05ControlSystems Sol 1651

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TES T S ER IES
ESE-2017 : Prelims Exam E&T

UPSC Engineering Services Examination ENGINEERING
Test 5: Part Syllabus Technical
Answer Key & Solutions
Control Systems
1. (b) 16. (c) 31. (a) 46. (d) 61. (d)
2. (a) 17. (d) 32. (b) 47. (d) 62. (c)
3. (c) 18. (b) 33. (c) 48. (a) 63. (a)
4. (b) 19. (d) 34. (d) 49. (d) 64. (b)
5. (d) 20. (a) 35. (b) 50. (c) 65. (b)
6. (b) 21. (c) 36. (b) 51. (a) 66. (c)
7. (a) 22. (c) 37. (a) 52. (c) 67. (c)
8. (d) 23. (c) 38. (a) 53. (d) 68. (a)
9. (b) 24. (a) 39. (a) 54. (c) 69. (b)
10. (d) 25. (d) 40. (a) 55. (a) 70. (a)
11. (c) 26. (a) 41. (b) 56. (b) 71. (a)
12. (c) 27. (d) 42. (d) 57. (c) 72. (a)
13. (b) 28. (a) 43. (b) 58. (d) 73. (a)
14. (a) 29. (c) 44. (c) 59. (b) 74. (a)
15. (b) 30. (d) 45. (c) 60. (d) 75. (a)
E&T Engineering | Test 5 : Control Systems 13
DETAILED EXPLANATIONS
1. (b)
j
RL RL

3 2 1 0
2. (a)
x& (t ) = 2x(t) + 2u (t)
y (t) = 0.5 x(t)
Taking Laplace transform, we get
sX (s) = 2X (s) + 2U (s)
or X (s) [s + 2] = 2U (s) ...(i)
also Y (s) = 0.5 X (s) ...(ii)
from (i) and (ii)
Y (s) 1
=
U (s) s + 2
3. (c)
Number of RL branches terminate at infinity = P Z
= 53=2
4. (b)
The transfer function of the system is
Ks 2
G (s) H (s) =
s s s
+ 1 + 1 + 1
P1 P2 P3
the phase angle

G ( j ) H ( j ) = 90 2 tan1 tan1 tan1
P1 P2 P3
at = 0 ; G ( j ) H ( j ) = 180
at = ; G ( j ) H ( j ) = 180 90 90 90 = 90
Thus, the function will be monotonically decreasing from 180 to 90.
5. (d)
The open loop transfer function
G (s) = G (s) Gc (s)
Tp (1 + TD s)
=
s2
As it represents type 2 system
Thus, it has finite steady state error for a unit parabolic input.
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14 ESE 2017 Prelims Exam Offline Test Series
6. (b)
At each corner frequency, the slop changes are
+40 dB/sec = 2 zeros
20 dB/sec = 1 pole
60 dB/sec = 3 poles
40 dB/sec = 2 poles
20 dB/sec = 1 pole
7. (a)
270
3
180 0
5 0 =0
90
1 1
Gain margin = = = 0.2
x 5
8. (d)
poles = 0, +1
zero = 1
K (s + 1)
characteristic equation 1+ = 0
s(s 1)
s(s 1)
or K =
(s + 1)
The break point
dK
= 0
ds
d s(s 1)
= 0
ds (s + 1)
or (s + 1) (2s 1) s (s 1) = 0
s2 + 2s 1 = 0
or s = 1 2
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The root locus will be

j

1 1
from root locus, we get

center = (1, 0)
radius = 2
11. (c)
The state transition matrix is given by
e At = L 1[sI A] 1
12. (c)
Second order system has the standard transfer function as
n2
T (s) =
s 2 + 2n s + n2
n2
the open loop transfer function =
s 2 + 2ns + n2 n2
n2
or G (s) H (s) =
s(s + 2n )
K v = lim s G(s) H (s)
s 0
n2
Kv = = n
(s + 2n ) 2
1 2
ess = =
Kv n
14. (a)
Kv = lim sG(s)
s 0
4(1 + 2s)
= slim
0 s (s + 2) =
1
ess = =0

Note : For type-2 system, unit ramp input results in zero steady state error.
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16. (c)
The phase cross over frequency is given by
G ( j ) H( j ) = = 180
pc
1 0.2 pc 0.05 pc
180 = 90 tan tan1
1 1
0.2 pc + 0.05 pc
90 = tan1 2
1 (0.2 0.05) pc
0.25 pc
tan90 = 2
1 0.01 pc
or 1 0.01 2pc = 0
1
or 2pc =
0.01
or pc = 100
= 10 rad/sec
17. (d)
The centroid of a root locus is given by
P Z
=
(P Z )
Going through all the options
2 1 + 0
(a) = 1
3
1 3 + 2 2
(b) =
3 3
1 2 3
(c) = 2
3
2 2 2
(d) = 2
3
Finding breakaway point for option (d),
k = (s 3 + 6s 2 + 12s + 8)
dK
=0 s = 2
ds
only option (d) satisfies.
18. (b)
The loop transfer function of the system is
9 s2 s
G (s) H (s) = =
s(s + 3) 9 (s + 3)
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The closed loop transfer function

