POSTAL Study Package Electronics Engineering Objective Practice Sets CTC Cid \e Coutente |. Topic Page No. 1. Introduction ee 2-4 2. Block Diagram and Transfer Function .. 18-12 | 3. Signal Flow Graph .. 13-17 4, Feedback Characteristics... : 18-20 5. Time Domain Analysis of Control System ... 121-45 6. Stability Analysis of Linear Control System ... 46-56 7. The Root Locus Techniques . 57-67 8, Frequency Domain Analysis of Control Systems ... 68-88 9. Industrial Controllers and Compensators 89-96 10. State Variable Analysis 97-104 | 11, Miscellaneous see 105-110 MADE EASY blications tw Th book cons copyioh wbject mai to MADE EASY Publications, New Deh No pa ths book form ot by any means ‘re lable to be legally prosecutedst PL aaa} Q1 a3 a4 as A control system is represented by y({) = x(t-+ 7) with T> 0. Is the system causal? (a) Yes (b) No (©) Notnecessarily (d) None of these s{f)is step response and MX) is impulse response of a system. Its response \(0) for any input (0) is given by gt @ a) u(t) ok ' (0) Jstt-s)ule) ot ° ut () J Jstt-t)utenar, ot oo (9) J h(t x)u(t)de 0 When a human being tries to approach an object, his brain acts as (a) anerror measuring device (b) acontroller (c) an actuator (d) anampifier Which one of the following is an example of open loop system (a) Washing machine (b) Respiratory system of animal (c) Stablisation of air pressure entering into mask (d) Execution of program by computer Which is not an example of closed loop system? (a) Radar tracking system (0) Electric iron (c) Missile launching system (d) Traffic lignt controller Q6 Q7 Qs as Q.10 Buea Introduction Consider the following statements: Statement 1: The difference between the output response and the reference signal is calleg actuating signal. Statement 2: If the initial conditions for a system are inherently zero, it means system is at rest or no energy stored in any of its parts. (@) Statement 1 is wrong, 2 is correct (b) Statement 1 is correct, 2 is wrong () Both the statement are correct (d) Both the statements are wrong The Laplace transform at a transportation lag of 2 seconds is given as (a) (0) & st+2 (©) @%s (d) es Acertain LT system has input (1) and output o(), If the input is first passed through a block whose TF. is e* and then applied to system. The modified output will be (a) of) ut-1) (c) ot-1) Ut-1) Let A’s) be the Laplace transform of a signal f(t). (b) o{t- 1) Ko) (d) none of these kK If F(s)=———.— th lim f(t) is given by - ea im Ad isa (a) K4 (b) zero (6) infinite (@) undefined For the given transfer function what will be the initial value F(s) “2 1 1 @ 3 () 5 2 = d) 0 () 3 (0)made EASY 16(1+ 30s) Q.11 The compensator G(s) = (+58) provide gain at high frequency, (a) 24.08 dB (b) 55.45 dB (©) 91.28dB (d) 39.65 dB Q.12 Thefinal value of the function F(s) = © is equal to Q.13 The voltage across an element in a circuit is given as PYMS)= Sera) value of Uf) att=1secis___ eV, GREE introduction 1. (b) 2.) 3. (b) 4. (@) 10. (b) 11. @) 12. (2.5) 13. (0.885) 14. (d) Introduction iw Y(t) = x(t+ T) Taking Laplace transform, Ys) = X(s)e7 Y(s) _ os He) = ye" Taking inverse Laplace transform A(t) = B(t+ 1), T>0 Thus, h(t) #0, t< 0, its an impulse at t= System is causal if h(t) = 0, t< 0. ) Ht) = x(t) @ h(t) Wt) = u(t) ® A(t) yy = Frits ulnar no = [ltd 0 Ee ‘When a human being tries to approach an object, his brain acts as a controller because his brain Controls the activity of the human. Control Systems would Ss? +5 +2) If v(e) is equal to 4 V then the Objective Practice Sets | 3 Q.14 Assertion (A): A linear system gives a bounded output if the input is bounded Reason (R): The roots of the characteristic equation have all negative real parts and response due to initial conditions decay to zero as time | tends to infinity. (@) Both A and R are true and R is the correct explanation of A (b) Both A and Rare true but Ris NOT the correct explanation of A (©) Ais true but R is false (d) Ais false but R is true 6@ 7. 8 ©) 9. (b) Ione] —[weninoboe]___| Sem] out comune Gil Sone In the block diagram of a washing machine, input and output are unrelated, in the above. Thus washing machine is an example of open loop system. Ba Since all the system except (d) depend on the target or output. Hence, output/target provides feedback to the system. While traffic light controller does not take any output consideration. Ee enor Actuating Sonal a Output 6 Controle rant |_OP Reference sional Feedback Feedback | slemants ‘ional Error signal = Reference - Output| Electronics Engineering ao Transportation lag = e where t,is time delay Here, 1,= 2sec Thus, lag = &?* as) ows Bl lea Fis) A(s) R(s)- &$- Fs) Cis) et L"[F(s) €) = f(t- a) u(t- a) ot) = oft 1) t= 1) Ho kK (s+1)(s? +4) We know by Final value theorem fim A) = Jim sF(s) FAs) = sk lim —S*__=0 550 (s+ (5? +4) Te By initial value theorem im f(t) = lim sF(s) on ~ sae where F(s) is Laplace transform of f(t), So, Intialvalue = i | aah 4 +0) Sinusoidal transfer function is given by jx) = 1614 j300) oe (1+ Sa) Solving, we get Erie 2027] mane Ensy At w—= (high frequency) Gyo), = Gain in dB = 200g 96 gain = 39.65 6B as) 5 Agee (= rand) Final value = ins F(s) = lim —S___§ 5-40 s(s? +542) 2 EES 0285) os 1 2. der) By Vie) = lim v(t)= lim sV(s) ee 0 By final value theorem : yey= tae 1 ca r Now Vs)= : & era) By partial fraction 1 Ms) = a - | won] By inverse Laplace transform Vt) = 41 - er*] = 41 - u(t= 1 sec) = 4[1- eM] = 0.885V ie Assertion is wrong as it is applicable only for the BIBO (Bounded Input Bounded Output) stable system. Moreover if the system is unbounded the? assertion willbe wrongontrol systems Block Diagram and Transfer Function CHAPTER Q.1 Consider the following open-loop transfer function: __K(s+2) “G+ i(s+4) The characteristic equation of the unity negative feedback will be (@) (s+ 1)(s+4)+K(s+2)=0 (b) (s + 2)(s+ 1) + K(s+ 4) =0 (c) (s+ 1)(s—2) + K(s + 4) =0 (d) (s+ 2)(s+ 4) + Kis+1)=0 Q.2_ Forthe given figure, st+2 Re)—-| @--ae 4 a 4(s+2) (s-3) ® wae) ©) GA6+ 9s+13 1 © Bae 9 AGH Q.3. The transfer function of three blocks connected in (s+) 5+ 2N(s+3) 1 s+ 2) cascade is given by If block 1 has transfer function of and block 2 has (S+2) then the transfer (s+3) function of the 3° block is transfer function of (s+) (a) (s+ 1)(s +2) (b) ee (s+ (s+? © Je+3) © BoP Q.4 The type of the control system represented by the block diagram shown below is Qs a6 Cs) Ris) ® B(s + 2) S(s+ 1)(s+4) a L#] (2) Type-2 (b) Type-3 (©) Type4 (d) Type-S Match List-I (Transfer Function of the System) with List-II (Type and Order of the System) and select the correct answer using the codes given below the lists: List-I List-II A. asc?) 1. Type, secondorder (s+2) gp, —S+2) >. Type 1, secondorder 6+ 3H(S+5) ee ere el a6+5) : c. 3. Type 0, third order $(8+2) - 5(s+2) . D. Geqersery * Tere thie order Codes: ABcOD @214 3 4321 @23 41 @4 123 The closed-loop transfer function of a unity feedback control system is se What is the open loop transfer function of the system? » 28 @ Zt0s ©) F425 26 26 © sya @ 35106 | Q7 as ag Electronics Engineering PS) mere Fs) and Fora transfer function H(s) Qs) Qs) are polynomials in s. Then (a) the degree of F{s) is always greater than the Qs) (b) the degree of A(s) and Q(s) are same (©) degree of P{s) is independent of degree of Qs), (4) the maximum degree of P(s) and Q(s) differ at most by one The transfer function is applicable to (@) linear and time variant system (b) non-linear and time variant system (©) linear and time invariant system (d) non-linear and time invariant system 10{s-5) s+ Ns+2) The transfer function, G(s) = represents (@) Anon-minimum phase transfer function (b) A minimum phase transfer function (©) Anall pass transfer function (0) None of these Q.10 Consider the following statement and choose the an correct option: ‘Statement 1: The transfer function is said to be strictly proper if the order of the denominator polynomial is greater than that of numerator polynomial Statement 2: The transfer function is said to be proper if the order of the denominator polynomial is equal to than that numerator polynomial Statement 3: The function is called improper if the order of the denominator polynomials greater than that of numerator polynomial. (a) Statement 1 and 2 are correct (b) Statement 2 and 3 are correct (©) Only statement 1 is correct (d) Allthe statements are correct The impulse response of an initially relaxed linear system is 2! i(/). To produce a response of te Xf), the input must be equal to @ oun () "4 @ fet (©) 26'K) 7 Postal Study Package E&Y4) Q.12 The unit step response of a linear time invarian MADE ERgy system is Y(t) = Se" Xf), where (1) is the unit step function. If the output of the system corresponding to an unit impulse input (tis then A(t) is (a) 50 e" Xf) (b) 5uh-50 e5(9 (c) Se™5(0) © 58(9-Soe% 4 Q.13 A control system whose step response is ~05 (1 + €2¥)is cascaded to another control block whose impulse response is €. Whatis the transfer function of the cascaded combination? 