Paramount

1111
Control Systems

Unique Collection of Questions with

Detailed Solutions
 PREFACE

It is our pleasure, that we insist on presenting “Paramount 1111” authored for

Electronics & Communication Engineering to all of the aspirants and career
seekers. The prime objective of this book is to respond to tremendous amount
of ever growing demand for error free, flawless and succinct but conceptually
empowered solutions to all the questions.
This book serves to the best supplement for GATE 2023 (EC).
Simultaneously having its salient features the book comprises :
 Step by step solution to all questions.
 Complete analysis of questions through concept wise.
 Solutions are presented in simple and easily understandable language.
The authors do not sense any deficit in believing that this title will in many aspects, be different
from the similar titles within the search of student.
In particular, we wish to thank GATE ACADEMY expert team members for their hard work
and consistency while designing the script.
The final manuscript has been prepared with utmost care. However, going a line that, there
is always room for improvement in anything done, we would welcome and greatly appreciate the
suggestions and corrections for further improvement.

Umesh Dhande
Vice President - Academics GATE & ESE
(UNACADEMY)
 2 Control Systems

Questions
Q.1 Consider feedback control system Q.2 Figure shows the Nyquist plot of the
shown below. The closed loop stability stable open loop transfer function
Im
region R on λ − μ plane, is
+ 5
R ( s) Y (s )
s( s + μ )
–
Re
1/2
λ
2+
s

(A) μ
The gain and phase margins of G(s) for
closed loop stability are
R
0.5 1
(A) and 00 (B) 2 and 1800
λ 2
(C) 0 and 00 (D) ∞ and ∞
(B) μ
Q.3 The closed loop poles of two systems is
shown in figure [MSQ]
jω
0.5
R j2
λ

(C) μ –4
σ

– j2
0.5
R System (1)
λ jω

(D) μ j1

σ
R –1
– j1
0.5
λ System (2)
 2.2 Paramount 1111 [EC/EE] GATE ACADEMY®
Which of the following statement is/are (C) It will encircle (−1 + j 0) once in
correct? clockwise direction.
(A) Settling time of system (1) is more (D) It will never encircle (−1 + j 0) .
than system (2) Q.7 The signal flow graph and block
(B) Settling time of system (2) is more diagram shown below in fig.1 and fig.2
than system (1) respectively represent the same system.
–1 –1
–s –s
(C) Damping ratio of system (1) is more
0.5 2 4 1
than system (2) X1(s) X2(s)
(D) Damping ratio of system (2) is more
–p
than system (1) Fig.1 (Signal flow graph)
Q.4 A compensator with the transfer
4 s3
1 + 0.1 τs X 1(s ) X 2 (s )
function G ( s ) = can give a s + 3s 2 + 3 s + 1
3

1+ τ s
Fig.2 (Block Diagram)
maximum gain of The value of p should be
(A) – 20 dB (B) – 10 dB (A) 1 (B) s −1
(C) 0 dB (D) 20 dB (C) s (D) s − 2
Q.5 Consider the network shown in figure in Q.8 A unity negative feedback system has
which the switch is closed at t = 0. open loop transfer function
Assuming zero initial conditions, the 2 3
G( s) = K ; K >0
rise time and settling time for the s( s − 1)
capacitor voltage are _____ and _____ The following statements is/are correct
seconds respectively. regarding the closed loop behavior of the
1.8W system : [MSQ]
(A) Valid Clockwise Nyquist plot :
Im
t=0
0.79 F +
0
5V
Re
(A) 3.129, 6.682 (B) 6.682, 3.129
(C) 3.128, 5.688 (D) 5.688, 3.128
0–
Q.6 Which of the following statements is
true about the clockwise Nyquist plot of (B) For all positive value of K, two
s+2 closed loop poles have been placed
G(s) = at RHS of s-plane.
( s + 3)( s − 1)( s + 4)
(C) Given system is a non-minimum
(A) It will encircle (−1 + j 0) twice in phase system.
clockwise direction. (D) If phase lag is provided to the OLTF,
(B) It will encircle ( −1 + j 0 ) twice in it can stabilize the closed loop
counter clockwise direction. system.
GATE ACADEMY® Control Systems 2.3
Q.9 Bode plot of an open-loop transfer 1 1
(A) (B)
function of a control system is shown in 29 31
the given figure. 1 1
(C) (D)
G ( jw) dB 32 27
Q.12 A state variable system
0 1  1 
0 w X (t ) =   X (t ) +   u (t )
0 −3 0 
-K
with the initial condition X (0) = [−1,3]T
ÐG ( jw) and the unit step input u (t ) has the state
- 900  φ (t ) φ12 (t ) 
transition matrix  11 .
-1800 w φ21 (t ) φ22 (t ) 
The value of φ11 (0) − φ12 (0) is ______.
The gain margin of system in dB is (rounded off to nearest integer)
Q.13 The Nyquist path and the corresponding
(A) K (B) – K
Nyquist plot of G ( s ) H ( s ) are shown in
1 1
(C) − (D) figure below,
K K jω
Q.10 The root locus plot for a system is shown j∞+ s-plane

in the figure below where P1 , P2 and P3

s = Re jθ
are location of poles at gain K = 12.5 R →∞
jω
σ
P1 0

σ
– 10 P3 – 20 –2 0
j∞−
P2 Nyquist path for G(s)
j Im GH
If the value of P1 = −0.7 + j1.3 , the
damping ratio of the system i.e. ξ
G(s)H(s) - plane

(rounded off to three decimal places)

_______. Re GH

Q.11 A signal flow graph for a control system 0

is shown in the below figure, (-1, j 0)

–1 –2 –1 –1

1 1 1 1 3 1
R C
If G ( s ) H ( s ) has one open loop zero in
–3 right half of the s-plane, the number of
–2
The overall gain of the control system is poles that the closed-loop system will
_______. have in right half of s-plane is _______.
 2.4 Paramount 1111 [EC/EE] GATE ACADEMY®
Q.14 A unity feedback system has an open (C) K2
K 20
loop transfer function G ( s ) = .
s( s + a)2
The value of “K” for which the gain K1
– 20
margin is 9.54 dB and the phase
crossover frequency is 3 rad/sec is
_______.
(D) K2
Q.15 A negative unity negative feedback
system has open loop transfer function 20

100
G( s) = K1
s( s + p) – 20

The first maximum value response

π K1 + K2 = 0
occurs at second. [MSQ]
8 Q.17 The closed loop frequency response
(A) The natural frequency for the closed curve of a second order system is shown
loop system is 10 rad/sec. in figure below,
(B) The damping coefficient for the M ( jw)

closed loop system is 0.6. 1.227

(C) The damping coefficient for the

0.9
closed loop system is 0.4.
(D) The value of ‘p’ is 12 6
w (r/s)

Q.16 For a system with characteristic

The rise time of the system is,
equation s 2 + (2 + 0.1K1 ) s + K1 + K 2 = 0. (A) 0.1 sec (B) 0.2 sec
The correct stability boundary diagram (C) 0.3 sec (D) 0.4 sec
on K1 − K 2 plane, is Q.18 The open loop transfer function of a
unity feedback system is given as,
(A) K2
K ( s + 12)
20 G(s) =
s ( s + 2)
G( jω) dB
K1
– 20
35.563 – 20dB/dec

– 40 dB/dec
12 ω(rad/sec)
(B) K2 0.1 2
– 20dB/dec
20
The figure above shows the Bode plot of
K1
– 20 the given system for K = K1 . Let the
value of gain cross over frequency for
K = K1 is ωgc1 and for K = K 2 is ωgc2 .
GATE ACADEMY® Control Systems 2.5

ωgc1 K1 ______. (rounded off to two decimal

If = 1.41, then the ratio is place)
ωgc2 K2
R( s) + GC ( s ) G (s) C (s)
________. (rounded off to two decimal -

place)
Q.19 The figure shows the Nyquist plot of
given OLTF Q.22 A third order control system is given by
100 1
GH ( s ) = T (s) =
( s + 1)( s + 2)( s + 3) ( s + 10)( s 2 + s + 1)
Im[GH ( jω)] The resonant peak of system is ______.
(rounded off to two decimal place)
x
Q.23 A closed-loop control system is stable if
the Nyquist plot of the corresponding
Re[GH ( jω)]
y open-loop transfer function [MSQ]
(A) with clockwise Nyquist path
encircles the s-plane point (−1 + j0)
in the counter clockwise direction as
x many times as the number of right-
The absolute ratio is ____. (rounded
y half open loop s-plane poles.
off to three decimal place) (B) with clockwise Nyquist path
Q.20 A sinusoidal signal x(t ) = 10 cos 2t is encircles the s-plane point (0 − j1) in
given at the input of the system shown in the clockwise direction as many
figure. times as the number of right-half
open loop s-plane poles.
(C) with counter clockwise Nyquist path
encircles the s-plane point (−1 + j0)
in the clockwise direction as many
Magnitude of phase lag provided at the times as the number of right-half
output in steady state (in degrees) is open loop s-plane poles.
_______. (upto two decimal places) (D) with counter clockwise Nyquist path
Q.21 A unity negative feedback control encircles the s-plane point (−1 + j0)
system has uncompensated open loop in the counter clockwise direction as
10 many times as the number of right-
transfer function G ( s ) = .
s ( s + 2)( s + 5) half open loop s-plane zeros.
It is required that the steady state error Q.24 Consider a negative unity feedback
of the system for unit ramp excitation system having open loop transfer
should be either less than or equal to 0.1. function,
To achieve this, a compensator K
G (s) =
(s + p) s ( s + 3)( s + 5)
GC ( s ) = is connected in cascade
(s + q) If intersection point of asymptotes of
with G ( s ) . The minimum value of p/q is root locus lies on real axis at s = a and
 2.6 Paramount 1111 [EC/EE] GATE ACADEMY®
valid break point lies on real axis at G( jω) dB

s = b, then the value of a + b is _____. 44 dB – 40 dB/dec

(rounded off to one decimal place) 16 dB – 20dB/dec
Q.25 Consider the plot of an underdamped – 40 dB/dec
10 dB
system as shown in below figure. One of
ω(rad/sec)
the plot represents the system with a 0.1 ω1 ω2 ωgc

proportional controller with gain K p

The value of phase margin (in degrees)
and other without it. for the system is _______. (rounded off
C (t )
to one decimal place)
1.163 Q.29 A root locus diagram for a system
1.095
G ( s ) H ( s ) is shown in below figure.
1
jw

t (sec)
0.302 0.351 s
-1 -1
The undamped natural frequency for
3
system with controller will be _______.
Q.26 A control system exhibits an overshoot
of 25.38 %, when subjected to a unit step When three zeros s = 0, ± j1 are added
input. The sum of damping ratio and to the system the new root locus will
decay ratio is _______. (rounded off become.
three decimal place) jw
Q.27 A control system is represented by its j1
-0.41
characteristic polynomial given as,
P( s) = 3s 6 + 2 s 5 + 12s 4 + 4s 3 (A) s
-1
+ 3s 2 − 6 s − 18 - j1
Consider following numbers,
jw
N1 = No. of poles located on imaginary
j1
axis
N2 = No. of poles located in left half of (B) s
-1 2.41
s-plane
N3 = No. of poles located in right half - j1

of s-plane jw
Then, the value of N1 + 2 N2 + 3N3 is j1
-0.1
_______. (round off nearest integer)
Q.28 Consider the bode plot of a unity (C) s
-1
negative feedback control system shown
- j1
in figure below,
GATE ACADEMY® Control Systems 2.7
jw x 
[ y ] = [1 1]  1 
j1
 x2 
Which of the following statement is/are
(D) s
-1 correct? [MSQ]
- j1 e −3t
0.5(e − e ) 
−t −3t
(A) e At =  
 0 e−t 
Q.30 For the bode plot shown in figure. The
OLTF G ( s ) H ( s ) is (B) The transfer function of the system
M 2s + 5
is 2
s + 4s + 3
–2

(C) Closed loop poles of the system are

0d

ec
/d
B/

dB located at −1, −2
de

20
c

2 10
w (D) The closed loop system has zeros
20 50
located at s = −2.5, s = −1
0 dB/dec Q.33 A system is represented by the following
(1 + 0.5s ) (1 + 0.1s ) state and output equations,
(A) G ( s ) H ( s ) =
s (1 + 0.02 s )
 − 2 −1 1 
(1 + 0.1s ) (1 + 0.02 s ) x =   x +   u,
(B) G ( s ) H ( s ) =  − 3 − 5  2
s 2 (1 + 0.5s )
y = [3 2 ] x
(1 + 0.2 s ) (1 + 0.1s )
(C) G ( s ) H ( s ) = The poles of the system are located as
s 2 (1 + 0.9 s )
shown below,
(1 + 0.1s ) (1 + 0.01s )
(D) G ( s ) H ( s ) = 2 jω
s (1 + 0.5s ) (1 + 0.02 s )
Q.31 Consider the following circuit q
10 mF
σ
s = −p s = −q 0

+ R1 + p

V1 ( s ) R2 V2 ( s )
The value of " p − q " is _______.
– – (rounded off to one decimal place)
V2 ( s ) s + 2 Q.34 For the given lead network the
If = , then the value of maximum phase lead φm is
V1 ( s ) s + 4
R1 = 7 Ω
resistance " R2 " is
(A) 100 kΩ (B) 50 kΩ
(C) 500 kΩ (D) 10 kΩ Vi n R2 = 4 Ω V0
C1 = 5 F
Q.32 The state variable representation of the
system is given below
 x1   − 3 1   x1  1 (A) 76.40 (B) 50.030
 x  =  0 −1  x  + 1 u (t )
 2   2   (C) 27.810 (D) 33.330
 2.8 Paramount 1111 [EC/EE] GATE ACADEMY®
Q.35 Consider a open loop transfer function parabolic input, the value of the
K parameter p is _____. (rounded off to
and its root locus
s ( s + 2)( s + α) nearest integer)
intersect at s = ± j10 so its ω pc in Q.39 The system shown in figure below can
rad/sec is _____. (rounded off to nearest be made stable for all values of K > 0
integer) (Assume positive value of α) by,
C (s)
Q.36 The transfer function for the
R(s)
system whose signal flow graph is given
(A) Adding a pole at s = − 9
in below figure.
(B) Adding a zero at s = − 9
(C) Adding a pole at s = − 4
(D) Adding a zero at s = − 4
Q.40 Consider a close loop system shown in
the figure.
1 2 G1 3
R (s) C( S)

4 H1
−H2
1
The magnitude of transfer function at −G 2
N( s)
ω = 2 rad/sec is _______. (rounded off 5

to two decimal place) If noise is applied at the node 5, such that

Q.37 The open loop transfer function of a n(t ) = −tu (t ) * h1 (t ) (where ‘*’ denote
unity feedback system is given by convolution symbol). Provided
3e −2 s G1 > 100 and H1 H 2 > 1, then the
G (s) = . The sum of gain and
s ( s + 2) response of above system due to the
phase crossover frequency in (rad/sec) noise is ______.
_____. (rounded off to two decimal (A) u (t ) (B) −tu (t )
place)
(C) tu (t ) (D) th2 (t )u (t )
Q.38 The open loop transfer function,
s +1 Q.41 Consider a 2nd order system, when
G (s) = p
s (s + 4)(s + 3) subjected to unit step is found to have a
Where p is an integer, is connected in peak overshoot 16.2% occurring at time
unity feedback configuration as shown π
t= sec. If the system is subjected
in the figure, 5 3
R(s)
+
G(s) C(s)
to a sinusoidal input of 1 V, then the
- frequency at which resonance peak
occurs (in Hz) is _______.
Given that the steady state error is zero (A) 4 Hz (B) 3 Hz
for unit ramp input and 12 for the unit (C) 2 Hz (D) 1.125 Hz
GATE ACADEMY® Control Systems 2.9
Q.42 A system is described by characteristic ' A ' . The distance from the origin to
equation, point ' A ' is 0.7 the value of ' k ' at point
K A is ______. (rounded off to three
1+ =0
( s + 1) ( s + 2) ( s + 4) decimal place)
The maximum value of K, for which all  −1 0 
Q.46 If A =   then find the value of
the poles lie to the left of s = − 1 is  −1 −2
_______. (rounded off to nearest ( At ) 2 ( At )3
integer) 1 + At + + + .......... is
2! 3!
Q.43 The characteristics equation of system is
 e−t 0 
CE = s 5 − 2 s 4 − 2 s 3 + 4 s 2 + s − 2 = 0 . (A)  −t −2t 
 −e + e e−2t 
The number of symmetric poles located
in right half of s-plane is e−t −e −t + e−2t 
(B)  
(A) 3 (B) 1 0 e −2t 
(C) 4 (D) 2
 e−2t 0
Q.44 Consider the closed loop non unity (C)  −t −2t 
feedback control system shown in figure  −e + e e−t 
below, e−t −e −t − e−2t 
+
(D)  
R( s)
1
C (s) 0 e−2t 
- s 2 ( s + 7)
Q.47 The asymptotic magnitude plot of a
minimum phase system is given in
3( s + 1)
s+2
figure. From the plot the gain across ever
frequency is ______ rad/sec. (rounded
The value of steady state error for unit
off to two decimal place)
step input is _______. M(dB)
Q.45 The characteristic equation of a unity
negative feedback system is 46 – 20 dB/dec
1 + kG ( s ) = 0 . The open-loop transfer
function G ( s ) has three poles at
– 40 dB/dec
s = 0, − 1, − 3 and no zeros. The root
w (rad/sec)
0 dB 0.1 2
locus of the system for varying k is given
below.
Q.48 The OLTF of a positive unity feedback
x = 0.5 600
system is [MSQ]
A K ( s + 1)
G ( s) = 2 K >0
K = -¥ K =0 K =0 s ( s + 2)
-3 -1 0
The point which lies on R.L. plot is/are
(A) s = −1.5 lies on R.L.
300 (B) s = −2.5 lies on R.L.
The constant damping ratio line, for (C) s = 1 lies on R.L.
ξ = 0.5, intersects the root locus at point (D) s = −0.5 lies on R.L.
 2.10 Paramount 1111 [EC/EE] GATE ACADEMY®
Q.49 Consider the system shown in figure Where x (t ) is the input and y (t ) is the
C(t)
output. If x (t ) = sin 2 t , then y (t ) will be
1.163 1
(A) sin 2 t
1 5
1 1
(B) − cos (2t − 63.430 )
t 2 2 5
3
Fig.2 1 1
(C) − cos (2t − 1.107 0 )
When the system is subjected to a unit 2 2 5
step input, then the system output (D) Both (B) and (C)
response is as shown in figure. The value Q.53 A unity feedback system has open loop
of k is _______. (rounded off to three K
transfer function G ( s ) =
decimal place) s ( s + 1)(1 + 8s )
Q.50 The root locus plot of a system for K = 4.5, the number of encirclement
intersecting the constant damping ratio of the Nyquist plot around the (− 3 + j 0)
line (ξ) is shown below, point is ______. (Assume clockwise
jw encirclement negative) (rounded off to
nearest integer)
x-
lin
e

Pole of P Q.54 The velocity error coefficient of a

order-2
second order unity feedback control
1

K=0 K=0
s
–2 0 system is 10. If f n is the natural
undamped frequency in Hz and ξ is the
f
damping ratio, then the value of n
The value of ξ is ______. (rounded off ξ
to one decimal place) (rounded off to two decimal places) is
_______.
Q.51 The polar plot of G ( s ) H ( s ) for k = 10
Q.55 The open loop transfer function of a
is given below unity feedback control system is
Img[G ( jw) H ( jw)] k
G ( s) =
s ( s + 1)( s + 2)
If the phase margin of the system is 30 0 ,
Re[G ( jw) H ( jw)]
the value of k is ______. (rounded off to
three decimal place)
Q.56 The open loop transfer function for a
unity feedback control system is
The gain ' k ' for 40 dB gain margin is
10 K
______. G(s) =
s (0.01s 2 + 0.2 s + 1)
Q.52 The input-output representation of a
If the phase margin of the system is 50
system is shown below
then the value of gain crossover
1 frequency (rad/sec) is ______. (rounded
x ( t) s+1 y (t) off to two decimal place)
GATE ACADEMY® Control Systems 2.11
Q.57 Consider the electrical N/w shown (B) The value of k is 4, at break point
figure below [MSQ] (C) The value of k mar is 70
(D) The natural frequency of oscillation
i L (t ) iC (t ) is 3.16 rad/sec
+
i(t ) V
1H C (t ) 1F Q.61 A linear time invariant system is
– described by the state variable model
 x1   −1 0   x1  0 
 x  =  0 −2   x  + 1  u
The state space representation of the  2   2  
circuit is used to find the controllability x 
y = [1 2]  1  [MSQ]
and observability.  x2 
Which of the following statements is/are (A) The system is completely
correct controllable
(A) Controllable (B) The system is not completely
(B) Uncontrollable controllable
(C) Unobservable
(C) The system is completely observable
(D) The sum of elements of state
(D) The system is not completely
transition matrix of system at t = 0 is
observable
2.
Q.62 The polar plot for the system transfer
s+a
Q.58 A lead compensator T ( s ) = has function G ( jω) = ω + j 5 is
s+b
(A) Img
zero frequency gain of 0.25 and offers
maximum phase lead θ max , at frequency j5

of 6 rad/sec. The value of θ max (in Real

degrees) is ______. (rounded off to two

decimal place)
Q.59 Consider a control system shown in
below figure, (B) Img

+ Ks + 10 j5
r (t) c (t )
− s2
Real

The value of ‘K’ so that the system

has a phase margin equal to 450 is
_______. (rounded off to two decimal
place) (C) Img

Q.60 For the unity negative feedback control

system given below [MSQ] 5
Real
k
G (s) =
s ( s + 2 )( s + 5 )
(A) s = −3.8 is a valid break point
 2.12 Paramount 1111 [EC/EE] GATE ACADEMY®
(D) Img (C)

Real
5

Q.63 The transfer function of certain system

s
is given by G ( s ) = . (D)
1+ s
The correct Nyquist plot for positive
frequency corresponds to
(A)

Q.64 The maximum phase-shift that can be

provided by lead compensator with
1 + 6s
transfer function G ( s ) = is
1 + 2s
(B) (A) 150 (B) 300
(C) 450 (D) 600

Q.65 Consider a PD compensated marginally stable system shown below. The design goal is that the
1
damping of closed loop system, ξ ≤ and steady state error for unit step input, e(∞) ≤ 0.1 .
2
The values of λ and μ should be respectively.
Controller
+ 4
R ( s) λ + μs 2
Y ( s)
– s +4

(A) λ = 5 and μ = 10 (B) λ = 5 and μ = 5

(C) λ = 9 and μ = 10 (D) λ = 9 and μ = 5
GATE ACADEMY® Control Systems 2.13

E
Q.66 For the block diagram shown in figure. The value of is ________.
R
1 1

+ +
+ E + +
1 1 1
R – – –

Q.67 With switch (S) closed and K as variable parameter, the root locus is
−ks

Switch S
1 1
R( s) Y (s )
1 1/ s 2

−1
(A) Im (B) Im
k=0 k=∞

k =∞ k=∞ k=∞ k=0

Re Re

k=0 k= ∞

(C) Im (D) Im
k=0 k=∞

k=∞ k=∞ k=0 k=∞

Re Re

k=0 k=∞

Q.68 Consider the system shown in figure below,

s+4
R( s) +- +- C (s)
s+b

5
s+3

The value of ‘b’ for which the steady state error in the response for unit step input is zero, is
______. (rounded off to two decimal place)
 2.14 Paramount 1111 [EC/EE] GATE ACADEMY®
Q.69 The signal flow graph of a control system is shown below.
1 [ s (s + K )]−1 1
U(s) Y (s)

−1

The root locus for 0 ≤ K ≤ ∞ is

(A) Im (B) Im
+ j1

–1
Re Re

– j1

(C) Im (D) Im
+ j1

1
Re Re
−1

– j1

Q.70 The signal flow graph given below has an output C and is excited by a step input at node R and
is also corrupted by a noise N. The value of α so that interference at output due to noise is
minimum will be ________. (rounded off to nearest integer)
1 1
N
1 2
1
a

1 1
R C
1
Q.71 The unit step response data of a typical second order system is given below,
Time (sec) 0 0.05 0.1 0.15 0.20 0.25 0.30 0.35 0.4 0.45
Unit step
0 0.25 0.8 1.08 1.12 1.02 0.98 0.98 1.0 1.0
response
The corresponding frequency response indices peak resonance M r and resonant frequency ωr
respectively are (in approximation)
(A) not determinable with given data
(B) 1.08 and 11.58 rad/sec
(C) 1.7 and 18.96 rad/sec
(D) M r and ωr do not exist.
GATE ACADEMY® Control Systems 2.15
Q.72 A system is characterized by the following state-space equations
 x1   − 3 1   x1  0 
 x  =  − 2 0   x  + 1  u ; t > 0
 2   2  
x 
y = [1 0] 1 
 x2 
The state of the system for a unit-step input at t = 1sec under zero initial conditions is
 0.2  0.831  0.4  1.631
(A) x =   (B) x =   (C) x =   (D) x =  
0.831  0.2  1.631  0.4 
jω
1+
Q.73 A phase lag compensator has transfer function GC ( jω) = b , where a, b are positive
jω
1+
a
constants. If φlag is maximum phase lag contributed at ω = ω * , then
b
(A) a < b, ω* = ab and φlag = 2 tan −1 − 900
a
a b
(B) b > a, ω* = and φlag = 900 − 2 tan −1
b a
b b
(C) b > a, ω* = and φlag = 900 − tan −1
a a
a b
(D) a < b, ω* = and φlag = tan −1 − 900
b a
Q.74 For the system and its unit step response is shown in figure below [MSQ]
C(t)

t (second)

Which of the following statement is/are correct?

