Professional Documents
Culture Documents
will be
(A) 6 (t).
e-3tu(t).
e-6t.
none of above.
Take Laplace transform above differential equation.
08) The type of a control system is obtained from -------------- transfer
function?
open loop
closed loop
either 1 or 2
nether 1 nor 2
Every transfer function representing a control system has certain type and order. The
steady state analysis depends on the type of the control system. The type of the system
is obtained from open loop transfer function. The number of open loop poles
occurring at origin determines the type of the control system.
09) What is the type of closed loop system for the plant transfer function
G(s) = k/s(1+Ts) and with unity feedback?
1
3
2
0
Every transfer function representing a control system has certain type and order. The
steady state analysis depends on the type of the control system. The type of the system
is obtained from open loop transfer function. The number of open loop poles
occurring at origin determines the type of the control system. Therefore, for given
transfer function type is 2.
10) Which of the following statement is/are true statements?
Type of the system is obtained from open loop transfer function
The steady state analysis depends on type of the system
Transient state analysis depends on order of the system
all of the above
Every transfer function representing a control system has certain type and order. The
transient state analysis depends on the order of the control system. The order of
system is obtained from closed loop transfer function. The highest power of the
characteristic equation (1 + G(s)H(s) )determines the order of the control system. The
steady state analysis depends on the type of the control system. The type of the system
is obtained from open loop transfer function. The number of open loop poles
occurring at origin determines the type of the control system.
01) What is the order of closed loop system for the plant transfer function
G(s) = k/s(1+Ts) and with unity feedback
3
2
1
0
Every transfer function representing a control system has certain type and order. The
transient state analysis depends on the order of the control system. The order of
system is obtained from closed loop transfer function. The highest power of the
characteristic equation (1 + G(s)H(s) )determines the order of the control system. For
given problem, characteristic equation is 1 + G(s)H(s) = 0 s(1+Ts)+k = 0 Therefore,
order = 3
02) A second order control system is defined by the following equation: 4
dc(t)/dt + 8 dc(t)/dt + 16 c(t) = 16 u(t) The damping ratio and natural
frequency for this system are respectively
0.25 and 2 rad/s
0.25 and 4 rad/s
0.50 and 2 rad/s
0.50 and 4 rad/s
The standard second order expression in terms of damping ratio () and natural
frequency (n) is as follows. C(s)/R(s) = (n)/(s + 2(n)s + n) Given second
order system is C(s)/U(s) = 16/( 4 s+ 8 s + 16) = 4/(s + 2 s + 4) Therefore,
comparing above two equations, Natural frequency = 2 rad/s Damping ratio = 0.5
03) The steady state error due to ramp input for a type two system is equal
to
zero
infinite
non zero number
constant
Error equation E(s) = R(s)/(1 + G(s) H(s) ) Applying final value theorem, Steady state
error = Lts0 S E(s) Steady state error for different types and different inputs as
follows; Type Step input Ramp input parabolic input 1. Type 0 ----- A/(1+K) infinite
infinite 2. Type 1 ----- Zero A/K infinite 3. Type 2 ----- Zero Zero A/K
04) Differentiation of parabolic response is a -------------- response?
parabolic
ramp
step
impulse
Parabolic response r(t) = A* t/2 Differentiation of parabolic response is dr(t)/dt =
A*t Therefore, differentiation of parabolic response gives the ramp response.
d(Parabolic response)/dt = Ramp response d(Ramp response)/dt = Step response
d(step response)/dt = Impulse response
05) Weighting function is in terms of -----------------
Laplace transforms of step response
Laplace transforms of ramp response
Laplace transforms of parabolic response
Laplace transforms of impulse response
d(Parabolic response)/dt = Ramp response d(Ramp response)/dt = Step response
d(step response)/dt = Impulse response L(impulse response) = Transfer function The
transfer function in terms of Laplace transform of impulse response is known as
weighting function.
06) The impulse response of a system is c(t) = -te-t + 2 e-t (t>0). Its closed
loop transfer function is
(2s+1)/s
(2s+1)/(s+1)
(2s+2)/(s+1)
(2s+2)/s
L(Impulse response) = Transfer function C(s) = -1/(s+1) + 2/(s+1) Closed loop
transfer function = (2s+1)/(s+1)
07) What is the open loop DC gain of a unity feedback control system having
closed loop transfer function is (s + 4)/(s + 7s +13) ?
4/13
13/4
9/4
4/9
Closed loop transfer function = G(s)/(1+G(s)H(s) ) = (s + 4)/(s + 7s +13) Given
system is a unity feedback control system, Open loop transfer function G(s) = (s +
4)/(s + 7s +13 - (s+4)) G(s) = (s + 4)/(s + 6s + 9) For DC gain AC terms should be
zero, i.e., s = 0 Therefore, open loop DC gain G(s) = 4/9
08) The impulse response of a system is c(t) = -te-t + 2 e-t (t>0). Its open
loop transfer function is
(2s+1)/s
(2s+1)/(s+1)
(2s+2)/(s+1)
(2s+2)/s
L(Impulse response) = Transfer function C(S) = Transfer function = (2s+1)/(s+1)
G(s)/(1 + G(s) H(s) ) = (2s+1)/(s+1) Open loop transfer function G(S) =
(2s+1)/((s+1) - (2s+1)) G(s) = (2s+1)/s
09) A certain control system has input u(t) and out put c(t). If the input is
first passed through a block having transfer function e-s and the applied to
the system. The modified output will be
c(t-1).u(t)
c(t-1).u(t-1)
c(t).u(t-1)
c(t)u(t)
Let F(s) is block gain, then C(s) = F(s).R(s) If the input passed through a block
having transfer function e-s Cm(s) = R(s).e-s.F(s) Cm(s) = C(s).e-s By taking inverse
Laplace transforms Cm(t) = c(t-1).u(t-1)
10) Lead compensator is used to improve ------------------
transient response
steady state response
both 1 and 2
none of the above
Compensator in control system are used to improving the performance specifications,
i.e. transient and steady state characteristics. 1. Lead compensator: It is used to for
improving the transient state or speed response of the system. 2. Lag compensator: It
is used for improving steady state response characteristics of the system, i.e
elimination of steady state error between output and input. 3. Lag-Lead or Lead-Lag
compensator: It improves both transient and steady state response characteristics. It
exhibits both lead and lag characteristics in its frequency response.
01) Adding a pole to a system transfer function in terms of compensator
represents a --------------- compensator ?
Lead
Lag
Lead-Lag
Lag-lead
Compensator in control system are used to improving the performance specifications,
i.e. transient and steady state characteristics. 1. Lead compensator: Adding a zero to
a system transfer function in terms of compensator represents a lead compensator 2.
Lag compensator: Adding a pole to a system transfer function in terms of
compensator represents a lag compensator
02) A linear time invariant system, initially at rest when subjected to a unit
step input gave response c(t) = te-t (t 0). The transfer function of the
system is
1/s(s+1)
(s+1)/s
s/(s+1)
s/(s+1)
Transfer function = C(s)/R(s) Output response C(t) = te-t (t 0) C(s) = 1/(s+1) Given
input r(t) is a step input. R(s) = 1/s Therefore, transfer function = C(s)/R(s) =
1/s(S+1)
03) Given the transfer function G(s) = 121/(s + 13.2s + 121) of a system.
Which of the following characteristics does it have?
Over damped
Critical damped
Under damped
any of the above
Given the transfer function G(s) = 121/(s + 13.2s + 121) The standard second order
expression in terms of damping ratio () and natural frequency (n) is as follows.
C(s)/R(s) = (n)/(s + 2(n)s + n) Compare given transfer function with standard
second order transfer function, n = 121 = 11 rad/s 2(n) = 13.2 = 13.2/(2*11)
= 0.6 < 1 Therefore given system is a under damped system.
