CLASS TEST S.No.

: 01 SK_ABC_100323

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CONTROL SYSTEMS
EC | EE
Date of Test : 10/03/2023

ANSWER KEY h

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

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

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

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

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

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

 CT-2023-24 • Control Systems 11

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

1. (a)
After taking Laplace transform, the series combination of R1 and C1 gives: R + 1 .
1
sC1
R2
sC 2
Similarly, the parallel combination of R2 and C2 gives: 1
R2 +
sC 2

1
1
Substituting, R1 = R2 = C1 = C2 = 1 makes the above combinations 1 + and s
s 1
1+
s
On applying the voltage divider rule, we get
1
s
1
1+
s Vi ( s)
V0(s) = 1
1 s
1+ +
s 1+ 1
s
1
V0 (s )
s + 1
Vi (s ) = s( s + 1) + ( s + 1) + s
s(s + 1)
V0 (s ) s
Vi (s ) = s 2 + 3s + 1

2. (a)
The general form of transfer function of a 2nd order system is given by,
Y (s ) ωn2
R(s ) = s 2 + 2ξω s + ω 2
n n
On comparing:

ωn2 = 64
Natural frequency, ωn = 8 rad/sec
2 ξωn = 8
8
Damping ratio, ξ = = 0.5
16

ωd = ω n 1 − ξ 2 = 8 1 − 0.5 2

ωd = 6.93 rad/sec

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3. (b)
For impulse response, R(s) = 1
The impulse response is given by,
 1 
y(t) = L−1  
 (s + 1)(s + 10) 
−1  1 1 
y(t) = L  − 
 9( s + 1) 9(s + 10) 
1 −t 1 −10t
y(t) = e − e
9 9
4. (b)
Close loop transfer function of the system is

G(s ) K (s 2 + 1)
T(s) = 1 + G(s ) =
( K + 1)s 2 + 3s + K + 2
∴ the characteristic equation is given by
(K + 1)s2 + 3s + K + 2 = 0
For the system to be stable all the coefficient should be of same sign
∴ K+1>0 = K>–1
and K+2>0 = K>–2
∴ The system is stable for K > – 1.

5. (a)
(1 − s)
G(s)H(s) = (1 + s )(3 + s )

1 + ω2 1
So, G( jω )H ( jω ) = =
2 2
1+ω 9+ω 9 + ω2
Phase angle is,
ω
φ = −2 tan −1 ω − tan −1
3
1
At ω = 0; G( jω )H ( jω ) = ; φ = 0°
3
1
At ω = 4; G( jω )H ( jω ) = ; φ = –205°
5

At ω = ∞; G( jω )H ( jω ) = 0; φ = –270°

Im

ω=∞ ω=0
Re
(–1, 0)

Unit circle

Polar plot does not cross unit circle, for all values of ω (0 to ∞), magnitude will be less than unity.
In this case, gain crossover frequency does not exist and phase margin becomes ∞.

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 CT-2023-24 • Control Systems 13

6. (a)
The gain of function is 1, given system is all pass system, Hence option (a) is correct answer.
We can cross check:
1−s
GH(s) =
1+s
1 − jω
GH(jω) = 1 + jω

∠GH(jω) = –tan–1 (ω) – tan–1(ω) = –2 tan–1(ω)

By varying ω: 0 → ∞
The phase varies from 0° to –180° as shown in the plot.

7. (b)
−1
OLTF is G(s)H(s) =
2 s(1 − 20s)
−1
(or) G(jω)H(jω) = 2 jω(1 − 20 jω )

1
M = G( jω )H ( jω ) =
2 ω 1 + 400ω 2

−20ω 
φ = 180° − 90° − tan −1 
 1 
= 90° + tan–1 (20 ω)
At ω = 0; M = ∞; φ = 90°
At ω = 0.1; M = 2.24; φ = 153.43°
At ω = ∞; M = 0; φ = 180°
We get the Nyquist plot as,
Im
ω=0
+90°

(–1 + j0) ω =∞
+180° Re

8. (b)
The characteristic equation is,
1 + G(s)H(s) = 0

 K  1 
1 +  KP + I  
 s   (s + 1)(s + 2)  = 0

(or) s3 + 3s2 + (2 + KP)s + KI = 0

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Forming Routh Array:

s3 1 2 + KP
s2 3 KI
6 + 3K P − K I
s1
3
s0 KI
For stable system, KI > 0
KI
and KP > −2
3

9. (b)
x(t) = φ(t) x(0)
Where, φ(t) = state transition matrix
1 0
Given, A =  
1 1
 s 0 1 0 s − 1 0 
[sI – A] =   −  = 
0 s  1 1  −1 s − 1
1 s − 1 0 
[sI – A]–1 = ( s − 1)( s − 1)  1 s − 1

