 − 5e − t ) u (t )
(B) K = 8, a = 0.455
(C) 5 − e − t u (t ) (D) 5 u (t ) − e − t
(C) K = 16, a = 0.225
Q.10 For a feedback system shown below, If
(D) K = 64, a = 0.9
K t = 0 and K a = 5 , then steady state error for
Q.14 Consider a unity feedback control system
unit ramp input is 0.2. What will be the new
with open-loop transfer function
value of K t and Ka if damping ratio is
K
increased to 0.5 without affecting steady state G ( s) = . The steady state error of the
s ( s + 1)
error
system due to a unit step input is

If x(t) = t u (t ) and all initial conditions are

zero, then e(t) will be Vi ( s ) 1F V0 ( s )
(A) sin t (B) cost
(C) − cos t (D) − sin t

1 + sP
0 t

4
U (s) Y (s)
s ( s + 4)
(A) 0.33 s (B) 1.33 s
(C) 2.33 s (D) 3.33 s
(A) 16 (B) 4 Q.48
(C) 2 (D) 1 R( s) G (s) C (s)
Q.43 Which of the following system has maximum
peak overshoot due to a unit step input?

Assignment 4 :
A unit step input to a unity feedback system The response of a second order control
is shown in the figure, the time for peak system has an overshoot of 30% for a step
overshoot is, nearly. input and the overshoot takes place 0.05
(A) 0.35 s (B) 0.58 s second after the application of the input. Find
(C) 0.79 s (D) 0.96 s the transfer function of the system.
Q.50 The transient response of second order under Assignment 5 :
damped system starting from rest is given by A unity feedback control system has its open
20( s + 1)
c(t ) = Ae−6t sin(8t + θ) , t ≥ 0 . The natural loop transfer function G ( s ) = 2
s ( s + 2)( s + 4)
frequency of the system is
Calculate its steady state error when the
(A) 8 (B) 9
applied input is r (t ) = 40 + 20t + 5t 2 .
(C) 10 (D) 100
Assignment 6 :
Assignment Questions : The step response of second order system is
Assignment 1 : shown in the below figure for an input of
A system when excited by unit step of input 4u(t). Determine the open loop and closed
gives following response loop transfer function. Assume unity
feedback.
c (t ) = 1 − 2 e − t + 4 e − 3 t
c(t )
Obtain transfer function of the system.
5
Assignment 2 :
4
A closed loop transfer function of a unity
feedback control system is
C (s) 20s 2
=
R( s) ( s + 1)( s + 3)( s + 5) t
2
Determine the response of the system when Assignment 7 :
the excitation applied to the input terminal is The unit step response of a linear control
 3t 2  system is shown in figure. Find the transfer
1 + 2 + .
2 
t
 function of a second order prototype system
to model the system.
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Control Systems [English Workbook] 38 GATE ACADEMY®
c (t ) Assignment 10 :
1.25 Consider the system shown in figure.
Determine the value of ‘a’ such that the
1.0 damping ratio is 0.5. Also obtain the value of
the rise time ' tr ' and maximum overshoot
' M p ' in its step response.
16
R( s) + C (s)
- s ( s + 0.8)
0 t (sec)
0.01
Assignment 8 :
(1 + as )
The open loop transfer function of a unity
K
feedback system is G ( s ) = , where
s ( sT + 1)
K and T are positive constants. How many
times the gain of the system K, should be
increased to increase the peak overshoot from
40% to 60%?
Assignment 9 :
A second order control system with
proportional derivative controller is shown in
figure.
K
R( s) +- KP + KD s C (s)
s (ts + 1)

Derive expression for its

(i) Steady state error to velocity input
(ii) Natural frequency of oscillation
(iii) Damping ratio in terms of the system
parameters.

Answer Keys

Objective, NAT & MSQ Type Questions

1. C 2. C 3. A 4. D 5. A
6. C 7. B 8. D 9. A 10. D
11. B 12. C 13. 0.4 14. D 15. 100
Practice Questions
1. B 2. C 3. A 4. D 5. C
6. A 7. C 8. C 9. A 10. B
11. D 12. C 13. B 14. A 15. D
16. C 17. B 18. B 19. B 20. B
21. C 22. C 23. C 24. B 25. B
26. D 27. B 28. A 29. D 30. D
31. D 32. D 33. B 34. C 35. D
36. 38.16 37. 2.8 38. B 39. B 40. A
41. A 42. C 43. C 44. B 45. D
46. D 47. B 48. C 49. C 50. C
Assignment Questions
3s2 + 2s + 3
1. 2. (4 − 5e − t + 10e −3 t − 9e −5 t ) u( t )
s2 + 4s + 3
(i) ξ = 0.578
4536.023
3. (ii) ωd = 4.71 r/s 4. T ( s) = 2
s + 48.492 s + 4536 + 0.23
(iii) ess = 0.2

2 + a2
G( s) =
s( s + 1.368)
5. ess = 4 6.
C ( s) 2 + a2
= 2
R( s ) s + 1.368 s + 2.a 2

(342.77)2
7. T ( s) = 8. 2.84
s 2 + 274.22 s + (342.77)2
1
(i) e ss =
Kp
K Kp
9. (ii) ωn = rad/sec 10. t r = 0.6053 sec, MPO = 0.136
τ
1 + KK p
(iii) ξ=
2 KK p τ



Objective, NAT & MSQ Type Questions : K ( s + 6)

Q.4 For the system G ( s ) H ( s ) = ,
( s + 2)( s + 4)
Q.1 For a given unity feedback system with
consider the following characteristic of the
k (s + 3) root
G(s) =
s(s + 1)(s + 2)(s + 5) locus :
What is the real axis intercept for root locus 1. It has one asymptote.
asymptotes? 2. It has intersection with jω-axis.
2 1
(A) (B) 3. It has two real axis intersections.
3 4
4. It has two zeros at infinity.
5 3
(C) − (D) − The root locus have characteristics
3 2
(A) 1 and 2 (B) 1 and 3
[ESE-EC-2006]
(C) 3 and 4 (D) 2 and 4
Q.2 Consider the second – order system with the
characteristic equation s ( s + 3) + K ( s + 5) = 0 Q.5 The characteristic equation of a closed-loop
system is
Based on the properties of the root loci, it can
be shown that the complex portion of the root s ( s + 1)( s + 3) + K ( s + 2) = 0, K > 0
loci of the given system for 0 < K < ∞ is Which of the following statements is true ?
described by a circle, and the two breakaway (A) Its roots are always real
points on the real axis are (B) It cannot have a breakaway point in the
(A) −5 ± 5 / 2 (B) −5 ± 5 range −1 < Re[ s] < 0
(C) −5 ± 10 (D) −5 ± 2 5 (C) Two of its roots tend to infinity along
[GATE-IN-2011-IIT Madras] the asymptotes Re[ s] = −1
Q.3 Which of the following points is NOT on the (D) It may have complex roots in the right
root locus of a system with the open-loop half plane.
K [GATE-EE-2010-IIT Guwahati]
transfer function G ( s ) H ( s ) =
s ( s + 1)( s + 3)
Q.6 The open loop transfer function of a unity
(A) s = − j 3 (B) s = −1.5 gain negative feedback control system is
(C) s = −3 (D) s = −∞ s2 + 4s + 8
given by G(s) = . The angle θ ,
[GATE-EC-2002-IISc Bangalore] s(s + 2)(s + 8)
Gate Academy Shop Address : Street 04, Narsingh Vihar, Katulbod, Bhilai 490022 (C.G.), Contact : 97131-13156 Online Test Series
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GATE ACADEMY® 41 Root Locus Diagram
at which the root locus approaches the zeros
of the system, satisfies

(A) | θ |= π - tan −1  
1
4 (C) (D)

3π 1
(B) | θ |= − tan −1  
4 3
Q.10 The characteristic equation of a linear
π 1 control system is s 2 + 5Ks + 9 = 0 . The root
(C) | θ |= − tan −1  
2 4 loci of the system is
π 1
(D) | θ |= − tan −1  
4 3 (A) (B)
[GATE-IN-2012-IIT Delhi]
Q.7 If the open loop transfer function of negative
feedback control system is
K (C) (D)
G(s) H (s) = , then the gain K for a
( s + 1)3
 1 3
closed loop poles to be at  − + j  is
 2 2  Q.11 An unity feedback system is given as
K (1 − s )
(A) 1 (B) 2 G(s) = . Which of the following is
s ( s + 3)
(C) 3 (D) 4
the correct root locus diagram ?
[GATE-IN-1992-IIT Delhi]
Q.8 The open loop transfer function of a system
(A)
is given by
K
G( s) H (s) =
s ( s + 1)( s + 2)
The root locus plot of above system is

(A) (B) (B)

(A) (B)
(D)

s
–8 –4 0

K K ( s + 8)
(A) (B)
s ( s + 4)( s + 8) s ( s + 4)
K ( s + 4) Ks
(C) (D)
Consider the following statements regarding s ( s + 8) ( s + 4)( s + 8)
the system. Q.4 The breakaway point of the root locus from
1. System is stable for all positive value of the real axis for a closed-loop system with a
K K ( s + 10)
loop gain G ( s ) H ( s ) = lies
2. System has real and repeated poles for ( s + 2) ( s + 5)
0 .5 7 3 < K < 7 .4 6 4 (A) between −2 and origin
3. System has damped oscillatory response (B) between −2 and −5
for all values of K greater than 0.573. (C) between −10 and − ∞
4. System is overdamped for 0 < K < 0.573 (D) at − ∞
and K > 7 .4 6 4 . Q.5 The root-locus diagram for a closed loop
Which of the following is correct ? feedback system is shown in figure. The
(A) 1, 2 and 3 (B) 1 and 4 system is over-damped
jw
(C) 2 and 3 (D) all
Practice Questions :
K =¥ K =¥ K =0 K =0
Q.1 A unity feedback system has open loop poles s
-3 -2 -1
(−2 ± j 2) and 0. It has a single zero at
K =5 K =1
(− 4 ± j0) . The angle of departure in degree
of the root locus branch starting from the pole (A) Only if 0 ≤ K ≤ 1
(−2 − j 2) is___________. (B) Only if 1 < K < 5
Q.2 If the open-loop transfer function is a ratio of (C) Only if K > 5
a numerator polynomial of degree ‘m’ and a (D) If 0 ≤ K < 1 or K > 5
denominator polynomial of degree ‘n’ then
. Statement For Linked Answer Qu. 6 & 7 .
the integer (n – m) represents the number of
The root locus plot for a system, with transfer
(A) Breakaway point
2
(B) Unstable poles function , is shown in below
s ( s + 1)( s + 2)
(C) Separate root loci figure. Unity feedback proportional control
(D) Asymptotes system is built using this system.
Q.3 The roots locus plot of the unity feedback Q.6 The maximum possible controller gain, for
system is shown in figure. The system which the unity feedback system is stable, is
transfer function has the form approximately

s
–2 –1 0 s
–2 –1 +1 +2
– 0.423 -j 2

(A) 6.0 (B) 3.0 Q.9 The open loop transfer function G ( s ) of a

Q.7 The maximum possible controller gain, for  2

K s+ 
3
which the unity feedback system exhibits a G ( s ) = 2
non-oscillatory response to a unit step input, s ( s + 2)
is From the root locus, it can be inferred that
(A) 6.0 (B) 3.0 when K tends to positive infinity,
(C) 0.4 (D) 0.2 (A) three roots with nearly equal real parts
exist on the left half of the s-plane.
Q.8 A closed-loop system has the characteristic
(B) one real root is found on the right half of
function ( s 2 − 4) ( s + 1) + K ( s − 1) = 0 . Its
the s-plane.
root locus plot against K is
(C) the root loci cross the jω axis for a finite
jw
value of K, K ≠ 0 .
(D) three real roots are found on the right
(A) s half of the s-plane.
–2 –1 +1 +2 Q.10 Consider the second-order system with the
characteristic equation
s(s + 3) + K (s + 5) = 0
jw Based on the properties of the root loci, it can
be shown that the complex portion of the root
loci of the given system for 0 < K < ∞ is
(B) s described by a circle, and the two breakaway
–2 –1 +1 +2
points on the real axis are
5
(A) − 5 ± (B) − 5 ± 5
2
jw
(C) − 5 ± 10 (D) − 5 ± 2 5
Q.11 A loop transfer function is given by
(C) s K ( s + 2)
G ( s) H (s) =
–2 –1 +1 +2 s 2 ( s + 10)
The point of intersection of the asymptotes of
G(s)H (s) on the real axis in the s-plane is at
_______.
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Control Systems [English Workbook] 44 GATE ACADEMY®
Q.12 The gain at the breakaway point of the root 1 5
(A) (B)
locus of a unity feedback system with open 4 4
Ks −3 11
loop transfer function G ( s ) = is (C) (D)
( s − 1)( s − 4) 4 4
(A) 1 (B) 2 Q.17 A unity feedback system has open-loop
(C) 5 (D) 9 transfer function
Q.13 The root locus of the feedback control system K (s + 4)
having the characteristic equation G(s) =
(s + 1)(s + 2)
s 2 + 6 Ks + 2s + 5 = 0 where, K > 0 , enters
The portions of the real axis that lie on the
into the real axis at,
root loci are between
(A) s = −1 (B) s = − 5
(A) s = −2 and s = − 4; s = −1 and + ∞
(C) s = − 5 (D) s = 5
(B) s = −1 and s = −2; s = −4 and − ∞
Q.14 The loop transfer function of a closed-loop
(C) s = 0 and s = −2; beyond s = −4
K ( s + 6)
system is given by G ( s ) H ( s ) = . (D) s = 0 and s = −1
s ( s + 2)
The breakway point of the root-loci will be K ( s + 2)
Q.18 Consider the system with G( s) =
______. s 2 + 2s + 3
Q.15 What is the open-loop transfer function for a and H(s) = 1. The breakaway point (s) of the
unity feedback having root locus shown in root loci is/are at
the below figure? (A) – 0.265 only
(B) – 3.735 only
jw
(C) – 3.735 and – 0.265
(D) There is no breakaway point
s Q.19 The transfer function of a closed loop system
-7 -6 -5 -4 -3 -2 -1
K
is T ( s ) = 2 where K is the
s + (3 − K ) s + 1
path gain. The root locus plot of the system is
K ( s + 5) K ( s + 1) (A)
(A) (B)
( s + 1)( s + 2 ) ( s + 5 )( s + 6 ) jw

K K ( s + 2)
(C) (D)
s ( s + 1)( s + 5) ( s + 1)( s + 5 ) s
Q.16 Given the root locus of system
4K
G( s ) = what will be the gain
( s + 1)( s + 3)
(B)
for obtaining the damping ratio 0.707?
jw
jw K=3

K=1

s
s K=0
-3 -1

K=3

s s
K =0 K =0 –b –a 0

K =¥

Q.21 Consider the points s1 = −3 + j 4 and

(D)
s2 = −3 − j 2 in the s-plane. Then, for a
jw
system with the open-loop transfer function
K
G ( s) H (s) =
s ( s + 1) 4
(A) s1 is on the root locus, but not s2
(B) s2 is on the root locus, but not s1
Q.20 A unity feedback system has an open loop
transfer function of the form (C) both s1 and s2 are on the root locus
K ( s + a) (D) neither s1 nor s2 is on the root locus
KG ( s ) = 2 ; b > a which of the loci
s ( s + b) Q.22 Which of the following points is NOT on the
shown in figure can be valid root-loci for the root locus of a system with the open loop
system? transfer function
(A) K
G (s) H (s) = ?
jw s ( s + 1)( s + 3)

(A) s = − j 3 (B) s = − 1.5

s (C) s = −3 (D) s = − ∞
–b –a 0
Q.23 The Routh-Hurwitz array is given for a third
order characteristic equation.
(B) s3 1 b 0
jw 0
s2 a c
(6 − K )
s1 0
s 3
–b –a 0
s0 K

jw
(C)
j 1.41
jw

s
–b –a 0
- j 1.41

(A) s = − j 3 (B) s = −1.5

s (C) s = − 3 (D) s = −∞
Q.28 If a pole is added to the forward path transfer
function
(A) Closed loop system becomes more
stable.
2.
jw (B) Closed loop system will have more
bandwidth.
(C) Closed loop system becomes less stable.
s

(D) Rise time decreases.

