Control Systems Test 5

Number of Questions: 25 Time: 60 min.

Directions for questions 1 to 23: Select the correct alterna- 0 2

tive from the given choices. vector and A is given by A =   . Then the
 −1 −3
1. The transfer functions of two compensations are given system is a
k1 (0.1s + 1) k 2 (0.2 s + 1) (A) under damped system
below Gc1 = and Gc2 =
(0.5s + 1) (0.1s + 1) (B) over damped system
(C) critically damped
Which one of the following statements is correct?
(D) undamped system
(A) Gc1 is lead compensator and Gc2 is a lag
compensator 8. The transfer function G(s) of a PID controller is
(B) Gc1 is lag compensator and Gc2 is lead compensator  1 
(A) kp 1 + Ti s +  (B) k [1 + TiS + T2S]
(C) Both Gc1 and Gc2 are high pass networks  kD s 
(D) Both Gc1 and Gc2 are low pass networks
 1 
2. The following relation involving state transition matrix (C) kp 1 + + Td s  (D) A and C
f(t) is True?  Ti s 
(A) f(kt) = f-k(t) 9. Which one of the following statements is correct?
(B) f (t1 – t2) = f (t1 – t0).f(t0 – t2) A plant is controlled by a proportional controller.
(C) f (t) = I If in that plant a time delay element is introduced in
(D) f(t) = e-At the loop, its
3. What is represented by state transition matrix of a (A) phase margin decrease
system? (B) gain margin increases
(A) Impulse response (B) Zero state response (C) P.M increases
(C) Forced response (D) Step response (D) G.M remain same
4. A first order system with a proportional (p) controller 10. Which of the following are the effects of PI controller?
in the negative feed back loop has an off set to a step (i) Steady state error improves
input. This off set can be eliminated by (ii) Reduces high frequency noise
(A) adding an integral mode to the controller (iii) Rise time decreases
(B) adding a derivative mode to the controller (iv) Damping factor increases
(C) decreasing the magnitude of the gain of the (v) Stability increases
p – controller (A) i and ii only (B) ii and iii and v only
(D) increase the stability (C) i, ii and iv (D) i, ii, iv and v only
5. The state space representation of a system is given by 11. A feed back system is represented by a signal flow
T
−1 0  1  1 graph shown in figure
x (t) = 
•

 x + 0  u and y = 1 x.
 0 −3
–1
  
Then the transfer function of the system is
–1
1 s +1 1/s
(A) (B) 2 µ(s) 1 1/s x1 1
s+3 s + 4s + 3 C(s)
–
s 1
(C) (D)
s + 4s + 3
2
s +1
• 1 2  0  –2
6. Let X =   x+  u
b 0  1 
The state model of signal flow graph is
Where b is unknown constant. This system is ____
(A) ẋ1(t) = –x1 + x2
(A) uncontrollable for all values of b
ẋ 2(t) = –x1 – x2 + m(s)
(B) controllable for ‘b’ = 1
(B) ẋ 1(t) = x1 – 2x2
(C) controllable for all values of ‘b’
ẋ 2(t) = –2x1 – x2 + m(s)
(D) uncontrollable for b = ‘0’
(C) ẋ 1(t) = –x1 + x2
7. A state variable description of a linear system is ẋ 2(t) = x1 – 2x2 + m(s)
i
X (t ) = Ax(t), where x(t) is the two dimensional state (D) None of these
3.112 | Control Systems Test 5

12. Consider the electrical network shown in figure 2( s − 2) 3( s − 4)

(C) (D)
L ( s − 1) s +1
17. A particular control system is described by the follow-
ing state equations
+ 0 1 0 
X = 
•

 X + 1  m and y =  k 0  x
C
I V0 −3 −2
R    
The transfer function of this system is
–
y ( s) k y ( s) k
(A) = 2 (B) = 2
m( s) s + 2s + 3 m( s) s + 3s + 2
The state equation matrix A by considering Vc and iL are y ( s) 1
state variables is (C) = 2 (D) None of these
m( s) s +s+5
 0 −1/ C 
0 C  18. The closed loop transfer function of a system is
(A)  1  (B)  
 −R / L   L −R / L
1
L  , the state model matrices are
( s + 1)( s + 2)
0 C   0 1/ L 
(C)   (D)   −1 0  1
 L − L / R  1/ C − R / L  (A) A =   , B =   , C = −
 1 1 , D = [1]
 0 −2  1
13. A system is described by the following equations
ẋ 1(t) = x2(t) ẋ 2(t) = –x1(t) – 2x2(t) + u(t) and output  −1 0  1
y(t) = x1(t) + x2(t). The steady state error due to step
(B) A = 
0 − 2  , B = 1 , C = 1 −1 , D = [0]
  
