Академический Документы
Профессиональный Документы
Культура Документы
CONTROL SYSTEM
Y ^s h
Q. 2 The signal flow graph for a system is given below. The transfer function for
U ^s h
this system is
mywbut.com
GATE SOLVED PAPER - EC CONTROL SYSTEM
Q. 3 The state-variable equations of the system shown in the figure above are
o = >- 1 0 H X + >- 1H u
X Xo = >- 1 0 H X + >- 1H u
(A) 1 -1 1 (B) -1 -1 1
y = 61 - 1@X + u y = 6- 1 - 1@X + u
o = >- 1 0 H X + >- 1H u
X Xo = >- 1 - 1H X + >- 1H u
(C) -1 -1 1 (D) 0 -1 1
y = 6- 1 - 1@X - u y = 61 - 1@ X - u
Q. 4 The state transition matrix eAt of the system shown in the figure above is
e-t 0 e-t 0
(A) > -t -tH (B) > H
te e - te e-t
-t
(A) 1 (B) 5
(C) 10 (D) 100
(s2 + 9) (s + 2)
Q. 6 A system with transfer function G (s) =
(s + 1) (s + 3) (s + 4)
is excited by sin (wt). The steady-state output of the system is zero at
(A) w = 1 rad/s (B) w = 2 rad/s
(C) w = 3 rad/s (D) w = 4 rad/s
mywbut.com
GATE SOLVED PAPER - EC CONTROL SYSTEM
Q. 9 The root locus plot for a system is given below. The open loop transfer function
corresponding to this plot is given by
s (s + 1) (s + 1)
(A) G ^s h H ^s h = k (B) G ^s h H ^s h = k
(s + 2) (s + 3) s (s + 2)(s + 3) 2
1 (s + 1)
(C) G ^s h H ^s h = k (D) G ^s h H ^s h = k
s (s - 1) (s + 2) (s + 3) s (s + 2)(s + 3)
Q. 10 For the transfer function G (jw) = 5 + jw , the corresponding Nyquist plot for
positive frequency has the form
mywbut.com
GATE SOLVED PAPER - EC CONTROL SYSTEM
Q. 11 The block diagram of a system with one input u and two outputs y1 and y2 is
given below.
A state space model of the above system in terms of the state vector x and the
output vector y = [y1 y2]T is
(A) xo = [2] x + [1] u ; y = [1 2] x
1
(B) xo = [- 2] x + [1] u; y = > H x
2
-2 0 1
(C) xo = >
0 - 2H
x + > H u ; y = 81 2B x
1
2 0 1 1
(D) xo = > H x + > H u ; y = > H x
0 2 1 2
Q. 12 The gain margin of the system under closed loop unity negative feedback is
(A) 0 dB (B) 20 dB
(C) 26 dB (D) 46 dB
Q. 13 The signal flow graph that DOES NOT model the plant transfer function H (s) is
mywbut.com
GATE SOLVED PAPER - EC CONTROL SYSTEM
(A) 0 (B) 1
s+1
(C) 2 (D) 2
s+1 s+3
Y (s)
Q. 15 A system with transfer function = s has an output y (t) = cos a2t - p k
X (s) s + p 3
p
for the input signal x (t) = p cos a2t - k. Then, the system parameter p is
2
(A) 3 (B) 2/ 3
(C) 1 (D) 3 /2
Q. 16 For the asymptotic Bode magnitude plot shown below, the system transfer
function can be
mywbut.com
GATE SOLVED PAPER - EC CONTROL SYSTEM
1 1 0 -1 1 0
xo = > H x +> Hu xo = > H x +> Hu
(C) -1 0 2 (D) -1 0 2
y = 80.5 0.5B x
o y = 80.5
o 0.5B x
Q. 18 The transfer function of the system is
(A) s2+ 1 (B) s2- 1
s +1 s +1
(C) 2 s + 1 (D) 2 s - 1
s +s+1 s +s+1
Q. 19 A unity negative feedback closed loop system has a plant with the transfer
function G (s) = s + 21s + 2 and a controller Gc (s) in the feed forward path. For a unit
2
set input, the transfer function of the controller that gives minimum steady state
error is
(A) Gc (s) = s + 1 (B) Gc (s) = s + 2
s+2 s+1
(s + 1) (s + 4)
(C) Gc (s) = (D) Gc (s) = 1 + 2 + 3s
(s + 2) (s + 3) s
Q. 20 The magnitude plot of a rational transfer function G (s) with real coefficients is
shown below. Which of the following compensators has such a magnitude plot ?
mywbut.com
GATE SOLVED PAPER - EC CONTROL SYSTEM
Q. 23 The unit step response of an under-damped second order system has steady state
value of -2. Which one of the following transfer functions has theses properties ?
(A) 2 - 2.24 (B) 2 - 3.82
s + 2.59s + 1.12 s + 1.91s + 1.91
Q. 25 The gain and phase margins of G (s) for closed loop stability are
(A) 6 dB and 180c (B) 3 dB and 180c
(C) 6 dB and 90c (D) 3 dB and 90c
Q. 26 Step responses of a set of three second-order underdamped systems all have the
same percentage overshoot. Which of the following diagrams represents the poles
of the three systems ?
mywbut.com
GATE SOLVED PAPER - EC CONTROL SYSTEM
mywbut.com
GATE SOLVED PAPER - EC CONTROL SYSTEM
Q. 29 Group I lists a set of four transfer functions. Group II gives a list of possible step
response y (t). Match the step responses with the corresponding transfer functions.