Q.29 Which of the following method is most
strong tool to determine the stability and the
3. transient response of the system?
(A) Routh-Hurwitz criterion
(B) Bode plot
(C) Nyquist plot
(D) Root locus
Q.30 The root locus plot is shown below. The
damping ratio for the value K = K1 , is
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GATE ACADEMY® 47 Root Locus Diagram
Im 4 4
(A) (B)
( s + 1)
2
s +1
K1
2
4 4
Re (C) (D)
( s + 1) ( s + 1)
3 4
-1

Q.34 The characteristic equation of a linear control

system is s 2 + 5Ks + 10 = 0 . The root-loci of
(A) 1.41 (B) 1.73
the system for 0 < K < ∞ is
(C) 0.577 (D) 0.707
jw
Q.31 Angle of asymptotes for the system shown
K =0
below are
2
R( s) C (s)
s (s + 1) (A) s
K ®¥ K =¥

( s + 0.5) K =0
(s + 3)
(A) 900 , 2700 (B) 00 ,1800
(C) 600 ,1800 ,3000 (D) 00 ,1200 , 2400 jw
K =0
Q.32 Which of the following is correct for a given
below feedback system
K ( s + 2) ( s + 1) (B) s
R( s) C (s) K =¥ K ®¥
( s 2 - 2 s + 2)

K =0

(A) Imaginary axis crossing at j0.707 for

K = 0.03
jw
(B) Imaginary axis crossing at j1.414 for
K = 0.03 K =¥

(C) Imaginary axis crossing at j0.707 for

K = 0.67 (C) s
K ®0 K =0
(D) Imaginary axis crossing at j1.414 for
K = 0.67
K =¥
Q.33 The transfer function of a system with
following root locus plot is
jw
jw
K =¥

K=4
(D) s
s K =0 K ®¥
–1

K =¥

. Common Data For Questions 37 to 39 .

A unity feedback control system has an open
loop transfer function
K ( s + 1) At breakaway point the value of gain K is
G ( s) = 2 ________.
( s + 0.4 s + 0.4)
Q.37 The root locus plot of the system has Q.43 The open loop transfer function of a unity
feedback control system is given by,
(A) Two break-in points located at s=0
and s = − 2 . K ( s + 1)( s + 2 )
G (s) =
(B) One break-in point located at s = − 2 . ( s + 0.1)( s − 1)
(C) Two break-away points located at The maxima point from the root locus
s = − 0.5 and s = − 2.5 . diagram, its value is________.
(D) One break-away point located at Assignment Questions :
s = −1.5 . Assignment 1 :
Q.38 The value of K at valid break point is A unity feedback control system has an open
(A) 1.6 (B) 2.6 K ( s + 1)
loop transfer function G ( s ) = . Show
(C) 3.6 (D) 4.6 s ( s − 1)
Q.39 The value of K for which the response is that the root loci of complex roots are part of
over-damped. a circle with (−1, 0) as center and radius 2.
(A) K < 1.6 (B) K < 2.6 Sketch the root locus with K as a variable
(C) K > 3.6 (D) K < 4.6 parameter.
Q.40 A unity negative feedback system has the Assignment 2 :
open-loop transfer function Consider the following control system,
K
G (s) = s 2 - 2s + 5
s ( s + 1)( s + 3) r +- K c
( s + 2)( s - 0.5)
The value of gain K (> 0) at which the root
locus crosses the imaginary axis is ______.

Answer Keys

Objective, NAT & MSQ Type Questions

1. C 2. C 3. B 4. B 5. C
6. D 7. A 8. B 9. A 10. D
11. C 12. B
Practice Questions
1. 00 2. D 3. B 4. B 5. D
6. B 7. D 8. B 9. A 10. C
11. –4 12. A 13. B 14. – 1.10 15. A
16. B 17. B 18. B 19. B 20. A
21. B 22. B 23. A 24. C 25. D
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Control Systems [English Workbook] 50 GATE ACADEMY®

26. C 27. B 28. C 29. D 30. C

31. B 32. D 33. D 34. A 35. C
36. A 37. B 38. C 39. C 40. 12
41. 1.25 42. 8.6 × 10−3 43. 0.28
Assignment Questions
jw
jw 199.660 j2
2j
K =¥
Break-away point
j1.25
0.41

K =¥ K =¥ K =0 K =0 K =0 K =0
1. s 2. s
-1 0 1 1
-2 0.5
- 2.41
Break-in point - 0.41 - j1.25
K =¥
-2 j
0 - j2
-199.66

(i) 4
(ii) – 3, – 5, −1 ± j1
Break-away point
Break-in point (- 0.634)
jw (iii) The root locus diagram terminates at
(- 2.36)
open loop zero ( K = ∞) here all the four
zeros are at infinite along the four
K =¥ K =¥ K =0
3. K =0
s 4. asymptotes.
-3 -2 -1 0
(iv) 450 , 1350 , 2250 , 3150 and
σ = − 2.5
(v) s = − 4.26
(vi) s = ± j 2.145
jw
K = 0.07 [ At s = − 0.6] K =¥ K =¥

K = 14 [ At s = − 7.4]
jw

K =0 K =0 K =0
5. - 0.6
6. s
-5 -4 -2 0
K =¥ K =¥ K =0 K =0 -1.75
s
-4 -1 0
- 7.4

K =¥ K =¥



Objective, NAT & MSQ Type Questions : Q.3 Consider the following statements for a
counter–clockwise Nyquist path:
Q.1 The open loop part of a unity feedback 1. For a stable closed loop system, the
control system G(s) is unstable and has two Nyquist plot of G(s) H(s) should
poles on the right hand side of the s–plane. encircle ( − 1, j0 ) point as many times as
However, the closed loop system is stable.
there are poles of G(s) H(s) in the right
The number of encirclements made by the
half of the s–plane, the encirclements, if
Nyquist plot of the (–1, 0) point in the G(s)
there are any must be made in the
plane is :
counter–clockwise direction.
(A) 2 (B) 0
2. If the loop gain function G(s)H(s) is a
(C) – 3 (D) – 1 stable function, the closed loop system
[GATE-IES – 2005] is always stable.
Q.2 A closed-loop control system is stable if the 3. If the loop gain function G(s)H(s) is a
Nyquist plot of the corresponding open-loop stable function, for stable closed–loop
transfer function system, the Nyquist plot of G(s)H(s)
(A) encircles the s-plane point (−1 + j0) in must not enclose the critical point
the counterclockwise direction as many ( − 1, j 0 ) .
times as the number of right-half s-plane Which of the statements given above is/are
poles. correct? [ESE-EE-2004]
(B) encircles the s-plane point (0 − j1) in the (A) Only 1 (B) 1 and 2
clockwise direction as many times as (C) 1 and 3 (D) Only 3
the number of right-half s-plane poles. Q.4 Figure shows the Nyquist plot of the open–
(C) encircles the s-plane point (−1 + j0) in loop transfer function G(s) H(s) of a system.
the counterclockwise direction as many If G(s)H(s) has one right–hand pole, the
times as the number of left-half s-plane closed–loop system is
poles.
(D) encircles the s-plane point (−1 + j0) in
the counterclockwise direction as many
times as the number of right-half s-plane
zeros.
[GATE-EC-2016-IISc Bangalore]
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Control Systems [English Workbook] 52 GATE ACADEMY®
(A) Always stable Q.8 The polar plot of a type–1, 3–pole, and open–
(B) Unstable with one closed–loop right loop system is shown in Fig. below. The
hand pole closed–loop system is :
(C) Unstable with two closed–loop right
hand poles
(D) Unstable with three closed–loop right
hand poles
[GATE-EC-2003-IIT Madras]
10
Q.5 The polar plot of G(s) = intercepts
s ( s + 1) 2
(A) Always stable
real axis at ω = ω0 Then, the real part and ω0
(B) Marginally stable
are respectively given by:
(C) Unstable with one pole on the right half
(A) −2.5,1 (B) −5,0.5 s–plane
(C) −5,1 (D) −5, 2 (D) Unstable with two poles on the right half
[GATE-EC-1987-IIT Bombay] s–plane
Q.6 Which of the following is the transfer [GATE-EE-2001-IIT Kanpur]
function of a system having the Nyquist plot Q.9 The open loop transfer function of a unity
shown in Fig. below? πe−0.25 s
feedback system is given by G(s) = .
s
In G(s) plane, the Nyquist plot of G(s) passes
through the negative real axis at the point
(A) (−1.25, j0) (B) (−0.75, j0)
(C) (−0.5, j0) (D) (−1.5, j0)
[GATE-EE-2019-IIT Madras]
Q.10 The Nyquist plot for the open – loop transfer
K function G(s) of a unity negative feedback
(A)
s ( s + 2) 2 ( s + 5) system is shown in figure. If G(s) has no pole
K in the right–half of s–plane, the number of
(B) 2 roots of the system characteristics equation
s ( s + 2)( s + 5)
in the right–half of s–plane is
K ( s + 1)
(C) 2
s ( s + 2)( s + 5)
K ( s + 1)( s + 3)
(D)
s 2 ( s + 2)( s + 5)
[GATE-EE-1991-IIT Madras]
Q.7 A unity feedback system has the open loop
transfer function
1 (A) 0 (B) 1
G (s) =
( s − 1)( s + 2)( s + 3) (C) 2 (D) 3
The Nyquist plot of G encircle the origin [GATE-EC-2001-IIT Kanpur]
(A) Never (B) Once Q.11 The frequency response of G(s) =
(C) Twice (D) Thrice 1 / [ s ( s + 1)( s + 2)] plotted in the complex G
[GATE-EE-1992-IIT Delhi] ( jω ) plane (for 0 < ω < ∞ ) is :

(A)

(B) (A) Unstable to stable

(B) Stable to stable
(C) Unstable to unstable
(D) Stable to unstable
Q.14 The polar diagram of a conditionally stable
system for open loop gain K = 1 is shown in
the figure. The open loop transfer function of
the system is known to be stable. The closed
(C) loop system is stable for

(D)

1 1
(A) K < 5 and <K<
[GATE-EE-2010-IIT Guwahati] 2 8
Q.12 Fig. shows the polar plot of a system. The 1 1
(B) K < and < K < 5
transfer function of the system is 8 2
1
(C) K < and 5 < K
8
1
(D) K < and K < 5
8
[GATE-EC-2005-IIT Bombay]
Q.15 Nyquist plots of two functions G1(s) and
G2(s) are shown in figure.
(A) 5(1 + 0.1s ) (B) (1 + 0.5 s )
(C) 5(1 + 10 s ) (D) 5(1 + s )
[GATE-IN-2004-IIT Delhi]
Q.13 Consider the Nyquist diagram for given
KG(s) H(s). The transfer function KG(s)
H(s) has no poles and zeros in the right half
of s–plane. If the (–1, j0) point is located first

(A) 00 (B) 63.40

(C) 900 (D) ∞
Q.2 The transfer function of a certain system is
s
G (s) = . The Nyquist plot of the system
1+ s
is
(A) Img
Nyquist plot of the product of G1(s) and w=¥ w=0
G2(s) is : Re

(A)
(B) Img

w=0 w=¥
Re

Img
(C)
w=0
(B) Re

w=¥
(D) Img
w=0
(C) Re

w=¥

Q.3 The polar plot of frequency response of a

linear under damped second order system is
shown in the figure given below. What is the
transfer function of this system ?
(D) Img

w=¥ w=0
Re
0 1
– 1.18
[GATE-EE-2015-IIT Kanpur]
Practice Questions :
8 8
Q.1 The phase margin of a system with the open (A) 2
(B) 2
loop transfer function s + 10 s + 1 s + 8.48s + 10
(1 − s ) 100 100
G (s) H (s) = (C) 2
(D) 2
(1 + s )(2 + s ) s + 8.48s + 100 s + 10 s + 8.48

(D)

1 1
(A) (B)
( s + 2)
2
( s + 3s + 2 )
2

1 1
(C) (D)
( s + 2)
3
( s + 2) Q.6 For the transfer function G ( jω) = 5 + jω the
Q.5 The shape of gain-phase plot corresponding corresponding Nyquist plot for positive
to Nyquist plot given below is obtained as frequency has the form
(A) Img