input is
1 0  1 
(A) 0 (B) ∞ (C) A =   , B =   , C = 1 1 , D = [1]
1 −1 0 2  0 
(C) (D)
2 3 1 2  0  1
(D) A =   , B =   , C =   , D = [0]
14. A state space representation of a system is given by 0 1  1   −1
•  0 1 1  19. The maximum phase shift that can be provided by a
X = 
−2 0  x, y = −
 1 2  x, and x(0) =   . The k (1 + 2 s)
  0  compensator with transter function Gc(s) = is
output of this system is (1 + 6 s)
(A) cos 2 t + sin 2 t (A) 60° (B) –60°
(C) 45° (D) –30°
(B) − cos 2 t − 2 2 sin 2 t
20. A system has the transfer function
(C) cos 2 t + 2 2 sin 2 t 0.2(0.2 s + 1)
Gc(s) =
(D) cost + 2 2 t (0.5s + 1)

15. In the following state equation u is the unit step input Its gain at frequency of maximum phase
(A) 0.126 (B) 0.632
−2 0  1 
X = 
i

 x +   u, y = 0 1 x, the system is (C) 1.2 (D) 0.3

 −3 −1 2  21. For the given network, the maximum phase lead fm of
(A) Controllable but not observable V0 with respect to Vi is
(B) not controllable but observable
 R1   R2 
(C) controllable and observable (A) sin-1   (B) cos-1  
(D) not controllable and not observable R
 1 + 2 R2   R1 + R2 
16. The open loop transfer function of a plant is R R 
( s + 1)2 (C) Tan-1  1 1 + 1  (D) A and C only
G(s) = 2 . 2 R2 
s −4
22. Which of the following are NOT effects of Derivative
If the plant is operated in a unity feed back configura-
controller?
tion then the lead compensator that can stabilize this
(i) Steady state error increase
control system is
(ii) Type of system increases
( s + 2) 4( s − 2)
(A) 4 (B) (iii) Stability increases
3 ( s + 1) (iv) Both steady state error and stability decreases
Control Systems Test 5 | 3.113

(A) only ii (B) I, ii and iii only 24. The state transition matrix is
(C) ii, iii and iv only (D) ii and iv only  2e − t + e −2t e − t + e −2t 
(A)  
23. Derivative feedback is employed in the control sys- −t
 −2e + 2e
−2 t
−e − t + 2e −2t 
tem shown in the figure, to improve its damping. If the
required damping factor of the system is 0.5, the value  2e − t − e 2t e − t − e 2t 
(B)  
of KD must be adjusted to −t
 −2e + 2e −e t + 2e 2t 
2t

100 + C(s)
R(s) 1  2e − t − e −2t e − t − e −2t 
+ s(2s + 1) (C)  
– –
−t
 −2e + 2e
−2 t
−e − t + 2e −2t 
 2e − t + e −2t e − t − e −2t 
KDs (D)  − t 
2e − 2e
−2 t
e − t − 2e −2t 
(A) 7 (B) 13.14 25. Find the zero state response.
(C) 6 (D) None of these e − t − e −2t  e − t − e −2t 
(A)  − t −2 t 
(B)  −t −2 t 
Direction for questions 24 and 25: Consider a control  −e + 2e  e − 2e 
system with state model
 X•  e − t + e −2t  e − t + e −2t 
(C)  − t −2 t  (D)  − t −2 t 
 1  =  0 1   x1  + 0  u; x(0) = 0  e + 2e 
 •   −2 −3  x   3  1  e − 2e 
 X1     2    

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

Hints and Explanations

1. Pole – zero 3. We know for zero input
Gc1 x(t) = f(t) x (0)
Im ∴ f(t) is a zero state or free response.
Choice (B)
Z P
4. Choice (A)
0 σ 5. T/F = C[sI – A]–1B + D
–10 –2
D=0
s + 1 0 
(SI – A) = 
 0 s + 3
Pole near by origin so it is a lag n/w (or) LPF
Gc2  1 
 s +1 0 
Im adj ( sI − A)
(sI – A)–1 = =  
| sI − A |  0 1 
 s + 3 
0 σ  1 
–10 –5
 s +1 0 
1 
T/F = [1 1]    
 0 1  0 
 s + 3 
Zero near by origin it indicates lead n/w or HPF.
Choice (B)  1 
1
2. We know = 1 1  s + 1  = . Choice (D)
  s +1
State transition matrix f(t) = eAt  0 
∴ f(0) = I 6. Controllability matrix
And f (k t) = f k(t) Qc = [B AB A2B…….An–1B]
So only option B is correct Choice (B) Where n ⇒ order of matrix A
3.114 | Control Systems Test 5

