GATE EE Vol-3

GATE
ELECTRICAL ENGINEERING
Vol 3 of 4
Second Edition
GATE
Vol 3 of 4
RK Kanodia
Ashish Murolia
NODIA & COMPANY
GATE Electrical Engineering Vol 3, 2e

RK Kanodia & Ashish Murolia
Copyright By NODIA & COMPANY

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SYLLABUS
GENERAL ABILITY
Verbal Ability : English grammar, sentence completion, verbal analogies, word groups,
instructions, critical reasoning and verbal deduction.
Numerical Ability : Numerical computation, numerical estimation, numerical reasoning and
data interpretation.
ENGINEERING MATHEMATICS
Linear Algebra: Matrix Algebra, Systems of linear equations, Eigen values and eigen vectors.
Calculus: Mean value theorems, Theorems of integral calculus, Evaluation of definite and
improper integrals, Partial Derivatives, Maxima and minima, Multiple integrals, Fourier
series. Vector identities, Directional derivatives, Line, Surface and Volume integrals, Stokes,
Gauss and Greens theorems.
Differential equations: First order equation (linear and nonlinear), Higher order linear
differential equations with constant coefficients, Method of variation of parameters, Cauchys
and Eulers equations, Initial and boundary value problems, Partial Differential Equations
and variable separable method.
Complex variables: Analytic functions, Cauchys integral theorem and integral formula,
Taylors and Laurent series, Residue theorem, solution integrals.
Probability and Statistics: Sampling theorems, Conditional probability, Mean, median,
mode and standard deviation, Random variables, Discrete and continuous distributions,
Poisson,Normal and Binomial distribution, Correlation and regression analysis.
Numerical Methods: Solutions of non-linear algebraic equations, single and multi-step
methods for differential equations.
Transform Theory: Fourier transform,Laplace transform, Z-transform.
Electric Circuits and Fields: Network graph, KCL, KVL, node and mesh analysis, transient
response of dc and ac networks; sinusoidal steady-state analysis, resonance, basic filter
concepts; ideal current and voltage sources, Thevenins, Nortons and Superposition and
Maximum Power Transfer theorems, two-port networks, three phase circuits; Gauss Theorem,
electric field and potential due to point, line, plane and spherical charge distributions;
Amperes and Biot-Savarts laws; inductance; dielectrics; capacitance.
Signals and Systems: Representation of continuous and discrete-time signals; shifting and
scaling operations; linear, time-invariant and causal systems; Fourier series representation
of continuous periodic signals; sampling theorem; Fourier, Laplace and Z transforms.
Electrical Machines: Single phase transformer equivalent circuit, phasor diagram, tests,
regulation and efficiency; three phase transformers connections, parallel operation; autotransformer; energy conversion principles; DC machines types, windings, generator
characteristics, armature reaction and commutation, starting and speed control of motors;
three phase induction motors principles, types, performance characteristics, starting and
speed control; single phase induction motors; synchronous machines performance, regulation
and parallel operation of generators, motor starting, characteristics and applications; servo
and stepper motors.
Power Systems: Basic power generation concepts; transmission line models and performance;
cable performance, insulation; corona and radio interference; distribution systems; perunit quantities; bus impedance and admittance matrices; load flow; voltage control; power
factor correction; economic operation; symmetrical components; fault analysis; principles of
over-current, differential and distance protection; solid state relays and digital protection;
circuit breakers; system stability concepts, swing curves and equal area criterion; HVDC
transmission and FACTS concepts.
Control Systems: Principles of feedback; transfer function; block diagrams; steadystate errors; Routh and Niquist techniques; Bode plots; root loci; lag, lead and lead-lag
compensation; state space model; state transition matrix, controllability and observability.
Electrical and Electronic Measurements: Bridges and potentiometers; PMMC, moving iron,
dynamometer and induction type instruments; measurement of voltage, current, power,
energy and power factor; instrument transformers; digital voltmeters and multimeters;
phase, time and frequency measurement; Q-meters; oscilloscopes; potentiometric recorders;
error analysis.
Analog and Digital Electronics: Characteristics of diodes, BJT, FET; amplifiers biasing,
equivalent circuit and frequency response; oscillators and feedback amplifiers; operational
amplifiers characteristics and applications; simple active filters; VCOs and timers;
combinational and sequential logic circuits; multiplexer; Schmitt trigger; multi-vibrators;
sample and hold circuits; A/D and D/A converters; 8-bit microprocessor basics, architecture,
programming and interfacing.
Power Electronics and Drives: Semiconductor power diodes, transistors, thyristors, triacs,
GTOs, MOSFETs and IGBTs static characteristics and principles of operation; triggering
circuits; phase control rectifiers; bridge converters fully controlled and half controlled;
principles of choppers and inverters; basis concepts of adjustable speed dc and ac drives.
***********
PREFACE
This book doesnt make promise but provides complete satisfaction to the readers. The
market scenario is confusing and readers dont find the optimum quality books. This book
provides complete set of problems appeared in competition exams as well as fresh set of
problems.
The book is categorized into units which are then sub-divided into chapters and the
concepts of the problems are addressed in the relevant chapters. The aim of the book is
to avoid the unnecessary elaboration and highlights only those concepts and techniques
which are absolutely necessary. Again time is a critical factor both from the point of view
of preparation duration and time taken for solving each problem in the examination. So
the problems solving methods is the books are those which take the least distance to the
solution.
But however to make a comment that this book is absolute for GATE preparation will
be an inappropriate one. The theory for the preparation of the examination should be
followed from the standard books. But for a wide collection of problems, for a variety of
problems and the efficient way of solving them, what one needs to go needs to go through
is there in there in the book. Each unit (e.g. Networks) is subdivided into average seven
number of chapters on an average each of which contains 40 problems which are selected
so as to avoid unnecessary redundancy and highly needed completeness.
I shall appreciate and greatly acknowledge the comments and suggestion from the users of
this book.
R. K. Kanodia
Ashish Murolia
CONTENTS
CS
CONTROL SYSTEM
CS 1
Transfer Function
CS 3
CS 2
Stability
CS 52
CS 3
Time Response
CS 92
CS 4
Root Locus Technique
CS 137
CS 5
Frequency Domain Analysis
CS 180
CS 6
Design of Control Systems
CS 226
CS 7
State Variable Analysis
CS 242
CS 8
Gate Solved Questions
CS 298
SS
SIGNALS & SYSTEMS
SS 1
Continuous Time Signals
SS 3
SS 2
Continuous Time Systems
SS 37
SS 3
Discrete Time Signals
SS 78
SS 4
Discrete Time Systems
SS 107
SS 5
The Laplace Transform
SS 147
SS 6
The Z-transform
SS 178
SS 7
The Continuous-Time Fourier Transform
SS 222
SS 8
The Continuous-Time Fourier Series
SS 263
SS 9
Sampling and Signal Reconstruction
SS 302
SS 10
Gate Solved Questions
SS 323
***********
CS 1
ROOT LOCUS TECHNIQUE
CS 1.1
Form the given sketch the root locus can be
CS 1.2
Consider the sketch shown below
The root locus can be