Re
5

(B) Img
j5

(A)
(C) Img

1/5
Re

(D) Img

(B) ÐG ( jw) w
1/5
Re
G ( jw) dB
0

Q.7 The polar plot of the transfer function

10( s + 1)
-2700 -1800 -900 G( s) = for 0 ≤ ω < ∞ will be in the
s + 10
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Control Systems [English Workbook] 56 GATE ACADEMY®
(A) First quadrant (B) Second quadrant With which one of the following transfer
(C) Third quadrant (D) Fourth quadrant functions, does the above Nyquist plot match
?
Q.8 The Nyquist plot of a servo system is shown
in the below figure. The root loci for the 1 1
(A) 3
(B)
system would be ( s + 1) ( s + 1)2
Img 1 1
(C) (D)
2
s + 2s + 2 ( s + 1)
Q.10 If the s-plane contours enclose 3-zeros and 2-
Re poles contour will encircle the origin of q(s)
plane
Increasing
w (A) Once in clockwise direction
(B) Once in counter clockwise direction
jw (C) Thrice in clockwise direction
(D) Twice in counter clockwise direction
Q.11 The Nyquist plot of G( jω) H ( jω) of a closed
(A)
s loop control system enclose the point
(−1, j 0) in GH-plane the gain margin of the
system in dB is
(A) greater than zero (B) less than zero
jw (C) zero (D) infinity
Q.12 Consider the following Nyquist plot.
Img
(B) w=0
s w<0

IV III II I w=¥
Re
R 0
Q P
jw

w>0
(C)
s
Double pole w = 0+
at origin
The feedback system will be stable if and
only if the critical point lies in the region
(A) I(OP) (B) II(PQ)
(D) None of these (C) III(QR) (D) IV(R to − ∞ )
Q.9 Consider the following Nyquist plot. Q.13 Consider the standard negative feedback
Img s 2 + 0.2 s + 100
configuration with G ( s ) = 2
s − 0.2 s + 100
1
1.0 and H ( s ) = . The number of clockwise
Re 2
w=¥ w=0
encirclements of ( −1, 0) in the Nyquist plot
of the Loop transfer-function G ( s ) H ( s ) is
______.
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GATE ACADEMY® 57 Polar & Nyquist Plot

Assignment Questions : Assignment 5 :

Assignment 1 : Determine the safe maximum value of K for
the unity feedback system, having open-loop
Sketch the Nyquist plot for the control system
transfer function,
whose loop transfer function is given by
1 K ( s + 20) 2
G (s) H (s) = . G (s) =
s (1 + 0.2 s ) (1 + 0.05s ) s3
Sketch the Nquist plot with this value of K.
Determine the gain margin and comment on
Obtain the margins of stability and comment.
the stability of the system.
Assignment 6 :
Assignment 2 :
Without drawing the Nyquist plot, find the
State Nyquist stability criteria and investigate
number of encirclements, N of the −1 + j 0
he stability of the closed-loop system with the
following open-loop transfer function, point, in the G( s) H ( s) plane, for the system
2 ( s + 3) having its open loop transfer function
G (s) H ( s) = by drawing Nyquist 10
s ( s − 1) G(s) H (s) = .
plot wherever the Nyquist plot crosses the s ( s + 3)( s 2 + s + 1)
real or imaginary axis, determine that Comment on the stability of the closed loop
frequency and the intercept value. system.
Assignment 3 : Assignment 7 :
5( s + 3) Consider a feedback system whose open-loop
Consider G ( s) H ( s ) = . Sketch the
s ( s − 1) transfer function is, given by
complete Nyquist plot and then determine the K
G ( s) H (s) = , where K > 0 and
stability of the closed loop system. s (1 + Ts )
Assignment 4 : T > 0 . Using the Nyquist stability criterion,
Sketch the Nyquist diagram and determine find whether the, closed-loop system, is
stability of the transfer function : stable or not.

s+2
(i) G ( s) H ( s) =
( s + 1)( s − 1)
s
(ii) G ( s ) H ( s ) =
1 − 0.2 s
Answer Keys

Objective, NAT & MSQ Type Questions

1. A 2. A 3. D 4. A 5. C
6. B 7. A 8. D 9. C 10. A
11. A 12. A 13. A 14. B 15. B
Practice Questions
1. D 2. B 3. C 4. A 5. B
6. A 7. A 8. B 9. B 10. A
11. B 12. B, D 13. 0

w = ¥+
0 w = ¥- Re
1. 2. w = ¥+
Re
2 -1 w = ¥-

w = 0+

G.M. = 28 dB w = 0-
G.M. is positive hence system is stable.
System is stable.
(i)
Img

Img w = 0- 2 -
-1 0 w=¥
w = 0+ Re
w = 0+ w = ¥+

w = ¥-
Re System is stable.
3. 5 -1 w = ¥+ 4.
(ii)
Img

w = 0- w = ¥+ w = 0+
Re
System is stable. w = ¥- 5 -1 w = 0-

System is stable.
Img

w = 0+
K
10

w = ¥+ The number of clockwise encirclement

5. Re 6.
-1 + j 0
w = ¥- is two.

N =0

w = 0-

w = ¥-
Re
7. -1 + j 0 w = ¥+

w = 0+

The closed loop transfer function is stable.



Objective, NAT & MSQ Type Questions : 103 (s + 100)

(D)
(s + 1)(s + 10)
Q.1 For the asymptotic Bode magnitude plot
[GATE-EC-2004-IIT Delhi]
shown below, the system transfer function
can be Q.3 For the transfer function
5( s + 4)
G( s) =
s( s + 0.25)( s 2 + 4s + 25)
The values of the constant gain term and the
highest corner frequency of the Bode plot
respectively are
(A) 3.2, 5.0 (B) 16.0, 4.0
10s + 1 100s + 1 (C) 3.2, 4.0 (D) 16.0, 5.0
(A) (B) [GATE-EE-2014-IIT Kharagpur]
0.1s + 1 0.1s + 1
100s 0.1s + 1 Q.4 The asymptotic Bode plot of a transfer
(C) (D) function is as shown in the figure. The
10s + 1 10s + 1
[GATE –EC – 2010] transfer function G(s) corresponding to this
Bode plot is
Q.2 Consider the Bode magnitude plot shown in
figure. The transfer function H(s) is :

( s + 10)
(A)
( s + 1)( s + 100) 1 1
(A) (B)
10( s + 1) ( s + 1)( s + 20) s ( s + 1)( s + 20)
(B)
( s + 10)( s + 100) 100 100
(C) (D)
s ( s + 1)( s + 20) s( s + 1)(1 + 0.05s)
10 2 ( s + 1)
(C)
( s + 10)( s + 100) [GATE-EC-2007-IIT Kanpur]

(A) Np = 4, Nz = 2
(B) Np = 6, Nz = 3
20( s + 5)
(A) (C) Np = 7, Nz = 4
s(s + 2)( s + 25)
10( s + 5) (D) Np = 5, Nz = 2
(B)
( s + 2)2 ( s + 25) [GATE-EC-2019-IIT Madras]
20( s + 5) Q.8 For the transfer function,
(C) 2
s ( s + 2)( s + 25) K
G(s) H (s) = . Asymptotic Bode
50( s + 5) 1 
(D)  s + 1
2
s ( s + 2)( s + 25) b 
[GATE-EE-2001-IIT Kanpur] plot is shown below

Q.6 The function corresponding to the Bode plot

of Figure, is

The error in the diagram at ω = 5b is

determined as
(A) 0.16 dB (B) 0.52 dB
(A) A = jf / f 1 (C) 0.17 dB (D) 0.2 dB
(B) A = 1 / (1 − jf 1 / f ) Q.9 The transfer function is relation to Bode plot
given below
(C) A = 1 / (1 + jf1 / f )
(D) A = 1 + jf / f 1
[GATE-EE-1999-IIT Bombay]
Q.7 For an LTI system, the Bode plot for its gain
is as illustrated in the figure shown. The
number of system poles Np and the number
of system zeros N z in the frequency range 25(1 + 0.5s ) 5(1 + 0.5s)
(A) (B)
1Hz ≤ f ≤ 10 Hz is
7
s 2 (1 + 0.1s ) s 2 (1 + 0.1s)

s  s 
3
80  + 1 20  + 1
(A) 108
( s + 0.1) (A)  2  (B)  2 
( s + 10) 2 ( s + 100)  s   s 
s  + 1 s  + 1
 20   20 
( s + 0.1) 3
(B) 10 7 8(s + 2) 8(s + 2)
( s + 10)( s + 100) (C) (D)
s(s + 20) s(s + 20)
( s + 0.1) 2
(C) 108 [GATE-IN-2004-IIT Delhi]
( s + 10) 2 ( s + 100)
Q.13 Consider the Bode plot shown in figure.
( s + 0.1)3
(D) 109 Assume that all the poles and zeros are real
( s + 10)( s + 100) 2
valued.
[GATE-EC-2003-IIT Madras]
Q.11 The asymptotic approximation of the log –
magnitude vs frequency plot of a system
containing only real poles and zeros is
shown. Its transfer function is

The value of f H − f L (in Hz) is ______.

[GATE-EC-2015-IIT Kanpur]
Q.14 The asymptotic Bode plot of the transfer
function K/[1+(s/a)] is given in figure. The
error in phase angle and dB gain at a
frequency of ω= 0.5a are respectively

10( s + 5)
(A)
s(s + 2)( s + 25)
1000( s + 5)
(B) 2
s ( s + 2)( s + 25)
100( s + 5)
(C)
s(s + 2)( s + 25)
80( s + 5)
(D) 2
s ( s + 2)( s + 25)
[GATE-EE-2009-IIT Roorkee]
Gate Academy Shop Address : Street 04, Narsingh Vihar, Katulbod, Bhilai 490022 (C.G.), Contact : 97131-13156 Online Test Series
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Control Systems [English Workbook] 64 GATE ACADEMY®

(A) 4.90 ,0.97dB (B) 5.70 ,3dB (A)

(C) 4.90 ,3dB (D) 5.70 ,0.97dB - 20 dB/dec

[GATE-EE-2001-IIT Kanpur]
Q.15 The Bode magnitude plot of the transfer
20 log K
k (1 + 0.5s)(1 + as)
function G( s) = is
 s  s  w (rad/sec)
s 1 +  (1 + bs) 1 +  0 1/ T w2
 8  36  - 40 dB/dec
shown below :
G
Note that ‒6 dB/octave = ‒20 dB/decade. (B)
The value of a is _________. - 20 dB/dec
bK

20 log K 20 log K

w (rad/sec)
0 1/ T 10 / T
- 40 dB/dec

G
(C)
[GATE-EE-2014-IIT Kharagpur]
- 20 dB/dec
Practice Questions :
Q.1 The transfer function of following Bode plot w= K

represents w (rad/sec)
0 1/ T 10 / T
G ( jw)
- 40 dB/dec
100 dB
– 60 dB/dec G
(D)
40 dB/dec - 20 dB/dec

w (rad/sec)
10
100 s 2 0 1/ T 2/T 10 / T
w (rad/sec)
(A)
(0.1 + 0.1s )3
- 40 dB/dec
100s 2
(B)
(1 + 0.1s )3 Q.3 An open loop transfer function of a unity
2
100s feedback control system has two finite zeros,
(C)
(1 + 0.1s )5 two poles at origin and two pairs of complex
1000s 2 conjugate poles. The slope of high frequency
(D) asymptote in Bode magnitude plot will be
(1 + 0.1s )5
(A) + 40 dB/decade (B) 0 dB/decade
Q.2 The transfer function of a system is given by
(C) – 40 dB/decade (D) – 80 dB/decade
K 1
G ( jω) = , K< Q.4 For the Bode plot of the system
jω( jωT + 1) T
10
Which one of the following is the Bode plot G (s) = 2
the corner
0.66 s + 2.33s + 1
of this function?
frequencies are
Gate Academy Shop Address : Street 04, Narsingh Vihar, Katulbod, Bhilai 490022 (C.G.), Contact : 97131-13156 Online Test Series
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GATE ACADEMY® 65 Bode Plot
(A) 0.66 and 0.33 (B) 0.22 and 2.00
(C) 0.30 and 2.33 (D) 0.50 and 3.0
Q.5 The Bode plot of the open-loop transfer
function of a system is described as follows :
Slope – 40dB/decade ω < 0.1 rad/s
Slope – 20dB/decade 0.1 < ω < 10 rad/s
Slope 0 ω > 10 rad/s
The system described will have
(A) 1 pole and 1 zeros
(B) 2 poles and 2 zeros (A) − 4 dB, − 300 , 100 rad/sec, 10 rad/sec
(C) 2 pole and 1 zero (B) 4 dB, − 300 , 10 rad/sec, 100 rad/sec
(D) 1 pole and 1 zeros (C) − 2 dB, − 300 , 10 rad/sec, 10 rad/sec
Q.6 The Bode asymptotic magnitude plot of a (D) 2 dB, − 300 , 10 rad/sec, 10 rad/sec
critically damped system is shown in figure.
Q.9 For the open loop transfer function
The system transfer function can
1
approximately be expressed as GH ( s) = the magnitude and phase
(1 + s) 2
Mag dB
error are :
20 dB
0 0
(A) – 3 dB, − 90 (B) – 3 dB, −180
1 10 100 1000
0 dB –2 w rad/sec (C) – 6 dB, − 90
0
(D) – 6 dB, −180
0
c 0d
/de B/d
dB ec
20 Q.10 Bode plot of the open loop transfer function
– 20 dB
of a system is shown in figure. The system is
known to have minimum phase
1 characteristic.
(A)
( s + 10) 2
s
(B)
( s + 10) 2
10 s
(C)
( s + 10) 2
( s + 1)( s + 100)
(D)
( s + 10) 2
The open loop transfer function is
Q.7 At which frequency does the Bode magnitude 10.64
(A)
plot for the function K / s 2 have gain s (1 + 0.33s ) (1 + 0.125s )
crossover frequency?
10.64
(B)
(A) ω = 0 rad / sec (B) ω = K rad / sec s ( s + 3) ( s + 8)
(C) ω = K rad / sec (D) ω = K 2 rad / sec 10.64
(C)
s (1 + 3s ) (1 + 8s )
Q.8 The gain-phase plot is shown in figure, the
gain margin, phase margin, gain crossover 106.4
(D)
frequency, phase crossover frequency are s (1 + 0.33s ) (1 + 0.125s )