04) The unit impulse response of second order system is 1/6 * e-
0.8t
sin(0.6t). THen the natural frequency is
1 rad/s
2 rad/s
0.6 rad/s
0.8 rad/s
Impulse response = 1/6 * e-0.8t sin(0.6t) Transfer function = L(Impulse response)
Transfer function = 1/6 * 0.6/((s+0.8) + 0.6 ) = 0.1/(s + 1.6s + 1) Therefore,
n = 1 Natural frequency = 1 rad/s
05) which of the following transfer functions represent under damped second
order systems?
1/(s + s + 1)
4/(s + 2s + 4)
2/(s + 2s + 2)
all of the above
The standard second order expression in terms of damping ratio () and natural
frequency (n) is as follows. C(s)/R(s) = (n)/(s + 2(n)s + n) For under damped
system : 0 < < 1
06) The open loop transfer function of a unity feedback control system is
given by G(s) = k/s(s+1). If gain k is increased to infinity, then damping
ratio will tend to become
infinite
0.707
unity
zero
Characteristic equation is s(s+1)+k = 0 s+s+k = 0 The standard second order
expression in terms of damping ratio () and natural frequency (n) is as follows.
C(s)/R(s) = (n)/(s + 2(n)s + n) Compare to second order characteristic
equation, 2(n) = 1 n = k Damping ratio = 1/(2k) As k , damping ratio
will become zero.
07) Consider a network function H(s) = 2(s+3)/((s+2)(s+4)). What is the
steady state response due to step input?
4/3
1/2
1
3/4
Steady state value can be obtained by applying final value theorem to the function.
Lims0 s C(s) = Lims0 s R(s)H(s) Where, C(s) = Steady state value R(s) = Input H(s)
= Network response Steady state value = Lims0 s *2(s+3)/((s+2)(s+4))*1/s = 3/4
08) The system function N(s) = V(s)/I(s) = (s+3)/(4s+5). The system is
initially at rest. If the excitation i(t) is a unit step, which of the following is
the initial value?
0
3/5
1/4
3/9
Initial value can be obtained by applying initial value theorem to the function.
Lims0 s C(s) = Lims s R(s)H(s) Where, C(s) = Steady state value R(s) = Input H(s)
= Network response Initial value = Lims s*(s+3)/(4s+5)*1/s = 1/4
09) The open loop transfer function for unity feedback system is given by
5(1+0.1s) / (s(1+5s)(1+20s)) Find the steady state error for a step input of
magnitude 10 is equal to
zero
2
infinite
5
Error equation E(s) = R(s)/(1 + G(s) H(s) ) Applying final value theorem, Steady state
error = Lts0 S E(s) Steady state error for different types and different inputs as
follows; Type Step input Ramp input parabolic input 1. Type 0 ----- A/(1+K) infinite
infinite 2. Type 1 ----- Zero A/K infinite 3. Type 3 ----- Zero Zero A/K
10) The input-output relationship of a linear time invariant continuous time
system is given by r(t) = dc(t)/dt + 3 dc(t)/dt + 2 c(t) Where r(t) and c(t)
are input and output respectively. What is the transfer function of the
system equal to?
1/(s + s + 2)
1/(s + 3s + 2)
2/(s + 3s + 2)
2/(s + s + 2)
Transfer function = C(s)/R(s) Given that, r(t) = dc(t)/dt + 3 dc(t)/dt + 2 c(t) By
taking Laplace transforms on both sides, C(s)/R(s) = 1/(s + 3s + 2)
01) The open loop transfer function for unity feedback system is given by
5(1+0.1s) / (s(1+5s)(1+20s)) Find the steady state error for a ramp input
of magnitude 10 is equal to
0
2
5
infinite
Error equation E(s) = R(s)/(1 + G(s) H(s) ) Applying final value theorem, Steady state
error = Lts0 S E(s) Steady state error for different types and different inputs as
follows; Type Step input Ramp input parabolic input 1. Type 0 ----- A/(1+K) infinite
infinite 2. Type 1 ----- Zero A/K infinite 3. Type 3 ----- Zero Zero A/K
02) The system function N(s) = V(s)/I(s) = (s+3)/(4s+5). The system is
initially at rest. If the excitation i(t) is a unit step, which of the following is
the final value?
1/4
3/5
1
0
Steady state value can be obtained by applying final value theorem to the function.
Lims0 s C(s) = Lims0 s R(s)H(s) Where, C(s) = Steady state value R(s) = Input H(s)
= Network response Final value = Lims0 s * (s+3)/(4s+5)*1/s = 3/5
03) Find the Laplace transform for sint?
1/s
1/s
s/(s+)
/(s+)
Some Laplace transform results are L(1) = 1/s L(t) = 1/s L(sint) = /(s+)
L(cost) = s/(s+)
04) Given a unity feedback system with G(s) = k/s(s+4), the value of k for
damping ratio of 0.5 is
1
4
16
64
Characteristic equation is s + 4s +k = 0 Compared to second ordered standard
characteristic equation, Natural frequency n = k 2n = 4 Given = 0.5 n = 4 =
k Therefore, k = 16
05) The type number of the control system with G(s) = k(s+2)/(s(s+2s+3)
is
0
1
2
3
Every transfer function representing a control system has certain type and order. The
steady state analysis depends on the type of the control system. The type of the system
is obtained from open loop transfer function. The number of open loop poles
occurring at origin determines the type of the control system Therefore, for given
system type number is 1.
06) For type 1 system with parabolic input, the steady state error is
zero
finite constant
infinite
indeterminate
Error equation E(s) = R(s)/(1 + G(s) H(s) ) Applying final value theorem, Steady state
error = Lts0 S E(s) Steady state error for different types and different inputs as
follows; Type Step input Ramp input parabolic input 1. Type 0 ----- A/(1+K) infinite
infinite 2. Type 1 ----- Zero A/K infinite 3. Type 3 ----- Zero Zero A/K
07) what is the Laplace transform of a function (t-2)?
2
0
2s
e-2s
L((t)) = 1 Given function is (t-2), it represents the time delay by two units. It can be
written as, L((t-2)) = e-2s
08) The impulse response of a linear system is e-t, (t > 0). The
corresponding transfer function is
1/s(s+1)
1/(s+1)
1/s
s/(s+1)
Transfer function = L(impulse response) The transfer function in terms of Laplace
transform of impulse response is known as weighting function. L(e-t) = 1/(s+1)
09) A lead compensator used for a closed loop controller has the following
10) A linear time invariant system has an impulse response e2t for t > 0 . If
initial condition are 0 and input is e3t, the output for t > 0 is
e2t - e3t.
e3t - e2t.
e2t + e3t.
e5t.
The system is
an over damped.
a critically damped.
an under damped.
a unstable.
2.
3.
4.
5.
Generally order of the system can be given by denominator of transfer function. The
highest power of S is 3 in the denominator of transfer function.
04) Find the type of the system whose
2.
3.
4.
1.
Type of the system is determined from the no. of poles located at the origin. Here the
no of pole at origin = 2.
05) A negative feedback closed loop system is supplied to an input of 5 volt.
The system has a forward gain of 1 and a feedback gain of 1. What is the
output voltage?
1.0 Volt.
1.5 Volt.
2.5 Volt.
2.0 Volt.
We know that negative feedback closed loop system ,
08) For a unity feedback control system open loop transfer function G ( s ) =
10 / s( s + 1 ) then acceleration error constant is
0.
50.
.
20.
09) For a transfer function H (s) = P(s) / Q(s), where P (s) and Q (s) are
polynomials in s. Then
the degree of P (s) is always greater than the degree of Q (s).
the degree of P (s) and Q (s) are same.
degree of P (s) is independent of degree of Q (s).
maximum degree of P (s) and Q (s) differ at most by one.
