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Answer: 1(A); 2(C); 3(A); 4(D); 5(B); 6(A); 7(C); 8(C); 9(A); 10(A); 11(A); 12(C); 13(C)

1
R(s)   Y(s)
+ + s(s + 1)
- -

Ks

(B) Natural frequency of oscillation

(C) Phase shift of the closed loop transfer function at very low frequencies (ω→0)

(D) Phase shift of the closed loop transfer function at very high frequencies (ω→∞)

1
Y s s  s  1

R  s  1  Ks  1
s  s  1 s  s  1
1
s  s  1

s  s  1  Ks  1
s  s  1
1

s  s  Ks  1
2

1
 2
s   K  1 s  1

 n  1 rad s

 2n  K  1

2  K  1

K 1

2

Peak overshoot

MP  e
1  2

u 1
R(s)   Y(s)
+ + s(s + 1)
- -

Ks

1
Y s s  s  1 1 1
  2 
U  s 1 Ks s  s  Ks s  s  1  K 
s  s  1
 
  tan 1
2 K 1

0 

   

So, K will only affect Peak overshoot  M P 

2. A torque-speed characteristics of an induction motor is shown below. A & B are
two operating points of the machine.

Torque

Tm Maximum torque
A’ B’
Stable region
A B
A”  B”  Unstable region
TFL

Tst

O Slip
s=sm s=1
s=0
(N=0)
(N=Ns) s

a) At A machine can be operated in Open loop only & At B machine can be operated
in Closed loop only.

b) At B machine can be operated in Open loop only & At A machine can be operated
in Closed loop only.

c) At A machine can be operated in Open loop/Closed loop & At B machine can be

operated in Closed loop only.

d) At B machine can be operated in Open loop/Closed loop & At A machine can be

operated in Closed loop only.

 If there is a perturbation and operating point moves from A to A’ it will again

come back to A as it is a stable region. So at A machine can be operated in
Open loop/Closed loop.
 If there is a perturbation and operating point moves from A to A” it will again
come back to A as it is a stable region. So at A machine can be operated in
Open loop/Closed loop.
 If there is a perturbation and operating point moves from B to B’ it will not
come back to B as it is an unstable region. So at B machine can be operated in
Closed loop only.
 If there is a perturbation and operating point moves from B to B’ it will not
come back to B as it is an unstable region. So at B machine can be operated in
Closed loop only.
3. The transfer function of a linear time invariant system is given as

1
G s 
s  3s  2
2

The steady state value of the output of the system for a unit impulse input applied at
time instant t= 2 will be

(A) 0

(B) 0.5

(C) 1

(D) 2

R(s) C(s)
G(s)

C s  G s R s R s  1

lim
Steady state value, s  0 sC  s 

lim
 s  0 sG  s 

0

4. The block diagram of a closed loop control system is given by figure. The values of
K and P such that the system has a damping ratio of 0.7 and an un-damped natural
frequency ωn of 5 rad/sec, are respectively equal to

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

1+sP

(D) 25 and 0.2

K
C s s  s  2

R s K 1  sP 
1
s  s  2

K

s  2 s  K  sKP
2

K

s   2  KP  s  K
2

Given,  n  5 rad sec

  0.7

n 2  K ,  2n   2  KP 

K  25,   P  0.2
5. When the system shown in figure (a) below is subjected to a unit-step input, the
system output responds as shown in figure (b). Determine the values of K and T
from the response curve. (Ogata)

R(s) K C(s)
+
- s(Ts +1)

(a)

c(t)

0.254
1

0 3 t
(b)

a) T=1.09, K=5

b) T=1.09, K=1.42

c) T=7.07, K=1.42

d) T=1.42, K=1.09

K
C s s Ts  1

R s 1 K
s Ts  1

K

Ts  s  K
2

K T 
s K
s  
2

T T
K
n 2 
T

K
n  
T

1
2n 
T

1 1
 
2n T

T 1
 
2 K T

1

2 KT


1 2
Maximum overshoot,  M P  e

Peak time,  t P 
n 1   2

Given,   P  0.254

tP  3

T  1.09,   K  1.42
6. In The system shown in figure below has . Input is unit-step. To get
the steady state error zero. What should be the simplest controller (C(s))?

r + y
C(s) G(s)
-

a) Proportional controller

b) PI Controller

c) PID Controller

Plant has an integrator, so proportional controller can also make steady state
error zero.
7. In The system shown in figure below has . Input is unit-step. To get
the steady state error zero. C(s) should be

r + y
C(s) G(s)
-

a) Proportional controller

b) PD Controller

c) Proportional controller with manual bias

8. In The system shown in figure below has . Input is unit-step. To

changed?

a) ↑

b) ↑

c) ↑& ↓

↓ : Peak overshoot will decrease

9. The block diagram of a P-I controller is given by figure shown below. How much
time output of the controller (‘u’) will take to reach the value 10.

1 4
e + u
0
+
1
1.3333
s

a) 4.5 sec

b) 6 sec

c) 10 sec

d) 2.66 sec

K P  4,   Ti  3

u

2.5KP
2KP

KP
t
Ti   Ti
2
1.5Ti

2.5 K P  10,     1.5Ti  4.5sec

10. Given a continuous time PID controller with Kp=3, τi= 5 min, and τd = 1 min.
Determine the parameters of the corresponding discrete difference equation using
velocity algorithm. Assume sampling time = 30 secs.

u  k   q0e  k   q1e  k  1  q2 e  k  2 

d) q0=-9, q1=+14.7, q2=6

 T k 1
 
u ( k )  K p  e( k )  0
i
 e(i)  T e(k )  e(k  1)
d

 i 0 0 
u (k )  u (k )  u (k  1)
 T  
 K p e(k )  e(k  1)  0 e(k  1)  d e(k )  2e(k  1)  e(k  2)
 i T0 
 q0e(k )  q1e(k  1)  q2e(k  2)
11. Consider the feedback system shown below which is subjected to a unit step
input. The system is stable and has following parameters Kp=4, ki= 10, ω=500 and
ξ= . 07. The steady state value of Z is( Gate)
Ki
Z
1 s

+ 2
+- Kp +
0 s2 + 2s +  2

(A) 1

(B) 0.25

(C) 0.1

(D) 0

As PI controller is present steady state error will be zero. So, output = input.
12. Find the steady state error for the system shown in figure below for step changes in d? (For,  r=0,
K=2)

r +  e  +  +  1
K
‐  s(s + 1)

a) 2

b) 1

c) 0.5

d) 1.5

1
es s  s  1

d s 1 K
s  s  1

1

s sK
2

1
d s 
s
lim
S.S.E,   s  0   se  s 

1 1
   0.5
K 2
13.  The  error  input  to  a  proportional‐plus‐derivative  (PD)  and  proportional‐plus‐integral  (PI)
controller is shown as in Figure below.  Assuming the controller output at t = 0 is zero, Match the PD
and PI the controller’s output for 0 ≤ t ≤ 6. (Kp=1, Ki=1, kd=1)

Error

Time
0  1  2  3  4  5  6

a) Output of PD Controller: A; Output of PI Controller: C

b) Output of PD Controller: C; Output of PI Controller: B

c) Output of PD Controller: A; Output of PI Controller: B

d) Output of PD Controller: B; Output of PI Controller: C