(A) (1) and (3)
(B) (2) and (3)
(C) (2) and (4)
(D) (1) and (4)
GATE Electrical Engineering-2015

in 4 Volumes
by R. K. Kanodia & Ashish Murolia
Sample Chapter of GATE Electrical Engineering, Volume-3
10
PECS
EF
11
CS 1.3
Root
Locus
Technique
Root
Locus
Technique
Root
Locus
Technique
PE CS
10 1
EF
10
The valid root locus diagram is
i. n
o
c
.
a
i
d
o
n
.
w
w
w
CS 1.4
A open-loop pole-zero plot is shown below
The general shape of the root locus is
CS 1.5
in
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o
c
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a
i
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o
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w
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Electric circuit & Field, Electrical & electronic measurement
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Analog electronics, Digital electronics, Power electronics
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Control systems, Signals & systems
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CS PE
11
EF 11
Electrical machines, Power systems
Engineering mathematics, General Aptitude
CSPE
1 11
EF 11
Root
Locus
Technique
Root
Locus
Technique
Root
Locus
Technique
in
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o
c
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d
o
n
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w
w
CS 1.6
i. n
o
.c
a
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d
o
n
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w
w
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12
PECS
EF
11
CS 1.7
Root
Locus
Technique
Root
Locus
Technique
Root
Locus
Technique
PE CS
12 1
EF
12
i. n
o
c
.
a
i
d
o
n
.
w
w
w
CS 1.8
The forward-path open-loop transfer function of a ufb system is

K (s + 2) (s + 6)
G (s) =
s2 + 8s + 25
The root locus for this system is
in
.
o
c
.
a
i
d
o
n
.
w
w
w
CS 1.9
The forward-path open-loop transfer function of as ufb system is

K (s2 + 4)
G (s) =
(s2 + 1)
For this system root locus is
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CS PE
13
EF 11
CSPE
1 13
EF 13
Root
Locus
Technique
Root
Locus
Technique
Root
Locus
Technique
c
.
ia
d
o
n
.
w
w
CS 1.10
The forward-path open-loop transfer function of a ufb system is

K (s2 + 1)
G (s) =
s2
The root locus of this system is
i. n
o
.c
a
i
d
o
n
.
w
w
Common Data For Q. 11 and 12:
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in
.
o

in 4 Volumes
14
PECS
EF
11
CS 1.11
CS 1.12
Root
Locus
Technique
Root
Locus
Technique
Root
Locus
Technique
The transfer function of this system is

K (s2 + 2s + 2)
(A)
(s + 3) (s + 2)
K (s2 - 2s + 2)
(C)
(s + 3) (s + 2)
PE CS
14 1
EF
14
K (s + 3) (s + 2)
(s3 + 2s + 2)
K (s + 3) (s + 2)
(D)
(s2 - 2s + 2)
(B)
i. n
o
c
.
a
i
d
o
n
.
w
w
w
The break point is

(A) breakaway at s =- 1.29
(B) breakin at s =- 2.43
(C) breakaway at s =- 2.43
(D) breakin at s =- 1.29
A root locus of ufb system is shown below
CS 1.13
The breakaway point is ____
CS 1.14
At breakaway point the value of gain K is

(A) 24
(B) 7.4 # 10-3
(C) 8.6 # 10-3
(D) 29
CS 1.15
The forward-path transfer function of a ufb system is

K (s + 2)
G (s) =
(s + 3) (s2 + 2s + 2)
The angle of departure from the complex poles is ____
CS 1.16
Consider the feedback system shown below
in
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c
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a
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n
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w
w
w
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15
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CSPE
1 15
EF 15
Root
Locus
Technique
Root
Locus
Technique
Root
Locus
Technique
in
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w

A root locus for a ufb system is shown below
w
CS 1.17
The root locus crosses the imaginary axis at

(A) ! j 3.162
(B) ! j 2.486
(C) ! j 4.564
(D) None of the above
CS 1.18
The value of gain for which the closed-loop transfer function will have a pole on
the real axis at - 5 , will be ____
CS 1.19
The open-loop transfer function a system is

K (s + 8)
G (s) H (s) =
s (s + 4) (s + 12) (s + 20)
i. n
o
.c
a
i
d
o
n
A closed loop pole will be located at s =- 10 , when the value of K is ___

CS 1.20
.
w
w
For a ufb system forward-path transfer function is

K (s + 6)
G (s) =
(s + 3) (s + 5)
The breakaway point and break-in points are located respectively as

(A) 3, 4.27
(B) 7.73, 4.27
(C) 4.27, 3
(D) 4.27, 7.73
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For this system root locus is

in 4 Volumes
16
PECS
EF
11
CS 1.21
Root
Locus
Technique
Root
Locus
Technique
Root
Locus
Technique
PE CS
16 1
EF
16
The open loop transfer function of a system is given by

K
G (s) H (s) =
s (s + 1) (s + 2)
The root locus plot of above system is
i. n
o
c
.
a
i
d
o
n
.
w
w
w
CS 1.22
CS 1.23
A ufb system has forward-path transfer function

G (s) = K2
s
The root locus plot is
in
.
o
c
.
a
i
d
o
n
.
w
w
w
For the ufb system, shown below consider two point

s1 =- 2 + j 3 and s2 =- 2 + j 1
2
Which of the above point lie on root locus ?
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17
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1 17
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Root
Locus
Technique
Root
Locus
Technique
Root
Locus
Technique
CS 1.24
(B) s1 but not s2

(D) neither s1 nor s2
A ufb system has open-loop transfer function

K (s + a)
G (s) = 2
,b > a > 0
s (s + b)
The valid root-loci for this system is
in
.
o
c
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ia
d
o
n
.
w
w
w
CS 1.25
The characteristic equation of a feedback control system is given by

(s2 + 4s + 4) (s2 + 11s + 30) + Ks2 + 4K = 0
where K > 0 . In the root locus of this system, the asymptotes meet in s -plane at
(A) (- 9.5, 0)
(B) (- 5.5, 0)
(C) (- 7.5, 0)
i. n
CS 1.26
o
.c
a
i
d
The root locus of the system having the loop transfer function
K
has
G (s) H (s) =
s (s + 4) (s2 + 4s + 5)
(A) 3 breakaway point
(B) 3 breakin point
(C) 2 breakin and 1 breakaway point
(D) 2 breakaway and 1 break-in point
o
n
CS 1.27
.
w
w
Consider the ufb system shown below
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(A) Both s1 and s2

(C) s2 but not s1

in 4 Volumes
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PECS
EF
11
Root
Locus
Technique
Root
Locus
Technique
Root
Locus
Technique
PE CS
18 1
EF
18
The root-loci, as a is varied, will be
i. n
o
c
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a
i
d
o
n
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w
w
w
Common Data For Q. 27 and 28 :
The forward-path transfer function of a ufb system is

K (s + a) (s + 3)
G (s) =
s (s2 - 1)
CS 1.28
CS 1.29
The root-loci for K > 0 with a = 5 is
in
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c
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a
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d
o
n
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w
w
w
The root-loci for a > 0 with K = 10 is
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CS PE
19
EF 11
CSPE
1 19
EF 19
Root
Locus
Technique
Root
Locus
Technique
Root
Locus
Technique
CS 1.30
c
.
ia
K (s + 6)
For the system G (s) H (s) =
, consider the following characteristic
(s + 2) (s + 4)
of the root locus :
1. It has one asymptotes
2. It has intersection with jw-axis
3. It has two real axis intersections.
4. It has two zeros at infinity.
The root locus have characteristics
(A) 1 and 2
(B) 1 and 3
(C) 3 and 4
(D) 2 and 4
d
o
n
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w
w
CS 1.31
The characteristic equation of a closed-loop system is s (s + 1) (s + 2) + K = 0 .