. Common Data For Questions 11 & 12 . T ( jw)

dB
x = 0.5 80 dB /dec
Y – 40 dB/dec

w (rad / sec )
20 dB 0 dB 10
2
0 dB w (rad / sec)  s  s  
2
0.1 0.5 1 6 20 (A) 1 + +   
– 60 dB/dec  10  10  
– 60 dB/dec −1
– 40 dB/dec  s  s  
2

(B) 1 + +   
 10  10  
Q.11 The value of Y(in dB) from the above bode
−2
plot is  s  s  
2

Q.12 The transfer function from the magnitude (D) 1 + +   

plot shown above :  10  10  
10(1 + s / 6) Q.15 The transfer function for the given below
(A) 2
s (1 + s / 2) (1 + s / 20) magnitude plot is
100(1 + s / 6) T ( jw)
(B) 2
s (1 + s / 2) (1 + s / 20)

ec
10(1 + s / 6)
/d
– 20 dB/dec
(C)
(1 + 2 s ) (1 + s / 20) dB
20
w (rad / sec )
w = 0.1 4
10(1 + s / 6) x = 0.2
(D) 2 -10 dB
s (1 + 2 s ) (1 + s / 20)
Q.13 The Bode plot (Magnitude) is shown in 1.162 s 3.162 s
(A) (B)
figure. The transfer function of the system is s
2
s s
2

1 + 0.1s +   1+ +  
4 4 4
1.162 s 3.162 s
(C) 2
(D) 2
s s s
1+ +   1 + 0.1s +  
4 4 4
Q.16 Consider the Bode plot shown in the figure.
10 s 50 s Assume that all the poles and zeros are real-
(A) (B)
( s + 50)3 ( s + 10)3 valued. The value of f H − f L (in Hz) is
0.1 s 50 s _______.
(C) 3
(D) 3 G ( jw) , dB
 s   s 
 + 1  + 1
 50   10  40 dB – 40 dB/dec

Q.14 Determine the transfer function for the given 40 dB/dec

below magnitude plot. 0 dB Freq. (Hz)
fL 300 900 fH

40 - 20 dB/decade

0.01 0.1 1 10 100

0
0
w rad/sec - 40 dB/decade
0
– 45
w (rad/sec )
10 250
0
– 135 The transfer function of G(s) is
100
– 225
0 (A)
 s  s 
– 270
0
1 +  1 + 
 10   250 
40
The value of p1 is ________________. (B)
s ( s + 250)
10 100
Q.18 The transfer function of a system is . At (C)
1+ s ( s + 10) ( s + 250)
a frequency of 0.1 rad/sec, the straight line
100 s
Bode plot will have a magnitude of (D)
( s + 10) ( s + 250)
__________ dB.
Q.24 The transfer function of a second order real
Q.19 Error in magnitude for
system with a perfectly flat magnitude
T ( s ) = 1 + 0.25s + 0.005s 2 is ________ dB. response of unity has a pole at (2 – j3). List
. Common Data For Questions 20 to 22 . all the poles and zeros.
(A) Poles at (2 ± j3), no zeros.
The asymptotes approximation to the log-
(B) Poles at (± 2 – j3), one zero at origin.
magnitude versus frequency plot (Bode plot)
(C) Poles at (2 – j3), (–2 + j3), zeros at (–2 –
of a unity feedback control system is shown
j3), (2 + j3).
in below figure. The system is a minimum
(D) Poles at (2 ± j3), zeros at (–2 ± j3).
phase system.
Q.25 The magnitude plot for a transfer function is
shown in figure, what is the steady-state error
corresponding to a unit step unit?
G ( jw) , dB

40 -20 dB/decade

w (rad/sec)
Q.20 The gain crossover frequency, in rad/sec is
________. 1 1
(A) (B)
101 100
Q.21 The gain margin, in dB is ______.
1 1
Q.22 The phase margin, in degrees is________. (C) (D)
41 40
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Control Systems [English Workbook] 68 GATE ACADEMY®
Q.26 The magnitude frequency response of a Q.31 The transfer function 1
will have
control system is shown in the figure. The 2s + 1
value of are respectively (A) dc gain 1 and high frequency gain 1
Gain (dB)
(B) dc gain 0 and high frequency gain ∞
+ 20 dB/dec (C) dc gain 1 and high frequency gain 0
26 dB - 20 dB/dec
(D) dc gain 0 and high frequency gain 1
20 dB Q.32 Which one of the following transfer functions
represents the Bode plot as shown in the
figure (where K is constant)?
w1 w2 w (rad/sec)
0 dB 10
G ( jw) H ( jw) dB
(A) 10 and 200 (B) 20 and 200
100 dB
(C)20 and 400 (D)100 and 400 40 dB/dec
(1 − s ) - 60 dB/dec
Q.27 The transfer function of a system is .
(1 + s )
The system is then which one of the w (r/s)
10
following?
Ks 2 Ks 2
(A) Non-minimum phase system (A) 3
(B) 4
(B) Minimum phase system  s   s 
1 +  1 + 
 10   10 
(C) Low-pass system
(D) second-order system Ks 2 Ks 2
(C) 5
(D) 2
Q.28 The low frequency and high frequency  s   s 
1 +  1 + 
asymptotes of Bode magnitude plot are  10   10 
respectively – 60 dB/decade and – 40 Q.33
dB/decade. What is the type of the system? G ( jw) H ( jw) dB
– 40 dB/dec
(A) Type 0 (B) Type 1
(C) Type 2 (D) Type 3 – 60 dB/dec
Q.29 What is the error in magnitude at the corner
10
frequency for an asymptotic Bode magnitude w (r/s)
5
plot for the term (1 + sτ) ± N ?
– 40 dB/dec
(A) ± 20N dB (B) ± 6N dB
(C) ± 3N dB (D) ± 1N dB
The open loop transfer function G ( s ) H ( s ) of
Q.30 Consider the transfer function
a Bode’s plot for feedback system as shown
5( s 2 + 10s + 100) in figure is
G( s) = 2 2
s ( s + 15s + 1) K ( s + 5) K ( s + 5)
(A) (B)
The corner frequencies in Bodes plot for this s 2 ( s + 10) s( s + 10)
transfer function are as K ( s + 10) K ( s + 10)
(C) (D)
(A) 10 r/s and 10 r/s (B) 100 r/s and 10 r/s s 2 ( s + 5) s ( s + 5)
(C) 10 r/s and 1 r/s (D) 100 r/s and 1 r/s

Answer Keys

Objective, NAT & MSQ Type Questions

1. A 2. C 3. A 4. D 5. D
6. D 7. B 8. A 9. A 10. A
11. B 12. B 13. 8970 14. D 15. 0.7-0.8
Practice Questions
1. D 2. C 3. D 4. D 5. B
6. C 7. B 8. A 9. C 10. A
11. B 12. D 13. C 14. A 15. D
16. 8970 17. 1 18. 20 19. 10.97 20. 4
21. ∞ 22. 37.82 23. A 24. D 25. A
26. C 27. A 28. D 29. C 30. C
31. C 32. C 33. C



Objective, NAT & MSQ Type Questions : 3 4.8 −1300

Q.1 The gain margin of a system having the loop 4 3.15 −1400
transfer function 5 2.25 −1500
2
G (s) H (s) = is : 6 1.70 −1570
s ( s + 1)
7 1.00 −1700
(A) 0 (B) 3
8 −1800
0.64
(C) 6 (D) ∞
The gain and phase margin of the system are
[GATE-EC-1999-IIT Bombay]
(A) 0 dB, – 1800 (B) 3.88 dB, –1700
Q.2 The gain margin of the system under closed
(C) 0 dB, 100 (D) 3.88 dB, 100
loop unity negative feedback is
[GATE-IN-2006-IIT Kharagpur]
100
G(s) H ( s) = Common Data for Next Two Questions :
s(s + 10)2
The open loop transfer function of a unity
(A) 0 dB (B) 20 dB
3e − 2 s
(C) 26 dB (D) 46 dB feedback system is given by G ( s ) =
s ( s + 2)
[GATE-EC-2011-IIT Madras]
Q.5 The gain and phase crossover frequencies in
Q.3 The open loop transfer function of a unit rad/sec are, respectively
feedback control system is given as G(s) =
(A) 0.632 and 1.26
as + 1
the value of ‘a’ to give a phase margin (B) 0.632 and 0.485
s2
(C) 0.485 and 0.632
of 450 is equal to (D) 1.26 and 0.632
(A) 0.141 (B) 0.441 [GATE-EC-2005-IIT Bombay]
(C) 0.841 (D) 1.141 Q.6 Based on the above results, the gain and
[GATE-EE-2004-IIT Delhi] phase margins of the system will be
Q.4 A unity feedback system has the following (A) –7.09 and 87.50
open loop frequency response: (B) 7.09 and 87.50
ωr (C) 7.09 dB and – 87.50
| G ( jω) | ∠G( jω)
(rad/sec) (D) –7.09 dB and – 87.50
2 7.5 −1180 [GATE-EC-2005-IIT Bombay]

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Control Systems [English Workbook] 72 GATE ACADEMY®
(A) – 6 dB (B) 0 dB Q.13 With the value of "a" set for a phase-margin
(C) 3.5 dB (D) 6 dB π
of , the value of unit-impulse response of
Q.8 The loop transfer function of a system is 4
10e − Ls the open loop system at t = 1 second is equal
given by G ( s ) H ( s ) = . The phase
s to
cross-over frequency is 5 rad/s. The value of (A) 3.40 (B) 2.40
the dead time L is (C) 1.84 (D) 1.74
π π . Common Data Question 14 & 15 .
(A) (B)
20 10 The open-loop transfer functions of a unity
−π negative feedback control system is given by
(C) (D) 0 K
20 G (s) =
( s + 5) 3
Q.9 The gain margin and the phase margin of a
feedback system with Q.14 The value of K for the phase margin of the
s system to be 45 0 is
G (s) H (s) = are
( s + 100)3 (A) 250 5 (B) 250 2
(A) 0 dB, 00 (B) ∞ , ∞ (C) 125 5 (D) 125 2
(C) ∞, 00 (D) 88.5 dB, ∞ Q.15 The value of K for the damping ratio ξ to be
Q.10 The gain margin for the system with open- 0.5, corresponding to the dominant closed-
2(1 + s ) loop complex conjugate pole pair is
loop transfer function G ( s ) H ( s ) = is (A) 250 (B) 125
s2
(C) 75 (D) 50
(A) ∞ (B) 0 Q.16 The open loop transfer function of a unity
(C) 1 (D) − ∞ negative feedback control system is given by
150
Q.11 The open-loop function of a unity-gain G (s) = . The gain margin of
s ( s + 9)( s + 25)
feedback control system is given by
K the system is
G ( s) = (A) 10.8 dB (B) 22.3 dB
( s + 1) ( s + 2)
(C) 34.1 dB (D) 45.6 dB
The gain margin of the system in dB is given
Q.17 The phase cross-over frequency of the
by
100
(A) 0 (B) 1 function G ( s ) = in rad/s is
( s + 1) 3
(C) 20 (D) ∞
. Statement For Linked Answer Qu. 12 & 13 . (A) 3 (B) 1/ 3
Consider a unity-gain feedback control (C) 3 (D) 3 3
system whose open-loop transfer function is Q.18 The critical value of gain for a system is 40.
as + 1 The system is operating at a gain of 20. The
G ( s) = 2
s gain margin of system is
Q.12 The value of “a” so that the system has a (A) 2 dB (B) 3 dB
π (C) 6 dB (D) 4 dB
phase margin equal to is approximately rd
4 Q.19 For a 3 order system given below, what is
equal to the phase crossover frequency ?
(A) 2.40 (B) 1.40 K
G(s) H (s) = 3 2
(C) 0.84 (D) 0.74 s + 6 s + 11s + 6
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GATE ACADEMY® 73 Gain & Phase Margin

(A) 6 (B) 11 (A) 6 dB, 1200 (B) 2 dB, 600

(C) ± 11 (D) ± 6 (C) 6 dB, 300 (D) 6 dB, 900
Q.20 The phase crossover frequency of Q.23 The phase crossover frequency for the open-
1 loop transfer function
P. G( s) =
s( s + 1) ( s + 2) 20
G (s) H (s) = , is
1  1  1
Q. G(s) = ( s + 1)  s +   s + 
s( s + 5) ( s + 10)  2  3
1 (A) 1.0 rad/sec (B) 2.0 rad/sec
R. G( s) =
s(1 + 0.1s) (1 + 0.01s) (C) 2 rad/sec (D) 3 rad/sec
1 Q.24 The forward path transfer function of a unity
S. G( s ) =
s(1 + 0.1s)(s + 2) 1
feedback system is given by G ( s ) = .
(A) Q > R > P > S (B) R > Q > P > S (1 + s ) 2
(C) R > Q > S > P (D) P > Q > R > S What is the phase margin for this system?
Q.21 The polar plot (for positive frequencies) for (A) −π rad (B) 0 rad
the open-loop transfer function of a unity
(C) π /2 rad (D) π rad
feedback control system is shown in the
given figure. Q.25 The loop transfer of a system is
Im GH ( s ) 5
G ( s) H ( s) =
- 0.75 ( s + 1) (2 s + 1) (3s + 1)
-1 Which has the phase crossover frequency
Re GH ( s )
fC = 0.16 Hz . The gain margin (dB) of the
- 0.375 system is
300
(A) 6 (B) 4
The phase margin and the gain margin of the (C) 2 (D) 0
system are respectively : Q.26 Consider the following statements are
(A) 60 0 and 4/3 (B) 60 0 and 3/4 correct.
(C) 30 0 and 4/3 (D) 30 0 and 3/4 The gain margin and phase margin of an
Q.22 The part of Nyquist plot for the open-loop unstable system may be respectively
transfer function of a feedback control 1. Positive, positive
system is shown in figure. The gain and phase
2. Positive, negative
margins are
3. Negative, positive
4. Negative, negative
(A) 1 and 4 (B) 1 and 2
(C) 1, 2 and 3 (D) 2, 3 and 4
Q.27 Which one of the following statements is
correct?
(A) Phase margin is always positive for stable
feedback system.
(B) Phase margin is always negative for
stable feedback system.
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Control Systems [English Workbook] 74 GATE ACADEMY®
(C) Phase margin can be negative or positive . Common Data For Questions 35 to 38 .
for stable feedback system.
The open loop transfer function of a
(D) None of the above.
1
Q.28 The loop transfer function of a feedback negative feedback control system is .
control system is given by, (1 + s)3
1 Q.35 The phase crossover frequency in rad/sec is
G (s) H (s) =
s ( s + 1)(9 s + 1) ________.
Its phase crossover frequency (in rad/s), Q.36 The gain margin (in dB) is ________.
approximated to two decimal places, is Q.37 The gain crossover frequency in rad/sec is
_________. _____________.
Q.29 The phase margin (in degree) of the system Q.38 The phase margin in rad is _______.
10
G (s) = is ______. Q.39 The open-loop transfer function of a unity
s ( s + 10)
feedback control system is given as,
Q.30 For a unity feedback control system, if its
1000
open-loop transfer function is given by G (s) = the phase crossover
s ( s + 10 )
2
10
G( s) H ( s) = , then its gain margin
( s + 5)3 frequency ω pc in rad/sec is ________.
will be _________ dB.
Q.40 The loop transfer function of a system is
Q.31 The phase margin of the transfer function
1 e − 0.1s
GH ( s) = in degree is _______. given by G ( s ) = . The phase crossover
s( s + 1) s
frequency is given by
Q.32 The open-loop transfer function of a unity
K π π
feedback system is G ( s ) = . The gain (A) (B)
s ( s + 5) 2 10
K that results in a phase margin of 450 is π π
_______. (C) (D)
0.2 4
Q.33 The polar plot for an open loop transfer Q.41 If the compensated system shown in the
function is shown is figure. 0
Im figure has a phase margin of 60 at the
crossover frequency of 1 rad/sec, then value
3 1
+j j1 of the gain K is
2 2
1
w=¥ R( s) K + 0.366 s Y (s)
Re s ( s + 1)