(A) The value of k for the system is 5.85
(B) Peak time for the first overshoot of the system is 2 sec
(C) Delay time of the system is 0.53 sec
(D) Damped frequency of oscillation of the system is 2.4 radians/second
Q.75 Consider a negative unity feedback system with open loop transfer function given as
s 4 − 4 s 3 − 7 s 2 + 34 s − 24
G(s) =
4 s 3 + 7 s 2 − 34 s + 24
The number of closed loop zeros located in the right half of the s-plane is ________. (round off
nearest integer)
 2.16 Paramount 1111 [EC/EE] GATE ACADEMY®
C (s)
Q.76 The equivalent transfer function T ( s ) = for the system shown in figure below is
R(s)
G1 ( s )

– –
+ + +
R( s) G2 ( s ) G5 ( s ) G6 ( s ) C (s)
– + +

G3 ( s )

+
G4 ( s )
+

G7 ( s )

[Consider G1 ( s ) = G2 ( s ) = G3 ( s ) = G4 ( s ) = G5 ( s ) = G6 ( s ) = G7 ( s ) = 1 ]
1 2 3 7
(A) (B) (C) (D)
10 5 5 10
Q.77 Open loop poles of a unity feedback system are located at s = −1, s = −2 and s = −4 . When the
system gain is varied from 0 to ∞, the closed loop poles traces the path as shown in figure. If
two of the poles are at points P and Q at the same instant then the value of angle θ (in degrees)
is ______. (rounded off to three decimal place)

Q.78 Consider the signal flow graph of a system shown below. If the system is uncontrollable then
the value of constant ‘k’ is ______. (Assume k is positive) (rounded off to nearest integer)
k

4 1/s 1 1/s 2
u y

–3 –5

–1
GATE ACADEMY® Control Systems 2.17
Q.79 For the feedback control system shown in figure below.
1kW 1mF

R( s) 1kW –
+
– –1 1
C (s)
+ ( s + 1)( s + 1000)

Controller Gc ( s ) Plant G p ( s )

The value of delay time is _______ sec. (rounded off to two decimal place)
Q.80 The phase versus frequency plot for a certain minimum phase transfer function is as shown in
figure.

(rad/sec)

The corresponding magnitude versus frequency graph is

(A)

(rad/sec)

(B)

(rad/sec)
 2.18 Paramount 1111 [EC/EE] GATE ACADEMY®
(C)

(rad/sec)

(D)

(rad/sec)

Q.81 Consider the asymptotic bode magnitude plot shown in the figure below. [MSQ]
G ( jω) H ( jω) dB

20 Asymptotic plot
10 Actual plot
0
−10
−20
−30
−40
−60
ω
10−3 10 −2 10 −1 100 101 102 103 10 4
Its transfer function is given by,
K (s + a)m
G (s) H (s) =
( s + b) n ( s + c) p
Which of the following statement is/are TRUE?
(A) The value of b is 0.1 (B) The value of c is 100
(C) The value of m is 2 (D) The value of k is 10.
GATE ACADEMY® Control Systems 2.19
Q.82 Consider an electrical network shown in below figure,

State model representation is X = AX + BU and Y = CX . System matrix A is

 1 −1  1 − 3  −1 3   3 −1
(A)   (B)   (C)   (D)  
− 3 1   −1 1   1 −1  −1 1 
Q.83 Consider the control system shown in figure below, has the steady state error for unit ramp input
is 0.4. [MSQ]
+ + 2
R( s) K C( s)
– – s( s + 1)

2s

Then which of the following statement(s) is/are correct?

(A) The value of K is 5.25.
(B) The time constant for system is 0.4 sec.
(C) The decay ratio of the system is e −2 π.
(D) The settling time for 5% tolerance is 1.6 sec.
Q.84 Consider the system shown below,
D( s)
+
+ s+2
R( s) 200 C (s)
- + s+3

The value of steady state error due to unit step disturbance D ( s ) is,
−1 −2 −2 −1
(A) (B) (C) (D)
1001 501 403 403
Q.85 Consider the bode-plot given below,
dB

- 20 dB/dec
26

- 40 dB/dec
0 7 8 9
w (rad/ sec)
0.1 w1

- 20 dB/dec

-40 dB/dec

The value of DC gain (K) is ________. (rounded off to two decimal place)
 2.20 Paramount 1111 [EC/EE] GATE ACADEMY®

ke − s
Q.86 The root locus for the control system whose transfer function is G ( s ) H ( s ) = forms a
s (s + 2)
circle.
The center and the radius of circle are respectively
(A) (–1, 0) and 3 (B) (1, 0) and 3
(C) (1, 0) and 3 (D) (–1, 0) and 3
Q.87 A state space representation of a system is given by
 0 1 1 
x =   x, y = [1 2] x, x(0) =   .
 −2 0  0
The time response of this system will be
(A) cos 2t + 2 2 sin 2t (B) sin 2t
(C) cos 2t − 2 2 sin 2t (D) 2 cos 2t
Q.88 For the block diagram of the control system shown in figure,
+ 4
R(s) K + TD s C(s)
- s ( s + 1)

If the steady state error for unit ramp input is 0.02 and the damping ratio is 0.7 then, the ratio
K
is _______. (rounded off to two decimal place)
TD
Q.89 The Nyquist plot for a control system that is stable in a closed loop unity feedback system is
shown in the figure below, the bode-plot for the system is
0
Im[G ( s) H ( s)] – 270

0 ω= ∞
– 180 – 360 0
−1 + j 0 a Re[G ( s) H ( s)]

ω= 0

– 90 0
(A) M (dB) (B) M (dB)
-20 dB/dec
- 40 dB/dec

– 20 dB/dec - 60 dB/dec

0 dB/dec w(rad/ sec)

w1 w2 w3
w1 w2 w3 w (rad/ sec) - 80 dB/dec
GATE ACADEMY® Control Systems 2.21

(C) M (dB) (D) M (dB)

0 dB/dec ec
/d
– 20 dB/dec dB – 40 dB/dec
w2 w3 20
w (rad/ sec) w (rad/ sec)
w1 w1 w2 w3

– 40 dB/dec 40 dB/dec

Q.90 Consider the signal flow graphs shown in figure below, following graphs has similar transfer
function is/are [MSQ]
2

(A) R C
1 1 1
1

(B) R C
2 1 1
0.5

(C) R C
2 1 1
5
1
(D) R C
1 1 1
−1
10 se −2 s
Q.91 The bode magnitude plot of a system G ( s ) H ( s ) = is
( s + 2) 2 ( s + 10)
(A)

w(rad/s)

(B) M (dB)

- 20 dB/dec
+20 dB/dec

- 40 dB/dec

w = 0.1 w(rad / s)
2 10
-32 dB
 2.22 Paramount 1111 [EC/EE] GATE ACADEMY®
(C)

w(rad/s)

(D) M ( dB)

+20 dB/dec -20 dB/dec

20 − 40 dB/dec

0.1 ω (rad/s)
2 10

Q.92 Consider the system represented by its signal flow graph as shown below,

If the controllability test matrix for the system is given as

0 a − 8
U = b − 2 4 
1 −1 c 
Then the value of product a × b × c is ____________. (rounded off to one decimal place)
Q.93 A state-space representation of a system is given by
 0 1 1
X =   X , Y = [1 −1] X and x ( 0 ) =  
− 2 0 1
The zero input time response of the system is α sin 2t . The value of α is _________. (rounded
off to one decimal place)
1 1 b 
Q.94 Consider the system x (t ) =   x(t ) +  1  u (t ), y (t ) = [d1 d 2 ] x (t )
0 1 b2 
GATE ACADEMY® Control Systems 2.23
The conditions for complete state controllability and complete observability are,
(A) d1 ≠ 0, b2 ≠ 0, b1 and d 2 can be anything (B) d1 ≠ 0, d 2 ≠ 0, b1 and b2 can be anything
(C) b1 ≠ 0, b2 ≠ 0, d1 and d 2 can be anything (D) d 2 ≠ 0, b2 ≠ 0, b1 and d1 can be anything
Q.95 The root locus plot ( 0 < K < ∞ ) of a unity negative feedback system with open loop transfer
K
function, G ( s ) = is shown in figure below,
s ( s + 6)( s 2 + 4 s + 13)
jω

3j

σ
−6 −2 0

φP
−3j

The angle φ p (in degrees) is ______. (rounded off to nearest integer)

Q.96 Consider negative unity feedback system shown in below figure,
+ Ks
R ( s) C(s )
− ( s − 1)( s − 4)

Take, K1 = Gain at the maxima point and K 2 = Gain at the minima point.
K1
The value of K = is ________. (rounded off to two decimal place)
K2
Q.97 The open loop transfer function of a unity negative feedback control system is given as,
K ( s + 1) ( s + α )
G ( s) =
( s + 3) ( s + 4)
If the same transfer function is used to construct root locus for 0 < K < ∞ with α = 2 constant,
then the number of valid break point is ______. (in integer)
Q.98 The forward-path transfer function of a unity feedback system is
K
G(s) =
s( s + a)
The system has 10% overshoot and velocity error constant Kv = 100 . The value of K and a is
(A) 237 × 103 , 237 (B) 144, 14.4 × 103 (C) 14.4 × 103 , 144 (D) 237, 23.7 ×103
Q.99 An open loop system and its modified closed loop systems are shown below,

The value of ‘K’, which will make the time constant of closed loop system to one fifth of the
time constant of open loop system is _______. (rounded off to two decimal place)
 2.24 Paramount 1111 [EC/EE] GATE ACADEMY®
Q.100 A traffic control system is designed to control the distance between vehicles, the range of gain
K for which the system remains stable is
Controller Throttle, engine,
and automobile
R( s ) + K Y(s )
Desired 1 Actual
distance − s distance
s + 10s + 20
2

Sensor
(A) 0 < K < 50 (B) 0 < K < 100
(C) 0 < K < 200 (D) All positive value of K
Q.101 The pole-zero diagram of the driving point impedance function of the network of below figure
is shown in figure. At dc the input impedance is resistive and equals to 2 Ω . The value of R, L
and C are respectively.
jω
j4
R
Z(s) C σ
–2 –1 0
L
– j4

1 1
(A) R = 1 Ω, L = 2 H, C =F (B) R = 2 Ω, L = 1H, C = F
17 17
2 2
(C) R = 1 Ω, L = 1H, C = F (D) R = 2 Ω, L = 2 H, C = F
17 17
nd
Q.102 A 2 order system with unity feedback is subject to a proportional + Integral control as shown
in the figure below, [MSQ]
+ E (s) + w2n
R( s) 1 C (s)
s ( s + 2xwn )
– +
Q( s)
k
s

Which of the following statement is/are correct?

1
(A) For an unit parabolic input R( s) = 3 , the obtained steady state error is a finite non zero
s
value
(B) The proportional + integral control action improve the steady state performance
(C) For the system to be stable 2ξωn > k
(D) The transient performance of the system is improves
GATE ACADEMY® Control Systems 2.25

Q.103 Consider the closed loop system shown Q.106 The positive frequency Nyquist diagram
in figure below. For this system peak for a unity feedback system is shown in
overshoot is 0.3 and time for second figure. The Phase crossover frequency is
peak overshoot is 3 second then the 3 rad/sec. If the gain margin is 6 dB and
velocity error constant is 5. The transfer
value of k and T is
function is
R( s) +
k
C (s)
- s ( s + 2)

1 + Ts

(A) k = 11.2, T = 0.03

(B) k = 11.2, T = 0.3
(C) k = 12.6, T = 0.6 30
(A)
(D) k = 12.6, T = 0.06 s ( s + 2)( s + 3)
Q.104 A unity negative feedback system has an 60
(B)
open loop transfer function of G ( s ) = s ( s + 2)( s + 4)
k 45
. A compensator with transfer (C)
s+3 s ( s + 1)( s + 9)
s+P (D) Data insufficient
function GC (s) where GC ( s ) = is Q.107 The input error voltage to a PI-
s
controller, e(t ) is shown in figure the
added in cascade such that peak
output voltage of the controller e0 is
overshoot of overall system is 20% and
e(t)
overall settling time for ± 2% is 1 sec.
The value of ' P ' is
A
(A) 76.94 (B) 15.39
(C) 25.39 (D) 66.94
Q.105 Transfer function of a lead compensator
is given as 1 2
t
1 + 4s
T (s) = (A) e(t)
1+ s
The frequency, at which the phase lead
provided by the compensator will be
maximum and value of that maximum t
1 2
phase angle respectively are (B) e0(t)
(A) 0.8r/s, 36.860
(B) 0.5r/s, 48.540
(C) 0.5r/s, 36.860
(D) 0.8r/s, 48.540 1 2
t
0
 2.26 Paramount 1111 [EC/EE] GATE ACADEMY®
(C) e0(t) Q.108 Unit step response of a unity feedback
second order system is given as,
c(t ) = 1 − 3Be−3t sin ωt − 4Be−3t cos ωt
The value of damped frequency of
t oscillation (in rad/sec) is ________.
0 1 2
(Rounded off to nearest integer)
(D) e0(t)

t
0 1 2
Q.109 The system shown below produces an steady state error 0.005 units for K = 20.
Rf

1k
R(s) E(s) K C(s)
2k s (s + 1)
Vi = 0.1 t u (t)
1k

Then the value of R f (in k Ω ) is ________. (Rounded off to two decimal places)
Q.110 The transfer function of lag compensator shown in fig.(b) is to be obtained by multiplying the
transfer function of lead compensator shown in fig.(a) with a rational function X ( s ). Then the
magnitude of X ( s ) at s = 2 is ________. (rounded off to three decimal places)
2W 2W

2W
1F X (s)
2W
1.5 F

Fig.(a) Fig.(b)
Q.111 The step response of a second order control system is shown in the figure.

The natural frequency in rad/sec is ______. (Rounded off to three decimal places)
GATE ACADEMY® Control Systems 2.27
Q.112 Consider the closed loop control system having different gain in forward and feedback path
shown in below figure.

The overall gain of the given system is _______. (Rounded off to two decimal places)
Q.113 For the system below the state space equation is x = Ax + Bu.

The multiplication of poles are ______. (Rounded off to nearest integer)

Q.114 The phase margin of a feedback system is θ . The expression for damping ratio in terms of θ is
1 1
(A) ξ = sin θ tan θ (B) ξ = cos θ tan θ
2 2
1
(C) ξ = sin θ cot θ (D) ξ = sin θ tan θ
2
Q.115

Non unity feedback system is converted into unity feedback system then the ratio ξ (unity
feedback)/ ξ (non-unity feedback) is ______. (Rounded off to nearest integer)
Q.116 A certain first order system starts from rest and for a sudden input, its response reaches 7.135 V
in 5 sec before finally it reaches its steady state value of 10 V. The value of its response at time
‘ t1 ’ is 2.212 V and at time ‘ t2 ’ is 3.935 V.
If time instances ‘ t1 ’ and ‘ t2 ’ are related with time constant ‘T’ of the system as, t1 = AT and
A
t2 = BT then, the ratio of A to B i.e. is _______. (Rounded off to one decimal place)
B
 2.28 Paramount 1111 [EC/EE] GATE ACADEMY®
Q.117 Consider the unity feedback system shown in the figure,
R( s) E (s) 100 C (s)
+
– s ( s + 2) ( s + 4)

E ( s ) represents the Laplace transform of error e (t ) . To find error e (t ) , error series is given as,
K2
e (t ) = K 0 r (t ) + K1 r '(t ) +r ''(t ) + .....
2!
where r (t ) is input and K 0 , K1 , K 2 are dynamic error constants.
Then the value of K 0 + K1 + K 2 is _______. (Rounded off to three decimal places)
Q.118 Consider a unity feedback system with open loop transfer function,
K
G ( s) =
( s + 2)( s + a )
If for gain K = 1 , root locus passes through − 3 + j 0 , then the value of ' a ' is ______. (Rounded
off to nearest integer)
Q.119 Consider the system represented by block diagram as shown in below figure,
2
-
C(s)
+

R(s) 2 ++ +- 12

3 1/ 4

Overall gain of the system is

(A) –10 (B) 13 (C) 17 (D) 36
Q.120 The block diagram representation of Q.121 Consider a unity feedback closed loop
first order control system is shown in second order system. When subjected to
figure below unit step excitation the maximum peak
overshoot is 16% and peak time is 1
1 second, the transfer function of this
sT system is
12.62
(A) 2
s + 3.6 s + 12.62
A unit step signal is applied as input to
13.15
the control system. If the value of error (B) 2
s + 3.62 s + 13.15
1
for t = 2sec is then the value of 15.54
e2 (C) 2
s + 4.8s + 15.54
output c(t ) for t = 4 sec is _______. 16.85
(D) 2
(Rounded off to three decimal places) s + 3.6 s + 16.85
GATE ACADEMY® Control Systems 2.29
Q.122 The open loop transfer function of a The maximum phase lag provided by
negative unity feedback system is this compensator (in degree) is
k ________.
G( s) = . If the complex
2
s ( s + 8s + 15) Q.124 A second order feedback system has
point s = − 2 + j lies on the root locus of closed loop poles at s = −12 ± j15 . If the
this system then gain k at this point is DC gain of the transfer function is 0.8,
_____. (Rounded off to two nearest then the rise time of the system (in
integer) seconds) is _______. (upto three
decimal places)
Q.123 Transfer function of a phase lag
compensator is given as
( s + 0.2)
G(s) =
( s + 0.04)
Q.125 Consider the electrical network shown in the figure below
R1 L

+ +

Vi C R2 V0

– –

1
If the value of R1 = R2 = 2 Ω , C = F , L = 2 H then the correct signal flow graph for the given
2
network, is

1/2s
1/2 2/s 1
(A) Vi ( s) V0 ( s )
2/s

1/2

-2/s

2 2/s 1/2s 1/2

(B) Vi ( s) V0 ( s )

– 1/2 – 2/s – 1/2s

1/2 2/s 1/2s 2
(C) Vi ( s) V0 ( s )

– 1/2 – 2/s – 1/2s

2.30 Paramount 1111 [EC/EE] GATE ACADEMY®

2s
2 2/s 1/2s
(D) Vi ( s) V0 ( s )
1
–1

-2/s

Answers Control Systems

1. A 2. D 3. B, C 4. C 5. C
6. D 7. B 8. A, B, C 9. A 10. 0.474
11. C 12. 1 13. 3 14. 18 15. A, B, D
16. D 17. C 18. 1.426 19. 0.166 20. 10.728
21. 10 22. 0.1154 23. A, C 24. 3.87 25. 12.01
26. 0.464 27. 11 28. 13.65 29. A 30. A
31. B 32. A, B 33. 4.6 34. C 35. 10
36. 0.79 37. 1.89 38. 2 39. D 40. C
41. D 42. 12 43. D 44. 0 45. 1.681
46. A 47. 6.3 48. B, C, D 49. 1.209 50. 0.5
51. 1 52. B 53. –2 54. 3.18 55. 2.172
56. 9.16 57. A, D 58. 36.86 59. 2.65 60. B, C, D
61. B, C 62. B 63. B 64. B 65. D
66. 0.25 67. A 68. –4 69. B 70. 1
71. B 72. A 73. A 74. A, B, C 75. 3
76. B 77. 28.125 78. 4 79. 1.35 80. A
81. A, B, C, D 82. A 83. B, C 84. C 85. 30.90
86. C 87. C 88. 5.62 89. B 90. A, C, D
91. B 92. 2.0 93. 2.1 94. A 95. 109.44
96. 0.11 97. 2 98. C 99. 0.04 100. C
101. B 102. A, B, C 103. A 104. B 105. C
106. C 107. B 108. 4 109. 2 110. 0.646
111. 2.877 112. 2.79 113. – 12 114. A 115. 1
116. 0.5 117. 0.1872 118. 4 119. B 120. 0.981
121. B 122. 10 123. 41.81 124. 0.149 125. C
GATE ACADEMY® Control Systems 2.31

Explanations Control Systems

μ
1. (A)
Given : The characteristic equation is

)
on
gi
Re
5 (2 s + λ )

2(
1+ × = 0; 0.5

λ/
>
s ( s + μ) s λ

μ
3 2
s + μs + 10s + 5λ = 0
Routh Tabulation :
s3 1 10
μ Common region,
s2 5λ μ
s 1 10μ − 5λ
s0 5λ R
0.5
For the system to be stable, all the roots must be λ
in the left-half of s-plane, thus all the
Hence, the correct option is (A).
coefficients in the first column of Routh's
tabulation must have the same sign. Therefore, 2. (D)
the coefficient of first column of the Routh’s : Method 1 :
table should be positive. Im
μ>0
μ U
ni t
y
ci
rc l
e
0
1/2
Re
–180
μ > 0 (Region)