The centroid of the asymptotes in root-locus will be ____
CS 1.32
The forward path transfer function of a ufb system is

K (s + 3)
G (s) =
s (s + 1) (s + 2) (s + 4)
The angles of asymptotes are
(B) 0, 2p , 4p
(A) 0, p , p
2
3
3
(C) p , p, 5p
3
3
i. n
CS 1.33
o
.c
a
i
d
Match List-I with List-II in respect of the open loop transfer function
K (s + 10) (s2 + 20s + 500)
G (s) H (s) =
s (s + 20) (s + 50) (s2 + 4s + 5)
P.
Q.
R.
S.
(A)
(B)
(C)
(D)
o
n
List I (Types of Loci)

Separate Loci
Loci on the real axis
Asymptotes
Break away points
P
Q
R
4
3
1
4
3
2
3
4
1
3
4
1
.
w
w
List II (Numbers)
1. One
2. Two
3. Three
4. Five
S
1
1
1
2
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in 4 Volumes
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EF
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CS 1.34
Root
Locus
Technique
Root
Locus
Technique
Root
Locus
Technique
The root-locus of a ufb system is shown below
i. n
o
c
.
a
i
d
o
n
.
w
w
w
The open loop transfer function is

K
(A)
s (s + 1) (s + 3)
K (s + 1)
(C)
s (s + 3)
CS 1.35
CS 1.36
CS 1.37
PE CS
20 1
EF
20
(B)
K (s + 3)
s (s + 1)
(D)
Ks
(s + 1) (s + 3)
The characteristic equation of a linear control system is s2 + 5Ks + 9 = 0 . The

root loci of the system is
in
.
o
c
.
a
i
d
o
n
.
w
w
w
A unity feedback control system has an open-loop transfer function

K
G (s) =
2
s (s + 7s + 12)
The gain K for which s =- 1 + j1 will lie on the root locus of this system is
___
K (1 - s)
An unity feedback system is given as G (s) =
. Which is the correct root
s (s + 3)
locus diagram ?
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CS PE
21
EF 11
CSPE
1 21
EF 21
in
.
o
c
.
ia
The open loop transfer function G (s) of a ufb system is given as

K ^s + 23 h
G (s) = 2
s (s + 2)
From the root locus, at can be inferred that when K tends to positive infinity,
(A) three roots with nearly equal real parts exist on the left half of the s -plane
(B) one real root is found on the right half of the s -plane
(C) the root loci cross the jw axis for a finite value of K; K ! 0
(D) three real roots are found on the right half of the s -plane
d
o
n
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w
w
CS 1.39
The
characteristic
equation
of
a
closed-loop
system
is
s (s + 1) (s + 3) + K (s + 2) = 0, k > 0 .Which of the following statements is true ?
(A) Its root are always real
(B) It cannot have a breakaway point in the range - 1 < Re [s] < 0
(C) Two of its roots tend to infinity along the asymptotes Re [s] =- 1
(D) It may have complex roots in the right half plane.
CS 1.40
Figure shows the root locus plot (location of poles not given) of a third order
system whose open loop transfer function is
i. n
o
.c
o
n
.
w
w
(A) K3
s
K
(C)
2
s (s + 1)
a
i
d
K
s2 (s + 1)
K
(D)
2
s (s - 1)
(B)
Common Data For Q. 41 to 43 :

The open loop transfer function of a unity feedback system is given by
2 (s + a)
; a>0
G (s) =
s (s + 2) (s + 10)
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CS 1.38
Root
Locus
Technique
Root
Locus
Technique
Root
Locus
Technique

in 4 Volumes
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EF
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CS 1.41
CS 1.42
CS 1.43
CS 1.44
Root
Locus
Technique
Root
Locus
Technique
Root
Locus
Technique
Angles of asymptotes are

(A) 60c, 120c, 300c
(C) 90c, 270c, 360c
PE CS
22 1
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22
(B) 60c, 180c, 300c

(D) 90c, 180c, 270c
i. n
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Intercepts of asymptotes at the real axis is

(A) - 6
(B) - 10
3
(C) - 4
(D) - 8
Break away points are

(A) - 1.056 , - 3.471
(C) - 1.056, - 6.943
(B) - 2.112, - 6.943

(D) 1.056, - 6.943
For the characteristic equation s3 + 2s2 + Ks + K = 0 , the root locus of the system
as K varies from zero to infinity is
in
.
o
c
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a
i
d
o
n
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w
w
CS 1.45
The open loop transfer function of a ufb system is

K ^s + 1h
G ^s h H ^s h = 2
s ^s + 9h
In the root locus of the system as parameter K is varied from 0 to 3, the gain
K when all three roots are real and equal is ____
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CS PE
23
EF 11
CSPE
1 23
EF 23
A ufb system has an open loop transfer function

K ^s + 1h
G ^s h H ^s h =
s ^s - 1h
Root locus for the system is a circle. Centre and radius of the circle are respectively
(A) ^0, 0h, 2
in
.
o
(B) ^0, 0h, 2

(C) ^- 1, 0h, 2
(D) ^- 1, 0h,
CS 1.47
c
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ia
d
o
The open loop transfer function of a system is

K ^s + 3h
G ^s h H ^s h =
s ^s + 2h
The root locus of the system is a circle. The equation of circle is
(A) ^s + 4h2 + w2 = 4
(B) ^s - 3h2 + w2 = 3
n
.
w
w
(C) ^s + 3h2 + w2 = ^ 3 h
(D) ^s - 4h2 + w2 = ^2 h2
CS 1.48
Consider the open loop transfer function of a system shown below

K
G ^s h H ^s h = 2
^s + 2s + 2h^s2 + 6s + 10h
The break away point in root locus plot for the system is/are
(A) 3 real
(B) only real
(C) 1 real, 2 complex
(D) None
CS 1.49
The open loop transfer function of a ufb system is given below.

K
G ^s h H ^s h =
s ^s + 4h^s + 5h
Consider the following statements for the system.
1. Root locus plot cross jw-axis at s = ! j2 5
2. Gain margin for K = 18 is 20 dB.
3. Gain margin for K = 1800 is - 20 dB
4. Gain K at breakaway point is 13.128
Which of the following is correct ?
(A) 1 and 2
(B) 1, 2 and 3
(C) 2, 3 and 4
(D) All
i. n
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a
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n
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CS 1.50
The open loop transfer function of a system is

K
G ^s h H ^s h =
^s + 1h^s + 5h
What is the value of K , so that the point s =- 3 + j5 lies on the root locus?
*Shipping Free*
*Maximum Discount*
CS 1.46
Root
Locus
Technique
Root
Locus
Technique
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Locus
Technique

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CS 1.51
Root
Locus
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Locus
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Locus
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The open loop transfer function of a control system is

K ^s + 1h
G ^s h H ^s h =
s ^s - 1h^s2 + 4s + 16h
Consider the following statements for the system
1. Root locus of the system cross jw-axis for K = 35.7
2. Root locus of the system cross jw-axis for K = 23.3
3. Break away point is s = 0.45
4. Break in point is s =- 2.26
Which of the following statement is correct ?
(A) 1, 3 and 4
(B) 2, 3 and 4
(C) 3 and 4
(D) all
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Locus
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Locus
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CS 1.1
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Correct option is (D).

Option (A) :
Root locus is always symmetric about real axis. This condition is not satisfied for
option (A). A point on the real axis lies on the root locus if the total no. of poles
and zeros to the right of this point is odd. This is also not satisfied by (A). Thus
option (A) is not a root locus diagram.
Option (B) & Option (C) :
These does not satisfy the condition that, a point on the real axis lies on the root
locus if the total no. of poles and zeros to the right of this point is odd. Thus,
option (B) and (C) are also not root locus diagram.
Option (D) :
This is symmetric about real axis and every point of locus satisfy the condition
that no. of poles and zeros in right of any point on locus be odd.
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CS 1.2

Here, option (2) and option (3) both are not symmetric about real axis. So, both
can not be root locus.
CS 1.3
Correct option is (A).

Here pole-zero location is given as
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The angle of departure of the root locus branch from a complex pole is given by
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fD = !6180c + f@
where f is net angle contribution at this pole due to all other poles and zeros.
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f
f
f
Departure angle fD
= fZ - fP
= 6- 90c + 90c@ - 690c + 90c@
=- 180c
= !6180c - 180c@
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SOLUTION

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fD = ! 0c
So, departure angle for pole P0 is 0c, So root locus branch will depart at 0c. Only
option (A) satisfy this condition.
CS 1.4
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Given open loop pole-zero plot is :
No. of poles
P =2
No. of zeros
Z =1
No. of branches of root locus is equal to = no. of poles = 2 . Thus (B) and (D)
are not correct.
The branch of root locus always starts from open loop pole and ends either at an
open loop zero (or) infinite. Thus (C) is incorrect and remaining (A) is correct.
CS 1.5
Correct option is (C).