w=0
- j1 (A) 0.366 (B) 0.732
(C) 1.366 (D) 2.738
Q.42 The gain margin of a unity feedback control
The phase margin in degree is _____.
system with the open loop transfer function
K
Q.34 The open loop gain of a system is . ( s + 1)
( s + 1)3 G ( s) = 2 is
s
The phase crossover takes place at
1
ωpc = 3 rad/sec . For the gain crossover (A) 0 (B)
2
also to occur at ωpc , the value of K has to be
___________. (C) 2 (D) ∞

0 ÐG ( jw)
w = 10
3 4
(A) (B)
-2 dB w = 100 4 3
1 3
(C) (D)
-2700 -1800 -1400 -900 2 5
Q.50 Which one of the following polar plots
(A) − 2dB,400 (B) 2dB, 400
1
(C) 2dB,1400 (D) − 2dB,1400 corresponds to G ( jω) = 2
?
( jω) (1 + jωT )
Q.46 The open loop transfer function of a unity (A) Img
feedback control system is given as
1 w=¥
G(s) = w = 0 Re
s (1 + sT1 ) (1 + sT2 )
The phase crossover frequency and the gain
margin are respectively
1 T +T (B)
(A) and 1 2 Img
T1T2 T1T2
T1 + T2
(B) T1T2 and w=¥ Re
T1T2
1 TT
(C) and 1 2
T1T2 T1 + T2 w=0

Answer Keys

Objective, NAT & MSQ Type Questions

1. D 2. C 3. C 4. D 5. D
6. D 7. A 8. B
Practice Questions
1. D 2. C 3. B 4. B 5. B
6. C 7. B 8. B 9. B 10. B
11. D 12. C 13. C 14. B 15. B
16. C 17. A 18. C 19. B 20. C
21. A 22. A 23. A 24. D 25. A
26. D 27. C 28. 0.33 29. 84.35 30. 40
31. 45 32. 35 33. –30 34. 8 35. 1.732
36. 18.06 37. 0 38. 3.14 (π) 39. 10 40. C
41. C 42. A 43. 1.047 44. B 45. B
46. A 47. B 48. C 49. A 50. C
51. D



Objective, NAT & MSQ Type Questions : The steady state error will be
a
Q.1 A unity– feedback control system has the (A) 0 (B)
b
4(1 + 2s)
open– loop transfer function G(s) = 2 a+K a−K
s (s + 2) (C) (D)
b b
If the input to the system is a unit ramp, the
steady– state error will be [GATE-EE-2017-IIT Roorkee]
(A) 0 (B) 0.5 Q.5 The closed-loop transfer function of a unity
(C) 2 (D) Infinity feedback control system is,
[GATE-EC-1991-IIT Madras] C (s) ω2n
= 2
Q.2 Consider a unity feedback control system R( s ) s + 2ξωn + ω2n
with open– loop transfer function
The velocity error constant of the system is
K (s + 1)
G(s) = . ωn ωn
s(s + 2)(s + 3) (A) (B)
2ξ ξ
The steady– state error of the system due to
a unit step input is 2ωn 3ωn
(C) (D)
ξ 2ξ
(A) zero (B) K/6
(C) 6/K (D) Infinite [ESE-EC-2016]
Q.3 A ramp input applied to an unity feedback Q.6 For what values of ‘a’ does the system shown
system results in 5% steady state error. The in figure have a zero steady state error [i.e.,
type number and zero frequency gain of the lim E (t)] for a step input?
t→∞
system are respectively
(A) 1 and 20 (B) 0 and 20
(C) 0 and 1/20 (D) 1 and 1/20
[GATE-EC-2005-IIT Bombay]
Q.4 When a unit ramp input is applied to the
unity feedback system having closed loop
(A) a = 0 (B) a = 2
transfer function;
C ( s) Ks + b (C) a ≥ 4 (D) for no value of ‘a’
= 2 ,(a > 0, b > 0, K > 0)
R(s) s + as + b [GATE-EE-1992-IIT Delhi]
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Control Systems [English Workbook] 78 GATE ACADEMY®

Practice Questions : (C) – 4 and − 15 (D) – 6 and – 10

Q.1 Q.5 The steady state error for the feedback
control system shown in figure, when
K
R( s) C (s) subjected to a unit step input is
s( s + a)
K
R( s) +– Kp C (s)
1 + st

Consider the unity feedback system as shown

above. The sensitivity of the steady state
error to change in parameter K and parameter (A) 0
a with ramp inputs are respectively 1
(B)
(A) 1, −1 (B) − 1, 1 (1 + KK p )
(C) 1, 0 (D) 0, 1
KK p
Q.2 The closed loop transfer function of a system (C)
(1 + KK ) p
4
is T ( s ) = 2 . The steady state (D) infinite
( s + 0.4 s + 4)
error due to unit step input is _______. Q.6 Consider a unity feedback system with
forward transfer function is given by,
. Common Data Questions 3 & 4 .
1
The block diagram shown in figure gives a G(s) =
( s + 1)( s + 2)
unity feedback closed loop control system.
The steady state error in the output of the
3 15
u (t ) y (t ) system for a unit-step input is _____ (up to 2
s + 15 s +1
decimal places).
10
Q.3 The steady state error in the response of the Q.7 A control system has G ( s ) = and
s ( s + 5)
above system to unit step input is
H ( s ) = K . What is the value of K for which
(A) 25% (B) 75%
the steady-state error for unit-step input is
(C) 6% (D) 33% less than 5%?
Q.4 The roots of the closed loop characteristic (A) 0.913 (B) 0.927
equation of the system are
(C) 0.953 (D) 1.050
(A) – 1 and – 15 (B) 6 and 10

Answer Keys

Objective, NAT & MSQ Type Questions

1. A 2. A 3. A 4. D 5. A
6. A
Practice Questions
1. B 2. 0 3. A 4. D 5. B
6. 0.67 7. D



Objective, NAT & MSQ Type Questions :

Q.1 For a unity feedback system with open-loop
25
transfer function , the resonant peak
s(s + 6)
at output M m and the corresponding resonant
frequency ωm , are respectively
(A) K = 1, Damping factor = .204
(A) 2.6 and 2.67 r/s (B) K = 2, Damping factor = .304
(B) 1.04 and 2.67 r/s (C) K = 2.5, Damping factor = .204
(C) 2.6 and 4.8 r/s (D) K = 1, Damping factor = .004
(D) 1.04 and 4.8 r/s [GATE-EE-1991-IIT Madras]
[ESE-EC-2016]
Practice Questions :
Q.2 A second order system has a natural
Q.1 For the second order transfer function
frequency of oscillations of 3 rad/sec and
damping ratio of 0.5. What are the values of 4
T (s) = 2 the maximum resonance
resonant frequency and resonant peak of the s + 2s + 4
system? peak will be
(A) 1.5 rad/sec and 1.16 4
(A) 4 (B)
3
(B) 1.16 rad/sec and 1.5
(C) 1.16 rad/sec and 2.1 2
(C) 2 (D)
3
(D) 2.1 rad/sec and 1.16
[ESE-EE-2009] Q.2 A second order control system has
100
Q.3 An under damped second order system M ( jω) = . Its M p (Peak
having a transfer function of the form M(s) = 100 − ω2 + 10 2 jω
k ω 2n magnitude) is
has frequency response plot
s 2 + 2ς ω n s + ω 2n (A) 0.5 (B) 1
shown in Fig. below, then the system gain K (C) 2 (D) 2
is ________ and the damping factor is
Q.3 In a feedback control system, phase margin
approximately _________ .
(PM) is
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Control Systems [English Workbook] 80 GATE ACADEMY®
1. Directly proportional to ξ Q.11 The value of bandwidth in rad/sec is
2. Inversely proportional to ξ (A) 12.36 (B) 13.36
3. Independent of ξ (C) 14.46 (D) 15.46
. Common Data For Questions 12 & 13 .
4. Zero when ξ = 0
A unit step input is applied to a unity
Which of the above statements are correct?
feedback control system having open loop
(A) 1 and 2 (B) 2 and 3
K
(C) 3 and 4 (D) 1 and 4 transfer function G( s) = .
s(1 + sT )
Q.4 What is the damping ratio when the value of
resonant peak in second order system is Given : ωr = 6 rad/sec , M p = 20 %
unity? Q.12 The value of Gain ‘K’ is _______.
1 Q.13 The value of Resonant peak ‘ M r ’ is _____.
(A) 1 (B)
2 . Common Data For Questions 14 & 15 .
(C) 2 (D) 0 A second order system has overshoot of 50%
Q.5 The value of Resonant peak ( M r ) is 2. The and period of oscillation 0.2 sec is step
value of damping ratio is response.
(A) 0.96 (B) 0.256 Q.14 The value of resonant peak is ________.
(C) 0.96, 0.256 (D) None of these Q.15 The value of resonant bandwidth is ______
rad/sec.
. Common Data For Questions 6 to 11 .
Q.16 Consider the following systems
A unity feedback system has open loop 1
K System 1 : G ( s ) = ,
transfer function G(s) = . When (2 s + 1)
s(1 + Ts)
1
subjected to a unit step input, it shows 25% System 2 : G ( s ) =
(5 s + 1)
peak overshoot and has resonant frequency 8
The true statement regarding the system is
rad/sec.
(A) Bandwidth of system 1 is greater than
Q.6 The value of T is
the bandwidth of system 2.
(A) 0.127 (B) 0.227
(B) Bandwidth of system 1 is lower than the
(C) 0.327 (D) 0.427 bandwidth of system 2.
Q.7 The value of K is (C) Bandwidth of both the systems are the
(A) 10.04 (B) 11.04 same.
(C) 12.04 (D) 13.04 (D) Bandwidth of both system are infinite.
Q.8 The value of gain crossover frequency is Assignment Questions :
(A) 5.306 rad/sec (B) 6.306 rad/sec
Assignment 1 :
(C) 7.306 rad/sec (D) 8.306 rad/sec For the system shown in the figure, obtain the
Q.9 The value of Phase Margin (PM) is values of K and a, to satisfy, M r = 1.04 and
(A) 43.40 (B) 45.40 ωr = 11.55 rad/sec.
0 0
(C) 47.4 (D) 49.4
K
Q.10 The value of resonant peak is R( s) C (s)
s( s + a)
(A) 1.355 (B) 1.455
(C) 1.555 (D) 1.655

Objective, NAT & MSQ Type Questions

1. B 2. D 3. A
Practice Questions
1. D 2. B 3. D 4. B 5. B
6. A 7. C 8. D 9. A 10. A
11. B 12. 8.6 13. 1.234 14. 2.3 15. 46.031
16.
Assignment Questions
(i) ω r = 7.07 rad/sec
1. K = 589.66, a = 30.21 2.
(ii) M r = 1.154
(i) K = 1.67 (ii) K = 1.1
3. ω r = 2.6 rad/sec, M r = 1.04 4.
(iii) K = 0.57



Objective, NAT & MSQ Type Questions : Common Data for Next Two Questions :

Q.1 A signal flow graph of a system is given The signal flow graph of a system is shown below :
below

Q.2 The state variable representation of the

system can be
 1 1 0
(A) x =   x +   u y = [ 0 0.5] x
−1 0  2
−1 1 0
(B) x =   x +   u y = [ 0 0.5] x
The set of equations that correspond to this −1 0  2
signal flow graph is :
 1 1 0
(C) x =   x +   u y = [ 0.5 0.5] x
 x1   β −γ 0   x1  1 0  −1 0  2
d    u 
(A) x2 = γ α 0   x2  +  0 0   1 
dt    u −1 1 0
 x3   − α −β 0   x3   0 1   2  (D) x =   x +   u y = [ 0.5 0.5] x
−1 0  2
 x1   0 α γ   x1   0 0 
[GATE-EC-2010-IIT Guwahati]
d    u 
(B)  x2  =  0 −α − γ   x2  +  0 1   1 
dt u Q.3 The transfer function of the system is
 x3   0 β − β   x3  1 0   2 
(A) s2 + 1
 x1   −α β 0   x1  1 0  s +1
d    u 
(C)  x2  =  − β − γ 0   x2  +  0 1   1 
dt u (B) s2 − 1
 x3   α γ 0   x3   0 0   2  s +1
s +1
 x1   − γ 0 β   x1   0 1  (C)
u  s + s +1
2
d   
(D)  x2  =  γ 0 α   x2  +  0 0   1 
dt u
− α   x3  1 0   2 
s −1
 x3   − β 0 (D)
s + s +1
2

[GATE-EC-2008-IISc Bangalore] [GATE-EC-2010-IIT Guwahati]

