Second Edition

Solutions
Test Drill I
Test Drill II

Control
Systems
Drill

A K Tripathi
MD, Mechasoft Publishers and Educators
and
Asstt. Prof. Electronics Engineering Department
IERT, Degree Division, Allahabad (INDIA)

Mechasoft Publishers, Allahabad (INDIA)

 Solutions
Control System Test Drill I
Q1. Apply Mason’s gain rule to the signal flow graph equivalent to block diagram as sketched
below, to get
x 2 P1 D1 + P2 D 2
= ; P1 = l1 l 2 , P2 = l 2 l 3 , D1 = D 2 = 1
x1 D
and D = 1 – (– l 2l 4 ) = 1 + l 2 l 4 x1 1 λ2
λ1 x2
(l + l 3 )l 2 (10 + 5)l 2
= 1 = 1
1 + l 2l 4 1 + 0.5l 2
15 l 2 λ3 –λ4
x 2 =18x1 Þ = 18 Þ λ2 = 3
1 + 0.5l 2

y Pi D i
Q2. G1 x = = ; i = 1, 2,3, 4 and D i = D = 1
2 =0
x1 D
= 0.5 [ 2 ´ 3 ´ 4 + 2 ´ 3 ´ 5 + 2 ´ 3 ´ 2 ´ 4 + 2 ´ 6 ´ 3 ´ 4]
= 123
y P1 D1
G 2 x =0 = = ; P1 = 2 ´ 3 ´ 4 ´ 0.5 = 12, D1 = D = 1
1
x2 D
x1 2 3 5
= 12
4 y
G 123 6 2 0.5
M= 1 = = 10.25
G2 12 x2 4
2 3
G(s) 1 0.2 1.2 600
Q3. Y(s) = G(s) ´ R(s) = = + – =
s s (s + 60) s + 10 s(s + 10)(s + 60)
600 70
G(s) = 2 and wn = 600 and damping ratio x = = 1.43
s + 70s + 600 2 ´ 600

l l (2s + 1)
Q4(d) Loop function , G(s) = A(s) = ; hint : this is type 1 system
s s(5s + 1)(s + 2)2
l
ur0 G(s) = ¥ and Kv = s lt
KP = s lt ur0 s G(s) =
4
1 4 16 16
e(¥) = + = 0+ and e(¥) < 0.1 Þ < 0.1 Þ λ > 160
1 + KP K v l l

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 2 Control System Soluation
1 – 2s a b
Q5(a) Y(s) X(s)=1 = 2
º 2
+
(s + 1) (s + 1) (s + 1)
d y(t)
a = 1 – 2s s= –1 = 3 and b = (1 – 2s) s= –1 = –2
ds e–1
3 2 0 t(ms)
Y(s) X(s)=1 = – 1
(s + 1)2 (s + 1) 2
–2 3
Unit impulse response, y(t) = 3t e– t – 2e– t
= e– t (3t – 2)
æ 2ö 2
y ç ÷ = 0 , y(¥) = 0, y(1) = e–1 and y(t) > 0, for t >
è 3ø 3

K(s –1)
Q6(b) 1 + = 0 Þ s2 + (2 + K)s – K = 0
s(s + 2)
For stability K < 0 and K > –2, that is, – 2 < K < 0

3 2 k(s + 1) k(s + 1)
Q7. s + 14s + (45 + k) = 0 can be put in the from 1 + 3 2
= 0 or 1 + =0
s + 14s + 45s s(s + 5)(s + 9)
k(s + 1)
For sketching root locus, the product GH = ;0 £ k £ ¥
s(s + 5)(s + 9)
–5 – 9 – (–1)
Centroid, sA = = –6.5 gives λ = 6.5 Im
3 –1
s3 + 14s2 + 45s
qA = ± 90o and k = – –7 –6.5 k=∞
(s + 1) k=0
3 2
x x x Re
dk d é s + 14s + 45s ù –9 –5 –1
=– ê ú=0
ds ds ë (s + 1) û
gives break away point at s @ –7
Q8 (b) A cascade control system is beneficial only if the dynamics of inner loop is significantly faster
than that of outer loop. Else , there arises a risk of interaction between the two loops leading to
instability. A system with smaller time constant ,exhibits faster dynamics.
G( jw ) dB
Q9( c) If ωgc >ωpc , both GM (gain margin)
and PM (phase margin) will be negative, ωgc
and closed loop system will be unstable. GM(–)
0 ω(log scale)
ÐG( jw )
o
0
o
–180 ω (log scale)
PM(–)
–360o ωpc