(A) P - 3, Q - 1, R - 4, S - 2
(B) P - 3, Q - 2, R - 4, S - 1
(C) P - 2, Q - 1, R - 4, S - 2
(D) P - 3, Q - 4, R - 1, S - 2
(A) 0 (B) 1
(C) 2 (D) 3
mywbut.com
GATE SOLVED PAPER - EC CONTROL SYSTEM
(A) Q - 1, R - 2 (B) Q - 1, R - 3
(C) Q - 2, R - 3 (D) Q - 3, R - 2
Q. 35 A control system with PD controller is shown in the figure. If the velocity error
constant KV = 1000 and the damping ratio z = 0.5 , then the value of KP and KD
are
mywbut.com
GATE SOLVED PAPER - EC CONTROL SYSTEM
Q. 39 The asymptotic Bode plot of a transfer function is as shown in the figure. The
transfer function G (s) corresponding to this Bode plot is
(A) 1 (B) 1
(s + 1)( s + 20) s (s + 1)( s + 20)
(C) 100 (D) 100
s (s + 1)( s + 20) s (s + 1)( 1 + 0.05s)
where w is the speed of the motor, ia is the armature current and u is the
w (s)
armature voltage. The transfer function of the motor is
U (s)
(A) 2 10 (B) 2 1
s + 11s + 11 s + 11s + 11
(C) 2 10s + 10 (D) 2 1
s + 11s + 11 s + s + 11
mywbut.com
GATE SOLVED PAPER - EC CONTROL SYSTEM
Q. 45 The Nyquist plot of G (jw) H (jw)for a closed loop control system, passes through
(- 1, j0) point in the GH plane. The gain margin of the system in dB is equal to
(A) infinite (B) greater than zero
(C) less than zero (D) zero
Q. 46 The positive values of K and a so that the system shown in the figures below
oscillates at a frequency of 2 rad/sec respectively are
mywbut.com
GATE SOLVED PAPER - EC CONTROL SYSTEM
Q. 50 With the value of a set for a phase - margin of p , the value of unit - impulse
4
response of the open - loop system at t = 1 second is equal to
(A) 3.40 (B) 2.40
(C) 1.84 (D) 1.74
mywbut.com
GATE SOLVED PAPER - EC CONTROL SYSTEM
The eigenvalues of the representations are also computed as [l] and [m]. Which
one of the following statements is true ?
(A) [l] = [m] and X = W (B) [l] = [m] and X ! W
(C) [l] ! [m] and X = W (D) [l] = [m] and X ! W
Q. 53 Despite the presence of negative feedback, control systems still have problems of
instability because the
(A) Components used have non- linearities
(B) Dynamic equations of the subsystem are not known exactly.
(C) Mathematical analysis involves approximations.
(D) System has large negative phase angle at high frequencies.
Q. 54 The polar diagram of a conditionally stable system for open loop gain K = 1 is
shown in the figure. The open loop transfer function of the system is known to be
stable. The closed loop system is stable for
(A) K < 5 and 1 < K < 1 (B) K < 1 and 1 < K < 5
2 8 8 2
(C) K < 1 and 5 < K (D) K > 1 and 5 > K
8 8
Q. 55 In the derivation of expression for peak percent overshoot
- px
Mp = exp e o # 100%
1 - x2
Which one of the following conditions is NOT required ?
(A) System is linear and time invariant
(B) The system transfer function has a pair of complex conjugate poles and no
zeroes.
(C) There is no transportation delay in the system.
(D) The system has zero initial conditions.
mywbut.com
GATE SOLVED PAPER - EC CONTROL SYSTEM
Q. 60 Based on the above results, the gain and phase margins of the system will be
(A) -7.09 dB and 87.5c
(B) 7.09 dB and 87.5c
(C) 7.09 dB and - 87.5c
(D) - 7.09 and - 87.5c
Q. 61 The gain margin for the system with open-loop transfer function
2 (1 + s)
G (s) H (s) = , is
s2
(A) 3 (B) 0
(C) 1 (D) - 3
mywbut.com
GATE SOLVED PAPER - EC CONTROL SYSTEM
Q. 63 Consider the Bode magnitude plot shown in the fig. The transfer function H (s) is
(s + 10) 10 (s + 1)
(A) (B)
(s + 1)( s + 100) (s + 10)( s + 100)
102 (s + 1) 103 (s + 100)
(C) (D)
(s + 10)( s + 100) (s + 1)( s + 10)