If the degree of the numerator P (s) and the denominator Q (s) are dependent with
each other, then the poles and zeros of the system may gets placed on the same roots.
Then the transfer function is wrong. So, the degree of the numerator P (s) and the
denominator Q (s) should be independent with each other. This is the one of the
necessary conditions for transfer function.
10) Transfer function of the control system depends on
system parameters alone.
nature of the input.
initial conditions of input and output.
nature of the output.
The transfer function is nothing but the ratio to the Laplace transform of the output to
the Laplace transform of the input. So, based on the input and output characteristics
the system characteristics can be changed. But, if we adjust the system parameter, the
output can change with respect to the input of the system. Hence, due to this action,
the transfer function also can be changed. Thus, the transfer function of the control
system depends on the parameters of the system alone.
01) Sparking between the contacts can be reduced by inserting
a capacitor in series with the contacts.
a capacitor in parallel with the contacts.
a reactor in the line.
a resistor in the line.
An arc between two electrodes can be initiated by ionization of atmospheric air. If we
connect a capacitor across the contacts of the electrodes, there is a chance to make a
short circuit by capacitor. Hence, there is no air gap between contacts and thereby
sparking can be reduced.
02) Error constants of a system are measure of
transient state response.
steady state as well as transient state response.
relative stability.
steady state response.
In the steady state condition, the accuracy of the time response is the indication of
how well the system response achieving the final settling stage. Ideally, the output y
(t) equals to the reference signal u (t) and thereby the error e (t) is zero because error
is the difference between the reference signal and the output signal. In practical, it is
not possible. But, the objective is to force the output signal to reach our reference
signal. For that purpose only, we are introduced the error constants to achieve the
steady state response. So, if we adjust the error constants, then the system's steady
state response also varies.
03) Slope of asymptote in Bode plot of 2nd order system is
_____________________ per octave.
18 dB.
12 dB.
6 dB.
3 dB.
Basically, the slope of an asymptote in a Bode plot of any system are n X 20 dB per
decade (or) n X 6 dB per octave (an octave is a change in frequency by a factor of 2).
Here, n is the order of the system. Hence, for a second order system, there might be (2
X 6 = 12) dB per octave.
04) The graph of an electrical network has N nodes and B branches. The
number of links, L with respect to the choice of a tree, is given by
B - N + 1.
B + N.
N - B + 1.
N - 2B - 1.
For a graph with N nodes, the number of branches in each tree T must be; T = N - 1.
An important relationship for circuit analysis is; B = L + T. where B is the number of
branches in the graph and L is the number of links removed to form the tree. Hence,
the number of links L = B - N + 1.
05)
It is a PR function.
It is not a PR function.
Data insufficient.
None of these.
PR function tests reveals that all the quotients of polynomial in the numerator are not
+ve and also there is a zero on the r.h.s of s-plane. This clearly proves that the given
function is not a PR function. No more confirmatory testing is needed.
06) First Foster form of a LC network represents which element in the
beginning?
Capacitor.
Inductor.
Resistor.
Both A and B.
In Foster 2 form last element is a capacitor.
07) What is the full form of SPICE ?
Stimulated program with integrated circuit arrangement.
Simulated program with integrated circuit analysis.
Sequential program with integrated circuit analysis.
None of these.
SPICE is a software that simulates different circuits and can perform various analysis
of electrical and electronics circuits.
08) Based on relation between the arm impedances the filters can be
categorized into how many types?
3.
4.
2.
Not classified at all.
2 types are - constant k type / prototype filter and m-derived filter.
09) In the above question, if a = 0.1, then the steady state error to unity
ramp input will be
0.49.
0.35.
0.25.
0.16.
X(t) = e- 2tu(t).
02) When the input to a system was with drawn at t=0, its output was found
to decrease exponentially from 1000 units to 500 units in 1.386 sec. The
time constant of the system is
2.000.
1.386.
0.693.
0.500.
C(o) = 1000 = C - C(t) = 1000 e-t/T - 500 = 1000 e-1.386/T T = 2 sec.
03) The transfer of a system is 10/(1 + S) when operated as a unity
feedback system, the steady state error to a unit step input woll be
Zero.
10.
1/11.
.
The given transfer function is to be taken as space open loop transfer function
This is a type zero system. The steady state error to a unit step input
05) The position and velocity error coefficient for respectively are
0 and 0.
0 and .
50 and 0.
50 and .
06) The device necessarily used for automatic temperature control in a
furnace is
Auto transfer.
Thermostats.
Thermocouple.
Any of above.
If the temperature is to be controlled automatically some from of thermostat should be
used in the circuit so that is operates and switches out or switches in the oven
wherever the temperature goes above or below a certain predetermined value
respectively. The switching is to be carried out by contactors.
07) Transient response is improved in case of
lag network.
lead network.
both A and B.
none of these.
Basically a lead network has the improved transient response, good stability and
reduced steady state error.
08) The system is initially critical damped. If the gain of the system is
doubled, then it will exhibit
over damped characteristics
critical damped characteristics
Under damped characteristics
undamped characteristics
For critical damped system the value of damping factor () is unity. Generally
1/k Where, k = system gain Therefore, if the gain of the system is doubled, the value
of damping factor will less than unity. System will exhibit under damped
characteristics.
09) The open loop transfer function of a unity feedback control system is
given by G(s) = k/s(s+1). If the gain k is increased to infinity, then damping
ratio will tend to become
zero
0.707
unity
infinite
Given open loop transfer function G(s) = k/s(s+1) Characteristic equation 1+G(s) =
s+s+k = 0 By comparing this characteristic equation with standard second order
equation, Natural frequency n = k Damping factor = 1/(2k) Therefore, if the
gain k is increased to infinity, then damping ratio will tend to become zero.
10) A proportional plus derivative controller
has high sensitivity
increases the stability of the system
improves the steady state accuracy
both 1 and 2
Proportional plus derivative controller characteristics: 1. For sinusoidal input, the
phase of controller output leads by tan-1 (Td). Hence it is similar to lead
compensator. 2. In terms of filtering property it acts as high pass filter. 3. It reduces
rise time. 4. It increases band width. 5. It increases stability of the system. 6. It
reduces peak over shoot. 7. It has no effect on type and order of the system.
02) Which one of the following is the steady state error for a step input
applied to a unity feedback system with the open loop transfer function G(s)
= 10/(s+14s+50)?
0
infinite
0.83
1
Error equation E(s) = R(s)/(1 + G(s) H(s) ) Applying final value theorem, Steady state
error = Lts0 S E(s) Steady state error = Lts0 s*1/s*1/(1+10/(s+14s+50)) =
Lts0 1/(1+10/(s+14s+50)) = 1/(1+10/(0+0+50)) = 1/(1+10/50) = 5/6 Steady state
error = 0.833
03) A proportional plus integral controller
has high sensitivity
increases the stability of the system
it increases rise time
both 2 and 3
Proportional plus integral controller characteristics: 1. For sinusoidal input, the
phase of controller output lags by tan-1 (1/Ti). Hence it is similar to lag
compensator. 2. In terms of filtering property it acts as low pass filter. 3. It increases
rise time. 4. It decreases band width. 5. It decreases stability of the system. 6.The
integral controller eliminates the offset of proportional controller.
04) Which of the following controller is also known as anticipatory controller?
proportional controller
integral controller
derivative controller
both 1 and 3
Derivative mode is also known as rate controller mode, because the controller output
is proportional to rate of change of error. Its action is also known as anticipatory
action. Because it sends a control signal in anticipation of error. Therefore it is also
known as anticipatory controller. Anticipatory action may result in large instability in
a system.
