CLASS TEST S.No.

: 01SK_ECEE_ABCDEF_30324

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CONTROL SYSTEM
EC-EE
Date of Test : 30/03/2024

ANSWER KEY h

1. (a) 7. (b) 13. (c) 19. (a) 25. (a)

2. (d) 8. (b) 14. (c) 20. (c) 26. (d)

3. (c) 9. (d) 15. (c) 21. (d) 27. (d)

4. (b) 10. (b) 16. (c) 22. (d) 28. (d)

5. (d) 11. (a) 17. (d) 23. (d) 29. (b)

6. (d) 12. (d) 18. (b) 24. (d) 30. (b)

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D E TA I L E D E X P L A N AT I O N S

1. (a)
Signal flow graph of the system is
s+3
s+1
s+5 1
s+1 s

R(s) C(s )

–3s
Mason’s gain formula,
C ( s) Pk ∆ k
R(s ) = ∆
Where, Pk = forward path gain
∆k = 1 – (sum of individual loops) + (sum of two non touching loops)....
 s + 5 1
P1 =  ⋅
s + 1 s

 s + 3 1
P2 =  ⋅
s + 1 s

 s + 5   1
Loops: L1 =     ( −3s )
s + 1  s 

 s + 5 1  s + 3 1
  × + ×
C ( s) s + 1 s  s + 1 s s+5+s+3
R(s ) =  s + 5 1
=
s[ s + 1 + 3s + 15]
1+ × × (3s)
 s + 1  s
2s + 8 1
= =
s(4s + 16) 2s
Thus system can be represented as
1
R(s ) C(s )
2s

It is an integrator with gain = 0.5

2. (d)

C (s )
It is desirable to remove the effect of disturbance on response. So D( s) ratio can be calculated as

follows:
C (s ) G3 (1 + G1 H 2 )
D( s) = 1 + G1G2G3 H1 + G1 H 2
Response due to disturbance,

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 EC EE • Control System 9

G3 (1 + G1 H 2 )
C(s) = D( s) ⋅
1 + G1G2 G3 H 1 + G1 H 2
C(s) should be zero for D(s) ≠ 0
∴ G1H2 = –1

3. (c)
1
G(s) =
(Ts + 1)
Given that, R(s) = 1
C(s) = R(s).G(s)
1 1
C(s) = =
(Ts + 1)  1
T s + 
 T
Taking inverse Laplace transform of above equation, we get
1 −t /T
C(t) = e
T
1
At, t = 0, C(t) =
T
t = ∞, C(t) = 0
c(t )
1
T

4. (b)
State transition matrix, φ(t) = eAt
φ( 0) = I
From property of state transmission matrix at t = 0,
φ(0) = I
1 + 0 0  1 0
=  = =I
 −0 1 0 1
Option (b) is correct

5. (d)
Characteristic equation of system is,
1 + G(s) H(s) = 0
K
1+ = 0
s(s + 1)(s + 3)
s3 + 4s2 + 3s + K = 0
Routh-Hurwitz method,

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s3 1 3

s2 4 K
12 − K
s1 0
4
s0 K

According to Routh-Hurwitz criteria, for a stable system, first column of Routh array should
have positive sign
12 − K
> 0
4
and K < 12
K > 0
Common range is 0 < K < 12

6. (d)
Since the transfer function has one pole on the R.H.S. thus the system is unstable. So, the final
value theorem is not applicable in this case. The output will be unbounded.

7. (b)
l
j
k
i
g
e f h

a b c d
L1 = bfe, L2 = bchge, L3 = i, L4 = kjg and L5 = kl.

8. (b)
Transfer function of proportional integral controller is

K I K I + sK p
T(s) = K p + =
s s
Initial slope = –20 dB/dec, due to pole at origin
Final slope = 0 dB/dec, due to finite zero.