λ
0
–90
1. Polar plot attaining –1800 at ω = ∞ ,
ω pc = ∞
5λ > 0  λ > 0
G( jω) = 0 for second order system
μ
1
GM = =∞
λ > 0 (Region)
0
Hence gain margin for second order
λ system will be infinity.
2. Polar plot is not passing through unity
circle, indicates no proper gain cross
over frequency (ωgc ) . Hence, phase
λ margin will be infinity.
10μ − 5λ > 0  μ >
2 Hence, the correct option is (D).
 2.32 Paramount 1111 [EC/EE] GATE ACADEMY®
: Method 2 (Higher order Thinking): Nyquist plot with phase lag 00 ,
1. Definition of gain margin : Amount of Im
gain can be introduced into the system to
bring the system into the verge of
instability.
Re
Nyquist plot for K = 1, –1 + j 0 1/2 00
Im

U
ni t
y
ci
rc l
e
–1 + j 0 1/2
Re Nyquist plot with phase lag 1200 ,
Im

Nyquist plot for K = 2,

Re
Im –1 + j0 1/2

Un
i ty
ci
rc l
e
Re 0
–1 + j 0 1 –120
Nyquist plot with phase lag 1800 ,
Im

Nyquist plot for K = 3,

Im
Re
–180 0 –1 + j0 1/2
U
ni t
y
ci
rc l
e
1.5
Re
–1 + j0

Nyquist plot with phase lag 2400 ,

Im
As shown in above 3 figures, –240 0

introduction of any kind of large gain is

unable to in-circle – 1 + j0. Hence,
system has ∞ margin in gain, GM = ∞ . Re
–1 + j0 1/2
2. Definition of phase margin : Amount of
phase lag can be introduced into the
system to bring the system into the verge
of instability.
GATE ACADEMY® Control Systems 2.33
As shown in above 4 figures, 4. (C)
introduction of any kind of large phase
1 + 0.1 τs
lag is unable to in-circle – 1 + j0. Hence, Given : G ( s ) =
1+ τ s
system has ∞ margin in phase, PM =
∞. −1 −1 10
Pole : s p =, Zero : sz = =−
Hence, the correct option is (D). τ 0.1τ τ
Now because s p < sz , hence given transfer
3. (B), (C)
function will be phase lag compensator.
For system (1) : Bode plot of this compensator is shown
Poles are at = −4 ± j 2 below,
Comparing with s = − ξωn ± jωn 1 − ξ2
ξωn = 4
4 4
Settling time = = =1
ξωn 4
Settling time (t s1 ) = 1sec
Thus, from the above bode plot, the
Damping ratio, maximum gain is 0 dB.
ξωn Hence, the correct option is (C).
cos θ =
(ξωn ) 2 + (ωn 1 − ξ 2 ) 2 5. (C)
4 4 At t = 0, the circuit is
cos θ = =
2
4 +2 2 4.47 1.8W

Damping ratio (ξ1 ) = 0.894

For system (2) : 0.79 F VC (t )
Poles are at = −1 ± j1 5V

Comparing with, s = −ξωn ± jωn 1 − ξ2 R = 1.8 Ω, C = 0.79 F

ξωn = 1 Using voltage division, in Laplace domain,
4 4 1
Settling time = = = 4sec
ξωn 1 Vc ( s ) = Vi ( s ) × sC
1
t s2 = Settling time = 4 sec +R
sC
Damping ratio, 1 1
ξωn Vc ( s ) 1
cos θ = = sC = = RC
(ξωn ) 2 + (ωn 1 − ξ 2 ) 2 Vi ( s ) 1 + sRC 1 + sRC s + 1
sC RC
1 1 5
cos θ = = Since, Vi ( s ) =
12 + 12 2 s
Damping ratio (ξ 2 ) = 0.707 5  0.703  5 5
Vc ( s ) =  = −
Hence, the correct options are (B) and (C). s  s + 0.703  s s + 0.703
 2.34 Paramount 1111 [EC/EE] GATE ACADEMY®

Therefore, Vc (t ) = 5 − 5e −0.703t N = P − Z = 1 −1
1 N =0
So, time constant, (τ) = = 1.422
0.703 It means that there is no encirclement about
It is a first order circuit. So, rise time critical point.
2.2 Hence, the correct option is (D).
(Tr ) = = 3.128
0.703 7. (B)
4 Use Mason’s gain Rule to get
Settling time (Ts ) = = 5.688
0.703
Forward path P1 = 0.5 × 2 × 4 = 4;
Hence, the correct option is (C).
Cofactor Δ1 = 1
6. (D)
And determinant
s+2
Given : G ( s ) = Δ = 1 −  − s −1 − s −1 − p 
( s + 3)( s − 1)( s + 4)
+  ps −1 + ps −1 + s −2 
According to Nyquist stability criteria
N = P−Z − (− p) (− s −1 ) (− s −1 ) 
where, N = Number of encirclements about = 1 + p + 2(1 + p) s −1 + (1 + p) s −2
(−1 + 0 j ) in anticlockwise direction
X 2 ( s) 4
P = Number of right hand poles of open =
X 1 ( s ) (1 + p ) + 2(1 + p ) s −1 + (1 + p ) s −2
loop transfer function.
4
Z = Number of right hand poles of =
(1 + p )[ s + 2 s −1 + 1]
−2
closed loop transfer function.
Characteristics equation 4s 2 4s3
But =
1 + G ( s) H ( s) = 0 (1 + p )( s 2 + 2 s + 1) s 3 + 3s 2 + 3s + 1

( s − 1)( s + 3)( s + 4) + ( s + 2) = 0 4 s 2 ( s 3 + 3s 2 + 3s + 1)
1+ p =
4 s 3 ( s 2 + 2 s + 1)
( s − 1)( s 2 + 7 s + 12) + ( s + 2) = 0
s 3 + 3s 2 + 3s + 1
s 3 + 7 s 2 + 12 s − s 2 − 7 s − 12 + s + 2 = 0 =
s 3 + 2s 2 + s
s 3 + 6 s 2 + 6 s − 10 = 0
s 3 + 3 s 2 + 3s + 1
Applying RH criteria Or p= −1
3
s3 + 2s 2 + s
s 1 6
s 2 + 2s + 1 1
s2 6 −10 p= 2
=
s ( s + 2 s + 1) s
s1 46 / 6
Or p = s −1
s0 −10
Hence, the correct option is (B).
Number of sign changes in first column = 1 =
Number of right side of pole of CLTF 8. (A), (B), (C)
Z =1 From the given question, it is a valid Nyquist
P = 1 → From OLTF plot for the given transfer function.
GATE ACADEMY® Control Systems 2.35
Im
Nyquist plot with phase lag 90 0 ,
Im
+
0

Re
0+ 0–
Re
–1 + j0
0–

So, option (A) is correct.

According to Nyquist stability criteria, Z = 1− 0 = 1
N = P−Z
So, option (D) is incorrect.
where, N = Number of encirclements of – 1 +
Hence, the correct options are (A), (B) and (C).
j0 in anticlockwise direction = – 1
P = Number of right hand poles of open 9. (A)
loop transfer function = 1 • Phase cross over frequency ω pc is
Z = Number of right hand poles of
frequency, at which phase angle of
closed loop transfer function
G ( jω) H ( jω) is −1800.
N = P−Z
−1 = 1 − Z  1 
Z =2 GM = GH ( jω ) or GM dB 
•  pc 
Indicates for all positive value of K, two closed 
 = −20 log10 GH ( jω pc ) 
loop poles will be placed at RHS of s-plane.
So, option (B) is correct. GM = − (system gain in dB at ω pc ) 
As one open loop pole is placed at RHS and
System gain at ω pc is – K dB, then gain margin
hence the system is NMPS.
So, option (C) is correct. (G.M.) will be 0 − (− K ) dB = K dB .
If the phase lag is provided, the curve rotates in Hence, the correct option is (A).
clockwise direction and it leaves to encircle – 1
10. 0.474
+ j0, but as a open loop pole is present in RHS
which keeps the system unstable. Given : Using dominant pole approximation,
Nyquist plot with phase lag 00 , P1 = −0.7 + j1.3 …(i)
Im and we know that,
+
P = −ξωn + jωd …(ii)
0
jω
P1 = − 0.7 + j1.3
Re jωd
–1 + j0 ωn
σ
– 10 P3 – 20 –2 −ξωn 0
0–

P2
Z = 1 − (− 1) = 2
 2.36 Paramount 1111 [EC/EE] GATE ACADEMY®
Compare equation (i) and (ii), we get 4 non touching loops, L1 L2 L3 L4 = 18
ξωn = 0.7 So, we get
ωd = 1.3 C 3
=
R 1 − (− 2 − 3 − 3 − 1) 
ωn = (ξωn )2 + (ωd )2 
 + (6 + 6 + 2 + 9 + 3 + 3) 
ωn = (0.7)2 + (1.3) 2 = 2.18  − (−18 − 9 − 6 − 6) + 18
ωn = 1.476 C 3 3 1
= = =
ξωn = 0.7 R [1 + 9 + 29 + 39 + 18] 96 32

0.7 Hence, the correct option is (C).

ξ= = 0.474
1.476 12. 1
Hence, the correct answer is 0.474. : Method 1 :
11. (C) Given state equation.
Given signal flow graph is shown in below 0 1  1 
X (t ) =   X (t ) +   u (t )
figure, 0 −3 0 
–1 –2 –1 –1
0 1  1 
Here, A=  ,B =  
R
1 1 1 1 3 1
C 0 −3 0 
State transition matrix is given by,
–3
–2 φ(t ) = L−1[( sI − A) −1 ]
The equivalent SFG can be drawn as,
 s 0 0 1   s −1 
–2 –3 –1 [ sI − A] =  − = 
0 s  0 −3 0 s + 3
Adj ( sI − A ) 
1 1 1 1 3
R C
[ sI − A]−1 =
–3 ( sI − A)
From Mason’s gain formula are have, 1  s + 3 1
[ sI − A]−1 =
C PΔ
= k k s( s + 3)  0 s 
R k Δ
1 1 
Here formed path, P1 = 1× 1× 1× 1× 3 = 3 s s ( s + 3) 
Individual loops, = 
 1 
L1 = − 2, L2 = − 3, L3 = − 3, L4 = − 1 0 ( s + 3) 

Two non-touching loops,
 1 
L1 L2 = 6, L1 L3 = 6, L1 L4 = 2, −1 
−1 1 (1 − e − 3t ) 
φ(t ) = L [( sI − A) ] = 3
 
L2 L3 = 9, L2 L4 = 3, L3 L4 = 3  0 e − 3t 
3 non touching loops, φ11 (0) = 1, φ12 (0) = 0
L1 L2 L3 = − 18, L2 L3 L4 = − 9, So, φ11 (0) − φ12 (0) = 1
L1 L3 L4 = − 6, L1 L2 L4 = − 6 Hence, the correct answer is 1.
GATE ACADEMY® Control Systems 2.37

: Method 2 : According to Nyquist stability criteria,

φ(t ) t =0 = [ I ]2×2 N = P−Z …(iii)
As system matrix is of order 2 where, N = Number of encirclements about
(−1 + 0 j ) in clockwise direction
1 0 
φ(t ) t =0 =   P = Number of right hand poles of open
0 1  2×2
loop transfer function.
φ11 = 1, φ12 = 0
Z = Number of closed loop poles in
φ11 − φ12 = 1 − 0 right half of s-plane.
Hence, the correct answer is 1. From given Nyquist plot number of
encirclements about (−1 + 0 j ) is 1 time CW and
13. 3
1 time CCW.
Given Nyquist plot is shown below,
j Im GH Hence, N = 1 − 1 = 0
G(s)H(s) - plane
Using equation (iii),
0= P−Z
N = - 2 (2CW)
Z=P
0
Re GH Z =3
Thus, number of closed loop poles in right half
(-1, j 0)
of s-plane is 3.
N = 0 (1 CW + 1 CCW)
Hence, the correct answer is 3.

Given : Open loop transfer function has one 14. 18

zero at RHS. K
Given : G ( s ) =
Nyquist path in anticlockwise direction then s( s + a)2
according to principle of argument
K
N = P−Z …(i) G ( jω) =
jω(a + jω) 2
where, N = Number of encirclements of
K
Nyquist plot of G(s)H(s) about G ( jω) =
origin in clockwise direction ω ( a 2 + ω2 ) 2
P = Number of right hand poles of open K
=
loop transfer function i.e., G(s)H(s). ω (a + ω2 )
2

Z = Number of right hand zeros of open ω

loop transfer function i.e., G(s)H(s). ∠G ( jω) = −900 − 2 tan −1
a
Thus, N = 2 (Clockwise direction)
Alternative :
Since, Z = 1
From equation (i) Im G( jω pc  = 0
2 = P −1 ω3pc − a 2ω pc = 0
P=3 …(ii)
ω pc = a
Hence, number of right hand poles of open loop
transfer function is 3. So, a=3
 2.38 Paramount 1111 [EC/EE] GATE ACADEMY®
At the phase crossover frequency (ω pc ) phase π
As t p = sec, peak time is given by,
of plot is −1800 8
ω pc π
tp =
−900 − 2 tan −1 = −1800 ωd
a
ω pc π π
2 tan −1 = 900 =
a 8 ωd
ω pc ωd = 8 rad/sec
tan −1 = 450
a Closed loop transfer function for the unity
a = ω pc = 3 feedback system,
K K G ( s)
G ( jω pc ) = = T (s) =
ω pc (a + ω pc ) 3(3 + 32 )
2 2 2 1 + G(s) H (s)
K K 100
= = s( s + p)
3 × 18 54 T ( s) =
The gain margin is, 100
1+
1 54 s(s + p)
GM = =
G ( jω pc ) K 100
T ( s) = 2
…(i)
s + sp + 100
54
Hence 20 log = 9.54 Transfer function for second-order system is
K
given by,
54
or = 3  K = 18 C (s) ω2n
K = 2 …(ii)
Hence, the value of K is 18. R( s ) s + 2ξωn s + ω2n
15. (A), (B), (D) where, ξ = Damping ratio and

100 ωn = Natural frequency.

Given : G ( s ) =
s( s + p) On comparing equation (i) and (ii),
The maximum value of the response occurs at ω2n = 100  ωn = 10 rad / sec
peak time and is given by, So, option (A) is correct.
nπ The damped frequency of oscillation is given
tp =
ωd by,
C (t )
ωd = ωn 1 − ξ2
(1) (3)
8 = 10 1 − ξ2
1
ξ 2 = 0.36  ξ = 0.6
(2)
So, option (B) is correct.
p 2p 3p
t On comparing, 2ξωn = p
tp = tp = tp =
wd wd wd
p = 2 × 0.6 ×10 = 12
π So, option (D) is correct.
Maximum value occurs at n = 1, t p = .
ωd Hence, the correct options are (A), (B) and (D).
GATE ACADEMY® Control Systems 2.39

16. (D) 17. (C)

Given : The characteristic equation, Given :
s 2 + (2 + 0.1K1 ) s + K1 + K 2 = 0 M ( jw)

Routh Tabulation : 1.227

s2 1 K1 + K 2
0.9
s1 2 + 0.1K1
w (r/s)
6
s0 K1 + K 2
From the given frequency response curve,
For the system to be stable, all the roots must be
in the left-half of s-plane, thus all the M ( jω) ω=0 = 0.9
coefficients in the first column of Routh's ∴ DC gain = 0.9
tabulation must have the same sign. Therefore, DC gain
the coefficient of first column of the Routh’s Also, M r = = 1.227
2ξ 1 − ξ2
table should be positive.
0.9
2 + 0.1 K1 > 0  K1 > −20 = 1.227
K2 2ξ 1 − ξ2
2
 0.9 
(2ξ 1 − ξ2 ) 2 =  
K 1 > – 20(Region)  1.227 
K1 4ξ 2 (1 − ξ 2 ) = 0.538
– 20
4ξ 4 − 4 ξ 2 + 0.538 = 0
Let ξ 2 = x , 4 x 2 − 4 x + 0.538 = 0
x = 0.84 , x = 0.16
K1 + K2 > 0  K2 > − K1 2
K2 ξ = 0.84 , ξ 2 = 0.16
ξ = 0.9165 , ξ = 0.4
As ξ ≤ 0.707 and here M r > 1 hence ξ must be
K 2 > – K1 (Region)
K1 less than 0.707.
So, the possible value of ξ = 0.4 .
Also, from the given frequency response curve,

Common region, ωr = ωn 1 − 2 ξ2 = 6
K2
6 6 6
ωn = = =
20
1 − 2 ξ2 1 − 0.32 0.825

K1 ∴ ωn = 7.27 r/s
– 20
Rise time is given by,
π − θrad π − cos −1 (ξ)
K1 + K2 = 0 tr = = …(i)
ωd ωn 1 − ξ2
Hence, the correct option is (D).
 2.40 Paramount 1111 [EC/EE] GATE ACADEMY®

cos −1 (ξ) = cos −1 (0.4) = 66.420 35.563 = 20 log K '+ 20

π 20 log K ' = (35.563 − 20) = 15.563
cos −1 (ξ) = 66.420 ×
1800 15.563
∴ K ' = (10) 20 = (10)0.778 = 6 …(ii)
= 0.369 π radians
Comparing equations (i) and (ii),
From equation (i),
6 K1 = 6
π − 0.369 π
tr = ∴ K1 = 1
7.27 1 − 0.16
0.631× 3.143  s 
tr = = 0.297 6 × 1 1 + 
7.27 × 0.9165 G(s) K = K =  12 
∴ tr ≈ 0.3sec 1
 s
s 1 + 
Hence, the correct option is (C).  2
 jω 
18. 1.426 6 1 + 
G ( jω) K = K =  12 
K ( s + 12)  jω 
Given : G ( s ) = 1
jω  1 +
s ( s + 2) 
 2 
G( jω) dB
ω2
6 1+
35.563 – 20dB/dec G ( jω) K = K = 144
1
ω2
– 40 dB/dec ω 1+
4
12 ω(rad/sec)
0.1 2 At ω = ωgc1 , G( jω) K = K = 1
1
– 20dB/dec
 ω  2
2
ω2 
∴ 36 1 +  = ω  1 + 
Converting into time constant form to find value  144   4 
of actual system gain, ω4 + 4 ω2 = 144 + ω2
 s   s 
K 12 1 +  6 K 1 +  ω4 − 3ω2 − 144 = 0
G ( s) =  12  =  12 
∴ ω gc1 = 3.687
 s  s
2 s 1 +  s 1 +  ωgc1
 2  2 Given, = 1.41
For K = K1 , ωgc2

 s  ω gc2 = 2.615
6 K1 1 + 
G(s) =  12   s 
6 K 2 1 + 
 s  12 
s 1 +  G(s) K = K =
 2 2
 s
s 1 + 
System gain,  2
K ' = 6 K1 …(i)
ω2
For the given Bode plot for K = K1 , dB value 6 K2 1 +
G ( jω) K = K = 144
of system gain, 2
ω2
35.563 = 20 log K '− 20 log 0.1 ω 1+
4
GATE ACADEMY® Control Systems 2.41

At ω = ωgc2 = 2.615 r/s, 100

Im[GH ( jω)] =
G( jω) K = K = 1 − jω3 + j11ω
2
Im[GH ( jω)] = − j10
6 K 2 1 + 0.047
=1 y = 10
2.307 1 + 1.709
For calculation of x,
2.307 × 1.5264
K2 = = 0.701 Im[GH ( jω)] = 0
6 × 1.018
K 1 − ω32 + 11ω2 = 0
Desired ratio, 1 = = 1.426
K 2 0.701
ω2 = 11 rad/sec
Hence, the correct answer is 1.426.
100
19. 0.166 Re[GH ( jω2 )] =
− 6ω2 + 6
Given OLTF,
100 −5
100 Re[GH ( jω2 )] = =
GH ( s ) = − 66 + 6 3
( s + 1)( s + 2)( s + 3)
−5
100 x=
GH ( jω) = 3
( jω + 1)( jω + 2)( jω + 3)
−5
−1  ω −1
∠GH ( jω) = tan ω − tan   x 1
2 = 3 = = 0.166
y 10 6
 ω
− tan −1   Hence, the correct answer is 0.166.
3
ω GH ( jω) ∠GH ( jω) 20. 10.728
0 50 / 3 0 Transfer function of closed loop for positive
∞ 0 − 90 − 90 − 90 = − 270 feedback system is given by,
C (s) G ( s)
Im[GH ( jω)] =
R( s) 1 − G (s) H (s)
1
50
x C ( s) 2
ω2
3 = s + 10s + 100
Re[GH ( jω)] R(s) 1 − s +1
2
y s + 10 s + 100
ω1 1
= 2
s + 10 s + 100 − s − 1
100 C ( s) 1
GH ( jω) = T (s) = = 2
− jω − 6ω2 + j11ω + 6
3 R ( s ) s + 9 s + 99
For calculation of y, 1
T ( jω) =
Re[GH ( jω)] = 0 2
−ω + 9 jω + 99
− 6ω1 + 6 = 0 1
T ( jω) ω= 2 rad/sec =
ω = 1 rad/sec 95 + j18
 2.42 Paramount 1111 [EC/EE] GATE ACADEMY®
Magnitude at ω = 2 rad/sec, Compare with characteristics equation.
1 s 2 + 2ξωn s + ωn2 = 0
T ( jω) ω= 2 rad/sec = = 0.0103
952 + 182 By comparing, ωn = 1 and 2ξωn = 1
Angle at ω = 2 rad/sec, ξ = 0.5 (Under damped system)
1 So resonant peak,
∠T ( jω) = ∠ = ∠ − 10.7280
99 − 4 + 18 j 0.1
Hence, output signal at steady state is delayed Mr = = 0.1154
2 × 0.5 1 − 0.52
by an angle 10.7280. The resonant peak of system is 0.1154.
21. 10
23. (A), (C)
The open loop transfer function of the Given : Stable closed loop system.
compensated system can be given as,
Nyquist stability criterion is given by,
10( s + p )
G ( s )GC ( s ) = N1 = P – Z …(i)
s ( s + q )( s + 2)( s + 5)
N2 = P – Z …(ii)
The velocity error constant of the compensated
where, N1 = Number of encirclement about
system is given by,
critical point (−1 + j 0) in counter
Kv = lim s G( s)GC (s)
s →0 clockwise (anticlockwise) direction
10 p p for clockwise nyquist path.
Kv = =
2×5 q q N2 = Number of encirclement about
Given that ess ≤ 0.1 critical point (−1 + j 0) in clock-
1 wise direction for counter
≤ 0.1  K v ≥ 10
Kv clockwise (anti clockwise) nyquist
p path.
≥ 10 P = Number of right hand poles of
q
open loop transfer function i.e.
Thus, minimum value of p/q is 10.
G (s) H (s) .
22. 0.1154
Z = Number of right hand poles of
1 closed loop transfer function.
Given : T ( s ) =
( s + 10)( s 2 + s + 1) For stability of closed loop system, number of
Resonant peak is given by, right hand poles of CLTF, Z = 0
K Hence, from equation (i) and (ii),
Mr =
2ξ 1 − ξ 2 Thus, N1 = N 2 = P
Where K is DC gain at zero frequency Hence, closed-loop control system is stable if
1 the Nyquist plot of the corresponding open-loop
T (0) = = 0.1 = K
10 transfer function encircles the critical point
Use dominant pole concept : ( −1 + j 0) in the counter clockwise direction as
0.1 many times as the number of right-half open
Transfer function will be = 2
s + s +1 loop s-plane poles.
So, K = 0.1 Hence, the correct options are (A) and (C).
GATE ACADEMY® Control Systems 2.43