Statement: Linked Answer for next 2 Questions: Q.7 Given the homogeneous state-space equation
The state diagram of a system is shown below. A •  −3 1 
X =  x the steady state value of
system is described by the state-variable equations  0 −2 
.
xss = lim x(t ), given the initial state value of
X = AX + Bu ; y = CX + Du t →∞

x(0) = [10 − 10]T , is :

0   −3 
(A) xss =   (B) xss =  
0   −2 
Q.4 The state-variable equations of the system
shown in the figure above are  −10  ∞ 
(C) xss =   (D) x ss =  
−1 0  −1  10  ∞ 
X =   X +  u
(A)  1 −1 1 [GATE-EE-2001-IIT Kanpur]
y = [1 −1] X + u x 
Q.8 The dynamics of the state  1  of a system is
−1 0  −1  x2 
X =   X +  u
(B) −1 −1 1 governed by the differential equation
y = [−1 −1] X + u  x1   1 2   x1   20 
 x  =  −3 −4   x  + 10  .
−1 0  −1  2   2  
X =   X +  u
(C) −1 −1 1 0 
Given that the initial state is   , the steady
y = [−1 −1] X − u 0 

−1 −1 −1 x 

X =  X +  u
state value of  1  is :
  x2 
(D)  0 −1 1
y = [1 −1] X − u  − 30   − 20 
(A)   (B)  
[GATE-EC/EE/IN-2013-IIT Bombay]  − 40   − 10 

Q.5 The state transition matrix e At of the system  5   50 

(C)   (D)  
shown in the figure above is  − 15   − 35 
 e−t 0   e−t 0  [GATE-IN-2019-IIT Madras]
(A)   (B)  
−t
e − t  −t
e − t  Q.9 Consider the following state-space
te  −te
representation of a linear time-invariant
e−t 0 e−t −te − t 
(C)   (D)   system.
−t
 e e − t   0 e − t 
1 0  1
[GATE-EC/EE/IN-2013-IIT Bombay] x (t ) =   x(t ), y (t ) = cT x(t ), c =   and
0 2  1
Q.6 The zero, input response of a system given
1
by the state space equation x(0) =  
1
 x1  1 0  x1   x1 (0)  1 
 x  = 1 1  x  and   =   is : The value of y(t) for t = loge 2 is _______.
 2   2  x2 (0)  0 
[GATE-EE-2016-IISc Bangalore]
tet  et  Q.10 Consider the state space realization
(A)   (B)  
t  t   x1 (t )   0 0   x1 (t )   0 
e  t
t   x (t )  =  0 −9   x (t )  +  45  u (t ) , with the
 2    2   
(C)  t
 (D)  t 
te  te   x (0) 
initial condition  1  =   ,
0
[GATE-EC-2003-IIT Madras]  x2 (0)   0 

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Control Systems [English Workbook] 84 GATE ACADEMY®
where u (t ) denotes the unit step function. (D) The system is not completely
observable.
The value of lim x12 (t ) + x22 (t ) is _____ .
t →∞ Q.2 Consider a second order system whose state
[GATE-EC-2017-IIT Roorkee] space representation is of the form
Q.11 The System mode described by the state x = Ax + Bu .
equations If x1 (t ) = x2 (t ) , then system is
0 1  0 (A) Controllable (B) Uncontrollable
X =  x +   u , y = [1 1] x is : (C) Observable (D) Unstable
 2 −3  1 
Q.3 A system is described by the state equation
(A) Controllable and observable x = Ax + Bu .The output is given by y = Cx .
(B) Controllable, but not observable
 − 4 −1 1
(C) Observable, but not controllable where A =   , B =   , C = [1 0]
 3 −1 1
(D) Neither controllable nor observable
Transfer function G(s) of the system is
[GATE-EC-1999-IIT Bombay]
s 1
dx(t ) (A) 2 (B) 2
Q.12 Consider a system = Ax(t ) + Bu (t ); s + 5s + 7 s + 5s + 7
dt s 1
y = Cx(t ) (C) 2 (D) 2
s + 3s + 2 s + 3s + 2
−2 0  3 Q.4 A certain linear time invariant system having
Where A =   ; B =   ; C = [1 0]
 0 −1 1 the state and the output equation given below.
Which of the statements given below in
respect of above system is correct?  x1  1 −1  x1  0 
 x  = 0 1   x  + 1  u
(A) System is controllable and observable  2    2  
(B) System is controllable but not x 
y = [1 1]  1 
observable  x2 
(C) System is not controllable but dy
observable If x1 (0) = 1, x2 (0) = − 1, u (0) = 0, then
dt t =0
(D) System is not controllable and not
is
observable
(A) 1 (B) – 1
[ESE-EE-2007] (C) 0 (D) None of these
Practice Questions : Y (s)
Q.5 The transfer function of a system
Q.1 A linear time-invariant system is described U (s)
by the state variable model described by the state equations
x (t ) = − 2 x(t ) + 2u (t ) and y(t ) = 0.5 x(t ) is
 x1   −1 0   x1  0 
 x  =  0 −2   x  + 1  u (A)
0.5
(B)
1
 2    2  
( s − 2) ( s − 2)
x  0.5 1
and y = [1 2]  1  (C) (D)
 x2  ( s + 2) ( s + 2)
(A) The system is completely controllable. Q.6 The zero-input response of a system given by
the state-space equation
(B) The system is not completely
controllable.  x1  1 0   x1   x1 (0)  1 
 x  = 1 1   x  and  x (0)  = 0 is
(C) The system is completely observable.  2    2  2   
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GATE ACADEMY® 85 State Space Model

tet   et  Y (s)
(A)   (B)   The transfer function of the system will
U (s)
t  t 
be
 et  t 
(C)  t  (D)  t  1 1
te  te  (A) (B)
s s ( s + 3)
Q.7 A second order system starts with an initial
1 1
2 (C) (D) 2
condition of   without any external input. s+3 s
3 Q.11 Consider the system
The state transition matrix for the system is
dx 1 0   p
e − 2t 0  = Ax + Bu with A =   and B = q
given by  −t 
. The state of the system dt 0 1   
 0 e  where p and q are arbitrary real numbers.
at the end of 1 second is given by, Which of the following statements about the
0.271 0.135 controllability of the system is true?
(A)   (B) 0.368
1.100   (A) The system is completely state
 0.271 0.135 controllable for any nonzero values of p
(C)   (D)   and q.
0.736 1.100 
(B) Only p = 0 and q = 0 result in
Q.8 For a system with the transfer function
controllability.
3(s − 2)
H ( s) = , the matrix A in the (C) The system is uncontrollable for all
s + 4s2 − 2s + 1
3
values of p and q.
state space form x = Ax + Bu is equal to
(D) We cannot conclude about
 1 0 0  0 1 0
controllability from the given data.
(A)  0 1 0  (B)  0
 0 1 
 . Common Data For Questions 12 & 13 .
 − 1 2 − 4   − 1 2 − 4 
A system is described by the following state
0 1 0  1 0 0 and output equations

(C) 3 − 2 1  (D)  1 
   0 0 dx1 (t )
1 − 2 4   − 1 2 − 4  = − 3 x1 (t ) + x2 (t ) + 2u (t ) ,
dt
Q.9 The state variable representation of a plant is dx2 (t )
= − 2 x2 (t ) + u (t )
given by x = Ax + Bu , y = Cx , where x is the dt
state variable, u is input and y is the output. y (t ) = x1 (t ) where u (t ) is the input and y (t )
Assuming zero initial conditions, the impulse
is the output.
response of the plant is given by,
Q.12 The system transfer function is
(A) exp( At )
s+2 s+3
(A) (B)
(B)  exp[ A(t − τ)]Bu ( τ) d τ 2
s + 5s − 6 2
s + 5s + 6
(C) C exp( At ) B 2s + 5 2s − 5
(C) 2
(D) 2
(D) C  exp[ A(t − τ)]Bu (τ)d τ s + 5s + 6 s + 5s − 6
Q.13 The state transition matrix of the above
Q.10 The state space representation of a system is
system is
by
0 1 1   e − 3t 0 
 x +   u , y = [1 0]x .
x =  (A)  − 2t − 3t 
e + e e− 2t 
0 −3  0
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Control Systems [English Workbook] 86 GATE ACADEMY®

 e − 3t e − 2 t − e − 3t  Q.17 The state transition matrix for the system

(B)    x1  1 0   x1  1
 0 e− 2t   =
x 1 1   x  + 1 u is
 2   2  
 e − 3t e − 2 t + e − 3t 
(C)    et 0  et 0
 0 e−2t  (A)   (B)  
t
e et  2 t
t e et 
 e 3t e − 2 t − e − 3 t 
(D)    et 0 et te t 
0 e− 2t  (C)   (D)  
t
 te et  0 et 
Q.14 The transfer function of the system described
by the state-space equations Q.18 A system is represented in state-space as
 x1   −4 −1  x1  1  1 2 1
x = Ax + Bu where A =   and B =   .
 x  =  −3 −1  x  + 1 u , α 6  1
 2   2  
The value of α for which the system is not
x 
y = [1 0]  1  is controllable is _________.
 x2  Q.19 The transfer function of the system Y(s)/U(s)
s 2s whose state-space equations are given below
(A) 2 (B) 2
s + 5s + 1 s + 5s + 1 is
3s 4s  x1 (t )  1 2   x1 (t )  1 
(C) 2 (D) 2
s + 5s + 1 s + 5s + 1  x (t )  =  2 0   x (t )  +  2  u (t )
 2    2   
Q.15 The state variable description of an LTI
system is given by,  x (t ) 
y (t ) = [1 0]  1 
 x1   0 a1 0   x1  0   x2 (t ) 
 x  =  0 0 a   x  + 0  u
 2  2 2   ( s + 2) ( s − 2)
(A) (B)
 x3   a3 0 0   x3  1  2
( s − 2 s − 2) 2
( s + s − 4)

 x1  ( s − 4) ( s + 4)
(C) (D)
y = [1 0 0 ]  x2 
2 2
( s + s − 4) ( s − s − 4)
 x3  Q.20 Consider the system described by the
following state space representation
Where y is the output and u is the input. The
system is controllable for  x1 (t )  0 1   x1 (t )  0 
 =    +   u (t ),
(A) a1 ≠ 0, a2 = 0, a3 ≠ 0  x2 (t )  0 −2   x2 (t )  1 
(B) a1 = 0, a2 ≠ 0, a3 ≠ 0  x (t ) 
y (t ) = [1 0]  1 
(C) a1 = 0, a2 ≠ 0, a3 = 0  x2 (t ) 
(D) a1 ≠ 0, a2 ≠ 0, a3 = 0  x (0)  1 
If u (t ) is a unit step input and  1  =  
Q.16 The state transition matrix φ (t ) of a system  x2 (0)  0
 x1   0 1   x1  the value of output y (t ) at t = 1sec (rounded
 x  =  0 0   x  is
 2   2 off to three decimal places) is _________.
t 1  1 0  Q.21 The state equation and the output equation of
(A)   (B)   a control system are given below :
1 0  t 1 
 0 1 1 t   − 4 −1.5  2
(C)  (D)  x =   x +  u y = [1.5 0.625] x
  4 0  0 
1 t   0 1
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GATE ACADEMY® 87 State Space Model
Then transfer function representation of the 0 1 0 0  0
system is  0 0 1 0  0
(A)   
3s + 5 3s − 1.875  0 0 0 1  0
(A) 2
(B)   
s + 4s + 6 s 2 + 4s + 6
 −3 −6 −7 −5 1 
4 s + 1.5 6s + 5  0 1 0 0  0 
(C) (D)
2
s + 4s + 6 2
s + 4s + 6  0 0 1 0  0 
(B)   
.  −1 0   0 0 0 1  0 
Q.22 Consider the linear system x =   x,   
 0 −2  −3 −5 −6 −7  1 
1  0 1 0 0  1 
with initial condition x(0) =   . The  0 0 1 0  0 
1
(C)   
solution x (t ) for this system is  0 0 0 1  0 
  
e−t te −2 t  1  −5 −7 −6 −3 0 
(A) x(t ) =  
0 e −2t  1  1 0 0 0  0 
 0 1 0 0  0 
e−t 0  1 (D)   
(B) x (t ) =    0 0 1 0  0 
0 e 2 t  1   
 −3 −6 −7 −5 1 
e−t −t 2e −2t  1 Q.25 The state equation of a dynamic system is
(C) x(t ) =  
0 e −2t  1 given by, x(t ) = Ax(t )
e−t 0  1  −1 1 0 0 0 
(D) x (t ) =    0 −1 1 0 0 
0 e −2t  1  
A =  0 0 −1 0 0 
Q.23 Consider decomposition of a linear time-  
invariant system is given by,  0 0 0 −3 4 
 0 0 0 −4 −3
 −3 0 0  6 0 
x =  0 −5 0  x + 0 6  u;
  The Eigen values of the system would be
 0 0 −1 0 0  (A) real non-repeated only
(B) real non-repeated and complex
0 0 − 4  (C) real repeated
y= u
1 0 4  (D) real repeated and complex
It is Q.26 The control system shown in the given figure
(A) Completely controllable and observable. is represented by the equation
(B) Completely controllable but unobservable.  y1   u1 
 y  = [ Matrix G ] u 
(C) Uncontrollable but observable.  2  2
(D) Neither completely controllable nor
observable. 1
u1 y1
s
Q.24 The transfer function of a certain system is
Y ( s) 1
= 4
U ( s ) s + 5s + 7 s 2 + 6 s + 3
3
1
u2 y2
The A, B matrix pair of the equivalent state- s
space model will be

1 1 Q.29 The system represented by the state-variable

 s − s2  model
(A)  
0 1  0 −1 1 
x =   x +  u
 s  1 −2  2
1 1  (A) Oscillatory
 s s2 
(B)   (B) Critically damped
0 − 1 (C) Overdamped
 s  (D) Underdamped
 1  Q.30 The system matrix of a linear time invariant
 ( s + 1) 0  continuous time system is given by
(C)  
 1  0 1
 0 A=
 ( s + 1)  
 − 4 − 5
 1 1  What are the roots of the characteristic
 ( s + 1)
( s + 1)  equation?
2