9
s (s + 3) 3
T (s) = =
s s
1
(s + 3)
21. (c)
1+ s
The standard form of a compensator is
1 + s
2 4(2s + 1)
G (s) =
(6s + 1)
here = 2
and = 6
= 3
> 1, lag compensator
1
max = sin1
1+
1 1
= sin = 30
2
22. (c)
Total number of poles = 4 (at 0, 2, 1 j)
Total number of zeros = 1 (at 1)
Total number of zeros located at infinity
PZ = 41=3
24. (a)
By Nyquist criterion, for system to be stable
N =PZ ;
here P = number of open loop poles at RHS of s -plane = 1
N = number of encirclements to the critical point
Z = number of closed loop poles at RHS of s -plane
so we can eliminate options (c) and (d)
CE : 1 + G (s) H (s) = 0
s2 + s + 1 = 0 stable
as the closed loop system is stable, Z = 0
N = PZ
as P = 1, N must be 1
for option (a) N = 1
for option (b) N = 1 so option (a) is the correct one.
27. (d)
4 (s 1)
The open loop transfer function G (s) H (s) =
(s + 2s + 2) (s + 1)
2
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No poles at RHS of s -plane thus stable

G(s)
The closed loop transfer function T (s) =
1 + G(s) H (s)
4
2
(s + 2s + 2) 4(s + 1)
T (s) = =
4(s 1) 2
(s + 1) (s + 2s + 2) + 4(s 1)
1+
(s + 1)(s 2 + 2s + 2)
4(s + 1)
=
s 3 + 2s 2 + 2s + s 2 + 2s + 2 + 4s 4
4(s + 1)
T (s) =
s 3 + 3s 2 + 8s 2
Using Rouths tabular form
s3 1 8
2
s 3 2
24 + 2
s1 0
3
s0 2
As the number of sign changes in the first column of Rouths form is 1, the closed loop system is unstable.
28. (a)
The characteristic equation 1 + G(s) H(s) = 0
11
= 1+ 3 = 0
s + 4s 2 + 3s + 1
or s3 + 4s2 + 3s + 1 + 11 = 0
s3 1 3
2
s 4 (11 + 1)
12 (11 + 1)
s1 0
4
s0 (11 + 1)
For system to be stable
11 + 1 > 0
1
or >
11
and 12 (11 + 1) > 0
11 + 1 < 12
or < 1
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29. (c)
characteristic equation 2s4 + s3 + 3s2 + 5s + 10 = 0
s4 2 3 10
3
s 1 5 0
3 10
s2 10 0
1
45
s1 0 0
7
s0 10
As the number of sign changes in the first column of Rouths array is 2, two poles lie in the RHS of s-plane.
30. (d)
(s + 3 + j 4) (s + 3 j 4) = 0
(s + 3)2 ( j 4)2 = s2 + 6s + 25
by comparing it with standard characteristic equation,
n2 = 25 (rad/sec)2
or n = 25 = 5 rad/sec
and 2n = 6
6
or = = 0.6
25
31. (a)
1
settling time
n
for system 1: 2n = 5 n = 2.5

for system 2: 2n = 4 n = 2
for system 3: 2n = 3.6 n = 1.8
large value of n indicates small settling time.
Hence, option (a) is correct.
32. (b)
j

(1, j 0) 0
GM = 20 log (1/a)
for a < 1 , GM > 0 dB
for a = 1, GM = 0 dB
for a > 1, GM < 0 dB
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33. (c)
1
Phase angle = tan 57.3 0.1
1
= tan 1 (1) 5.73 ( r (t ) = 0.5cost , = 1 rad/sec)
= 45 5.73
= 50.73
34. (d)
The eigen value of state matrix is
s I A = 0
s+2 0
= 0
1 s +1
(s + 2) (s + 1) = 0
or s = 2, 1
1
The eigen value of the system having state vector [A ] 1 = & 1
2
35. (b)
The characteristic equation of the closed loop system is
1 + G(s) H(s) = 0
K
here G(s) =
s(s + 4) (s + 5)
and H(s) = 1
s (s + 4) (s + 5) + K = 0
or s3 + 9s2 + 20s + K = 0
using Rouths tabular form
s3 1 20
2
s 9 K
180 K
s1 0
9
s0 K
for stability of the system
180 K
> 0
9
or K < 180 and K > 0
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36. (b)
The unit impulse response of the system
C (s)
H (s) = = L [4e 2t u (t)]
R (s)
4
H (s) =
(s + 2)
t 1
for R (s) = L [e u(t )] =
s +1
C (s) = H (s) R (s)
4 1
=
(s + 2) (s + 1)
4
=
(s + 1)(s + 2)
37. (a)
0 = 0, 1 = 3, 2 = 2, 1 = 7, 2 = 9
0 1 0 1
A = =
2 1 9 7
0
B = 1