24. 3.87 Hence, the required value,

Given : Open loop transfer function for a unity a + b = − 2.66 + − 1.21 = 3.87
feedback system, Hence, the value of a + b is 3.87.
K 25. 12.01
G (s) =
s ( s + 3)( s + 5)
C (t )
Curve 1
1.163 Curve 2
1.095
1

t (sec)
0.302 0.351
As we know proportional controller increases
the damped frequency ωd .
π
Hence, the peak time decreases.
ωd
Location of pole, s = 0, − 3, − 5
Number of finite poles, P = 3 Also, as ξ decreases when proportional
Number of finite zeros, Z = 0 controller is used. Hence, maximum peak
P−Z =3 overshoot increases.
So, curve 1 represents proportional controller
∴ Angle of asymptotes = 600 ,1800 ,3000
output.
Intersection point of asymptotes of root locus is From curve 1 :
called as centroid, which is given as −ξπ

ΣReal part of open loop poles 1.163 − 1 2

MPO = = 0.163 = e 1−ξ
− ΣReal part of open loop zeros 1
Centroid = Hence, ξ = 0.5
P−Z
(0 − 3 − 5) − 0 Also, we find from curve that peak time of the
= = − 2.66 output with controller is 0.302.
3
So, a = − 2.66 π π π
Hence, t P = = =
ωd ωn 1 − ξ2 ωn 1 − (0.5) 2
To find break away point :
Characteristic equation, t P = 0.302
s 3 + 8s 2 + 15s + K = 0 Hence, ωn = 12.01 rad/sec
K = − ( s 3 + 8s 2 + 15s ) The undamped natural frequency for system
dK with controller will be 12.01.
= − (3s 2 + 16 s + 15) = 0
ds 26. 0.464
s = − 2.66 ± 1.45 = − 4.11, − 1.21
Given : Maximum peak overshoot,
Only s = − 1.21 is valid break away point as
MPO = 25.38% [1st peak overshoot]
s = − 4.11 does not lie on root locus. −ξπ

So, b = − 1.21 % MPO = e 1−ξ2

×100
 2.44 Paramount 1111 [EC/EE] GATE ACADEMY®
−ξπ
Constructing Routh’s array,
1−ξ2
e × 100 = 25.38 s6 3 12 3 – 18
−ξπ
5
1−ξ2 s 2 4 –6 0
e = 0.2538 4
s 6 12 – 18 0
−ξπ
= ln (0.2538) = −1.371 s3 0 0 0 0
1 − ξ2
As s 5 and s 4 rows are having proportional
Squaring on both sides,
value, hence s 3 row has all of its coefficients 0.
9.878 ξ 2
= 1.879 Therefore, forming auxiliary equation from the
1 − ξ2
s 4 row, that is the row, just above all zero row,
1.879 − 1.879 ξ2 = 9.878 ξ2
A(s) = 6s 4 + 12s 2 − 18 = 0 …(i)
1.879 Differentiating the auxiliary equation to find the
ξ=  0.4
11.757 coefficients of s 3 row,
Damping ratio, ξ = 0.4 dA( s )
C (t ) st
1 peak = 24 s 3 + 24 s = 0
overshoot nd
2 peak
ds
overshoot Now, completing the Routh’s array,
1
s6 3 12 3 – 18
5
s 2 4 –6 0
4
s 6 12 – 18 0
3
0 tp
t s 24 24 0 0
2
Decay ratio is defined as, s 6 – 18 0 0
1
2 nd peak overshoot s 96 0 0 0
Decay ratio = st 0
1 peak overshoot s – 18 0 0 0
2nd peak overshoot is given by, As there is one sign change in first column of
− 3 ξπ − 3×0.4×3.143 Routh’s array (+96 to –18), hence number of
nd 1−ξ 2
MPO (2 peak) = e =e 1− 0.16
poles in the right half of the s-plane is 1.
− 3.77
∴ N3 = 1
=e = e− 4.11 = 0.0164
0.9165

Given, MPO (1st peak) Auxiliary equation is always a part of

= 0.2538 (% MPO = 25.38 % ) characteristic equation which gives information
about the symmetricity of the poles w.r.t. to
0.0164
Decay ratio = = 0.0646 origin. Hence finding roots of A( s) to find
0.2538
Sum of damping ratio and decay ratio is number of poles on imaginary axis,
= 0.4 + 0.0646 = 0.4646 6 s 4 + 12 s 2 − 18 = 0
Hence, the sum of damping ratio and decay ratio s 4 + 2s 2 − 3 = 0
is 0.464. Let s 2 = x , x 2 + 2 x − 3 = 0
27. 11
x = 1, − 3
s 2 = +1 s2 = − 3
Given characteristics polynomial,
P(s) = 3s 6 + 2s5 + 12s 4 + 4s3 + 3s 2 − 6s − 18 s = ±1 s = ± j 3
GATE ACADEMY® Control Systems 2.45

No. of poles on imaginary axis, N1 = 2 To find ωgc gain cross over frequency at which
∴ No. of poles in left half G ( jω) dB = 0 dB .
= Total number of poles – 0 − 10
{Poles in right half + Poles on jω axis} − 40 =
ω 
Number of poles in left half = 6 − (1 + 2) = 3 log10  gc 
 ω2 
∴ N2 = 3
ω 
log10  gc  = 0.25
So, N1 = 2, N2 = 3, N3 = 1  1 
∴ N1 + 2 N2 + 3N3 = 2 + 6 + 3 = 11 ∴ ωgc = 100.25 ≈ 1.778 r/s
Hence, the value of N1 + 2 N2 + 3N3 is 11. To find value of system gain ‘K’, writing
equation of straight line at ω = 0.1 .
28. 13.65
44 = − 40 log (0.1) + c
To find first corner frequency ω1 :
44 = 40 + c
16 − 44 − 28 c = 4 dB
− 40 = =
log10 ω1 − log10 (0.1) ω 
log10  1  20log10 K = 4
 0.1 
K = (10)4/20 = 1.584
 ω  − 28
log10  1  = = 0.7 To find T.F. :
 0.1  − 40
Starting slope = − 40 dB/d → 2 poles at origin
∴ ω1 = 0.1× 100.7 ≈ 0.5 r/s
Change in slope at ω1 ,
To find second corner frequency ω2 :
− 20 − (− 40) = 20 dB/d
10 − 16
− 20 = 1 zero at ωc1 = 0.5 r/s.
ω 
log10  2 
 ω1  Change in slope at ω2 ,
−6 − 40 − (− 20) = − 20 dB/d
− 20 =
ω  1 pole at ωc2 = 1r/s.
log10  2 
 0.5 
 s 
K 1 + 
ω   0.5  1.584 (1 + 2 s )
log10  2  = 0.3 ∴ G(s) = =
 0.5  2 s
2
s 2 (1 + s )
s 1 + 
∴ ω2 = 0.5 × 100.3 ≈ 1r/s  1
G( jω) dB 1.584 (1 + 2 jω)
G ( jω) =
( jω) 2 (1 + jω) 2
44 dB – 40 dB/dec
∠G( jω) = tan −1 (2ω) − 1800 − tan −1 (ω)
16 dB – 20dB/dec
φ = ∠G ( jω) ω=ω
10 dB – 40 dB/dec gc

−1
ω(rad/sec)
φ = tan (2 ×1.778) − 1800
0.1 ω1 ω2 ωgc
− tan −1 (1.778)
 2.46 Paramount 1111 [EC/EE] GATE ACADEMY®

φ = 74.30 − 1800 − 60.650 Also, since root locus ends at a zero, it must
leave x axis at some point
φ = −166.350
Breakaway point exists
Phase margin = 1800 + φ
Calculation of breakaway point :
= 1800 + (−166.350 ) = 13.650
− s ( s + 1) − s 2 − s −( s 2 + s )
Hence, phase margin of the system is 13.65 . 0 K= = 2 = 2
s2 + 1 s +1 ( s + 1)
29. (A) dK
=0
jw ds
dK (2 s + 1)( s 2 + 1) − (2 s )( s 2 + s )
=
ds ( s 2 + 1) 2
s
-1 -1 2s3 + 2s + s 2 + 1 − 2s 3 − 2s 2 = 0
3
− s 2 + 2s + 1 = 0
s = 2.41, − 0.41
Observations :
But, breakaway point exists between two poles.
1. There are no zeroes.
Hence, it must exist between 0 and – 1
2. There are 3 asymptotes.
Hence, there are 3 poles in total. s = −0.41
3. Root locus leaves x axis at s = 0. Hence, its root locus is
Break-away point exists at s = 0. jw
There exists a double pole at origin. j1
-0.41
K
Transfer function is G ( s ) H ( s ) = 2
s ( s + 1) s
-1
Now adding zeroes s = 0, ± j1
- j1
New open loop transfer function becomes
K ( s 2 + 1) Hence, the correct option is (A).
G (s) H (s) =
s ( s + 1)
30. (A)
For new root locus
Number of Branches = Z = P = 2 Since there is initial slope of −20 dB/dec so it is
Number of Asymptotes = P − Z = 0 type 1 system.
jw Zero’s at ω = 2 and ω = 10.
j1 Pole at ω = 50.
 s  s 
s K 1 + 1 + 
-1 G ( s ) H ( s ) =  2  10 
0
So,
 s 
- j1 s 1 + 
 50 
Since, for existence of root locus on real axis, For finding the value of K, at ω = 20 magnitude
total no. of poles and zeros to right of that point of G ( s ) H ( s ) is 0 dB
must be odd.
Hence, root locus exists between 0 and –1. At ω = 20, M = 0
GATE ACADEMY® Control Systems 2.47

ω 32. (A), (B)

20 log1 = 20 log K + 20 log
2
 −3 1  1
ω A=  B = 1
+ 20 log − 20 log ω  0 −1 
10
 ω ω C = [1 1]
K × 
20 log1 = 20 log  2 10   s + 3 −1 
[ sI − A] = 
 ω 
 0 s + 1
Kω 1
1= × s +1 1 
2 10 ω= 20  0
 s + 3
[ sI − A] =
−1
K =1
1(1 + 0.5s ) (1 + 0.1s ) ( s + 1)( s + 3)
G( s) H ( s) =
s (1 + 0.02 s ) Transfer function = C[sI − A]−1 B + D
Hence, the correct option is (A).  s + 1 1  1
31. (B)
 0 s + 3 1
= [1 1] 
From figure, ( s + 1)( s + 3)
R2 2s + 5
V2 = V1 × T .F =
R1 ( s + 1)( s + 3)
R2 +
1 + R1sC Hence closed loop zeros are located at s = −1,
V2 R2 (1 + R1sC ) −3 .
=
V1 R2 + R1 + R1 R2 sC Now, e At = L−1[( sI − A)−1 ]
 1   s +1 1 
R2 R1C  + s
V2  R1C   ( s + 1)( s + 3) ( s + 1)( s + 3) 
= e At = L−1  
V1 R2 + R1 + R1 R2 sC s+3
 
 0

s+
1   ( s + 1)( s + 3) 
V2  R1C 
=  1 1 1 1 
V1 R1 + R2 + s  s + 3 2  s +1 − s + 3
e At = L−1   
R1 R2C
 1 
From comparing,
1
=2  0 s +1 
R1C
 −3 t 1 − t −3 t 
1 1 e e − e  
e = 2
At
∴ R1 = = = 50 kΩ
2C 2 ×10− 5  
 0 e−t 
R + R2
Again, 1 =4 Hence, the correct options are (A) and (B).
R1 R2C
1 33. 4.6
+ R2
2 × 10− 5 =4  − 2 −1 1 
0.5 × R2 Given : x =   x +   u , y = [3 2] x
 − 3 − 5  2
R2 = 50 kΩ Characteristic equation,
Hence, the correct option is (B). SI − A = 0
 2.48 Paramount 1111 [EC/EE] GATE ACADEMY®

s+2 1 1 R1 + R2
=0 ω=
3 s+5 R1 × C1 R2
( s + 2)( s + 5) − 3 = 0
 ωCR1 R2 
2
s + 7s + 7 = 0 φ = tan −1 (ωCR1 ) − tan −1  
 R1 + R2 
s = − 5.8, − 1.2
∴ p − q = 5.8 − 1.2 = 4.6  R + R2   R2 
φ = tan −1  1 −1
 − tan  
Given pole zero plot is shown in figure,  R2   R1 + R2 
jw
11 4
φ = tan −1 − tan −1
1.2 4 11
s φ = tan −1 (1.658) − tan −1 (0.603)
– 5.8 – 1.2 0
∴ φm = 27.814
p = 5.8
Hence, the correct option is (C).
Hence, the correct answer is 4.6. 35. 10
34. (C)
Characteristics equation is given by,
From the given circuit, 1 + G ( s) H ( s) = 0
7Ω
K
1+ =0
s ( s + 2)( s + α)
Vi n 4Ω V0 (s 2 + 2s)(s + α) + K = 0
1
5s
s 3 + α s 2 + 2 s 2 + 2α s + K = 0

V0 R2 R2 s3 + s 2 (α + 2) + 2αs + K = 0
= =
VL R2 + Z  1  RH table,
R1  
R2 +  SC  s3 1 2α
1
R1 + s2 α+2 K
SC
V0 4 4(1 + 7 × 5s ) 2α 2 + 4α − K
= = s1 0
VL 1 4 + 7 + 5s × 7 × 4 α+2
7×
4+ 5s s0 K
1
7+
5s For intersection at s = ± j10
V0 4  1 + 5s × 7  2α 2 + 4α − K = 0
=
VL 7 + 4  1 + 5s × 4 × 4 
  K = 2α 2 + 4 α …(i)
 7+4 
Auxiliary equation is,
1 7+4
ω= × (α + 2)s 2 + K = 0
5× 7 5× 7 × 4
1 7+4 Putting the value of K from equation (i),
ω=
5× 7 4 (α + 2)s 2 + 2α2 + 4α = 0
GATE ACADEMY® Control Systems 2.49

For s = ± j10 = s 2 = −100 1

s
(α + 2)100 = 2α2 + 4α
L2
2α 2 + 4α − 100α − 200 = 0
2α 2 − 96α − 200 = 0 -1 −1
=
s
α1 = 50, α2 = − 2
1
Take α = 50,
s
K
GH ( s ) = L3
s ( s + 2)( s + 50)
K -1 −1
GH ( s ) = =
2
( s + 2 s )( s + 50) s
K Individual path gain :
GH ( s ) =
s + 50 s + 2 s 2 + 100 s
3 2  −1 2  2 3 2
Δ1 1−  −  + 2 = 1+ + 2
Put s = − jω ,  s s s s s
K  −1 1  1 2 1
GH ( s ) = Δ2 1−  −  + 2 = 1+ + 2
− jω − 52ω2 + 100 jω
3
 s s s s s
Put imaginary term = 0
Determinant of graph
ω2pc = 100
 −1 1 2   1 2 2  2
ω pc = 10 rad/sec Δ = 1−  − −  +  2 + 2 + 2  + 3
 s s s s s s  s
Hence, the correct answer is 10 rad/sec. 4 5 2
= 1+ + 2 + 3
36. 0.79 s s s
Forward path : C ( s ) P1Δ1 + P2 Δ 2
=
1 R(s) Δ
1 s 1 1 3 2  1 2 1 
P1
R( s) C (s)  + 2 + 3 + + 2 + 3 
s s s  s s s 
=
1 4 5 2
= 1+ + 2 + 3
s s s s
2
R( s) C (s) 2 s + 5s + 3 2( s + 1)( s + 1.5)
1 = 3 2
=
P2 1 1 s + 4 s + 5s + 2 ( s + 1) 2 ( s + 2)
s 1
= 2( s + 1.5) 2s + 3
s = =
( s + 1)( s + 2) ( s + 1)( s + 2)
Individual loops : Magnitude of transfer function at ω = 2 ,
1 C ( s) (3 + 4 j )
s =
R( s) (1 + 2 j )(2 + 2 j )
L1
16 + 9
−2 = = 0.79
-2 = 4 +1 4 + 4
s Hence, the correct answer is 0.79.
 2.50 Paramount 1111 [EC/EE] GATE ACADEMY®

37. 1.89 After taking approximation and ignoring the

non-linear terms we get,
3e −2 s
Given : G ( s ) = ω π
s ( s + 2) 2ω pc + pc =
2 2
Put s = jω in above solution,
5ω pc = π
3e −2 jω
G ( jω) = 3.1415
jω( jω + 2) ∴ ω pc = = 0.628 rad/sec
5
Calculation of ω gc ,
Hence, ωgc + ω pc = 1.266 + 0.628 rad/sec
Magnitude at gain crossover frequency is given
ωgc + ω pc = 1.894 rad/sec
by,
Hence, the sum of gain and phase crossover
G( jωgc ) = 1
frequency is equal to 1.894 rad/s.
− j 2ω
3e gc 38. 2
=1
jωgc ( jωgc + 2)
s +1
Given : G (s) =
3 p
s ( s + 3)( s + 4)
=1
ωgc (ω 2
gc + 4) ess unit ramp input
=0
Squaring both side, ess = 12
unit parabolic input
9
=1 For unit ramp, steady state error is given by,
ωgc (ω2gc + 4)
2

1
ω4gc + 4ω2gc − 9 = 0 s× 2
sR ( s ) s
ess = lim = lim
− 4 ± 16 + 36 s →0 1 + G ( s ) H ( s ) s →0 ( s + 1)
ω2gc = = 1.605, − 5.605 1+ p
2 s ( s + 3)( s + 4)
∴ ωgc = 1.266 rad/sec s ( p −1) ( s + 3)( s + 4)
ess = lim
Calculation of ω pc :
s →0 s p ( s + 3)( s + 4) + ( s + 1)

Phase angle at phase crossover frequency is For ess unit ramp input
= 0, p − 1 ≥ 0 …(i)
given by, For unit parabolic, steady state error is,
∠G ( jω) = −180 0 1
ω pc s× 3
ess = lim s
π  ω pc  s →0 s +1
−2ω pc − − tan −1   = −π 1+ p
2  2  s ( s + 3)( s + 4)
 ω pc  π s p − 2 ( s + 3)( s + 4)
2ω pc + tan  −1 ess = lim = 12
= s →0 s p ( s + 3)( s + 4)( s + 1)
 2  2
∴ s p−2 = 1
 ω pc 1  ω pc 3 1  ω pc 5  π
2ω pc +  − + ....  = s p −2 = s 0
 2 3  2  5  2   2
  p−2 =0
 −1 1 3 1 5  p=2
 tan x = x − 3 x + 5 x .....
Hence, the required value of p is 2.
GATE ACADEMY® Control Systems 2.51
jω
39. (D) 90 0
From the given diagram,
K Break away
G (s) = , H ( s) = 1
s ( s + 3) ( s + 5) at s = – 1.64

σ
–5 –3 0

Centroid
at s = – 2

270 0
Now if centroid will be lying in the left half of
s-plane, then system will be stable for all values
of K > 0 as branches of root locus will not cross
the imaginary axis. The addition of zero to a
transfer function shifts the root locus towards
Location of pole, s = 0, − 3, − 5 left and increases stability.
Number of finite poles, P = 3 Let the location of added zero be s = s1 .
Number of finite zeros, Z = 0 Hence, for system to be stable,
P−Z =3 (0 − 3 − 5) − s1
Centroid = <0
Angle of asymptotes = 600 ,1800 ,3000 2
s1 > − 8
(0 − 3 − 5) − 0
Centroid = = − 2.66 Hence, option (D) can serve the purpose.
3
K ( s + 4)
To find break away point : Root locus for G ( s ) = i.e. after
s ( s + 3) ( s + 5)
Characteristic equation,
adding zero at s = − 4 is shown. It shows that
s 3 + 8s 2 + 15s + K = 0
poles will never go to the right half of s-plane
K = − (s3 + 8s 2 + 15s) and hence system will be stable for all K > 0.
dK Hence, the correct option is (D).
= − (3s 2 + 16 s + 15) = 0
ds 40. (C)
s = − 4.11, − 1.21
Given :
Only s = − 1.21 is valid break away point as 1 2 G1 3
R (s) C( S)
s = − 4.11 does not lie on root locus.
Hence, we can draw the root locus as shown in 4 H1
−H2
figure and conclude that system is unstable for 1
higher values of K as root locus branches are −G 2
N( s)
crossing the imaginary axis. If we will add a 5
zero, then P − Z = 2 so that angle of asymptotes Response due to N ( s ) i.e. N ( s ) is input and
0 0
= 90 , 270 . self loop at input is neglected and R ( s ) = 0.
 2.52 Paramount 1111 [EC/EE] GATE ACADEMY®
2 G1 3
C(s) π π
=
5 3 ωn 1 − ξ2
4
−H2 H1
ω2n (1 − ξ 2 ) = 75
1
75
5 N(s) ω2n =
By Masson’s gain formula, 1 − ξ2
C (s) − G1 H 2 75 75
= …(i) ωn = =
N ( s ) 1 + G1 H1 H 2 1 − 0.5 2
0.75
Given, n(t ) = −tu(t )* h1 (t ) ωn = 10rad/sec
Taking Laplace transform, We know that, resonant peak occurs at
−1 resonance frequency.
N ( s ) = 2 H1 ( s )
s Resonance frequency is given by,
Put value of N ( s ) in equation (i),
ωr = ωn 1 − 2ξ2 = 10 1 − 2 × 0.25
−G1 H 2 −1
C (s) = H1 ωr = 10 0.5 = 7.07 rad/sec
1 + G1 H1 H 2 s 2
1 G1 H1 H 2 ωr 7.07
C (s) = fr = = = 1.125 Hz
s 2 1 + G1 H1 H 2 2π 2π
Hence, correct option is (D).
 H1H 2 > 1 and G1 > 100
42. 12
Hence, G1H1H 2 + 1  G1H1H 2
1 G1 H1 H 2 From the given characteristic equation,
C (s) = ( s + 1) ( s + 2) ( s + 4) + K = 0
s 2 G1 H1 H 2
1 s 3 + 7 s 2 + 14 s + 8 + K = 0 …(i)
C ( s) =
s2 Let us consider z-plane having its origin at
c(t ) = tu (t ) s = −1
So, the response of given system is tu (t ) . then z = s + 1
Hence, the correct option is (C). or s = z −1

