Sample MS-PhD Entrance Exam

EE7 - Control and Optimization

Date of Examination: June 2020 Max. marks: 30

1. [5 Marks, 3 + 2] The Bode asymptotic magnitude plot of a minimum phase system is shown below. The
system is connected in a unity negative feedback configuration.
20 log10 |G(jω)|

26.02dB

6.02dB
10 20
0dB 0.1 1 2 ω(rad/s)
in log scale
−6.02dB

(a) The corresponding minimum phase transfer function is

(1+ s )
i. G(s) = K s(1+ 2s ) [correct]
10
s
(1+ )
ii. G(s) = K s(1+10s )
2
(1+ 2s )2
iii. G(s) = K s 2
s2 (1+ 10 )
iv. None of the above
(b) Calculate the steady state error of the closed loop system, to a unit ramp input. [Answer:
0.5; Range: 0.4 - 0.6]

2. Consider the following nonlinear system in state space form

ẋ1 = µx1 − x21
ẋ2 = −x2 , µ ∈ R.
(a) The number of equilibrium points of the system when µ = 0 are [Ans = 1; Range = 0.98
to 1.02 ]
(b) The number of equilibrium points of the system when µ > 0 are [Ans = 2; Range = 1.98
to 2.02 ]
(c) The number of equilibrium points of the system when µ < 0 are [Ans = 2; Range = 1.98
to 2.02 ]
(d) Which of the following statements is true for µ 6= 0
i. The system has a unique stable equilibrium point.
ii. The system has a unique unstable equilibrium point.
iii. The system has one stable and one unstable equilibrium point. [Correct Answer]
iv. The system has no equilibrium points.
3. Find the matrix A corresponding to the linear transformation f : R3 → R3 such that
f (z) = 2x + 3y + 5z
f (y + z) = x
f (x + y + z) = y − z
 
x
where y  ∈ R3 ? [Hint: Use properties of linearity on f ]
z

1
  
−1 1 −1
(a) A = −1 −3 −5 [Correct]
2 3 5
 
−1 −1 2
(b) A =  1 −3 3
−1 −5 5
 
1 0 0
(c) A = 0 1 −1
2 3 5
 
0 0 1
(d) A = 0 1 1
1 1 1
 
1
4. What is the transformed vector of 1 as per the transformation in Q3 ?
1
 
0
(a)  1 
−1
 
−1
(b) −9 [Correct]
10
 
1
(c)  9 
−10
 
1
(d)  0 
10
5. The trace and determinant of a 3 × 3 non-singular matrix A are 8 and 10
respectively. Which of the following could be the eigen values of A−1 ?
(a) 1, 0.5, 0.2 [Correct]
(b) 1, 4, 4
(c) 0.5, 0.25, 0.25
(d) 1, 2, 5
6. The steady-state error is zero for a step input for the system with type
(a) 0
(b) 1 [Correct]
(c) 2 [Correct]
(d) All of them
7. With a suitable choice of K, the system will oscillate at frequency ω.

R(s) + 2K Y (s)
s(s+1)(s+5)
-

The value of K is and the value of ω is . [Answer: 15 , Range: 14.5 to 15.5, Answer:
2.23, Range: 2.1 to 2.35 ]