∴ n=2 dVc
Qc =  B AB  I=c + IL
dt
1 2  0  2 dVc 1
AB =   1  = 0  = [I – IL] ----------- (i)
b 0  2 × 2   2 ×1   2 ×1 dt c

0 2  Vc – VL – iL R = 0
Qc =   diL
1 0  L. = Vc – iLR
dt
|Qc| = –2
∴ |Qc| ≠ 0 so the system is controllable for all values diL 1
= {Vc – iLR} ---------- (ii)
of ‘b’. Choice (C) dt L
7. Characteristic equation of the system is  dVc   −1 
 dt   0 1 
|SI – A| = 0
  =  C  Vc   
 + c I
 s −2   diL   1 − R   iL   
(SI – A) =     0 
1 s + 3  dt   L L 
 s −2  Choice (A)
|SI – A| =  
1 s + 3 13. T/F = C(SI – A)–1 B + D
s(s + 3) + 2 = 0 0 1 0 
Where A =  ;B= 1 
s2 + 3s + 2 = 0  −1 −2   
∴ wn = 2 rad/sec C = [1 1]
2zwn = 3 adj ( sI − A)
3 (sI – A)-1 =
z= ∴ > 1. Choice (B) | sI − A |
2 2
 s −1 
8. PID – controller ⇒ P + I + D (sI – A) =  
kI 1 s + 2 
G(s) = Kp + S + kD s. Choice (C) |sI – A| = s(s + 2) + 1 = s2 + 2s + 1 = (s + 1)2
9. a time delay element reduces the both G.M and P.M.  s + 2 1
Adj (sI – A) =  
Choice (A)  −1 s 
10. Effects of PI controller  s + 2 1  0 
(i) Type of the system increases, hence ess decreases T(s) = [1 1]   . 
(ii) It acting as a LPF so BW ↓and Rise time­  −1 s  1 
(iii) x ­⇒ MP % ↓ 1 0 
T(s) =  s + 1 s + 1 1 
(iv) LPF so it reduces high frequency noise. ( s + 1)2   
Choice (C)
s +1 1
11. ẋ1 = –x1 + x2 = =
( s + 1)2 s +1
ẋ2 = m(s) – 2x1 – ẋ1
ẋ2 = m(s) –x1 – x2 Choice (A) y ( s) 1
=
12. Initial conditions are state variables u( s) s +1
∴ Two memory elements, So 2 variables u( s)
L y(s) =
iL s +1
I Vo + –
system VL 1
But u(s) =
s
+ +
V IL
Vc C 1
I ↑ V0 R y(s) =
– s( s + 1)
–
1
y(s) =
s( s + 1)
I = Ic + IL y = Lt s y(s) = 1
s→0
c.dVc
Ic = ∴ ess = 1 – yss = 0. Choice (A)
dt
Control Systems Test 5 | 3.115

2nd method:– 17. From the given state equations

Estep (∞) = (1 + CA–1 B) Y(s) = x1(s)
i

 0 1 X 1 (t) = x (t)
 : x(t) = f(t).x(o)
2
14. A = 
 −2 0 
i
X 2 (t) = –3x – 2x (t) + m(t)
1 2
f(t) = L–1 {(sI – A)–1} Apply both sides laplace transform
x 1  SX1(s) = X2(s)
∴ y = −  1 2    = –x1 + 2x2 sX2(s) = –3X1(s) – 2X2(s) + m(s)
 x2 
s2x1(s) = –3x1(s) – 2x2(s) + m(s)
f(s) = (sI – A)–1
X1(s) [s2 + 2s + 3] = m(s)
 s −1 k . m( s)
(sI – A) =   ∴ Y(s) = 2
2 s  s + 2s + 3
|sI – A| = s2 + 2 Y ( s) k
adj ( sI − A)  s 1 1 = 2 . Choice (A)
f(s) = =  × 2 m( s) s + 2s + 3
| sI − A |  s +2
 −2 s  1
X(s) = f(s) x (0) 18. Given H(s) = CLTF =
( s + 1)( s + 2)
1  s 1  1  1 s
= 2     = 2
s + 2  −2 s  0  s + 2  −2  H(s) =
k1
+
k2
s +1 s+2
 cos 2t 
x(t) =   K1 = H(s) × (s + 1) at s = –1
 − 2.sin 2t  K1 = 1
K2 = H(s) (s + 2) at s = –2 = –1
 cos 2t 
y(t) = − 1 1
 1 2    ∴ H(s) = –
 − 2 sin 2t  s +1 s + 2