1 1 @ wre Serp “1 05 © © GrHseR Q.14 Determine C,/Rand C,/R or the block diagram, (a) Oand1 (©) Oando (b) tand1 (d) 1ando Q.15 The transfer function of the block diagram of figure is 1S} “ee & & as) G,(G + Gs) 17G,G,H+G,GH GG +Gs) 4+G,G,H+G,G,H GAG - Ga) 1+G,H+G,H GG, +G) 1+G,H+G,H (a) (0) © ()Q.16 Original block diagram A G, 7 G, Equivalent block diagram blocks 1, 2, 3 are respectively. @-G-E (@) G,, GG; (© 1G, G, Gs Q.17 Consider the diagram shown, A 1 (b) 1G, 1G, 1/6, (@) 1G, G,.G, R 5 z c Ly laa 1S 21, tn0n (@ x-y-xy=1 (b) x-y+xy=1 1 1 © x-y-ay= 5) xo yorye > Q.18 Find the transfer function YolS) for the network shown in figure. v(s) velo os. oats Oo Fasee 2s? +542 1 1 © 4+25+2 342542 Q.19 The closed-loop system shown in the figure is subjected to a disturbance Ms). The transfer function C{s)/N(s) is given by Me) oa He) RG) Control Systems Objective Practice Sets | 7 G(s) @ —S19 GIs) 1+ G(s) H(s) TEEG OA © G(s) G,(s) o 1+ G(s) H(s) @ 1+ G,(s) G(s) H(s) Q.20 Consider the following statements and choose the correct option: Statement 1: Non minimum phase functions are the functions which have poles or zeros on the right hand side of s-plane. Statement 2: Minimum phase systems are systems which have no poles or zeros with positive real parts. Statement 3: A system having the transfer 1-sT function as F(s) = 7—=— represents an all pass system. (@) Statements 1 and 2are correct (b) Statements 2 and 3 are correct (©) Statements 1 and 3 are correct (d) Allthe statements are correct Q.21 Statement (1): The eigen values of the linear system explain about the stability of the system. Statement (II): Eigen values of linear system give the location of zeros of closed loop transfer function, Codes: (@) Both Statement (1) and Statement (II) are individually true and Statement (II) is the correct explanation of Statement (I). (b) Both Statement (1) and Statement (II) are individually true but Statement (II) is not the correct explanation of Statement (I) (0) Statement (I) s true but Statement (I) false. (A) Statement (I) is false but Statement (I) is true. Q.22 For the system shown in the figure, Y(s)/M{s) = xe) @ © mo)8 | Electronics Engineering Q.23 For the system in figure the transfer function 2 as). P sgiven as 28) ~_, FP _ OWEN a8 AAs)” PV ASO Then value of P+ R + Qwiwill be Qs) Q.24 For the given block diagram, the value of a will be Rs) ck Diagram and Transfer Function Postal Study Package ELPA) MADE Engy 0.25 Tho stop response of a system is given by, 1 =|1-—e” St a) [ hott Te ] The DC gain of the system is @.26 The position control of a DC servo-motor i gv in the figure. The values of the parameters an. 8 are Kp = 1 Nem A, A, = 1 WL = ory J= 5 kg-m?, B = 1 Nem (rad/sec) ang k, = 1 Vi(radi/sec). The steady-state position response (in radians) due to unit impulse disturbance torque T, is wo cin ig | 1, (a) 2. (bo) 3. (bo) 4. ) 5. (a) 6) 7. 8. (©) 9. (a) 10. (a) 11. (b) 12. (d) 13. (c) 14. (b) 18. (b) «16. (6) 17, (c) 18. (b) 19. (d) 20. (6) 21. (c) 22. (1) 23. (31) 24. (10) 25. (1) 26. (05) (GEEZEEIIESY block Diagram and Transfer Function Ee Qs) = 1+ G(s)H(s) =0 . __Kis+2) (s+ H(s+4) Q(s) = (+ 1) (s+ 4) + K(s+2)=0 as) = 1 Ew Qs)___ s) AGS) ag Gs) is) For negative feedback a = G,(s) + G(s) _.. For parallel feedback 5 Gisy- 2 i(s) s+2 Gs) = -4. set Qs)_ 5 4 s-3 As) s+2 41 (s+ )(S+2) Ee As the three blocks are connected in cascade the overall transfer function is given by the multiplication of individual blocks. x, Xx, = 8+) 12S = FS, Ise 3) Hone GF!) eee s+) “(s+3) 2 I5+2Ks+3) ~ (+0 73> (542) ao The type of the system = Number of open loo? poles at origin 7 _ _ &s+2) 2__ 16s+2) 8 OHS” Sey Hera Fer wr + Type-S.@) Type of system: Number of poles at origin Order of system: Degree of denominator polynomial or number of total poles A: Type-1, order 2 B: Type-0, order 2 CC: Type-2, order 3 D: Type-0, order 3 ga (a) Transfer function of unity feedback system with forward path, _ as) G(s) = Tas) Gs) aa 25 14s) © $2 +105+25 Gs) (s2 + 10s + 25) = 25(1 + Gis) G(s) (s? + 10s) = 25 25 = @s) fo As) Transfer function = H(s)= For positive real function, the degree of Ps) and Q{s) must differ by one, but here nothing is mentioned, for transfer function to exist, only initial conditions must be made zero, degree of Fs) and Q{s) are not of importance. Eo Transfer function only applicable to LTI systems, Ee The given transfer function has one zero on RHS of s-plane. Hence it is a non-minimum phase transfer function. iw Let, Order of denominator polynomial Order of numerator polynomial = Transfer function is said to be (Strictly proper it m n Control Systems ow Wt) = u(t) Wit) = te? u(t) Taking Laplace transform’ 1 His) = 5 "9° aR Ms) = H(5)-X(s) Hg = Me) X(s) = = x(t) = e u(t) (d) Beane eee ae md = F(a) = F600) ny = 5[e°™'8(t)- 106710] A(t) = Se - 8(t) - 50e-1 u(t) = 58(t)- 50 6-1 u(t) TF, = sL[sR] ~ f 05.05] _8+9 “ls s+2} 842 1 Tr, = LURI= = r= _—— TF, xTFy sie EX We have, C, = R+C,-C,=R = Also, = (b) Ris) os) Gy {H} As) _ _G(G+G,) As) 1+G,H(G +G,) Objective Practice Sets | 910 | Electronics Engineering Postal Study Package ELPA] MADE Ensy Ls To) 5 : : Cry A By By ay 1+2y ea oa 7 . RO” 4+2y42uy r= 1+ 2y +4 2xy ay i = x-y-eD 2 We know, a Io 2 s A + Now, option (a) ic. vs) 12 210 Tt vs) Option (b), TF 4 ——0+ Mis) zt ows Option (c), 2 Eae r i oneal, qe- & 6) Applying voltage division 14+GG 14G,G 1 Hence option (d) is correct. VO ee YO) Tg, 1 asteaes 2 eg oS + : Eo | t+2y | as) To calculate, A°, input A(s) is set to ze. Ms" Block diagram can be redrawn as, * Ms) Rts) =0 Gs 2 _— GO} -Q)—-[H9)} T+23y | SS AG)ee mADE EASY Redrawing: Ms) 8) [exer] ce) | G(s) + -His) a Ms) 1—-(G,s) G,(s) (-H)(s)) As) _ Gs) NS) 1+G\(s) G(s) H(s) @ Minimum phase system: eaaagel * +643) Non-minimum phase system: Fs) s-1 FO) = BAe D All pass system: sol oon stl All pass system also have gain = 1 for all the frequencies. Edo Eigen values of the system are closed loop poles. ‘And location of these poles describes the stability of system. ” x0) C+ ¥(s) = [X(s)- ¥(8)]G(s) + X(s) [1+ G{)1Y{s) = (Gls) + 1145) MS) _, Xs) Eas» ‘The above block diagram can be rewrite as Re) my os) Control Systems Objective Practice Sets | 11 10 +7) Rts) Penns 8) tar? 1 10 oes sets os) 1 OS) _ _ sats 10 As) 5, (10 s?+115+10 S415 P=10 ith By comparing with 3a A : Hence, P+ Q+R=10+11+10=31 Ea For the given block diagram ‘© Res) 2 {3 os) We can rewrite it as below: ” ; 7 ea Rs) a a as) FB =sxa+1-10 Using Laplace transform of given response function, we get,12 | Electronics Engineering _ 15(s? + 8s +15) —s? - 5s + 105s" +3158 15s(s + 3)(s +5) = 1198? +4308 + 225 T5s(5 + 3)(5 +5) <. Transfer function, 13) = BS 119s? + 430s + 225 15(s + 3)(8 + 5) 225 15x3x OC gain = lim T(s) = Egos The transfer function due to the disturbance torque TAs) is eee Os) (s+ 8)" s wo” (1) BS Js+B)(R, +15 (Fa Las) | ” Bers Us+ B+ KKy Postal Study Package ETE4]| MADE Engy Tho steady value o response for unt imouag nou ~AlRy + Lys). im —=——__"_g +0(A, +145) (Js +B) +Kk, A, ay RB + Ky Ky 1N-m/A R,=19, 1 Nem/rad/sec and K, = 1 Vitadisec Substituting the given values into above equation we get 00) = -2=-0.51adSignal Flow Graph rT Q.1. The transfer function of a linear system is the (a) ratio of the output, va(t) and input v(0). (b) ratio ofthe derivatives ofthe output and the input. Cah — (0) ratio ofthe Laplace transform of the output and } \ that ofthe input with all initial conditions zeros. c (a) none of these. @.2. Asignal iow graphis shown in the following figure. (@) 2and6 (b) 3and5 Consider the following statements regarding the (c) 3and6 (d) 2and5 signal flow graph Q.5. For the signal flow diagram shown in the given figure, the trans-mittance between x, and x, is 2. Thereare three individual loops. 3. There are two pair non-touching loops. Of these statements: (@) 1,2and3are correct : Ye t as 1. There are three forward paths. 