(D) 
 1  (A) – 1, – 4 (B) – 1, – 5
 0 −  (C) – 4, – 5 (D) 0, – 1
 ( s + 1) 
Q.31 A linear second order single input continuous
Q.27 The state diagram of a system is shown in the
time system is described by the following set
given figure.
of differential equations
1
x1 (t ) = −2 x1 (t ) + 4 x2 (t )
1 1/s 1 1/s x1 1 1 x2 (t ) = 2 x1 (t ) − x2 (t ) + u (t )
ul C2
x2 C1 C2
where x1 (t ) and x2 (t ) are the state variables
–2 –3
and u (t ) is the control variable. The system
The system is
is
(A) controllable and observable.
(A) Controllable and stable.
(B) controllable but not observable.
(B) Controllable but unstable.
(C) observable but not controllable.
(C) Uncontrollable and unstable.
(D) neither controllable nor observable.
(D) Uncontrollable and stable.
0 1 0
Q.28 Given [ x ] =   [ x] +   u ; Q.32 The matrix of any state-space equations for
 −1 −1 K  C ( s)
the transfer function of the system
 x1  R( s )
y = x1 + x2 where [ x] =  
 x2  shown below in figure is
1
y R( s) 3 C (s)
What is the transfer function ? s
x
K ( s + 2) K ( s + 2)
(A) (B)
s + 2s 2 + s + 1
3
s2 + s + 1  −1 0  1 1
(A)   (B)  
(C)
Ks
(D)
K  0 −1 0 −1
2 2
s + 2s + 1 s + s +1
(C) [ − 1] (D) [ 3]

 x   2 0   x1  1  x1   − γ 0 β  x1  0 1 
Q.33 For the system  1  =     +   [u ], d         u1 
 x2   0 4  x2  1 (D)  x2  =  γ 0 α  x
  
2 + 0 0  
dt    x  1 0   u2 
x   x3   −β 0 − α   3  
y = [ 4 0]  1  where u = δ(t ) , the initial
 x2  . Common Data For Questions 36 & 37 .
conditions are zero. The output y (t ) is The state variable formulation of a system is
given as
(A) y (t ) = 2e2t (B) y (t ) = 4e2t
 x1   −2 0   x1  1
(C) y (t ) = 2e4t (D) y (t ) = 4e4t  x  =  0 −1  x  + 1 u, x1 (0) = 0,
 2   2  
Q.34 A state space representation for the transfer x 
Y ( s) s+6 x2 (0) = 0 and y = [1 0]  1 
function = 2 is x = Ax + Bu ,  x2 
U ( s ) s + 5s + 6
Q.36 The system is
 0 1 0  (A) Controllable but not observable.
y = Cx . Where A=  , B =  .
 − 6 − 5 1  (B) Not controllable but observable.
The value of C will be (C) Both controllable and observable.
1 (D) Both not controllable and not
(A)   (B) [6 1] observable.
2
Q.37 The response y (t ) to a unit step input is
 1 2
(C)   (D) [1 6] (A)
1 1 −2 t
− e
1 1
(B) 1 − e −2t − e − t
 −1 0  2 2 2 2
−2t −t −t
Q.35 A signal flow graph of a system is given (C) e − e (D) 1 − e
below. Q.38 Consider the state space model of a system,
-a as given below
1 1/s  x1   −1 1 0   x1   0 
a  x  =  0 −1 0   x  +  4  u ,
-b b  2   2  
 x3   0 0 −2   x3   0 
g 1/s
1  x1 
y = [1 1 1]  x2 
1/s
-g
 x3 
The set of equations that correspond to this The system is
signal flow graph is (A) Controllable and observable.
 x1   β − γ 0   x1  1 0  (B) Uncontrollable and observable.
d      u 
(A)  x2  =  γ α 0   x2  +  0 0   1  (C) Uncontrollable and unobservable.
dt      u2  (D) Controllable and unobservable.
 x3   − α − β 0   x3   0 1 
Q.39 For the system governed by the set of
 x1  0 α γ   x1   0 0  equations
d      u 
(B) x2 = 0 − α − γ   x2  +  0 1   1  dx1
dt    u = 2 x1 + x2 + u
 x3  0 β − β   x3  1 0   2  dt
dx2
 x1   − α −β 0   x1  1 0  = − 2 x1 + u
d      u  dt
(C)  x2  =  β − γ 0   x2  +  0 1   1 
dt   u y = 3 x1
 x3   α γ 0   x3   0 0   2 
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Control Systems [English Workbook] 90 GATE ACADEMY®

Y ( s) (C) Observable for all non-zero values of b.

The transfer function is given by (D) Unobservable for all non-zero values of
U ( s)
b.
3(s + 1) 3(2s + 1)
(A) 2 (B) 2
Q.43 The system dynamics is represented by the
(s – 2s + 2) (s – 2s + 2) state space equations
(s + 1) 3(2s + 1)  4 0 1 
(C) 2 (D) 2 X =   X +   u , Y = [1 1] X the
(s – 2s + 1) (s – 2s + 2) − 2 2 0 
Q.40 A second-order linear time-invariant system system is
is described by the following state equations (A) Both controllable and observable
d (B) Neither controllable nor observable
x1 (t ) + 2 x1 (t ) = 3u (t )
dt (C) Observable but not controllable
d (D) Controllable but not observable
x2 (t ) + x2 (t ) = u (t ) Q.44 The system dynamics is represented by the
dt
state space equations
Where x1 (t ) and x2 (t ) are the two state
 4 0 1 
variables and u (t ) denotes the input. If the X =   X +   u, Y = [1 1] X the state
 − 2 2 0 
output c(t ) = x1 (t ) , then the system is
transition matrix of the system is
(A) controllable but not observable  e 4t 0  e − 4t 0 
(B) observable but not controllable (A)  2t 4t  (B)  − 2t − 4t 
− 2t
e − e e2t  e − e e 
(C) both controllable and observable
 e2t 0   e − 2t 0
(D) neither controllable nor observable (C)  4t 2t  (D)  
e − e e − 4t  − 4t
e − e
− 2t
e 4t 
Q.41 The state-space representation in phase-
variable form for the transfer function Q.45 The system dynamics is represented by the
state space equations
2s + 1
G ( s) = 2
is  4 0 1 
s + 7s + 9 X =   X +   u, Y = [1 1] X . The
 −2 2  0 
0 1 0 
(A) x =   x +   u; y = [1 2]x transfer function of the system is
− 9 − 7  1 
s 1
(A) (B)
1 0 0  ( s − 4)( s − 2) ( s − 4)( s − 2)
(B) x =   x +   u; y = [0 1]x
− 9 − 7 1  1 1
(C) (D)
 − 9 0  0  ( s − 4) ( s − 2)
(C) x =   x +   u; y = [2 0]x
 0 − 7 1 Q.46 Assuming non-zero initial conditions of the
states, the value of k for which the system
9 − 7  0  shown in figure will be uncontrollable is
(D) x =   x +   u; y = [1 2]x
1 0  1  s–1
1 1
1 2  0 k –1
Q.42 Let x =   x + 1 u and y = [b 0] x 1 1
0 1   
1 1 –1
1
where b is an unknown constant. s

This system is –2
(A) Observable for all values of b. (A) k = 2 (B) k = 1
(B) Unobservable for all values of b. (C) k = 0 (D) k = −1
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GATE ACADEMY® 91 State Space Model
Q.47 A linear time invariant system with input It transfer function is
u (t ) and output y (t ) is described by the state 1
(A) 1 (B)
space representation as given below. s
x1 (t ) = x2 (t ) 1 1
(C) (D)
x1 (t ) = x1 (t ) + x2 (t ) + u (t ) 1+ s s2
y (t ) = x1 (t ) + 3x2 (t ) Q.51 The state-space equation of the circuit shown
in figure, x1 = v0 , x2 = i is
The transfer function of the system is
L R
s+3 s+3
(A) 2 (B) 2
s − s −1 s + s +1 + +
v(t ) i (t ) C v0 (t )
3s + 1 3s + 1 - -
(C) 2 (D) 2
s + s +1 s − s −1
Q.48 The state equation for the state for the state
diagram shown in figure is  1 
0 0
 x1   C   x1   
1 1 (A)   =   + 1 v
 x2   1 − R   x2   
 L L
a s -1 z2 1 s -1 z1 1 L 
R(s) C(s)
 1 
0 1
- p2 - p1   

x C   x1   
(B)  1  =   + 1 v
X 2 (s) X 1 (s)
 x2   1 − R   x2   
 L L
 x   − p z2 − p2   x1   a  L 
(A)  1  =  1 + r (t )
 x2   0 − p2   x2   a   1 
0 0
 x1   C   x1   
 x   − p (C)   =   + 1 v
(B)  1  =  1
z2 − p2   x1   a 
+ r (t )  x2   −1 − R   x2   
 x2   0 − p2   x2   0   L L 
L

 x   p z2 + p2   x1   a   1 
(C)  1  =  1 + r (t ) 0 1
 x2   0 p2   x2   a   x1  
(D)   =  C   x1   
 + 1 v
 x2   −1 − R   x2   
 x   p z2 + p2   x1   a   L L
(D)  1  =  1 + r (t ) L 
 x2   0 p2   x2   0 
Q.52 The state block diagram of a control system
Q.49 The state transition matrix of the system with is shown in below figure. Determine the
1 transfer matrix.
the transfer function G ( s) = 2 is,
s 1
1 t   e −1 e−t  x&1
(A)   (B)   2 ò
0 1 1 e 
 e et  0 1  -2
(C)   (D)   U Y
1 e  0 0 4

Q.50 A system has the state variable representation

x&2
0 1  0  ò
X =   X +   u, y = [1 1] X
0 −1 1  -5

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Control Systems [English Workbook] 92 GATE ACADEMY®
( s + 5) 2( s + 5) Q.59 A single input single output linear time
(A) (B)
( s + 1)( s + 3) ( s + 1)( s + 2) invariant system described by nth order
differential equation is a adequately
3( s + 5) 4( s + 5)
(C) (D) described in state space by
( s + 1)( s + 3) ( s + 1)( s + 2) (A) n + 2 state equations
. Common Data For Questions 53 to 58 . (B) n + 1 state equations
(C) n state equations
The state space equation is :
(D) n – 1 state equation
 x1   −1 0   x1  1  Q.60 Two systems are defined by their state
 x  =  0 − 3  x  + 0  u and
 2    2   variable equations in time domain
dx(t )
x  = Ax(t ) + Bu (t ) as follows. If the gain
y = [1 1]  1  dt
 x2  equations in this are as given below, which of
Q.53 Eigen values of the system are the following choices is correct?
(A) 1, 3 (B) − 1, − 3  −2 1  1 
A=  B=  … (i)
(C) 1, − 3 (D) − 1, 3  0 −1 0 
Q.54 Characteristic equation for the system is  0 1 0 
A=  B=  … (ii)
(A) s 2 − 4s + 3 = 0 (B) s 2 + 4s + 3 = 0  −1 0  1 
(A) Both equations are uncontrollable
(C) s 2 − 2s + 3 = 0 (D) s 2 + 2s − 3 = 0
(B) Both equations are controllable
Q.55 Transfer function of the system is (C) Only equation 1 is controllable
s 1 (D) Only equation 2 is controllable
(A) (B)
s +1 s+3 Q.61 An unforced linear time invariant (LTI)
system is represented by,
1 s
(C) (D) 2  x1   −1 0   x1 
s +1 s + 4s + 3
 x  =  0 −2   x 
Q.56 The system transition matrix is  2   2
If the initial conditions are x1 (0) = 1 and
e− t 0   et 0
(A)   (B)   x2 (0) = −1, the solution of the state equation
0 e − 3t  0 e 3t 
is
 e − 3t 0 e 3t 0 (A) x1 (t ) = −1, x2 (t ) = 2
(C)   (D)  
 0 e−t  0 et 
(B) x1 (t ) = −e − t , x2 (t ) = 2e − t
Q.57 The system is (C) x1 (t ) = e − t , x2 (t ) = − e − 2t
(A) Controllable
(D) x1 (t ) = e − t , x2 (t ) = − 2e − t
(B) Observable
Q.62 Consider the following state-space
(C) Both controllable and observable representation of a linear time-invariant
(D) Neither controllable nor observable system.
Q.58 The time response of the system is 1 0  1
x (t ) =   x(t ) , y (t ) = cT x(t ) , c =  
(A) Un-damped 0 2  1
(B) Under-damped 1
and x(0) =   . The value of y (t ) for
(C) Critically damped 1
(D) Over-damped t = log e 2 is ______.