C = [2 20 1 10]
= [2 3] d = 0 = 0
38. (a)
This is a second order differential equation which means that there must be present all the three components
in the system, i.e. either R, L and C or K, B and M.
Kx
M f
Bdx
dt
Free body diagram of M in fig. 1
In Figure 1,
dx d2x
f Kx B = M 2
dt dt
d2 x dx
or M 2 +B + Kx = f . ..(i)
dt dt
In Figure 2,
Ld i q
v(t) = R i + +
dt c
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Ld 2q dq q
or v(t) = +R + ...(ii)
dt 2 dt c
Both the equations are similar to the given equation.
39. (a)
The open loop transfer function of the given system
(2s + 5)(s + 2)
G (s) H (s) =
s 4 (s + 3)(s + 1)
The system represents type-4 system.
40. (a)
The closed loop transfer function is given by
G(s)
T (s) =
1 + G(s)
(1 s) (1 s)
= =
s(s + 2) + (1 s) s 2 + 2s + 1 s
(1 s)
= 2
s +s +1
s2 1 1
s1 1 0
s0 1
As there is no sign change in the first column of Routh table the system is said to be stable.
41. (b)
The sensitivity of the system with respect to the feedback gain
G(s) H (s)
S HT = 1 + G(s) H (s)
11
s 11
= =
11 (s + 11)
1+
s
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42. (d)
G1
R(s) C(s)
+
+
+
R(s) C(s)
G2 + G1 + G2

+ G3
G3 G4
G4
C (s) G1 + G2
=
R (s) 1 + (G1 + G2 )(G3 G4 )
43. (b)
1 I(s) 1s
Vi(s) + 1
1 s
V0(s )
V0(s) = 1 I (s) ...(i)

s
Vi (s) 1
I (s) = (using current division rule)
1 1
s + s 1 1+ s +
s
+1
1
s + s + 1

Vi (s) s
=
2
2
2s + s + 2 s + s + 1
s2 + s + 1
s
= 2
Vi (s)
2s + s + 2
1 s
from (i) V0(s) = 2 V (s)
s 2s + s + 2 i
Vo (s) 1
=
Vi (s) 2s 2 + s + 2
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45. (c)
Characteristics equation = 1 + Gc(s) G (s) H (s) = 0
K (Ts + 1)
1+ = 0
s(s + 2)
s2 + (2 + KT )s + K = 0 ...(i)
from the given data
characteristic equation = (s + 2 + j 2) (s + 2 j2) = 0
s2 + 4 s + 8 = 0 ...(ii)
on comparing (i) and (ii)
K = 8
2 + KT = 4
1
T =
4
46. (d)
Steady state error for unit step input is given by
1
ess =
1+ Kp
where Kp = lim G(s)
s 0
ess = 0.2 [for unit step]

1
0.2 =
1+ Kp
Kp = 4
lim G (s ) = 4
s 0
Now for modified system
1
G(s)
G (s) =
s
Steady state error for unit ramp input is given by
1
ess =
Kv
where Kv = lim sG(s)
s 0
1
= lim s G(s) = 4
s 0 s
1
ess = = 0.25
4
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47. (d)
Steady state error for unit parabolic input is given by
1
ess =
Ka
where Ka = lim s 2G(s)

s 0
1
ess = 0.1 =
Ka
Ka = 10
KP s + K I
lim s 2 G(s) = lim s 2 2 = 10
s 0 s 0
s (s + 1)
KI = 10
now to determine the value of KP, we can use the stability condition using R - H criteria
characteristic equation
1 + GC (s) GP (s) = 0
(K P s + K I )
1+ = 0
s 2 (s + 1)
s3 + s 2 + KP s + KI = 0
using Rouths tabular form
s3 1 KP
2
s 1 KI
s1 K P K I 0
0
s KI
for system to be stable
KP KI > 0
KP > K I
hence, only in option (d) the condition is satisfied.
49. (d)
For unity feedback system
K i e 2s
G (s) H (s) =
s
K i e 2 j
G( j )H ( j ) =
j