Q. 64 A causal system having the transfer function H (s) = 1/ (s + 2) is excited with
10u (t). The time at which the output reaches 99% of its steady state value is
(A) 2.7 sec (B) 2.5 sec
(C) 2.3 sec (D) 2.1 sec
Q. 65 A system has poles at 0.1 Hz, 1 Hz and 80 Hz; zeros at 5 Hz, 100 Hz and 200 Hz.
The approximate phase of the system response at 20 Hz is
(A) - 90c (B) 0c
(C) 90c (D) - 180c
mywbut.com
GATE SOLVED PAPER - EC CONTROL SYSTEM
Q. 70 The state variable equations of a system are : xo1 =- 3x1 - x2 = u, xo2 = 2x1 and
y = x1 + u . The system is
(A) controllable but not observable
(B) observable but not controllable
(C) neither controllable nor observable
(D) controllable and observable
1 0
Q. 71 Given A = = G, the state transition matrix eAt is given by
0 1
0 e-t et 0
(A) > -t H (B) = t G
e 0 0 e
e-t 0 0 et
(C) > H (D) = t G
0 e-t e 0
Q. 72 Fig. shows the Nyquist plot of the open-loop transfer function G (s) H (s) of a
system. If G (s) H (s) has one right-hand pole, the closed-loop system is
Q. 74 The signal flow graph of a system is shown in Fig. below. The transfer function
C (s)/ R (s) of the system is
mywbut.com
GATE SOLVED PAPER - EC CONTROL SYSTEM
(A) 6 (B) 6s
s2 + 29s + 6 s2 + 29s + 6
s (s + 2) s (s + 27)
(C) 2
(D) 2
s + 29s + 6 s + 29s + 6
Q. 75 The root locus of system G (s) H (s) = K has the break-away point
s (s + 2)( s + 3)
located at
(A) (- 0.5, 0) (B) (- 2.548, 0)
(C) (- 4, 0) (D) (- 0.784, 0)
(s + 0.1) 3 (s + 0.1) 3
(A) 108 (B) 10 7
(s + 10) 2 (s + 100) (s + 10)( s + 100)
2
(s + 0.1) (s + 0.1) 3
(C) (D)
(s + 10) 2 (s + 100) (s + 10)( s + 100) 2
Q. 77 A second-order system has the transfer function
C (s)
= 2 4
R (s) s + 4s + 4
With r (t) as the unit-step function, the response c (t) of the system is
represented by
Q. 78 The gain margin and the phase margin of feedback system with
G (s) H (s) = 8 are
(s + 100) 3
mywbut.com
GATE SOLVED PAPER - EC CONTROL SYSTEM
tet et
(A) = G (B) = G
t t
et t
(C) = t G (D) = t G
te te
Q. 82 The phase margin of a system with the open - loop transfer function
(1 - s)
G (s) H (s) =
(1 + s)( 2 + s)
(A) 0c (B) 63.4c
(C) 90c (D) 3
Q. 83 The transfer function Y (s)/ U (s) of system described by the state equation
xo (t) =- 2x (t) + 2u (t) and y (t) = 0.5x (t) is
(A) 0.5 (B) 1
(s - 2) (s - 2)
(C) 0.5 (D) 1
(s + 2) (s + 2)
mywbut.com
GATE SOLVED PAPER - EC CONTROL SYSTEM
Q. 87 The system with the open loop transfer function G (s) H (s) = 1 has a
2
gain margin of s (s + s + 1)
(A) - 6 db (B) 0 db
(C) 35 db (D) 6 db
Q. 88 The Nyquist plot for the open-loop transfer function G (s) of a unity negative
feedback system is shown in the figure, if G (s) has no pole in the right-half of s -
plane, the number of roots of the system characteristic equation in the right-half
of s -plane is
(A) 0 (B) 1
(C) 2 (D) 3
Q. 90 The root-locus diagram for a closed-loop feedback system is shown in the figure.
The system is overdamped.
mywbut.com
GATE SOLVED PAPER - EC CONTROL SYSTEM
Q. 92 An electrical system and its signal-flow graph representations are shown the
figure (A) and (B) respectively. The values of G2 and H , respectively are
Q. 95 An amplifier with resistive negative feedback has tow left half plane poles in its
open-loop transfer function. The amplifier
(A) will always be unstable at high frequency
(B) will be stable for all frequency
(C) may be unstable, depending on the feedback factor
(D) will oscillate at low frequency.
mywbut.com
GATE SOLVED PAPER - EC CONTROL SYSTEM
Q. 98 The gain margin (in dB) of a system a having the loop transfer function
G (s) H (s) = 2 is
s (s + 1)
(A) 0 (B) 3
(C) 6 (D) 3
Q. 100 The phase margin (in degrees) of a system having the loop transfer function
G (s) H (s) = 2 3 is
s (s + 1)
(A) 45c (B) - 30c
(C) 60c (D) 30c
Q. 102 If the closed - loop transfer function T (s) of a unity negative feedback system is
given by
T (s) = n an - 1 s + an
s + a1 sn - 1 + .... + an - 1 s + an
then the steady state error for a unit ramp input is
mywbut.com
GATE SOLVED PAPER - EC CONTROL SYSTEM
(A) an (B) an
an - 1 an - 2
(C) an - 2 (D) zero
an
Q. 103 Consider the points s1 =- 3 + j4 and s2 =- 3 - j2 in the s-plane. Then, for a
system with the open-loop transfer function
G (s) H (s) = K 4
(s + 1)
(A) s1 is on the root locus, but not s2
(B) s2 is on the root locus, but not s1
(C) both s1 and s2 are on the root locus
(D) neither s1 nor s2 is on the root locus
Q. 105 The number of roots of s3 + 5s2 + 7s + 3 = 0 in the left half of the s -plane is
(A) zero (B) one
(C) two (D) three
Q. 107 Consider a unity feedback control system with open-loop transfer function
G (s) = K .
s (s + 1)
The steady state error of the system due to unit step input is
(A) zero (B) K
(C) 1/K (D) infinite
Q. 109 In the Bode-plot of a unity feedback control system, the value of phase of G (jw)
at the gain cross over frequency is - 125c. The phase margin of the system is
(A) - 125c (B) - 55c
(C) 55c (D) 125c
mywbut.com
GATE SOLVED PAPER - EC CONTROL SYSTEM
Q. 111 The transfer function of a phase lead controller is 1 + 3Ts . The maximum value
1 + Ts
of phase provided by this controller is
(A) 90c (B) 60c
(C) 45c (D) 30c
Q. 112 The Nyquist plot of a phase transfer function g (jw) H (jw) of a system encloses the
(–1, 0) point. The gain margin of the system is
(A) less than zero (B) zero
(C) greater than zero (D) infinity
2
Q. 113 The transfer function of a system is 2s + 26s + 5 . The characteristic equation
(s + 1) (s + 2)
of the system is
(A) 2s2 + 6s + 5 = 0 (B) (s + 1) 2 (s + 2) = 0
(C) 2s2 + 6s + 5 + (s + 1) 2 (s + 2) = 0 (D) 2s2 + 6s + 5 - (s + 1) 2 (s + 2) = 0
Q. 114 In a synchro error detector, the output voltage is proportional to [w (t)] n, where w (t)
is the rotor velocity and n equals
(A) –2 (B) –1
(C) 1 (D) 2
(A) 3 (B) 5
2
(C) 2 (D) None of the above
Q. 116 A certain linear time invariant system has the state and the output equations
given below
Xo1 1 - 1 X1 0
> o H = >0 1 H>X H + >1H u
X2 2
dy
y = 81 1B: X1 D, If X1 (0) = 1, X2 (0) =- 1, u (0) = 0, then is
X2 dt t=0
(A) 1 (B) –1
(C) 0 (D) None of the above
***********
mywbut.com
GATE SOLVED PAPER - EC CONTROL SYSTEM
SOLUTIONS
or, k = 10 = 39.8
20
mywbut.com
GATE SOLVED PAPER - EC CONTROL SYSTEM
= 5 + 6s1 + 2s2
From Mason’s gain formulae
Y ^s h s-2 + s-1
= SPk Dk = = 2s+1
U ^s h D 5 + 6s-1 + 2s-2 5s + 6s + 2
Sol. 3 Option (A) is correct.
