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Control System

GATE - 2020/21

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 Control System

S NO. TOPICS PAGE NO.

1 Basic Concept of Control System 1 - 5

2 Time Domain Analysis 1-8

3 Stability Analysis 1-5

4 Root Locus 1-7

5 Frequency Response Analysis 1 - 10

6 Block Diagram and SFG 1-6
7 State Space Analysis 1-9
8 Controller and Compensator 1-6
CHAPTER 01 BASICS OF CONTROL SYSTEMS

Q.1 An electrical system and its signal-flow (A) (1  2et  e2t )u (t )

graph representations are shown in the
(B) (1  2et  2e2t )u(t )
figure (a) and (b) respectively. The
values of G2 and H, respectively, are (C) (0.5  et  1.5e2t )u (t )
[GATE 2001 EC] (D) (0.5  2et  2e2t )u (t )
Z1 ( s ) Z2 (s ) V0 (s )
Q.4 Despite the presence of negative
Vi ( s) I1 ( s) I2 (s )
feedback, control systems still have
Z3 (s ) Z4 ( s )
problems of instability because the
[GATE 2005 EC]
(A) Components used have
nonlinearities
Figure (a) (B) Dynamic equations of the systems
are not known exactly
G1 I1( s) G2 I2 ( s) G3 (C) Mathematical analysis involves
Vi ( s) Vo (s ) approximations
(D) System has large negative phase
H
angle at high frequencies
Figure (b)
Q.5 In the system below, x(t) = (sin t)u(t). In
Z3 ( s) Z3 ( s)
(A) , steady-state, the response y(t) will be
Z 2 ( s)  Z3 ( s)  Z 4 ( s) Z1 (s)  Z3 (s) [GATE 2006 EC]
 Z3 ( s) Z3 ( s) 1
(B) , x( t ) s 1 y(t )
Z 2 ( s)  Z3 ( s)  Z 4 ( s) Z1 ( s)  Z3 (s)
Z3 ( s) Z3 ( s)
(C) , 1   1  
Z 2 ( s)  Z3 ( s)  Z 4 ( s) Z1 (s)  Z3 (s) (A) sin  t   (B) sin  t  
2  4 2  4
 Z3 ( s) Z3 ( s) 1 t
(D) , (C) e sin t (D) sin t  cos t
Z 2 ( s)  Z3 ( s)  Z 4 ( s) Z1 ( s)  Z3 (s)
2
Q.2 The open-loop DC gain of a unity Q.6 The unit impulse response of a system is
negative feedback system with closed-
h(t )  et , t  0
s4
loop transfer function 2 is For this system, the steady-state value of
s  7 s  13 the output for unit step input is equal to
[GATE 2001 EC] [GATE 2006 EC]
4 4 (A) -1 (B) 0
(A) (B)
13 9 (C) 1 (D) 
(C) 4 (D) 13
Q.7 The frequency response of a linear,
Q.3 A system described by the following time-invariant system is given by
d2y dy 5
differential equation  3  2y H (f)  . The step response of
dt 2
dt 1  j10 f
 x(t ) is initially at rest. For input x(t) = the system is
2u(t), the output y(t) is [GATE 2007 EC]
5t
[GATE 2004 EC] (A) 5(1  e )u (t ) (B) 5(1  et /5 )u(t )
2 | Control Systems
1 1 (A) Reduce the overall gain
(C) (1  e 5t )u (t ) (D)
5 ( s  5)( s  1) (B) Reduce bandwidth
(C) Improve disturbance rejection
Q.8 A linear, time-invariant, causal (D) Reduce sensitivity to parameter
continuous time system has a rational variation
transfer function with simple poles at s =
-2 and s = -4, and one simple zero at s = Q.12 For the system shown in the figure,
-1. A unit step u(t) is applied at the input Y(s) / X (s)  ______
of the system. At steady state, the output [GATE 2017 EC]
has constant value of 1. The impulse
-
response of this system is +
X(s) G(s)=2 Y(s)
[GATE 2008 EC] + +
(A) [exp (-2t) + exp (-4t)] u(t)
(B) [-4exp(-2t) + 12exp(-4t)-exp(-t)]u(t)
(C) [-4exp(-2t) + 12exp(-4t)]u(t) Q.13 The closed loop transfer function of a
(D) [-0.5exp(-2t) + 1.5exp(-4t)]u(t) control system is given by,
C ( s) 1
Q.9 A system with the transfer function 
Y ( s) s R( s) (1  s)
 has an output For the input r (t )  sin t , the steady state
X ( s) s  p
value of c(t) is equal to
 
y(t )  cos  2t   for the input signal [GATE 1996 EE]
 3 1
 (A) cos t

x(t )  p cos  2t   . Then, the system 2
 2 (B) 1
parameter ‘p’ is 1
[GATE 2010 EC] (C) sin t
2
2
(A) 3 (B) 1  
3 (D) sin t  t  
2  4
3
(C) 1 (D)
2 Q.14 Feedback control system are
[GATE 2000 EE]
Q.10 A system with transfer function (A) Insensitive to both forward-part and
( s 2  9)( s  2) feedback-path parameter changes.
G( s)  (B) Less sensitive to feedback-path
( s  1)( s  3)( s  4)
parameter changes than to forward-path
is excited by sin(t ). The steady-state
parameter changes.
output of the system is zero at (C) Less sensitive to forward-path
[GATE 2012 EC] parameter changes than to feedback-
(A)   1rad / s (B)   2rad / s path parameter changes
(C)   3rad / s (D)   4rad / s (D) Equally sensitive to forward-path
and feedback-path parameter changes.
Q.11 Negative feedback in a closed-loop
control system DOES NOT
[GATE 2015 EC]
 Basics of Control Systems | 3
Q.15 A control system with certain excitation Q.18 As shown in the figure, a negative
is governed by the following feedback system has an amplifier of
mathematical equation gain 100 with  10% tolerance in the
d 2 x 1 dx 1 forward path, and an attenuator of value
2
  x  10  5e4t  2e5t 9
dt 2 dt 18 in the feedback path. The overall
The natural time constant of the 100
response of the system are system gain is approximately:
[GATE 2003 EE] [GATE 2010 EE]
1 1 + 100  10%
(A) sec and sec
4 5
(B) 3 sec and 6 sec
(C) 4 sec and 5 sec 9
1 1 100
(D) sec and sec
3 6
(A) 10  1% (B) 10  2%
Q.16 A function y(t) satisfies the following (C) 10  5% (D) 10  10%
differential equation
dy (t ) Q.19 The open-loop transfer function of a dc
 y (t )   (t )  (s) 10
dt motor is given as  . When
Where  (t ) is the delta function Va ( s ) 1  10 s
Assuming zero initial condition and connected in feedback as shown below,
denoting the unit step function by u(t), the approximate value of K a that will
y(t) can be of the form reduce the time constant of the closed
[GATE 2008 EE] loop system by one hundred times as
(A) e t
(B) e  t compared to that of the open-loop
(C) et u (t ) (D) et u (t ) system is
[GATE 2013 EE]
Q.17 The measurement system shown in the Va ( s) 10
R(s ) + Ka ω (s)
figure uses three sub-system in cascade 1  10s
whose gains are specified as G1 , G2 and
1
. The relative small errors associated
G3
with each respective subsystem G1 , G2 (A) 1 (B) 5
(C) 10 (D) 100
and G3 are  1 ,  2 and  3 . The error
associated with the output is Q.20 The unit step response of a system with
[GATE 2009 EE] 1  2s
the transfer function G ( s )  is
1 s
1
Input G1 G2
G3
Output given by which one of the following
waveforms?
[GATE 2015 EE]
1 1 2
(A) 1   2  (B)
3 3
(C) 1   2   3 (D) 1   2   3
4 | Control Systems
y (t )
(A)
1

0 t
5

2

(B) y (t )

0 t
5
(C) y (t )

2
1
0 t
5
0.75

(D) y (t )

0 t
5

2

Q.21 An open loop system results in a

response of e2t (sin 5t  cos 5t ) for a unit
impulse input. The DC gain of the
control system is ________.
[GATE 2015 EE]
 Basics of Control Systems | 5

Answer Key : Basics of Control Systems

1 C 2 B 3 A 4 D 5 A

6 C 7 B 8 C 9 B 10 C

11 B 12 1 13 D 14 C 15 B

16 D 17 C 18 A 19 C 20 A

21 0.241
CHAPTER 02 TIME RESPONSE ANALYSIS

Q.1 The unity feedback system shown in fig. [GATE- 1990 EC]
has: 1
(A) 0 (B)
[GATE- 1987 EC] 1 K p
1
R ( s) 
K
C (s ) (C)  (D)
 s ( s  10) Kp
2( s  1)
Q.6 If L[ f (t )]  then f (0  ) and
s  2s  5
2

f () are given by

(A) Zero steady state position error [GATE- 1995 EC]
(B) Zero steady state velocity error (A) 0, 2 respectively
K (B) 2, 0 respectively
(C) Steady state position error units
10 (C) 0, 1 respectively
K (D) 2/5, 0 respectively.
(D) Steady state velocity error units Q.7 The step error coefficient of a system
10
Q.2 A second-order system has a transfer 1
G(s)  with unity
25 ( s  6)( s  1)
function given by G ( s )  2
s  8s  25 feedback is
If the system, initially at rest, is [GATE- 1995 EC]
subjected to a unit step input at t = 0, the (A) 1/6 (B) 
second peak in the response will occur (C) 0 (D) 1
at 
Q.8 If F ( s )  , then the value of
[GATE- 1991 EC] s  2
2

(A)  sec (B)  3sec Lim f (t ), {where F(s) is the L[f(t)]}

t 
(C) 2 3sec (D)  2sec. [GATE- 1998 EC]
Q.3 A unity-feedback control system has the (A) cannot be determined
open-loop transfer function (B) is zero
4(1  2s) (C) is unity
G( s)  2 if the input to the
s ( s  2) (D) is infinite
system is a unit ramp, the steady-state Q.9 Consider a feedback control system with
error will be loop transfer function
[GATE- 1991 EC] K (1  0.5s)
G( s) H ( s) 
(A) 0 (B) 0.5 s(1  s)(1  2s)
(C) 2 (D) Infinity The type of the closed loop system is
Q.4 For a second order system, damping [GATE- 1998 EC]
ratio ( ) , is 0    1, then the roots of (A) zero (B) one
the characteristic polynomial are (C) two (D) three
[GATE- 1995 EC] Q.10 Consider a unity feedback control
(A) real but not equal system with open-loop transfer function
(B) real and equal K
G( s)  the steady state error of
(C) complex conjugates s(s 1)
(D) imaginary the system due to unit step input is
Q.5 The steady state error of a stable ‘type [GATE- 1998 EC]
0’ unity feedback system for a unit step (A) zero (B) K
function is
2 | Control Systems
(C) 1/K (D) infinite Q.15 Consider a system with the transfer
Q.11 The unit impulse response of a linear s6
function G (s)  2 . Its
time invariant system is the unit step Ks  s  6
function u(t). For t>0, the response of damping ratio will be 0.5 when the
the system to an excitation e at u (t ), value of K is
a  0 will be [GATE- 2002 EC]
[GATE- 1998 EC] (A) 2/6 (B) 3
(A) ae  at
(B) (1/ a)(1  e at ) (C) 1/6 (D) 6
(C) a(1  e  at ) (D) 1  e at Q.16 A second-order system has the transfer
C ( s) 4
Q.12 For a second-order system with the function  2 . With r (t )
R( s ) s  4s  4
closed-loop transfer function
9 as the unit-step function, the response
T (s)  2 the setting time for 2- c(t ) of the system is represented by
s  4s  9
percent band, in seconds, is [GATE- 2003 EC]
[GATE- 1999 EC] Step Response
1.5
(A) 1.5 (B) 2.0
(C) 3.0 (D) 4.0 1