Root locus plot starts from poles and ends at zeros (or) infinite. Only option (C)
satisfy this condition. No need to check further.
CS 1.6

Root locus always starts from open loop pole, and ends at open loop zero (or)
infinite. Only option (A) satisfy this condition.
We can find the root locus of given plot as follows :
Here,
no. of poles = 2
and
no. of zeros = 0
So, no. of asymptotes
= P-Z = 2
and angle of asymptotes is :
^2q + 1h 180c
; q = 0, 1
fa =
P-Z
^0 + 1h 180c
fa =
= 90c; q = 0
2
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^2 + 1h 180c 3 # 180c
=
= 270c; q = 1
2
P-Z
Hence, root locus plot will be as shown below.
and
fa =
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An open loop pole-zero plot is given as :
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Root locus always starts from open loop poles and end at open loop zeros or
infinite along with asymptotes. Thus option (C) and (D) are wrong.
A point on the real axis lies on the root locus if the total no. of poles and zeros to
the right of this point is odd. This is not satisfied by (B). Thus remaining Correct
option is (A).
CS 1.8
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Forward Path open loop transfer function of given ufb system is
K ^s + 2h^s + 6h
G ^s h = 2
s + 8s + 25
Characteristic equation is
s2 + 8s + 25 = 0
s = - 8 ! 64 - 100 =- 4 ! j3
2
s =- 4 + j3 ; s =- 4 - j3
Thus pole are s =- 4 + j3 ; s =- 4 - j3 and zeros are s =- 2 ; s =- 6
Plot of Pole-zero is shown below
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Root locus will start from poles and ends with zeros.
Only option (C) satisfy above condition.
CS 1.9
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Correct option is (B).

Forward path open loop transfer function of given ufb system is,
K ^s2 + 4h
G ^s h =
s2 + 1
Here, poles
s2 + 1 = 0
s = ! j1
2
and zeros
s +4 = 0
s = ! j2
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Pole-zero plot is
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Root locus will start from poles and ends with zeros. Thus (B) is correct.
CS 1.10

Forward Path one loop transfer function of given ufb system is
K ^s2 + 1h
G ^s h =
s2
2
Zeros are :
s +1 = 0
s = ! j1
Poles are :
s = 0; s = 0
Location of poles and zeros is shown below
Hence option (B) and (D) may not be correct option. A point on the real axis
lies on the root locus if the total no. of poles and zeros to the right of this point
is odd. This is not satisfied by (C) because at origin there are double pole. Thus
remaining Correct option is (A).
CS 1.11
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Given open loop pole zero plot is :
From above plot zeros are s = 1 + j1 and s = 1 - j1 and poles are s =- 2 and
s =- 3
Transfer function of the system is
K "s - ^1 + j1h, "s - ^1 - j1h,
G ^s h =
"s - ^- 2h, "s - ^- 3h,
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Locus
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Locus
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or
CS 1.12
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Method i :
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Root locus lie on real axis where no. of poles and zeros are odd in number from
that right side.
Hence, from given pole-zero plot root locus lie between poles ^- 2h and ^- 3h on
real axis. Thus s =- 1.29 can not be break point because it does not lie on root
locus. Thus possible break point is s =- 2.43 which lies between - 2 and - 3 .
On root locus it may be seen easily that s =- 2.43 lie on root locus and locus
start from pole ^- 2h and ^- 3h. Thus at s =- 2.43 it must break apart.
Thus this point is break away point.
Gain K will be maximum at break away pointand minimum at break in point.
We can also check maxima and minima for gain K
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Method II
The point, at which multiple roots are present, are known as break point. These
are obtained from the dK = 0
ds
Here, characteristic equation is
1 + G ^s h H ^s h = 0
K ^s2 - 2s + 2h
=0
1+
^s + 2h^s + 3h
-^s + 2h^s + 3h
K =
^s2 - 2s + 2h
-^s2 + 5s + 6h
...(1)
= 2
s - 2s + 2
Now, differentiating eq (1) w.r.t s and equating zero we have
2
2
dK = -^s - 2s + 2h^2s + 5h + ^s + 5s + 6h^2s - 2h = 0
2
ds
^s2 - 2s + 2h
7s2 + 8s - 22 = 0
which gives s =+ 1.29 and s =- 2.43 out of which s =- 2.43 is break point.
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CS 1.13
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Correct answer is - 1.45 .

Given root locus of ufb system is shown below
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K "^s - 1h - j1, "^s - 1h + j1,

^s + 2h^s + 3h
K "^s - 1h2 - ^ j1h2,
=
^s + 2h^s + 3h
K ^s2 - 2s + 2h
G ^s h =
^s + 2h^s + 3h
=

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Here, root locus branches meet between - 1 and - 2 and go apart. Hence, break
away point will lie between - 1 and - 2 ; .
For this system zeros are s = 3 and s = 5 ; poles are s =- 1 and s =- 2 .
Transfer function of given system will be
K ^s - 3h^s - 5h
G ^s h =
^s + 1h^s + 2h
Characteristic equation
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1 + G ^s h H ^s h = 0
K ^s - 3h^s - 5h
1+
=0
^s + 1h^s + 2h
-^s2 + 3s + 2h
K = 2
^s - 8s + 15h
Differentiating eq. (1) wrt to s and equating to zero we have
2
2
dK = -^s - 8s + 15h^2s + 3h + ^s + 3s + 2h^2s - 8h = 0
2
ds
^s2 - 8s + 15h
11s2 - 26s - 61 = 0
or
s =+ 3.9 and s =- 1.45
Thus s =- 1.45 is break away point and s =+ 3.9 is break in point.
CS 1.14

Break away and Break in points always satisfy characteristic equation.
Substituting s =- 1.45 in eq (1), we get
-8^- 1.45h2 + 3 ^- 1.45h + 2B
K =
6^- 1.45h2 - 8 ^- 1.45h + 15@
^- 0.2475h
== 8.62 # 10-3
28.7025
CS 1.15
Correct answer is 108.4 .

Forward path transfer function of given ufb system is
K ^s + 2h
G ^s h =
^s + 3h^s2 + 2s + 2h
Here zero is s =- 2 and poles are s =- 3 and s =- 1 ! j1
Pole-zero Plot is shown below
...(1)
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Angle of departure at pole P1 is given by :

fD = !6180c + f@
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fD = !6180c + f@
= !:180c + tan 1 - 90c - tan-1 1 D

2
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= !6180 + 45 - 90 - 26.56@
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fD = ! 108.4c
Hence, departure angle for pole P1 is + 108.4c and departure angle for pole P2 is
- 108.4c because P1 and P2 are complex conjugate.
CS 1.16

The given system is shown below
We redraw the block diagram after moving take off point as shown below
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Forward path transfer function is

- K ^s + 2h
G ^s h =
^s + 1h^s + 3h
Root locus is plotted for K = 0 to K = 3. But here, K is negative. Thus we will
plot for K =- 3 to K = 0 . This is called complementary root locus.
Hence, the root locus on the real axis is found to the left of an even count of real
poles and real zeros of G ^s h. Plot will start from pole and ends on zero. Thus
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CS 1.17
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Given root locus is shown below
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where f is net angle contribution at pole P1 due to all other poles and zeros.
f = fZ - fP
= fZ1 - 6fP2 + fP3@
where,
fZ1 = tan-1 1; fP2 = 90c; fP3 = tan-1 1
2
-1
-1 1
f = tan 1 - :90c + tan D
2
Departure angle :

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It does not have any zero and have poles at s =- 4 ands =- 1 ! j1.
Thus open loop transfer function,
K
G ^s h =
+
s
4
s
^
h^ 2 + 2s + 2h
K
= 3
2
s + 6s + 10s + 8
Closed loop transfer function,
K
3
2
s
6
s
+
+ 10s + 8
T ^s h =
K
1+ 3
s + 6s2 + 10s + 8
K
= 3
s + 6s2 + 10s + 8 + K
Characteristics equation :
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s3 + 6s2 + 10s + 8 + K = 0
Routh array is shown below
s3
s
10
8+K
s1
52 - K
6
s0
8+K
When root locus cut will cut imaginary axis if element in s1 is zero.
52 - K = 0 & K = 52
Thus
6
and then from auxiliary equation we have
6s2 + ^8 + 52h = 0
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s2 =- 60 =- 10
6
s = ! j3.162
CS 1.18
Correct answer is 17.