7 ‘n 2 7 (b) 1 and 2 are correct Fst efh fsu efh (©) 2and3are correct @ cette © rete (@) 1and3are correct eth, ru rst, su Q.3_ Inthe case of the signal flow graph shown in the © utinen © Tentist figure, the number of forward paths and the individual loops will be respectively. Q6 Consider the signal flow graph shown in figure. The gain xls, is Bb eo NG 7 OF OG 1-(be + cf +g) abcd pe Oe 0) 762+ cd+ da) (a) Sand2 () 5and3 oe — os (©) Gand2 (@) Gand3 1-(be+ cf + dg) + bedg Q.4 For the SFG shown below determine number of (d) forward paths and number of loops. @ abcd14 | Electronics Engineering 7 Block diagram of a system is shown in figure ——— 1S} e's) as) Transfer function AG) is Ol) ___ 66+ (a) Ris) 1+G.H,+GGH, ols) | & © Fis)” 1 GH.+ GGA, 9 GG, +6, () Xs)" 13 GH, + GGH, + GH, i GG, 1+ GH, + G,G,H, + Gat Q.8 Find transfer function C(s)/A(s) for the SFG shown a GG,6,6, 14+G,G,G, +G,G, +G, GG, GG, 246, GG, +G,G, +26, GG, Gs Gy 2+G,G,G, +2G,G,+2G, GG Gs Ga 246, G,G, +G,G, +26, (b) () (0) Q.9_ Whenthe signal flow graph is as shown in the figure, the overall transfer function of the system will be c ©) R (+A (+A) G c G +H, © Ro +H, +Hy Q.10 Asystemis represented by the following equations: y= yy tye y= 3, - 2, aH Postal Study Package EI] MADE Ensy Hp = yt %st he Determine the transfer function Xx, (a) 1113 (b) 1312 (© 1213 (0) None of these Q.11 Statement (I): Signal flow graph is a graph representation of relationship between variables of a set of linear algebric equation Statement (II): Signal flow graph is an easy way for block diagram reduction operation (a) Both Statement (I) anc Statement (Ii) are individually true and Statement (I) is the correct explanation of Statement (1), (b) Both Statement (1) and Statement (Il) are individually true but Statement (II) is not the correct explanation of Statement (!) (c) Statement (I) is true but Statement) is fase (d) Statement (|)s false but Statement) stue the Q.12 The signal flow graph of a control system is given inthe figure below Gs) is) The total number of individual loops in the system is Q.13 The value of transfer function (3) for the signa! flow graph shown below is 2 “1 2 ( Pye Q.14 Consider the signal flow graph shown in igure bet" ay 1G, =2, G,=Sand H, = 3, then the value ol for 8-3 willbe x 4mA~de EASY Control Systems Objective Practice Sets | 15 ooo Signal Flow Graph 16 20 30 40 88 6&0 70 8) ii 10. (b) 11.) 12. (4) 13. (0.5) 14. (0.75) Signal Flow Graph “ Ee The transfer function of a linear time invariant system is defined as the ratio of the Laplace transform of the output and that of the input with all initial conditions zero. @ Three forward paths: b, by by by Big bby by Dig by be Pro Two non touching loops: b, b, b, and b, b, by Individual loops: b, 65, bbs, bybsbo» by Ee Forward paths: G,G,G,G;, G,G,G,G, G,G,G,G,. G,G,G,G, =G,G,GjH,G,G,, -G,G.GgH,G,G Loops: —G,H;,—GsHy, GeGoHy Hy ie Forward paths: 1. abeds 2 afj By Mason's gain formula, xp _ Pibit Poet * a sumof sumof |_| Produet of 2 |_| product of 3 rnon-touching || non-touching loops loops = Acorresponding to forward 1 P, = Fu 4,=1-9 (fg = individual loop non-touching to P,) Similarly, P, = fh A, = 1-st A= 1-(Ig+ st) + fost A= (1-f9)(1-s!) Hercs, 4 = OA. mr” =f st) O- )T-s) v2 _ fu, eh x 1st 1-f916 | Electronics Engineering de Forward path abcd Loop be, cf, dg Non touching loop pair bedg abcd TR = (be + cl + dg)+ bedg Ee Signal flow graph can be drawn as follows cts) There are two forward paths, P= GG P,= 6, And there are three feedback loops, L- GH, = G.G(-4), L,=-G,H, A= 1 - (Sum of individual loop) + Sum of product of 2non-touching loops. There are no non touching loops and all loops touch both forward paths. So, A= and A=1 From Mason's gain formula Os) _ Pdi + Pray As) 8 Os) _ GIG +Gs As) © 1+GH,+G,G,4, + GH Mason gain formula OS) 2 Fade As) x 4 Postal Study Package ELY3} MADE Ensy Non touching loops L, Ly Bet (lyssatyy Qs) _ 566.6, AS)” 2+66,6,+6,6,-76, Haw Since here a loop is present at input ais: directly can't use Mason's gain formu So we have to modity the given flow below: 4 Ct * : a Loop at output do not affect the performance flow graph. c_G Here, xia ( will be same for all combination R _ X1+H,) Similarly, 2 = M1+He) Similarly, 6 By dividing equations (i) and (ji) CIX __Gia RIX 1+H,/B c_G Ro +H, eo Drawing the signal flow graph, Ha Rts Mason gain formula c aeme Both the statements are true but the reason does not provide correct explanation for the assertion. we me bh Loops : jk, |, hij, cef. os) By Mason's gain formula P,=3x2x1=6 forwardpath Loops, rrr Control Systems Objective Practice Sets | 17 Non-touching loops, LbL=2 1-( + G+ Gea 1-{-1-2-6}+2 A=14+9+2=12 G, GG, -GH, -G,H, ~G,G.H, Pb; + PoAo r G+ Gp) 1+GH, + GH, + GiGH, 2x6 1+ 6+ 2H, + 10 3 12 4” 7+12H, 21+36H, = 48 = H, = 0.754! EE Feedback Characteristics Tia Qt a2 Q3 a4 as Negative feedback in a closed-loop control system DOES NOT (a) reduce the overall gain (b) reduce bandwiath (©) improve disturbance rejection (d) reduce sensitivity to parameter variation Consider the following statements regarding negative feedback in a closed-loop system 1, It increases sensitivity 2. It minimizes the effect of disturbance. 3. There is a possibility of instability. 4, Itimproves the transient response. Of these statements: (a) 1,3and 4 are incorrect (b) 1, 2and 4 are correct (©) 1,2and3are correct (d) 2,3and4 are correct ‘Statement-1: Closed loop system is more prone to feedback parameter variation than forward path gain variation Statement-2: Feedback path devices need shielding (a) 1True,2False —(b) 1 False, 2 True (©) Both True (d) Both False Consider a system having forward path and feedback path transfer functions as 5 and (1 + 2s) respectively. Which is the characteristic polynomial of the system? (a) %+0.8s+16 — (b) s?+2.85+ 16 (©) s?+328s+16 (0) s*+ 325+ 16 Statement (|): Closed loop or feedback control systems are less sensitive to forward path parameter variations. Statement (1I): Closed loop control systems are more sensitive to feedback path parameter variations. Qé a7 as (a) Both Statement (I) and Statement (Il) ae individually true and Statement (Il) is the correct explanation of Statement (I) (b) Both Statement (I) and Statement (1) ae individually true but Statement (Ii is nat ng correct explanation of Statement (I. (c) Statement (I) is true but Statement (I) is false (d) Statement (|) s false but Statement (l)is tue The sensitivity SMot a system with the transfer G function M = en junction M = <= is given by 1 11GH © 36H ©) A 146 H © a @ For a standard feedback control loop, the sensitivity of the closed loop TF. T to forward path gain Gand feedback path gain H are SS Sh 1 -1 © 1H GH ) 1+GH G 1+GH 1 1+GH The sensitivity of the closed loop syste below to the variation in parameter K willbe — 4+ GH © (d) sm show" x, 1 «9 ce wm -K Also given KK, = 99 and s = /1 radisec:Control Systems .9. Consider the block diagram of a system shown in the figure below [EEIEEN Feedback characteristics 1, (b) 2. @) 3. (c) 4. () Feedback Characteristics Ko Negative feedback in a closed loop system have following effect (a) reduces the overall gain (©) improves the disturbances (©) reduces the sensitivity (©) improves the transient response C) Negative feedback system in closed-loop system, Increases the gain Reduces stability Minimizes the effect of disturbance Improves the transient response Increase bandwidth Decreases the sensitivity 5. (0) 6. Eo Closed-loop system is more sensitive to feedback parameter variation than forward path gain variation. Feedback path contains measuring devices which are low power devices, so more affected by external disturbances, so we must provide shielding in feedback path. But forward path devices are high power devices, soless sensitive thus not don't require shielding. Ele 16 99) = 5408) His) = (1+ 2s) 16 The Gs) 4 s(s+0.8) TeGS)HS) ~ 7, (1+2s)(16) ‘s(s + 0.8) Objective Practice Sets | 19 Ifthe sensitivity of the overall system with respect to gain K is 0.3 under steady state condition, then the value of K is @ 7. @) 8. (1) (233) SEES EEL s? +32,88+16 Characteristic polynomial = s? + 32.85 + 16 Ee Sensitivity function for open loop transfer function with respect to forward path parameter variations is: a1 Sensitivity function for closed loop transfer function with respect to forward path parameter variation is, Tr 1 $3 = T@SAS) Sensitivity function for closed loop transfer function with respect to feedback path parameter variations is, gi =- GSH) 1+ @S\H{s) On comparing the sensitivity function, it is observed that closed loop systems are more sensitive to feedback path parameter variation and less sensitive to forward path parameter variation. But these two are independent statements. am MoM Eo 3G 3G M G G G M= aH 2 71+ 64 aM _ (i+GH)-GH___1 aG(1#GH (1+ GH?20 | Electronics Engineering Postal Study Package ECA] MADE Ens. 1 aM 10s +1 = wane re M dK ~ (0s+1+KK) 1 _ 10844 = Ton 10s +100 10s+1 He 1% s+10) G 44GH Magnitude = aT _1+GH-GH_ 1 aG(14GH—(1+GHY Ee» Os) SK As) 7 4254545K 5K Oe +254 (545K) amis) 1 Ts) _ a7) kK = rs) os) Ke (1+ GH) Sena cs akc) g,- oH ‘ HOH T +25+(5 + 5K)J5~ SKIS] K_ aT _ _-G-G © [s?