For the shown state diagram we can denote the states x1 , x2 as below
x1
and y = 81 - 1B > H + u
x2
which can be written in more general form as
-1 0 -1
Xo = >
1 - 1H
X +> H
1
y = 81 - 1B X + u
Sol. 4 Option (A) is correct.
From the obtained state-variable equations
We have
-1 0
A =>
1 - 1H
S+1 0
SI - A = >
- 1 S + 1H
So,
1 >S + 1 0 H
and ^SI - Ah-1 =
^S + 1h2 1 S + 1
R 1 V
S 0 W
S+1
=S 1 1 W
W
S
S^S + 1h2 S + 1W
T X
Hence, the state transition matrix is obtained as
eAt = L-1 ^SI - Ah-1
ZR 1 V_
]]S 0 Wbb -1
= L-1 [S 1
S+1 W` = >e 0
H
S 1 W te e-t
-t
]S^S + 1h2 S + 1Wb
\T Xa
mywbut.com
GATE SOLVED PAPER - EC CONTROL SYSTEM
Comparing with standard form of transfer function, Ae-t/t , we get the open
loop time constant,
tol = 10
Now, we obtain the closed loop transfer function for the given system as
G ^s h
H ^s h = = 10Ka = Ka
1 + G ^s h 1 + 10s + 10Ka s + ^Ka + 101 h
Taking inverse Laplace transform, we get
h ^ t h = ka .e-^k + ht
1
a 10
K (s + 1) K (s + 1)
Y (s) ;1 + 3 2 E = 3 R (s)
s + as + 2s + 1 s + as2 + 2s + 1
Y (s) [s3 + as2 + s (2 + k) + (1 + k)] = K (s + 1) R (s)
Y (s) K (s + 1)
Transfer Function, H (s) = = 3
R (s) s + as + s (2 + k) + (1 + k)
2
Routh Table :
mywbut.com
GATE SOLVED PAPER - EC CONTROL SYSTEM
a (2 + K) - (1 + K)
For oscillation, =0
a
a = K+1
K+2
Auxiliary equation A (s) = as2 + (k + 1) = 0
s2 =- k + 1 = - k + 1 (k + 2) =- (k + 2)
a (k + 1)
s = j k+2
jw = j k + 2
w = k+2 = 2 (Oscillation frequency)
k =2
and a = 2 + 1 = 3 = 0.75
2+2 4
Sol. 8 Option (D) is correct.
General form of state equations are given as
xo = Ax + Bu
yo = Cx + Du
For the given problem
R 0 a 0V R0V
S 1 W S W
A = S 0 0 a2W, B = S0W
SSa 0 0WW SS1WW
3
RT 0 a 0VXR0V R 0VT X
S 1 WS W S W
AB = S 0 0 a2WS0W = Sa2W
SSa 0 0WWSS1WW SS 0WW
3
RT 0 0XT aX1 a2VWTRS0XVW RSa1 a2VW
S
A2 B = Sa2 a 3 0 0WS0W = S 0W
SS 0 a a 0WWSS1WW SS 0WW
3 1
T XT X T X
For controllability it is necessary that following matrix has a tank of n = 3 .
R0 0 a a V
S 1 2W
U = 6B : AB : A2 B@ = S0 a2 0W
SS1 0 0WW
So, a2 ! 0 T X
a1 a 2 ! 0 & a1 ! 0 a 3 may be zero or not.
Sol. 9 Option (B) is correct.
For given plot root locus exists from - 3 to 3, So there must be odd number of
poles and zeros. There is a double pole at s =- 3
Now poles = 0, - 2, - 3, - 3
zeros =- 1
k (s + 1)
Thus transfer function G (s) H (s) =
s (s + 2) (s + 3) 2
Sol. 10 Option (A) is correct.
We have G (jw) = 5 + jw
Here s = 5 . Thus G (jw) is a straight line parallel to jw axis.
Sol. 11 Option (B) is correct.
dy
Here x = y1 and xo = 1
dx
mywbut.com
GATE SOLVED PAPER - EC CONTROL SYSTEM
y1 x 1
y = > H = > H = > Hx
y2 2x 2
Now y1 = 1 u
s+2
y1 (s + 2) =u
yo1 + 2y1 =u
xo + 2x
=u
=- 2x + u
xo
x = [- 2] x + [1] u
o
Drawing SFG as shown below
mywbut.com
GATE SOLVED PAPER - EC CONTROL SYSTEM
1 = 2 , (w = 2 rad/ sec)
p 4+p2
or 4p 2 = 4 + p 2 & 3p 2 = 4
or p = 2/ 3
Alternative :
qh = 9- p - a- p kC = p
3 2 6
mywbut.com
GATE SOLVED PAPER - EC CONTROL SYSTEM
So, p = p - tan-1 a w k
6 2 p
tan-1 a w k =p-p =p
p 2 6 3
w = tan a p k = 3
p 3
2 = 3, (w = 2 rad/ sec)
p
or p = 2/ 3
Sol. 16 Option (A) is correct.