9. (d)
Solution of homogeneous equation is given by,
x(t ) = φ(t) x(0)
φ(t ) = State transition matrix
x(0) = Initial conditions of system
 1 1
Given : [A ] =  
 0 1

 s 0  1 1 s − 1 −1 
[sI – A] =  − = s − 1
0 s  0 1   0

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 1 1 
s − 1 ( s − 1)2 
[sI – A]–1 =  
 1 
 0 s − 1 

−1 −1
 et tet 
φ(t ) = L [sI − A] = 
 0 et 

 et tet   1   et 
x(t ) = φ( t ) x(0) =   = 
 0 et  0   0 

10. (b)
4
C.L.T.F. T(s ) = 2
s +4
Characteristic equation = s2 + 4 = 0
On comparing, s 2 + 2 ξωn s + ωn2 = 0, ξ=0
1
So, Resonant peak (Mr ) = =∞
2ξ 1 − ξ2

11. (a)
Response of the system in Laplace form is,
Y(s) = X2(s) ...(i)
For zero state response,
X(s) = φ(s) BR(s) ...(ii)
Where, φ(s) = [sI – A]–1

1
R(s) =
s2
State space representation is
x
(t ) = A x(t) + Br(t)
y(t) = C x(t)
0 1
A =  −2 −1 ,
 

0
B =  1
 

 s 0  0 1   s −1 
[sI – A] = 0 s  −  −2 −1 =  2 s + 1
     

s + 1 1
 −2 s 
 
[sI – A]–1 = 2
s +s+2

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From equation (ii), we get

 1 
 s + 1 1  0   1   s2 + s + 2  ⋅  1 
1 
X(s) = 2  ⋅
    =  
s + s + 2  −2 s   1  s 2   s   s2 
 s 2 + s + 2 

 1 
 s 2 (s 2 + s + 2) 
X(s) =  
 1 
 2 
 s( s + s + 2) 
From equation (i), we get
 X1 ( s)
Y(s) = 0 1  
 X2 (s )

 1 
 s 2 ( s 2 + s + 2) 
Y(s) = 0 1  
 1 
 2 
 s(s + s + 2) 
1
Y(s) = s( s 2 + s + 2)

12. (d)
At phase crossover frequency,
∠G(jω)H(jω) = –180°
(9 + 0.5s )( s + 2)
Given, G(s) H(s) = s(s + 3)

(9 + j0.5ω)( jω + 2)
G(jω) H(jω) = jω(3 + jω )

−1  0.5ω  −1  ω  −1  ω 
∠G(jω) H(jω) = tan   + tan   − 90° − tan  
9 2 3
At ω = ωpc, ∠G(jω)H(jω) = –180°

−1  0.5ω   ω  ω
–180° + 90° = tan  + tan −1   − tan −1  
 9   2  3

 ω ω
 0.5ω   − 
–90° = tan −1   + tan −1  2 32 
 9  1+ ω 
 6 

−1  0.5ω 
 ω 
–90° = tan   + tan −1  
 9   (6 + ω 2 ) 

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 0.5ω ω 
 + 
–90° = tan 
−1 9 6 + ω2 
 0.5ω 2 
 1− 
 9(6 + ω 2 ) 

 0.5ω ω 
 + 
⇒  9 6 + ω 2  = –∞
 0.5ω 2 
 1− 
 9(6 + ω 2 ) 

0.5ω 2
1 =
54 + 9ω 2
9 ω2 – 0.5 ω2 + 54 = 0
ω = −6.35
Frequency can not be imaginary. Thus, phase crossover frequency does not exist.
Alteratively, for second order system, Bode phase plot never crosses –180° axis. Thus phase
crossover frequency is infinite.