+25+(5+ 5K) 713) aH (1+GH? SP+25+5)_ Kis? +25+6+5K)) + _ GH [s+ 25+(6+ 5K) SK SH TeGH = 242545 Eon 3 +2s+(5+5K) The steady state value of sensitivity is Weknow, s¥ = K aM M oK eae Me Go 2 10s 41 GH 5, _KK, 2 10s +1 eeeeeree J0s+1+KK, ce OM _ (105+1+KK,)-KK, OK ~ (10s+1+KK)) _ 0841 (10s +14 KK,)®a1 a2 Q3 a4 Qs Which is the following relate to rational transfer function of a system? 1. Ratio of Fourier transform of output to input with zero initial conditions. 2. Ratio of Laplace transform of output to input with zero initial conditions. 3. Laplace transform of system impulse response. 4, Laplace transform of system unit step response (a) tand4 (b) 2and3 (c) 1and3 () 2and4 The impulse response of a system is given by Which one of the following is it's unit step response ? (a) 1-e% () 2-e (b) 1-e" (8) 1-2 A first order system is shown in the given figure. Its time response to a unit step input is given by Fs —-} Las (a) o(t)= (TIE) (b) e()=T-e") (©) e(t)=(1-e%) (0) et) = Te” The transfer function of a zero- order-hold system is (@) (s)(14 6") (6) 1~(1/s) e? (b) (1/s) (1- e*7) (d) 1+ (1/s) e*") Free response of a control system is the one characterised by (2) input approaching infinity with time (b) input being a finite value (c)_ zero input (4) all nitial conditions being zero a6 az as ag Control Systems Time Domain Analysis of Control System Transient response of a control system is the one (a) which approaches zero when the time approaches infinity which does not depend upon time which is time dependent none of these (b) © @) The open loop transfer function of the system is K(s+10) 5(8+ 8)(S+ 16)(S+ 72) pole will be located at Kis (a) 4355 (©) 9600 Gs) Hs) = aclosed loop =—12 when the value of (o) 5760 (@) 9862 Alinear stable time-invariant system is forced with an input (see figure given) x(f) = A sinabt. oo eS) x0 Under steady state conditions, the output (1) of the sysiem will be (@) Asn(wt+ >), where 9 = tan! Glia)! (b) | Gio) A sinfwt+ ZG) ] (c) | Gio) Asin[2at+ ZG(o) } (0) A Glin) sinfot + Glo) Consider the time response of a first order control system for a unit step function as input. Then 7” (as shown) is a r (@) Ssec (b) 10sec (©) 15sec (@) 20sec Q.10 The unit impulse response of a system having transfer function Ki(s + a) is shown below. The value of aisMADE Eng, Postal Study Pac [2021] 2.14 Considor the following statomonts rogarding i, 22 | Electronics Engineering Unit impulse Response 0.03 k| oak Ce a () t, (b) 1M, Ot (d) 1M, Q.11 Consider the following statements For the first order transient systems, the time constant is 1. aspecification of transient response 2. reciprocal of real-axis pole location 3. anindicalion of accuracy of response 4 an indication of speed of the response Which of the statements given above are correct? (@) Only1and2 —(b) Only 1, 2and4 (©) Only3and4 (4) 1,2, 3and4 Q.12 Assertion (A): The impulse response is only a function of the terms in natural response. Reason (R): The differentiation and differencing operations eliminate the constant terms associated with the particular solution in the step response and change only the constants associated with ‘exponential terms in the natural response. (a) Both A and R are true and R is the correct ‘explanation of A (b) Both A and R are true but Ris NOT the correct explanation of A (6) Ais true but Ris false (0) Ais false but R Is true Q.13 Consider the following statements regarding a parabolic function: 1. Aparabolic function is one degree faster than the ramp function. 2. A.unil parabolic function is defined as e N= 52 0 otherwise 3. Laplace transform of unit parabolic function 1 s Which of the above statements are correct?” (a) Vand 2 only (b) 1 and3 only (©) 2and3only —(d) 1, 2and3 fort > 0 is rosponse analysis of systorn 1, Tho stop response will ot have any overs, for any combination of systom parameter first order systorn 2. Thormal system, liquid level system ay, ‘examples of first order system, 3. Tachometers, Potentiometers are exampies,, zero order system Which of the above statements is/are correct? (a) tand3only —(b) 3only (©) 1,2and3only — (d) 2and3 only by Q.15 Statement (1): Time domain analysis is ng possible for zero order control systems, Statement (II): For zero order control systems ‘output follows the input immediately. (a) Both Statement (I) and Statement (I!) are individually true and Statement (II) is the correct explanation of Statement (I). (b) Both Statement (|) and Statement (I) are individually true but Statement (II) is not the correct explanation of Statement (I) (©) Statement (I) is tue but Statement (I) is fase (d) Statement (!) is false but Statement (Il)is tue. Q.16 Unitimpulse response of a system is the one when (a) the input to the system is a unit impulse (b) the input to the system is a unit impulse and all initial conditions are zero (©) the output is a unit impulse for all possible inputs (6) none of these Q.17 The system with the open-loop transfer function f irs (a) type 2and order 1 (b) type 1 and order! (c) type 0 and order 0 (d) type 1 and order 2 G(s) Q.18 Type of an open loop system depends on he (@) number of its pcles (b) difference between the number of poles a? zeros, (©) number of its real poles only (6) number of poles thas at the originmape EASY Control Systems Objective Practice Sets | 23 IPE pblicatior 0.19 A second-order overall transfer function is given @.24 Consider the control system shown in figure . : " , its resonant frequency is wera) bY Pans sie+3) Output (a) 2 (o) V2 © 3 () 3 3 The system is of second order. 2. Basically the system is having positive = — the settling feedback +4549 3. The system is of type-1 4, The dimension of the output is not same as that of input of these statements. (a) 1 and 2are correct (b) 2and 4 are correct (©) 2,3, 4are correct (d) 1,2,3are correct Q.25 Assertion (A): The time response of the system 0.20 For a second-order system with the closed- loop transfer function T(s) = time for 2-precent band, in seconds, is (a) 20 (o) 15 (©) 3.0 (a) 40 Q.21 A control system is represented by the second order differential equation ay YN) ot y aw? rt Pinn| Se [tony = ane ‘transfer function equal to ————— WAl'0 S546. fesponse of this system starting from rest, will have its maximum value at a time equal to (0 (b) 056sec (©) 5.6 sec (d) infinity le is G(s) = =———— toa unit step input will NOT The damping coefficient (a) of such a system is \S)= Sy g6s1a6 (0 aunitstep input wil (@ a= z (b) a=Eo, have any overshoot. g Reason (R): A critically damped system does ©) a= (@) a= to, not have any overshoot to a unit step input. z e (@) Both (A) and (R) are true and (R) is correct Q.22 Match List-I (Characteristic equation) with List-II explanation of (A) (Nature of damping) and choose the correct (b) Both (A) and (R) are correct but (R) is not answer with the codes: correct explanation of (A). List-1 List-tl (c) (A) is true and (R) is false. A. s+ 155+ 56.25 1. undamped (d) (A) false but (A) is true B. s?+5s+6 2. underdamped eel ogee St acai aioe Q.26 A linear second order system with the transfer D. s+ 458+ 42.25 4. overdamped function G(s) = ——*2 ig initially at rest and Codes: s*+165+49 ABCooOD is subjected to a step input signal. The response 4 3214 of the system will exhibit a peak overshoot of &)3 4 1 2 (@) 16% (b) 9% @©3 421 (0) 2% (d) zero 43a 12 Q.27 The open loop transfer function of a unity feedback Q.23 Aunit feedback control system has a forward path control system is given by K (s)=$ 42.25 theunit step aa s(s+ 9) If the gain K is increased to infinity, then the damping ratio will tend to become as 1 (c) 0 (a) =-— 24 | Electronics Engineering Postal Study Package EES] ! Q.28 The dynamic equation of a second-order system is 1 ; ay yy p-2 —< +4— + By =8x(t) eae oY © = (@) zer0 The damping coefficient is (@) 01 (b) 0.25 Q.34 Which one of the following is the Steady-state g (©) 05 (9) 1.0 for a step input applied to a unity feedback. oe, i em Q.29 Statement (|): A second order system subjected with the open loop transfer function toaunitimpulse oscillates atits natural frequency. oy Osc Statement (II): Impulse input contains frequencies Faiass 50 from-e to +22, fa) e,,=0 (b) e. = 0. < (@) Both Statement (I) and Statement (I!) are 7 aay ®) €.7089 individually true and Statement (Il) is the ee ss correct explanation of Statement (). Q.35 Consider the folowing overall ranster uncon (b) Both Statement (I) and Statement (I!) are a unity feedback system: individually true but Statement (|!) is not the if correct explanation of Statement (I). 