Initial slope is zero, so K = 1
At corner frequency w 1 = 0.5 rad/ sec , slope increases by + 20 dB/decade, so
there is a zero in the transfer function at w 1
At corner frequency w 2 = 10 rad/ sec , slope decreases by - 20 dB/decade and
becomes zero, so there is a pole in transfer function at w 2
K a1 + s k
w1
Transfer function H (s) =
s
a1 + w 2 k
1 a1 + s k (1 + 10s)
0.1
= =
s (1 + 0.1s)
a1 + 0.1 k
Sol. 17 Option (D) is correct.
Assign output of each integrator by a state variable
xo1 =- x1 + x2
xo2 =- x1 + 2u
y = 0.5x1 + 0.5x2
State variable representation
-1 1 0
xo = > H x + > Hu
-1 0 2
yo = [0.5 0.5] x
Sol. 18 Option (C) is correct.
By masson’s gain formula
Transfer function
H (s) =
Y (s)
=
/ PK DK
U (s) D
mywbut.com
GATE SOLVED PAPER - EC CONTROL SYSTEM
mywbut.com
GATE SOLVED PAPER - EC CONTROL SYSTEM
mywbut.com
GATE SOLVED PAPER - EC CONTROL SYSTEM
mywbut.com
GATE SOLVED PAPER - EC CONTROL SYSTEM
or s5 + 2s 4 + 3s3 + 6s2 + 5s + 3 = 0
Substituting s = z1 we have
3z 5 + 5z 4 + 6z 3 + 3z 2 + 2 z + 1 = 0
The routh table is shown below. As there are two sign change in first column,
there are two RHS poles.
z5 3 6 2
4 5 3 1
z
z3 21
5
7
5
z2 4
3 3
z1 - 74
z0 1
(sC2 R2 + 1)
For Q , Z =
sC2
Vo (sC2 R2 + 1) (sC1 R1 + 1)
=- # PID Controller
Vi sC2 R1
For R, Z = R 2
(sC2 R2 + 1)
Vo R2 (sC1 R1 + 1)
=- #
Vi (sC2 R2 + 1) R1
Since R2 C2 > R1 C1, it is lag compensator.
mywbut.com
GATE SOLVED PAPER - EC CONTROL SYSTEM
the s -plane. In given system as there is right half zero (s = 5), the system is a
non-minimum phase system.
(Kp + KD s) 100
or 1000 = lim s = Kp
s"0 s (s + 100)
Now characteristics equations is
1 + G (s) H (s) = 0
(Kp + KD s) 100
1000 = lims " 0 s = Kp
s (s + 100)
Now characteristics equation is
1 + G (s) H (s) = 0
(100 + KD s) 100
or 1+ =0 Kp = 100
s (s + 10)
or s2 + (10 + 100KD) s + 10 4 = 0
Comparing with s2 + 2xwn + wn2 = 0 we get
2xwn = 10 + 100KD
or KD = 0.9
Sol. 36 Option (D) is correct.
We have T (s) = 5
(s + 5)( s2 + s + 1)
= 5 = 2 1
5`1 + s j (s2 + s + 1) s +s+1
5
In given transfer function denominator is (s + 5)[( s + 0.5) 2 + 43 ]. We can see
3
easily that pole at s =- 0.5 ! j 2 is dominant then pole at s =- 5 . Thus we
have approximated it.
Sol. 37 Option (A) is correct.
G (s) = 1 = 1
s2 - 1 (s + 1)( s - 1)
The lead compensator C (s) should first stabilize the plant i.e. remove 1
(s - 1)
term. From only options (A), C (s) can remove this term
1 10 (s - 1)
Thus G (s) C (s) = #
(s + 1)( s - 1) (s + 2)
= 10 Only option (A) satisfies.
(s + 1)( s + 2)
Sol. 38 Option (D) is correct.
For ufb system the characteristics equation is
1 + G (s) = 0
or 1+ K =0
s (s2 + 7s + 12)
or s (s2 + 7s + 12) + K = 0
Point s =- 1 + j lie on root locus if it satisfy above equation i.e
(- 1 + j)[( - 1 + j) 2 + 7 (- 1 + j) + 12) + K] = 0
mywbut.com
GATE SOLVED PAPER - EC CONTROL SYSTEM
or K =+ 10
Sol. 39 Option (D) is correct.
At every corner frequency there is change of -20 db/decade in slope which indicate
pole at every corner frequency. Thus
G (s) = K
s (1 + s)`1 + s j
20
Bode plot is in (1 + sT) form
20 log K = 60 dB = 1000
w w = 0. 1
Thus K =5
Hence G (s) = 100
s (s + 1)( 1 + .05s)
Sol. 40 Option (A) is correct.
dw
-1 1 w 0
> di H = =- 1 - 10G=in G + =10Gu
dt
We have a
dt
or dw =- w + i ...(1)
n
dt
and dia =- w - 10i + 10u ...(2)
a
dt
Taking Laplace transform (i) we get
sw (s) =- w (s) = Ia (s)
or (s + 1) w (s) = Ia (s) ...(3)
Taking Laplace transform (ii) we get
sIa (s) =- w (s) - 10Ia (s) + 10U (s)
or w (s) = (- 10 - s) Ia (s) + 10U (s)
= (- 10 - s)( s + 1) w (s) + 10U (s) From (3)
or w (s) =- [s2 + 11s + 10] w (s) + 10U (s)
or (s2 + 11s + 11) w (s) = 10U (s)
w (s)
or = 2 10
U (s) (s + 11s + 11)
Sol. 41 Option (A) is correct.