05) Which of the following controller has sluggish response?
proportional controller
integral controller
derivative controller
both 2 and 3
For sinusoidal input the phase of integral controller output lags by 90. Which
indicates sluggish response. Therefore, the disadvantage of an integral controller is
its response to errors is slow or sluggish. However, it is capable of eliminating the
error completely in the system.
06) The transfer function of a system is G(s) = 100/((s+1)(s+100)). For unit
step input to the system the approximate settling time for 2% criterion is
100 sec
10 sec
400 sec
4 sec
The transfer function of a system is G(s) = 100/((s+1)(s+100)) Here, (s+100) is
insignificant pole, so we can neglect this pole to calculate settling time. G(s) =
1/((s+1)(1+s/100)) G(s) = 1/(s+1) = 1/(1+Ts) T = 1 For 2% criterion, settling time
ts = 4T = 4 sec
07) In which of the following controller band width is increased?
proportional plus integral controller
proportional plus derivative controller
both 1 and 2
nether 1 nor 2
Proportional plus derivative controller characteristics: 1. For sinusoidal input, the
phase of controller output leads by tan-1 (Td). Hence it is similar to lead
compensator. 2. In terms of filtering property it acts as high pass filter. 3. It reduces
rise time. 4. It increases band width. 5. It increases stability of the system. 6. It
reduces peak over shoot. 7. It has no effect on type and order of the system.
08) Transient state analysis depends on which of the following?
type of system
order of system
both 1 and 2
nether 1 nor 2
Every transfer function representing a control system has certain type and order. The
transient state analysis depends on the order of the control system. The order of
system is obtained from closed loop transfer function. The highest power of the
characteristic equation (1 + G(s)H(s) )determines the order of the control system.
09) A ramp input applied to an unity feedback system results in 5% steady
state error. The type number of the system is...........?
1
2
3
5
Error equation E(s) = R(s)/(1 + G(s) H(s) ) Applying final value theorem, Steady state
error = Lts0 S E(s) Steady state error for different types and different inputs as
follows; Type Step input Ramp input parabolic input 1. Type 0 ----- A/(1+K) infinite
infinite 2. Type 1 ----- Zero A/K infinite 3. Type 3 ----- Zero Zero A/K
10) Time constant is defined as the time taken by the response of the
system to reach ----------- ?
100% of the final value
70.7% of the final value
63% of the final value
50% of the final value
Time constant is defined as the time taken by the response of the system to reach 63%
of the final value. In physics and engineering, the time constant, usually denoted by
the Greek letter (tau), is the parameter characterizing the response to a step input of
a first order, linear time invariant system. The time constant is the main characteristic
unit of a first order linear time invariant system. For RC network time constant =
RC For RL network time constant = L/R
01) A first order system is initially at and subjected to a sudden input at
t=0. Its output reaches 1.1 V in 4 sec and eventually reaches steady state of
2 V. Find the time constant?
4 sec
5 sec
2 sec
6 sec
For first order system, output c(t) = k (1-e-(t/)) At t = 4 sec, 1.1 = 2 (1-e-(4/)) 2*e-
(4/)
= 0.9 e-(4/) = 0.45 ln(e-(4/)) = ln(0.45) -4/ = -0.8 Time constant = 5 sec
02) A second order control system has a transfer function 16/(s + 4s +
16). What is the time for the first overshoot?
2/3 sec
/3 sec
/23 sec
/43 sec
Given transfer function = 16/(s + 4s + 16) By comparing standard second order
equation, natural frequency n= 4 rad/s damping ratio = 0.5 Peak time =
n/d Where, n = overshoot number d = damped frequency = n*(1-) Peak time
= /(4*(1-0.5) = /23 sec
03) Two identical first order systems have been cascaded non interactively.
The unit step response of the systems will be
Over damped
under damped
critical damped
un damped
First order system transfer function = R/(RCS+1) When two identical first order
systems have been cascaded non interactively, the transfer function = R/(RCS+1)
For the given transfer function, the roots are repeated. Therefore, response of the
system is critical damped.
04) A second order control system has a transfer function 16/(s + 4s +
16). Find the settling time for 2% tolerance?
10 sec
5 sec
4 sec
2 sec
Given transfer function = 16/(s + 4s + 16) The standard second order expression in
terms of damping ratio () and natural frequency (n) is as follows. C(s)/R(s) =
(n)/(s + 2(n)s + n) Therefore, natural frequency n= 4 rad/s damping ratio
= 0.5 Settling time for 2% tolerance = 4/(n) = 4/(4*0.5) = 2 sec
05) Settling time for 5% tolerance band is -------------
3T
4T
5T
2T
Settling time is the time taken by the response of the system to reach and stay within
the limits of the tolerance band. For 2% tolerance band, settling time = 4/(*n) = 4T
For 5% tolerance band, settling time = 3/(*n) = 4T
06) The optimum values of damping ration is --------------
0.9 to 1.1
0.3 to 5
0.3 to 0.7
0 to 2
Damping ratio = Actual damping/ Critical damping Most of the control systems are
designed for damping ratio '' value less than 1. Because the response can be
analysed using more number of performance specifications. The optimum value of
damping ratio is 0.3 to 0.7.
07) For the polynomial P(s) = 2s5 + s4 + 4s3 + 2s2 + 3s + 15, number of
roots which lie in the right half of s-plane is
4
2
3
1
By using Routh- Hurwitz criteria, number of sign changes in first column is equal to
number of roots which lie in the right half of s-plane.
08) For the polynomial P(s) = s4 + 8s3 + 18s + 16s +5, find the number of
roots which lie on the right half of s-plane?
1
2
4
0
By using Routh - Hurwitz criteria, P(s) = s4 + 8s3 + 18s + 16s +5 s4 ----- 1 18 5 s3 ---
-- 8 16 0 s ----- 16 5 s ----- 13.5 0 s0 ----- 5 Number of roots which lie on the right
side of s-plane is equals to the number of sign change in first column of Routh -
Hurwitz criteria. Therefore, for given problem, no roots are lie in the right side of s-
plane.
09) The system having characteristic equation s4 + 2s3 + 3s + 2s + k = 0
is used to be an oscillator. What is the value of k?
1
2
3
4
Given characteristic equation s4 + 2s3 + 3s + 2s + k = 0 s4 ----- 1 3 k s3 ----- 2 2 0 s
----- 2 k s ----- (4-2k)/2 0 s0----- k For stability of the system, 1. (4-2k)/2 > 0 and 2. k >
0 k < 2 Therefore, 0 < k < 2 Marginal value of k = 2
10) The unit step response of the system is 1 - e-t(1+t). Which is the
system?
unstable
stable
oscillatory
critically stable
Step response = 1 - e-t(1+t) d/dt(step response) = Impulse response L( Impulse
response) = Transfer function Transfer function = 1/(s+1) The stability of the LTI
system may be defined as "when the system is subjected to bounded input the output
should be bounded". Therefore, given system is absolutely stable.
01) The angle condition is used for checking whether any point lies on root
locus or not is...........
(2q + 1) 180
(2q) 180
(2q + 1) 360
(2q) 360
The root locus is defined as the locus of closed loop poles obtained when system gain
k is varied from 0 to . The angle condition is used for checking whether any point
lies on root locus or not and also validity of the root locus shape. 1 + G(s)H(s) = 0
Angle condition = (2q + 1) 180 The angle condition may be stated as for a point
lie on root locus the angle evaluated at that point must be an odd multiple of 180.
02) The magnitude condition for root locus is ..................
|G(s)H(s)| = 0
|G(s)H(s)| = 2
|G(s)H(s)| = 1
|G(s)H(s)| =
The magnitude condition is used for finding the value of system gain k at any point on
root locus. 1 + G(s)H(s) = 0 G(s)H(s) = -1 + j0 |G(s)H(s)| = (1 + 0)) |G(s)H(s)| =
1
03) Consider a point S = -3 + j4 in the s-plane. Then for a system with the
open loop transfer function G(s)H(s) = k/(s + 1)4 ?