(
y(t) = − cos 2t − 2 2 sin 2t ) Choice (B) A = [diagonal matrix of poles]
1
15. Controllability matrix Qc: B =   ; p ≠ z and no repeated poles
Qc =  B AB  1
C = [residues of poles]
 −2 0  1   −2  = [k1 k2] = [1 –1]
AB =   2  =  −5 
 −3 −1     D[0]; p ≠ z
 −1 0 
1 −2  A=  
Qc =    0 −2 
2 −5 
Any T/F having ‘n’ multiple poles then ‘B’ have
|Qc| ≠ 0
(n – 1) zero’s in B matrix
∴ Controllable observability matrix Q:
No of poles (p) = no of zeros (z) then D = [1]
Q0 = [CT ATCT…….(AT)n- 1CT]
Choice (B)
Q0 = [CT ATCT]
19. P < z
 −2 −3 0   −3 ∴ Lag compensator
ATCT =   1  =  −1
 0 − 1     k (1 + st)
Gc(s) = t = 2 and βt = 6.
0 −3 (1 + bts)
Q0c =  
1 −1 ∴ β=3
|Q0| ≠ 0 Observable Choice (C) 1 − a 
fm = tan–1  
16. Overall T/F is GT(s) = G(s).Gc(s) 2 a 
Gc(s) is a lead network a=β=3
( s + 1)2 k ( s − 2) k ( s + 1) 1 − 3 
GT (s) = × = fm = tan–1  
( s + 2)( s − 2) ( s + 1) s+2
2 3 
⇒ stable  −1 
From the given options. Option B is satisfies = Tan–1   = –30° Choice (D)
Choice (B)  3
3.116 | Control Systems Test 5

20. |Gc (jw)| at w = wm 100 50

1 1 = = 2
2 s 2 + s + k D s + 100 s + 0.5( k D + 1) s + 50
wm = = = 10 rad/sec = 3.162
T a 0.2 × 0.5
C ( s) 50
= 2
1 + (0.2wm )2 0.2366 R( s) s + 0.5( k D + 1) s + 50
|Gc| = 0.2 = = 0.126.
1 + (0.5wm )2 1.87 Given z = 0.5
w
2
Choice (A) n = 50
21. For lead n/w wn = 7.07 rad/sec
R2
a= <1 2 zwn = 0.5 (kD + 1)
R1 + R2 2 × 7.07 = kD + 1
1 − a  KD = 13.14. Choice (B)
We know fm = tan–1   24. We know
2 a 
f(t) = L–1 [(SI – A)-1]
   s −1 
 
 ( R1 / R1 + R2 )   (
 R1 R1 + R2 )  f(s) = 
 2 s + 3

= tan–1   = tan–1  
 2 R2   2 R2  |(SI – A)| = s (s + 3) + 2
 R1 + R2  = s2 + 3s + 2
|SI – A| = (s + 1) (s + 2)
 R1 R1 
= tan–1  . 1 +  adj ( SI − A)
 2 R2  f(s) =
| SI − A |
1 − a   R1  1  s + 3 1
fm = sin–1  ; f­m = sin–1   f(s) =

1 + a   R1 + 2 R2  ( s + 1)( s + 2)  −2 s 

 2 a   s+3 1 
f­m = cos–1    ( s + 1)( s + 2) ( s + 1)( s + 2) 
1 + a  f(s) =  
 −2 s 
 R2   ( s + 1)( s + 2) ( s + 1)( s + 2) 
 2.   
 R1 + R2 
fm = cos–1  f(t) = L–1{f(s)}
R2 
 1+   2.e − t − e −2t
 R1 + R2  e − t − e −2t 
 =  −t −2 t .
 −2.e + 2.e −e − t + 2.e −2t 
 2. R2 ( R1 + R2 )  Choice (C)
fm = cos–1   . Choice (D)
 R1 + 2 R2  25. State response: Input u(s) = 0
X(s) = [(sI – A)–1] x(0) + [(sI – A)–1.B.u(s)]
22. Derivative controller Gc(s)
∴ x(t) = f(t).x(0)
Gc(s) = kD S
(i) Zero adding at origin so type of system decrease  2e − t − e −2t e − t − e −2t 
f(t) =  
(ii) stability increases −t
 −2e + 2e
−2 t
−e − t + 2e −2t 
(iii) Steady state error increases Choice (D)
0 
23. The closed loop transfer function of the system is X(0) =  
100 1 
C ( s) s(2 s + 1) e − t − e −2t 
= x(t) =  − t −2 t 
R( s) kD s 100 Choice (A)
1+ +  −e + 2e 
s(2 s + 1) s(2 s + 1)