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 Solutions Control System 3

75 5
Q10. G(s) = @ 2 = Ga (s) Þ K = 5
æ sö 2 s + 4s + 100
15 ç1 + ÷ (s + 4s + 100)
è 15 ø

Note that G(0) and Ga(0) both are equal to [Link] approximating a high order system by a low
order system , dc gains are matched in order to match their steady state responses.
Q11( c) The presence of entire row of zeros indicate presence of symmetrically located roots in either
of following ways. Im Im
Im
x jb x jb x
x x Re Re –a a Re
–a a
x–jb x –jb x

In routh array of a system of order seven , if s3 row has all zero entries and there are two
4
changes in sign below s row , there will be 2 RHP roots and so only 2 LHP roots located
symmetrically. There will be no root on jω axis. The remaining 3 roots will be in the LHP .
4
Note that there are no changes in sign above s row.
The Routh criterion provides actual location of IA roots ,if any.
1– x2
Q12.e– px/ = 0.05 give x = 0.69
a
The charactristic equation , s2 + as + 16 gives wn = 4 and x =
8
a
= 0.69 gives a = 5.52
8
é 672(s + 5) ù 3360
ur0 s ê
Q13. Kv = s lt ú=
ë s(s + 6)(s + 7)(s + l ) û 42l
R
Note e(¥) = to input r(t) = Rt u (t)
Kv
5 5 ´ 42l
e(¥) = = = 6.25 ´ 10–2 l
Kv 3360
0.5
6.25 ´ 10–2 l = 10% of 5 = 0.5 gives l = =8
6.25 ´ 10–2
Q14 (a) The characteristic equation is s2 –qs+ks–kp=0. For k>0, p must be negative , that is ,p<0 for
the system to be stable. Note that all coefficients must be positive.
k(s – p)
If q < 0, G(s) = will have non origin pole on negative real axis Im
s(s– q)
and system will be stable for all k >0. k=q
Since, the system is stable only for k>q , k=∞ k=∞ k=0
x x Re
the non origin pole of G(s) must lie on –p q
positive real axis , that is , q >0.
For p<0 and q>0 , root locus is sketched for more insight.

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 4 Control System Soluation
jω
Q15. 4k = P (phasor lengths from poles to the point at s = –5)
L1 × j1
= L1 ´ L2 ´ L3 = 42 + 12 ´ 42 ´ 12 ´ 1 = 17 L3

k=
17
= 4.25 –5
×–4 –1
σ
4 L2 × –j1
6 6
Q16(d) G(s) = 3 2
and G( jw ) =
s + 4s + 6s + 4 (4 – 4w ) + jw (6 – w2 )
2

Im
Im [G(j w ) ]= 0 for w = 6
6 3 ω=∞ 1.5 Re
Re [G( jw ) ] w = =–
6
4– 4´6 10 ω=0
GM = 20log(10 / 3) = 10.46dB –0.3, w = 6
1
Cs = 1 1 1
Q17. The transfer function G(s) = = 6 –6
=
R + 1Cs 1 + sRC 1 + s ´ 10 ´ 10 s +1

1 1 1
G( jw ) = , G( jw ) = = and ÐG( jw ) w=1 = – tan–1 (1) = – 45o
jw + 1 2
w + 1 w=1 2
1
The output y(t) = sin (t + f – 45o )
2
1
For f = 45o , y(t) = sin t and there will be no transients.
2
é s 0ù é 0 1 ù
Q18(b) The characteristic equation sI – A = 0 gives ê ú –ê ú =0
ë0 s û ë –100 –20 û
é s –1 ù 2
ê100 s + 20 ú = 0 Þ s + 20s + 100 = 0
ë û
20
wn = 10 and x = =1
2 ´ 10
System will exhibit critically damped dynamics.
50 1 1
Q19. G(s) = = has time constant tc = = 0.02sec = 20ms
s + 50 1 + (s / 50) 50
The settling time ts= 4tc= 80 ms and |tc–ts| = 60ms
5(s + 2) 2 3
Q20.Y(s) = G(s)R(s) = = +
s(s + 5) s s + 5
–5t
y(t) = 2 + 3 e gives forced component of response λ=2
l 2
and natural response at t=0.2second is µ = 3e–5×0.2= 3e–1. Thus, = = 1.8
m 3e–1