S is on root locus
S is not on root locus
either 1 or 2
none of the above
The angle condition is used for checking whether any point lies on root locus or not
and also validity of the root locus shape. 1 + G(s)H(s) = 0 Angle condition = (2q +
1) 180 G(s)H(s) = k/(s + 1)4 S = -3 + j4 G(s)H(s) at S = k/( -3 + j4 + 1)4 =
0/(116.5*4) = -466 -466 is not the odd multiple of 180. Therefore, given point
is not on the root locus.
04) A unity feedback control system has an open loop transfer function G(s)
= k/(s(s + 7s + 12) The gain k for which s = -1 + j1 will lie on the root
locus of the system is
4
6.5
5
10
The magnitude condition is used for finding the value of system gain k at any point on
root locus. 1 + G(s)H(s) = 0 G(s)H(s) = -1 + j0 |G(s)H(s)| = (1 + 0)) |G(s)H(s)| =
1 |G(s)| at given point = k/(2*50) = 1 k = 10
05) Let P = Number of open loop poles and Z = Number of open loop zeros
and P>Z, find the number of branches terminating at ?
Z
P-Z
P
any of the above
The root locus is defined as the locus of closed loop poles obtained when system gain
k is varied from 0 to . The root locus is symmetrical bout real axis. Let P = Number
of open loop poles and Z = Number of open loop zeros and P>Z. The number of
branches of root locus = P The number of branches terminating at zeros = Z The
number of branches terminating at infinity = P - Z
06) The characteristic equation of a control system is give by s(s + 4)(s +
2s + 1) + k(s + 1) =0 What are the angles of asymptotes for the root loci
for k 0?
0, 120, 240
0, 180, 300
60, 180, 300
120, 180, 240
Given characteristic equation s(s + 4)(s + 2s + s) + k(s + 1) =0 1 + k(s + 1)/s(s +
4)(s + 2s + 1)=0 1 + G(s)H(s) = 0 G(s)H(s) = k(s + 1)/s(s + 4)(s + 2s + 1) Number
of poles P = 4 Number of zeros Z = 1, P - Z = 3 Angle of asymptotes = (2q +
1)*180/(P - Z) Angles of asymptotes for the root loci for k 0 are 60, 180and
300
07) The characteristic equation of a control system is give by s(s + 4)(s +
2s + 1) + k(s + 1) =0. Find the angle between the asymptotes?
60
360
120
180
Given characteristic equation s(s + 4)(s + 2s + 1) + k(s + 1) =0 1 + k(s + 1) / s(s +
4)(s + 2s + 1) = 0 Number of poles P = 4 Number of zeros Z = 1 P - Z = 3 Angle
between the asymptotes = 2/(P - Z) = 360/3 = 120
08) Which of the following statements is/are true?
Centroid may be a part of root locus
Centroid may not be a part of root locus
both 1 and 2
nether 1 nor 2
Centroid is the intersection point of the asymptotes on the real axis. It may or may not
be a part of the root locus. Centroid =((Real part of open loop poles) - (Real part
of open loop zeros))/(P - Z)
09) The characteristic equation of a feedback control system is given by s +
5s + (k + 6)s + k = 0. In the root loci diagram, the asymptotes of the root
loci for large 'k' meet at a point in the s-plane whose coordinates are
(2,0)
(-2,0)
(-1,0)
(1,0)
Given characteristic equation s + 5s + (k + 6)s + k = 0 1 + k(s + 1)/(s + 5s + 6s)
= 0 1 + G(s)H(s) = 0 G(s)H(s) = k(s + 1)/(s + 5s + 6s) = k(s + 1)/((s(s + 2)(s + 3))
Number of poles P = 3 Number of zeros Z = 1 P - Z = 2 Centroid =((Real part of
open loop poles) - (Real part of open loop zeros))/(P - Z) Centroid = (0-2-3-(-1))/2
= -4/2 Centroid = (-2,0)
10) A control system has open loop transfer function G(S) =
k/(s(s+4)(s+6)). Break away point is lies between
0 and -4
0 and 4
-4 and -6
any of the above
A point on real axis is said to be on root locus if to the right side of point , the sum of
open loop poles and zeros is odd number. When ever there are two adjacently placed
poles on the real axis with the section of real axis between them as a part of root locus
then there exists break away point between the adjacently placed poles.
01) A control system has open loop transfer function G(s) = k/(s(s + 2).
Find the break away point?
-1
1
-2
2
The roots of dk/ds = 0 will give the break away points. Given characteristic equation
is s + 2s +k =0 k = -s -2s dk/ds = -2s -2 =0 Break away point s = -1
01) Given the Laplace transform of f(t) = F(s), the Laplace transform of
(f(t)e-at) is equal to
F(s)/(s+a)
F(s+a)
e-as*F(s)
eas*F(s)
IF Laplace transform of f(t) = F(s), then the Laplace transform of (f(t)e-at) is equal to
F(s+a).
02) Consider the function F(s) = /(s+). Where F(s) = Laplace
transform of f(t). The final value of f(t) is equal to
zero
infinite
finite constant
a value between -1 and +1
Given function F(s) = /(s+) By taking inverse Laplace transforms, f(t) = sint
Therefore, the final value for sint is equals to a value between -1 and +1.
03) What will be the type of the system, if the steady state performance of
control system yields a non zero finite value of the velocity error constant?
type - 0
type - 1
type - 2
type - 3
Error equation E(s) = R(s)/(1 + G(s) H(s) ) Applying final value theorem, Steady state
error = Lts0 S E(s) Steady state error for different types and different inputs as
follows; Type Step input Ramp input parabolic input 1. Type 0 ----- A/(1+K) infinite
infinite 2. Type 1 ----- Zero A/K infinite 3. Type 3 ----- Zero Zero A/K
04) A transfer function has a zero at s = -1 and poles at s = -1 j1. The
multiplier being unity, if the input is step function, the steady state response
is given by
0.510
0.50
10
290
Transfer function = (s+1)/((s+1-j)(s+1+j)) C(s)/R(s) = (s+1)/((s+1)+1) Given R(s)
= 1/s Steady state response C(s) s0 = s*R(s)*transfer function = (s+1)/((s+1)+1)
Steady state response C(s) s0 = 0.50
05) The transfer function of the system described by d/dt(y(t)) +
3d/dt(y(t)) + 2y(t) = 5u(t) with u(t) as input and y(t) as output is
5/(s+3s+2)
5/s(s+3s+2)
(s+3s+2)/5
s(s+3s+2)/5
Given that d/dt(y(t)) + 3d/dt(y(t)) + 2y(t) = 5u(t) By taking Laplace transforms,
(s+3s+2)Y(s) = 5 U(s) Transfer function = 5/(s+3s+2)
06) Transfer function of a control system depends on
initial conditions of input and output
system parameters alone
nature of output
nature of input
While driving the transfer function of a linear element only initial conditions are
assumed to be zero, loading or input can not be assumed to be zero. The transfer
function is defined as the ratio of Laplace transform of the output to the Laplace
transform of the input with zero initial conditions.
07) The poles of the second order system is at -3 j4. The damping ratio of
the system is
3/4
3/7
3/5
4/5
The characteristic equation is (s+3-j4)(s+3+j4) = 0 s + 6s + 9 + 16 = 0 s + 6s + 25
= 0 Therefore, Natural frequency n = 5 rad/s Damping ratio = 3/5
08) The characteristic equation has the following roots for over damped
stable system?