13. (c)
From time response curve,
4
ts = (For 2% tolerance band)
ξω n
4
4 =
ξω n
ξωn = 1
−πξ / 1 −ξ 2
and MP = e
−πξ / 1 −ξ 2
0.09 = e
πξ
ln (0.09) = −
1 − ξ2
(2.41)2 (1 – ξ2) = π2ξ2
(2.41)2 = ξ2(π2 + (2.41)2)

(2.41)2
= ξ
π 2 + (2.41)2
Damping ratio, ξ = 0.61
1
ωn = = 1.64
0.61
Standard second order transfer function:
ωn2
T(s) =
s 2 + 2ξωn s + ωn2
2.7
T(s) = 2
s + 2 s + 2.7

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14. (c)
At resonant frequency, resonant peak is achieved.
Mr = 1.6,
ωr = 4 rad/sec
Mr and ωr are given by
1
Mr =
2ξ 1 − ξ 2
2
ωr = ω n 1 − 2 ξ
1
Now, 1.6 =
2ξ 1 − ξ 2
2
 10 
4ξ 4 − 4ξ 2 +   = 0
 16 

1
ξ = 0.94, 0.33 (ωrto exist 1 – 2ξ2 > 0; ξ should be less than )
2
ξ = 0.33 is acceptable
4
and ωn =
1 − 2(0.33)2
ωn = 4.53 rad/sec
Settling time for 2% tolerance band is,
4 4
t s = ξω = 0.33 × 4.53 = 2.7 sec
n

15. (c)
 0 1
The system matrix A = 
 −20 −9 
The state equation with stable variable feedback is
x
= (A – BK)x + Br
 0 1   0  0 1 
(A – BK) =  − K1 K 2  = 
 −20 − 9   1
  −20 − K1 −9 − K 2 
The desired characteristic equation is
s2 + 2s + 5 = 0 ...(i)
The characteristic equation using state variable feedback is
sI − ( A − BK ) = 0

s −1
20 + K1 s + 9 + K2 = 0

s2 + 9s + K2s + 20 + K1 = 0
s2 + (9 + K2)s + (20 + K1) = 0 ...(ii)
Comparing (i) and (ii),
K2 = –7
K1 = –15
K = [–15 –7]

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16. (c)
K(s + 4)
G(s) = (s + 2)2

The open loop poles are,

s = –2, –2
The open loop zero is s = –4
P–Z = 2–1=1
So angle of asymptote is 180°
The characterisitic equation is,
(s + 2)2 + K(s + 4) = 0
dK
Put = 0
dS
dK (s + 2)(s + 6)
= ( s + 4)2 =0
dS
s = –2 and s = –6 are the breakaway points.
jω
P
j2

σ
–6 –4 –2

–j2

At point P, S = –4 + j2,
at this point ωd = 2 rad/sec

K (s + 4)
(s + 2)2 = 1
s = −4 + j2

K ( −4 + j 2 + 4)
= 1
( −4 + j 2 + 2)2
2K
= 1
(2 )
2
2 2
+2

K = 4

17. (d)

1
Given, G(s) = s(1 + 2s )(1 + 4s )

1
G(jω) = jω(1 + 2 jω )(1 + j 4ω )

(1 − j 2ω )(1 − j 4ω ) 1 − j6ω − 8ω 2
G(jω) = =
jω(1 + 4ω 2 )(1 + 16ω 2 ) jω(1 + 4ω 2 )(1 + 16ω 2 )

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−6 j(1 − 8ω 2 )
= −
(1 + 4ω 2 )(1 + 16ω 2 ) ω(1 + 4ω 2 )(1 + 16ω 2 )
6 j(1)
At ω = 0; G(jω) = − − = −6 − j∞
1 0
6 j
At ω = ∞; G(jω) = − − = −0 − j0
∞ ∞
plot cuts the negative real axis, when
Img [G(jω)] = 0
1 – 8ω2 = 0
1
ω = rad/sec
2 2
−6
G(jω) = = −1.33
 1  1
 1 + 4 ×  1 + 16 × 
8  8
From above points, polar plot can be drawn as
jω