41. (D)
For second order system,
Maximum peak overshoot MPO = e −π cot θ
0.162 = e −π cot θ
θ = 59.90
Damping factor ξ = cos θ
From equation (i),
ξ = 0.5
The maximum peak overshoot occurs at first ( z − 1)3 + 7( z − 1)2 + 14( z − 1) + 8 + K = 0
peak time, z 3 − 3z 2 + 3z − 1 + 7 z 2 − 14 z
π π + 7 + 14 z − 14 + 8 + K = 0
tp = =
ωd ωn 1 − ξ2
z 3 + 4 z 2 + 3z + K = 0 …(ii)
GATE ACADEMY® Control Systems 2.53
Routh table made from characteristic equation d
And AE2 = 4 s …(ii)
represented by equation (ii) will give the ds
information about poles lying to the left of z = 0 No. of sign changes in first column is 3
or equivalently to the left of s = −1 . AE1 = −2 s 4 + 4 s 2 − 2 = 0
Constructing Routh’s array from equation (ii),
s 4 − 2s 2 + 1 = 0
z3 1 3
(s 2 − 1)2 = 0
z2 4 K
1 12 − K (s 2 − 1)(s 2 − 1) = 0
z 0
4 s 2 − 1 = 0  s = +1, −1
z0 K 0
s 2 − 1 = 0  S = +1, −1
For all the poles lying left to z = 0 (or s = −1) ,
jω
all elements of first column must be of same
sign with non-zero values.
∴ K >0 σ
1 1
12 − K
and >0
4
K < 12
Hence, the range of K for the poles of system to Therefore are 2 symmetric pole are located in
lie left to s = −1 is given as, RHP and one non symmetric pole in RHP
0 < K < 12 ∴ Total pole in RHP = 3
Therefore, maximum value of K = 12 . ∴ Symmetric pole = 2
Hence, the correct option is (D).
43. (D)
44. 0
C .E = s 5 − 2 s 4 − 2 s 3 + 4 s 2 + s − 2 = 0
+ 1
By using R.H criterial table R( s) C (s)
- s ( s + 7)
2

s 5
1 -2 1
s4 -2 4 -2
3( s + 1)
s3 0 0 0 ROZ(1)
s+2
s3 -1 1 0
The steady state error for non-unity feedback is,
s2 2 -2 0
ess = lim sE ( s)
s1 0 0 0 ROZ(1) s →0

s1 4 0 0 1 G ( s) 
ess = lim s  −  R( s)
s0 -1 s →0
 kH 1 + G(s) H (s) 
AE1 = −2 s 4 + 4 s 2 − 2 = 0 …(i)
d 1
AE1 = −8s 3 + 8s = 0 For unit step input, R ( s ) =
ds s
d 3( s + 1) 3
AE1 = − s 3 + s = 0 …(i) k H = lim H ( s ) = lim =
s →0 s →0 s + 2 2
ds
 2.54 Paramount 1111 [EC/EE] GATE ACADEMY®
From equation (i), 46. (A)
 1 
 1 1 ( At ) 2 ( At )3
2
s ( s + 7) 1 + At + + + .......... = e At
ess = lim s  −  2! 3!
s →0
3 / 2 1+ 1 3( s + 1)  s
× e = L  ( SI − A) −1 
AT −1
 s 2 ( s + 7) s + 2 
s +1 0
2
= lim  − 4
s+2  [ SI − A] =
s + 9 s + 14 s + 3s + 3 
3 2 1 s+2

s →0 3

s+2 1 s+2 0
2  [ SI − A]−1 =
= lim  − 4

s →0 3 s + 9 s + 14 s + 3s + 3 
3 2 ( s + 1) ( s + 2) −1 s + 1
2 2 1
ess = − = 0 0
3 3 s +1
[ SI − A] =
−1

Hence, the correct answer is 0. −1 1

( s + 1)( s + 2) s+2
45. 1.681
e−t
x = 0.5 60 0 L −1
{[ SI − A] } = −e
−1
−t
+e −2 t
0
e −2t
Y
0.7 Hence, the correct option is (A).
q
-1 47. 6.3
-3 X 0
M(dB)

300 M1 = 46 – 20 dB/dec
Given : ξ = 0.5 M2

θ = cos−1 ξ = cos−1 0.5 = 600 – 40 dB/dec

X wgc w (rad/sec)
cos 60 = 0 dB 0.1 2
0.7
X = 0.35 ωgc frequency at which system magnitude is 1
Y or 0.
sin 60 =
0.7 M1 − M 2
= −20
Y = 0.6 log 0.1 − log 2
(2.65) 2 + (0.6) 2 = 2.717 M1 − M 2 = 20 [log 2 − log 0.1]
x = 0.5
(0.65) 2 + (0.6) 2 = 0.884 K 0.7 M1 − M 2 = 20log 20

600
Y = 0.6 M1 − 26 = M 2
-1
-3 0
M 2 = 20dB
0.65
2.65 X = 0.35 M 2 − 0 dB
= − 40
log 2 − log ωgc
K = 2.717 × 0.884 × 0.7 M 2 = 40[log ωgc − log 2]
K = 1.681
20 = 40[log ωgc − log 2]
Hence, the value of k is 1.681.
GATE ACADEMY® Control Systems 2.55

log ωgc − log 2 = 0.5 49. 1.209

log ωgc = 0.5 + 0.3 = 0.8 Given : C (t p ) = 1.163
ω gc = 100.8 = 6.3 rad/sec tp = 3

Hence, the correct answer is 6.3 rad/sec. C (t p ) − (∞ )

Mp = = 0.163
C (∞ )
48. (B), (C), (D)
−πε
1−ε 2
The given system has positive feedback. Mp =e = 0.163
Hence, it is a problem of CRL. ∴ ξ = 0.5
K ( s + 1) k
G (s) = 2 OLTF, G ( s ) =
s ( s + 2) s ( sT + 1)
Poles = 0, 0, −2 k /T
CLTF =
Zeros = −1 1 k
s2 + s +
jω T T
k 1
ωn = , 2ξωn =
T T
where, t p = 3 given
CRL CRL CRL
σ
π π
−2 −1 = 3 = = ωn 1 − ξ 2
ωd 3
ωn = 1.209
1 1
Number of asymptotes = P − Z = 3 − 1 = 2 2ξωn = = = 2 × 0.5 × 1.209
T T
Angle of asymptotes
1
= 1.209
(2q )1800 T
= [ q = 0,1, 2, ( P − Z ) − 1]
P−Z k
ω2n =
(2q )1800 T
= = (2q ) 900 [ q = 0,1]
2 ω2 (1.209) 2
k= n = = 1.209
= 00 ,1800 1/ T 1.209
Hence, the value of k is 1.209.
jω
50. 0.5
Given root locus plot is as shown below,
jw
CRL
σ
x-
lin
e

−2 −1 Pole of P
order-2
1

a q
s
–2 0

Hence points s = 1, −0.5, −2.5 lies on R.L.

Hence, the correct options are (B), (C) and (D).
 2.56 Paramount 1111 [EC/EE] GATE ACADEMY®
Let, P = 1∠θ = 1[cos θ + j sin θ] ∴ G( jω) H ( jω) ω=ω pc = k f ( jω) = 0.1 ,
Open loop transfer function will be, for k = 10
K 0.1 1
G (s) = f ( jω) ω=ω pc = = …(i)
s ( s + 2) 2 10 100
K As gain margin = 40 dB
G(s) S = P =
1∠θ(cos θ + j sin θ + 2) 2  1 
∴ 20 log10   = 40 dB
Using angle criterion,  G ( jω) H ( jω) ω=ω
 pc 
 sin θ 
− tan −1 (tan θ) − 2 tan −1   = −180
0
 1 
 cos θ + 2  20 log10 
 k f ( jω) ω=ω  = 40
 sin θ   pc 
2 tan −1  0
 = 180 − θ
0

 cos θ + 2   100 
log10   = 2 [From equation (i)]
 sin θ  θ0  k 
tan −1  0
 = 90 − 100
 cos θ + 2  2 = 102 = k = 1 for GM = 40 db
k
sin θ  θ θ
= tan  900 −  = cot Hence, the correct answer is 1.
cos θ + 2  2 2
θ θ θ 52. (B)
2sin cos cos
2 2= 2 Let H ( s ) be the transfer function of the system.
2 θ θ
2 cos + 1 sin 1
2 2 ∴ H (s) =
s +1
θ θ Put s = jω,
2sin 2 = 2 cos 2 + 1
2 2
1
 θ θ H ( jω) =
2 cos 2 − sin 2  = − 1 jω + 1
 2 2
1
2 cos θ = − 1 H ( jω) = and
ω2 + 1
1
cos θ = − ∠H ( jω) = − tan −1 ω
2
θ = 1200 Given : x (t ) = sin 2 t
∴ α = 1800 − θ = 1800 − 1200 = 600 1 − cos 2t
x (t ) =
The value of ξ will be, 2
1 1
ξ = cos α = cos 600 = 0.5 x (t ) = − cos 2t
2 2
Hence, the correct answer is 0.5. 1 1
Let x1 (t ) = and x2 (t ) = cos 2t
51. 1 2 2
1
Frequency plot is given, also gain Consider x1 (t ) =
2
G ( jω) H ( jω) ω=ω pc = 0.1 at k = 10
Here, ω = 0
Phase cross over frequency. 1
H ( jω) = =1
Let G ( jω) H ( jω) = kf ( jω) 0 +1
GATE ACADEMY® Control Systems 2.57

∠H ( jω) = − tan −1 0 = 00 1
The magnitude at ω pc = rad/sec is,
1 8
Consider x2 (t ) = cos 2t
2 K
G ( jω pc ) =
Here, ω = 2 rad / sec 1 1 1
1 + 1 + 64 ×
1 1 8 8 8
H ( jω) = =
4 +1 5 K 8K
G ( jω pc ) = =
1 3 9
∠H ( jω) = − tan −1 2 × ×3
8 8
1 1
∴ y (t ) = − cos (2t − tan −1 2) For K = 4.5,
2 2 5
1 1 8 × 4.5
= − cos (2t − 63.440 ) G ( jω) = =4
2 2 5 9
Hence, the Nyquist plot will be,
Hence the correct option is (B).
53. –2
K
Given : G ( s ) =
s ( s + 1)(1 + 8s )
Putting s = jω, –4

K
G ( jω) = (– 3 + j0)
jω( jω + 1)(1 + 8 jω)
Now, the magnitude of the OLTF,
K Hence, the encirclement around point (− 3 + j 0)
G ( jω) =
ω 1 + ω 1 + (64ω2 )
2
is N = − 2.
And the phase angle of the OLTF, 54. 3.18
∠G( jω) = − 900 − tan −1 ω− tan −1 (8ω)
For a second order unity feedback control
ω G ( jω ) ∠G ( jω) system, open loop transfer function is,
0 ∞ − 900 ω2n
G(s) =
∞ 0 − 2700 s ( s + 2ξωn )
Velocity error coefficient is,
Now, at phase cross over frequency,
KV = lim s G( s)
∠G ( jω) |ω=ω pc = − 180 0 s →0

∴ − 900 − tan −1 (ω pc ) − tan −1 (8ω pc ) = − 1800 ω2n

KV = lim s ⋅
s →0 s( s + 2ξω n )
 ω + 8ω pc 
tan −1  pc  = 90
0
ω2n
 1 − 8ω2 ω
 pc  KV = = n
2ξωn 2ξ
∴ 1 − 8ω2 = 0
1 Here, ωn is the natural undamped frequency in
ω pc = rad/sec
8 rad/s and ξ is the damping ratio.
 2.58 Paramount 1111 [EC/EE] GATE ACADEMY®

Given : KV = 10  3ωgc 
tan −1  2 
= 600
10 =
ωn  2 − ωgc 
2ξ 3ωgc
ωn = 3
= 10 2 − ω2gc
2ξ
3ω gc = 2 3 − 3ω2gc
2πf n
= 10 3ω2gc + 3ω gc − 2 3 = 0
2ξ
f n 10 ωgc = 0.792 rad/sec
= = 3.18
ξ π At ω = ωgc ,
Hence, the correct answer is 3.18. G ( jω) = 1
55. 2.172 k
G ( jωgc ) =
k ωgc ω + 1 ω2gc + 4
2
gc
G (s) =
s ( s + 1)( s + 2) k
1=
k 0.792 (0.792) + 1 × (0.792)2 + 4
2
G ( jω) =
jω( jω + 1)( jω + 2)
k = 0.792 (0.792) 2 + 1 × (0.792) 2 + 4
 ω
∠G ( jω) = − 90 − tan −1 (ω) − tan −1   k = 0.792 ×1.275 × 2.151 = 2.172
2
Hence, the correct answer is 2.172.
Phase margin = 1800 + ∠G( jω) H ( jω) ω=ωgc
56. 9.16
ωgc 10 K
300 = 1800 − 900 − tan −1 ωgc − tan −1 Given : G ( s ) =
2 s (0.01s 2 + 0.2 s + 1)
 ω  1000 K
 ωgc + gc  G (s) =
300 = 900 − tan −1  2 
2
s ( s + 20 s + 100)
1 − ω ω 
gc 1000 K
 gc
2  G (s) = 3
s + 20 s 2 + 100 s
 ω  1000 K
 ωgc + gc  G ( jω) =
tan −1  2  = 60
0 − jω − 20ω2 + j100ω
3

1 − ω ω 
gc
100ω − ω3 
  ∠G ( jω) = − tan −1 
gc
2 
 −20ω2 
 3ωgc 
  100 − ω2 
∠G ( jω) = tan −1  
tan −1  2 2  = 600  20ω 
 ωgc  Phase margin of the system is given as
1 − 2 
P.M. = 1800 + ∠ G ( jω) ω=ωgc
 3ωgc 
  Given P.M. = 50
tan −1  2 2  = 600 100 − ω2gc 
 2 − ωgc  1800 + tan −1  0
 2  =5
 20ωgc 
GATE ACADEMY® Control Systems 2.59

100 − ω2gc  x2 (t ) = − x1 (t ) + 0 x2 (t ) + 1u(t )

tan −1   = −175
0

 20ωgc  y(t ) = 0 x1 (t ) + 1 x2
100 − ω2gc State space representation,
= tan(−1750 ) = 0.087
20ωgc  x1 (t )   0 1   x1 (t )  0 
 x (t )  =  −1 0   x (t )  + 1  u (t )
100 − ω2gc = 1.74ω gc  2    2   
ω2gc + 1.74ω gc − 100 = 0  x (t ) 
y (t ) = [ 0 1]  1 
∴ ωgc = 9.16 rad/sec  x2 (t ) 
Hence, the correct answer is 9.16 rad/sec. For poles of CLTF,

57. (A), (D) sI − A = 0

Given :  0 1
A= 
i L (t ) iC (t )  −1 0
+ + s −1
i(t ) VL (t ) 1H VC (t ) 1F =0
– – 1 s
s2 + 1 = 0
By KCL,
s 2 = −1
i(t ) = iL (t ) + iC (t ) …(i)
s = ± j1
CdVC (t )
iC (t ) = s = + j, − j
dt
For controllability,
iC (t ) = i(t ) − iL (t )
 0 1 0
CdVC (t ) A=  , B= 
= i (t ) − iL (t )  −1 0 1 
dt
dVC (t ) 1 0   0 1  0 
= [i (t ) − iL (t ) ] B =   , [ AB ] =   
dt C 1   −1 0 1 
dVC (t ) 0 + 1
dt
= [i (t ) − iL (t ) ] …(ii) [ AB ] =  
 0 
LdiL (t )
VL (t ) = VC (t ) =
[ AB ] =  
1
dt
diL (t ) 1 0
= VC (t )
dt L QC = [ B : AB ]
diL (t )
= VC (t ) …(iii) 0 1 
dt = 
iL (t ) = x1 (t ), VC (t ) = x2 (t ) 1 0 
Let
QC = −1
y(t ) = VC (t ), i(t ) = u(t )
From equations (i), (ii), and (iii), QC ≠ 0
x1 (t ) = 0 x1 (t ) + x2 (t ) Since QC ≠ 0 , system is controllable.
 2.60 Paramount 1111 [EC/EE] GATE ACADEMY®
For observability, The frequency at which maximum phase θmax
 0 1
C = [ 0 1] , A =  
occurs is ab.
 −1 0
Given, ab = 6
0  0 −1 0
C T =   , [ AT C T ] =    a × 4a = 6
1  1 0   1 
2a = 6
[ AT C T ] =  −1 a=3
0 ∴ b = 4 × 3 = 12
0 −1 b−a
[Q0 ] = [C T : AT C T ] =   ∴ θmax = sin −1  
b+a
1 0 
Q0 = 1  12 − 3  −1  9 
θmax = sin −1   = sin  
 12 + 3   15 
Since Q0 ≠ 0 system is observable state
θ max = 36.860
transition matrix.
Hence, the correct answer is 36.860.
[ sI − A]
−1 −1
φ(t ) = L
59. 2.65
 s −1 1
φ(t ) = L−1   2 + Ks + 10 C(s)
1 s  s + 1 R(s)
– s2
 s −1 
 s2 + 1 s + 1
2 ks + 10
φ(t ) = L−1   G (s) =
 1 s  s2
 s 2 + 1 s 2 + 1  kjω + 10
G ( jω) =
cos t − sin t  ( jω) 2
φ(t ) = L−1  
 sin t cos t  (k ω) 2 + 100
G ( jω) =
1 0  ω2
φ(0) = L−1   kω
0 1  ∠G ( jω) = tan −1 − 1800
10
∴ Sum of element = 2
Phase margin is given by
Hence, the correct options are (A) and (D).
PM = 1800 + ∠G ( jω gc )
58. 36.86
Given, PM = 450
s+a
Given : T ( s ) = where a < b ∠G ( jω gc ) = 450 − 1800 = −1350
s+b
0+a a k ωgc
T (0) = = −1350 = tan −1 − 1800
0+b b 10
Given, T (0) = 0.25 k ωgc
1800 − 1350 = tan −1
a 10
= 0.25
b k ωgc
450 = tan −1
b = 4a 10
GATE ACADEMY® Control Systems 2.61

kωgc dG ( s ) H ( s )
tan 450 = = 3s 2 + 14 s + 10 = 0
10 ds
kωgc s = −3.8; s = −0.88
1= …(i)
10 s = −3.8 not lie on the root locus, it isn’t
Now at ω = ωgc G ( jωgc ) = 1 a valid break point
s = − 0.88 is a valid point
(k ωgc ) 2 + 100
=1 Now, K = − (s3 + 7s 2 + 10s)
ω2gc
From equation (i), kωgc = 10 (− 0.88)3 + 7(− 0.88) 2 
k |s =−0.88 = −  
 + 10(− 0.88) 
102 + 100
=1 − (− 0.68 + 5.42 − 8.8)
ω2gc
k = 4.06
ω2gc = 200
Finding kmar and ωn
ω2gc = 14.14
Formulating Routh’s table
ω gc = 3.76 rad/sec
s3 1 10
From equation (i),
s2 7 k
kωgc
=1 70 − k
10 s1 0
10 10 7
k= =
ωgc 3.76 s0 k
k = 2.65 70 − kmar
∴ =0
Hence, the correct answer is 2.65. 7
60. (B), (C), (D) kmar = 70
Given : P = 3, Z = 0 Also, after substituting
Centroid value : 7 s 2 + 70 = 0
0−2−5 s = −10
s= = −2.33
3 s = ± j 3.16 rad/sec
Asymptotes :
ωn = 3.16 rad/sec
1800
α1 = = 600 Hence, the correct options are (B), (C) and (D).
3
3 × 1800 61. (B), (C)
α2 = = 1800
3
 −1 0  0 
5 × 1800 Given : A =   , B =   , C = [1 2 ]
α3 = = 3000  0 −2 1 
3
Breakaway points  −1 0  0  0 
AB =    =  
C.E. = 1 + G ( s ) H ( s ) = 0  0 −2 1   −2
s 3 + 7 s 2 + 10 s + k = 0 Qc = [ B AB ]
 2.62 Paramount 1111 [EC/EE] GATE ACADEMY®

0 0  ω G ( jω) ∠G ( jω)
Qc =  
1 −2  0 5 900
Qc = 0 − 0 = 0 ∞ ∞ 00
So, the given system is not completely Img
controllable
w=0 w=¥
j5
Q0 = C T AT C T 

1  Real
CT =  
 2
 −1 0  1   −1 
AT C T =    =  
 0 −2  2   −4  Hence, the correct option is (B).
1 −1 63. (B)
Q0 =  
 2 −4  s
Given transfer function is, G ( s ) =
Q0 = [ −4 − ( −2) ] = −2 ≠ 0 s +1
Magnitude Analysis
So, the given system is completely observable.
jω
Hence, the correct options are (B) and (C). • G ( jω) =
1 + jω
62. (B) ω
• G ( jω) =
: Method 1 : 1 + ω2
Given : G ( jω) = ω + j 5
From the given transfer function, it is clear that
imaginary part is constant and real part
increases with frequency. Phase Analysis
ω
Img • ∠G ( jω) = 900 − tan −1
1
w=0 w=¥
j5 When w = 0 When w = ¥

Real ÐG ( jw) = 900 ÐG ( jw) = 00

Hence, the correct plot becomes

Hence, the correct option is (B).

: Method 2 :
Given : G ( jω) = ω + j 5

G ( jω) = ω2 + 25
5
∠G ( jω) = tan −1  
ω Hence, the correct option is (B).
GATE ACADEMY® Control Systems 2.63

64. (B) The position error constant,

4(λ + μ s)
α (1 + sT ) k p = lim 2 =λ
In phase lead compensator, G ( s ) = s → 0 ( s + 4)
(1 + sαT )
1 + 6s 1 1
and given Gi ( s ) = e(∞ ) = = ≤ 0.1  λ ≥ 9
1 + 2s 1+ kp 1+ λ
On comparing, we get T = 6 and αT = 2 i.e. The characteristic equation :
1 4(λ + μ s)
α= 1 + GH = 0  1 + 2 =0
3 (s + 4)
1
1− s 2 + 4μs + 4(1 + λ) = 0; λ = 9
1− α 3=1
Now, sin φm = =
1+ α 1+ 1 2 Compare with s 2 = 2ξωn s + ω2n = 0
3 ωn = 40, 2ξωn = 4μ
φm = 300
μ 1
Hence, the correct option is (B). and ξ= ≤ μ≤ 5
10 2
65. (D) Hence, the correct option is (D).
4(λ + μ s)
The loop transmittance, GH =
( s 2 + 4)

66. 0.25
1

E d 1 e
R
1 a b 1 C 1
–1
–1

–1
Forward path
A1 = ab = 1 Δ1 = (1 − (de + cde)
= (1 − ( L1 + L2 )
= (1 − (−1 − 1)
A1 = 1, Δ1 = z
A2 = acdeb = −1, Δ2 = (1 − (0) = 1
A2 = adeb = −1, Δ s = (1 − 0) = 1
Single Non forwarding loops,
L1 = de = −1
 2.64 Paramount 1111 [EC/EE] GATE ACADEMY®

L2 = cde = −1

L3 = bcde = −1
Two Non touching loops = 0
E A1Δ1 + A2 Δ 2 + A3 Δ 3
∴ =
R (1 − ( L1 + C3 + C3 ) + 2 Non touching per

3 + (−1) + (−1) 3 − 2 1
= = = = 0.25
1 − ( −1 − 1 − 1) 1 + 3 4
E
Hence, the value of is 0.25.
R
67. (A)

With switch(s) closed

1
Y ( s) s2 1
T ( s) = = = 2 .
R ( s ) 1 + 1 + ks s + 1 + ks
s2 s2
1
Since, T ( s ) =
ks
1+ 2
s +1
The G ( s ) H ( s ) product for which the root locus is to be sketched with k as variable parameter, is
ks
G ( s) H (s) = 2
. The pole-zero diagram and the root locus is sketched below using the relevant
s +1
s2 + 1 dk 2s × s − ( s 2 + 1)
information’s as follows; To evaluate break in point, k = − and = 0 gives =0
s ds s2
or s 2 − 1 = 0 or s = ±1 . s = +1 does not satisfy real axis segment rule of root locus. s = + j1 , is
φd = 1800 − 900 + 900 = 1800 .
Im
+ j1

0
–1 90
Re
k=∞ k= ∞

900
– j1

Hence, the correct option is (A).