-2,-2
-2j4
-2,-4
-2,2
1. For over damped system, the roots are real and unequal. 2. For under damped
system, the roots are complex and conjugate. 3. For critically damped system, the
roots are real and equal. 4. For un damped system, the roots are imaginary.
09) The transfer function of a linear time invariant system is given as G(s) =
10/(s + 10s + 10). The steady state value of the output of the system for
step input applied at time instant t=2 sec will be
0
1
infinity
undefined
Transfer function G(s) = 10/(s + 10s + 10) Input = u(t-2) L(u(t-2)) = 1/s *e-2s Final
value = Lts0 s*C(s) = Lts0 s * 10/(s + 10s + 10) * 1/s *e-2s Final value = 1
10) The error of a system to a ramp input is 1/5, if the type of the system is
decreased by one, then the error of unit step input is
0.2
0.167
5
6/5
The error of a system to a ramp input = 1/kv = 1/5 Kv = 5 When type of system is
decreased to type zero, 'kv' of type one system becomes 'kp' of type zero system.
Therefore, kp = 5 Error for step input = 1/(1+kp) = 1/6 = 0.167
01) the closed loop transfer function of a unity feedback control system is
9/(s + 3s + 9), then the type of the system is
3
0
2
1
Every transfer function representing a control system has certain type and order. The
steady state analysis depends on the type of the control system. The type of the system
is obtained from open loop transfer function. The number of open loop poles
occurring at origin determines the type of the control system Open loop transfer
function = 9/(s + 3s + 9 - 9) = 9/s(s+3) Therefore, the type of the given system is 1.
02) The closed loop transfer function of a system is 25/(s + 25). The
settling time of the system is
5 sec
1 sec
sec
25 sec
Given system is marginally stable system. Therefore, the damping factor is zero.
Settling time = 4/(n) Settling time = sec For given system response is oscillatory,
which never settles.
03) The lag compensator
increases the damping ratio
decreases the damping ratio
increases the band width
increases the stability
Lag compensator characteristics: 1. For sinusoidal input, the phase of controller
output lags by tan-1 (1/Ti). 2. In terms of filtering property it acts as low pass filter.
3. It increases rise time. 4. It decreases band width. 5. It decreases stability of the
system. 6.The integral controller eliminates the offset of proportional controller. 7.
Increases the damping ratio.
04) Negative feedback in a closed loop control system
reduce gain
improves disturbance rejection
reduce sensitivity to parameter variation
all of the above
Advantages of closed loop control system: 1. The closed loop systems are accurate 2.
The closed loop systems are accurate even in the presence of non linearities 3. The
sensitivity of the system may be made small to make the system more stable 4. The
closed loop systems are less affected by noise Disadvantages of closed loop control
system: 1. The closed loop systems are complex and costly 2. The feedback in closed
loop system may lead to oscillatory response 3. The feedback reduces the overall gain
of the system 4. Stability is the major problem in closed loop system and more care is
needed to design a stable closed loop system.
05) The characteristic equation for closed loop system is given as s + 2s +
4s + k = 0. The value of k for which the system becomes just stable is
2
4
6
8
Given characteristic equation is s + 2s + 4s + k Routh array table: s3 ----- 1 4 s ----
- 2 k s ----- (8-k)/2 0 s0 ----- k For system becomes just stable, (8-k)/2 = 0 Therefore, k
=8
06) The open loop transfer function of a unity feedback control system is
G(s) = 1/((s(s+0.1s)(s+1)). The value of damping factor for which the
resonant peek is equal to 1.4 is
0.386
0.263
0.953
0.707
Resonant peak = 1/(2(1-)) Given resonant peak = 1.4 1.4 = 1/(2(1-))
Therefore, damping factor = 0.386
07) The open loop transfer function of non unity negative feedback system is
G(s) = ks/((s+1)(s+2)), then the number of root locus branches equal to
1
2
3
0
The root locus is defined as the locus of closed loop poles obtained when system gain
k is varied from 0 to . The root locus is symmetrical bout real axis. Let P = Number
of open loop poles and Z = Number of open loop zeros and P>Z. The number of
branches of root locus = P The number of branches terminating at zeros = Z The
number of branches terminating at infinity = P Z
08) A transfer function is given as G(s) = (s+9)(s+2)/(s+4)(s+3)(s+9) The
steady state sinusoidal response will become zero at a frequency response is
2/ rad/s
4 rad/s
3 rad/s
9 rad/s
Given transfer function G(s) = (s+9)(s+2)/(s+4)(s+3)(s+9) G(j) = (-
+9)(j+2)/(j+4)(j+3)(j+9) = 0 = 3 rad/s
09) In frequency response analysis of second order system, the error at
corner frequency is
20 log2
10 log
-20 log2
-10 log
In frequency response analysis of second order system, the magnitude in db value is
|F(j)| = -20 log((1-(/n))+(2/n)) Where n = Natural frequency At corner
frequency cf = = n |F(j)| = -20 log2
10) Which of the following represents the value of resonant frequency (r)?
(n) (1-)
(n) (1-2)
2*(n) (1-)
(n) (1-/2)
Resonant frequency is the frequency at which magnitude has maximum value.
Resonant frequency (r) = (n) (1-2)
02) The closed loop transfer function of a system is 25/(s + 25). The
settling time of the system is
5 sec
1 sec
sec
25 sec
Given system is marginally stable system. Therefore, the damping factor is zero.
Settling time = 4/(n) Settling time = sec For given system response is oscillatory,
which never settles.
03) The lag compensator
increases the damping ratio
decreases the damping ratio
increases the band width
increases the stability
Lag compensator characteristics: 1. For sinusoidal input, the phase of controller
output lags by tan-1 (1/Ti). 2. In terms of filtering property it acts as low pass filter.
3. It increases rise time. 4. It decreases band width. 5. It decreases stability of the
system. 6.The integral controller eliminates the offset of proportional controller. 7.
Increases the damping ratio.
04) Negative feedback in a closed loop control system
reduce gain
improves disturbance rejection
reduce sensitivity to parameter variation
all of the above
Advantages of closed loop control system: 1. The closed loop systems are accurate 2.
The closed loop systems are accurate even in the presence of non linearities 3. The
sensitivity of the system may be made small to make the system more stable 4. The
closed loop systems are less affected by noise Disadvantages of closed loop control
system: 1. The closed loop systems are complex and costly 2. The feedback in closed
loop system may lead to oscillatory response 3. The feedback reduces the overall gain
of the system 4. Stability is the major problem in closed loop system and more care is
needed to design a stable closed loop system.
05) The characteristic equation for closed loop system is given as s + 2s +
4s + k = 0. The value of k for which the system becomes just stable is
2
4
6
8
Given characteristic equation is s + 2s + 4s + k Routh array table: s3 ----- 1 4 s ----
- 2 k s ----- (8-k)/2 0 s0 ----- k For system becomes just stable, (8-k)/2 = 0 Therefore, k
=8
06) The open loop transfer function of a unity feedback control system is
G(s) = 1/((s(s+0.1s)(s+1)). The value of damping factor for which the
resonant peek is equal to 1.4 is
0.386
0.263
0.953
0.707
Resonant peak = 1/(2(1-)) Given resonant peak = 1.4 1.4 = 1/(2(1-))
Therefore, damping factor = 0.386
07) The open loop transfer function of non unity negative feedback system is
G(s) = ks/((s+1)(s+2)), then the number of root locus branches equal to
1
2
3
0
The root locus is defined as the locus of closed loop poles obtained when system gain
k is varied from 0 to . The root locus is symmetrical bout real axis. Let P = Number
of open loop poles and Z = Number of open loop zeros and P>Z. The number of
branches of root locus = P The number of branches terminating at zeros = Z The
number of branches terminating at infinity = P Z
08) A transfer function is given as G(s) = (s+9)(s+2)/(s+4)(s+3)(s+9) The
steady state sinusoidal response will become zero at a frequency response is
2/ rad/s
4 rad/s
3 rad/s
9 rad/s
Given transfer function G(s) = (s+9)(s+2)/(s+4)(s+3)(s+9) G(j) = (-
+9)(j+2)/(j+4)(j+3)(j+9) = 0 = 3 rad/s
09) In frequency response analysis of second order system, the error at
corner frequency is
20 log2
10 log
-20 log2
-10 log
In frequency response analysis of second order system, the magnitude in db value is
|F(j)| = -20 log((1-(/n))+(2/n)) Where n = Natural frequency At corner
frequency cf = = n |F(j)| = -20 log2
10) Which of the following represents the value of resonant frequency (r)?