Amplitude
(A)

Q.13 If the closed-loop transfer function T(s) 0.5

of a unity negative feedback system is
given by 0
0 2 4 6
Time (sec)
a s  an
T (s)  n 1
n 1
Step Response
s  a1s  ...  an 1s  an
n 1
Amplitude

(B)
then the steady state error for a unit 0.5
ramp input is
[GATE- 1999 EC]
an a 0
(A) (B) n 0 2 4 6
an 1 an 2 Time (sec)

a
(C) n 2 (D) zero 2
Step Response
an 1
1.5
Amplitude

(C)
Q.14 If the characteristic equation of a closed- 1
loop system is s 2  2s  2  0, then the
0.5
system is
0
[GATE- 2001 EC] 0 5 10 15 20 25
Time (sec)

(A) over damped

(B) critically damped
(C) under damped
(D) undamped
 Time Response Analysis | 3
Step Response jω
1

Amplitude
(D)
0.5 (A)
σ

0
0 5 10
Time (sec)
jω
Q.17 A causal system having the transfer
1
function H ( s )  is excited with
s2
(B)
10u(t ). The time at which the output σ
reaches 99% of its steady state value is
[GATE- 2004 EC]
(A) 2.7 sec (B) 2.5 sec
(C) 2.3 sec (D) 2.1 sec jω
Q.18 A ramp input applied to an unity
feedback system results in 5% steady
state error. The type number and zero (C) σ
frequency gain of the system are
respectively
[GATE- 2005 EC]
(A) 1 and 20 (B) 0 and 20
(C) 0 and 1/20 (D) 1 and 1/20 jω

Q.19 The transfer function of a plant is

5
T ( s)  . The second- (D)
σ
( s  5)( s 2  s  1)
order approximation of T(s) using
dominant pole concept is
[GATE- 2007 EC]
1 5 Q.21 Group I lists a set of four transfer
(A) (B)
( s  5)( s  1) ( s  5)( s  1) functions.
5 1 Group II gives a list of possible step
(C) 2 (D) 2 responses y(t). Match the step responses
s  s 1 s  s 1
with the corresponding transfer
Q.20 Step responses of a set of three second- functions.
order under damped systems all have the [GATE- 2008 EC]
same percentage overshoot. Which of Group I
25 36
the following diagrams represents the P 2 ; Q 2
poles of three systems? s  25 s  20 s  36
[GATE- 2008 EC]
4 | Control Systems
36 36 (A)
R ; S 2
s  12 s  36
2
s  7 s  49 y (t )
Group II
y(t )
1
1. t
(B)
t y (t )
y (t )
1
2. t
(C)
y (t )
t
y (t )

t
3. 1 (D)
y (t )
t

y (t )
t
1
4. Q.23 The unit step response an under-damped
second order system has steady state
t value of -2. Which one of the following
transfer functions has these properties?
[GATE- 2009 EC]
(A) P-3, Q-1, R-4, S-2 2.24 3.82
(A) 2 (B) 2
(B) P-3, Q-2, R-4, S-1 s  2.59 s  1.12 s  1.91s  1.91
(C) P-2, Q-1, R-4, S-3 2.24 3.82
(C) 2 (D) 2
(D) P-3, Q-4, R-1, S-2 s  2.59 s  1.12 s  1.91s  1.91

Q.22 The differential equation Q.24 The open-loop transfer function of a dc

d y 2
dy  (s) 10
100 2  20  y  x(t ) describes a motor is given as  . When
dt dt Va ( s ) 1  10 s
system with an input x(t) and an output connected in feedback as shown below,
y(t). The system, which is initially the approximate value of K a that will
relaxed, is excited by a unit step input.
reduce the time constant of the closed
The output y(t) can be represented by
loop system by one hundred times as
the waveform
compared to that of the open-loop
[GATE- 2011 EC]
system is
[GATE- 2013 EC]
 Time Response Analysis | 5
R(s ) Va ( s) 10 ω ( s) Q.28 A unity negative feedback system has an
 Ka
 1  10s
open-loop transfer function
K
G( s)  . The gain K for the
s( s  10)
system to have a damping ratio of 0.25
(A) 1 (B) 5 is _____.
(C) 10 (D) 100 [GATE- 2015 EC]
Q.25 For the following feedback system Q.29 The output of a standard second-order
1 system for a unit step input is given as
G( s)  . The 2%-setting
( s  1)( s  2) 2 t  
y (t )  1  e cos  3t   . The
time of the step response is required to 3  6
be less than 2 seconds. transfer function of the system is
[GATE- 2014 EC] [GATE- 2015 EC]
r  C ( s) G( s ) y 2 1
 (A) (B) 2
( s  2)( s  3) s  2s  1
3 4
(C) 2 (D) 2
s  2s  3 s  2s  4
Which one of the following
compensators C(s) achieves this? Q.30 The open-loop transfer function of
 1   0.03  unity-feedback control system is given
(A) 3   (B) 5   1 by
 s5  s 
K
 s 8 G( s) 
(C) 2(s  4) (D) 4   s( s  2)
 s 3
For the peak overshoot of the closed-
Q.26 The steady state error of the system
loop system to a unit step input to be
shown in the figure for a unit step input
10%, the value of K is ______
is ______.
[GATE- 2016 EC]
[GATE- 2014 EC]
R (s) E( s ) C ( s)
 K 4
1
Q.31 For the unity feedback control system
r (t )  e( t ) s 2 c (t )
shown in the figure, the open-loop
transfer function G(s) is given as
2
2
s 4
G( s) 
Q.27 For the second order closed-loop system s( s  1)
shown in the figure, the natural The steady state error ess due to a unit
frequency (in rad/s) is
step input is
[GATE- 2014 EC]
4
[GATE- 2016 EC]
U ( s)  Y (s )  e(t )
 s (s  4)
x(t ) G ( s) y (t )


(A) 16 (B) 4
(C) 2 (D) 1 (A) 0 (B) 0.5
(C) 1.0 (D) 
6 | Control Systems
Q.32 The open loop transfer function (D) K  64, a  0.9
(s  1) Q.35 A unity feedback system has open loop
G( s)  p
s (s  2)(s  3) 25
transfer function G( s)  . The
Where p is an integer, is connected in s( s  6)
unity feedback configuration as shown peak overshoot in the step input
in the figure. response of the system is approximately
G ( s) equal to

 [GATE- 2000 EE]
(A) 5 % (B) 10 %
(C) 15 % (D) 20 %

Given that the steady state error is zero Q.36 The unit impulse response of a second
for unit step input and is 6 for unit ramp order under-damped system starting
input, the value of the parameter p is from rest is given by
________. c(t )  12.5e6t sin 8t , t  0
[GATE- 2017 EC] The steady-state value of the unit step
response of the system is equal to
Q.33 For what values of ‘a’ does the system [GATE- 2004 EE]
shown in figure have a zero steady state (A) 0 (B) 0.25
error [i.e., lim E (t ) ] for a step input? (C) 0.5 (D) 1.0
t 

E (t ) s 1 Q.37 Consider the feedback system shown


 s2  5s  a below which is subjected to a unit step
input. The system is stable and as
1
following parameters K p  4, K t  10,
s 4   500 rad/sec and   0.7. The
(A) a  0 steady state value of Z is
(B) a  2 [GATE- 2007 EE]
(C) a  4 K1
(D) No value of ‘a’ 1
s
Z

Q.34 For the system shown in figure with a

0  Kp  ω2
 + 2ξωs + ω
2 2
s
damping ratio  of 0.7 and an un-
damped natural frequency  n of 4
rad/sec, the values of K and a are (A) 1 (B) 0.25
[GATE- 1996 EE] (C) 0.1 (D) 0

K
Q.38 The transfer function of a linear time
R (s )  C (s )
 s( s  2) invariant system is given as,
1
G (s)  2
s  3s  2
1  as
The steady state value of the output of
(A) K  4, a  0.35 this system for a unit impulse input
(B) K  8, a  0.455 applied at time instant t = 1 will be
(C) K  16, a  0.225 [GATE- 2008 EE]
 Time Response Analysis | 7
(A) 0 (B) 0.5 a) The damping ratio   0.5 and
(C) 1 (D) 2 undamped natural frequency
Q.39 The unit-step response of a unity n  10 rad/s.
feedback system with open loop transfer
b) The steady state value of the output,
K
function G(s)  is shown to a unit step input, is 1.02.
( s  1)( s  2) The transfer function of the system is
in the figure. The value of K is 1.02 102
1 (A) 2 (B) 2
s  5s  100 s  10 s  100
0.75 100 102
R esp o nse

(C) 2 (D) 2
0.5 s  10 s  100 s  5s  100
Q.43 For a system having transfer function
0.25
s  1
G (s)  , unit step input is applied
0
0 1 2 3 4 s 1
at time t = 0. The value of the response
[GATE- 2009 EE] of the system at t = 1.5 sec (rounded off
(A) 0.5 (B) 2 to three decimal places) is ________.
(C) 4 (D) 6 [GATE- 2017 EE]

Q.40 The steady state error of a unity Q.44 Consider a unity feedback system with
feedback linear system for a unit step forward transfer function is given by,
input is 0.1. The steady state error of the 1
G( s) 
same system for a pulse input r(t) having ( s  1)(s 2)
a magnitude of 10 and a duration of one The steady state error in the output of
second, as shown in the figure is the system for a unit-step input is _____
[GATE- 2011 EE] (up to 2 decimal places).
r( t )
[GATE- 2018 EE]
10
Q.45 The unit step response y(t) of a unity
feedback system with open loop transfer
K
function G( s) H ( s)  is
t
(s  1)2 ( s  2)
0 1 sec
shown in the figure. The value of K is
_________ (up to 2 decimal places).
(A) 0 (B) 0.1 [GATE- 2018 EE]
(C) 1 (D) 10

Q.41 The closed loop transfer function of a y(t )

4
system is T ( s)  2 . The 1.2
( s  0.4s  4) 1.0
steady sate error due to unit step input is 0.8
________. 0.6
[GATE- 2014 EE] 0.4
0.2
Q.42 A second-order real system has the 0 t (sec)
following properties :
8 | Control Systems

Answer Key : Time Response Analysis

1 A 2 A 3 A 4 C 5 B

6 B 7 A 8 A 9 B 10 A

11 B 12 B 13 D 14 C 15 C

16 B 17 C 18 A 19 D 20 C

21 D 22 A 23 B 24 C 25 C

26 1 27 C 28 400 29 D 30 2.8

31 A 32 1 33 A 34 C 35 B

36 D 37 A 38 A 39 D 40 A

41 0 42 B 43 0.55 44 0.67 45 8
CHAPTER 03 STABILITY ANALYSIS

Q.1 In order to stabilize the system shown in The constraints on  and K are ,
figure Ti should satisfy, [GATE- 2000 EC]
r (t ) 1  sTi 1 c( t ) (A)   0,  K  3 (B)   0,  K  3
+
 s s(1  sT ) (C)   0,  K  3 (D)   0,  K  3

Q.6 The feedback control system in the

[GATE- 1989 EC] figure is stable.
[GATE- 2001 EC]
S 2
(A) Ti  T (B) Ti  T R(s ) 

K 0
(S  2) 2
C ( s)

(C) Ti  T (D) Ti  T
S 2

Q.2 An electromechanical closed-loop

control system has the following (A) for all K  0
characteristic equation; (B) only is K  0
s 3  6 K s 2  ( K  2) s  8  0. Where K (C) only if 0  K  1
is the forward gain of the system. The (D) only if 0  K  2
condition for closed loop stability is:
[GATE- 1990 EC] Q.7 The system shown in the figure remains
(A) K = 0.528 (B) K = 2 stable when
(C) K = 0 (D) K = -2.258 R( s) 1 K s 1 1
Y ( s)

Q.3 The number of roots of 3

s3  5s 2  7s  3  0 in the left half of 1
the s-plane is [GATE- 2002 EC]
[GATE- 1998 EC]
(A) Zero (B) One (A) K  1 (B) 1  K  1
(C) Two (D) Three (C) 1  K  3 (D) K  3

Q.4 The open loop transfer function of an Q.8 The characteristic polynomial of a
unity feedback open loop system is system is
2s 2  6s  5 q( s)  2s 5  s 4  4s 3  2s 2  2s  1. The
. The characteristic
( s  1) 2 ( s  2) system is
equation of the closed loop system is [GATE- 2002 EC]
[GATE- 1998 EC] (A) Stable (B) Marginally stable
(A) 2s2  6s  5  0 (C) Unstable (D) Oscillatory
(B) ( s  1)2 ( s  2)  0
Q.9 The gain margin for the system with
(C) 2s 2  6s  5  ( s  1)2 ( s  2)  0 open-loop transfer function
(D) 2s 2  6s  5  ( s  1)2 ( s  2)  0 2(1  s )
G ( s) H ( s)  , is
s2
Q.5 A system described by the transfer [GATE- 2004 EC]
1 (A)  (B) 0
function H ( s )  3 is
s   s  Ks  3
2 (C) 1 (D) - 
stable.
2 | Control Systems
Q.10 The open-loop transfer function of a
unity feedback system is Which of the following statements is
K true?
G( s)  2
s(s  s  2)( s  3) [GATE- 2008 EC]
The range of K for which the system is (A) The closed loop system is never
stable is stable for any value of 
[GATE- 2004 EC] (B) For some positive values of  , the
21 closed loop system is stable, but not
(A) K 0 (B) 13  K  0 for all positive values
4
(C) For all positive values of  , the
21
(C) K  (D) 6  K   closed loop system is stable
4 (D) The closed loop system is stable for
Q.11 The positive values of “K” and “a” so all values of  , both positive and
that the system shown in the figure negative
below oscillates at a frequency of 2
rad/sec respectively are Q.14 The number of open right half plane
[GATE- 2006 EC] poles of
[GATE- 2008 EC]
K (s  1)
 10
G (s)  5
R( s) C ( s)
 ( s2  as2  2s  1) is
s  2 s  3s 3  6 s 2  5s  3
4

(A) 0 (B) 1
(C) 2 (D) 3
(A) 1, 0.75 (B) 2, 0.75 Q.15 The forward path transfer function of a
(C) 1, 1 (D) 2, 2 unity negative feedback system is given
K
Q.12 If the closed-loop transfer function of a by G(s) 
control system is given as ( s  2)( s  1)
s 5 The value of K which will place both
T ( s)  , then it is the poles of the closed-loop system at
( s  2)( s  3) the same location, is ______.
[GATE- 2007 EC] [GATE- 2014 EC]
(A) An unstable system
(B) An uncontrollable system Q.16 Consider a transfer function
(C) A minimum phase system
ps 2  3 ps  2
(D) A non-minimum phase system G p (s)  2
s  (3  p)s  (2  p)
Q.13 A certain system has transfer function with pa positive real parameter. The
s 8 maximum value of p until which G p
G( s )  2 , where  is a
s s  4 remains stable is ______.
parameter. Consider the standard [GATE- 2014 EC]
negative unity feedback configuration as
shown below. Q.17 A plant transfer function is given as

G ( s)  K  1

G( s)   K p  I 
 s  s( s  2)
 Stability Analysis | 3
When the plant operates in a unity (A) 2.0  K  0.5 (B) 0  K  0.5
feedback configuration, the condition (C) 0  K   (D) 0.5  K  
for the stability of the closed loop
system is Q.21 Which one of the following options
[GATE- 2015 EC] correctly describes the locations of the
K
(A) K p  I  0 (B) 2 K I  K p  0 roots of the equation s 4  s 2  1  0 on
2 the complex plane?
(C) 2 K I  K p (D) 2 K I  K p [GATE- 2017 EC]
(A) Four left half plane (LHP) roots
Q.18 The characteristic equation of an LTI (B) One right half plane (RHP) root, one
system is given by LHP root and two roots on the
imaginary axis.
F ( s)  s 5  2s 4  3s 3  6s 2  4s  8  0 (C) Two RHP roots and two LHP roots.
The number of roots that lie strictly in (D) All four roots are on the imaginary
the left half s-plane is _____. axis
[GATE- 2015 EC]
Q.22 The system shown in figure is
Q.19 Match the inferences X, Y and Z about a
system, to the corresponding properties
of the elements of first column in 1 1 1
R (s )   3 
Routh’s Table of the system s 1  4
s4  s3
C (s )

characteristic equation.
List-I 4 8

X. The system is stable..

Y. The system is unstable.. [GATE- 1997 EE]
Z. The test breaks down..
List-II (A) Stable
P. ..when all elements are positive (B) Unstable
Q. ..when any one element is zero (C) Marginal stable
R. ..when there is a change in sign of (D) Critically stable
coefficients
[GATE- 2016 EC] Q.23 The system represented by the transfer
(A) X – P; Y – Q; Z – R function
(B) X – Q; Y – P; Z – R
(C) X – R; Y – Q; Z – P
s 2  10s  24
G( s) 
(D) X – P; Y – R; Z – Q s 4  6s3  39s 2  19s  84
has ________ poles in the right-half of
Q.20 The first two rows in the Routh table for
s-plane.
the characteristic equation of a certain
closed-loop control system are given as [GATE- 1997 EE]

s3 1 (2K+3) Q.24 The system shown in figure is

s 2 2K 4
The range of K for which the system is
stable is
[GATE- 2016 EC]
4 | Control Systems
s 1 Q.27 The open loop transfer function of a
U1 
 s2 unity feedback control system is given
by
1  K (s 1)
s 1
U2 G( s)  , K  0, T  0.
s(1  Ts)(1  2s)
[GATE- 2007 EE] The closed loop system will be stable if,
(A) Stable [GATE- 2016 EE]
(B) Unstable
(C) Conditionally unstable 4( K  1)
(A) 0  T 
(D) Stable for input U1 , but unstable for K 1
4(T  2)
input U 2 (B) 0  K 
T 2
Q.25 The first two rows of Routh’s tabulation T 2
(C) 0  K 
of a third order equation are as follows. T 2
8(K  1)
s3 2 2 (D) 0  T 
K 1
2
s 4 4
Q.28 A closed loop system has the
This means there are : characteristic equation given by
[GATE- 2009 EE] s3  Ks 2  ( K  2) s  3  0 .
(A) Two roots at s   j and one root in For this system to be stable, which one
of the following conditions should be
right half s-plane
satisfied?
(B) Two roots at s   j 2 and one root [GATE- 2017 EE]
in left half s-plane (A) 0  K  0.5 (B) 0.5  K  1
(C) Two roots at s   j 2 and one root (C) 0  K  1 (D) K  1
in right half s-plane.
(D) Two roots at s   j and one root in Q.29 The characteristic equation of a linear
left half s-plane. time-invariant (LTI) system is given by
( s)  s 4  3s3  3s 2  s  k  0 .
Q.26 For the given system, it is desired that The system is BIBO stable is
the system be stable. The minimum 8 12
value of  for this condition is (A) 0  k  (B) 0  k 
9 9
__________. (C) k  3 (D) k  6
[GATE- 2014 EE]
Q.30 The number of roots of the polynomial,
R( s) 
(s  α)
C( s )
s 7  s 6  7 s5  14s 4  31s3  73s 2  25s  200,
 s3  (1 α) s 2  (α 1)s  (1 α)
in the open left half of the complex
plane is
[GATE- 2018 EE]
(A) 3 (B) 4
(C) 5 (D) 6
 Stability Analysis | 5

Answer Key : Stability Analysis

1 D 2 B 3 D 4 C 5 B

6 C 7 D 8 C 9 A 10 A

11 B 12 D 13 C 14 C 15 2.25

16 1.99 17 A 18 0 19 D 20 D

21 C 22 A 23 2 24 D 25 D

26 0.618 27 C 28 D 29 A 30 A
CHAPTER 04 ROOT LOCUS

Q.1 The OLTF of a feedback system is (A)

K ( s  1)( s  3) jω
G (s) H (s) 
s 2  4s  8
The root locus for the same is σ

[GATE- 1989]
(A)
lm
(B)
K  3 jω

Re
-3 -1 K 1
σ
K 0

(B)
lm K 3
(C)
jω

K 
Re
-3 -1
σ
K0 K 0

K 
(C)
lm
(D)
jω

Re
-3 -1 σ

(D) Q.3 The characteristic equation of a

lm
feedback control system is given by
s 3  5s 2  ( K  6) s  K  0 Where K > 0
is a scalar variable parameter. In the
Re
-3 -1 root-locus diagram of the system the
asymptotes of the root-loci for large
values of K meet at a point in the s-
phase, whose coordinates are
[GATE- 1991]
Q.2 The transfer function of a closed loop (A) (-3, 0) (B) (-2, 0)
system is: (C) (-1, 0) (D) (2, 0)
K
T ( s)  2
s  (3  K)(s 1) Q.4 Given a unity feedback system with
Where K is the forward path gain. The open-loop transfer function.
root locus plot of the system is: K
G( s)  . The root locus
s( s  1)( s  2)
[GATE- 1990]
plot of the system is of the form.
[GATE- 1992]
2 | Control Systems
(A) (A) s1 is on the root locus, but not s2
jω
(B) s2 is on the root locus, but not s1
(C) Both s1 and s2 are on the root locus
σ
(D) Neither s1 nor s2 is on the root
locus

(B) Q.7 The root-locus diagram for a closed-

jω
loop feedback system is shown in the
figure. The system is over damped.
[GATE- 2001]
σ jω

K 5

K K0 K 0
(C)  K 3 2 1
s
jω
K 1

σ (A) Only if 0  K  1
(B) Only if 1  K  5
(C) Only if K  5
(D) (D) If 0  K  1 and K  5
jω

Q.8 Which of the following points is NOT

on the root of a system with the open-
σ
loop transfer function
K
G( s) H ( s) 
Q.5 If the open-loop transfer function is a s( s  1)( s  3)
ratio of a numerator polynomial of [GATE- 2002]
degree ‘m’ and a denominator (A) s   j 3 (B) s  1.5
polynomial of degree ‘n’ then the (C) s  3 (D) s  
integer (n-m) represents the number of
[GATE- 1994] Q.9 The root locus of the system
(A) breakaway points K
(B) unstable poles G( s) H ( s)  ,
(C) separate root loci s(s  2)(s  3)
(D) asymptotes has the break-away point located at
[GATE- 2003]
(A) (-0.5, 0) (B) (-2.548, 0)
Q.6 Consider the points s1  3  j 4 and
(C) (-4, 0) (D) (-0.784, 0)
s2  3  j 2 in the s-plane. Then, for a
system with the open-loop transfer K
Q.10 Given G( s) H ( s)  , the
function s(s  1)(s  3)
[GATE- 1999] point of intersection of the asymptotes
K
G(s) H ( s)  of the root loci with the real axis is
( s  1)4 [GATE- 2004]
(A) -4 (B) 1.33
 Root Locus | 3
(C) -1.33 (D) 4 jω

Q.11 The feedback configuration and the 2

pole-zero locations of
1
s 2  2s  2
G( s)  2 are shown below.
s  2s  2
The root locus for Negative values of K,
i.e. for   K  0, has [GATE- 2014]
breakaway/break-in points and angle of
departure at pole P (with respect to the s 1
(A)
positive real axis) equal to ( s  2)( s  4)( s  7)
[GATE- 2009] s4
(B)
( s  1)( s  2)( s  7)
lm(s)
 K G( s)
 s7
(C)
Re(s)
( s  1)( s  2)( s  4)
( s  1)( s  2)
(D)
(A)  2 and 0 (B)  2 and 45 ( s  7)( s  4)
(C)  3 and 0 (D)  3 and 45
Q.14 A unity negative feedback system has
Q.12 The root locus plot for a system is given the open-loop transfer function
below. The open loop transfer function K
G( s)  . The value of the
corresponding to this plot is given by s( s  1)(s 3)
jω
gain ( K  0) at which the root locus
crosses the imaginary axis is ________.
3 2 1 0
σ [GATE- 2015]

Q.15 The open-loop transfer function of a
unity feedback configuration is given as
[GATE- 2011]
K ( s  4)
s( s  1) G( s)  . The value of a
(A) G( s) H ( s)  K ( s  8)( s 2  9)
( s  2)( s  3)
gain ( K  0) for which 1  j 2 lies on
(s  1)
(B) G( s) H ( s)  K the root locus is ________.
s(s  2)( s  3)2
[GATE- 2015]
1
(C) G(s) H (s)  K
s(s 1)( s  2)( s  3) Q.16 For the system shown in figure,
( s  1) s  2.75 lies on the root locus if K is
(D) G( s) H ( s)  K _____.
s( s  2)( s  3)
[GATE- 2015]
s 3 Y ( s)
 K
Q.13 In the root locus plot shown in the  s 2

figure, the pole/zero marks and the

10
arrows have been removed. Which one
of the following transfer function has
this root locus? Q.17 The forward-path transfer function and
the feedback-path transfer function of a
4 | Control Systems
single loop negative feedback control jω
system are given as (B)
K ( s  2)
G (s)  2 and H ( s )  1,
s  2s  2 σ
b a 0
respectively. If the variable parameter K
is real positive, then the location of the
breakaway point on the root locus
diagram of the system is _______.
jω
[GATE- 2016] (C)

Q.18 A linear time invariant (LTI) system

with the transfer function a 0
σ
b
K ( s 2  2s  2)
G ( s) 
( s 2  3s  2)
Is connected in unity feedback
configuration as shown in the figure. jω
(D)
G (s )


a
σ
b 0

For the closed loop system shown, the

root locus for 0  K   intersects the
imaginary axis for K = 1.5. The closed
loop system is stable for Q.20 Figure shows the root locus plot
[GATE- 2017] (location of poles not given) of a third
(A) K  1.5 (B) 1  K  1.5 order system whose open loop transfer
(C) 0  K  1.5 (D) no positive value of K function is
[GATE- 2005]
Q.19 A unity feedback system has an open jω
loop transfer function of the from
K ( s  a) j2 3
G( s)  2 ; b  a which of the loci
s ( s  b) j 3
shown in figure can be valid root-loci
for the system? σ
-3 -2 -1 1 2 3
[GATE- 1991]
jω j 3
(A)
 j2 2

a
σ
b 0
K K
(A) (B)
s3 s ( s  1)
2

K K
(C) (D)
s( s 2  1) s( s 2  1)
 Root Locus | 5
Q.21 A closed-loop system has the (A) Three roots with nearly equal real
characteristic function parts exist on the left half of the s –
( s 2  4)( s  1)  K ( s  1)  0. plane.
Its root locus plot against K is (B) One real root is found on the right
[GATE- 2006] half of the s – phase.
jω (C) The root loci cross the j axis for a
finite value of K , K  0.
(D) Three real roots are found on the
right half of the s – phase.
(A) σ
2 1 1 2

Q.23 The root locus of a unity feedback

system is shown in the figure.
jω
jω
K 0 K 0
σ
2 1

(B) σ
2 1 1 2
The closed loop transfer function of the
system is
[GATE- 2014]
C (s) K
jω ` (A) 
R( s) ( s  1)( s  2)
C (s) K
(B) 
(C)
1
σ R( s) ( s  1)( s  2)  K
2 1 2
C ( s) K
(C) 
R( s) ( s  1)( s  2)  K
jω C (s) K
(D) 
R( s) ( s  1)( s  2)  K

(D) σ Q.24 An open loop transfer function G ( s) of

2 1 1 2
a system is
K
G( s) 
s(s  1)(s  2)
Q.22 The open loop transfer function G ( s) of For a unity feedback system, The
a unity feedback control system is given breakaway point of the root loci on the
as. real axis occurs at,
[GATE- 2015]
 2
K s  (A) -0.42
G ( s)  2
3 (B) -1.58
s ( s  2) (C) -0.42 and -1.58
From the root locus, it can be inferred (D) None of the above
that when K tends to positive infinity,
[GATE- 2011]
6 | Control Systems
Q.25 The gain at the breakaway point of the
root locus of a unity feedback system
with open loop transfer function
[GATE- 2016]
Ks
G( s)  is
s( s  1)(s  4)
(A) 1 (B) 2
(C) 5 (D) 9

Q.26 The root locus of the feedback control

system having the characteristic
equation s2  6Ks  2s  5  0 where,
K  0, enters into real axis at,
[GATE- 2017]
(A) s  1 (B) s   5
(C) s  5 (D) s  5
 Root Locus | 7

Answer Key : Root Locus

1 A 2 A 3 B 4 A 5 D

6 B 7 D 8 B 9 D 10 C

11 None 12 B 13 B 14 12 15 25.54

16 0.3 17 -3.41 18 A 19 A,C 20 A

21 B 22 A 23 C 24 A 25 A

26 B
 CHAPTER – 5 FREQUENCY RESPONSE ANALYSIS

10 Q.5 The Nyquist plot for the open-loop

Q.1 The polar plot of G( s) 
s( s  1)2 transfer function G ( s) of a unity
intercepts real axis at   0 . Then, the negative feedback system is shown in
the figure, if G ( s) has no pole in the
real part and  0 are respectively given
right-half of s-phase, the number of
by: roots of the system characteristic
[GATE- 1987] equation in the right-half of s-phase is

(A) -2.5, 1 (B) -5, 0.5 [GATE- 2001]

lm(s)
(C) -5, 1 (D) -5, 2
G( s)  plane

Q.2 The open-loop transfer function of a

1 Re( s)
feedback control system is
1
G( s).H ( s) 
( s  1)3
(A) 0 (B) 1
The gain margin of the system is (C) 2 (D) 3

[GATE- 1991] Q.6 The system with the open loop transfer
1
(A) 2 (B) 4 function G( s) H ( s)  has a
s( s  s  1)
2

(C) 8 (D) 16 gain margin of

Q.3 The Nyquist plot of a loop transfer [GATE- 2002]
function G( j) H ( j) of a system (A) -6 dB (B) 0 dB
encloses the (1, j 0) point. The gain (C) 3.5 dB (D) 6 dB
margin of the system is
Q.7 The phase margin of a system with the
[GATE- 1987] open-loop transfer function
(1  s)
(A) less than zero (B) zero G(s) H (s) 
(1  s)(2  s)
(C) greater than zero (D) infinity [GATE- 2002]
Q.4 The phase margin (in degrees) of a (A) 0 (B) 63.4
system having the loop transfer function (C) 90 (D) 
2 3
G(s) H (s)  is Q.8 The gain margin and the phase margin
s ( s  1) of a feedback system with
[GATE- 1999] s
G( s) H (s)  are
(s  100)3
(A) 45 (B) 30
[GATE- 2003]
(C) 60 (D) 30 (A) 0 dB, 0 (B) , 
(C) , 0 (D) 88.5 dB,
2 | Control System
Q.9 In the figure, the Nyquist plot of the lm
open-loop transfer function G(s) H (s)
of a system is shown. If G(s) H (s) has
one right-hand pole, the closed-loop (D) ω  ω0
system is Re
[GATE- 2003]
lm
GH  plane
Q.11 The polar diagram of a conditionally
ω0
( 1,0)
Re stable system for open loop gain K  1 is
shown in the figure. The open loop
ω positive transfer function of the system is known
to be stable. The closed loop system is
(A) always stable stable for
(B) unstable with one closed-loop right [GATE- 2005]
hand pole
(C)unstable with two closed-loop right lm

hand poles -0.2

(D) Unstable with three closed-loop -8

right hand poles Re

-2

Q.10 Which one of the following polar

diagrams corresponds to lag network? GH -plane

[GATE- 2005]
lm
1 1
(A) K  5 and K
2 8
(A) ω 0 ω  1 1
(B) K  and  K  5
Re 8 2
1
(C) K  and 5  K
8
lm
1
(D) K  and K  5
8
(B) ω 0 ω Common Data for Questions 12 & 13
Re The open loop transfer function of a
unity feedback system given by
3e2 s
G(s) 
lm
s( s  2)
[GATE- 2005]

(C) ω Q.12 The gain and phase crossover

ω 0
frequencies in rad/sec are, respectively
Re
(A) 0.632 and 1.26 (B) 0.632 and 0.485
 Frequency Response Analysis | 3
(C) 0.485 and 0.632 (D) 1.26 and 0.632 [GATE- 2009]
lm
Q.13 Based on the above results, the gain and
phase margins of the system will be 
 G (s)
(A) 7.09 and 87.5 -1 -0.5 Re 
j
(B) 7.09 and 87.5
(C) 7.09 dB and -87.5
(D) 7.09 dB and -87.5 Q.17 Which of the following statement is
true?
Q.14 The open-loop transfer function of a (A) G ( s) is an all-pass filter
unity-gain feedback control system is (B) G ( s) has a zero in the right-half
given by plane
K
G( s)  (C) G ( s) is the impedance of a passive
( s  1)( S  2) network
The gain margin of the system in dB is (D) G ( s) is marginally stable
given by
[GATE- 2006] Q.18 The gain and phase margins of G ( s)
(A) 0 (B) 1 for closed loop stability are
(C) 20 (D)  (A) 6 dB and 180 (B) 3 dB and 180
(C) 6 dB and 90 (D) 3 dB and 90
Q.15 The Nyquist plot G( j) H ( j) for a
closed loop control system, passed Q.19 For the transfer function
through (1, j 0) point in the GH plane. G( j)  5  j, the corresponding
The gain margin of the system in dB is Nyquist plot for positive frequency has
equal to the form
[GATE- 2006] [GATE- 2011]

(A) infinite (B) greater than zero (A)

(C) less than zero (D) zero jω

Q.16 The gain margin of the system under

closed loop unity negative feedback is σ
5
100
G( s) H (s) 
s( s  10)2
[GATE- 2011]
(B)
(A) 0 dB (B) 20 dB jω
(C) 26 dB (D) 46 dB
j5
Common Data for Question 17 & 18
σ
The Nyquist plot of a stable transfer
function is shown in the figure. We are
interested in the stability of the closed
loop system in the feedback
configuration shown.
4 | Control System
Q.21 The polar plot of the transfer function
10( s  1)
G (s)  for 0     will be
s  10
(C) in
jω
[GATE- 2015]
(A) first quadrant (B) second quadrant
1/5 σ (C) third quadrant (D) fourth quadrant

Q.22 In the feedback system shown below

1
G( s) 
(D) (s  1)(s  2)(s  3)
jω 
r K G( s) y


σ
1/5
The positive value of k for which the
gain margin of the loop is exactly 0 dB
and the phase margin of the loop is
exactly zero degree is ________.
Q.20 Consider the feedback system shown in [GATE- 2016]
the figure. The Nyquist plot of G ( s) is Q.23 The Nyquist plot of the transfer function
also shown. Which one of the following K
conclusions is correct? G( s)  2
(s  2s  2)( s  2)
[GATE- 2014]
Does not encircle the point (1  j 0)
R( s ) 

K G( s ) C ( s) for K  10 but does encircle the point
(1  j 0) for K  100. Then the closed
loop system (having unity gain
feedback) is
lmG( jω) [GATE- 2017]
(A) stable for K  10 and stable for
1 1 Re G( jω)
K  100
(B) stable for K  10 and unstable for
K  100
(C) unstable for K  10 and stable for
(A) G ( s) is an all-pass filter K  100
(D) unstable for K  10 and unstable
(B) G ( s) is a strictly proper transfer
for K  100
function
(C) G ( s) is a stable and minimum- Q.24 A unity feedback control system is
phase transfer function characterized by the open-loop transfer
(D) The closed-loop system is unstable function
for sufficiently large and positive K
 Frequency Response Analysis | 5
10 K ( s  2) as  1
G(s)  as G (s)  . The value of ‘a’ to
s 3  3s 2  10 s2
The Nyquist path and the corresponding give a phase margin of 45 is equal to
Nyquist plot of G ( s) are shown in the
(A) 0.141 (B) 0.441
figure below
(C) 0.841 (D) 1.141

jω
Q.26 If the compensated system shown in the
s  plane
 j
figure has a phase margin of 60 at the
crossover frequency of 1 rad/sec, then
s  Re j ϕ
R value of the gain K is
[GATE- 2005]
0 σ

1
R( s )  K  0.366 s Y (s)
 s(s 1)

 j

(A) 0.366 (B) 0.732

Nyquist path for G(s)
jImG (C) 1.366 (D) 2.738
G( s )  plane
 j 5.43 K
Q.27 The frequency response of
1
 jω G( s) 
s(s  1)(s  2)
ω0 ReG
K 2K Plotted in the complex
 jω G( j) plan (for 0    ) is
[GATE- 2010]
 j 5.43K

Nyquist path for G(s)

Img

If 0  K  1, then the number of poles of (A)

3 / 4
Re
the closed-loop transfer function that lie
in the right half of the s-plane is
[GATE- 2017]
(A) 0 (B) 1
(C) 2 (D) 3
ω =0
Q.25 The open loop transfer function of a
unity feedback control system is given
6 | Control System
(B) ω =0 The gain margin and phase margin of
Img
the system are
(A) 6dB and 30
(B) 6dB and -30
(C) 6dB and 30
(D) 6dB and -30
Re
3 / 4

Q.29 The phase cross-over frequency of the

100
(C)
ω =0 Img function G ( s)  in rad/s is
( s  1)3
1
(A) 3 (B)
3
(C) 3 (D) 3 3

Re
Q.30 The transfer function of a system is
-1/6
given by,
Img
V0 ( s) 1  s
(D) 
Vi ( s) 1  s
Re
Let the output of the system be
v0 (t )  Vm sin(t   ) for the input,
v1 (t )  Vm sin(t ) . Then the minimum
and maximum values of  (in radians)
ω =0
-1/6 are respectively
  
Q.28 The frequency response of a linear (A)  2 and 2 (B)  2 and 0
system G( j ) is provide in the tabular 
from below (C) 0 and 2 (D)  and 0

G( j) G(j)
Q.31 Consider the unity feedback control
1.3 130 system shown. The value of K that
1.2 140 results in a phase margin of the system

1.0 150 to be 30 is _____. (Give the answer up
0.8 160 to two decimal places.
0.5 180
0.3 200
 Frequency Response Analysis | 7
1. Img

U (s )  K (e s )
Y (s )
 s
ω = Re
1

Q.32 The polar plot of a type -1, 3-pole, open

loop system is shown in below figure.
The closed loop system is Img
2.
ω
Img

ω = Re
1

ω  Re
-1.42
Img
3.

ω 0 1 ω = Re

(A) Always stable ω

(B) Marginally stable
(C) Unstable with one pole on the RH s-
Img
plane 4.
(D) Unstable with two poles on the RH
s-plane ω7.09dBand-87.5


Re
1

Q.33 The Nyquist plot of open loop transfer ω

function G(s) H (s) of a closed loop
control system passes through the point
(1  j 0) in the G(s) H (s) plane. The (A) 1 only (B) all, except 1
phase margin of the system is (C) all, except 3 (D) 1 and 2 only
(A) 0 (B) 45
(C) 90 (D) 180 Q.35 A unity feedback system with the open
loop transfer function
Q.34 Consider the following Nyquist plots of 1
G(s) 
open loop transfer functions over   0 s( s  2)( s  4)
to   . Which of these plots Has gain margin of _______dB.
represents a stable closed loop system
8 | Control System
Q.36 If x  Re G( j) and y  Im G( j) then Nyquist plot of the product of G1 ( s ) and
for   0 the Nyquist plot for

G2 ( s) is
1
G( s)  becomes Img
s(s  1)(s  2) (A)

asymptotic to the line

3
(A) x  0 (B) x  
4
ω 0
Re
ω =

1 y
(C) x  y  6 (D) x 
3

Q.37 The open loop transfer function of a Img

(B)
unity feedback system is given by
e0.1s
G ( s)  . The gain margin of this
s
Re
system is 1
(A) 11.95 dB (B) 17.67 dB
(C) 21.33 dB (D) 23.92 dB

Q.38 Nyquist plots of two functions G1 ( s ) and

G2 ( s) are shown in figure. Img
(C)
Img

Re
ω =
Re
G1( s)

ω0 Img
(D) ω =

Img
ω =

G2 (s ) Re

ω0
Re
ω0
 Frequency Response Analysis | 9
Q.39 Loop transfer function of a feedback
s3
system is G( s) H ( s)  2 . Take
s ( s  3)
the Nyquist contour in the clockwise
direction. Then, the Nyquist plot of
G(s) H (s) encircles 1  j 0
(A) Once in clockwise direction
(B) twice in clockwise direction
(C) once in anticlockwise direction
(D) twice in anticlockwise direction

Q.40 The open loop transfer function of a

unity feedback system is given by
 e0.25s
G( s)  .
s
In G ( s) plane, the Nyquist plot of G ( s)
passes through the negative real axis at
the point
(A) 0.75, j 0 (B) 1.5, j 0
(C) 1.25, j 0 (D) 0.5, j 0
10 | Control System

Answer Key : Frequency Response Analysis

1 C 2 C 3 A 4 D 5 A
6 B 7 D 8 B 9 A 10 D

11 B 12 D 13 D 14 D 15 D
16 C 17 B 18 C 19 A 20 D
21 A 22 60 23 B 24 C 25 C
26 C 27 A 28 A 29 A 30 D
31 1.047 32 D 33 A 34 D 35 33.62
36 B 37 D 38 B 39 A 40 D

CHAPTER 06 BLOCK DIAGRAM AND SIGNAL FLOW GRAPH

Q.1 In the signal flow graph shown in fig E G1 G2 C

X 2  TX 1 where T , is equal to
[GATE- 1987 EC]
0.5 F H

5
X1 X2
(A) 2.5 (B) 5 E G1 C
(C) 5.5 (D) 10
Q.2 The C/R for the signal flow graph in (A)
figure is:
[GATE- 1989 EC] F H G2
1 G1 G2 1 G3 G4 1
R C

1 1 1 1 E G1G2 C

G1G2G3G4 (B)
(A)
(1  G1G2 )(1  G3G4 )
G1G2G3G4 F HG 2
(B)
(1  G1  G2  G1G 2 )(1  G3  G4  G3G4 )
E G1 C
G1G2G3G4 (C)
(C)
(1  G1  G2 )(1  G3  G4 )
G1G2G3G4 F HG 2
(D)
(1  G1  G2  G3  G4 )
E G1G2 C
Q.3 In the signal flow graph of figure the (D)
gain c/r will be
[GATE- 1991 EC]
F H G2
5

Q.5 The signal flow graph of a system is

r 1 2 3 4 1 c shown in the figure. The transfer
C (s)
1 1 1 function of the system is
R( s)
(A) 11/9 (B) 22/15 [GATE- 2003 EC]
1 1
(C) 24/23 (D) 44/23
R( s) 1 s 6 s

Q.4 The equivalent of the block diagram in 4 3

2
the figure is given as 1
[GATE- 2001 EC]
C( s)
2 | Control Systems
6 6s 1
(A) (B)
s  29 s  6
2
s  29 s  6
2

s ( s  2) s ( s  27) 1 s 1 s1 1 Y ( s)
U (s )
(C) 2 (D) 2
s  29 s  6 s  29 s  6 4

Q.6 Consider the signal flow graph shown in 2

the figure. The gain x5 / x1 is s 1 s 1
(A) 2 (B)
[GATE- 2004 EC] 5s  6 s  2 s  6s  2 2

x1 a x2 b x3 c x4 d x5 s 1 1
(C) 2 (D) 2
s  4s  2 5s  6 s  2
e f g
Q.9 Consider the following block diagram in
the figure.
1  (be  cf  dg ) [GATE- 2014 EC]
(A)
abc R( s) C (s)
G1 +
+
G2 +
+
bedg
(B)
1  (be  cf  dg )
abcd C (s)
(C) The transfer function is
1  (be  cf  dg )  bedg R( s)
1  (be  cf  dg )  bedg G1G2
(D)
abcd (A) (B) G1G2  G1  1
1  G1G2
Q.7 The transfer function Y(s)/R(s) of the
G1
system shown is (C) G1G2  G2  1 (D)
[GATE- 2010 EC] 1  G1G2
 1 Q.10 For the following system,
R (s )  Y (s )
 s 1
X 2 (s )

1
 X 1 (s ) s 1 Y ( s)
 +
 s 1
+
 s
s 1


1
(A) 0 (B)
s 1 When X 1 ( s)  0, the transfer function
2 2 Y (s)
(C) (D) is
s 1 s3 X 2 ( s)
[GATE- 2014 EC]
Q.8 The signal flow graph for a system is s 1 1
given below. The transfer function (A) 2 (B)
s s 1
Y (s) s2 s 1
for this system is (C) (D)
U (s) s( s  1) s( s  2)
[GATE- 2013 EC] Q.11 For the signal flow graph shown in the
C (s)
figure, the value of is
R( s)
[GATE- 2015 EC]
 Block Diagram and Signal Flow Graph | 3
 H3  
X G2 G1 Y
 

1 X1 X3 1 X 4
R( s ) C( s ) H1
G1 X 2 G 2 G3 X 5 G 4

 H1  H2
G1G2
(A) G 
(A) G1G2G3G4 1  G1H1
1  G1G2 H1  G3G4 H 2  G2G3 H 3  G1G2G3G4 H1H 2
G1G2
(B) G 
1  G1G2  G1H1
(B) G1G2G3G4
1  G1G2 H1  G3G4 H 2  G2G3 H 3  G1G2G3G4 H1H 2 G1G2
(C) G 
1  G1G2 H1
1 G1G2
(C) (D) G 
1  G1G2 H1  G3G4 H 2  G2G3 H 3  G1G2G3G4 H1H 2 1  G1G2  G1G2 H1

(D) 1
Q.14 The signal flow graph of figure below
1  G1G2 H1  G3G4 H 2  G2G3 H 3  G1G2G3G4 H1H 2
has forward paths and feedback loops
are respectively
Q.12 The position control of a DC servo- [GATE- 1991 EE]
motor is given in the figure. The values c
of the parameters are KT  1 N-m A,
b
Ra  1 , La  0.1 H.
e
J  5 kg-m2 , a h
d
x
B  1 N-m (rad/sec) and Kb  1 f
l
k
V/(rad/sec). The steady-state position m g
y
response (in radians) due to unit impulse
disturbance torque Td is _______. n

[GATE- 2015 EC] (A) 4, 3 (B) 4, 4

Td ( s) (C) 3, 4 (D) 3, 3

Va ( s)
+ KT 1
1/ s θ (s ) Q.15 The overall transfer function of the
 Ra  La s + Js  B
system shown in figure is
[GATE- 1992 EE]
+
+ G
Kb
H
+
U + Y
Q.13 The block diagram of a feedback control H
system is shown in the figure. The
+
G
overall closed-loop gain G of the system +

is
[GATE- 2016 EC] G 2G
(A) (B)
1  GH 1  GH
GH 2G
(C) (D)
1  GH 1 H
4 | Control Systems
Q.16 The block diagram of a control system is 1
as shown in figure. The transfer function 1 s 1 s1 1
U (s) Y ( s)
Y ( s)
G( s)  of the system is 4
U ( s) 2
[GATE- 2003 EE]
s 1 s 1
9 (A) (B) 2
5s  6 s  2
2
s  6s  2
u (t )  y (t) s 1 1
+
 Integrator 2 +
 Integrator (C) 2 (D) 2
s  4s  2 5s  6 s  2
3 12 Q.19 The block diagram of a system is shown
in the figure.
[GATE- 2014 EE]
1
(A)
 s  s 
18 1  1   1 _
 12  3  R( s ) +_
s
+_ G (s ) s C ( s)
1
(B)
 s  s 
27 1  1  
 6  9 
1 If the desired transfer function of the
(C) system is
 s  s 
27 1  1   C (s) s
 12  9   2
R( s ) s  s  2
1
(D) then G(s) is
 s  s 
27 1  1   (A) 1 (B) s
 9  3  s
Q.17 When subjected to a unit step input, the (C) 1/s (D) 3 2
s s s2
closed loop control system shown in the
figure will have a steady state error of Q.20 For the signal-flow graph shown in the
[GATE- 2005 EE] figure, which one of the following
expressions is equal to the transfer
Y ( s)
function ?
U ( s ) X1 ( s )  0
3  2
R ( s) +
 + Y ( s)
s s 2 [GATE- 2015 EE]

X1(s ) X 2 (s )
(A) -1.0 (B) -0.5 1 G1 G2
(C) 0 (D) 0.5 Y ( s)

Q.18 The signal flow graph for a system is

1 1
given below. The transfer function
Y (s)
for this system is G1 G2
U (s) (A) (B)
1  G2 (1  G1 ) 1  G1 (1  G2 )
[GATE- 2003 EE]
 Block Diagram and Signal Flow Graph | 5
G1 G2
(C) (D)
1  G1G2 1  G1G2
Q.21 In the system whose signal flow graph is
shown in the figure, U1 ( s ) and U 2 ( s)
Y ( s)
are inputs. The transfer function
U1 ( s)
is
[GATE- 2017 EE]
R U2

1 1
U1 1/ L 1/ s k1 1/ J 1/ s Y

 k2

k1
(A)
JLs  JRs  k1k2
2

k1
(B)
JLs  JRs  k1k2
2

k1  U 2 ( R  sL)
(C)
JLs  ( JR  U 2 L) s  k1k2  U 2 R
2

k1  U 2 ( sL  R)
(D)
JLs  ( JR  U 2 L) s  k1k2  U 2 R
2
6 | Control Systems

Answer Key : Block Diagram and Signal Flow Graph

1 D 2 C 3 D 4 D 5 D

6 C 7 B 8 A 9 C 10 D

11 B 12 -0.5 13 B 14 B 15 B

16 B 17 C 18 A 19 B 20 B

21 A
CHAPTER 07 STATE SPACE ANALYSIS

Q.1 A linear time-invariant system is [GATE- 2002]

described by the state variable model (A) 0.5 / (s  2) (B) 1/ (s  2)
 x1   1 -1   x1  0 (C) 0.5 / (s  2) (D) 1/ (s  2)
 x   0 -2  x   1  u Q.5 The zero-input response of a system
 2   2  
given by the state-space equation
x 
y  [1 2]  1  is  x1  1 0  x1   x1 (0)  1 
 x2   x   1 1   x  and  x (0)   0 is
 2   2  2   
[GATE- 1992]
(A) The system is completely [GATE- 2003]
controllable tet   et 
(A)   (B)  
(B) The system is not completely t  t 
controllable
(C) The system is completely observable  et  t 
(C)  t  (D)  t 
(D) The system is not completely te  te 
observable
Q.6 The state variable equations of a system
Q.2 A certain liner time invariant system has are:
the state and the output equations given .
below: 1. x1  3 x1  x2  u
 x1  1 -1  x1  0 2. x 2  2 x1 y  x1  u
 x   0 1   x   1  u The system is
 2   2  
[GATE- 2004]
x 
y  [1 1]  1  is (A) controllable but not observable
 x2  (B) observable but not controllable
dy (C) neither controllable nor observable
x1 (0)  1, x2 (0)  1, u(0)  0 then is (D) controllable and observable
dt t 0

[GATE- 1992] 1 0 
(A) 1 (B) -1 Q.7 Given A    , the state transition
(C) 0 (D) None of the above  0 1
matrix e At is given by
Q.3 The system mode described by the state [GATE- 2004]
equations 0 e  t
 et 0 
0 1  0  (A)  t  (B)  t
x  x    u , Y  [1 1]x is e 0  0 e 
 2  3 1 
[GATE- 1999] et 0   0 et 
(C)  t 
(D)  t 
(A) controllable and observable 0 e  e 0 
(B) controllable, but not observable
(C) controllable, but not controllable Q.8 A linear system is described by the
(D) neither controllable nor observable following state equation
0 1 
Q.4 The transfer function Y (s) / U (s) of a X(t )  AX (t )  BU (t ), A   
system described by the state equations  1 0 
x(t )  2x(t )  2u(t ) and y(t )  0.5x(t ) The state-transition matrix of the system
is is
2 | Control Systems
[GATE- 2006]  0 1  1 1
cos t sin t    cos t sin t  (A)   (B)  
(A)   (B)    1 1  1 -2 
  sin t cos t    sin t -cos t   1 1  0 1
  cos t -sin t  cos t -sin t  (C)   (D)  
(C)   (D)   1 -2   2 -3 
  sin t cos t  sin t sint 
 0 1
Q.9 The state space representation of a Q.12 Consider the matrix P   .
separately excited DC servo motor  2 -3 
dynamics is given as The value of e p is
 d  [GATE- 2008]
 dt   1 1    0   2e  3e
2 1
e  e2 
1

       u (A)  2 
 dia   1  10 ia  10
1
 2e  2e 5e2  e1 
 dt  e1  e2 2e2  e1 
where  is the speed of the motor, ia is (B)  1 1 2 
 2e  4e 3e  2e 
2
the armature current and u is the
armature voltage. The transfer function 5e2  e1 3e1  e2 
 (s) (C)  2 1 2 1 
of the motor is  2e  6e 4e  e 
U (s)
 2e1  e2 e1  e2 
[GATE- 2007] (D)  
1 2
10 1  2e  2e -e 1  2e 2 
(A) 2 (B) 2
s  11s  11 s  11s  11
10 s  10 1 Q.13 The block diagram of a system with one
(C) 2 (D) 2
s  11s  11 s  s 1 input u and two output y1 and y2 is
given below.
Q.10 The eigen-value and eigen-vector pairs v
1
s 2
(i , vi ) for the system are
Y
[GATE- 2007] 2
 1   1   s2
(A)  1,    and  2,    A state space model of the above system
 1    2 
n terms of the state vector x and the
  1    1  output vector y  [ y1 y2 ]T is
(B)  2,    and  1,   
  1    2  [GATE- 2011]
  1    1  (A) x  2 x  [1]u; y  [1 2]x
(C)  1,    and  2,   
  1    2  .
(B) x  [2]x  [1]u;
1 
y   x
  1    1 2
(D)  2,    and 1,   
 1    2 
.  2 0  1
 (C) x    x    u; y  1 2 x
0  2  1
Q.11 The system matrix A is . 2 0 1  1 
[GATE- 1992] (D) x    x    u; y  x
0 2   2  2
 State Space Analysis| 3
The state diagram of a system is shown (A) controllable and observable
below is described by the state-variable (B) uncontrollable and observable
equations: (C) uncontrollable and unobservable
X  AX  Bu; y  CX  Du (D) controllable and unobservable
1 1 1 1 1
u y
Q.17 An unforced linear time invariant (LTI)
1 1 system is represented by
s s
 x1  1 0  x1 
Q.14 The state-variable equations of the  x    0  2  x 
system in the figure above are  2   2
[GATE- 2013] If the initial conditions are x1 (0)  1 and
-1 0   1 x2 (0)  1, the solution of the state
X   X   u
(A) 1 -1  1 equation is
y  [1  1] X  u [GATE- 2014]
(A) x1 (t )  1, x2 (t )  2
-1 0   1
X   X   u (B) x1 (t )  et , x2 (t )  2e t
(B) -1 -1  1
y  [1  1] X  u (C) x1 (t )  e  t , x2 (t )  e 2t
-1 0   1 (D) x1 (t )  et , x2 (t )  2et
X   X   u
(C) -1 -1  1 Q.18 The state equation of a second-order
y  [1  1] X  u liner system is given by
-1 -1  1 x(t )  Ax(t ), x(0)  x0
X   X   1 u
(D) 0 -1  
y  [1  1] X  u  1  et  0
For x0    , x(t )   t  and for x0    ,
 1  e  1 
Q.15 The state transition matrix e At of the et  e2t 
system shown in figure above is x(t )   t 2 t 
,
[GATE- 2013]  e  2e 
e t
0 et 0  3 
(A)  t t  (B)  t t  When x0    , x (t ) is
te e   te e  5 
[GATE- 2014]
et 0  e  t  te  t 
(C)   t  t  (D)    8e  11e 
t 2 t

e e  0 et  (A)   t 2 t 
8e  22e 
Q.16 Consider the state space model of a 11e t  8e 2t 
(B)  t 2 t 
system, as given below:
 11e  16e 
[GATE- 2014]
3et  5e2t 
(C)  2 t 
 x1   1 1 0   x1  0   x1  t
 3e  10e 
 x    0 -1 0   x  +  4 u; y  [1 1 1]  x  .
 2   2    2  5et  6e2t 
 x3   0 0  2   x3  0   x3  (D)  t 2 t 
The system is  5e  6e 
4 | Control Systems
Q.19 The state variable representation of a d
system is given as x1 (t )  x2 (t )  0
dt
0 1  1  d
x  x, x(0)    x2 (t )  2 x1 (t )  3 x2 (t )  r (t )
0  1 0 dt
y  [0 1]x Where x1 (t ) and x2 (t ) are the two state
The response y(t) is variables and r(t) denotes the input. The
[GATE- 2015] output c(t )  x1 (t ). The system is
(A) sin (t ) (B) 1  er [GATE- 2017]
(C) 1  cos(t ) (D) 0 (A) undamped (oscillatory)
(B) underdamped
Q.20 A network is described by the state (C) critically damped
model as (D) overdamped
x1  2 x1  x2  3u
Q.23 A system is described by the state
x2  4 x2  u equation x  Ax  Bu. The output is
y  3x1  2 x2 given by y  Cx.
 Y (s)   4  1 1
The transfer function H ( s)    is where A    , B  1 , C  [1 0]
 U ( s)   3  1 
[GATE- 2015] Transfer function G(s) of the system is
11s  35 11s  35 s 1
(A) (B) (A) 2 (B) 2
( s  2)( s  4) ( s  2)( s  4) s  5s  7 s  5s  7
11s  38 11s  38 (C) 2
s
(D) 2
1
(C) (D)
( s  2)( s  4) ( s  2)( s  4) s  3s  2 s  3s  2

Q.21 A second-order linear time-invariant Q.24 The state space representation of a

system is described by the following system is given by,
state equations  x1   5 1   x1 
d  x    6 0  x 
x1 (t )  2 x1 (t )  3u (t )  2   2
dt The value of x1 at t = 1 if x1 (0)  1 and
d
x2 (t )  x2 (t )  u (t ) x2 (0)  0 is ________.
dt
[GATE- 1998]
Where x1 (t ) and x2 (t ) are the two state
variables and u (t ) denotes the input. If Q.25 Given the homogeneous state-space
the output c(t )  x1 (t ), then the system  3 1 
equation x   x
is  0  2
[GATE- 2016] The steady state value of xss  lim x(t ),
(A) controllable but not observable t 

(B) observable but not controllable given the initial state value of
(C) both controllable and observable x(0)  [10 -10]T , is
(D) neither controllable nor observable 0   3 
(A) xss    (B) xss   
Q.22 A second order LTI system is described 0   2 
by the following state equations
 State Space Analysis| 5
 10     d 2 
(C) xss    (D) xss     dt 2   d 
 10       P  dt   QVa
 d    
 dt   
 2 3 1 
Q.26 For the system x    x    u, Where the P matrix is given by
 0 5 0
[GATE- 2003]
which of the following statement is
true?  B K 2
 K2 B 
      
[GATE- 2002] (A)
 J LJ  (B)  LJ J 
(A) The system is controllable but  1 0   0 1 
unstable.  0 1   1 0 
(B) The system is uncontrollable and
(C)    
unstable.  K
2
B  (D)  B K2 
  
(C) The system is controllable and  LJ J   J LJ 
stable.
(D) The system is uncontrollable and Q.29 The state-variable description of a linear
stable. autonomous system is x  Ax where x
is a two-dimensional state vector and A
Q.27 A system is described by the following 0 2 
differential equation is matrix given by A   .
2 0
d 2 y dy
  2 y  u (t )et The roots of characteristic equation are
dt 2 dt [GATE- 2004]
the state variables are given as x1  y (A) -2 and +2 (B)  j 2 and  j 2
 dy  (B) -2 and -2 (D) +2 and +2
and x2    y  et , the state variable
 dt  Statement for Linked Answer
representation of the system is Questions 30 & 31
[GATE- 2002] A state variable system
 x1  1 e   x1  1 
t 0 1 1 
x(t )    x(t )    u (t )
(A)     t       u (t ) 0  3 0 
 x2  0 e   x2  0 
with the initial condition x(0)  [1 3]T
 x1  1 1   x1  1 
(B)           u (t ) and the unit step input u(t)
 x2  0 1  x2  0
 x1  1 et   x1  0 Q.30 The state transition matrix will be
(C)           u(t ) [GATE- 2005]
 x2  0 -1   x2  1   1 
1 (1  e 3t ) 
(A) 
(D) None of these
3
 
Q.28 The following equation defines a 0 e 3t 
separately excited dc motor in the form  1  t 3t 
1 (e  e ) 
of a differential equation (B)  3
 
d 2 B d K 2 K et
2
    Va 0 
dt J dt LJ LJ
The above equation may be organized in
the state-space form as follows:
6 | Control Systems
 1 t  e3t e2t  e3t 
 1 (e  e 3t )  (B)  
(C) 3 e2t 
   0
0 e 3t 
e3t e2t  e 3t 
1 (1  e3t )  (C)  
(D)    0 e2t 
0 et 
 e 3t e2t  e3t 
(D)  
Q.31 The state transition equation will be  0 e2t 
t  e  t 
(A) x(t )    t  Q.34 The state variable description of an LTI
 e  system is given by,
t  e  t   x1  0 a1 0   x1  0 
(B) x(t )   3t   x    0 0 a   x   0  u
 -3e   2  2 2  
t  e3t   x3   a3 0 0   x3  1 
(C) x(t )   3t 
 3e   x1 
t  e3t  y  [1 0 0]  x2 
(D) x(t )   t   x3 
 e 
where, y is the output and u is the input.
The system is controllable for
Common Data for Questions 32 & 33
[GATE- 2012]
A system is described by the following
(A) a1  0, a2  0, a3  0
state and output equations
dx1 (t ) (B) a1  0, a2  0, a3  0
 3 x1 (t )  x2 (t )  2u (t ),
dt (C) a1  0, a2  0, a3  0
dx2 (t ) (D) a1  0, a2  0, a3  0
 2 x2 (t )  u (t )
dt
y (t )  x1 (t ) where u (t ) is the input and Common Data for Questions 35 & 36
y(t ) is the output. The state variable formulation of a
[GATE- 2009] system is given as
 x1   2 0  x1  1
Q.32 The system transfer function is  x    0  1  x   1 u, x1 (0)  0,
 2   2  
s2 s3
(A) 2 (B) 2 x 
s  5s  6 s  5s  6 x2 (0)  0 and y  [1 0]  1 
2s  5 2s  5  x2 
(C) 2 (D) 2
s  5s  6 s  5s  6
Q.35 The system is
Q.33 The state transition matrix of the above [GATE- 2013]
system is (A) Controllable but not observable.
(B) Not controllable but observable
e3t 0 
(A)  2t 3t 2t  (C) Both controllable and observable
e  e e  (D)Both not controllable and not
observable
 State Space Analysis| 7
Q.36 The response y(t ) to a unit step input is 2
(C) (D) 1
1 1 3
(A)  e 2t
2 2
1 1 Q.40 In the signal flow diagram given in the
(B) 1  e 2t  e  t figure, u1 and u2 are possible inputs
2 2
2t t
(C) e  e whereas y1 and y2 are possible outputs.
(D) 1  et When would the SISO system derived
from this diagram be controllable and
Q.37 The state transition matrix for the observable?
 x1  1 0  x1  1 [GATE- 2015]
system           u is
5

 x2  1 1   x2  1
x1
[GATE- 2014] u1
1
1
s 1
y1

e 0 
t
 et 0  2

(A)  t t  (B)  2 t t 
e e  t e e  1
1

e 0 et tet 
t 2

(C)  t t  (D)  t  u2
1 x2
y2
te e  0 e  1 s 1

Q.38 A discrete system is represented by the

difference equation, (A) When u1 is the only input and y1 is
 X1 (k  1)   a a  1  X1 (k )  the only output.
 X (k  1)    a  1 a   X (k ) 
 2    2  (B) When u2 is the only input and y1 is
It has initial conditions X 1 (0)  1, the only output.
X 2 (0)  0. The pole locations of the (C) When u1 is the only input and y2 is
system for a = 1, are the only output.
[GATE- 2014] (D) When u2 is the only input and y2 is
(A) 1  j 0 (B) 1  j 0 the only output.
(C) 1  j 0 (D) 0  j1
Q.41 Consider a linear invariant system
Q.39 Consider the system described by x  Ax, with initial condition x(0) at
following state space equations t  0 . Suppose  and  are
 x1   0 1   x1  0 eigenvectors of  2  2 matrix A
 x    1  1  x   1  u; corresponding to distinct eigenvalues 1
 2   2  
x  and 2 respectively. Then the response
y  [1 0]  1  x(t) of the system due to initial condition
 x2 
x(0)   is
If u is unit step input, then steady state
error of the system is [GATE- 2016]
1
1t
(A) e  (B) e 2t 
(A) 0 (B)
2 (C) e2t (D) e1t  e2t 
8 | Control Systems
Q.42 The transfer function of the system 
(C)    ; n 
Y (s) / U (s) whose state-space equations 
are given below is 
[GATE- 2017] (D)   ; n  

 x1 (t )  1 2   x1 (t )  1 
 x (t )    2 0  x (t )    2 u (t )
 2    2   
 x (t ) 
y(t )  [1 0]  1 
 x2 (t ) 
( s  2) ( s  2)
(A) 2 (B)
( s  2s  2) ( s  s  4)
2

( s  4) ( s  4)
(C) 2 (D) 2
( s  s  4) ( s  s  4)

Q.43 Consider a system governed by the

following equations
dx1 (t )
 x2 (t )  x1 (t )
dt
dx2 (t )
 x1 (t )  x2 (t )
dt
The initial conditions are such that
x1 (0)  x2 (0)  . Let x1 f  lim x1 (t )
t 

and x2 f  lim x2 (t ). Which one of the

t 

following is true?
[GATE- 2018]
(A) x1 f  x2 f   (B) x2 f  x1 f  
(C) x1 f  x2 f   (D) x1 f  x2 f  

Q.44 Consider a state-variable model of a

 x1   0 1   x1  0 
system           r,
 x2  - -2   x2   
x 
y  [1 0]  1 
 x2 
Where y is the output and r is the input.
The damping ratio  and the undamped
natural frequency  n (rad/sec) of the
system are given by

(A)   ; n  

(B)    ;n  
 State Space Analysis| 9

Answer Key : State Space Analysis

1 (B,C) 2 A 3 A 4 D 5 C

6 D 7 B 8 A 9 A 10 C

11 D 12 D 13 C 14 A 15 A

16 B 17 C 18 B 19 D 20 A

21 A 22 D 23 A 24 -0.121 25 A

26 B 27 C 28 A 29 A 30 A

31 C 32 C 33 B 34 D 35 A

36 A 37 C 38 A 39 A 40 B

41 A 42 D 43 C 44 D
CHAPTER 08 COMPENSATORS AND CONTROLLERS

Q.1 The transfer function of a simple RC Q.4 A control system with a PD controller is
network functioning as a controller is: shown in the figure. If the velocity error
constant Kv = 1000 and the damping
s  z1
Ge ( s)  ratio   0.5, then the values of Kp and
s  p1
KD are
The condition for the RC network to act [GATE- 2007 EC]
as a phase lead controller is:
100
[GATE- 1990 EC] t K p  K DS y
+ s (s  10)
-

p1  z1 p1  0
(A) (B)
(C) p1  z1 (D) p1  z1
(A) K p  100, K D  0.09
K
Q.2 A double integrator plant, G ( s )  2 ,
S (B) K p  100, K D  0.9
H(s)  1 is to be compensated to
achieves the damping ratio   0.5, and (C) K p  10, K D  0.09
an undamped natural frequency,
(D) K p  10, K D  0.9
n  5rad / s. Which one of the
following compensator Ge ( s) will be Q.5 The open-loop transfer function of a
suitable? 1
plant is given as G ( s )  2 . If the
s 1
[GATE- 2005 EC]
plant is operated in a unity feedback
s3 s  9.9 configuration, then the lead compensator
(A) (B)
s  9.9 s3 that can stabilize this control system is

s6 s6 [GATE- 2007 EC]

(C) (D)
s  8.33 s 10( s  1) 10( s  4)
(A) (B)
Q.3 The transfer function of a phase-lead ( s  2) ( s  2)
compensator is given by
10( s  2) 10( s  4)
(C) (D)
1  3Ts ( s  10) ( s  1)
Ge ( s )  whereT  0
1  Ts
Q.6 Group I gives two possible choices for
The maximum phase-shift provided by a the impedance Z in the diagram. The
such compensator is circuit elements in Z satisfy the
[GATE- 2006 EC] condition R2C2  R1C1. The transfer
V0
 /2 (B)  / 3
function representation a kind of
(A) V1
controller. Match the impedance in
(C)  / 4 (D)  / 6
Group I with the type of controllers in
Group II.
2 | Control system
[GATE- 2008 EC] Q.8 A unity negative feedback closed loop
system has a plant with the transfer
C1
1
z function G (s)  2 and
s  2s  2
- controller Gc ( s) in the feed forward
Vi R1 + V0 path. For a unit step input, the transfer
function of the controller that gives
minimum steady state error is
Group-I
[GATE- 2010 EC]
R2 C2
s 1
Q. (A) Gc ( s ) 
s2
C2
s2
(B) Gc ( s ) 
R. R s 1
R2
( s  1)(s 4)
(C) Gc ( s) 
Group-II ( s  2)(s 3)
1. PID controller 1
2. Lead compensator (D) Gc ( s )  1   3s
s
3. Lag compensator
The transfer function of a compensator
(A) Q-1, R-2 (B) Q-1, R-3
is given as
(C) Q-2, R-3 (D) Q-3, R-2
sa
Gc ( s ) 
Q.7 The magnitude plot of a rational transfer sb
function G(s) with real coefficients is
shown below. Which of the following Q.9 Gc ( s) is a lead compensator if
compensators has such a magnitude
[GATE- 2012 EC]
plot?
(A) a=1, b=2 (B) a=3, b=2
[GATE- 2009 EC]
G( j ω)
(C) a= -3, b= -1 (D) a=3, b=1
Q.10 The phase of the above lead
 20dB compensator is maximum at


log ω
[GATE- 2012 EC]
-40dB 
(A) 2 rad / s (B) 3 rad / s

(A) Lead compensator (C) 6 rad / s (D)

(B) Lag compensator
1/ 3 rad / s
(C) PID compensator
(D) Lead-lag compensator
 Compensators and Controllers | 3
Q.11 The transfer function of a first order Q.13 Which of the following statements is
K (s  a) incorrect?
controller is given as Gc ( s ) 
sb
[GATE- 2017 EC]
where, K, a and b are positive real
number. The condition for this (A) Lead compensator is used to reduce
controller to act as a phase lead the settling time.
compensator is
(B) Lag compensator is used to reduce
[GATE- 2015 EC] the steady state error.
(A) a < b (B) a > b (C) Lead compensator may increase the
order of a system.
(C) k < ab (D) k > ab
(D) Lag compensator always stabilizes
Q.12 Which of the following can be the pole- an unstable system.
zero configuration of a phase-iag
controller ( lag compensator)? Q.14 A lead compensator used for a closed
loop controller has the following
[GATE- 2017 EC]
 s
K 1  
transfer function 
jω a
. For a such
s  plane  s
1  
Pole
Zero
 b
(A) a lead compensator
σ [GATE- 2003 EE]
jω (A) a < b (B) b < a
s  plane Pole
Zero (C) a > kb (D) a < kb
(B) 900
Q.15 The system is to be
σ s(s 1)( s  9)
compensated such that its gain-
jω
crossover frequency becomes same as
s  plane Pole
Zero
its uncompensated phase-crossover
frequency and provides a 45 phase
(C)
margin. To achieve this, one may use
σ
[GATE- 2007 EE]
jω
(A) a lag compensator that provides an
s  plane Pole attenuation of 20 dB and a phase lag of
Zero

(D) 45 at the frequency of 3 3rad / s.

(B) a lead compensator that provides an

σ
amplification of 20 dB and a phase lead
of 45 at the frequency of 3rad/s.
4 | Control system
(C) a lag-Lead compensator that Q.18 The phase of the above lead
provides an amplification of 20 dB and a compensator is maximum at
phase lag of 45 at the frequency of
(A) 2rad / s (B) 3rad / s
3rad / s.

(D) a lag-lead compensator that provides (C) 6rad / s (D) 1/ 3rad / s

an attenuation of 20 dB and phase lead Q.19 For the network shown in the figure
of 45 at the frequency of 3rad/s. below, the frequency (in rad/s) at which
the maximum phase lag occurs is ____.
Q.16 The transfer functions of two
compensators are given below: [GATE- 2016 EE]
10( s  1) s  10 9
C1  , C2 
( s  10) 10( s  1)
1
Vin V0
Which one of the following statements
1F
is correct?
[GATE- 2008 EE]

(A) C1 is a lead compensator and C 2 is a Q.20 The transfer function C(s) of a

lag compensator. compensator is given below.
(B) C1 is a lag compensator and C 2 is a
 s  s 
lead compensator. 1  1  
C( s)  
0.1  100 
(C) Both C1 and C 2 are lead
 s 
compensator. (1  s) 1  
 10 
(D) Both C1 and C 2 are lag
compensator. The frequency range in which the phase
(lead) introduced by the compensator
Common Data For Questions 17 & 18 reaches the maximum is
[GATE- 2017 EE]
The transfer function of a compensator
is given as (A) 0.1    1
(B) 1    10
sa
Gc ( s )  (C) 10    100
sb (D)   100
[GATE- 2012 EE] Q.21 The transfer function of a phase lead
Q.17 Gc ( s) is a lead compensator if compensator is given by
 1 
(A) a = 1, b = 2 (B) a = 3, b = 2 3 s  
D( s )  
3T 
 1
s 
(C) a = -3, b = -1 (D) a = 3, b =1
 T
 Compensators and Controllers | 5
The frequency (in rad/s), at which
D( j ) is maximum, is

[GATE- 201 EE]

1
(A) (B) 3T 2
3T 2

3
(C) 3T (D)
T2
6 | Control system
Answer Key : Compensators and Controllers

1 D 2 A 3 D 4 B 5 C

6 B 7 D 8 D 9 A 10 A

11 A 12 A 13 D 14 A 15 D

16 A 17 A 18 A 19 0.316 20 A

21 A