Using Pole - zero plot :
Gain K at any ^s = s 0h point on root locus is given by :

Product of phasors drawn from OLP at that point
K s=s =
Product of phasors drawn from OLZ at that point
0
Here no any zero is present.

Hence,
K = Product of phasors drawn from OLP at that point
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s =- 5
= ^PP3h # ^PP1h # ^PP2h
= 1 # 42 + 1 #
= 42 + 1 = 17
K = 17
CS 1.19
42 + 1
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Open loop transfer function of given system is
K ^s + 8h
G ^s h H ^s h =
s ^s + 4h^s + 12h^s + 20h
Here,
Zeros : Z =- 8
Poles : P1 = 0 ; P2 =- 4 ; P3 =- 12 ; P4 =- 20
Value of K at s =- 10 is :
p ^Phasors drawn from OLP at s =- 10h
K s =- 10 =
p ^Phasors drawn from OLZ at s =- 10h
Pole-zero plot is shown below.
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CS 1.20
^PP1h # ^PP2h # ^PP3h # ^PP4h

s =- 10
^PZ h
= 10 # 6 # 2 # 10 = 600
2
K = 600
=
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For given system, forward path transfer function,
K ^s + 6h
G ^s h =
+
s
^ 3h^s + 5h
Characteristic equation for closed loop transfer function,
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1 + G ^s h H ^s h = 0
K ^s + 6h
or
1+
=0
^s + 3h^s + 5h
-^s2 + 8s + 15h
or
K =
^s + 6h
differentiating w.r.t to s and equating to zero, we have
2
dK = -^s + 6h^2s + 8h + ^s + 8s + 15h = 0
ds
^s + 6h2
or
s2 + 12s + 33 = 0
or
s =- 7.73 and s =- 4.27
The root locus is shown below. Here we can easily say that s =- 4.27 is break
away point and s =- 7.73 point.
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Open loop transfer function :
G ^s h H ^s h =
K
s ^s + 1h^s + 2h
In option (A) and pption (C), the root locus on the real axis is found to the left
of an even count of real poles and real zeros of GH . Hence, these can not root
locus diagram.
Now characteristic equation ,
1 + G ^s h H ^s h = 0
K
=0
1+
s ^s + 1h^s + 2h
s3 + 3s2 + 2s + K = 0
Routh array is shown below.
s3
6-K
3
s0
At K = 6 , s1 row is zero, thus using auxiliary equation we get,

3s2 + 6 = 0
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s =! j 2
Root locus cut on jw axis at s = ! j 2 for K = 6 . Thus option (B) is correct
because (D) does not cut jw axis.
CS 1.22

For given ufb system, forward transfer function,
G ^s h = K2
s
Angle of departure or angle of asymptote for multiple poles is,
^2q + 1h 180c
;
fa =
r
where
r = no. of multiple poles
q = 0 , 1, 2, .... ^r - 1h
Here,
r = 2 ; (2 multiple poles at origin)
q = 0, 1
^0 + 1h 180c
fa =
= 90c for q = 0
2
and
fa =
^2 + 1h 180c
= 270c for q = 1
2
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CS 1.23
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For given ufb system, open loop transfer function is,
K ^s + 3h^s + 4h
G ^s h =
^s + 1h^s + 2h
Given two point, s1 =- 2 + j3 ; s2 =- 2 + j 1
2
If any point lie on root locus, it satisfies the characteristic equation. Thus we have
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or
and
Point: s1 =- 2 + j3
q ^s h = 1 + G ^s h H ^s h = 0
(Magnitude)
G ^s h H ^s h = 1
(Phase)
G ^s h H ^s h = ! 180c
Now we use the phse condition G ^s h H ^s h s = s = f1 , we have

f1 = q1 + q2 + q3 + q4
= tan-1 3 + tan-1 3 - 90c - tan-1 b 3 l
2
1
-1
= tan-1 3 + tan-1 3 - 90c - ^180c - tan-1 3h
2
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= 56.30 + 71.56 - 270c + 71.56

or
f1 =- 70.56 ! ! 180c
Hence, point s1 not lie on root locus.
Point : s2 =- 2 + j 1 :2
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Hence, root locus plot will be as shown below.

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G ^s h H ^s h s = s = f2 we have,
f2 = q1 + q2 - q3 - q4
= tan-1 1 + tan-1 1 - 90c - c180c - tan-1 1 m
2 2
2
2
= tan-1 1 + tan-1 1 - 90c - 180c + tan-1 1
2 2
2
2
f2 =- 180c Here phase condition is satisfied.
Hence, point s2 lies on root locus.
Using phase condition
CS 1.24
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For given ufb system, open loop transfer function is
K ^s + ah
; b>a>0
G ^s h = 2
s ^s + b h
Here,
zero : Z =- a
Poles : s = 0 , 0; s =- b
Departure angle at double poles on origin is :
^2q + 1h 180c
; r = 2, q = 0, 1
f =
r
f = 90c and 270c

To get intersection with imaginary axis we use Ruth array as shown below.
characteristic equation is
s3 + bs2 + Ks + Ka = 0
Routh Array is shown below
s3
Ka
b-a
b
s0
Ka
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Here, for any value of K , sl row of Routh array will not be zero. Thus system
is stable for all positive value of K and hence root locus does not cross jw axis.
Therefore root locus completely lies in left half of s -plane.
Based on these above result we say that Correct option is (A).
CS 1.25

Characteristic equation of given feedback control system is
^s2 + 4s + 4h^s2 + 11s + 30h + Ks2 + 4K = 0

K ^s2 + 4h
or
=0
1+ 2
^s + 4s + 4h^s2 + 11s + 30h
Characteristic equation is,
1 + G ^s h H ^s h = 0
Comparing, eq (1) and (2) we get open loop transfer function as
K ^s2 + 4h
G ^s h H ^s h = 2
^s + 4s + 4h^s2 + 11s + 30h
K ^s2 + 4h
=
(s + 2) (s + 2) (s + 5) (s + 6)
...(1)
...(2)
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s =- 2, - 2 and s =- 6 , - 5
The point at which asymptotes meet (centroid) is given by:
Sum of Re 6P @ - Sum of Re 6Z @
sA =
^P - Z h
2
Here,
open loop zeros : s + 4 = 0
s = ! j2
^- 2 - 2 - 5 - 6h - 0
sA =
4-2
= - 15 =- 7.5
2
It intersects on real axis. So point is: ^- 7.5, 0h
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CS 1.26
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Open loop transfer function for given system is
K
G ^s h H ^s h =
s ^s + 4h^s2 + 4s + 5h
Characteristic equation,
K
=0
1+
s ^s + 4h^s2 + 4s + 5h
K =- s ^s + 4h^s2 + 4s + 5h
Differentiating wrt s and equating to zero we have
dK =- 2s + 4 s2 + 4s + 5 + s2 + 4s 2s + 4 = 0
h^
h ^
h^
hB
8^
ds
...(1)
or
-^2s + 4h^s2 + 4s + 5 + s2 + 4s h = 0
or
...(2)
-^s + 2h^2s2 + 8s + 5h = 0
or
s =- 2 and s =- 0.775 , - 3.225
Now, we check for maxima and minima value of gain K at above point. If gain
is maximum, then that point will be break away point. If gain is minimum, then
that point will be break in point.
Again differentiating equation (2) with respect to s , we get,
d 2 K =- 2s2 + 8s + 5 + s + 2 4s + 8
h ^
h^
h@
6^
ds2
2
=-^6s + 24s + 21h
For s =- 0.775 and s =- 3.225 ,
d 2 K =- 6.0 < 0 ; s =- 0.775 , - 3.225 are maxima points.
ds2
Hence, s =- 0.775 and s =- 3.225 are break away points.
For s =- 2 :
d 2 K =+ 3 > 0 ; s =- 2 is minima points.
ds2
Thus s =- 2 is break in point.
Hence, there is two break away points ^s =- .0775, - 3.225h and one break in
point.
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CS 1.27