 1 
 s−1 0 
 
=  1 1 
 ( s − 1)2 (s − 1) 

 et 0
L–1[sI – A]–1 = φ( t ) =  
tet et 

 et 0   1
∴ x(t) =  t  
te et  0

 et 
x(t) =  t 
te 

10. (c)
The transfer function of the system is,
(s + a )
H(s) =
[( s − ( − a − jb)) ( s − ( − a + jb))]2

s+a 1 2(s + a )
= 2 2 2
= ⋅
[(s + a) + b ] 2 [(s + a)2 + b 2 ]2

1  dF (s ) 
H(s) = −
2  ds 

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 CT-2023-24 • Control Systems 15

1 1 − at
where, F(s) =








f (t ) = e sin(bt )
2 2 b
( s + a) + b I.L.T.

d
− F( s) ←
→ t f (t )
ds
t t − at
h(t) = f (t ) = e sin ( bt )
2 2b
h(t) = K te–at sin(bt)
h(t)

0 t

11. (b)
For given block diagram.
In inner loop feedback we can write,
R( s) G1 (s )
=
X(s) 1 + G1 (s ) G2 ( s)

R(s )
X(s) G1 Y(s )
– +

G2

G3

∴ Overall transfer function,

Y(s) = X(s) R(s) + G3(s) X(s)
Y (s)
= R(s) + G3(s)
X(s)

1
s+1 (s + 4) s+4
= = = 2
1 1 ( s + 1) ( s + 4) + 1 s + 5s + 4 + 1
1+
(s + 1) (s + 4)

s+4 s+2 ( s + 4) ( s + 5) + ( s + 2) ( s 2 + 5s + 5)
+ ⇒
s 2 + 5s + 5 s+5 ( s 2 + 5s + 5) (s + 5)

s 2 + 9s + 20 + s 3 + 5s 2 + 5s + 2s 2 + 10s + 10
= =
s 3 + 5s 2 + 5s 2 + 25s + 5s + 25

s 3 + 8s 2 + 24s + 30
s 3 + 10s 2 + 30s + 25

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12. (d)

d2 y dy
2
+5 + 4 y = x(t)
dt dt
s2Y(s) + 5sY(s) + 4Y(s) = X(s)
8
x(t) = 8 u(t ) or X (s ) =
s
8
(s2 + 5s + 4) Y(s) =
s
8 A B C
Y(s) = 2
= + +
s ( s + 5s + 4) s s+4 s+1

2 8 2
Y(s) = s − 3( s + 1) + 3( s + 4)

 1 4 
y(t) = 2 1 + e −4t − e −t  u(t )
 3 3 

13. (d)
Y (s ) K /s K
= =
R(s ) 3 K s − (3 + K )
1 −  + 
s s 
For system to be stable,
3+K < 0
K < –3

14. (a)
G1 and H1 form a negative feedback loop and that loop is in cascade with G2. The block diagram
can be simplified as:

H2

– + G1G2
R G3 G4 Y
– 1 + G1 H1

H3

G1G2
Now forms a positive feedback loop with H2 and that loop is in cascade with G3. The
1 + G1 H 1
block diagram can be further simplified as:
1

– G1G2 G3
R G4 Y
– 1 + G1 H 1 − G1G2 H 2

H3

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 CT-2023-24 • Control Systems 17

Now there is another negative feedback loop with H3 and cascade with G4. Block diagram becomes
1

– G1G2 G3G4
R Y
– 1 + G1 H 1 − G1G2 H 2 + G1G2 G3 H 3

Y (s ) G1G2G3G4
R(s ) =
1 + G1 H 1 − G1G2 H 2 + G1G2 G3 H 3 + G1G2 G3G4

15. (c)
The Routh table for the characteristic equation corresponding to the given transfer function is:

s5 1 0 4
4
s 3 5 3
3
s −1.67 3
s2 10.4 3
1
s 3.48
s0 3
There are two sign changes in the fist column of Routh table. So there are 2 poles in RHP. Order
of the characteristic equation is 5 = number of poles
∴ No. of poles in LHP = 5 – 2 = 3

16. (b)
Closed loop transfer function is,
G(s ) K (s + 3)(s + 5)
T(s) = 1 + G(s ) = (K + 1)s 2 + (8K − 6)s + (15K + 8)