GATE ACADEMY® Control Systems 2.65

68. –4
Solving the feedback loop in the given system :
R( s) +- G (s) C (s)

5
H (s) =
s+3

( s + 4)
( s + b) s+4
G(s) = =
( s + 4)
1+ ×1 2s + b + 4
( s + b)
Steady state error is given as,
sR ( s )
ess = lim e(t ) = lim
t →∞ s →0 1 + G ( s ) H ( s )

1 s+4 5
Here, r (t ) = u (t ), R ( s ) = , G ( s ) = , H ( s) =
s 2s + b + 4 s+3
1
s×
s 1
∴ ess = lim =
s →0  s + 4  5  4 5
1+    1+ ×
 2s + b + 4   s + 3  b+4 3
3(b + 4)
ess =
3(b + 4) + 20
3(b + 4)
For ess = 0 , =0
3(b + 4) + 20
∴ b = −4
Hence, the value of b is – 4.
69. (B)

[ s( s + k )] =
−1
Y ( s) 1 1
= = 2
U ( s) 1 + [ s( s + k )]−1
s ( s + k ) + 1 s + 1 + ks
ks
Where characteristic equation s 2 + 1 + ks = 0 can be written as 1 + 2
= 0.
s +1
ks
The equivalent GH product is GH = whose root locus is sketched as demonstrated
( s + j1)( s − j1)
below.
 2.66 Paramount 1111 [EC/EE] GATE ACADEMY®
Im
φ d = 180 0

+ j1

–1 900
Re
K =∞
900
Break in
point – j1

(A) Root locus is symmetrical about real axis.

(B) Number of root locus branches = 2
(C) Starting point : s = ± j1
(D) Terminating points : s = 0 and −∞
(E) Real axis segments : between s = 0 and s = −∞
ks s2 + 1
(F) Breakaway/Break in points : The characteristic equation 1 + = 0 gives − k = and
s2 + 1 s
dk 2 s × s − ( s 2 + 1) dk 2 s × s − ( s 2 + 1)
− = 2
= 0 gives − = 2
= 0 as s 2 − 1 = 0 s = ±1 . But s = ±1
ds s ds s
does not satisfy real axis segment rule.
(G) The angle of departure at s + j1 ,
φd = 1800 − φd Σ angle of poles of GH + Σ angle of zeros of GH = 1800 − 900 + 900 = 1800
Hence, the correct option is (B).
70. 1
1 1
N
1 2
1
a

1 1
R C
1
To find effect of Noise N on output C, we find transfer function C/N using superposition and taking
R = 0.
Hence, SFG becomes
1 1
N
1 2
1
a

1
C
1
GATE ACADEMY® Control Systems 2.67
Using mason’s gain formula, we calculate forward path gains
P1 = 1×1×α×1×1 = α
P2 = 1×1×1 = 1
The loops are, L1 = 1×1 = 1, L2 = 2 ×α = 2α
L3 = 1×α×1×1 = α
Since, Δk is associated path factor with path Pk
Δ1 = 1 − (0) = 1
Δ2 = 1 − (2α) = 1 − 2α
Total path factor, Δ = 1 − (sum of individual loops) + (sum of product of two non touching loops)
Since, L1 and L2 are non-touching loops
Δ = 1 − (1 + α + 2α) + 1× 2α = −α
C ΣPk Δ k P1Δ1 + P2 Δ 2
Hence, = =
N Δ Δ
C α.1 + 1(1 − 2α ) 1 − α
= =
N −α −α
C
Hence, will be minimum (zero)
N
C α −1
When = =0
N α
Hence, 1 − α = 0
α =1
Hence, the value of α is 1.
71. (B)

From given data, peak time t p = 0.2 sec and peak over shoot M p = 1.12 − 1 = 0.12 .
1−ξ2 π
Now, M p = e−πξ = 0.12 given damping ratio ξ = 0.56 and t p = = 0.2 .
ωn 1 − ξ2
π
Given : ωn = = 18.96 rad/sec.
0.2 1 − 0.562
Since, ξ = 0.56 < 1 / 2 , resonance will occur in frequency response.
1 1
Peak resonance M r = = = 1.08
2
2ξ 1 − ξ 2 × 0.56 1 − 0.562

and resonant frequency ωr = ωn 1 − 2ξ2 = 18.96 1 − 2 × 0.562 = 11.58 rad/sec

Hence, the correct option is (B).
 2.68 Paramount 1111 [EC/EE] GATE ACADEMY®

72. (A)

 x   − 3 1   x1  0 
Given :  1  =     +   u; t > 0 …(i)
 x2   − 2 0   x2  1 
x 
y = [1 0] 1  …(ii)
 x2 
State equation is given by,
x = Ax + Bu …(iii)
Output state equation is given by,
y = Cx + Du …(iv)
On comparing equation (i), (ii), (iii) and (iv), we get
 − 3 1 0 
A=  , B =   and C = [ 1 0 ]
− 2 0 1 
The transfer function of state space model is given by,
T (s) = C[sI − A]−1 B
 s 0  − 3 1   s + 3 −1
[ sI − A] =  − =
0 s   − 2 0   2 s 
Adj [ sI − A]
[ sI − A]−1 =
sI − A
 s 1 
Adj [ sI − A] =  
 − 2 s + 3
sI − A = s ( s + 3) + 2 = s 2 + 3s + 2
 s 1 
 2
s + 3s + 2 s + 3s + 2 
2
[ sI − A]−1 =  
 −2 s+3 
 s + 3s + 2
2
s 2 + 3s + 2 
 s 1 
 s 2 + 3s + 2 s + 3s + 2  0 
2
T (s) = [1 0 ]  
 −2 s + 3  1 
 s + 3s + 2
2
s 2 + 3s + 2 
 1 
 s + 3s + 2 
2
T (s) = [1 0 ]  
 s+3 
 s 2 + 3s + 2 
1 1
T (s) = 2 =
s + 3s + 2 ( s + 1) ( s + 2)
GATE ACADEMY® Control Systems 2.69
State transition matrix is given by,
φ(t ) = e At = L−1 [sI − A]−1
 s 1 
 2
s + 3s + 2 s + 3s + 2 
2
[ sI − A]−1 =  
 −2 s+3 
 s + 3s + 2
2
s 2 + 3s + 2 
 s 1 
 ( s + 1) ( s + 2) ( s + 1) ( s + 2) 
L−1 [ sI − A]−1 = L−1  
 −2 s+3 
 ( s + 1) ( s + 2) ( s + 1) ( s + 2) 
 
Apply partial fraction, we get
 −1 2 1 1 
 ( s + 1) + ( s + 2) −
( s + 1) ( s + 2) 
L−1 [ sI − A]−1 = L−1  
 −2 2 2 1 
 ( s + 1) + ( s + 2) −
( s + 1) ( s + 2) 

Taking inverse Laplace transform, we get
 − e− t + 2e− 2t e− t − e− 2t 
φ(t ) = e At =  −t − 2t 
 − 2e + 2e 2e− t − e− 2t 
State equation for a unit-step input
x(t ) = ZIR + ZSR
x(t ) = φ(t ) x(0) + L−1 [ φ (s) BU (s)] ( x(0) = 0, ZIR = 0)
Calculation of ZSR :
 s 1  
  ( s + 1) ( s + 2) ( s + 1) ( s + 2)  0  1 
      
x(t ) = L−1  
 −2 s+3  1   s  

  ( s + 1) ( s + 2) ( s + 1) ( s + 2)  

 s 1  
  ( s + 1) ( s + 2) ( s + 1) ( s + 2)  0 
   1  
x(t ) = L−1  
 −2 s+3   

  ( s + 1) ( s + 2) ( s + 1) ( s + 2) s 
 
 1 
 s ( s + 1)( s + 2) 
x(t ) = L−1  
 s+3 
 s ( s + 1) ( s + 2) 
 
 2.70 Paramount 1111 [EC/EE] GATE ACADEMY®
Applying partial fraction, we get
 1 1 1 
 − + 
2s s + 1 2( s + 2)
x(t ) = L 
−1

 3 2 1 
 − + 
 2s s + 1 2( s + 2) 
 1 1 
 u (t ) − e − t u (t ) + e − 2t u (t ) 
2 2
∴ x(t ) =  
 3 1 − 2t
u (t ) − 2e u (t ) + e u (t ) 
−t

 2 2 
At t = 1sec,
 0.2 
x= 
0.831
Hence, the correct option is (A).
73. (A)

A phase lag compensator has pole zero diagram and polar plot as shown below
Im Im

a<b a/b
Re ω= ∞ Re
−b −a 0
φ max ω= 0

ω = ω*

Fig. Pole-zero diagram Fig. Polar plot

ω ω
∠Gc ( jω) = φ = tan −1 − tan −1
b a
dφ 1/ a
= = 0 gives ω = ω* = ab and φmax = φ ω= ab
d ω 1 + ω2 / a 2
ab ab a b
= tan −1 − tan −1 = tan −1 − tan −1
b a b a
a b
Since, tan −1 = 900 − tan −1 ; φmax = 900 − 2 tan −1 b / a
b a
Note that a < b and φmax is always negative.
b
So, maximum phase lag, φlag = 2 tan −1 − 900
a
Hence, the correct option is (A).
GATE ACADEMY® Control Systems 2.71

74. (A), (B), (C)

From the step response of the system peak time for first overshoot is 2 seconds and M p = 0.24.
1−ξ2
Since, M p = e−ξπ/
1−ξ 2
0.24 = e −ξπ /
ξπ
ln (0.24) = −
1 − ξ2
−ξπ
−1.427 =
1 − ξ2
−ξ
−0.454 =
1 − ξ2
ξ2
0.206 =
1 − ξ2
0.206 − 0.206ξ2 = ξ2
0.206 = 1.206ξ2
ξ2 = 0.170
ξ = 0.412
From block diagram, characteristics equation
1 + G ( s) H ( s) = 0
k
1+ =0
s ( s + 2)
s ( s + 2) + k = 0
s 2 + 2s + k = 0
Comparing with s 2 + 2ξωn s + ωn2 = 0
ω2n = k
ωn = k
2ξωn = 2
ξωn = 1 …(i)
1
ωn =
ξ
1
k=
0.412
k = 2.42
k = 5.85
∴ ωn = 2.42
 2.72 Paramount 1111 [EC/EE] GATE ACADEMY®
1 + 0.7ξ 1 + 0.7 × 0.412
Delay time, td = =
ωn 2.42
td = 0.53sec
Damped frequency of oscillations,
ωd = ωn 1 − ξ2

ωd = 2.42 1 − (0.412) 2
ωd = 2.20 rad/sec
Hence options the correct options are (A), (B) and (C).
75. 3
Given for unity feedback system,
s 4 − 4 s 3 − 7 s 2 + 34 s − 24
G ( s) =
4 s 3 + 7 s 2 − 34 s + 24
Closed loop transfer function is,
G( s)
F ( s) =
1 + G( s)
s 4 − 4 s 3 − 7 s 2 + 34 s − 24
F ( s) =
(4 s 3 + 7 s 2 − 34 s + 24) + ( s 4 − 4 s 3 − 7 s 2 + 34 s − 24)
s 4 − 4 s 3 − 7 s 2 + 34 s − 24
∴ F ( s) =
s4
N (s)
F ( s) =
D( s)
To find number of zeros of closed loop transfer function lying in R.H.S of s-plane, we can apply R − H
criterion on the numerator polynomial.
N (s) = s 4 − 4s3 − 7s 2 + 34s − 24 = 0
s4 1 1st - 7 -24
s3 -4 2st 34 0
s2 +1.5 rd - 24 0
3
s1 -30 0 0
s0 -24 0 0
From the Routh table, number of sign changes in the first column is 3, hence the number of right hand
zeros of CLTF is 3.
Can also be verified by factorizing N(s) as,
N ( s ) = ( s − 1)( s − 2)( s + 3)( s − 4)
∴ Number of right half zeros = 3.
Hence, the correct answer is 3.
GATE ACADEMY® Control Systems 2.73

76. (B)

Step 1 : Splitting G3 and combining with G2 and G4 , also using minor feedback formula on G6 loop,

G1

+ – + G6
R( s) G2 + G3 G5 C (s)
1 + G6
– +

G4 + G3

G7

Step 2 : Push G2 + G3 to the left past the pickoff point

G1

+ – + G6
R( s) G2 + G3 G5 C (s)
1 + G6
– +

G4 + G3
G2 + G3

G7

Step 3 : Using the feedback formula and combining parallel blocks

+ G2 + G3 2 G4 + G3 G6 1
R( s) = + G5 = 2 = C (s)
1 + G1 (G2 + G3 ) 3 G2 + G3 1 + G6 2
–

G7 = 1

Step 4 : Multiplying the transfer functions of blocks in cascade and applying the minor feedback formula

+ 2 1 2
R( s) ´ 2´ = C (s)
– 3 2 3

1
 2.74 Paramount 1111 [EC/EE] GATE ACADEMY®
2 2
T (s) = 3 = 3=2
2 5 5
1+
3 3
Hence, the correct option is (B).
77. 28.125

Given, location of open loop poles s = −1, s = −2 and s = − 4

k
∴ G(s) =
( s + 1)( s + 2)( s + 4)
jw

q s
P

When the pole will be at point Q, i.e. on jω axis, then the system will become marginally stable and
the value of system gain ‘k’ can be obtained from R-H table at that point.
Characteristic equation for the given system is
s 3 + 7 s 2 + 14 s + 8 + k = 0
At k = kmarginal , row of zeros will occur in R-H table.

s3 1 14
s2 7 8+k
98 − 8 − k
s1 0
7
s0 8+k 0
At k = k marginal , s1 row becomes zero.
90 − kmar
=0
7
kmar = 90
GATE ACADEMY® Control Systems 2.75

Forming auxiliary equation to find the location of poles on jω axis.

7 s 2 + 8 + kmar = 0
7 s 2 + 98 = 0
s 2 = −14
s = ± j 14
∴ Co-ordinates of point Q = (0, j 14)
At this value of k = kmar , characteristic equation becomes,
s 3 + 7 s 2 + 14 s + 98 = 0
s 2 (s + 7) + 14(s + 7) = 0
(s 2 + 14)(s + 7) = 0
Location of poles at k = kmar = 90 is
s = ± j 14 and s = −7
Co-ordinates of point P = (−7, 0)
  
Distance vector rPQ = rQ − rP = 7 + j 14

 14 
θ = tan −1   = 28.125
0

 7 
Hence, the correct answer is 28.125.
78. 4
Given signal flow graph for an uncontrollable system is shown below,
k

4 x&1 1/s x1 1 x&2 1/s x2 2

u y

–3 –5

–1
x1 = −3x1 − x2 + 4u
x2 = x1 − 5x2 + ku
 x1   −3 −1  x1   4 
 x  =  1 −5  x  +  k  u
 2   2  
 2.76 Paramount 1111 [EC/EE] GATE ACADEMY®
State equation, x = Ax + Bu
 −3 −1 4
A=  and B =  
 1 −5 k 
For uncontrollability, B AB = 0
4 −12 − k
=0
k 4 − 5k
16 − 20k −  −12k − k 2  = 0
k 2 − 8k + 16 = 0
k 2 − 4k − 4k + 16 = 0
(k − 4)(k − 4) = 0
k =4
Hence, the correct answer is 4.
79. 1.35
1
G p ( s) =
( s + 1)( s + 1000)
For Gc (s),
  3 1 
  10 + 10−6 s  
Gc ( s ) = (−1)  −  
  103 
10−3 s + 1 s + 1000
Gc ( s ) = =
10−3 s s
Now, G ( s ) = Gc ( s )G p ( s )
s + 1000 1
G(s) = ×
s ( s + 1)( s + 1000)
1
G ( s) =
s ( s + 1)
Characteristics equation,
1 + G(s) = 0
s2 + s +1 = 0
Comparing with, s 2 + 2ξωn s + ωn2 = 0
ω2n = 1
ωn = 1
2ξωn = 1
1
ξ= = 0.5
2
GATE ACADEMY® Control Systems 2.77

1 + 0.7ξ
Now delay time, td =
ωn
Substituting the value of ξ and ωn ,
td = 1.35sec
Hence, the correct answer is 1.35 sec.
80. (A)
The phase frequency and magnitude frequency responses of a minimum phase system are uniquely
related i.e. the magnitude response can be found from the phase response and vice versa.
Each + 900 phase shift leads to the magnitude response with a slope of + 20 dB/dec. and each − 900
phase shift leads to − 20 dB/dec slope in magnitude response.
Hence, following the above relationship, we may get the magnitude response from corresponding phase
response.

(rad/sec)

(rad/sec)

Hence, the correct option is (A).

81. (A), (B), (C), (D)
Consider given asymptotic bode plot
G( jω) H ( jω) dB

20
1 100 10000 ω
0.1
– 20
– 60
 2.78 Paramount 1111 [EC/EE] GATE ACADEMY®
Initial slope = 0 so no pole is at origin.
−20 − 20
Slope (0.1 to 1) = = −40 dB/decade
log1 − log 0.1
−60 + 20 − 40
Slope (100 to 10000) = 4 2
= = −20 dB/dec
log10 − log10 2
2
s 
K  + 1
G (s) H (s) = 1 
2
 s   s 
 + 1   + 1
 0.1   100 
20 log K = 20
K = 10
10 ( s + 1) 2
G (s) H (s) =
( s + 0.1) 2 ( s + 100)
Comparing with,
K (s + a)m
G (s) H (s) =
( s + b) n ( s + c) p
K = 10, a = 1, m = 2
b = 0.1, c = 100, n = 2, p = 1
Hence all the options are correct.
82. (A)

The state variable are VC and iL .

From figure,
VL = VC + (iC + 4VL ) ×1 = VC + iC + 4VL
− 3VL = VC + iC
− 3VL = VC + [is − iR1 − iL ] {ic = is − iR1 − iL }
VL  VL 
− 3VL = VC − iL − + is iR1 = 
1  iL 
− 2VL = VC − iL + is …(i)
iL VC is
VL = − −
2 2 2
GATE ACADEMY® Control Systems 2.79

1 diL iL − VC − is
=
2 dt 2
diL
= iL − VC − is …(ii)
dt
From figure,
VL
iC = is − iR1 − iL = is − − iL
1
From equation (i)
 V i i 
iC = is − iL −  − C + L − s 
 2 2 2
dV 2i − 2iL + VC − iL + is
C C = s
dt 2
dVC
= VC − 3iL + 3is …(iii)
dt
From equations (ii) and (iii),
 iL   1 −1  iL   −1
 =    +   [is ]
VC   − 3 1  VC   3
Comparing with X = AX + BU
 1 −1
A= 
− 3 1 
Hence, the correct option is (A).
83. (B), (C)
Given Control System is
G ' s N/G F/B loop

2
R (s ) K C (s )
s (s + 1)

2s

2 2
s ( s + 1) s ( s + 1)
G '( s ) = =
2 s ( s + 1) + 4 s
1+ ⋅ 2s
s ( s + 1) s ( s + 1)
2 2
G '( s ) = =
s[ s + 1 + 4] s[ s + 5]
 2.80 Paramount 1111 [EC/EE] GATE ACADEMY®
2K
G (s) =
s ( s + 5)
ess = 0.4 (Given)
+ 2K
C (s ) R( s)
s( s + 5)
–

For unit ramp input,

1
ess =
KV
2 Ks
KV = lim sG ( s ) = lim
s →0 s →0 s ( s + 5)
2K
KV =
5
1
= 0.4
KV
1
KV = = 2.5
0.4
2K
2.5 =
5
K = 6.25
2K 2 (6.25)
and G ( s) = =
s ( s + 5) s ( s + 5)
12.5
G (s) =
s ( s + 5)
Closed loop Transfer function
C (s) G (s)
=
R(s) 1 + G (s)
12.5
C (s) s ( s + 5)
=
R( s ) 1 + 12.5
s ( s + 5)
12.5
C ( s) s ( s + 5)
=
R ( s ) s ( s + 5) + 12.5
s ( s + 5)
C ( s) 12.5
= 2
R ( s ) s + 5s + 12.5
GATE ACADEMY® Control Systems 2.81
Comparing with
s 2 + 2ξωn s + ωn2 = 0
ω2n = 12.5
ωn = 3.5 rad/sec
2ξωn = 5
5 5
ξ= =
2(3.5) 2(3.5)
5
ξ=
7.07
ξ = 0.707
Underdamp system
Time constant for understand system
1
τ=
ξωn
1
τ=
0.707(3.53)
τ = 0.4 sec
Decay ratio is given by
M p3 e−3π cot θ
= −π cot θ = e−2 π cot θ
M p1 e
θ = cos−1 ξ
θ = cos −1 0.707 = 450
M p3 0
= e−2 π cot 45 = e−2 π
M p1
Settling time for 3% tolerance band
ts = 3τ = 3(0.4) = 1.2 sec
Hence, the correct options are (B) and (C).
84. (C)
1
Given : Unit step disturbance, D ( s ) =
s
For finding output due to disturbance input, R ( s ) = 0
s+2
C ( s) s+3 s+2
T.F = = = …(i)
D( s ) R ( s )=0 200( s + 2) (201) s + 403
1+
s+3
 2.82 Paramount 1111 [EC/EE] GATE ACADEMY®
and E ( s ) = R( s ) − C ( s ) but R ( s ) = 0
E ( s ) = −C ( s )
D ( s )( s + 2)
E ( s) = −
(201) s + 403
1
− × s × ( s + 2)
−2
ess = lim sE ( s ) = s =
s →0 (201) s + 403 403
Hence, the correct option is (C).
85. 30.90
y2 − y1
Slope =
x 
log  2 
 x1 
0 − 26
−40 =
 7 
log  
 ω1 
 7  26
log   =
 ω1  40
7
= 4.46
ω1
ω1 = 1.56 rad/sec
Calculation for K,
From low frequency region,
26 = 20 log K − 20 log (1.56)
29.86 = 20 log K
24.86
= log K
20
1.49 = log K
K = 30.90
Hence, the correct answer is 30.90.
86. (C)

: Method 1 :
ke − s k (1 − s )
G (s) H (s) =  (Using linear approximation)
s ( s + 2) s ( s + 2)
At any point s = σ + jω an root locus.
G (s) H (s) s =σ+ j ω = −1
k (1 − σ − jω)
= −1
(σ + jω)(σ + 2 + jω)
GATE ACADEMY® Control Systems 2.83
From angle criteria followed by root locus.
 ω  −1  ω  −1  ω 
Phase, φ = − tan −1   − tan   − tan   = −180
0

 1− σ  σ σ+2
 −1  ω  −1  ω   −1  ω  0
 tan   + tan    + tan   = 180
  1− σ   σ  σ+2
 ω ω 
 + 
 ω 
tan −1  1 − σ 2 σ  + tan −1   = 180
1 − ω  σ+2
 σ(1 − σ) 
 σω + ω − σω   ω 
tan −1  2 
+ tan −1   = 180
 σ−σ −ω 
2
σ+2
 ω ω 
 2 2
+ 
tan −1  σ − σ − ω 2 σ + 2  = 1800
 1− ω 
 (σ − σ2 − ω2 )(σ + 2) 
 