For a ufb system, forward transfer function is :
*Shipping Free*
*Maximum Discount*
Open loop poles are

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Locus
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G ^s h =
Method I :
PE CS
38 1
EF
38
1
s ^s + ah
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Characteristic equation :
1 + G ^s h H ^s h = 0
1
=0
1+
s ^s + ah
s 2 + as + 1 = 0
=0
1 + 2as
^s + 1h
Open loop transfer function, as a is varied is
G ^s h H ^s h = 2as
s +1
Here,
zero : s = 0
and
poles : s2 + 1 = 0 & s = ! j
Root locus will be :
Method II :
Closed loop transfer function :

G ^s h
T ^s h =
= 2 1
1 + G ^ s h H ^ s h s + as + 1
1
2
G ^s h
+
s
1
=
a
1 + G ^s h H ^s h
1+ 2 s
s +1
G ^s h H ^s h = 2as
s +1
CS 1.28
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Forward path transfer function of given ufb system is
K ^s + ah^s + 3h
; a = 5 and K > 0
G ^s h =
s ^s2 - 1h
K ^s + 5h^s + 3h
or
G ^s h =
s ^s2 - 1h
Zeros : s =- 5 , s =- 3
Poles : s = 0 , s = 1, s =- 1
Locus branches start from pole and ends on zeros or infinite along asymptote.
Here, no. of asymptotes = P - Z = 3 - 2 = 1
Only option (A) has one asymptotes.
*Shipping Free*
*Maximum Discount*
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Locus
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^2q + 1h 180c
; q = 0 , 1, 2, .... ^P - Z - 1h
^P - Z h
^0 + 1h 180c
=
= 180c
1
Only option (A) satisfies these conditions.
fa =
CS 1.29
in
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Forward path transfer function :
K ^s + ah^s + 3h
; K = 10 and a > 0
G ^s h =
s ^s2 - 1h
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1 + G ^s h H ^s h = 0
10 ^s + ah^s + 3h
1+
=0
s ^s2 - 1h
s3 - s + 10 6s2 + ^a + 3h s + 3a@ = 0
s ^s2 + 10s + 29h + a10 ^s + 3h = 0
a10 ^s + 3h
1+ 2
=0
s ^s + 10s + 29h
Open loop gain as a is varied,
a10 ^s + 3h
G ^s h H ^s h = 2
s ^s + 10s + 29h
Here,
no. of asymptotes = P - Z
= 3-1 = 2
So, two root branches will go to infinite along asymptotes as a " 3.
Now using equation (1) we have
s3 + 10s2 + ^29 + 10ah s + 30a = 0

Routh array is shown below
s3
(29 + 10a)
s2
10
30a
s1
(29 + 7a)
s0
30a
...(1)
...(2)
...(3)
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For a > 0 , s1 row can not be zero. Hence, root locus does not intersect jw axis
for a > 0 .
CS 1.30
.
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Open loop transfer function given
K ^s + 6h
G ^s h H ^s h =
^s + 2h^s + 4h
Poles : P = 2 ; s =- 2 and s =- 4
Zeros : Z = 1; s =- 6
No. of asymptotes = P - Z
*Shipping Free*
*Maximum Discount*
Angle of asymptotes,

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= 2-1 = 1
PE CS
40 1
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40
Thus (1) is correct.
Now characteristic,
^s + 2h^s + 4h + K ^s + 6h = 0
or
s2 + ^6 + K h s + 8 + 6K = 0
Making Routh array we have
s2
s1
s0
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1
8 + 6K
6+K
8 + 6K
Root locus is plotted for K = 0 to 3. i.e. K > 0 .

Here, for K > 0 root locus does not intersect jw axis because s1 row will not be
zero. Thus (2) is incorrect.
Here, poles are two and zero is one. Hence one imaginary zero lies on infinite.
Thus (4) is incorrect.
Therefore (B) must be correct option. But we check further as follows.
Root locus will be as given below
It has two real axis intersections. Thus (3) is correct.

CS 1.31
Correct answer is - 1.
Characteristic equation of given closed loop system is
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s ^s + 1h^s + 2h + K = 0
K
or
=0
1+
s ^s + 1h^s + 2h
1 + G ^s h H ^s h = 0
Comparing we get open loop transfer function,
K
G ^s h H ^s h =
s ^s + 1h^s + 2h
Poles : s = 0 , s =- 1, s =- 2
Zeros : No zero
Centroid
sA =
P-Z
^0 - 1 - 2h - ^0 h
=
=- 3 =- 1
3-0
3
CS 1.32

Forward path transfer function of given ufb system is,
K ^s + 3h
G ^s h =
s ^s + 1h^s + 2h^s + 4h
*Shipping Free*
*Maximum Discount*
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Locus
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c
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^2 + 1h 180c
= 180c; q = 1
^4 - 1h
^4 + 1h 180c
= 300c; q = 2
=
^4 - 1h
Z60c = p ;
q=0
3
]
fa = [180c= p; q = 1
]300c= 5p ; q = 2
3
\
=
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Thus
CS 1.33
in
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Open loop transfer function,
K ^s + 10h^s2 + 20s + 500h
G ^s h H ^s h =
s ^s + 20h^s + 50h^s2 + 4s + 5h
Separate loci = No. of open loop poles = 5
Asymptotes = No. of OLP No. of OLZ = 5 - 3 = 2
At this point we say that Correct option is (B). But we check further as follows.
Loci on real axis = no. of poles that lie on real axis
= 3 ; (s = 0 , s =- 20 , s =- 50 )
Open loop zeros : s =- 10 , s =- 10 ! j20
Open loop zeros : s = 0 , s =- 20 , s =- 50 , s =- 2 ! j1
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^0 - 20 - 50 - 2 - 2h - ^- 10 - 10 - 10h
sA =
5-3
=- 22
^2q + 1h 180c
; P - Z = 2, q = 0, 1
fa =
P-Z
^0 + 1h 180c
=
= 90c; q = 0
2
Centroid
^2 + 1h 180c
= 270c; q = 1
2
*Shipping Free*
*Maximum Discount*
Here zeros : Z = 1; s =- 3
and poles : P = 4 ; s = 0 , s =- 1, s =- 2 , s =- 4
Angle of asymptotes ,
^2q + 1h 180c
; q = 0 , 1, 2,..... ^P - Z - 1h
fa =
^P - Z h
^0 + 1h 180c 180
=
= 60c; q = 0
=
3
^4 - 1h

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The root locus is shown below.
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Here, Root locus lie only region on real axis that is in left of an odd count of real
poles and real zeros.
Hence, Root locus lies between - 20 and - 50 and break away point will be also
in this region. Only one break away point will there.
CS 1.34