2
 8. Consider a unity feedback system with
K(s − a)
G(s) = .
s(s − b)
Suppose a < b < 0. What is the complete range of K for
which the closed-loop system is stable?
(a) K > 0 [correct]
(b) K > |a|
(c) K > |b|
(d) No value of K.
9. A unity feedback system with
K
G(s) = √ .
s(s + 2K)
For what range of K > 0 is the settling time less than 1 second for 3% tolerance?
(a) K > 18
(b) K < 18
(c) K > 32 [correct]
(d) K < 32.
10. Consider three linearly independent vectors u, v, w in R3 . Which of the following is true?
(a) u is a linear combination of v and w
(b) u, v and u + v are linearly independent
(c) au + bv + cw = 0 for some non-zero constants a, b, c
(d) The vectors u, u + v and u + v + 2w are linearly independent [correct]
sω 2
11. Consider the closed-loop transfer function of a certain plant H(s) = s2 +2ζωnns+ω2 . The
n
angular frequency at which the magnitude response is maximum (resonant frequency ωr )
and the response at the resonant frequency (resonant peak |H(jωr )| ) are
2
ωn
(a) ωr = ωn2 and |H(jωr )| = ζ
ωn
(b) ωr = ωn and |H(jωr )| = 2ζ [correct]
2
ωn ωn
(c) ωr = 2 and |H(jωr )| =2ζ
(d) ωr = 2ωn and |H(jωr )| = ω2ζn

12. The number of select lines required for a 1-to-8 demultiplexer is

(a) 2
(b) 3 [correct]
(c) 4
(d) 5

13. Let A and B be the inputs to a half-subtractor. The difference output will be

(a) A OR B
(b) A XOR B [correct]
(c) A AND B
(d) A XNOR B

14. For the following polynomial use Routh Hurwitz criteria to identify the number
of poles in right half complex-plane (RHP), left half complex-plane (LHP) and
imaginary axis (jω)
P (s) = s5 + 6s3 + 5s2 + 8s + 20

3
 (a) RHP-2 ,LHP-3,jω-0.
(b) RHP- 1,LHP-2,jω-2.
(c) RHP-1 ,LHP-4,jω-0.
(d) RHP-2 ,LHP-1,jω-2. [correct]
15. Answer if the following statements are true or false.
(a) A system with positive gain and phase margin is always stable.
• True
• False [Correct]
(b) The state-space representation for a given system is unique.
• True
• False [Correct]
(c) Transfer function of a system depends on the initial conditions in the system.
• True
• False [Correct]
16. Figure below illustrates the frequency response of four unknown systems. Which of these systems are minimum
phase?

(1) (2)
0 20

-50
10
Magnitude (dB)

Magnitude (dB)

-100
0
-150
-10
-200

-250 -20
270 180

180
Phase (deg)

Phase (deg)

90
90
0
0

-90 -90
10-2 100 102 104 100 101 102
Frequency (rad/s) Frequency (rad/s)

(3) (4)
0 50

-20
Magnitude (dB)

Magnitude (dB)

-40
0
-60

-80

-100 -50
0 270
Phase (deg)

Phase (deg)

180

90

-5760 0
10-1 100 101 102 10-2 10-1 100 101 102
Frequency (rad/s) Frequency (rad/s)

Figure 1: Frequency response of unknown plants

(a) (1) and (2) are minimum phase

4
(b) (2) and (3) are minimum phase
(c) (2) and (4) are minimum phase [correct]
(d) (3) and (4) are minimum phase

5
17. A Nyquist plot of a unity feedback system with the feed forward transfer function G(s) is shown in figure
below. If G(s) has no pole in the right half s plane, find the range of values for K for which the closed-loop
system is stable.

ω = 0−

(−0.2K, 0)

0
ω=∞
(−8K, 0)

(−2K, 0)

ω = 0+

Figure 2: Nyquist plot

1 1
(a) K < 8 or 2 < K < 5 [correct]
1 1
(b) K < 8 and 2 <K<5
1 1
(c) K > 8 or 2 <K<5
1
(d) K < 2 or K > 5
18. A Nyquist plot of an open loop transfer function G(s) is given below. Identify the transfer function G(s).

Imag

ω = 2+

ω=0 ω=∞
Re

ω = 2−

Figure 3: Nyquist plot

1
(a) G(s) = (s2 −4)(s+1)

6
 1
(b) G(s) = (s2 +4)(s−1) [correct]
s
(c) G(s) = (s2 +4)(s+1)
s2
(d) G(s) = (s2 −4)