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 Solutions Control System 5

2p y(t)
Q21(b) The first undershoot time = ; wd = 7
wd
2p
1
= = 0.898sec.
7
0 p t
2p
Q22 The response Y(s) = 10 – s ´ 2 = 2 – 4 wd wd
s + 10 s s s + 10 y(t)
y(t) = 2 – 4e–10t and y(t) t =100ms = 2 – e–10´0.1 2
0.53
= 0.53 0
100
t(ms)
1
Q23(a) P1 = s2 ´ = s , D1 = 1
s –2
1
P2 = 2 , D2 = 1
s
–1
é 1 s3 s ù
D = 1 – ê –s2 – – – 2 ú
ë s s s û 2
1 1 s 1 1/s 1
2 2 R(s) C(s)
= 1 + 2s +
s
1 1/s
s+ 2 –s
C(s) s s3 + 1
= =
R(s) 1 + 2s2 + 2 s(2s3 + s + 2)
s

Q24. Y(s) = G(s)R(s) ; R(s) = 1, r(t) = d (t)

b s+5 s+b+5
G(s) = Y(s) = 2 2
+ 2 2
=
(s + 5) + b (s + 5) + b (s + 5)2 + b2
b+5
G(0) = 0.2 Þ = 0.2 or b = 0,5
25 + b2
Since , b can not be 0, b = 5

k(z – s)
Q25(d) L(s) = ; z > 0 and p > 0
s–p
Characteristic equation , 1 + L(s) = 0 Þ (1 – k)s + (kz– p) = 0

For the system to be stable , either both coefficients (1–k) and (kz–p) be positive or both
be negative , that is ,
p
either (1 – k ) > 0 and (kz– p) > 0 Þ k < 1 and p < kz Þ < k < 1
z
p
or (1 – k ) < 0 and (kz– p) < 0 Þ k > 1 and p > kz Þ 1 < k <
z

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 Solutions
Control System Test Drill I
16(ls + 1)
Q1d Characteristic equation: 1 + = 0 or s2 + (0.8 + 16l ) s + 16 = 0
s + (s + 0.8)
0.8 + 16l ξ
wn = 4 and x = = 0.1 + 2l ; l Î[0,0.8] 1.7
2´4
For l Î[0.45 , 0.8] , x Î[1.0 , 1.7 ] 1.0
and system will not exhibit sinusoidal dynamics. 0.1
In fact ,the dynamics will be exponential; critically λ
damped for ξ =0.45 and overdamped for 0. 45 < ξ ≤ 0.8 . 0 0.45 0.8
For λ=0.45, characteristic equation will be s2+8s+16=0 or (s+4)2 = 0 , both roots will
be located at s= – 4 and settling time ts= 4/4 =1sec.
p´ 0.25
–
2
For λ=0.075 , ξ =0.25 , MP = e 1–0.25 = 0.44
and peak unit step response , ymax= 1.44
For λ=0 , ξ =0.1 which is less than 0.25 .
As ξ decreases, MP increases and peak value of unit step response ,will be more than 1.44.

Q2(b)
+ + +
R (s) G1 (s) G2 (s) C (s)
– –
H2 (s)
H1 (s)

+ + +
R (s) G1 (s) G2 (s) C (s)
+ – –
H2 (s)

G1(s)H1 (s)

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Solurions Control System 7

+ G2 (s)
R (s) 1+G1 (s) C (s)
– 1 + G2 (s)H2 (s)

G1(s)H1 (s)

R (s) G2 (s)
1+G1 (s) X(s) = C (s)
1 + G1 (s)G2 (s)H1 (s) + G2 (s)H2 (s)