(n) (1-)
(n) (1-2)
2*(n) (1-)
(n) (1-/2)
Resonant frequency is the frequency at which magnitude has maximum value.
Resonant frequency (r) = (n) (1-2)
02) A second order system has F(j) = 100/(100 - + 102 j). Find the
resonant peak?
0.707
0.5
1
1.5
Resonant peak is the maximum value of magnitude occurring at resonant frequency
r. Resonant peak r = 1/(2(1-)) Given transfer function F(j) = 100/(100 - +
102 j) Compare to standard second order equation, Damping ratio = 1/2
Resonant peak = 1
03) For a second order under damped system subjected to unit step input
the time response has first peak value to be 4 times the second over shoot.
Determine the damping ratio ?
0.087
0.87
0.707
0.07
First peak value = 1 + Mp1 Second peak overshoot = Mp2 Where, Mp = Peak over
shoot = e-n/(1-) Mp1 = e-/(1-) Mp2 = e-3/(1-) From give data, 1 + Mp1 = Mp2 By
solving above equation, Damping ratio = 0.087
04) Find the bandwidth of the system, when rise time of the system is give
as 1msec?
1 kHz
500 Hz
350 Hz
750 Hz
Bandwidth is the range of frequencies over which the magnitude has a value of 1/2.
Band width indicates the speed of response of the system. Wider bandwidth indicates
that, faster response. Bandwidth = 0.35/Rise time = 0.35/(1*10 -3) = 350 Hz
05) If the bandwidth of the system is very large, the system response is
faster
slower
independent of bandwidth
none of the above
Bandwidth is the range of frequencies over which the magnitude has a value of 1/2.
Band width indicates the speed of response of the system. Wider bandwidth indicates
that, faster response. Bandwidth = 0.35/Rise time
06) The magnitude of a transfer function G(j)H(j) at gain cross over
frequency is
0
1
infinity
any of the above
Stability from frequency response plots 1 + G(s)H(s) = 0 G(s)H(s) = -1 + j0 Put s =
j G(j)H(j) = -1 + j0 |G(j)H(j)| at gain cross over frequency = 1 G(j)H(j)
at phase cross over frequency = -180
07) Find the conditions for the system to be stable?
Gain margin and phase margins are positive
Gain margin and phase margins are negative
Gain margin is positive but phase margin is negative
Gain margin is negative but phase margin is positive
Stable system: Gain margin and phase margins are positive and Gain cross over
frequency is less than phase cross over frequency. Unstable system: Gain margin and
phase margins are negative and Gain cross over frequency is greater than phase
cross over frequency. Marginally stable system: Gain margin and phase margins are
zero and Gain cross over frequency is equal to phase cross over frequency.
08) A second order under damped system has damping ratio of 0.3. Find the
phase margin of the system?
20
3
30
60
Phase margin is the allowable phase lag. G(j)H(j) at gain cross over frequency
= Phase margin = 180 + And also Phase margin 100* Therefore, for given
system Phase margin = 30
09) If the magnitude of G(j)H(j) at phase crossover frequency is 0.5. Find
the gain margin of the given system?
0.5
2
1
4
Gain margin is the allowable gain. |G(j)H(j)| at phase crossover frequency = X
Gain margin = 1/X Gain margin in db = 20 log(1/X) For given system gain margin =
1/0.5 = 2
10) A second order system has peak over shoot = 50% and period of
oscillations 0.2 seconds. Find the resonant frequency?
32.16 rad/s
31.41 rad/s
30.63 rad/s
29.74 ra/s
Peak over shoot = 0.5 Peak over shoot Mp = e-n/(1-) = 0.5 Damping ratio = 0.215
Time = 0.2 fd = 1/0.2 = 5 Hz Damped frequency d = 2fd = 31.41 rad/s Damped
frequency d = (n) (1-) Natural frequency (n) = 32.16 rad/s Resonant frequency
(r) = (n) (1-2) = 30.63 rad/s
01) The transfer function of a plant is T(s) = 5/(s+5)(s + 5 + 1). The
second order approximation of T(s) using dominant pole concept is
1/(s+1)(s+5)
5/(s+1)(s+5)
1/(s + 5 + 1)
5/(s + 5 + 1)
Using dominant pole concept, T(s) = 5/(s+5)(s + 5 + 1) T(s) = 5/5(s/5+1)(s + 5 +
1) T(s) = 1/(s + 5 + 1)
02) The phase margin of a system having the loop transfer function G(s)H(s)
= 23/s(s+1) is
45
30
60
80
The characteristic equation for given system is s + s + 3.46 = 0 Phase margin
100* Damping ratio = 0.27 Phase margin = 27 30
03) A system has poles at 0.01 Hz, 1 Hz and 80 Hz; zeros at 5 Hz, 100 Hz
and 200 Hz. The approximate phase of the system response at 20 Hz is
90
180
-90
-180
Using dominant pole technique, all the pole and zeros are insignificant except a pole
at 0.01 Hz. Therefore, given system consists of only a pole at 0.01 Hz. Therefore, the
approximate phase of the system is -90.
04) The Laplace transform of a transportation lag of 5 seconds is e-5s
e5s
e-5s
1/(s+5)
1/(s-5)
Dead time in real system is also known as transportation lag. Transfer function of
transportation lag = e-TsTherefore, transportation lag of 5 seconds can be written as
e-5s.
05) A property of phase lead compensation is that the
overshoot is increased
bandwidth of closed loop system is reduced
rise time of closed loop system is reduced
gaim margin is reduced
Lead compensator characteristics: 1. For sinusoidal input, the phase of controller
output leads by tan-1 (Td). 2. In terms of filtering property it acts as high pass filter.
3. It reduces rise time. 4. It increases bandwidth. 5. It increases stability of the system.
6. It reduces peak over shoot.
06) Which of the following is the correct expression for the transfer function
of an electrical RC phase lag compensating network?
RCS/(1+RCS)
RC/(1+RCS)
C/(1+RCS)
1/(1+RCS)
Phase lag compensator acts as a low pass filter. Therefore transfer function for lag
compensator = 1/(1+RCS).
07) The value of 'a' to give phase margin = 45 will be G(s) = (as+1)/s
0.707
1.414
1.18
0.9
Characteristic equation is s + as + 1 = 0 Natural frequency n = 1 rad/s Phase
margin = 100* Damping ratio = 45/100 = 0.45 2n = a Therefore, a = 0.9
08) A unity feedback control system has forward loop transfer function as e-
Ts
/s(s+1). Its phase value will be zero at frequency 1. Which of the
following equations should be satisfied by 1?
1 = tan(T1)
1 = cot(T1)
T1 = cot(1)
T1 = tan(1)
Given transfer function = e-Ts/s(s+1) G(j) = e-Tj/j(j+1) G(j) = -T - /2 -
tan-1 At = 1;G(j) = 0 -1T - /2 - tan-11 = 0 - tan-11 = 1T + /2 - 1 = -
cot(T1) 1 = cot(T1)
09) In polar plots if the critical point '-1+j0' is enclosed then the system is --
------
stable
unstable
marginally stable
critical stable
A point is said to be enclosed by a contour if it lies to the right side of the direction of
the contour. A point is said to be encircled if the contour is a closed path. In polar
plots if the critical point '-1+j0' is enclosed then the system is said to be unstable and
if it not enclosed then the system is said to be stable.