344544 (c) Statement (I) is true but Statement (Il)is false. Which of the following statements regarding ths (d) Statement (!)is false but Statement (II) is true. system are correct? 1. Position error constant K,, for the syst Q.30 The open-loop transfer function of a system is 2. The system is type of loins ystems 1 10 7 3. The velocity error constant K, for the systen Tyg” The steady state error to unit step input is finite, when operated as a unity feedback system is Select the correct answer using the codes given below: (a) 10 (b) 0 Gada: © q (© (@ 1,2and3 (b) tand2 (©) 2and3 (d) tand3 0.31 The transfer function of a system is —'_ The 88 Match the system open-loop transfer furelos T+sT input to this systemis tu). The output would track this system, but the error would be @) 0 (b) 1? © T (@) 72 Q.32 Consider a unity feedback control system with open-loop transfer function G(s) = Ki[s(s+ 1)] The steady state error of the system due to a unit step input is (@) zero (b) K © WK (4) infinite 2.33 Ifthe closed-loop transfer function T(s) ofa unity Negative feedback system is given by an.18 +a S449" + +a,,54a, then the steady state error for a unit ramp input is T(s)= given in List-I with List-Il the steady state ers Produced for a unit ramp input. Select the core! answer using the codes given below. List-! List-II 30 A = : s?+6s+9 1 720 30 B. . 0 s? +65 oe 30 c. . +95 battt o. St 4. Infinity Codes: ABCD eee (bt)4 3 2 4 @O13 2 4 @4 23 14oe 0.37 Consider the diagram shown, the steady state error of the system is as)-2 es) Rts)= 2 () 05 (@) 025 (d) 1.0 (©) 075 Q.38 Consider the following statements, with respect to the unity feedback system shown in the below figure: 16 Ais) s(s+4) ao EEE EEE 1, The characteristic equation is 8445+16=0. : 16 2. The loop wansfer function Is =. 3. The natural frequency of oscillation is 4rad/sec, 4, Damping ratio is 0.2. 5. The steady state error to unit ramp input is 0.25, Which of the statements given above are correct? (@) 1,2and3only — (b) 1,2, 3andS only (©) 1,2,3and4only (d) 1,2,3,4and5 Q.39 The open loop transfer function of a servo system with unity negative feedback is given as: 6 s)= 6 _ O9)= BEB) What is the damping ratio and the natural frequency of oscillation in rad/sec? a t @ 5 and4 (b) § and 16 4 4 (©) > and4 (@) 5 and16 Q.40 A second order system with closed loop transfer 25 Ss? +Bs+25 When it is subjected to a unit step input at ¢= 0, the second overshoot in the response occurred at function T(s) = was initially at rest. 3 z sec. Then the value of parameter B is Control Systems Objective Practice Sets | 25 (o) 5 (d) 8 (@) 2 © 6 Q.41 The open loop transfer function of a unity negative feedback control system is given by, 10 3045+ 10. 165+ 9 The steady state error when it is subjected to the input (5 + 31) us (a) 0 (©) 03 Q.42 Consider the following statements: For atype-1 and a unity feedback system, having unity gain in the forward path. 1. positional error constant K,, is equal to zero 2. acceleration error constant K, is equal to zero 3. steady-state error e,, per unit-step displacement input is equal to 0. Which of the above statements are correct? (@) 1,2and3 (b) 1 and 2 only () 2and3only —(d) tand Sonly as) (b) 04 (d) @ Q.43 An underdamped second order system with negative damping will have the two roots: (@) On the negative real axis as real roots (b) On the left hand side of complex plane as complex roots (¢) On the right hand side of complex plane as complex conjugates (d) On the positive real axis as real roots Q.44 The unit step response of a second order linear system with zero initial state is given by {f) = 1 + 1.25 exp(-69 sin(8t+ tan 1.333), 120 The damping ratio and the undamped natural frequency of oscillation of the system are respectively (@) 0.6 and 10 rad/s (c) 0.8 and 10 rad/s (b) 0.6 and 12.5 rad/s (d) 0.8 and 12.5 rad/s Q.45 The error response of a second order system toa step input is obtained as ef) = 1.66 e*'sin(6t + 37°) The damping rat (@) 04 (b) 05 (©) 08 @) 1026 | Electronics Engin Q.46 A system with transfer function, Fe can be approximated by the system 2 saeeees x40 ©) 5%S+20) 600 d) 40 © sertaeray Gris+20) (a) Q.47 For a unity feedback system, the open-loop transfer function is __16(s+2) * S(s+ (s+) What is the steady-state error if the input is, At) = (2+ 3t+ 4P) AN? @o (b) 1 () 4 @ 5 Q.48 A causal system having the transfer function Gis) H(s) = 1 Is excited with 10 u(9. The time at S42 which the output reaches 99% of its steady state value is (@) 2.7sec (b) 2.5sec (©) 23sec (d) 2.1sec Q.49 Can y(t) = (€2!+ @ + f) possibly be the transient response of a certain control system? (@) Yes (b) No (©) Only under special circumstances (d) None of these Q.50 The block diagram of a unity negative feedback control system is shown in figure. re ma an ‘The number of cycles completed before reaching the steady state if 2% tolerance band is acceptable. (a) 2cycles (b) 1 cycle (©) 1.82 cycles (@) 4cycles Q.51 Consider a unity negative feedback system with closed loop transfer function as epaaeneaes s +B5+64 ing Postal Study Package [2021] MADE Eng, Time required for the response to reach g the final value in first attempt is: (a) 0.365 sec (b) 0.169sec. (c) 0.289 sec (d) 0.092 sec 0% @.52 The open-loop transfer function of a unity ny feedback control system is, = K OS) = eT By what factor the time constant T shoud multiplied so that the damping ratio of the syse, is reduced from 0.90 to 0.30. @ 3 () 6 os (d) 12 Q.53 For the system shown in the below figure whi one of the following gives the correct range « values of K so that the steady state error for input 1(t) = 0.2tis less than 0.004? Rts), Os) (a) 050 (©) 0s K<40 (@) K>10 Q.54 Ifa second order system has poles at —1 + j then step response of the system will exhibit a peak value at (@) 45s (b) 3.58 (©) 314s @ 1s Q.55 A system is shown in the given figure. The val of Kwhich gives a steady-state error of 20% 102 unit step-input is given by che Tes Tes ao 0, (b) 100 (4 (a) 500 () 2 Q.56 Two identical first-order systems have beet cascaded nor-interactively. The unitsteP of the systems will be (a) overdamped (©) undamped (b) underdamped (A) critically da efigue .s shown in th Ios steady-state will DE Q.57 Atransducer has two poles a The zeros are at infinity. The of the transducer for a unit step input Hi Coal__ sasamasil 1 @% wt J 1 OB ® Q.58 M,ispeak overshoot of an underdamped second order system for a step input and Nis the number of cycles completed before reaching the steady state. Then |/nrmp| vs N relationship can be best represented by Ling @ \ al (bv) Ling © Line () — N Q.59 Statement (I): Transient part of time response describes the nature of damping. Statement ({I): It gives an indication about the Speed of response. Control Systems Objective Practice Sets | 27 (@) Both Statement (I) and Statement (II) are individually true and Statement (II) is the correct explanation of Statement (. (b) Both Statement (|) and Statement (II) are individually true but Statement (iI) is not the correct explanation of Statement () (©) Statement (I) is true but Statement (I) is false. (d) Statement (|) is false but Statement (I!)is true. Q.60 Aunit-step inputto a first-order system G(s) yields aresponse as shown in the figure. This can happen when the values of K and a, respectively, are a0 50}- Slope at origin 1s e t (b) 50 and 10 (d) 50and 5 0 (@) 10nd 10 (©) 10and 50 Q.61 Ihe open-loop transfer function G(s) of a unity feedback control system is The system 1 se+) is subjected to an input r(t) = sint. The steady- state error will be (a) 0 © wBan(t-2) (o) 4 @ WBsin(to 2) Q.62 Consider the unity feedback control system with feedforward transfer function G(s). Suppose that the closed-Loop transfer function can be written. Os) _ (8+ WS +9-Tn8+9 fy Te Ea Be =a, _K 91) = Fs) = Sea K = 5) = A since Als) =1 = o)= Kew! Time constant t = 1/a. Time constant is the time at which elt) = Ke" =0.37K =e - ji). Time constant is a specification of transient 6 Wo response. (i) s=-k TE of zero order hold system =32 | Electronics Engineering (iii) The time constant t also affect the steady state value of the system. Hence the accuracy is also governed by it. (iv) Time constant is an indication of speed of the response ie Both the options/statements are correct and correct explanation is given in the reason, Pe (t) = — ut) Pin= Su) a 2 oy = Flt) = tt +. Parabolic function is one degree faster than ramp function e 1 fu “3 Hw 1. First order system, transfer function is given by: ot As) Ts+i as) At) Ts+i Step input, As) = : i 1 C8) = S25 Qs) sti T Taking inverse Laplace transform on both sides, we get a= (1-2 )utt Tr 1 So overshoot will not be there for any combination of parameters. 