Y(s) 100 / s(s + 2) 100 wn2

Q3(a) = = 2 º 2
R(s) 1 + 100(1 + 0.1s) s + 12s + 100 s + 2xwn s + wn2
s(s + 2)
wn = 10 rad / sec , x = 0.6 , wd = wn 1 – x2 = 8 rad / sec,
1 – x2 4
tan f = = Þ f = tan–1 (4 / 3) = 53.13o and s = xwn = 6
x 3
Note that the system has two complex conjugate poles and no zero.
e– st e– 6t
For r(t) = u(t) , y(t) = –1 sin (wd t + f) = 1 – sin (8t + 53.13o )
2 2
1– x 1 – 0.6
–6t o
=1 –1.25e sin (8t + 53.13 )
Compare with y(t) = 1 – a e– bt sin (ct + d) to get
a = 1.25 ,b = 6 ,c = 8 and d = 53.13o

+ 10 X(s)
Q4(a) X(s) 2 Y(s) Þ 10
– s + (l + 2)s
s2 + (l + 2)s + 10 Y (s)

l+2
wn = 10 and x =
2 10 MP
– px 1– x2
e £ 0.1 Þ x ³ 0.59 100% λ=1.74
l+2
³ 0.59 Þ l ³ 1.74 λ= 4.3
2 10 10%
0 0.59 x
1

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 8 Control System Soluation
For λ<1.74 ,peak overshoot will be larger than 10% and for λ ≥ 4.3, system will not exhibit
underdamped dynamics. In fact ,ξ ≥ 1 for λ ≥ 4.3 and therefore , system will exhibit exponential
dynamics.
Y(s) 10 1 1
Q5(b) = Þ wn = 10 , x = , wd = wn 1 – x2 = 10 ´ 1 – = 3 rad / sec
R(s) s2 + 2s + 10 10 10
é 1 ù
2 ê 1– ú
1– x 10 ú = 1.249 rad
f = tan–1 = tan–1 ê
x ê 1 ú
êë 10 úû
p–f p –1.249
Rise time , t1 = = = 0.63 sec
wd 3
p p
Peak time, t2 = = = 1.05 sec
wd 3
– px 1
1-x2 (
– p / 10 ) 1–
10
% peak overshoot = 100 e = 100 e = 35.09%
12
D = 35.09 ´ = 4.2
100

Y(s) ks + b
Q6( c)Closed loop transfer function ,T(s) = = 2
X(s) s + as + b
ks + b ks + b
and open loop transfer function, G(s) = 2
=
s + (a - k)s s(s + a – k)
b 1 a–k
ur0 s G(s) =
Velocity error constant, KV =s lt and e(¥) = =
a–k KV b
¶ a 1 a a
S e(a ¥ ) = e (¥ ) ´ = ´ ´b=
¶a e(¥) b (a – k) a–k
¶ b b
S e(a ¥ ) = e (¥ ) ´ = –(a– k) b–2 ´ ´ b = –1
¶b e(¥) a– k
Q7. Routh array
s5 1 6 25
4
s 1 6 25
s3 0 41 0 12 3 4 2
auxiliary polynomial, A(s) = s +6s +25
2
s 3 25
d
16
array segment for A(s) = 4s3 + 12s
s 1
– divisor polynomial ds
3
s0 25

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 Solurions Control System 9
Two changes in algebraic sign in array segment for divisor polynomial indicates that there are 2 RHP
roots and so only there are 2LHP roots by virtual of symmetry .
All together , there are 3LHP and 2RHP roots. Thus, L=3, M=2, N=0 and |L-M-N|=1
6 5 4 3 2
Q8 a Characteristic polynomial ,P(s) = s +s +3s +3s +3s +2s+1
6
s 1 3 3 1
s5 1 3 2
s4 0 1 1 case of left column zero

Replace s by s–1 to get new polynomial, Q (s) in s as written below.

Q(s) = s–6+s–5+3s–4+3s–3+3s–2+2s–1+1=0 or Q(s) = s6+2s5+3s4+3s3+3s2+ s +1=0

Routh array
6
s 1 3 3 1
s5 2 3 1
4
s 3/2 5/2 1
3
s –1/3 –1/3
2
s 1 1
1
s 0 2 0 Premature termination
0
s 1 A(s) = s2 + 1 = 0 Þ s = ± j1
d
A(s) = 2
ds
Two changes in algebraic sign in the left column above s2 row, indicate 2 RHP roots. The premature

termination indicates 2 IA roots at s= ± j1. The remaining 2 roots are obviously in the LHP .