The loci starts from + s =- 1 and 0, and ends at - 3 and 3. Hence poles are
- 1, 0 , and zeros are - 3, 3.
So transfer function is
CS 1.35
K (s + 3)
.
s (s + 1)

s2 + 5Ks + 9 = 0
5s = 0
1+ K
2
s +9
1 + G ^s h H ^s h = 0
Open loop transfer function is,
G ^s h H ^s h = 52 Ks
s +9
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OLP :s = ! j3 and OLZ : s = 0

Option (A) and option (B) are incorrect because root locus are starting from zeros.
On real axis loci exist to the left of odd number of real poles and real zeros.
Hence only Correct option is (D).
CS 1.36

K
; H ^s h = 1
s ^s + 7s + 12h
If point : s =- 1 + j1 lies on root locus, then it satisfies the characteristic equation
G_s i =
1 + G ^s h H ^s h = 0
=0
1+ 2 K
s ^s + 7s + 12h
s3 + 7s2 + 12s + K = 0
Substituting s =- 1 + j1 we have
...(1)
^- 1 + j h3 + 7 ^- 1 + j h2 + 12 ^- 1 + j h + K = 0
*Shipping Free*
*Maximum Discount*
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Locus
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CS 1.37
in
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Open loop transfer function of given ufb system is,
- K ^s - 1h
K ^1 - s h
=
G ^s h =
s ^s + 3h
s ^s + 3h
OLP : s = 0 , s =- 3
OLZ : s = 1
Here, Gain K is negative, so root locus will be complementary root locus and is
found to the left of an even count of real poles and real zeros of GH .
Hence Option (A) and Option (D) are incorrect. Option (B) is also incorect
because it does not satisy this condition. Hence (C) is correct.
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CS 1.38
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Open loop transfer function given is
K ^s + 23 h
G ^s h = 2
s (s + 2)
Root locus starts at OLP : s = 0 , s = 0 , s =- 2
No. of asymptotes ,
#OLP - #OLZ = No. of OLP No. of OLZ
= 3-1 = 2
Angle of asymptotes :
^2q + 1h 180c
; P - Z = 2, q = 0, 1
fa =
P-Z
^0 + 1h 180c
1.
= 90c for q = 0
fa =
2
^2 + 1h 180c
= 270c for q = 1
2
Centroid
sA =
P-Z
^0 - 2h - b- 23 l
=
=- 2
3-1
3
Angle of departure at double pole (at origin)
^2q + 1h 180c
; r = 2, q = 0, 1
fD =
r
i. n
fa =
2.
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w
= 90c, 270c
Fro above analysis Root locus plot will be as given below.
*Shipping Free*
*Maximum Discount*
- 10 + K = 0
K =+ 10

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From root locus it can be observe easily that for all values of gain K (K = 0 to
3) root locus lie only in left half of s -plane.
CS 1.39
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Characteristic equation of a closed loop system is :
s ^s + 1h^s + 3h + K ^s + 2h = 0 ; K > 0
K ^s + 2h
1+
=0
s ^s + 1h^s + 3h
Open loop transfer function is,
K ^s + 2h
G ^s h H ^s h =
s ^s + 1h^s + 3h
OLP : s = 0 , s =- 1, s =- 3 and OLZ : s =- 2
Pole zero plot is shown below.
No. of asymptotes = P - Z = 3 - 1 = 2
^2q + 1h 180c
; P - Z = 2, q = 0, 1
fa =
P-Z
fa = 90c and 270c
Centroid
sA =
P-Z
^0 - 1 - 3h - ^- 2h
=
=- 2 =- 1
3-1
2
Break away point lie in the range - 1 < Re 6s @ < 0
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Two of its roots tends to infinite along the asymptotes Re 6s @ =- 1. Root locus
lies in only left half of s -plane.
CS 1.40

Given Root locus plot,
*Shipping Free*
*Maximum Discount*
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Locus
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From given plot, we can see that centroid (point where asymptotes intersect on
real axis) is origin and all three root locus branches also start from origin and
goes to infinite along with asymptotes. Therefore there is no any zero and three
poles are at origin.
So option (A) must be correct.
G ^s h = K3
s
Now we verify the above result as follows.
Using phase condition we have G ^s h H ^s h s = s = ! 180c
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From given plot, for a given point on root locus we have

y
G ^s h H ^s h s = 1, 3 =- 3 tan-1 a k
x
^
h
=- 3 tan-1 c
3
1 m
=- 3 # 60c =- 180c
CS 1.41

Open loop transfer function of given ufb system is
2 ^s + ah
G ^s h =
s ^s + 2h^s + 10h
2 ^s + ah
1+
=0
s ^s + 2h^s + 10h
s ^s + 2h^s + 10h + 2s + 2a = 0
s3 + 12s2 + 22s + 2a = 0
2a
=0
1+ 3
s + 2s2 + 22s
Open loop transfer function as a varied,
2a
G ^s h H ^s h = 3
s + 12s2 + 22s
No. of poles : P = 3 and no. of zeros : Z = 0
^2q + 1h 180c
; P - Z = 3 ; q = 0 , 1, 2
fa =
P-Z
^0 + 1h 180c
=
= 60c for q = 0
3
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^2 + 1h 180c
= 180c for q = 1
3
*Shipping Free*
*Maximum Discount*
in
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^4 + 1h 180c
= 300c for q = 2
3
fa = 60c, 180c, 300c
CS 1.42
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Intercept point of asymptotes
Centroid
sA =
P-Z
Poles : s = 0 , s =- 2 , s =- 10
Zeros : No any zero.
^0 - 2 - 10h - 0
sA =
=- 4
3-0
CS 1.43

We have
K =
-^s3 + 12s2 + 22s h

2
2
dK = 0 & -^3s + 24s + 22h = 0
2
ds
or - 3s2 - 24s - 22 = 0
or
s =- 1.056 , - 6.943
Thus break point are s =- 1.056 , and - 6.943 .
CS 1.44

Given characteristics equation is
s3 + 2s2 + Ks + K = 0
s3 + 2s2 + K ^s + 1h = 0
K ^s + 1h
1+ 2
=0
s ^s + 2h
K ^s + 1h
G ^s h H ^s h = 2
s ^s + 2h
OLZ : s =- 1; No. of zeros : Z = 1
OLP : s = 0 , s = 0 , s =- 2 ; No. of Poles : P = 3
Root loci starts ^K = 0h at s = 0 , s = 0 and s =- 2
One of root loci terminates at s =- 1 and other two terminates at infinity.
No. of asymptotes : P - Z = 2
^2q + 1h 180c
; P - Z = 2, q = 0, 1
fa =
P-Z
^0 + 1h 180c
=
= 90c; q = 0
2
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^2 + 1h 180c
= 270c; q = 1
2
Centroid (intercept point of asymptotes on real axis)
sA =
P-Z
=
*Shipping Free*
*Maximum Discount*
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CS 1.45
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The root locus plot give the location of the closed loop poles for different values
of parameter gain K .
The characteristic equation is
K ^s + 1h
1+ 2
=0
s ^s + 9h
or
...(1)
s3 + 9s2 + Ks + K = 0
For all the roots to be equal and real, we require
...(2)
^s + P h3 = s3 + 3Ps2 + 3P2 s + P3 = 0
On comparing equation (1) and (2), we get
3P = 9
P =3
K = P3
= ^3h3
= 27
or
and
CS 1.46
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Open loop poles are : s = 0 and s = 1 and open loop zero is s =- 1
The characteristic equation is
K ^s + 1h
1+
=0
s ^s - 1h
s ^s - 1h
or
K =s+1
The break points are given by solution of dK = 0
ds
- s ^s - 1h
d
dK
Hence,
= ;
=0
s+1 E
ds
ds
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or
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or
^s + 1h^2s - 1h - s ^s - 1h = 0
2s2 - s + 2s - 1 - s2 + s = 0
s2 + 2s - 1 = 0
s = - 2 ! 2.828 =- 1 ! 1.414
2
...(1)
*Shipping Free*
*Maximum Discount*
^0 + 0 - 2h - ^- 1h
=- 1 =- 0.5
3-1
2
Root locus is as shown below.
=