ω=∞
σ
–1.33

ω=0
–6 – j∞

18. (b)
From the above Bode plot,
For section de, slope is –20 dB/dec
y−0
∴ –20 = log 8 − log 16

y = 6.02 dB
Now, for section bc, slope is –20 dB/dec

16 − 6.02
∴ –20 = log ω − log 4
1

ω1 = 1.268 rad/sec
To find value of gain K
y = mx + c
16 = –40 log 1.268 + 20 log K
K = 10.14
From all the result, transfer function is,
 s s 
10.14  + 1  + 1
 1.268 4 
T(s) =
s 
s 2  + 1
8 
16( s + 1.268)(s + 4)
T(s) = s 2 (s + 8)

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19. (a)
Closed loop transfer function with unity feedback
C (s ) G( s )
T(s) = R( s) = 1 + G( s)

K
s( s + 4) K
= = 2
K s + 4s + K
1+
s(s + 4)
Comparing T(s) with standard form

T(s) = ωn2
s 2 + 2ξω n s + ω n2

We get, ωn2 = K

⇒ ωn = K
2ξωn = 4
Given damping ratio, ξ = 0.5

4 4
∴ ωn = = =4
2 ξ 2 × (0.5)

K = ωn2 = 16
Peak overshoot is given by,
−πξ / 1 −ξ 2
MP = e
−π(0.5)/ 1 − 0.25
= e
= e–1.814 = 0.163

20. (c)
y(t ) = AM sin(2t + φ)
1
where, A = 2, and M =
jω + 2
1
At ω = 2, M =
2 2

and
 ω 1
φ = − tan −1   = − tan −1   = −
π
2  1 4
1 π
y (t) = sin  2t − 
2  4

21. (d)
Using Routh table :
s6 1 6 10 5
5
s 1 5 5
s4 1 5 5
3
s 0 0

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The Routh table construction procedure breaks down here. Since the s 3 row has all zeros. The
auxiliary polynomial coefficients are given by the s4 row. Therefore the auxiliary polynomial is
A(s) = s4 + 5s 2 + 5
dA( s )
= 4s 3 + 10s
ds
dA(s )
Replacing the s 3 row in the Routh table with the coefficients of , we have,
ds
s6 1 6 10 5
5
s 1 5 5
s4 1 5 5
s3 4 10
20 − 10
s2 = 2.5 5
4
25 − 20
s1 =2
2.5
s0 5
Examining the first column of this table we see that there are no sign changes. Hence, there is no
root lying in the RHS of s-plane.

22. (d)
Steady state gain = 1
1 
G( jω) = 
Given, 2  at ω = 1 rad/sec
∠G( jω) = − 90° 

1 1
In option (d), G( jω) ω = 1 = 2
∠ − 45° − 45° = ∠ − 90°
 1 + 1 2
 

23. (d)
2
ωd = ωn 1 − ξ
10
ωn = = 12.5 rad/sec
1 − 0.6 2
Desired characteristic equation of second order is
2 2 2
= s + 2 ξωn s + ωn = s + 15s + 156.25 = 0
C.E. of given system is

 1 
1 + (K p + sKD )   = 0
 s( s + 2) 
s 2 + 2s + Kp + sKD = 0
s2 + (2 + KD)s + Kp = 0
On comparing Kp = 156.25
KD = 15 – 2 = 13

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24. (d)

1 + j 4ω
G( jω) =
1 + j2ω

At ω = 0, G( jω) = 1∠0° 

At ω = 2, G( jω) = 1.9553∠6.91°  First quadrant with clockwise direction
At ω = 10, G( jω) = 1.99∠1.43° 

At ω = ∞, G( jω) = 2∠0° 
So, correct option is (d).