2, For tachometers and potentiometers input- output relationship is: Postal Study Package FLY] ieee, MADE Eng, 2AlS) . x X,(s) So, these are examples of zero order ‘SYSteme Ee For zero order control systems, Output/Input Time ‘And, to study the behaviour of any system using time domain approach, we need sufficient time lag between output and input aw Unit impulse response of a system is one when the input to the system is unit impulse and all initial conditions are zero. He 1 Gls) = o s(s+1) Clearly here, poles at origin = 1 Type = 1 For order, characteristic equation 1 + G(s) =0 1 : +349 2+s4+1=0 . second order system ie Type of system = Number of poles at origin in an ‘open loop system. Order of system = Number of polesin closed loop system eo Seas +2544 Compare with characteristic equation, $+ 2Ew§ +02 = 0 2Ew, = 2 TRae EASY noe g=05 pesonant frequency. 0,= 0, 1-28 (a) Ba paring with standard equation Com 2+ 2EpS+ oh = 3rad/sec 4 2 3 44 fer 728 Taking Laplace transform, (2 + 2Ew,6+ 0,2) Ms) =«,? Xs) Ms) of Xs) ~ + 2kw,5+ 0% Damping coefficient a = Ew, Bo A. +185 + 56.25 =0 0, = J56.25 = 75 radisec 2kw, = 15 7 é=1 -- critically damped B. %4+5s+6=0 0, = 6 =2.44rad/sec 280, =5 5 5 y24a :- over damped ©. #+42025=0 Here, E=0 s-undamped D. 44.554 .42.25 @, = 42.25 = 6.5 rad/sec 2b, = 45 45 * 2x65 ~ = 1.024 346 + underdamped Control Systems Objective Practice Sets | 3 | 23. 42.25 s(s+6.5) 42.25 Qs) _ _Gs) 5(6+65) As) ~ 7-5) 22.25 (5+65) Gs) = 42.25 ane 2 +6.58+42.25 Characteristic equation +655 +42.25=0 Comparing with standard equation 2 +2w,s+ 0% =0 i w, = 6.5rad/sec 2%w, = 65 1 rae n © oe ® w,y1-&? bs gaara “080° Ego Obviously, it is positive feedback system, as H(s) = £ G9) = Soya) 545 Type-0, Order = 1 | 2s. TS) 36 OS) = 3265436 ic equation s? + 36s + 36 = 0 «: E> 1 -. No peak overshoot 0, = 6 rad/s 2k, = 6 E=3 Ea 49 OS) = 2765449 equation s? + 16s + 49 = 0 @,=7 2&0, = 16 Characteristic34 | Electronics Engineering systems. K AS) = ea Ms)= Characteristics equation: 1 + G(s) H(s) = 0 K 4 See S+s+K=0 compare with 2 + 2, +, = VK, 2&0, =1 1 Cok hence, if Ky, & 0. le ay 2h, ae 8 ae + 8y = &x(t) Taking fee transform MS) 4 Xs) ~ 42844 Compare with standard characteristic equation $+2Ea,S+0% = 0 ©, = 2rad/sec 2bo, = 2 Damping coefficient, So, =1 Ela Assertion is wrong. 7 0) ae e030 | Ms) _ 1 xe) ~ "Feet So it wll depend on damping, 40) 1 vs) Postal Study Package BID4] (y §>1) Overshoot occurs only for underdamped Ee Outre = 10 541 Os) Ag) = 9) (Hse) 1 Given, As)= 2 Hs)=1 | As) ~ TGA) es) Ad = Tas sRo) = Lins) Lin 50. EX. Method-1 1 _ Qs) “eT eo input = tX) = = input-output Saget tesT (1487) of) = -T ul) + tug) + Te” enor = (tu(t)(-Tus) + tuto + Te*) = Lim Tut) Te” error = T Method-2 Qs) ___ Gs) =1 As) © 1+@(s)H6)' He eeEASY Gs) __1 T+Qs) 1+sT ats) = + T K,= lim s@(s)H(s) BS) = Sag: Ms)=1 input, rt) = ao Als) = i _ As) 1 £8) = Tass) * du_k ] s+) s x oan s(s+9, is _s(s+)_ _ ce Hw Gs) py 1S + Bp Given, T(s) = —S9__ H(s) = 1 for unity feedback Ge) a8 +a TQS ~ Peas", s4a, see S84 Stas" a, S44, —a,_8-4, aoe a,-18+ a 2"? + as"-5_ 4,2) We know that for unit ramp input where K,= lim sG(s) 540) Ks es = 0 Pi Control Systems THGOAG) FH +as™ "a, sta, Objective Practice Sets | 35 Ego Be) ete = As)” Tage 4-1 1 i 1+ iis 2 4145+50 s?+14s+50 Bis) = s*+14s+60 ~ a = Lim S(2 +148+50) 1 oo BN SES) = 1s +60) 5 50 ~ 60 egg = 0.83 [ 3s. te 4 _As)_ US F4dse4 T+ QS) 44 4G = (s?+ 45+ 4)G(s) 4+ 4G = Gs? + 4Gs + 4G(s) 4 = Gls)(s?+ 4s) 4 ~ ‘s(s+4) type = 1 Kp = lim G(s)H(s), H(s)=1 mele) = In ea) a" = lim sG(s)H(s) x 4s - ER Zepq 71 finite Edw A. G(s) H(s) = : Fae Pee gL SD Et EES) JL T+QS)HG) ~ 4,30 #46549 SA(s)(s? +65 +9) s +6s+39 &s) = 2.5 = Lim sE(s) = Lim eS - a ars se+ 35” B. G(s) Hs)= = sFls)__ 2+6s es, a aE: 30, HO Se 65+ #+6s36 | Electronics Engineering = Lim S*6 __o> 540 5? +65+30 c. G(s) Hs) = = +9s +95 e,,.= Lim “$50 s(s? 495430) a Dd. Gs)Hs) = S41 SF e,,= mS eo SO MPa seh Ee We have to first make the system as unity feedback, As) _ as) As) 1+G(5) a) __ as) Ais) 1+ Qs)H{s) is) se esssee Lo) eee 1+ G{s\Hs)- Qs) 4 } Gls) a eee ele 2 set s k= lima a 16 . TR. = ——-—_ s°+45+16 Transfer function for second order system, as) ws AS) © 3? +2bw, +02 * Characteristic equation = s?+ 4s +16 . we = 16 > 0, =4 (2)(6)(4) = 4 => =05 . 0,, = steady state error = Lim sG(s)H(s) = where K,, velocity error constant Postal Study Package Ea TR = (s+2(s+5) fe (s+2)(s+5) On comparing with: s? + 2Ew, w2 = 16 > w,=4 For peak overshoot, the peak time +, = Here n= 3 (for second overshoot) an _ 3m o y= 4rad/sec = w,\ a= 51-8 (3, = 25 for given transfer function) 4 ls] -1 gic 28216 9 z 25° 25 3 o 5 3 = 2, = 2x3x5=6 B= 260, = 2x= Be The steady state error for unit step input can be determined as lim G(s) = = ms Oe, = =O TEK, The steady state error for ramp input can be determined as K,= lim sG(s) re 10 = limsx——___10__-10 s0S* 3045+ (0155+ 9 A 3 - 4.3.93 Pam = = 3G 7% Ogg = Cys, + 0, = 0.9Control Systems Ls [i ne SAS Be Ke K,= jim, sts) Mts) lim G(s) H(s) 230 K, = lim s?G(s) Hs) eno soptype-' system, lop transfer function has one | 46. 5) pole at origin Let us take. 1 G(s) H(s) = a+) ao Ps Input, Af) =1 + 1.25 exp(-60 sin (8t+ tan 1.33), t> 0. ott) = z On comparison 4. fee 3° ye = ent 25 Ew = = 3. b= 5 =06 = wn Vt- BP = o,¥1-(06" =080, a a8 10 radi a= $e = 5 = 10 radisec Objective Practice Sets | 37 tt) = 1.66 e*!sin(6r + 37°) cos"& =F 4 §= cosa7* = = =08 TE bd ~ ¥s= (s+ 15)(S+ 20) Writing in time constant form . 600 sooses)[1+35 (1+) 2 2 s s sies(i+se|(1+5 Poles s = -15, -20 one neglected, as they are far away from $= 0, -1. 2 Tee gy _ __16(s+2) 99) = Fee ns+4) A = (2+ 3t+ 4) Kt) 2,38) _ 25%+35+8 ma (2308) Be _ As) 9° a5) af 2s? +35+8 16(s+2) #[h x82] 255 = Lim sG(s)H(s) = Lim 257 +38+81s%(s+ (5+ 4)] = Lim 25° 438+ 815% + 105 + 4)) 0 2 Pe+ (s+ 4)+16(5+2) 8x4 5 = 327! = Oeste MS) = Fite)“ 543 9 = 10.40 _ 10 Ag = 2“= 38 | Electronics Engineering Postal Study Package EL] MADE Eng, = 5(1- 2) Gs) = «2 Given, 8x5 = 5(1-e2 3+ 20,54 a 100 Comparing given and standard transter function 1 e*= —=001 we get 100 w? = 64 o t= 23sec 7 = @, = Bradjsec ow and 2, = 8 For it)= eo +eT +t = fellas AS t+ = y(t) +e. Hence this is not the transient Hy response of a control system because transient p= 10.705 _ 1.35 response becomes zero at {—>. ig 8 8 Ew Standard second order open loop transfer function is given by, @ eet 19 ex wn) Comparing given open loop transfer function with ‘standard open loop transfer function, we get w, = 16 4rad/sec a 2 Damped frequency is given by, = on 1-2 g= = S* = 1.1026 cycles So, 1 cycle will be completed. Eo Time required for response to reach 50% of the final value in first attempt is called delay time and 23 = itis given by 140.76 =p, sec Standard second order transfer function is given by, t = 0.16875 sec Exe The closed loop transfer function of the given system is kK Ts) = —* _ ST +5+K On comparing it with standard transfer function, we get, 1 260, = 7 z.K and on T or ge 2NKT Let § = &, = 0.9 for T= T, and & = &, = 0.3 for T= T= 91, Ee __k 89 = EF Als) = Yor n= 22 $ 4, = Lim SAS). ee bE Qs)02 £0,004 @) * rt DS+D 1 eee ce - Geyett s?@+2s+2 ation: &? + 25 +2 characteristic equi ‘Comparing with $24 20,8 + Op Bure eee eee ett ° oF Yx(Z = msec = 3.14 sec ©, fa As) 1 Ais) 1+ @s)H{s) E(s) = 1, —-Ats) * ey(t+as) __(t+s)(t+4s)_ 1 £9) = Gy (+4) +K 8 = Lim sE(s) Ey Lim) s(#9)4(6-41/.4)] 41 $0 | (sie 45)+K |S Bw '¥non interactively then ot 1 (1+ T5P * Two roots repeated on real axis. Hence, cttialy damped system W Meee then R el L T° Jl Control Systems Objective Practice Sets | 39 Vols) _ 1 Vis) T?s?+Ts+1 <. overdamped system. ) For the given plot The natural frequency = , = 1 rad/sec and cosé =& 1 ae We know for this plot pole locations will be $= Ey + jopy1— EF So, 8 = -gthflHF So, the open loop transfer function will be 1 fae CEs A ; 99) = 2 isei 73 - 385 For unity feedback as) 1 As) 2+Vas+2 1 1 O18) = aera 5! Steady state output = im sO(s) Snel J s30s7+J2s+2 240 | Electronics Engineering Postal Study Package ELPA] MADE Ens, Ege Enror = r(t) - c(t) 1 we & = ——Sattling Time _ e(f) = sint -Ssitt— 1355 T ~ Time period of oscillation y lim et) = 0 yA: (0) B:(c) N= Qs) __@s) Ags) ~ 1+Qs) _ (78+ (78+ © (s+ WTas+ = As) Qs) Ee Speed is related to rise time which is a function of ue As) damping. As for second order system for unit step A(s) Rise time, Where. & = damping ratio 4s) {, = rise time , = natural frequency Kane since, Lim P(s) @ sint Lim a's) [Ae | Ue) -— | Hj) |lt- Hea) a i Jy a0) ot MO* S549 jo) = —— = = Gate fa 8 Gana 1 a vive V2 . 