Q9(a) Characteristic equation is

k e–sT
1+ = 0 or abs3 + (a + b)s2 + s + k–sT = 0
s(1 + as)(1 + bs)
–sT
Use approximation e = 1–sT obtained by retaining first two terms of exponential series and
truncating the rest, to get ab s3 + (a+b) s2 + (1–kT) s + k=0
Routh array

s3 ab 1–kT
2
s (a+b) k For the system to be stable k > 0.
1 (a + b)(1 – kT) – abk
s and (a+b) (1–kT) – abk > 0
a+b a+b
s
0
k or k <
(a + b)T + ab
(a + b)
as T ® 0 , k <
ab

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 10 Control System Soluation

k(s + 3) k(s + 3)
Q10 ( c) s2 + (k –1)s + 3k – 2 = 0 Þ 1 + = 0 or 1 + =0
s2 – s – 2 (s + 1) (s – 2)

Im
k=1 ,=j1
k=13.325
k=0
k=∞ k=∞ k=0 0.16
x x Re
–6.16 –3 –1 2
k=0.675
s=–j1

k(s + 3)
The root locus for loop transmittance G(s) = is sketched and relevant values of k , are
demonstrated there on. (s + 1)(s – 2)
dk d é s2 – s – 2 ù
Break away /in points: =0 Þ – = 0 Þ s2 + 6s –1 = 0 and s = 0.16 , – 6.16
ds ds êë s + 3 úû

IA crossing point : Characteristic equation is s2 + (k–1)s + 3k – 2 = 0

2
Obviously, for k=1 the characteristic equation s +1= 0 gives IA crossing points at s = ±j1.
1.16 ´ 1.84
k s=016 = = 0.675
3.16
5.16 ´ 8.16
k s= –6.16 = = 13.325
3.16
Now , it is easy to conclude the following in regard to the system behaviour.
(i) It is unstable for k < 1.

(ii) It oscillates at 1 rad/sec for k = 1.

(iii) It is stable for k >1.

(iv) For 1<k< 13.325 , it exhibits underdamped dynamics .

(v) For k<13.325 , it exhibits overdamped dynamics due to two distinct , negative and real roots.

(vi) For k=13.325 , it does exhibit critically damped dynamics due to two negative ,real and equal
roots but for k = 0.675, it exhibits exponentially growing dynamics due to two real , equal but positive
roots located at s = 0.16.

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Solurions Control System 11

æ 2ö
Kçs + ÷
è 3ø
Q11. The root locus for G(s) = 2 ; 0 £ K £ ¥ , is sketched below.
s (s + 6)
æ 2ö K=∞
–6 – ç – ÷ Im
è 3ø 8
sA = = –
2 3
o
qA = ± 90
æ 2ö –2
Kçs + ÷
è 3ø –s2 (s + 6)
1+ 2 = 0 ÞK = –8 / 3
s (s + 6) æ 2ö x K=0
çè s + ÷ø x x Re
3 –6,K=0 –2 / 3

Break away / in point :

dK d s2 (s + 6)
=0Þ – =0
ds ds æ 2ö
çè s + ÷ø K=∞
3
3 2 2
2s + 8s + 8s = 0 or 2s(s + 4s + 4) = 0 gives s = 0, – 2, – 2.
4´2´2
K |s= –2 = = 12
æ 4ö
çè ÷ø
3