For stability all coefficients should be positive or all negative

Case-I: All coefficient are positive,
K + 1 > 0 ⇒ K > –1
8 K – 6 > 0 ⇒ K > 0.75
−8
15 K + 8 > 0 ⇒ K >
15
∴ K > 0.75
Case-II : All coefficients are negative:
K + 1 < 0 ⇒ K < –1
8 K – 6 < 0 ⇒ K < 0.75
−8
15 K + 8 < 0 ⇒ K <
15
∴ K < –1
So, for stability either K > 0.75 or K < –1

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17. (a)
Transfer function is,
Ks 400Ks
G(s)H(s) =
2
=
s  s  ( s + 4)( s + 10)2
 + 1  + 1

4 10
Magnitude of initial plot is given by,
M = 20 log ω + 20 log K
and M = 0 dB at ω = 4
0 = 20 log10 4 + 20 log K
1
(or) 20 log = 20 log4
K
1
(or) = 4
K
1
(or) K =
4
100s
Hence, G(s)H(s) =
(s + 4)(s + 10)2

18. (a)

Damped frequency, ωd = ω n 1 − ξ 2

ωd 10
⇒ ωn = =
1 − ξ2 1 − (0.6)2
The desired second order C.E. is,
s2 + 2ξωns + ωn2 = 0
s + 2(0.6)(12.5)s + (12.5)2 = 0
2

s2 + 15s + 156.25 = 0
The C.E. of given system is,
 1 
1 + (K p + sK D )  = 0
 s(s + 1) 
(or) s2 + (1 + KD)s + KP = 0
Hence, KP = 156.25
and 1 + KP = 15
⇒ KD = 14

19. (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

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 CT-2023-24 • Control Systems 19

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)

20. (a)
1
Given, G( s) H( s) = 2
s (s − a) (s − b ) (s − c )

1
Put s = jω, G(jω) H(jω) = 2
( jω) ( jω − a) ( jω − b ) ( jω − c )

1
G( jω) H ( jω) = 2
ω ω + a ⋅ ω2 + b 2 ⋅ ω2 + c 2
2 2

when, ω=0 Magnitude = ∞; Phase = 0°

ω=∞ Magnitude = 0; Phase = 270°
  −1  ω    −1  ω    −1  ω   
∠G(jω) H(jω) = − 180° +  180° − tan    +  180° − tan    +  180° − tan    
   a    b    c  

−1  ω  −1  ω  −1  ω 
φ = tan   + tan   + tan  
 
a  
b c
Note: Since a, b and c are positive values, for ω = 1, phase of G(jω) H(jω) will be a positive quantity.
So, the polar plot will start into the first quadrant.
90°

ω= 0
180° 0°
ω= ∞

270°

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21. (d)
The transfer function from steady state model can be written as
T(s) = C[sI – A]–1 B
adj[ sI − A]
[sI – A]–1 = sI − A

 s + 5 −1 
[sI – A] = 
 0 s + 4 

1 s + 4 1 
[sI – A]–1 = 
(s + 5)(s + 4)  0 s + 5

1 s + 4 1  0
T(s) = 1 4 
( s + 5)( s + 4)  0 s + 5  1
 

1  1 
T(s) = 1 4  
(s + 5)(s + 4) s + 5

1 + 4(s + 5) 4s + 21
T(s) = = (s + 4)(s + 5)
(s + 4)(s + 5)
If two systems are connected in parallel
Overall transfer function,
2(4s + 21)
T′(s) = T(s) + T(s) = (s + 4)(s + 5)

22. (b)
For the given system we can write,
Y(s) [s3 + 4s2 + 5s + 3] = U(s)[1] ...(i)
Let, x1 = y
So, x2 = x 1 = y ...(ii)
x3 = x 2 = y ...(iii)
The equation (i) can be written as
x 3 + 4 x 3 + 5x 2 + 3x1 = u

i.e. x 3 = –3x1 – 5x2 – 4x3 + u ...(iv)

Using equation (ii), (iii) and (iv) we can write in state variable form as below,
 x 1  0 1 0  x1  0 
 x    x  +   u
0 0 1  2  0
 2 = 
 x 3   −3 −5 −4  x3   1

0 1 0
 
So, [A] =  0 0 1
 −3 −5 −4 

0
 
and [B] = 0 
 1
Hence option (b) is correct.

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 CT-2023-24 • Control Systems 21

23. (d)
The closed-loop transfer function for given system,
3(1 + sK )
G( s) s( s + 4) 3(1 + sK )
1 + G(s ) = =
3(1 + sK ) s(s + 4) + 3(1 + sK )
1+
s(s + 4)
3(1 + sK ) 3 + 3sK
= 2
= 2
s + 4s + 3(1 + sK ) s + (4 + 3K )s + 3
Comparing the transfer function with standard second order transfer function.