1 -90- tan-'w =-135° “Lim sais) Wt = psd 135+) 1 s)- As) 3) = tim s-£) < Lim Es) so) ssa = Lim A9I=AS) = Osa) (010 form «. use lopital rule i Qs)-P(s) = LM ae +sO() = Lim [a(s)-P(s)] = Ty Tat Ty A = (yt Ty one T,) A (Ty Ty ns Ty) ee cael ‘Lim sGis) = (Ty + Myton Ted) AT y+ Tyt oo Tr)= tim sE(S). F(s) = tin R(s) a) Parte aS = finite (given) “Lee k= ig sG(s) _1_ = finite = 5% = 2.7 Lim ZB s Ke a K is finite for type 1 system having ramp input. He Att= The input is changed by 2u() to u({), so if steady state is 2 in 1% case then in 2°4 case it will be 1 So option (d) is best suited. Ge For a unit impulse input A(s) = 1, Hence Qs) 1 AS) care (R= dal FEA peel fi-2 i-e2 (s+ 8 + 1-8? Taking inverse Laplace transform ot = re Hsin(Vi-Fn, m0 o o% sin? (1 Et) om da cos2y1-E71) 1- =F M(s) = UC) 1 late s+2E ao 2I-B[S42E on ce aD), = Yee 1 | wales 1 s+28 20-8) S426 (6428? + 401— alo se Control Systems Objective Practice Sets | 417 Faw Qs) As) as) _ Als) s-4s=0 Here, @, = Orad/seo 2&0, = -4 * E=-0 For 2% tolerance, Settling time, f, = a, ption (A) is best. Ea The steady state error for step input is given by A 14K, where, K, = lim G{s)H(s) = + Ai) The characteristics equation of the given system (s+ BP + K(s +a) =0 2 +B? + 2Bs + Ks+aK=0 = s+ (2B + K)s + (ak +84) =0 On comparing it with standard transfer function, we get, (2B +K) 242 | Electronics Engineering O5VI0x2 = 2B+K 2B + K = 3.162 (ii) and aK + B® = 10 (ii) From equation (i), (i) and (ii) ka. = 9B => 98? + B? = 10 o B=1 From equation (i) K = 3.162-2= 1.162 K = 1.162 Ed cas Given, @, = 40 rad/sec &=03 Oy Ee 00) Gs) i Hey epee a 9 = Fela AG)” F057 K Comparing with standard second order transfer function We have, and a, = 10 v &=0.25 (given) SaaS 1 350285 ~ and K= wh = (20)? = 400 a 1 98 = Fis EAC Us) _ _s?+25 K As) 4, KK s?+ 254K z $428 Minimum settling time and no overshoot implies, critical damping i.e. &=1 @, = VK 2xb-w, = 2 Postal Study Package ELP4]| Ten MADE Engy o,=1 > VK = lork=1 o Steady state error of type 1 system, for step inp, 1 is zero, for ramp input is —~ and for paraboie input is infinity So, the given system must be of type-1 and p= Le (16) The steady state error constant for ramp inputis = lims. 300 5+ 2) K Kaz ‘The steady state error, A o,- 2 8K 4 K7 0.25 4 = 4-16 = O25 (0.16) The characteristic equation, 1+ Gls) Hs) = 0 _ 25Kx0.25 §s+2) s +28+625K=0 (On comparing with standard transfer function, we get, bw, = 2 and of = 6.25K = = (625K For non-oscillatory response & = 1 0, = 1= (625K or k= —_-016 625 o We know that for 2% criteria setting time = 47 We know that for 5% criteria setting time = 37 where T= Maximum time constant100, G(s) = + H(s+ 100) verting into time constant form ey con 100 GUS) = FOOT+ 5s) (001+ 9 1 = (145) (1+ 0.015) 7, = 1sec T, = 0,01 sec ence setting time wil be = 37, = 3 sec 23) B ne know that [, (delay time) is the time required toreach he value of response to 50% of final value Hence, Final value = lim c(t) =1 td = 0.231 sec Boss Bycomparing s*2&w,S + w, = s? + 6s +25 «, = Srad/sec 2, = 6 06 7 Now we know tr (rise time) = #— COS) eal n-cos”(0.6) Bose i Comparing standard equation +28u,8+ 02 = 82 +65 +50 ©, = J50 = 52 radi/sec Sw, = 6 Ph Control Systems Objective Practice Sets | 43 3 b= BB 0.424 Period of oscillation, EL (5.65) Method 1 ft G+ 2-5) (s+ 2+/5) 1 For given system, G(s) = Gs) = —__ As) (s+2)? +25 1 G(s) = = —_ (9 = Fyas+05 Characteristics equation will be s? + 4s + 29 = 0 By comparing it with s? + 2Ew,5+w% =0 Peak time for n"® overshoot (2n-1)n_ (2n on = =5.65 z sec Method 2: For 2"4 order systemsubjected to unit step location of poles s,, s,= £0, * joy So, @, = Srad/sec on t= F=8.65sec (1.006) The steady state error for unit step input is, A 14K, 55> lim sE(s) =44 | Electronics Engineering where = lim Gts)Hs) Ke Ke = ima—__ sw rs\(teas) 2 ed 0.6x2 =k oA K o K= fz = V3 = 1.732 From standard second order equation, =. The characteristic equation becomes: 1+ G(s)H(s) = 0 AP +954+2+ Ka 4s + 954 Be After converting the system into equivalent unity feedback system. oe) i LIF = S+2 As +4) Os a2) aa) $+2\s+4} s+2 Type=1 24, for step input = 0 G25 The closed loop transfer function of the system becomes As) 4xKk Ag) © S++ 4as+4K poe © s+ 5(14 4a) +40 on comparing with standard transfer function, we get, Ew, = 1440 Postal Study Package PXP4] ae MADE Ene, 1+4a bo, = —> = settling time for 2% tolerance = oF Eo, = 4 _ (1#4a) 06 2 8=08+320 72 22.25 *= 32 Ede Wayy = Wn (1-26?) + /4e* — 42 +2 Te Mp = 20% = ANF 109 org NI-F = 0.2 B= 02601 &) 2 = 02078 = §=0.456=0.46 4 and t= 2sec= 5 = &, = 20, = 4.347 rad/sec 1 Way = 4347 {(a(046)*—a0.467 +2 +(1-210.467) = 4.347)0.576 + 0.179 -0.846 +2 = 4347/7773 = 5.72rad/sec 33. OED) Part: When the feedback is absent, the closed loop transfer function is, Og aka ak AS) Xs+eK SaseK On comparing with standard transfer function, we get,ens Control Systems poe Frosve e- = 2.315 rad/sec K = 02 =5.368 La the implication of tachometer feedback the ue! ‘sop anster function ofthe system Becomes close: Cele Res) = ‘s(s ++ K(sk, +1) g itwith standard transfer function, on comparin jet, weg ap, = (1+ KK) _ (+KK) 0 Fe 1+ KK; orexvK = 3 1.67 x 2-1 = KK, 2.34 7 Ki= 5356 a k, = 0.435 Bien K OS) = ye4Q' Hs) = Characteristic equation = 1 + G(s) Hs) = 0 ° 0 > 0,= VK 20, = 2: 6= K M, = emi Lo4 - ra = In(0.1) os me = 23 he Objective Practice Sets | 45 (2.37 (1-8) (23) = — = 059 = Also, k= 4-28 (2) = (s¥(s)- 40) 1 s-2 M8) = Ge)x! = Sey HeFa 0) = lim s¥(s) (Applying initial value theorem) = im—s2 _ sm(s+ Net) 2 (=) 3 {oJ 0) = 0 gy) _ _ _$x(s-2) (i) = Mo ees epeeeee Gerd) a1 cold = Suse E43)Qt TTY sis) First column elements of the Routh’s tabulation are asZ Be It means that there (@) is cone root in the left half of s-plane (0) are two roots in the left haif of s-plane (©) are two roots in the right half of s-plane (@) is one root in the right half of s-plane Q.2 The Routh-Hurwitz criterion cannot be applied when the characteristic equation of the system contains any coefficients which is (@) negative real and exponential functions of s (b) negative real, both exponential and sinusoidal functions of s. (©) both exponential and sinusoidal functions of s. (d) complex, both exponential and sinusoidal functions of s. Q.3 While forming Routh’s array, the situation of a row of zeros indicates that the system (@) has symmetrically located roots (0) is not sensitive to variations in gain () is stable () unstable Q.4 By a suitable choice of the scalar parameter K. The system shown in the figure given below can be made to oscillate continuously at a frequency of 0 K 55+ 2)6+8) “e (@) tradjs (©) 2radjs (©) 4radis (a) 8 rad/s Q.5 Consider the following statements regarding stability analysis by Routh-Hurwitz criterion: CS Oaen Stability Analysis of Linear Control System Qé ar as ag 1, Forasystem tobe stable, all the coetficiens of the characteristic equation must be presex and be of the same sign. 2. Ifa system is to be stable, there should ng be any sign change in the first column ofthe Routh's array. 3. The order of the auxiliary equation obtaineg from the elements of the routh’s table is always odd. Of these statements: (@) 1 and 2are correct (b) 2and3are correct (©) 1and3are correct (6) 1,2and are correct The number of roots of s? + 5s? + 7s + 3 = Ois the left half of the s-plane is (a) zero (b) one (©) two (0) three The number of roots in the left-half of s-plane for the equation s°— 4s + s + 6 = 0, would be @1 () 2 © 3 (@ 4 Consider the following statements: Routh-Hurwitz criterion gives: 1. absolute stability 2, the number of roots lying on the right half of the s-plane 3. the gain margin and phase margin Which of these statements are correct? (@) 1,2and3 (0) 1and2 (©) 2and3 (d) tand3 Gs)= 1-5. The system with this transfer 5(s+2) function is operated in closed-loop with unity feedback. The closed-loop system is (@) stable (b) unstable (C) marginally stable (d) conditionally stablepe EASY one cath ‘ top transfer function ofa unity feedback 9.10 cenit syste” S 30 ASH) = S54 H(5+T) variable parameter. The closed loop le for all values of (bl) OkK>o (©) 13>K>0 @ 2 Vasko () -6-1 (c) Bs0 (d) B>o G(s) = Q.18 Consider the following statements regarding Routh's array: 1. The situation of a row of zeros indicates the presence of symmetrically located roots. 