Q12(d). Use matrix equation to get

1
x&1 = x2 + a r(t) and x& 2 = –2x1 – 3x2 + br(t) ; r(t) = u(t) Þ R(s) =
s
a b
sX1 (s) = X2 (s) +
and s X2 (s) = –2X1 (s) – 3X2 (s) +
s s
X (s) a 2 b
X1 (s) = 2 + 2 and X2 (s) = – X1 (s) +
s s s+3 s(s + 3)
2 é X2 (s) a ù b –2a + bs
X2 (s) = – ê + 2ú + gives X2 (s) = –
s+3 ë s s û s(s + 3) s(s + 1)(s + 2)
–2a + bs
Substitute X2 (s) = – in the exp ression of X1 (s) to get
s(s + 1)(s + 2)
a 1 é –2a + bs ù a(s + 3) + b
X1 (s) = 2
+ ê ú =
s s ë s(s + 1)(s + 2) û s(s + 1)(s + 2)
1
ur0 s X1 (s) = (3a + b) and x2 (¥) = s lt
x 1(¥) = s lt ur0 s X2 (s) = –a
2
1 1
–a = 1 Þ a = –1 and (3a + b) = {3 ´ (–1) + b} = 1 Þ b = 5
2 2

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12 Control System Soluation
Alternatively , one may also solve by finding STM Φ(t) as follows.
–1 –1
é0 1ù é é s 0ù é 0 1 ù ù é s –1 ù
A=ê ú and f (s) = (sI - A)–1 = ê ê ú –ê ú ú =ê ú
ë –2 –3û ë ë0 s û ë –2 –3û û ë 2 s + 3û
é s+3 1 ù é 2 1 1 1 ù
ê (s + 1)(s + 2) (s + 1)(s + 2) ú ê (s + 1) – (s + 2) (s + 1) – (s + 2) ú
f(s) = ê ú=ê ú
ê –2 s ú ê –2 2 –1 2 ú
ê (s + 1)(s + 2) (s + 1)(s + 2) ú ê (s + 1) + (s + 2) (s + 1) + (s + 2) ú
ë û ë û
é 2e– t – e–2t e– t – e–2t ù
f(t) = ê –t –2t ú
ë –2e + 2e –e– t + 2e–2t û
t t
é 2e–(t– t ) – e–2(t – t ) e–(t– t ) – e–2(t – t ) ù éa ù
x(t) = f(t)x(0) + ò f(t – t)Bu(t)dt = ò ê –(t– t ) ú ê b ú .1dt ; u(t) = 1
0 0 ë –2e + 2e–2(t– t ) –e–(t– t ) + 2e–2(t– t ) û ë û
t
t é –(t– t ) 1 ù
é (2a + b) e–(t– t ) – (a + b) e–2(t– t ) ù ê(2a + b) e – (a + b)e–2(t – t ) ú
=òê –(t– t ) ú dt = 2
0 ë – (2a + b) e + 2(a + b) e–2(t– t ) û ê –(t– t ) ú
ë – (2a + b) e + (a + b)e–2(t – t ) û 0

é1 1 ù é1 ù
ê (3a + b) – (2a + b) e– t + (a + b)e–2t ú é x1 (¥) ù ê (3a + b) ú é1ù
x(t) = 2 2 and ê = 2 =
ê –t –2t ú ë x2 (¥) úû ê ú êë1úû
ë – a + (2a + b) e – (a + b)e û ë –a û
1
(3a + b) = 1 and – a = 1 Þ a = –1 and b = 5
2
7
Q13( c) s 1 2 –1 –2
s6 1 2 –1 –2 A(s)=s6 +2s4 – s2 – 2
d
s5 03 04 0 –1 A(s) = 6s5 + 8s3 – 2s = 2 éë3s5 + 4s3 –1ùû
ds
2 2
s4 1 – –1 –2 –3 entire row multiplied by 3 / 2
3 3

s3 7 8
15
s
2 – –15 –3 –21 entire row multiplied by 7
7
1 27
s – –4 entire row multiplied by 20 / 9
15
0
s –21
Scan the left column from top to bottom to observe one change in algebraic [Link] indicates one
RHP root and so only another in LHP due to symmetry .
A(s) = s4 (s2 +2) – (s2 +2) = (s4 –1)(s2 + 2) = (s2 + 1)(s + 1)(s–1)(s2 + 2) = 0 gives s = ± 1 , ± j1 , ± j 2
Thus , there are 4 roots on jw axis , 1 RHP root and 2LHP roots , that is, p = 2 q = 1 and r = 4

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 Solurions Control System 13
Q14. Use equivalent signal flow graph as sketched below , to get the transfer function
k k s2 (s + 3)
G(s) = = 2
1 k s (s + 3) + s + k
1+
+ 2
s(s + 3) s (s + 3)
The characteristic equation is s3+ 3s2 + s + k = 0

Routh array k
2

input
s 1 s2 1
s
3
1 1 output
s2 3 k 1/s 1
3– k
s1
3 –1
0
(s + 3)
s k
1 2 2
For k=3, s row has all zero entries and divisor polynomial A(s) = 3s +k =3s +3=0 gives s = ± j1
that is, there will be 2 IA roots .The third root will obviously be in the LHP. Thus , k=3.