We have xo (t) = Ax (t)
p q
A ==
r sG
Let
1 e-2t
For initial state vector x (0) = = G the system response is x (t) = > H
-2 - 2e-2t
d
e-2t p q 1
> d (- 2e-2t)H ==
r s G=- 2G
dt
Thus
dt
t=0
- 2e-2 (0) p q 1
or > 4e-2 (0) H = =r s G=- 2G
-2 p - 2q
= 4 G = = r - 2s G
mywbut.com
GATE SOLVED PAPER - EC CONTROL SYSTEM
1 e-t
For initial state vector x (0) = = G the system response is x (t) = > -tH
-1 -e
d
e-t p q 1
> d (- e-t)H ==
r s G=- 1G
dt
Thus
dt
t=0
- (0)
-e p q 1
> e- (0) H = =r s G=- 1G
-1 p-q
= 1 G = =r - s G
or - x11 - x21 = 0
or x11 + x21 = 0
We have only one independent equation x11 =- x21 .
Let x11 = K , then x21 =- K , the Eigen vector will be
x11 K 1
=x G = =- K G = K =- 1G
21
or - x11 - x21 = 0
or x11 + x21 = 0
We have only one independent equation x11 =- x21 .
Let x11 = K, then x21 =- K , the Eigen vector will be
x12 K 1
=x G = =- 2K G = K =- 2G
22
mywbut.com
GATE SOLVED PAPER - EC CONTROL SYSTEM
s3 + as2 + (2 + K) s + K + 1 = 0
The Routh Table is shown below. For system to be oscillatory stable
a (2 + K) - (K + 1)
=0
a
or a = K+1 ...(1)
K+2
Then we have
as2 + K + 1 = 0
At 2 rad/sec we have
s = jw " s2 =- w2 =- 4 ,
Thus - 4a + K + 1 = 0 ...(2)
Solving (i) and (ii) we get K = 2 and a = 0.75 .
s3 1 2+K
s 2
a 1+K
(1 + K) a - (1 + K)
s1 a
s0 1+K
mywbut.com
GATE SOLVED PAPER - EC CONTROL SYSTEM
H
2
s2 + 1
(sI - A) -1 = -1 s
s2 + 1 1 s 2
s +1 s2 + 1
cos t sin t
f (t) = eAt = L-1 [(sI - A)] -1 = =
- sin t cos t G
Sol. 49 Option (C) is correct.
We have G (s) = as + 2
1
s
+G (jw) = tan-1 (wa) - p
Since PM is p i.e. 45c, thus
4
p = p + +G (jw ) w " Gain cross over Frequency
g g
4
or p = p + tan-1 (w a) - p
g
4
or p = tan-1 (w a)
g
4
or awg = 1
At gain crossover frequency G (jwg) = 1
1 + a2 wg2
Thus =1
wg2
or 1 + 1 = wg2 (as awg = 1)
1
or wg = (2) 4
T (jw) = 1 + w2 T2
1 + w2 b2 T2
mywbut.com
GATE SOLVED PAPER - EC CONTROL SYSTEM
R (s) 1
= lim s = lim
s"0 1 + G (s) s " 0 s + sG (s)
or ess = lim 1 = 5% = 1 Finite
s " 0 sG (s) 20
But kv = 1 = lim sG (s) = 20
ess s"0
mywbut.com
GATE SOLVED PAPER - EC CONTROL SYSTEM
2
or K = s + 3s
1-s
For break away & break in point
dK = (1 - s)( 2s + 3) + s2 + 3s = 0
ds
or - s2 + 2s + 3 = 0
which gives s = 3 , - 1
Here - 1 must be the break away point and 3 must be the break in point.
Sol. 59 Option (D) is correct.
-2s
G (s) = 3e
s (s + 2)
-2jw
or G (jw) = 3e
jw (jw + 2)
G (jw) = 3
w w2 + 4
Let at frequency wg the gain is 1. Thus
3 =1
wg (wg2 + 4)
or wg4 + 4wg2 - 9 = 0
or wg2 = 1.606
or wg = 1.26 rad/sec
Now +G (jw) =- 2w - p - tan-1 w
2 2
Let at frequency wf we have +GH =- 180c
w
- p =- 2wf - p - tan-1 f
2 2
w
or 2wf + tan-1 f = p
2 2
w w 3
or 2wf + c f - 1 ` f j m = p
2 3 2 2
5wf wf3
or - =p
2 24 2
5wf
.p
2 2
or wf = 0.63 rad
Sol. 60 Option (D) is correct.
The gain at phase crossover frequency wf is
G (jwg) = 3 = 3
wf (wf2 + 4)
1
0.63 (0.632 + 4) 2
or G (jwg) = 2.27
G.M. =- 20 log G (jwg)
- 20 log 2.26 =- 7.08 dB
Since G.M. is negative system is unstable.
The phase at gain cross over frequency is
w
+G (jwg) =- 2wg - p - tan-1 g
2 2
mywbut.com
GATE SOLVED PAPER - EC CONTROL SYSTEM
G (jw) H (jw) = 2 1 + w2 = 3
2
w
Thus gain margin is = 1 = 0 and in dB this is - 3 .
3
Sol. 62 Option (C) is correct.
Centroid is the point where all asymptotes intersects.
SReal of Open Loop Pole - SReal Part of Open Loop Pole
s =
SNo.of Open Loop Pole - SNo.of Open Loop zero
= - 1 - 3 =- 1.33
3
Sol. 63 Option (C) is correct.
The given bode plot is shown below
mywbut.com
GATE SOLVED PAPER - EC CONTROL SYSTEM
Characteristic equation is
mywbut.com
GATE SOLVED PAPER - EC CONTROL SYSTEM
[lI - A] = 0
l + 2 -2
or =0
-1 l + 3
or (l + 2)( l + 3) - 2 = 0
or l2 + 5l + 4 = 0
Thus l1 =- 4 and l2 =- 1
Eigen values are - 4 and - 1.