G( j )H ( j ) = 2
2

Hence, the phase angle equals to 180 at = rad/sec
4
For stability, the magnitude G ( j )H ( j )
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at = must be less than unity.
4
Ki
G( j ) H ( j ) = /4 = <1
= / 4

Ki <
4

We require that Ki < for stability.
4
51. (a)
The transfer function of the given Bode plot can be derived as
K (s + 1)
G (s) =
s(s + 2 )
M (dB)
20 dB/dec
20 dB/dec

1 2
As the open loop transfer function represents a type 1 system thus

Kp =
and ess = 0
52. (c)

() =
2

at = pc pc =
2

5 =
2

or =
10
54. (c)
C (s) G(s) 100
= = 2
R (s) 1 + G(s) H (s) s + 100(s + 1)
C (s) 100
= 2
R (s) s + 100s + 100
1 100 1
C (s) = 2 R(s) = for unit step input
s s + 100s + 100 s
s 100
c () = lim s C(s) = lim 2 =1
s 0 s 0 s s + 100s + 100
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55. (a)
For lead compensator
a(1 + s)
Gc (s ) =
(1 + as)
1
here =

1
a =

or a =

a < 1

or < 1

or <
56. (b)

Rise time = t r =
d
where = cos1
and d = n 1 2
cos1
tr =
n 1 2
57. (c)
Synchro is a single phase machine.
58. (d)
A B
R C
Y D
F E
Forward paths
1. ABEF 2. ABCDEF
Individual Loop
1. BEB 2. CDC
3. BCB 4. EDE
5. BCDEB 6. BEDCB
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59. (b)
Resonant frequency
r = n 1 22
1
= 2 1 2(0.5)2 = 2 = 1rad/sec
2
60. (d)
0 1
Here, A =
1 2
1
B =
1
and C = [1 1]
check for controllability
QC = [B AB]
0 1 1 1
[AB ] = 1 = 1
1 2
1 1
QC = 1 1

QC = 0 Not controllable
check for observability
Qo = [CT : ATCT ]
1
CT =
1
0 1 1 1
AT CT = =
1 2 1 1
Qo = 1 1
1 1

Qo = 0 Not observable
61. (d)
C (s) 25
= 2
R (s) s + 10s + 25
25
or G (s) =
s(s + 10)
by adding PD controller
25
G (s) = G(s) Gd (s) = 10(1 + 0.1s)
s(s + 10)
25 25
G (s) = T (s) =
s s + 25
System becomes first order system, hence damping ratio does not exists.
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62. (c)
1
SGT .F . =
1 + GH
GH
and SHT .F . = ; 1
1 + GH
Less sensitive to change in G than change in H .
64. (b)
Phase-lead compensation is used to decrease rise time and to decrease obvershoot.
65. (b)
Delay element = e sT
Magnitude of delay element = 1
Phase = tan 1 (T )
Only phase of the transfer function is affected. Magnitude plot remains same.
66. (c)
C (s) 25
T (s) =
R (s) = s(s + 6) + 25
25
= 2
s + 6s + 25
By comparing with standard transfer function
n = 5 rad/sec
2n = 6
6
n = =3
2
3
=
5
22 / 7
peak time p =
d 1 2
n
22 / 7
=
2
3
5 1
5
22 / 7
=
5
25 9
5
22 / 7 11
= = sec
4 14
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67. (c)
The angular contribution of the lead compensator zero is more than that of the pole. Therefore bandwidth is
increased.
75. (a)
Av
Gain with feedback =
1 + Av
A v >> 1
Av 1
so, =
Av
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O FFLIN E

ESE-2017 : Prelims Exam E&T

1. (b) 16. (c) 31. (a) 46. (d) 61. (d)

2. (a) 17. (d) 32. (b) 47. (d) 62. (c)

3. (c) 18. (b) 33. (c) 48. (a) 63. (a)

4. (b) 19. (d) 34. (d) 49. (d) 64. (b)

5. (d) 20. (a) 35. (b) 50. (c) 65. (b)

6. (b) 21. (c) 36. (b) 51. (a) 66. (c)

7. (a) 22. (c) 37. (a) 52. (c) 67. (c)

8. (d) 23. (c) 38. (a) 53. (d) 68. (a)

9. (b) 24. (a) 39. (a) 54. (c) 69. (b)

The root locus will be

from root locus, we get

The centroid of a root locus is given by

The closed loop transfer function

No poles at RHS of s -plane thus stable

for system 1: 2n = 5 n = 2.5

Free body diagram of M in fig. 1

V0(s) = 1 I (s) ...(i)

ess = 0.2 [for unit step]

where Ka = lim s 2G(s)

As the open loop transfer function represents a type 1 system thus

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