ωn2 = 3

⇒ ωn = 3 rad/sec
2ξωn = 4 + 3K
2 3ξ = 3K + 4
2 3ξ − 4
= K
3
6−4 2
Given, ξ = 3, K = =
3 3

24. (b)
From plot –1
Number of poles on the right side of s-plane = 0
P = 0
Open-loop system is stable.
From plot –2
Number of encirclement about (–1, 0) is = 2 in clockwise
N = –2
N = P–Z
–2 = 0 – Z
Z = 2
Two closed loop poles on the right side of s-plane. Close-loop system is unstable.

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25. (b)
From the figure, the transfer function of the system is,
K
G(s) H(s) =
s( s + 2)2 ( s + 4)
ω M φ
K
G( jω) H ( jω) = 0 ∞ −90°
ω (4 + ω2 ) 16 + ω2   
−1  ω  −1  ω  ∞ 0 −360°
∠G(jω) H(jω) = −90° − 2 tan   − tan  
2 4
–270°

0°
–180° ω= ∞

ω= 0
–90°

26. (d)
s
K  + 1 
T.F. = 2 
 s   s
s + 1  + 1 
5   10 
To obtain the value of K,
30 dB = 20 log K – 20 r log(1) [∵ r = 1]
1.5 = log K
K = 101.5 = 31.62
31.62(0.5s + 1)
T.F. =
s (0.2 s + 1) (0.1 s + 1)

27. (c)
10
∠G(jω) H(jω) = ∠ = −180°
( jω + 1) ( jω + 20)

−1 −1  ω 
= − tan (ω) − tan   = −180°
 20 
 ω
 ω+ 
− tan −1  20
2
 1 − ω  = –180°
 20 
ω
ω+
20
= 0
ω2
1−
20

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 CT-2023-24 • Control Systems 23

ω2
The above expression to become zero 1 − = ∞.
20
∴ ωpc = ∞
10
G( jω) H ( jω) =
1 + ω2 (20)2 + ω2

G( jω) H ( jω) ω = 0
pc = ∞

1
Gain margin = =∞
G( jω) H ( jω) ω
pc

∴ Gain crossover frequency does not exist.

∴ Phase margin is = ∞

28. (a)
For given state model,
 −4 0 
A =  0 −3
 

 s 0   −4 0  s + 4 0 
[sI − A] = 0 s  −  0 −3 =  0
     s + 3

1 1 s + 3 0 
[sI – A]–1 = sI − A Adj [ sI − A] = (s + 3)( s + 4)  0 s + 4 


 1 
s + 4 0 
=  
 0 1 
 s + 3 

 e −4t 0 
eAt =  
 0 e −3t 

So zero input response of the given system will be

x(t) = eAt ⋅ x(0)

 e −4t 0  4   4 e −4 t 
=    =  
 0 e −3t   −4   −4 e −3t 

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29. (c)
Method-I
For root locus point,
∠G(s) H(s) = 180º
∴ Substituting, s = (σ + jω) we get,
K (σ + 3 + jω)
G(σ + jω) H(σ + jω) =
(σ + jω) (σ + 2 + jω)

 ω  −1  ω  −1  ω 
tan −1   − tan   = 180° + tan  
σ + 3 σ σ+2
ω ω
−
σ+3 σ ω
=
 ω  ω σ+2
1+  
σ + 3σ
∴ (σ + 3)2 + ω2 = 3
Method-II:
jω

σ
p q
–3 –2

dK
p and q are breakaway and breakin points, to obtain them we have to perform, = 0.
ds
s( s + 2)
K = −
s+3
dK d  s( s + 2) 
= − =0
ds ds  s + 3 
s2 + 6s + 6 = 0
q = –1.268 to p = –4.732
As we know two points on the diameter, center of the circle is (–3, 0) and radius is 1.732.
Equation of the circle is ( σ + 3)2 + ω2 = ( 3)2 .

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30. (b)
The characteristic equation is,
q(s) = s3 + 0.5s2 + (K + 3) s + (K + 1) = 0

s3 1 K+3
s2 0.5 K+1
1
s (3 + K ) − 2( K + 1) 0
0
s ( K + 1)

For a system to oscillate a row should become zero.

∴ K + 3 – 2K – 2 = 0
K = 1
Given system is third order system (s + a) (s2 + bs + c) = 0
For a marginally stable system, ξ = 0
s 2 + 2ξ ωn s + ωn2 = 0

s 2 + ωn2 = 0
Take the coefficients of s2 row.
0.5s2 + (K + 1) = 0
0.5s2 + 2 = 0
s = ±j2
ω = 2 rad/s

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