Eigen vectors for l1 =- 4
(l1 I - A) X1 = 0
l1 + 2 - 2 x11
or = 1 l + 3G=x G = 0
1 21
- 2 - 2 x11
=- 1 - 1G=x G = 0
21
or - 2x11 - 2x21 = 0
or x11 + x21 = 0
We have only one independent equation x11 =- x21.
Let x21 = K , then x11 =- K , the Eigen vector will be
x11 -K -1
=x G = = K G = K = 1 G
21
Digonalizing matrix
x11 x12 -1 2
M ==
x21 x22 G = 1 1G
=
1 -2
M-1 = ` - 1 j=
1 - 1G
Now
3 -
Now Diagonal matrix of sin At is D where
sin (l1 t) 0 sin (- 4t) 0
D == G ==
0 sin (l2 t) 0 sin (l2 t)G
Now matrix B = sin At = MDM-1
- 1 2 sin (- 4t) 0 1 -2
=-` 1 j= G=
3 1 1 0 sin (- t) - 1 - 1G
G=
- sin (- 4t) - 2 sin (- t) 2 sin (- 4t) - 2 sin (- t)
=-` 1 j=
3 sin (- 4t) + 2 sin (t) - 2 sin (- 4t) - sin (- t)G
- sin (- 4t) - 2 sin (- t) 2 sin (- 4t) - 2 sin (- t)
=-` 1 j=
3 sin (- 4t) - sin (- t) - 2 sin (- 4t) + 2 sin (- t)G
mywbut.com
GATE SOLVED PAPER - EC CONTROL SYSTEM
s4 1 5 K
s3 4 6 0
2 7
s 2 K
21 - 4K
s1 7/2
0
0
s K
sign change in first column. Hence system has 2 root on RHS of plane.
s5 1 2 3
s4 1 2 15
s3 e - 12 0
2e + 12
s2 e 15 0
s1
2
-15e - 24e - 144
2e + 12
s0 0
mywbut.com
GATE SOLVED PAPER - EC CONTROL SYSTEM
s (s + 27)
= 2
s + 29s + 6
Sol. 75 Option (D) is correct.
We have
mywbut.com
GATE SOLVED PAPER - EC CONTROL SYSTEM
1 + G (s) H (s) = 0
or 1+ K =0
s (s + 2)( s + 3)
or K =- s (s2 + 5s2 + 6s)
dK =- (3s2 + 10s + 6) = 0
ds
which gives s = - 10 ! 100 - 72 =- 0.784, - 2.548
6
The location of poles on s - plane is
mywbut.com
GATE SOLVED PAPER - EC CONTROL SYSTEM
xo1 1 0 x1 x1 (0) 1
=xo G = =1 G=
1 x2 G and =
x2 (0)G == G
0
2
1 0
A ==
1 1G
s 0 1 0 s-1 0
(sI - A) = = G -= G= =
0 s 1 1 - 1 s - 1G
1 >(s - 1)
1
0 0
H > H
s-1
(sI - A) -1 = = +1
(s - 1) 2 + 1 (s - 1)
1
(s - 1) 2 s-1
et 0
L-1 [(sI - A) -1] = eAt = = t t G
te e
et 0 1 et
x (t) = eAt # [x (t0)] = = t t G= G = = t G
te e 0 te
Sol. 80 Option (C) is correct.
The characteristics equation is
ks2 + s + 6 = 0
or s2 + 1 s + 6 = 0
K K
Comparing with s2 + 2xwn s + wn2 = 0 we have
we get 2xwn = 1 and wn2 = 6
K K
or 2 # 0.5 # 6 Kw = 1 Given x = 0.5
K
or 6 = 2 & K =1
1
K K 6
Sol. 81 Option (B) is correct.
Any point on real axis lies on the root locus if total number of poles and zeros
to the right of that point is odd. Here s =- 1.5 does not lie on real axis because
there are total two poles and zeros (0 and - 1) to the right of s =- 1.5 .
Sol. 82 Option (D) is correct.
From the expression of OLTF it may be easily see that the maximum magnitude
is 0.5 and does not become 1 at any frequency. Thus gain cross over frequency
does not exist. When gain cross over frequency does not exist, the phase margin
is infinite.
Sol. 83 Option (D) is correct.
We have xo (t) =- 2x (t) + 2u (t) ...(i)
Taking Laplace transform we get
sX (s) =- 2X (s) + 2U (s)
or (s + 2) X (s) = 2U (s)
2U (s)
or X (s) =
(s + 2)
Now y (t) = 0.5x (t)
Y (s) = 0.5X (s)
0.5 # 2U (s)
or Y (s) =
s+2
Y (s) 1
or =
U (s) (s + 2)
mywbut.com
GATE SOLVED PAPER - EC CONTROL SYSTEM
s5 2 4 2
s4 1 2 1
s3 0 0 0
s2
s1
s0
mywbut.com
GATE SOLVED PAPER - EC CONTROL SYSTEM
wf = 1 rad/sec
The gain margin at this frequency wf = 1 is
GM =- 20 log10 G (jwf) H (jwf)
= 20 log10 (wf (1 - w2f) 2 + w2f =- 20 log 1 = 0
Sol. 88 Option (A) is correct.
Z = P-N
N " Net encirclement of (- 1 + j0) by Nyquist plot,
P " Number of open loop poles in right had side of s - plane
Z " Number of closed loop poles in right hand side of s - plane
Here N = 0 (1 encirclement in CW direction and other in CCW)
and P = 0
Thus Z = 0
Hence there are no roots on RH of s - plane.
Sol. 89 Option (D) is correct.