ω(σ + 2) + ω(σ − σ 2 − ω2 )
2 2 2
= tan (1800 ) = 0
(σ + 2)(σ − σ − ω ) − ω
ωσ + 2ω + ωσ − ωσ 2 − ω3 = 0
−ω(ω2 − 2σ + σ2 − 2) = 0
ω ≠ 0  σ2 + ω2 − 2σ = 2
(σ2 − 2σ + 1) + ω2 = (2 + 1)
(σ − 1) 2 + (ω − 0) 2 = ( 3) 2
Comparing with standard equation of circle be get coordinates of circle at (1, 0) and radius 1.732.
Hence, the correct option is (C).
: Method 2 :
CE = s ( s + 2) + K (1 − s )
s ( s + 2) s ( s + 2)
K =− =
1− s s −1
dK (2 s + 2) ( s − 1) − ( s 2 + 2 s )
= =0
ds ( s − 1) 2
(2s + 2) (s − 1) = s 2 + 2s
2s 2 − 2s + 2s − 2 = s 2 + 2s
s 2 − 2s − 2 = 0
s = 1± 3
 2.84 Paramount 1111 [EC/EE] GATE ACADEMY®
The real part of s is the center and the imaginary part of s is the radius.
∴ Center = (1, 0)
Radius = 3
Hence, the correct option is (C).
87. (C)

 0 1
x = Ax =  x
 −2 0
Take Laplace transform,
SX ( s ) − x(0) = AX ( s )
X (s) = [SI − A]−1 x(0)
−1
 s −1
−1 1  s 1
[ SI − A] =   = 2
2 s  s + 2  −2 s 
X (s) = [SI − A]−1 x(0)
1  s 1 1  1 s
= = 2
s + 2  −2 s  0  s + 2  −2
2    

1 s 1
∴ Y ( s ) = CX ( s) = [1 2] 2   = 2 [ s − 4]
s + 2  −2 s + 2
s −4
Y ( s) = 2 + 2
s +2 s +2
y( t ) = cos 2t + ( −2) 2 sin 2t
y( t ) = cos 2t − 2 2 sin 2t
Hence, the correct option is (C).
88. 5.62
4
G ( s ) = ( K + TD s )
s ( s + 1)
Velocity error constant.
KV = lim sG(s)
s →0

4
KV = lim s[ K + TD s ]
s →0 s ( s + 1)
K ×4
KV = = 4K
1
ess due to unit ramp input,
1 1
ess = = = 0.02 (Given)
KV 4 K
GATE ACADEMY® Control Systems 2.85

1
= 0.02
4K
1
K= = 12.5
4 × 0.02
Characteristic equation,
1 + G ( s) H ( s) = 0
4
1 + ( K + TD s ) =0
s ( s + 1)
s(s + 1) + ( K + TD s)4 = 0
s 2 + s + 4 K + TD s × 4 = 0
s 2 + (1 + 4TD ) s + 4 K = 0
Compare with, s 2 + 2ξωn s + ωn2 = 0
2ξωn = 1 + 4TD
ω2n = 4 K

ωn = 4 K

ωn = 4 × 12.5 = 7.07 rad/sec

2ξωn = 1 + 4TD
2 × 0.7 × 7.07 = 1 + 4TD
TD = 2.22
K 12.5
Now, = = 5.63
TD 2.22
K
Hence, the ratio is 5.62.
TD

89. (B)
Given : CLTF is stable.
∴ The number of right hand poles in the CLTF ‘Z’ = 0.
From the given Nyquist plot analysis it is clear that,
(a) The single infinite semi-circle corresponds to a single pole at the origin. Thus, a type-1 system.
(b) At ω = 0, ∠G( jω) H ( jω) = − 900
At ω = ∞, ∠G( jω) H ( jω) = − 3600
This indicates the presence of 4-poles, where 1-pole is on the origin and the remaining 3-pole
may be anywhere on the s-plane.
 2.86 Paramount 1111 [EC/EE] GATE ACADEMY®
0
Im[G ( s) H ( s)] – 270

0 ω= ∞
– 180 – 360 0
−1 + j 0 a Re[G ( s) H ( s)]

ω= 0

– 90 0
(c) Now from the Nyquist plot, it is clear that,
G ( jω) H ( jω) ω=ω pc = a and a < 1

1
∴ G.M dB = 20 log10
a
(d) From the Nyquist plot, it is also clear that the number of encirclement around the point
− 1 + j 0, ' N ' = 0
But N = P − Z
and Z = 0, as CLTF is stable.
∴ P=0
Thus, all the three nonzero poles lie on the left hand side of the s-plane.
(e) Let the zero frequency gain,
K
∴ G ( jω) H ( jω) =
jω( jωT1 + 1)( jωT2 + 1)( jωT3 + 1)
Formation of bode-plot,
1. The presence of a single pole at origin, means from the starting point up to the 1st corner
1
frequency at ω = ω1 = , there is a initial slope of – 20 dB/dec.
T1
1
2. At ω = ω1 = , a pole is added to the bode-plot, thus the slope changes to – 40 dB/dec.
T1
1
3. At ω = ω2 = , another pole is added to the bode-plot. Thus the overall slope becomes – 60
T2
dB/dec.
1
4. At ω = ω3 = , the final pole is added to the system. Thus the slope becomes – 80 dB/dec.
T3
GATE ACADEMY® Control Systems 2.87

M (dB)

-20 dB/dec
- 40 dB/dec
- 60 dB/dec

w(rad/ sec)
w1 w2 w3
- 80 dB/dec
Hence, the correct option is (B).
90. (A), (C), (D)
For option (A),
2

R C
1 1 1
Number of forward paths
P1 = 1, P2 = 2
Number of loops L = 0
Δ = 1 − (0)
Δ =1
C  Pk Δ k 1(1) + 2(1)
= =
R Δ 1
C
=3
R
For option (B),
1

R C
2 1 1
Number of forward paths
P1 = 2(1)(1) = 2
P2 = 2(1) (1) = 2
Number of loops = 0
Δ = 1− 0 = 1
C  Pk Δ k 2(1) + 2(1)
= =
R Δ 1
C
=4
R
For option (C),
0.5

R C
2 1 1
 2.88 Paramount 1111 [EC/EE] GATE ACADEMY®
Number of forward paths
P1 = 2(1)(1) = 2
P2 = 2(0.5) = 1
Number of loops = 0
Δ = 1− 0
C  Pk Δ k P1Δ1 + P2 Δ 2
= =
R Δ Δ
C 2(1) + 1(1)
=
R 1
C
=3
R
For option (D),
5
1
R C
1 1 1
−1
Number of forward paths
P1 = 1, P2 = 5
Number of loops
Δ = 1, L1 = −1
Δ = 1 − ( −1)
Δ = 1+1 = 2
Δ1 = 1, Δ2 = 1
C  Pk Δ k
=
R Δ
C P1Δ1 + P2 Δ 2
=
R Δ
C 1(1) + 5(1) 1 + 5 6
= = = =3
R 2 2 2
Hence signal flow graph of option (A), (C), (D) has same transfer function.
Hence, the correct option are (A), (C) and (D).
91. (B)

10 se−2 s 0.25 se−2 s

G ( s) H ( s) = 2
= 2
 s  s   s  s 
22 ×10 × 1 +  1 +  1 +  1 + 
 2  10   2  10 
M ω= 0.1
= 20 log 0.25 + 20 log 0.1 = − 32 dB
GATE ACADEMY® Control Systems 2.89
One zero at origin = Initial slope is +20 dB/dec
At ω = 2 rad/s change in slope = + 20 − 40 = −20 dB/dec
At ω = 10 rad/s change in slope = − 20 − 20 = − 40 dB/dec
Hence, the correct option is (B).
92. 2.0
Given signal flow graph is shown below,

x1 = − 2 x1 + 2 x2
x2 = − 2 x2 + u
x3 = − x3 + u
 x1   −2 2 0   x1   0 
 x  =  0 −2 0   x  + 1  u
 2    2  
 x3   0 0 −1  x3  1 

 −2 2 0  0 
∴ A =  0 −2 0  B = 1 
 0 0 −1 1 
For 3 × 3 matrix A, Controllability test matrix is given as,
U =  B : AB : A2 B  …(i)

 −2 2 0  0  2
AB =  0 −2 0  1  =  −2 
   
 0 0 −1 1   −1

 −2 2 0   2   −8
A B =  0 −2 0 
2  −2  =  4 
   
 0 0 −1  −1  1 
Hence, from equation (i),
0 2 − 8
U = 1 − 2 4 
1 −1 1 
 2.90 Paramount 1111 [EC/EE] GATE ACADEMY®
Comparing it with the given matrix
0 a − 8
U = b − 2 4 
1 −1 c 
a = 2, b = 1, c = 1
So the required product, a × b × c = 2 × 1×1 = 2
Hence, the correct answer is 2.
93. 2.1
 0 1  s −1
Given : A =   , [ sI − A] = 2 s 
 − 2 0  
 1  s 1 
φ(t ) = e At = L−1 {[ sI − A]−1} = L−1  2  
 s + 2  −2 s  
 s 1 
 s + 2 s + 2
2 2
e At = L−1  
 −2 s 
 s 2 + 2 s 2 + 2 
 1 
At  cos 2 t sin 2t 
e = 2

 − 2 sin 2t cos 2t 
Zero input response is given by, x(t ) = e At x(0)
 1  1   1 
cos 2t sin 2t  cos 2t + sin 2t 
x(t ) =  2

 = 2
   
 − 2 sin 2t cos 2t  1  − 2 sin 2t + cos 2t 
y (t ) = [1 −1] x (t )
 1 
 cos 2t + sin 2t 
y (t ) = [1 −1]  2

cos 2t − 2 sin 2t 
3
y (t ) = sin 2t = 2.1sin 2t
2
Hence, the value of α is 2.1.
94. (A)

1 1  b1 
Given : x (t ) =   x (t ) + b  u (t ) …(i)
0 1  2
x (t ) = Ax(t ) + Bu (t ) …(ii)
y(t ) = [d1 d2 ]x(t ) = Cx(t ) …(iii)
GATE ACADEMY® Control Systems 2.91
From equations (i) and (ii),
1 1 b 
A=  , B =  1
0 1 b2 
1 1  b1  b1 + b2 
AB =    =  
0 1 b2   b2 
From equation (iii),
C = [d1 d2 ]
 d1 
CT =  
d2 
For controllability [ B : AB ] should be nonsingular, i.e. QC ≠ 0 .
b b1 + b2 
QC = [ B : AB] =  1
b2 b2 
QC = Det [ B : AB ] = b1b2 − b2 (b1 + b2 ) = − b22
b2 ≠ 0 and b1 can be anything for controllability.
For observability [CT : AT CT ] should be nonsingular, i.e. Q0 ≠ 0 .
1 0   d1   d1 
AT C T =    =  
1 1   d 2   d1 + d 2 
d d1 
Q0 = [C T : AT C T ] =  1
d2 d1 + d 2 
Q0 = Det [C T : AT C T ] = d1 ( d1 + d 2 ) − d1d 2 = d12
d1 ≠ 0 and d2 can be anything for observability.
Hence, the correct option is (A)
95. 109.44
jω

3j
φ3

φ1
φ2
σ
−6 −2 0

φP
−3j

900

φP φD
 2.92 Paramount 1111 [EC/EE] GATE ACADEMY®
φ p = φ1 + φ2 + φ3
3
φ1 = 180 − tan −1 = 123.69
2
and φ2 = 36.86
φ p = 250.56
Angle departure (φ D ) = 180 + φ z − φ p = 70.560
From figure, φ p = 180 − φ D
φ p = 1800 − 70.560 = 109.440
Hence, the correct answer is 109.44.
96. 0.11
Given :
+ Ks C (s)
R(s)
– (s − 1)(s − 4 )

In root locus plot

No. of branches P = 2
No. of asymptotes = P − Z = 2 − 1 = 1
Angle of asymptotes = 1800
For breakaway/break in point
1 + G(s) = 0
ks
1+ =0
( s − 1)( s − 4)
( s − 1) ( s − 4) + ks = 0
s 2 − 5s + 4 + ks = 0
 s 2 − 5s + 4 
k = − 
 s 
dk  s (2 s − 5) − ( s 2 − 5s + 4) 
= − 
ds  s2 
dk  (2 s 2 − 5) − s 2 + 5s − 4 
= − 
ds  s2 
dk
=0
ds
s2 − 4 = 0
s2 = 4
s=± 4
s = ±2
GATE ACADEMY® Control Systems 2.93
jω

BIP s =2
K =∞ K =∞ K =0 K =0
σ
1 4
s = −2 BAP

Value of k at BAP
 s 2 − 5s + 4 
k = − 
 s 
 (2) 2 − 5 (2) + 4 
k = − 
 2
 4 − 10 + 4 
k = − 
 2
k = − (−1) = 1 k1 = Gain at maxima point
k1 = 1
Value of k at break in point
 s 2 − 5s + 4 
k = − 
 s 
 (2)2 − 5 (− 2) + 4 
k = − 
 (−2) 
 4 + 10 + 4 
k = −
 −2 
18
k= =9 k2 = Gain at minima point
2
k2 = 9
k1 1
k= =
k2 9
k = 0.11
K1
Hence, the value of K = is 0.11.
K2
97. 2
K ( s + 1) ( s + α)
Given : G ( s ) =
( s + 3) ( s + 4)
Case 1 : When K varies from 0 to ∞ with α = 2 constant.
 2.94 Paramount 1111 [EC/EE] GATE ACADEMY®
K ( s + 1) ( s + 2)
G (s) =
( s + 3) ( s + 4)
Required root locus is,
jω

σ
–4 –3 –2 –1

Characteristics equation,
( s + 3) ( s + 4) + K ( s + 1) ( s + 2) = 0
 s 2 + 7 s + 12 
K = − 2 
 s + 3s + 2 
dK  ( s 2 + 3s + 2) (2 s + 7) − ( s 2 + 7 s + 12) (2s + 3) 
= − 
ds  ( s 2 + 3s + 2) 2 
To find break points,
dK
=0
ds
2s3 + 7s 2 + 6s 2 + 21s + 4s + 14 − (2s3 + 3s 2 + 14s 2 + 21s + 24s + 36) = 0
− 4s 2 − 20s − 22 = 0
s = − 1.63, − 3.36
Both the break points are valid as if there are two consecutive poles or zeros with the section of real axis
between them as a part of root locus, then there exists minimum one break point between them.
∴ N =2
Hence, the correct answer is 2.
98. (C)
K
Given : K v = lim sG ( s ) = = 100
s →0 a
2
For 10% overshoot, 0.1 = e − πξ / 1−ξ
ξ = 0.6
Now, characteristic equation is,
1 + G ( s) H ( s) = 0
K
1+ =0
s( s + a)
s 2 + as + K = 0
GATE ACADEMY® Control Systems 2.95

On comparing this equation to s 2 + 2ξωn s + ωn2 = 0

We get, ωn = K and 2ξωn = a
2 × 0.6 K = a
K
= 100
a
On solving these two equations, K = 14400 and a = 144
Hence, the correct option is (C).
99. 0.04

20
For open loop system G ( s ) =
s + 0.2
Pole zero diagram of open loop system,
jω

σ
– 0.2

−1
τOpen loop = = 5 sec
0.2
Transfer function of closed loop system is given as,
20 K
( s + 0.2) 20 K
T ( s) = =
20 K
1+ ⋅1 s + 0.2 + 20 K
( s + 0.2)
Pole zero diagram of closed loop system,
jω

σ
– (0.2+20 K)

−1
τClose loop =
0.2 + 20K
τOpen loop 5
τClose loop = = =1
5 5
1
=1
0.2 + 20K
 2.96 Paramount 1111 [EC/EE] GATE ACADEMY®
0.2 + 20 K = 1
20 K = 0.8
0.8
∴ K= = 0.04
20
Hence, the value of K, which will change the time constant of closed loop system to one fifth of the
open loop system is 0.04.
100. (C)

Combined forward
control transfer
R( s ) function Y ( s)
+
Desired K Actual
distance − distance
s( s + 10 s + 20)
2

Sensor
For a unity negative feedback system characteristic equation is given by,
1 + G(s) = 0
K
1+ =0
s + 10 s 2 + 20 s
3

s 3 + 10 s 2 + 20 s + K = 0
Routh Tabulation :
s3 1 20
s2 10 K
200 − K
s1 0
10
s0 K
For the system to be stable, all the roots must be in the left-half of s-plane, thus all the coefficients in
the first column of Routh's tabulation must have the same sign. Therefore, the coefficient of first column
of the Routh’s table should be positive.
From third row
200 − K
>0
10
K < 200
From fourth row
K >0
For 0 < K < 200 system is stable.
Hence the correct option is (C).
GATE ACADEMY® Control Systems 2.97

101. (B)
Given : The driving point impedance for given network is given as
1 R
( R + sL) × s+
Z ( s) = Cs = L …(i)
1 RC 1
R + sL + Cs 2 + s+
Cs L L
From pole zero diagram the driving point impedance function is written as,
( s + 2)
Z (s) = K
( s + 1 + j 4) ( s + 1 − j 4)
s+2
Z (s) = K 2
…(ii)
s + 2 s + 17
Since dc input impedance is 2 Ω ,
∴ Z (0) = 2
2
2=K×  K = 17
17
( s + 2)
∴ Z ( s ) = 17 2
s + 2s + 17
s+2
Z ( s) = …(iii)
1 2 2
s + s +1
17 17
Comparing the coefficients of the numerators and denominators of (i) and (iii), we get
1
R = 2 Ω, L = 1H and C = F
17
Hence, the correct option is (B).
102. (A), (B), (C)
Given :
+ E (s) s + k Y (s) w2n
R( s) C (s)
– s s + 2xwn s
2

Q( s)

( s + k )ω2n
C ( s) s ( s 2 + 2ξωn s )
=
R( s) ( s + k )ω2n
1+
s ( s 2 + 2ξωn s )
C (s) ( s + k )ω2n s 3 + 2ξωn s 2
= 3 ×
R( s ) s + 2ξωn s 2 s 3 + 2ξωn s 2 + ωn2 ( s + k )
C (s) ( s + k )ω2n
=
R( s) s 3 + 2ξωn s 2 + ω2n s + ωn2 k
 2.98 Paramount 1111 [EC/EE] GATE ACADEMY®
Now C.E.,
s 3 + 2ξωn s 2 + ωn2 s + k ωn2 = 0
Routh Tabulation :
s3 1 ω2n
s2 2ξωn kω2n
2ξω3n − k ωn2
s1 0
2ξωn
s0 kω2n
For the system to be stable, all the roots must be in the left-half of s-plane, thus all the coefficients in
the first column of Routh's tabulation must have the same sign. Therefore, the coefficient of first column
of the Routh’s table should be positive.
Now for stability,
(i) k ω2n > 0  k > 0 and ωn > 0
(ii) 2ξω3n − k ω2n > 0
ω2n (2ξωn − k ) > 0
2ξωn − k > 0
2ξωn > k
So, the correct option is (C).
E ( s) 1
Now, =
R( s ) ( s + k )ω2n
1+ 2
s( s + 2ξωn s)
1
Given, R( s) =
s3
s 3 + 2ξωn s 2
E ( s) =
s 3 ( s 3 + 2ξωn s 2 + ω2n s + k ωn2 )
1 s ( s 3 + 2ξωn s 2 )
Now, ess = lim 3 × 3
s →0 s s + 2ξωn s 2 + ωn2 s + k ωn2
1 s 2 s ( s + 2ξωn )
ess = lim ×
s →0 s 3 s 3 + 2ξωn s 2 + ωn2 s + k ωn2
0 + 2ξωn
ess =
0 + 0 + 0 + k ω2n
2ξωn 2ξ
ess = 2
=
k ωn k ωn
As ' ξ ' , ' k ' and ' ωn ' are all constant.
∴ ess is finite non zero quantity.
So, the correct option is (A).
GATE ACADEMY® Control Systems 2.99
The P + I controller introduces a pole zero combination in the system, the pole improves the steady-
state response of the system.
So, the correct option is (B).
Now, P + I control action does not affect the transient response of the system.
Hence, the correct options are (A), (B) & (C).

103. (A) 3π
= 3 , ωd = πrad/sec
Given : Characteristics equation is given by, ωd
1 + G ( s) H ( s) = 0 ωd = ωn 1 − ξ2
k
1+ (1 + Ts ) = 0 π = ωn 1 − ξ2
s ( s + 2)
s ( s + 2) + k (1 + Ts ) = 0 3.14
ωn = = 3.352 rad/sec
2
s + 2 s + k + kTs = 0 1 − (0.35)2
s 2 + s(2 + kT ) + k = 0 From equation (ii),

Compare with, s 2 + 2ξωn s + ωn2 = 0 ωn = k

2ξωn = 2 + kT …(i) ω2n = k

ω2n = k k = 3.3522
k = 11.23
ωn = k …(ii)
From equation (i),
Given, Peak overshoot = 0.3 2ξωn = 2 + Tk
−ξπ
1−ξ2 2 × 0.35 × 3.352 = 2 + (11.23)T
e = 0.3
− ξπ T = 0.03
= ln (0.3) Hence, the correct option is (A).
1 − ξ2
104. (B)
− ξπ = 1 − ξ2 (−1.203)
k
2 Given : G ( s ) =
ξπ = 1 − ξ (1.203) s+3
ξ2 π2 = (1 − ξ2 ) × (1.203)2 s+P
GC ( s ) =
s
ξ2 π2 = (1 − ξ2 ) ×1.447
The forward path of transfer function is,
ξ2 π2 = 1.447 − 1.447ξ2 k ( s + P)
G ( s )GC ( s ) =
ξ2 (9.869) = 1.447 − 1.447ξ2 s ( s + 3)
ξ2 (11.316) = 1.447 Characteristics equation is,
ξ = 0.357 1 + G(s)GC (s) = 0
ξ ≈ 0.35 k ( s + P)
1+ =0
Given, time for second peak overshoot, s ( s + 3)
3π s 2 + 3s + ks + kP = 0
tp = =3
ωd s 2 + (3 + k )s + kP = 0
 2.100 Paramount 1111 [EC/EE] GATE ACADEMY®

Percentage peak overshoot = 0.20 = e − πξ / 1−ξ 2 12 ω2 = 3

1− cos 2 θ
e − π cos θ / 1 1
ω= =±
0.20 = e − π cot θ 4 2
θ = 62.860 Hence at ω = 0.5 r/s, phase lead provided by the
ξ = cos θ = cos 62.86 = 0.456 compensator will be maximum.
Settling time (ts ) = 2% = 4τ φm = φ ω=0.5r/s = tan −1 (4 × 0.5) − tan −1 (0.5)

4 φm = 63.430 − 26.560
(t s ) =
ξωn ∴ φm = 36.860
4 Hence, the correct option is (C).
1=
0.456 × ωn : Method 2 :
4 Comparing the given transfer function with
ωn = = 8.77 rad/sec
0.456 standard transfer function of lead compensator
From characteristics equation, which is given by,
ω2n = kP (1 + Ts )
T (s) =
(1 + αTs )
kP = (8.77)2  kP = 76.94
We get, T = 4 , α = 0.25
Also, 2ξωn = k + 3
Maximum phase lead occurs at frequency,
2 × 0.456 × 8.77 = k + 3 1 1
k = 4.99 ≈ 5 ω= = = 0.5 r/s
T α 4 × 0.25
76.94
∴ P= = 15.39 Amount of maximum phase lead,
5
1 − α  1 − 0.25 
Hence, the correct option is (B). φm = sin −1   = sin −1 
1 + α  1 + 0.25 
105. (C) φm = sin −1 (0.6) = 36.860
1 + 4s Hence, the correct option is (C).
Given : T ( s ) =
1+ s
106. (C)
: Method 1 :
General form of transfer function will be,
1 + j 4ω
T ( jω) = K
1 + jω G (s) =
s ( s + a )( s + b)
∠T ( jω) = φ = tan −1 (4ω) − tan −1 (ω) Phase crossover frequency is 3 rad/sec,
dφ ω ω
For φ to be maximum, =0 −900 − tan −1 − tan −1 = − 1800
dω a b
4 1 ω ω
− =0 tan −1 + tan −1 = 900
1 + 16 ω 1 + ω2
2
a b
4 1 ω ω
= +
1 + 16 ω 1 + ω2
2 a b = 1  ω = ab  ab = 9
ω2 0
4 + 4 ω2 = 1 + 16 ω2 1−
ab
GATE ACADEMY® Control Systems 2.101
Velocity error constant is 5, 81 + 9(a 2 + b2 ) + a 2b2 = 302
kv = lim sG ( s) 9( a 2 + b 2 ) = 30 2 − a 2b 2 − 81
s →0

K K = 900 − 81 − 81
kv = lim = =5
s → 0 ( s + a )( s + b ) ab 2 2
a + b = 82
K = 45 (a − b)2 = a 2 + b2 − 2ab
Gain margin is 6 dB, (a − b) = 82 − 18 = ±8
1
20 log = 6 dB (a + b)2 = a 2 + b2 + 2ab
G(s) ω
pc
( a + b) = ± 10
1 So, a = 1 & b = 9 or a = 9 & b = 1
=2
G(s) ω 45
pc
Transfer function will be,
9 + a 9 + b2
2 s ( s + 1)( s + 9)
=2 Hence, the correct option is (C).
15
(9 + a2 )(9 + b2 ) = 302

107. (B)
Given : The input error voltage is given as
e(t)

t
1 2

∴ e (t ) = A[u (t − 1) − u (t − 2)]
Output of PI controller will be
e0 (t ) = k p e(t ) + k I  e(t ) dt

Where, kI  e (t )dt = kI  A[u (t − 1) − u (t − 2)] dt + C

= AkI [r (t − 1) − r (t − 2)] + C
Where, C = constant due to integration
C(t)

AkP C+AkI
+ C =

t t t
1 2 1 2 1 2

Hence, the correct option is (B).