10) Resonant peak of a marginally stable system is
0
finite value
infinite
any of the above
Resonant peak is the maximum value of magnitude occurring at resonant frequency
r. Resonant peak r = 1/(2(1-)) For marginally stable system, damping ratio =
0 Therefore, resonant peak = Infinity
01) What is the effect of gain margin when the system gain is doubled?
2 times
1/2 times
remains unaffected
none of the above
Gain margin is the allowable gain. |G(j)H(j)| at phase crossover frequency = X
Gain margin = 1/X Gain margin in db = 20 log(1/X) Gain margin 1/k Where k =
System gain therefore, if the system gain is doubled, gain margin is half i.e 1/2 times.
02) A open loop transfer function is given as G(s) = (s+2)/(s+1)(s-1). Find
the number of encirclements about '-1+j0'?
1
0
2
3
Characteristic equation is 1 + G(s) = 0 s-1+s+2 = 0 s + s + 1 = 0 Routh array
table: s --------- 1 1 s --------- 1 0 s0 --------- 1 There are no sign changes in first
column of Routh array. Therefore, there are no closed loop poles in right half of s-
plane. Number of encirclements N = P - Z Where P = Number of open loop poles in
RHS of s-plane Z = Number of closed loop poles in RHS of s-plane Therefore, N = 1 -
0=1
03) Find the stability for the following transfer function? G(s) = 50/s(s+5)
unstable
marginally stable
stable
critically stable
Given transfer function G(s) = 50/s(s+5) Characteristic equation is 1 + G(s) = 0 s +
5s + 50 = 0 Routh array table: s ------ 1 50 s ----- 5 s0 ----- 50 There are no sign
s\changes in first column of Routh array. Therefore, the system is stable.
04) Find the corner frequency for the following transfer function? G(s) =
1/(s+2)
2 rad/s
1/2 rad/s
4 rad/s
1/4 rad/s
Corner frequency for first order function cf = 1/T Given function G(s) = 1/(s+2)
G(s) = 1/2(1+s/2) G(s) = 1/(1+Ts) Therefore, T = 1/2 Corner frequency cf = 2 rad/s
05) Error at corner frequency cf of first order system is -------
1 db
2 db
3 db
4 db
Magnitude for first order factor is |F(j)| = 20 log (1+(T)) At corner frequency
= cf = 1/T |F(j)| = 20 log 2 |F(j)| = 3db
06) The maximum phase lag occurs at the ------------------- of the two
corner frequencies?
arithmetic mean
geometric mean
either 1 or 2
none of the above
Characteristics of phase lag compensator: 1. It shifts the gain crossover frequency to
lower values where the desired phase margin is acceptable. Hence it is effective when
the slop of the uncompensated system near the gain crossover frequency is high. 2.
The maximum phase lag occurs at the geometric mean of the two corner frequencies.
07) If the transfer function of a phase lead compensator is (s+a)/(s+b) and
that of a lag compensator is (s+p)/(s+q), then which one of the following
sets of conditions must be satisfied?
a > b, p > q
a > b, p < q
a < b, p < q
a < b, p >q
The transfer function of phase lead compensator = (1 + TS)/(1 + TS) Where < 1
Therefore for lead compensator zero is nearer to origin. The transfer function of
phase lag compensator = (1 + TS)/(1 + TS) Where > 1 Therefore for lag
compensator pole is nearer to origin. Therefore, a < b, p >q
08) The compensator G(s) = 5(1 + 0.3s)/(1 + 0.1s) would provide a
maximum phase shift of
20
45
30
60
Given transfer function G(s) = 5(1 + 0.3s)/(1 + 0.1s) The transfer function of phase
lead compensator = (1 + TS)/(1 + TS) By comparison, T = 0.3 = 1/3 Maximum
phase shift m = sin-1((1 - )/(1 + ) m = sin-1((1-1/3)/(1+1/3)) m = 30
09) The transfer function of phase lead compensator is given by G(s) = (1 +
TS)/(1 + TS), where, T > 0, < 0. What is the maximum phase shit
provided by this compensator?
sin-1((1 - )/(1 + )
cos-1((1 - )/(1 + )
tan-1((1 - )/(2)
both 1 and 3
Maximum phase shift m = sin-1((1 - )/(1 + ) = tan-1((1 - )/(2) = cos-1((2)/(1
+ )
10) Consider the following statements for phase lead compensation:
Phase lead compensation shifts the gain crossover frequency to the right
The maximum phase lag occurs at the arithmetic mean of the two corner
frequencies.
both 1 and 2
nether 1 nor 2
Characteristics of phase lead compensator: 1. It shifts the gain crossover frequency to
higher values where the desired phase margin is acceptable. Hence it is effective
when the slop of the uncompensated system near the gain crossover frequency is low.
2. The maximum phase lag occurs at the geometric mean of the two corner
frequencies.
01) With regard to filtering property, the lead compensator is
low pass filter
band pass filter
high pass filter
band reject filter
Lead compensator characteristics: 1. For sinusoidal input, the phase of controller
output leads by tan-1 (Td). 2. In terms of filtering property it acts as high pass filter.
3. It reduces rise time. 4. It increases bandwidth. 5. It increases stability of the system.
6. It reduces peak over shoot.
02) A controller transfer function is given by C(s) = (1+2s)/(1+0.2s). What
is its nature and parameter?
lag compensator, = 10
lag compensator, = 2
lead compensator, = 0.2
lead compensator, = 0.1
The transfer function of phase lead compensator = (1 + TS)/(1 + TS) Where < 1
Therefore for lead compensator zero is nearer to origin. Given transfer function =
(1+2s)/(1+0.2s) By comparing two transfer functions, T = 2 and = 0.1 Therefore,
given transfer function is lead compensator.
03) Which of the following is/are represents the lead compensator?
(s+2)/(s+1)
(s+2)/(s+5)
(s+5)/(s+6)
both 2 and 3
The transfer function of phase lead compensator = (1 + TS)/(1 + TS) Where < 1
Therefore for lead compensator zero is nearer to origin.
04) Which of the following is/are represents the lag compensator?
(s+2)/(s+1)
(s+2)/(s+5)
(s+5)/(s+6)
both 1 and 2
The transfer function of phase lag compensator = (1 + TS)/(1 + TS) Where > 1
Therefore for lag compensator pole is nearer to origin.
05) The transfer function of a phase lead compensator is given by: G(s) = (1
+ 3Ts)/(1 + Ts)where T>0. What is the maximum phase shift provided by
such a compensator?
90
45
30
60
Maximum phase shift m = sin-1((1 - )/(1 + ) Given transfer function G(s) = (1 +
3Ts)/(1 + Ts) From the above transfer function = 1/3 Maximum phase shift m =
sin-1((1-1/3)(1+1/3)) Maximum phase shift m = 30
06) The following transfer function represents a phase-lead compensator?
(s+4)/(s+6)
(4s+2)/(6s+1)
(s+4)/(3s+6)
1/s
The transfer function of phase lead compensator = (1 + TS)/(1 + TS) Where < 1
Therefore for lead compensator zero is nearer to origin.
07) To achieve the optimum transient response, the indicating instruments
are so designed as to
be undamped.
be critically damped.
provide damping which is slightly less than the critical value.
provide damping which is slightly more than the critical value.
To achieve the optimum transient response, the indicating instruments are provided
with a damping which is slightly less than the critical value.