2. The order of the auxiliary equation obtained from the elements of the Routh's table is always odd. 3. Ifthe first element of any row is zero with other non-zero elements the system is unstable. Which of the above statements is/are correct? (a) tonly () 1 and 2 only (c) 2and3 only (d) 1 and 3 only Q.19 Consider the following block diagram: 70 ce) s6+10) Which of the following statements is true for this system? (@) open loop system is stable (b) closed loop system is stable (©) Both (a) and (b) (Neither (a) nor (b)CO} s. [39, t odes: on ce 2.3 @s 4 ms 1? 3 @4213 @s 2 3 4 a9 For a unity feedback control system, open loop transferfunction, 2s e G(s) = (= Jere) ithe system is stable. Then the possible value of Pis (a) 13 (b) 2.01 @2 @1 0.30 A system has a complex conjugate root pair of multiplicity two or more in its characteristic equation. The impulse response of the system will be () a sinusoidal oscillation which decays exponentially, the system is therefore stable (0) asinusoidal oscillation with time multiplier, the system is therefore unstable (©) a sinusoidal oscillation which rises exponentially with time; the systemis therefore unstable (4) adcterm and harmonic oscillation, the system therefore becomes limitingly stable 231 The performance specifications for a unity feedback control system having an open-loop Uanster function Gs) = ——C_ SO) SeryerD ‘ Velocity error coefficient K,> 10sec? "Stable closed-loop operation © value of K, satisfying the above Specifications, is a @ Keg () K>19 1 (b) 6——_ Ne) Fy kat oar t The value of K for which the system oscillates at 2 rad/s is " Q.36 Consider a unity feedback system, as in the figure K shown, with an integral compensator . and open- Joop transfer function 7 &s)==—— (9) Fyasse where K > 0. The positive value of K for which there are exactly two poles of the unity feedback system on the jw axis is equal to (rounded off to two decimal places). ba K Xs) £| a8] Ms) Q.37 The transfer function of a linear time invariant system is given by Hs) = 2st - 55° + 58-2 The number of zeroes in the right half of the s-plane is__.50 | Blectronics Engineering Q.38 The characteristic equation of an LTH system in given by Fs) = 4 Deo See Oe de 8 0 The number of roots that Hie strictly in the loft half wplane ie Q.30 A unity feedback contro! system is characterized bby the open loop transfer function, Kis +12) Gls) M8) a54 3547) The marginal value of K for stability is Q.40 The loop gain GHot a closed loop system is given kK by the following expression 5D) (gy a) Te value of K for which the system just become unstable is Postal Study Package BLEA) mnaoe Eng, Q.41 For the open loop system shown be number of poles on LMP. AHP and jar ae by a,b crespectivaly then the numbe by @, b, © a8 abe will bo equal \ i: eo be-6 ; 208+ 16 = on oases Q.42 For the given closed loop transter tunctior number of poles on right haif of #:piane is by pwhile number of poles on /w-axis s give aithen the value of p + qwill be equal t EXXEIEEN stabitity Analysis of Linear Control! system 1o 2@ 3@ 40 5. 10. (©) 14. @) 12.) 13.) 14. 19.) 20. @) 21. () 22). 28. (b) 29. (&) 30. (b) 31. () 32. 37. 3) 38. (2) 39, (105) 40. (48) 41 EEE stabitity Anatysis of Linear contro! System He Since, there are two sign changes in the elements of first column, which indicates there are two poles ‘on the right half of s-plane. @ Routh Hurwitz criterion is not applicable when coefficient of characteristic equation are complex, or function of exponential and sinusoidal. Ee In Routh’ array, zero row indicates symmetrically located poles. Ew 1+ G(s) Hs) = 0 s(s? + 10s + 16) +K=0 S34 10s? + 168+ K=0 9 4 fis? + 276431 F(s)= -, £7 88 2 2783 8° 28' +35) 6s’ + 25-4 @ 6 7a 8) 9 fa) (a) 15. (d) 16. (b) 17. (a) 18. (d) (b) 24, (b) 25. (a) 26. (b) 27. (b) 33. ) 34. (199) 35. (075) 36. (202) 42. (5) Routh table so o1 16 gs 10 K » 160-K ie) For system to oscillate 160-K 10 = K=160 For oscillatory system 10s? +K=0 10s? + 160 #+16=0 pul, S = jwwe get w= 4rad/sADE EASY Control Systems MADE stone Be ‘according to Routh Hurwitz criteria, for a system tobe stable, all the coefficient of the characteristic equation must be present and be of same sign ‘and there should not be any sign change in the first column of routh’s array. The order of auxiliary equation obtained from the elements of routh’s table is always even ge Routh table: : 2 ie #5 3 1 2g 5 s so There are no sign changes. Allthree poles lie on left half of s-plane. Bo 8-42 +s+6=0 Routh table: eee ? 46 si 2 6 4 ss 6 0 Two sign changes ain RHP 2 LHP 1 io F-H criterion gives absolute stability. It does not provide gain margin and phase margin. ie 1+ G(s) His) = 0 t-s ery 7° 2+s+1=0 -1tViH4 | -12 V3 2a Which lies in left half as shown, ++ stable system. Objective Practice Sets | 51 Hw 1+ G(s) Hs) = 0 5+ 1)(s+1)+30=0 ss? + (T+ 1)s+1)+30=0 S+ (T+ 1) 2+ Is+30=0 ’ 1 T se TH 30 5) (+9730 Tai 2 30 0 For stable system, T+1>0 (T+ 1) T-30>0 T?+6T-5T-30=0 T(T+6)-5(T+6)>0 (T+6)(T-5)>0 a T>5 a Even though there is negative feedback and open loop control system stable we can have closed loop system as unstable if high gain. iw 1+ G(s) H(s) = 0 Te +5+K=0 soT K s' 10 s KO The system will be conditionally stable if T> 0 and K>0. Ew 1+ G(s) H(s) = 0 s(% +65 +8) +K=0 S465? +85+K=0 ss 1 8 f enel-Jeteetl 9 1 48-K eo é ss KO For system to oscillate, s'=052 | Electronics Engineering iw 14 G(s) H(s) = 0 s(s? +84 2)(s+3)+K=0 SS? + 3S? + 9? 43S + 25+6)+K=0 St 44s) 45s? +6s+K=0 Routh table: s 1 6k GF 4 G0) 14 a (14/4)6-4k 4 (14/4) s K (B)o-k>0 andk>o SaaK>o KS 16 Ke ie ock<2t 4 a |! poles lie on R.H.S. or on imaginary axis, system becomes unstable and output is unbounded ao CE: s?+ ps? + (3+ K)s 4 2(K+1)=0 system will be marginally stable for > 2K + 1) = p(3+ kK) AE: ps? + 2(K +1 ps? + p(3+K)=0 a+k Pp AK +1) PB+K)-AK+9 p 2K +1) 0 s= 434K V3+K =25 3+K=6.25 K= 325 Haw The characteristic equation, 1+@s) =0 Postal Study Package EY4] te MADE Ens, 4 Fits DleoB (s+ 28+ 2)(s+B)+4=0 8+ Bs? + 25? + 28s + 25+ 244-9 S+ (2+ B)s? + (2B + 2)s + (2B + 4) =0 For stability, 2(2 + B)x (B+ 1) > 2B +2) (B+1)>1 or, B>o AL (d) * Order of auxiliary equation obtained from tr elements of Routh's table is always even, ‘* If first element of any row is zero with non zero element there will be definitely a siz change in first column hence the system wi be unstable. Bo ‘The open loop transfer function, Gs) = —58+2)x10 50(s +2) s*(s+1)x(s+10) s*(s+(s+10) As there are two poles at the origin, the open lor ‘system is unstable. Now, the characteristic equation becomes 14 Gls) =0 (s+ 1) (s+ 10) + 50(s+2)=0 SS +118 + 10) + 50(s + 2) s*+ 1183 + 10s? + 50s + 100 Using Routh’s tabular form: 0 st 3) 10 100 cd n 50 0 st 2 100 0 (222-1100 i a ve) 00 n 2 100 As there is 2 sign change in the first column of Routh's array, the closed loop system is unstable. EX Continuous time differentiator may notnecessariy lead to unstable system. For input sinf®, output would be either unbounded or oscillatory.mAape EASY wo Pa 1 10 5 | 2 2 & Ot) 5 s! 20t-10 7 | 6 Coefficient of sin first column 20t-10 tim. = 3 140 t Hence 2 sign change so number of roots of system using on right half of s-plane = 2. @ a Fromthe given options, option (a) and (b) be wrong because coefficients of each power of s in characteristic equation is not positive. Now option(c) s?+4s+10s+11=0 #/ 4 10 Flan s/ 7.25 ol 4 All the terms in first row is positive hence it is a stable system, Ei» As per pole locations. ‘The angle with real axis, cos“1(E) = @ is same for both systems, Thus, 9, = @ Both systems have same peak overshaft. ao The Routh’s table can be formed as sl 4 4 s?| 316%) 3(0) s'] 6 (0) =| 18-0 Control Systems Objective Practice Sets | 53 a there is no sign change in the first column of Routh array thus, there willbe no pole lie on the RHS. of s plane. Also the row of zero occurs that indicates the complex conjugate poles exists on jo axis, Ea The characteristic equation is given as S429? + 654+12=0 Using the Routh array, we get #l1 6 s]2 12 s'|o o ° When one full row becomes zero, then the system will be marginally stable (oscillatory) or unstable. To calculate this stability, we need to check the roots of auxiliary equation i.e. equation of s@terms, so 2s?+12=0 = s = +jJ6rad/sec w= +6 rad/sec ‘As we can see that system is undamped oscillatory, so 6 = 0. (b) The characteristic equation is 14 G(s) Hs) = 0 (s+ 3) (s+ 5) +5(s+2)=0 + 8S + 15s? +5s+10=0 ‘Using Routh’s tabular form, we get, st] 1 15 10 ss] 8 5 0 =| 14.375 10 s'|-0.565 0 s°| 10 +. Total number of sign changes in the first column of Routh array is ‘2’, hence there are two poles having positive real part. 1) Characteristic equation, CE = 1+ GiSJH(s)=0 3a, +557 42541 ors? + 5s? +2s+(3a+ 1)=0 =1