 2.102 Paramount 1111 [EC/EE] GATE ACADEMY®

108. 4
Given : c(t ) = 1 − 3Be−3t sin ωt − 4Be−3t cos ωt
c (t ) = 1 − e −3t {3B sin ωt + 4 B cos ωt}
   4B  
c(t ) = 1 − e −3t  (3B)2 + (4 B)2 ⋅ sin ωt + tan −1   
   3B   
  4 
c(t ) = 1 − 5B e−3t ⋅ sin ωt + tan −1    …(i)
  3 
Standard equation of underdamped response of a second order system is given as,
e−ξωnt
c(t ) = 1 − ⋅ sin {ωd t + θ} …(ii)
1 − ξ2
1 − ξ2
where, θ = cos −1 (ξ) = tan −1
ξ
Comparing equation (i) and (ii),
1 − ξ2 4
=
ξ 3
1 − ξ 2 16
=
ξ2 9
9 − 9 ξ2 = 16 ξ2
25 ξ2 = 9
9 3
ξ= = = 0.6
25 5
Also, ξωn = 3
3 3
∴ ωn = = = 5 r/s
ξ 0.6
Damped frequency of oscillations,
ωd = ωn 1 − ξ2 = 5 1 − 0.36 = 5 × 0.8 = 4 r/s
Hence, the correct answer is 4.
109. 2
Given : Given system is shown below,

1k

2k V+ V0 = R(s)

1k
GATE ACADEMY® Control Systems 2.103

Here, R(s) = V0 (s)

For the given non-inverting amplifier,
 Rf 
V0 ( s ) = 1 +  V+ ( s )
 1k 
 1k  1
where, V+ ( s ) =   Vi ( s ) = Vi ( s )
 1k + 2k  3
0.1
Given, Vi (t ) = 0.1t u (t ), Vi ( s ) = 2
s
1 0.1
So, V+ ( s ) = × 2
3 s
 R f  0.1 
Hence, R( s) = V0 ( s) = 1 +  2 
 1k   3 s 
Now, steady state error for the given unity feedback system is given as,
s R( s)
ess = lim …(i)
s →0 1 + G ( s )

 R  0.1 
s × 1 + f  2 
1k   3 s 
ess = lim 
s →0 K
1+
s ( s + 1)
0.1  R f  0.1  R f 
1 +  1 + 
3  1k  3  1k 
ess = lim =
s →0 K K
s+
( s + 1)
Given, for K = 20, ess = 0.005
0.1  R f 
1 + 
3  1k 
0.005 =
20
0.1  R f 
0.1 = 1 + 
3  1k 
Rf
1+ =3
1k
Rf
=2
1k
Hence, R f = 2k
Hence, the correct answer is 2.
 2.104 Paramount 1111 [EC/EE] GATE ACADEMY®

110. 0.646 Substituting values of T1 ( s) and T2 (s) from

Given : Transfer function of lead compensator equations (i) and (ii),
given in fig.(a) can be evaluated as, 1 + 3s
R1 = 2 W X (s) = 1 + 6s
0.5(1 + 2 s )
+ + 1+ s
C = 1F R2 = 2 W V0 ( s ) (1 + 3s ) (1 + s )
Vi ( s ) X (s) =
0.5(1 + 2 s ) (1 + 6 s )
- -
(1 + 6) (1 + 2)
Fig.(a) X (s) s =2 =
0.5(1 + 4) (1 + 12)
V0 ( s ) α(1 + Ts )
T1 ( s ) = = 7×3
Vi ( s ) (1 + αTs ) X ( s) s =2 = = 0.6461
0.5 × 5 × 13
R2 2 Hence, magnitude of X ( s ) at s = 2 is 0.646.
where, α = = = 0.5
R1 + R2 2 + 2
111. 2.877
and T = R1C = 2 ×1 = 2
Given : Maximum peak over shoot is given by,
0.5 (1 + 2 s )
∴ T1 ( s ) = …(i) C (t p ) − C ( ∞ )
(1 + s ) MPO =
C (∞ )
Transfer function for the lag compensator
6−4
shown in fig.(b) can be obtained as, MPO = = 0.5
4
R1 = 2 W − ξπ
+ + 1−ξ2
MPO = e
R2 = 2 W − ξπ
Vi ( s ) V0 ( s ) 1−ξ2
0.5 = e
C = 1.5 F
- - ξπ
ln 0.5 = −
Fig.(b) 1 − ξ2
V0 ( s ) (1 + Ts ) ξ2
T2 ( s ) = = 0.0487 =
Vi ( s ) (1 + βTs ) 1 − ξ2
where, T = R2C = 2 ×1.5 = 3 1 − ξ2 = 20.521ξ2
R1 + R2 2 + 2 ξ = 0.2155
and β= = =2
R2 2 From figure, 50% of C (∞) = 2, td = 0.4sec.
1 + 3s Delay time of second order system is given by,
∴ T2 ( s ) = …(ii)
1 + 6s 1 + 0.7 ξ 1 + 0.7 × 0.2155
td =  0.4 =
Given, T2 (s) = T1 (s) ⋅ X (s) ωn ωn
T2 ( s ) ωn = 2.877 rad/sec
∴ X (s) =
T1 ( s ) Hence, the correct answer is 2.877 rad/sec.
GATE ACADEMY® Control Systems 2.105

112. 2.79 The characteristic equation gives the poles of

transfer function
Given : SFG of closed loop system is given by,
 s 0 0 − 2 0 1
sI − A = 0 s 0  −  0 − 2 0 
  
0 0 s   0 0 − 3
s + 2 0 −1 

sI − A =  0 s+2 0 
 0 0 s + 3
sI − A = ( s + 2)( s + 2)( s + 3) = 0
Forward
Single loops
path  s1 = − 2, s2 = − 2, s3 = − 3
P1 = 2 × 3 × 5 L1 = 1× 3 × (−1) = −3 Multiplication of poles are
P1 = 30 L2 = 2 × 3 × (− 0.5) = −3 = (− 2) × (− 2) × (− 3) = − 12
Hence, the correct answer is – 12.
L3 = 3 × 5 × (− 0.25) = −3.75
114. (A)
Individual
Determinant of graph
path gain Given : The phase margin is given by,
Δ1 = 1 Δ = 1 − [ −3 − 3 − 3.75] = 10.75 2ξ
PM = θ = tan −1
Transfer function is given by, − 2ξ 2 + 4ξ 4 + 1
PΔ PM is θ so,
T.F = 1 1
Δ 2ξ
tan θ =
C ( s) 30 − 2ξ 2 + 4ξ 4 + 1
= = 2.79
R ( s ) 10.75
4ξ2
Hence, the correct answer is 2.79. tan 2 θ =
− 2ξ2 + 4ξ 4 + 1
113. – 12
4ξ 2
Given : From signal flow graph, x1 = − 2 x1 + x3 − 2ξ 2 + 4ξ 4 + 1 =
tan 2 θ
x2 = − 2 x2 + u 4ξ 2
4ξ 4 + 1 = 2
+ 2ξ 2
x3 = − 3x3 + u tan θ
ξ4
 x1   − 2 0 1   x1  0  4
4ξ + 1 = 4
(4 + 2 tan 2 θ) 2
 x  =  0 − 2 0   x  +  1 [u ] tan θ
 2   2  
 x3   0 0 − 3  x3   1 4 ξ4
4ξ + 1 = 4
(16 + 16 tan 2 θ + 4 tan 4 θ)
tan θ
Comparing with, x = Ax + Bu
1 16 + 16 tan 2 θ
− 2 0 1 4+ 4 = +4
ξ tan 4 θ
A =  0 − 2 0 

16ξ 4 (1 + tan 2 θ)
 0 0 − 3 =1
tan 4 θ
 2.106 Paramount 1111 [EC/EE] GATE ACADEMY®

 sec 2 θ  116. 0.5

16ξ4  4  =1
 tan θ  Given : Given conditions are utilized to draw
1 the time response as shown in figure.
ξ 4 = tan 4 θ cos 2 θ
16 c(t )
1 1 sin θ
ξ = tan θ cos θ = 10 V
2 2 cos θ
7.135 V
1 sin 2 θ 1
ξ= = sin θ tan θ 3.935 V
2 cos θ 2
2.212 V
Hence, the correct option is (A).
t
115. 1 t1 t2 5s

Given : Response of first order system, subjected to

For system 1 : sudden (step) input is given as,
s c(t ) = K 1 − e−t /T  …(i)
C ( s) G (s) ( s + 2)( s + 1)
= = Here, K = 10
R( s) 1 + G ( s ) H ( s ) 1 + ( s + 1) s
Using the given condition at t = 5sec,
( s + 1)( s + 2)
c(t ) = 7.135 V
C ( s) s s
= 2 = 2
R( s) 2
s + 3s + 2 + s + s 2 s + 4 s + 2 7.135 = 10 1 − e−5/T 
Characteristics equation will be, s 2 + 2 s + 1 1 − e −5/T = 0.7135
ωn = 1 e −5/T = 0.2865
2ξωn = 2  ξ = 1 −5
= ln (0.2865) = −1.25
For system 2 : T
Convert to unity feedback : 5
∴ T= = 4sec
G (s) 1.25
G '( s ) =
1 + G ( s) H (s) − G (s) Using second given condition at t = t1 ,
s s c(t ) = 2.212 V
= 2 = 2
2 s + 4 s + 2 − s 2 s + 3s + 2
C ( s) G '( s ) 2.212 = 10 1 − e−t1 /4 
=
R ( s ) 1 + G '( s ) e − t1 /4 = 1 − 0.2212 = 0.7788
s − t1
2 s = ln (0.7788) = − 0.25
= 2 s + 3s + 2 = 2 4
s 2s + 4s + 2
1+ 2 ∴ t1 = 1sec
2 s + 3s + 2
Characteristics equation will be, s 2 + 2 s + 1 Also, t1 = AT
ωn = 1 1 = A× 4
A = 0.25
2ξωn = 2  ξ = 1
Again using equation (i) for the given condition,
Then the ratio of damping will be unity.
Hence, the correct answer is 1. c(t ) = 3.935 V at t = t2
GATE ACADEMY® Control Systems 2.107

3.935 = 10 1 − e−t2 /4  2 = B×4

B = 0.5
e − t2 / 4 = 1 − 0.3935 = 0.6065 Therefore, the required ratio,
− t2 A 0.25
= − 0.5 = = 0.5
4 B 0.5
∴ t2 = 2sec Hence, the correct answer is 0.5.
Also, t2 = BT

117. 0.1872
Given : From the given block diagram of the system,
100
G( s) = H ( s) = 1
s ( s + 2) ( s + 4)
Dynamic error constants of error series are given as,
K 0 = lim F ( s) 
s →0

d
K1 = lim F ( s ) 
s →0 ds 1
 where, F ( s ) =
d2  1 + G( s) H (s)
K 2 = lim 2 F ( s ) 
s →0 ds

 
100 s 3 + 6 s 2 + 8s + 100
1 + G(s) H (s) = 1 + =
s 3 + 6 s 2 + 8s s 3 + 6 s 2 + 8s
1 s 3 + 6 s 2 + 8s
∴ F ( s) = = 3
1 + G ( s) H ( s ) s + 6s 2 + 8s + 100
s 3 + 6 s 2 + 8s
∴ K 0 = lim F ( s ) = lim 3 =0
s →0 s → 0 s + 6 s 2 + 8 s + 100

d ( s 3 + 6 s 2 + 8s + 100) (3s 2 + 12 s + 8) − ( s 3 + 6 s 2 + 8s ) (3s 2 + 12 s + 8)

F (s) =
ds ( s 3 + 6 s 2 + 8s + 100) 2
d (3s 2 + 12 s + 8) ( s 3 + 6 s 2 + 8s + 100 − s 3 − 6 s 2 − 8s )
F (s) =
ds ( s 3 + 6 s 2 + 8s + 100) 2
d (3s 2 + 12 s + 8) × 100 8
∴ K1 = lim F ( s ) = lim 3 2 2
= = 0.08
s → 0 ds s → 0 ( s + 6 s + 8 s + 100) 100
( s 3 + 6s 2 + 8s + 100) 2 [100 (6s + 12)] − 100 (3s 2 + 12s + 8)
d2 × 2 ( s 3 + 6s 2 + 8s + 100) (3s 2 + 12s + 8)
F ( s) =
ds 2 ( s 3 + 6s 2 + 8s + 100) 4
d2 (100) 2 × 100 × 12 − 100 × 8 × 2 × 100 × 8
∴ K 2 = lim F ( s ) = lim
s →0 ds 2 s →0 (100) 4
 2.108 Paramount 1111 [EC/EE] GATE ACADEMY®

(100) 2 (1200 − 128) 1072

K2 = = = 0.1072
(100) 4 10000
∴ K0 + K1 + K2 = 0 + 0.08 + 0.1072 = 0.1872
Hence, the correct answer is 0.1872.
118. 4
Given : Given open loop transfer function,
K
G ( s) =
( s + 2)( s + a )
Given that the root locus passes through − 3 + j 0, so s = − 3 point lies on root locus for K = 1 . Applying
magnitude condition at that point,
K
G ( s ) s =− 3 = =1
(− 3 + 2)(− 3 + a)
Given, K = 1 at s = − 3
1
=1
(−1)(a − 3)
1
=1
−(a − 3)
a −3 =1
∴ a = 4 or a = 2
K
For a = 4, G ( s ) =
( s + 2)( s + 4)
jw

NRL
s
–4 –3 –2

K
For a = 2, G ( s ) =
( s + 2) 2
jw

NRL NRL
s
–3 –2

Root locus for both values of ‘a’ are shown in figure. Point s = − 3 will not lie on root locus for a = 2.
Hence, the correct value of ‘a’ is 4.
GATE ACADEMY® Control Systems 2.109

119. (B)
Given : Equivalent signal flow graph for the given block diagram is shown below,
-2

1 2 1 12 1 1
R( s) C (s)

3 -1
4
Using Masson’s gain formula to find overall gain,
C ( s) 1
= Σ Pk Δ k …(i)
R(s) Δ
Forward path gains,
P1 = 1× 2 ×1×12 ×1 = 24
P2 = 1× (− 2) ×1 = − 2
P3 = 1× 3 ×1×12 ×1 = 36
There is only one loop having gain,
 −1 
L1 = 12 ×   = − 3
 4 
Δ = 1 − (− 3) = 4
Δ1 = 1
Δ2 = 1 − (− 3) = 4
Δ3 = 1
From equation (i),
C ( s ) (24 ×1) + [(− 2) × 4] + (36 ×1)
=
R( s) 4
24 − 8 + 36
P= = 13
4
Hence, the correct option is (B).
1
120. 0.981 R( s) =
s
Given : From the block diagram, 1 1 1
C ( s) 1 C ( s) = = −
= s (1 + sT ) s s + 1
R ( s ) 1 + sT T
−t /T
Given that r (t ) = u (t ) c(t ) = (1 − e ) u(t )
 2.110 Paramount 1111 [EC/EE] GATE ACADEMY®
The error is given as, Now, by peak time definition.
t
− π
e(t ) = r (t ) − c(t ) = u (t ) − u (t ) + e T u (t ) tp =
ωd
t
−
e(t ) = e T u (t ) π
tp =
1 ωn 1 − ξ2
Given that, e(t ) = for t = 2sec
e2
π
−2
−
2
1=
e =e T
ωn 1 − ξ2
2
2= π π
T ωn = =
1 − (0.50) 2 0.866
T =1
For t = 4sec, ωn = 3.627 rad/sec
4
−
c(t ) = 1 − e 1
= 1 − e−4 = 0.981 Transfer function of standard second order
system is,
∴ c (t ) t = 4sec = 0.981
ω2n
Hence, the correct answer is 0.981. T (s) = 2
s + 2ξωn s + ωn2
121. (B)
3.627 2
Given : M p = 16% T ( s) =
s 2 + 2 × 0.50 × 3.627 s + 3.627 2
t p = 1sec 13.15
−ξπ
T ( s) = 2
s + 3.62s + 13.15
1−ξ2
%Mp = e ×100
Hence, the correct option is (B).
−ξπ
1−ξ2 122. 10
16% = e ×100
−ξπ
Given : Given open loop transfer function is
1−ξ2
e = 0.16
k
−ξπ G( s) = 2
= −1.832 s ( s + 8s + 15)
1 − ξ2
k
ξπ G ( s) =
= 1.832 s ( s + 3)( s + 5)
1 − ξ2 The value of k can be found from the graphical
ξπ = 1.832( 1 − ξ ) 2 representation of poles as shown below

ξ2 π2 = 3.356(1 − ξ2 )
ξ2 (9.869) = 3.356 − 3.356 ξ2 5

13.225ξ2 = 3.356
ξ2 = 0.253
-5 -3 -2
ξ = 0.50
GATE ACADEMY® Control Systems 2.111

Product of distance of point − 2 φm = 41.810

+ j to the poles Hence, the maximum phase lag provided by the
∴ k=
Product of distance of point − 2
given compensator is 41.810.
+ j to the zeros
124. 0.149
10 × 2 × 5 100 10
∴ k= = = Given : Location of poles s = −12 ± j15
1 1 1
k = 10 Location of underdamped poles are given as,
Hence, the correct answer is 10. s = − ξωn ± jωn 1 − ξ2
123. 41.81 Comparing with given pole location,
Given for a phase lag compensator, s = − 12 ± j15
( s + 0.2) One pole is shown in figure,
G(s) =
( s + 0.04)
jω
 s 
0.2 1 + 
 0.2  5(1 + 5s ) jωd
G ( s) = =
 s  (1 + 25s)
0.04 1 + 
 0.04 
θ
σ
−ξω n

 ω   15 
θ = tan −1  d  = tan −1   = 51.340
 ξωn   12 

∴ ξ = cos θ = cos (51.340 ) = 0.625

Comparing the transfer function with standard
Undamped natural frequency,
transfer function of lag compensator that is
ξωn 12
given as ωn = = = 19.2 rad/sec
ξ 0.625
1 + Ts
G ( s) =
1 + βT Rise time in given as,
R1 + R2 π − θrad
where, T = R2C , β = ∴ tr =
R2 ωd
T = 5sec, β T = 25 ∴ β=5 π
θ = 51.340 = × 51.340
The maximum phase lag provided by the lag 1800
compensator is given as θ = 0.285 π rad
 β −1  π − 0.285π 0.715π
φm = sin −1   ∴ tr = =
 β +1 15 15
 5 −1  −1  4 
∴ tr = 0.1497 sec
φm = sin −1   = sin  
 5 +1 6 Hence, the correct answer is 0.149.
 2.112 Paramount 1111 [EC/EE] GATE ACADEMY®

125. (C)
Given : Let the branch current and branch voltage be denoted as,
I1 ( s ) R1 V1 ( s ) I 3 ( s ) Ls V0 ( s )
+ I 2 (s) I3 (s) +

1
Vi ( s ) R2 V0 ( s )
sC

– –

By KCL at V1 , we can write,

I1 ( s) = I 2 ( s) + I3 ( s)
I 2 (s) = I1 ( s) − I3 ( s) …(i)
Current I1 can be written as,
V ( s ) − V1 ( s )
I1 ( s ) = i ….(ii)
R1
1
V1 ( s ) = I 2 ( s ) ×
sC
I ( s) − I3 (s)
V1 ( s ) = 1 …(iii)
sC
From equation (i),
V ( s ) − V0 ( s )
I3 (s) = 1 …(iv)
sL
V0 (s) = I3 (s) R2 …(v)
Note : The number of nodes in SFG = Number of variables in the serial path.
To satisfy equation (ii),
V ( s ) V1 ( s )
I1 ( s ) = i −
R1 R1
1/R1 I1 ( s )
Vi ( s ) V1 ( s )

-1/R1
To satisfy equation (iii),
 1  I 3 ( s)
V1 ( s ) =   I1 ( s ) −
 sC  sC
1
sc V1 ( s ) I3 (s)
I1 ( s )

1
-
sc
GATE ACADEMY® Control Systems 2.113
To satisfy equation (iv),
 1   1 
I 3 ( s ) =   V1 ( s ) −   V0 ( s )
 sL   sL 
1
sL I3 (s) V0 ( s )
Vi ( s )

1
-
sL

To satisfy equation (v),

V0 (s) = I3 (s) R2
I3 (s) R2
V1 ( s ) V0 ( s )

Combining all relations and figure, we get

1/R1 I1 ( s ) 1/sc V1 ( s ) 1/sL I3 (s) R2
Vi ( s ) V0 ( s )

-1/R1 -1/sc -1/sL

Substituting the values of R1 , C , L, R2 , we get

1/2 2/s 1/2s 2
Vi ( s ) V0 ( s )

-1/2 -2/s -1/2s

Hence, the correct option is (C).

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2.114 Paramount 1111 [EC/EE] GATE ACADEMY®
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