25. (a)
Number of open loop poles in R.H.S. of s-plane(P) = 1.
C.E.,(s + 0.5) (s – 2) + 1.25(s + 1) = 0
s2 – 1.5s – 1 + 1.25s + 1.25 = 0
2
s – 0.25s + 0.25 = 0
s = 0.125 ± j0.4841[Location of closed loop poles]
So, both closed loop poles lies in R.H.S. of s-plane, Z = 2.
Number of encirclement (N)
N = Z – P[∵ Nyquist contour in anticlockwise direction]
N = 2–1=1
N is positive for clockwise encirclement.
N is negative for anti-clockwise encirclement.
So, Nyquist plot will encircles –1 + j0, once in clockwise direction.

26. (d)
The location of the poles are given by, –ξωn ± jωd ...(i)
where, ξ = damping ratio
ωn = natural frequency of oscillation
ωd = damped frequency of oscillation
Using maximum peak overshoot, the value of ξ can be obtained as

−πξ/ 1 − ξ2
e = 0.15

ξ
= 0.604
1 − ξ2

Squaring both the sides,

ξ2 = 0.364(1 – ξ2)
0.364
or ξ2 = = 0.267
1.364
or ξ = 0.517 ...(ii)

π
now, peak time, τp = =3
ωd

π
or ωd = = 1.047 rad/sec
3

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∵ ωd = ωn 1 − ξ2 ...(iii)

∴ From equation (ii) and (iii), we have

ωd 1.047
ωn = =
1 − ξ2 1 − 0.517 2

ωn = 1.223 rad/sec ...(iv)

∴ Location of poles are,
P = –ξωn ± jωd
= –(0.517 × 1.223) ± j1.047
= –0.632 ± j1.047

27. (d)
Steady state error,
ess = lim sE(s )
s→0

R( s)
= slim s×
→0 1 + G( s ) H ( s )
 5 1
s×2 + ×
 s s
= lim K
s→0
1+
s(s + 3)
(2s + 5)
× s(s + 3)
= lim s
s → 0 ( s 2 + 3s + K )

(2s + 5)(s + 3)
= slim
→0 s 2 + 3s + K
15
2.75 =
K
15
or K = = 5.45
2.75
28. (d)
For any point to lie on the root locus the angle condition must be satisfied.
∠G(s)H (s) s = ( −1+ j 2) = ±180°

K ( −1 + j 2 + 1) K ( j 2)
∴ G(s)H (s) s = ( −1+ j 2) = =
( −1 + j 2 + 9)( −1 + j 2 + 3) (8 + j 2)(2 + j 2)

∴ ∠G(s)H (s) s = −1+ j 2 = 90° − tan −1  2  − tan −1 (1)

8
= 90° – 14.036° – 45°
= 30.96°

∵ ∠G(s )H (s ) s = s ≠ ±180°
0

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 EC EE • Control System 21

Angle condition does not satisfy.

29. (b)
The steady state error is defined by
1
s×
ess = lim s2
s→0 (s + α ) (s + 2)
1+ × 2
s s −1
(s 2 − 1)
= slim
→0 s(s 2 − 1) + (s + α )(s + 2)
1
ess = −
2α
∂ess
e e ∂e α ∂  −1  α
∴ S αss = ss = ss × =   ×
∂α ∂α ess ∂α  2 α  − 1
α 2α
α2
= − = −1
α2
30. (b)
φ(t) = L–1[(sI – A)–1]
 s 0  0 1 
(sI – A) = 0 s  −  −8 −6 
   
 s −1 
(sI – A) =  
8 s + 6 
1 s + 6 1
(sI – A)–1 =  
s + 6s + 8  −8 s 
2

 s+6 1 
 (s + 2)(s + 4) (s + 2)(s + 4) 
=  −8 s


 (s + 2)(s + 4) (s + 2)(s + 4) 


 −2 t −4t  1 −2t 1 −4t  

 (2 e − e )  2 e − 2 e  
φ(t) = L–1[(sI – A)–1] =  
( −4 e −2t + 4 e −4t ) ( − e −2t + 2 e −4t ) 

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