Take off point is moved after G2 as shown below
mywbut.com
GATE SOLVED PAPER - EC CONTROL SYSTEM
mywbut.com
GATE SOLVED PAPER - EC CONTROL SYSTEM
s2 1+k 4 + 4k
s1 4 - 4k 0
s0 4 + 4k
s3 1 K
s2 a 3
aK - 3
s1 a 0
s0 3
G (jw) H (jw) = 2
jw (jw + 1)
Phase cross over frequency can be calculated as
f (w) at w = w =- 180c
p
mywbut.com
GATE SOLVED PAPER - EC CONTROL SYSTEM
Gain margin
20 log 10 = 1
G (jw) H (jw) G
at w = wp
G.M. = 20 log 10 e 1
G (jw) H (jwp) o
G (jwp) H (jwp) = 2 =0
wp w2p + 1
so G.M. = 20 log 10 b 1 l = 3
0
Sol. 99 Option (A) is correct.
0 1 0
Here A == G, B = = G and C = [1 1]
2 -3 1
The controllability matrix is
0 1
QC = [B AB ] = =
1 - 3G
det QC ! 0 Thus controllable
The observability matrix is
1 2
Q0 = [CT AT CT ] = =
1 - 2G
!0
or G (jw) H (jw) = 2 3
jw (jw + 1)
Gain cross over frequency
G (jw) H (jw) at w = w = 1
g
or 2 3 =1
w w2 + 1
12 = w2 (w2 + 1)
w4 + w2 - 12 = 0
(w2 + 4) (w2 - 3) = 0
w2 = 3 and w2 =- 4
which gives w1, w2 = ! 3
wg = 3
f (w) at w = w =- 90 - tan-1 (wg)
g
=- 90 - tan-1 3
=- 90 - 60 =- 150
Phase margin = 180 + f (w) at w = w
g
mywbut.com
GATE SOLVED PAPER - EC CONTROL SYSTEM
an - 1 s + an
n n-1
= s + a 1s + ...an - 2 s2
a n - 1 s + an
1+ n
s + a1 sn - 1 + ...an - 2 s2
= an - 2
an
Sol. 103 Option (B) is correct.
Sol. 104 Option (A) is correct.
Sol. 105 Option (A) is correct.
Applying Routh’s criteria
s3 + 5s2 + 7s + 3 = 0
s3 1 7
s2 5 3
7#5-3
s 1
5 = 32
5 0
s0 3
There is no sign change in the first column. Thus there is no root lying in the
left-half plane.
Sol. 106 Option (A) is correct.
Techometer acts like a differentiator so its transfer function is of the form ks .
Sol. 107 Option (A) is correct.
Open loop transfer function is
G (s) = K
s (s + 1)
Steady state error
sR (s)
E (s) = lim
s " 0 1 + G (s) H (s)
mywbut.com
GATE SOLVED PAPER - EC CONTROL SYSTEM
s1 s (s + 1)
so E (s) = lim s = lim 2 =0
s"0
1+ K s"0 s + s + K
s (s + 1)
Sol. 108 Option (B) is correct.
Fig given below shows a unit impulse input given to a zero-order hold circuit
which holds the input signal for a duration T & therefore, the output is a unit
step function till duration T .
h (t) = u (t) - u (t - T)
Taking Laplace transform we have
H (s) = 1 - 1 e-sT = 1 61 - e-sT @
s s s
Sol. 109 Option (C) is correct.
Phase margin = 180c + qg where qg = value of phase at gain crossover
frequency.
Here qg =- 125c
so P.M = 180c - 125c = 55c
Sol. 110 Option (B) is correct.
Open loop transfer function is given by
K (1 + 0.5s)
G (s) H (s) =
s (1 + s) (1 + 2s)
Close looped system is of type 1.
It must be noted that type of the system is defined as no. of poles lies at origin
lying
in OLTF.
Sol. 111 Option (D) is correct.
Transfer function of the phase lead controller is
1 + (3Tw) j
T.F = 1 + 3Ts =
1+s 1 + (Tw) j
Phase is
f (w) = tan-1 (3Tw) - tan-1 (Tw)
f (w) = tan-1 ; 3Tw - T w
2 2E
1 + 3T w
f (w) = tan ; 2Tw2 2 E
-1
1 + 3T w
For maximum value of phase
df (w)
=0
dw
or 1 = 3T 2 w2
Tw = 1
3
mywbut.com
GATE SOLVED PAPER - EC CONTROL SYSTEM
So maximum phase is
fmax = tan-1 ; 2Tw2 2 E at Tw = 1
1 + 3T w 3
1
2 3 1 = 30c
= tan-1 > H = tan ;
3E
-1
1 + 3 # 13
Sol. 112 Option (A) is correct.
G (jw) H (jw) enclose the (- 1, 0) point so here G (jwp) H (jwp) > 1
wp = Phase cross over frequency
Gain Margin = 20 log 10 1
G (jwp) H (jwp)
so gain margin will be less than zero.
Sol. 113 Option (B) is correct.
The denominator of Transfer function is called the characteristic equation of the
system. so here characteristic equation is
(s + 1) 2 (s + 2) = 0
Sol. 114 Option (C) is correct.
In synchro error detector, output voltage is proportional to [w (t)], where w (t) is
the rotor velocity so here n = 1
Sol. 115 Option (C) is correct.
By masson’s gain formulae
y
=
/ Dk Pk
x D
Forward path gain P1 = 5 # 2 # 1 = 10
D = 1 - (2 # - 2) = 1 + 4 = 5
D1 = 1
y
so gain = 10 # 1 = 2
x 5
Sol. 116 Option (C) is correct.
By given matrix equations we can have
Xo1 = dx1 = x1 - x2 + 0
dt
Xo2 = dx2 = 0 + x2 + m
dt
x1
y = [1 1] > H = x1 + x2
x2
dy
= dx1 + dx2
dt dt dt
dy
= x1 + m
dt
dy
= x1 (0) + m (0)
dt t = 0
= 1+0 = 0
***********
mywbut.com