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GATE ACADEMY® 93 State Space Model
Q.63 Consider the state space realization (a) Find the transfer function of the system.
 x1 (t )  0 0   x1 (t )   0  (b) Compute the state-transition matrix.
 =   +   u (t ), (c) Solve the state equation for a unit-step
 x2 (t )  0 − 9   x2 (t )   45
input under zero initial conditions.
 x (0)  0  Assignment 3
with the initial condition  1  =  
 x2 (0)  0  Determine the transfer function of the system
where, u (t ) denotes the unit step function. having the following state variable
representation.
The value of lim x12 (t ) + x22 (t ) is ___.
t→∞  0 1 0 0 

x =  0 0 1  x + 1  u and

Q.64 A second order LTI system is described by
the following state equations  − 40 − 44 −14  0 
d y = [0 1 0] x
x1 (t ) − x2 (t ) = 0
dt
Assignment 4
d
x2 (t ) + 2 x1 (t ) + 3x2 (t ) = r (t ) A state variable description of a system is
dt
given by the matrix equation :
where x1 (t ) and x2 (t ) are the two state
 −1 0  1 
variables and r (t ) denotes the input. The x⋅ =   x + 0  r (t ), y = [1 1] x
 1 − 2  
output c (t ) = x1 (t ) . The system is Find :
(A) undamped (oscillatory) Y ( s)
(i) The transfer function
(B) under damped R( s )
(C) critically damped (ii) The Eigen values of the system
(D) over damped (iii) The state transition matrix
Assignment Questions : Assignment 5
Assignment 1 Given the following state-space description
of a system :
Given the following state-space description
of a system  x⋅1   − 3 1   x1   0 
 x⋅  =  − 2 + u and
 2   0   x2   1 
 x1   − 2 0   x1  0 
 x  =  0 − 4   x  + 1  u x 
 2   2   y = [1 0 ]  1 
 x2 
x 
y = [1 0]  1  Where x1, x2 are of the state-variable, u is the
 x2 
input and y is the output of the system.
Find the state-transition matrix.
(i) Find the state-transition matrix.
Assignment 2 (ii) Transfer function of the system.
A system is characteristic by the following (iii) Complete solution of the system when
state-space equations input is the step function and having zero
 x1   − 3 1   x1  0  initial condition.
 x  =  − 2 0   x  + 1  u ; t > 0 Assignment 6
 2   2  
Write down the state equations and hence
x  develop a state variable representation for the
y = [1 0]  1 
 x2  RLC network shown in figure below.
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Control Systems [English Workbook] 94 GATE ACADEMY®
1W Assignment 8 :
1H Write the state equations for a system
described by the differential equation.
e 1F 1F 1W
d 3c(t ) dc(t )
+ 6 + 5c(t ) = r (t )
dt 3 dt
Assignment 7
For the circuit of figure choose a set of state
variables and derive the voltage, current
equation necessary for solving the circuit in
terms of the chosen state variables.
4W 2H

v(t ) + 5F 1F 1F
-

Answer Keys

Objective, NAT & MSQ Type Questions

1. D 2. D 3. C 4. A 5. A
6. C 7. A 8. D 9. 5.9 - 6.1 10. 4.99-5.01

11. A 12. B
Practice Questions
1. B, C 2. B 3. A 4. A 5. D
6. C 7. A 8. B 9. D 10. A
11. C 12. C 13. B 14. A 15. D
16. D 17. C 18. –3 19. D 20. 1.283
21. A 22. D 23. D 24. A 25. D
26. C 27. A 28. B 29. B 30. A
31. B 32. C 33. B 34. B 35. C
36. A 37. A 38. B 39. A 40. A
41. A 42. C 43. D 44. A 45. D
46. D 47. D 48. A 49. A 50. B
51. C 52. C 53. B 54. B 55. C
56. A 57. B 58. D 59. C 60. D
61. C 62. 6 63. 5 64. D

Assignment Questions

1
(a) T ( s) =
( s + 1)( s + 2)
(b) φ( t )
 − e t + 2e − 2 t e − t − e − 2t 
 e −2 t 0  = 
1. φ( t ) = e At
=  2. −t − 2t
2e − t − e − 2 t 
e −4 t   − 2e + 2e
 0
 1 1 
 u( t ) − e − t + e − 2 t 
2 2
(c) x( t ) =  
 3 1 
u( t ) − 2e − t + e − 2 t
 2 2 

s+3
(i) T ( s) = 2
s + 3s + 2
s 2 + 14 s (ii) s = −1 and − 2
3. T ( s) = 4.
s 3 + 14 s 2 + 44 s + 40
 e−t 0 
(iii) φ( t ) =  − t −2 t 
e − e e −2 t 

 − e − t + 2e −2 t e − t − e −2 t 
(i) φ( t ) =  −t −2 t 
 −2e + 2e 2e − t − e −2 t 
 
1 V C1   − 1 0 − 1 VC1   1 
(ii) T ( s) =   
( s + 1)( s + 2)    
5. 6. V C2  =  0 − 1 1  VC2  +  0  e
1 1 −2 t      1 − 1 0   i  0
−t
 2 u( t ) − e + 2 e   iL    L   
 
(iii) x( t ) =  
 3 u( t ) − 2e − t + 1 e −2 t 
 2 2 

  
 1 1  x1   0
   − 0 −  1 1 0   x1   0 
v ( t )
 1   20 5 v (t )         
  
 1
1    
20  x2  =  0 0 1   x2  +  0  r ( t )
7.  v2 ( t )  =  0 0 v2 ( t ) +  0  v ( t ) 8.     −5 − 6 0   x3  1 
    2   x3  
  i   0 
 i   1 1    
   5 − 0   
 5 
y = [1 0 ] x



Objective, NAT & MSQ Type Questions : Q.4 A phase lead compensator has its transfer
1 + 0.5s
Q.1 An R-C network has the transfer functions: function, Gc (s) = . The maximum
1 + 0.05s
s 2 + 10s + 24 phase lead and the corresponding frequency,
Gc ( s ) =
s 2 + 10s + 16 respectively are nearly
The network could be used as (A) sin −1 (0.9) and 6 r/s
1. lead compensator (B) sin −1 (0.82) and 4 r/s
2. lag compensator (C) sin −1 (0.9) and 4 r/s
3. lag-lead compensator
(D) sin −1 (0.82) and 6 r/s
Which of the above is/are, correct?
[ESE-EC-2016]
(A) 1 only (B) 2 only
Practice Questions :
(C) 3 only (D) 1, 2 and 3
[ESE-EE-2016] (0.5s + 1)
Q.1 G (s) = Maximum phase- lead of
(0.05s + 1)
(0.5s + 1)
Q.2 D(s) = Maximum phase lead of the compensator is
(0.05s + 1)
(A) 52deg at 4 rad/ sec
the compensator is :
(B) 52 deg at 10 rad/ sec
(A) 52 deg at 4 rad/sec
(B) 52 deg at 10 rad/sec (C) 52 deg at 12 rad/ sec
(C) 55 deg at 12 rad/sec (D) None of the answers is correct
(D) None of the answers is correct Q.2 The proportional gain of a PID controller can
be expressed in terms of its proportional band
[GATE-EE-2000-IIT Kharagpur]
(PB) as
Q.3 For the network shown in the figure below,
100
the frequency (in rad/s) at which the (A) PB (B)
maximum phase lag occurs is, __________. PB
PB
(C) (D)None
100
Q.3 A closed loop control system is shown below.
The range of the controller gain K C which
will make the real parts of all the closed loop
[GATE-EE-2016-IISc Bangalore] poles more negative than −1 is
Gate Academy Shop Address : Street 04, Narsingh Vihar, Katulbod, Bhilai 490022 (C.G.), Contact : 97131-13156 Online Test Series
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GATE ACADEMY® 97 Compensators & Controllers
1 (A) Lead compensator is used to reduce the
R( s) +– KC C (s)
s ( s + 3) settling time.
(B) Lag compensator is used to reduce the
steady state error.
(A) KC > − 4 (B) KC > 0
(C) Lead compensator may increase the
(C) KC > 2 (D) KC < 2 order of a system.
2 (D) Lag compensator always stabilizes an
Q.4 A plant with a transfer function is unstable system.
s ( s + 3)
Q.7 The transfer function C ( s ) of a compensator
controlled by a PI controller with K P = 1 and
is given below.
K I ≥ 0 in a unity feedback configuration.
 s  s 
The lowest value of KI that ensures zero 1 + 1 + 
C ( s) = 
0.1  100 
steady state error for a step change in the  s 
(1 + s ) 1 + 
reference input is  10 
1 The frequency range in which the phase
(A) 0 (B)
3 (lead) introduced by the compensator reaches
1 the maximum is
(C) (D) 1 (A) 0.1 < ω < 1 (B) 1 < ω < 10
2
(C) 10 < ω < 100 (D) ω > 100
Q.5 Which of the following can be the pole-zero
Q.8 What is the transfer function of a phase lag
configuration of a phase-lag controller (lag
compensator? The values of α and τ are
compensator)?
given α > 1 and τ > 0
(A) jw
 1  1
 s+   s− 
1  τ 1  τ
s (A) (B)
α 1  α 1 
s+  s− 
 ατ   ατ 
jw  1  1
(B)  s+   s− 
1  τ 1  τ
(C) (D)
s α 1  α 1 
s−  s+ 
 ατ   ατ 
Q.9 A phase lead compensator has its transfer
(C) jw 1 + 0.5s
function, GC ( s ) = . The maximum
1 + 0.05s
s phase lead and the corresponding frequency,
respectively are nearly
(A) sin −1 (0.9) and 6 r/s
jw
(D) (B) sin −1 (0.82) and 4 r/s
(C) sin −1 (0.9) and 4 r/s
s
(D) sin −1 (0.82) and 6 r/s
Q.10 The pole-zero configuration of the transfer
Zero - Pole - function of a compensator and the
corresponding Bode plot are shown in the
Q.6 Which of the following statements is
figure. The configuration is indicative of
INCORRECT?
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Control Systems [English Workbook] 98 GATE ACADEMY®

Q.15 The range of the controller gains ( K P , K I )

that makes the closed loop control system
(shown in the following figure) stable is
given as
KI 1
R( s) KP + C (s)
s ( s + 2) ( s + 10)

KI
(A) K I < 0 and K P < − 20
12
(A) lag compensator (B) K I > 0 and K P > 0
(B) lag-lead compensator KI
(C) K I < 0 and K P >
− 20
(C) P-D compensator 12
(D) lead compensator K
(D) K I > 0 and K P > I − 20
Q.11 The bandwidth of a control system can be 12
increased by using Q.16 A control system with a PD controller is
(A) Phase-lead network shown in the figure. If the velocity error
(B) Phase-lag network constant Kv = 1000 and the damping ratio
(C) Both Phase-lead network and Phase-lag ξ = 0.5, then the values of K P and K D are
network 100
r KP + KD s c
(D) Cascaded amplifier in the system s ( s + 10)
Q.12 An integral control is used to
(A) Improve the transient response.
(A) K P = 100, K D = 0.09
(B) Reduce the offset.
(C) Eliminate the offset. (B) K P = 100, K D = 0.9
(C) Reduce the settling time. (C) K P = 10, K D = 0.09
Q.13 A proportional integral (PI) controller has the (D) K P = 10, K D = 0.9
0.4
transfer function 2 + , with the unit of . Common Data For Questions 17 & 18 .
s
The following figure represents a
time expressed in minutes. The parameters
proportional control scheme of a first order
proportional band and reset time for the
system with transportation lag.
above controller are respectively
(A) 200 % and 0.4 min. e- s
R(s) KC C (s)
s +1
(B) 50 % and 0.4 min.
(C) 200 % and 5 min.
(D) 50 % and 5 min. Q.17 The angular frequency in rad/sec at which the
Q.14 The proportional band of a Proportional loop phase lag becomes 1800 is
Integral (PI) controller is 50 % and the reset (A) 0.408 (B) 0.818
time is 0.2 sec. The transfer function of the (C) 1.56 (D) 2.03
controller is given by Q.18 The steady state error for a unit step input
when the gain KC = 1 is
(A) 50  1 +
1 
(B) 50  1 + 
1

 0.2s   5s  1 1
(A) (B)
(C) 2  1 +  (D) 2  1 + 
5 1 4 2
 s  s (C) 1 (D) 2
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GATE ACADEMY® 99 Compensators & Controllers
Q.19 Group I gives two possible choices for the (C) Decrease the time constant and increase
impedance Z in the diagram. The circuit the steady state error
elements in Z satisfy the condition (D) Increase the time constant and increase
V0 the steady state error
R2C2 > R1C1 . The transfer function
Vi Q.21 Output rate control is used to improve the
represents a kind of controller. Match the damping of the system given in the figure. If
impedances in Group I with the types of the closed-loop system is required to have a
controllers in Group II. damping factor of 0.5 what is the value of K0
Z ?
C1 R( s) 100
1
C (s)
s (1 + 4 s )
Vi
R1 V0
K0 s

(A) 4 (B) 19
(C) 1 / 4 (D) 6
Group I 900
Q.22 The system is to be
Q. s ( s + 1) ( s + 9)
R2 C2 compensated such that its gain-crossover
frequency becomes same as its
R. uncompensated Phase-crossover frequency
0
and provides a 45 phase margin. To achieve
this, one may use
(A) A lag compensator that provides an
attenuation of 20 dB and a phase lag of
450 at the frequency of 3 3 rad/s.
Group II (B) A lead compensator that provides an
1. PID Controller amplification of 20 dB and a phase lead
0
2. Lead Compensator of 45 at the frequency of 3 rad/s.
3. Lag Compensator (C) A lag-Lead compensator that provides
(A) Q - 1, R - 2 (B) Q - 1, R – 3 an amplification of 20 dB and a phase
0
(C) Q - 2, R - 3 (D) Q - 3, R – 2 lag of 45 at the frequency of 3 rad/s.
(D) A lag-lead compensator that provides an
Q.20 A proportional controller with transfer
attenuation of 20 dB and phase lead of
function, K P is used with a first-order system
450 at the frequency of 3 rad/s.
K
having its transfer function as G ( s ) = Q.23 For the given phase-lead network, the
(1 + s τ)
maximum possible phase lead is,
, in unity feedback structure. For step inputs, 1F
an increase in K P will
(A) Increase the time constant and decrease 1W
the steady state error Vi 1/2W V0
(B) Decrease the time constant and decrease
the steady state error
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Control Systems [English Workbook] 100 GATE ACADEMY®

(A) sin −1 (1 / 3) (B) 30 0 frequency at which it occurs. Sketch the bode

diagram for this network.
(C) 450 (D) 60 0
Assignment 2
Q.24 A lead compensator network includes a
A second order control system with
parallel combination of R and C in the feed-
proportional derivative controller is shown in
forward path. If the transfer function of the
the figure. Derive expressions for its
s+2
compensator is Gc ( s ) = , the value of K
s+4 R( s) + K p + KDs C (s)
- s (ts + 1)
RC is _______. PD Controller
Assignment Questions :
Assignment 1 (i) Steady state error in velocity input.
A phase lead compensator has a transfer (ii) Natural frequency of oscillation.
1 + 2s (iii) Damping ratio in terms of the system
function G ( s ) = . Determine the
2 (1 + s ) parameters.
maximum value of the phase lead and the

Answer Keys

Objective, NAT & MSQ Type Questions

0.30-
1. C 2. D 3. 4. D
0.33
Practice Questions
1. D 2. B 3. C 4. A 5. A
6. D 7. A 8. A 9. D 10. B
11. A 12. C 13. D 14. C 15. D
16. B 17. D 18. B 19. B 20. B
21. B 22. D 23. B 24. 0.5
Assignment Questions
φ m = 19.47 , ω m = 0.707 rad/sec
G ( jw) dB

1
(i) ess =
KK P
1 æ1ö
-10 log 20 log ç ÷ = - 6 dB
a èaø
= - 3dB KK P
1. 0 w rad/sec 2. (ii) ωn = rad/sec
1
= 0.5
1
=1 τ
t at
ÐG ( jw)
1 + KK P
(iii) ξ=
2 KK P τ
fm = 19.50

w rad/sec
1
wm = = 0.707 rad/sec
t a


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