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The root locus is given below
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From eq (1),
Centre of circle
= ^- 1, 0h
and radius of circle = 1.414 =

CS 1.47

The angle criterion of root locus is
G ^s h H ^s h = 180c
or,
^s + 3h - s - ^s + 2h = 180c
Substitute s = s + jw , we get
^s + jw + 3h - ^s + jwh - ^s + jw + 2h = 180c
tan-1 a w k - tan-1 a w k = 180c + tan-1 a w k
s+3
s
s+2
or
tan :tan-1 a w k - tan-1 a w kD = tan :180c + tan-1 a w kD
s+3
s
s+2
w -w
0+ w
s
+
3
s
s+2
or
=
w
w
1 +a
1 - ^0 ha w k
s + 3 ka s k
s+2
or
or
...(1)
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- 3w
2 = s+2
s ^s + 3h + w
- 3 ^s + 2h = s ^s + 3h + w2
^s2 + 6s + 9h + w2 =- 6 + 9
or
^s + 3h2 + w2 = ^ 3 h
This is the equation of circle.
CS 1.48

Given open loop transfer function is
G ^s h H ^s h =
K
^s + 1 + j h^s + 1 - j h^s + 3 + j h^s + 3 - j h
The root locus start from
s1 =- 1 + j
s2 =- 1 - j
s 3 =- 3 - j
s 4 =- 3 + j
Since, there is no zero, all root loci end at infinity.
*Shipping Free*
*Maximum Discount*
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Locus
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Locus
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There is no breakaway point.

CS 1.49

The characteristic equation of the system is
1 + G ^s h H ^s h = 0
K
or
=0
1+
s ^s + 4h^s + 5h
or
s3 + 9s2 + 20s + K = 0
Intersection of root loci with jw axis is determine using Rouths array.
Rouths array is shown below
i. n
s3
20
s2
o
.c
180 - K
9
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s0
...(1)
The critical gain before the closed loop system goes to instability is Kc = 180
and the auxiliary equation is
or
9s2 + 180 = 0
s2 =- 20
or
s = ! j2 5
Hence, root loci intersect with jw-axis at s = ! j2 5 .
The gain margin for K = 18 is given by,
*Shipping Free*
*Maximum Discount*
No. of open loop poles P = 4 and No. of open loop zeros Z = 0

So, no. of asymptotes is 4 with angles of
fA = 45c, 135c, 225c, 315c
= ! 45c, ! 135c
Centroid : Point of intersection of asymptotes with real axis is
S Re 6P @ - S Re 6Z @
sA =
P-Z
^- 1h + ^- 1h + ^- 3h + ^- 3h - 0
=- 2
=
4-0
The root locus is shown below.

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GM (in dB) = 20 log 10 b Kc l = 20 log 10 180 = 20 dB

18
K
The gain margin for K = 1800 is given by
GM (in dB) = 20 log 10 b 180 l =- 20 dB
1800
The break away point is given by solution of dK = 0 .
ds
From eq. (1),
i. n
o
c
.
a
i
d
o
n
.
w
w
w
K =-^s3 + 9s2 + 20s h
dK =- 3s2 + 18s + 20 = 0
^
h
ds
s = - 18 ! 9.165
6
or
or
=- 4.5275 and - 1.4725

Point s =- 1.4725 lies on root locus. So, break away point is s =- 1.4725 .
The value of K at break away point is
K = s ^s + 4h^s + 5h at s =- 1.4725
= 13.128
CS 1.50

First we check if point lies on root locus. For this we use angle criterion
G ^s h H ^s h
s = s0
= ! 180
Since
G ^s h H ^s h s =- 3 + j5 =
so,
G ^s h H ^s h
s =- 3 + j5
K
^- 3 + j5 + 1h^- 3 + j5 + 5h
K
=
^- 2 + j5h^2 + j5h
=- tan-1 b 5 l - tan-1 b 5 l
-2
2
=- 180c + tan-1 5 - tan-1 5
2
2
in
.
o
c
.
a
i
d
o
n
.
w
w
w
=- 180c
Angle criterion satisfy.

Now, using magnitude condition we have
G ^s h H ^s h s =- 3 + j5 = 1
or
or
or
CS 1.51
K
=1
^- 2 + j5h^2 + j5h
K
=1
4 + 25 4 + 25
K = 29

The characteristic equation of the system is
K ^s + 1h
...(1)
=0
1+
s ^s - 1h^s2 + 4s + 16h
or s 4 + 3s3 + 12s2 + ^K - 16h s + K = 0
Intersection of root loci with jw-axis is determined using rouths array which is
shown below
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CS PE
51
EF 11
CSPE
1 51
EF 51
Root
Locus
Technique
Root
Locus
Technique
Root
Locus
Technique
12
s3
K - 16
s2
52 - K
3
s1
- K2 + 59K - 832
52 - K
s0
in
.
o
c
.
ia
d
o
The root locus cross the jw-axis, if s1 row is complete zero.

i.e.
- K2 + 59K - 832 = 0
or
K2 - 59K + 832 = 0
K = 59 ! 12.37 = 35.7 , 23.3
2
Hence, root locus cross jw-axis two times and the break points are given by
solution of dK = 0 .
ds
We can directly check option using pole-zero plot :
n
.
w
w
Hence, break away point will lie on real axis from s = 0 to 1 and break in point
will lie on real axis for s < - 1.
Hence,
s = 0.45 is break away point
and
s =- 2.26 is break in point
i. n
o
.c
*************
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i
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o
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.
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GATE

NODIA & COMPANY

GATE Electrical Engineering Vol 3, 2e

Copyright By NODIA & COMPANY

NODIA & COMPANY

B 8, Dhanshree Ist, Central Spine, Vidyadhar Nagar, Jaipur 302039

Root Locus Technique

Frequency Domain Analysis

Design of Control Systems

State Variable Analysis

Gate Solved Questions

SIGNALS & SYSTEMS

Continuous Time Signals

Continuous Time Systems

Discrete Time Signals

Discrete Time Systems

The Laplace Transform

The Continuous-Time Fourier Transform

The Continuous-Time Fourier Series

Sampling and Signal Reconstruction

Gate Solved Questions

Form the given sketch the root locus can be

Consider the sketch shown below

The root locus can be

GATE Electrical Engineering-2015

Sample Chapter of GATE Electrical Engineering, Volume-3

The valid root locus diagram is

A open-loop pole-zero plot is shown below

The general shape of the root locus is

A open-loop pole-zero plot is shown below

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A open-loop pole-zero plot is shown below

The general shape of the root locus is

Buy Online: www.nodia.co.in

Sample Chapter of GATE Electrical Engineering, Volume-3

The general shape of the root locus is

GATE Electrical Engineering-2015

Sample Chapter of GATE Electrical Engineering, Volume-3

A open-loop pole-zero plot is shown below

The general shape of the root locus is

The forward-path open-loop transfer function of a ufb system is

The forward-path open-loop transfer function of as ufb system is

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The forward-path open-loop transfer function of a ufb system is

Common Data For Q. 11 and 12:

A open-loop pole-zero plot is shown below

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Sample Chapter of GATE Electrical Engineering, Volume-3

GATE Electrical Engineering-2015

Sample Chapter of GATE Electrical Engineering, Volume-3

The transfer function of this system is

The break point is

Common Data For Q. 13 and 14:

A root locus of ufb system is shown below

The breakaway point is ____

At breakaway point the value of gain K is

The forward-path transfer function of a ufb system is

Consider the feedback system shown below

Common Data For Q. 17 and 18: