Control Systems Test 4

Number of Questions: 25 Time: 60 min.

Directions for questions 1 to 25: Select the correct alterna- (A) 0 (B) 1
tive from the given choices (C) 3 (D) 2
1. Which one of the following techniques is utilized to 5. A system has poles at 0.1 Hz, 10 Hz and 75 Hz, zeros at
determine the actual point at which the root locus 5 Hz and 100 Hz. The approximate phase of the system
crosses the imaginary axis? response at 25 Hz is ______.
(A) Nichol’s charts (A) 0o (B) 90o
(B) Nyquist technique (C) –90o (D) –180o
(C) Bode technique 6. The root locus plot of the system having the loop
(D) Routh-Hurwitz criterion k
transfer function G(s)H(s) = , has
2. The gain margin for the system with open loop transfer
2
(
s ( s + 5) s 2 + 4 s + 5 )
function G(s)H(s) = is
s ( 0.2 s + 1) (A) only one Breakaway point
(B) one real and two complex B.A points
(A) zero (B) infinity (C) Three real B.A points
(C) 2 (D) 0.5 (D) No B.A point
3. The Nyquist plot for a control system is shown in fig- 7. Given the root locus of a system shown in below. What
ure. The Bode plot for the system will be as in will be the gain k for obtaining the damping ratio
Im 0.353?
(A) 46 (B) 23
(C) 12 (D) –14
Re
8. Which one of the following open-loop transfer func-
tions has the root locus parallel to the imaginary axis?
K ( s + 2) K ( s + 1)
2

(A) (B)
( s + 1) ( s + 2)
Nyquist plot K ( s + 2) k
(C) (D)
( s + 1)
2
|G|
( s + 1)
2

–20 db/dec
9. The open loop transfer function of a unity negative
(A)
ω1 ω2 –40 db/dec feedback system is G ( s ) =
( s + 10)( s + 20)
s3 ( s + 6)( s + 50)
The polar plot of the system will be
|G|
Im
ω=0
–20 db/dec
–40 db/dec
ω2
(B) ω1
ω=∞
ω
(A) Re

|G|
Im
–20 db/dec

–60 db/dec
(C) ω2
ω1 ω
ω=∞
(B)
σ
(D) None of these
4. The number of roots of the equation 3s4 + 2s3 + 3s2 + 2s
ω=0
+ 5 = 0, which lie in the right half of s-plane is _____.
 Control Systems Test 4 | 3.105

Im 14. The characteristic polynomial of a system is 2s5 + s4 +

ω=0
4s3 + 2s2 + 2s + 1 = 0. Which one of the following is
correct?
(A) Unstable (B) Stable
ω=∞ (C) Marginally stable (D) Oscillatory
(C)
σ 15. The characteristic equation of a control system is
s3 + 2s2 + 3s + 1 = 0. How may number of roots of the
Im
equation which lie to the left of the line s + 1 = 0?
ω=0 (A) 0 (B) 1
(C) 2 (D) 3
16. The closed loop control system shown in below
R(s) + 1 C(s)
(D) 4/s
ω=∞ σ – s+1

10. If the Gain margin of a system in decibels is negative, 3+k

the system is s+5
(A) minimum phase (B) stable
(C) unstable (D) marginally stable The system is _________
(A) stable for –3 < k < 4.5
11. Consider the following open loop frequency response
(B) stable for 3 < k ≤ 4.5
of a unity feedback system:
(C) stable for all values of k
ω, rad/sec: 1 2 3 4 5 6 7 (D) unstable
|G(jω)|: 8 7.5 5.2 4.5 2.25 1.0 0.72 17. The magnitude plot of a transfer function is shown in
∠G(jω): –118o –130o –140o –150o –158o –165o –180o the figure
|G|
The gain and phase margin of the system are respec-
–12 db/oct
tively
(A) 1.38 dB, 15o (B) 0.72, –180o 6dB
(C) 2.85 dB, 15 o
(D) 0 dB, –165o –6 db/oct

12. Consider the closed loop system shown in below figure

4 8 ω
R(s) + (s + 5) C(s)

–
s The transfer function is _________
31.62 ( 0.25s + 1)
2
2( s + 4)2
(A) (B)
2/s + 1 s 2 ( s + 8) s 2 ( 0.125s + 1)
15.30 ( 0.25s + 1) 0.50 ( 4 + s)
2 2

The resonant peak would be (C) (D)

(A) 1.097 (B) 1.297 s 2 ( 0.125s + 1) s 2 ( s + 8)
(C) 0.197 (D) 1.197 18. The Nyquist plot of a closed loop system is shown in
13. The gain-phase plot of a linear control system is shown the given figure
in the below figure. What are the Gain margin and ω=0
Im
Phase margin of the system?
|G(jω)
20 dB –1 ω=∞

Re
6 dB

0 –270° –200° –180° –90° phase

The system is
(A) stable
–20 dB
(B) critically stable
(A) 6dB, +20o (B) –6 dB, –20o (C) unstable with Z in RHS of s-plane
(C) –20 dB, –200o (D) 20 dB, –90o (D) unstable with P in RHS of s-plane
3.106 | Control Systems Test 4

19. The time taken for the output to settle with in ±5% of Im
5k
the step input for the control system of 2 is
s + 5s + 25
RL
given by (C)
σ
(A) 2.4 sec (B) 0.8 sec
(C) 1.2 sec (D) 3.6 sec
20. Consider the root loci plots:
Im
(D) None of these
22. A negative unity feedback system has the forward
k ( s + 1)
transfer function G(s) = If k is set to 20, find
(1) s ( s + 2)
σ
the changes in closed loop poles location for a 10%
change in k.
Im (A) ∆S1 = 4.72; ∆S2 = –0.095
(B) ∆S1 = 4.72 × 10–3 ∆S2 = –0.095
(C) ∆S1 = –0.95, ∆S2 = –20.11
(2) (D) None of these
RL σ
23. Consider the unity feedback control system with
k ( s + 2)
Im G(s)H(s) =
( s + 3) ( s 2
+ 2 s + 2)
Im
Φd
(3) j1
σ

(A)
–1 σ
–3 –2
Im –j1
Φd

Im
(4) σ j1.84
j1

Which one of the above plots are NOT correct? (B)

–1 σ
–3 –2
(A) 2 only (B) 2 and 3 only
(C) 3 and 4 only (D) 2 and 4 only –j1
–j1.84
k ( 2 − s)
21. An unity feedback system is given as G(s) = ,
s ( s + 4)
Im

the root locus plot is ________

Im

(C) σ
o
RL RL
(A)
σ
–4
Im
Φd
+j1
Im

(D)
–3 –2 –1 σ
(B)
–4 0 σ
–j1
–Φd
 Control Systems Test 4 | 3.107

24. Which one of the following polar plot corresponds to |G|

db
k (1 − j w )
G(jω) = ?
w ( j w + 2)
–40db/dec

Im 6
Im –20db/dec
ω=∞
(A) Re (B) ω=∞ σ
ω1 4 6 ω
ω=0
ω=0 The transfer function of the system is
Im
21.36 ( s + 2.83) 4 ( s + 2)
2
ω=0 (A) (B)
(C) (D) None of these s 2 ( s + 6) s 2 ( s + 6)
ω=∞ σ
16 ( s + 2.8)
2

(C) (D) None of these

25. Bode magnitude asymptotic plot of a certain system is s 2 ( s + 6)
sketched in figure

Answer Keys
1. D 2. B 3. C 4. D 5. C 6. C 7. A 8. D 9. A 10. C
11. C 12. D 13. B 14. A 15. A 16. A 17. B 18. A 19. C 20. D
21. B 22. B 23. A 24. A 25. C

Hints and Explanations

1. Choice (D) 4. R – H Criterion
2 S4 3 3 5
2. G(s)H(s) =
s (1 + 0.2 s)
S2 2 2
S3 0(ε) 5
Im 2 e − 10
S1
e
ω=∞ S0 5
–180° σ We know ‘ε’ is very small ‘+ve’ value
2e − 10
So always ‘–ve’ value
e
So in 1st column two sign changes.
ω=0
∴ two roots lies in RHS of S-plane Choice (D)
It is a type-1 stable system it never crosses the –180o 5. Given
axis for any ω value. Poles at ω = 0.1 Hz, 10 Hz and 75 Hz
∠G(s)H(s) = –180o Zeros at ω = 5 Hz and 100 Hz at ω = 25 Hz, f = ?
–90o – Tan–1(0.2 ωpc) = –180o Before ω = 25 Hz, 2p and 1Z exists, so net slope –20
ωpc = ∞ dB/dec (or) f = –90o. (p > z)
|G(s)H(s)| = 0 = X (or) f = –2 × 90o + 90o = –90o Choice (C)
1 6. Characteristic equation 1 + G(s)H(s) = 0
G.M = =∞
X s(s + 5)(s2 + 4s + 5) + k = 0
G.M = 20 log(1/X) = –∞ in db Choice (B) K = –s(s + 5)(s2 + 4s + 5)
for B.A points
3. The given system is type-1 so initial slope is –20 dB/ dk
dec and terminates at –270o =0
ds
K ( sT1 + 1)
G(s)H(s) =  Choice (C) (s + 5)(s2 + 4s + 5) + s(s2 + 4s + 5) + s(s + 5)(2s + 4) = 0
s ( sT2 + 1)
3
(s2 + 4s + 5)(2s + 5) + s(2s2 + 14s + 20) = 0
3.108 | Control Systems Test 4

2s3 + 8s2 + 10s + 5s2 + 20s + 25 + 2s3 + 14s2 + 20s = 0 ∴ X = 0.72

4s3 + 27s2 + 50s + 25 = 0 G.M = 1.388 or = 2.85 dB
s1 = –4.03, –0.816, –1.896 Choice (C) P.M = 180o + f
k Where f = ∠G(j ω) at |G(j ω)| = 1
7. From the given data G(s)H(s) = ∴ f = –165o
( s + 1)( s + 4) P.M = 180o – 165o = 15o Choice (C)
C.E = 0 12. 1 + G(s)H(s) = 0
s2 + 5s + 4 + k = 0
2 ζ ωn = 5 1+
( s + 5) 2
=0
1 s ( s + 1)
ζ= = 0.3535
2 2 s2 + s + 2s + 10 = 0
2.5 s2 + 3s + 10 = 0
ωn = = 2.5 × 2 2 ωn = 3.16 rad/sec
z
2 ζ ωn = 3
ωn = 5 2 ζ = 0.4743
ωn2 = 50 ωr = ωn. 1 − 2z
2

4 + k = 50
K = 46 Choice (A) = 2.34 rad/sec
1 1
8. Angle of asymptotes; Mr = = = 1.197  Choice (D)
0.9486 × 0.88
fA =
(2q + 1) ×180o ; q = 0, 1,… p – z – 1 2z 1 − z 2
p−Z 13. From the given data at –180o |G(j ωpc)| = 6 dB
From the given options A, B, C one asymptote termi- G.M = –6 dB
nates at zero and another one tends to ∞ fgc = –200o at |G(j ωgc)| = 1 or 0 dB
k ∴ P.M = 180o + fgc = –20o
For G(s) =
( s + 1) ∴ System is unstable Choice (B)
2

14. R-H Criterion:-

S5 2 4 2
90°
S4 1 2 1
S3 0 0
1 1
–1 S2 1 1
S1 0(Σ)
S0 1
–90°
Auxiliary equation is
A.E1 = 0
p = 2, Z = 0 S4 + 2S2 + 1 = 0

fA =
(2q + 1) ×180o ∂A
=0
2 ∂S
q = 0, 1 4S3 + 4S = 0
fA = 90o, 270o or – 90o Choice (D) S3 + S = 0
9. ∠G(jω)/ ω = 0 = -270 o
Roots of A.E is (S2 + 1)2 = 0
∠G(jω)/ ω = ∞ = -270o S = ±j1, ±j1
characteristic equation 1 + G(s)H(s) = 0 Repeated poles on the imaginary axis
s3(s + 6)(s + 50) + (s + 10)(s + 20) = 0 So the system is unstable
Equate the imaginary part is zero, then we get the two  Choice (A)
phase cross over frequencies, ωpc1, ωpc2 Choice (A) 15. Given s + 2s + 3s + 1 = 0
3 2

10. G.M in db ⇒ +ve system stable Put s + 1 = Z

–ve system unstable s=Z–1
‘0’ marginally stable Choice (C) (Z – 1)3 + 2(Z – 1)2 + 3(Z – 1) + 1 = 0
11. G.M = 1/X Z3 – 1 – 3Z2 + 3Z + 2Z2 + 2 – 4Z + 3Z – 3 + 1 = 0
Where X = |G(j ω)| at ω = ωpc Z3 – Z2 + 2Z – 1 = 0
 Control Systems Test 4 | 3.109

Z3 1 2
The Nyquist plot encircles with –1 + j0 axis in anti-
1 clockwise direction with 2 circles
Z2 –1 –1 ∴ N=p–Z
2
N = 2 and p = 2 [anticlockwise direction]
Z1 1 3 ∴ Z=0
–1
∴ closed loop system is stable Choice (A)
Z0
19. C.E = 0
Three sign changes so all are in RHS of S + 1 = 0 plane s2 + 5s + 25 = 0
 Choice (A) ωn = 5 rad/sec
16. Characteristic equation of the system is 2 ζ ωn = 5
1 + G(s).H(s) = 0 ζ ωn = 2.5

1+
4
+
(3 + k ) = 0 ±5% TS =
3
=
3
= 1.2 sec Choice (C)
z wn 2.5
s ( s + 1) s + 5
s(s + 1)(s + 5) + 12 + 4k = 0 20. From the given plots
s[s2 + 6s + 5] + 12 + 4k = 0 1 and 3 are correct
s3 + 6s2 + 5s + 12 + 4k = 0 Breakaway point exist between two poles.
Applying RH criterion:- Break in point exist between two zeros.
s3 1 5 R.L exist at any point total no. of Z and p are odd but in
s2 3 6 + 2k plot 2 it is even so it is not correct. Choice (D)
9 − 2 k − k ( s − 2)
s1 0 21. G(s) =
3 s ( s + 4)
s0 6 + 2k ∴ k varies from -∞ to 0. So it indicates complemen-
if the system is stable tary root locus.
6 + 2k ≥ 0 and 9 – 2k > 0
K > –3 9 > 2k k < 4.5 Im
So –3 < k < 4.5 Choice (A)
CRL ∞
17. From the given data
Initial slope –12dB/octave, so 2 poles at origin –4 0 2 σ

k ( 0.25s + 1)
2

G(s)H(s) =
s 2 ( 0.125s + 1)
Slope changes from CRL exist only when total no. of p and z of RHS is
–12dB/octave (2p) to 0dB/octave (2Z) to –6dB/octave even. Choice (B)
(1p) at ω = 4 |G| = 6dB 22. Characteristic equation is s(s + 2) + k(s + 1) = 0
y = mx + c s2 + 2s + ks + k = 0
∴ 6dB = –40 log ω + 20 log k s2 + (2 + k)s + k = 0
30 = 20 log k Pole sensitivity:-
K = 31.62 ∂s k
skS = ×
31.62 ( 0.25s + 1)
2
∂k s
∴ G(s)H(s) =  Choice (B)
s 2 ( 0.125s + 1) ∂s
(2s + 2 + k) +1= 0
18. ∂k
Im ∂s −1
=
ω=0 ∂k 2s + 2 + k
Given K = 20
–1 ω=∞ ∂s −1 ∆k
σ = and = 10% = 0.1
∂ K 2 s + 22 k
Change in closed loop pole location is ∆S.
Characteristic equation s2 + 22s + 20 = 0
s1 = –0.95, –21.04
at s = –0.95
3.110 | Control Systems Test 4

∆k −1 S3 + 2S2 + 2S + 3S2 + 6S + 6 + KS + 2K = 0
∆s = sk ×
S
×s = × 0.1 × ( −0.95) S3 + 5S2 + (8 + K)S + 6 + 2K = 0
k 2 s + 22
S3 1 8+k
0.095 S2 5 6 + 2k
∆s = = 4.72 × 10 −3
20.1 34 + 3k
S1 0
The CL pole S = –0.95 will move right by 4.72 × 10-3 5
units at s = –21.04 S0 6 + 2k
−1 2.004 34 + 3k = 0
∆s = × 0.1 × − 20.04 = = − 0.099
2 ( −21.04 ) + 22 −20.08 K = –11.33
K value is negative so no crossing point on the
∴ The closed loop pole will move left by 0.099 units
Imaginary axis. Choice (A)
 Choice (B)
k (1 − s)
k ( s + 2) 24. Given G(s) = it is non-minimum phase system
23. G(s)H(s) = s ( s + 2)
( s + 3) ( s 2
+ 2 s + 2)
–270°
Poles: s = –3, –1 ± j1
Zeros: s = –2
Im
+j1 ω=∞
Re
±180°
θP2
θ2σ
RL
–1 σ
–3 –2 ω=0 –90°
θP1
–j1 So ∠G(j ω) = fZ – fP = f
1 – j ω → 4th – Q
Two complex poles existing so calculate Angle of fZ = –Tan–1 ω
departure:- Σ fP = 90o + Tan–1 ω/2
fd = 180o – Φ w
f = Σp – Σz ∴ f = –90o – Tan–1 ω – Tan–1 2
θP1 = 90o
Im
if ω = 0
f = –90o
φd If ω → ∞
+j1
f = –90o – 90o – 90o
= –270o Choice (A)
–1 σ 25. Initial slope –40 db/dec
–3 –2
k
–j1 So 20 log 2 = 6
–φd w1
But
 k 
1 20 log  2  = 0 at ω = 4
θz = Tan–1 = 45o  w1 
1
θP2 = Tan–1 (½) = 26.56o K = ω2 = 16
Σ θP = fP1 + fP2 16
= 90o + 26.56o ∴20 log 2 = 6
w1
= 116.56o
Σ ΦZ = 45o ω1 = 2.83 rad/sec
∴ fd = 180o – 116.56o + 45o K ( s + w12 )
fd = 108.44o at -1 + j1 and Φd = -108.44o at -1 – j1 G(s)H(s) =
Check jω – axis crossing point:- s 2 ( s + w2 )

k ( S + 2) 16 ( s + 2.83)
2

1+ =0 ∴G ( s ) H ( s ) =  Choice (C)
( S + 3) (S 2
+ 2S + 2 ) s 2 ( s + 6)