Q15(b) Construct Routh array for D(s)=s4+k1s3+s2+k2s+1 as follows.

s4 1 1 1
s3 k1 k2

s2 k1 – k2 1
k1
s1
(
k1k2 – k22 + k12 )
k1 – k2
s0 1

For 2 IA roots s1 row must have all zero entries , that is ,

(
k1k2 – k22 + k12 ) = 0 or k 2
+ k22 = k1k2
1
k1 – k2
k(s + 7) 7k
ur0
Q16 (b) Position error cons tan t , KP = s lt 2
=
s + 2s + 10 10
1 1 10
e(¥) = = =
1 + KP 1 + 7k 7k + 10
10
¶ k –70 k –7k
S ke( ¥ ) = e(¥) ´ = 2
´ ´ (7k + 10) =
¶k e(¥) (7k + 10) 10 7k + 10
7 ´ 10 7
Se(k ¥ ) k =10 = =
7 ´ 10 + 10 8

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14 Control System Soluation

k(s2 – 2s + 4)
Q17(d) The characteristic equations is 1 + 2
= 0 or (k + 1)s2 + 2(1 – k)s + 2 + 4k = 0
s + 2s + 2
The stability demands
(k+1) >0 or k > –1
2(1–k) > 0 or k < 1
(2+4k) > 0 or k > –1/2 1
All together , stability range is – < k < 1.
2
k(s + 2) s2 – 4s + 13
Q18. 1 + = 0 gives k = –
s2 – 4s + 13 s+2
2
dk (2s – 4)(s + 2) – (s – 4s + 13)
= 0 gives 2
= 0 or s2 + 4s – 21 = 0 or s = –2 ± 5
ds (s + 2)
The point s = 3 dose not lies on real axis segment of root locus. jω
Thus , the break away point lies at s = –7
L1 = L2 = 32 + 92 = 9.5 and L3 = 5 k=4
+j3 x k=0
L1L2 9.5 ´ 9.5
k s= –7 = = = 18
L3 5 L1
–7,k=18
The characteristic equation –2,k=0
s
s2+(k–4)s+2k+13=0 gives k=∞ L2 2
IA crossing points at s = ±j4.58 for k=4.
L3
–j3 x k=0
–j4.58,k = 4
Q19 The characteristic equation is
10 p(s + 2) s2 + 2s + 10
1+ = 0 or s2 + ps + 2s + 2p + 10 = 0 or 1 + 2 =0 Þp= –
(s + 2)(s + p) s + 2s + 10 s+2
dp
– = 0 gives s2 + 4s – 6 = 0 and s = – 2 ± 3.16 = – 5.16 , 1.16
ds Im
The feasible break away point lies at s = –5.16 and λ =5.16
p=0
x j3

p=∞ p=∞
Re
–2 –1
–5.16
x –j3
p=0

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 Solurions Control System 15

10
Q20. G( jw ) = .Let gain crossover frequency be wgc
jw ( jw + 1)
10
G( jwgc ) = 1 gives = 1 Þ wgc4 + wgc2 –100 = 0
2
wgc 1 + wgc
Solve the equation to get wgc2 = 9.5 or –10.05
Discard negative value so that wgc = 9.5 = 3.08rad / sec
fm1 = 180o + ÐG( j wgc ) , fm2 = 180o + ÐG( jwgc ) – 0.1wgc
180o
fm1 – fm2 = 0.1wgc = 0.1 ´ 3.08 = 0.308rad = 0.308 ´ = 17.65o
p
Q21. The characteristic equation is | sI-A | = 0
é s 0 ù é –2 1 ù és + 2 –1 ù
sI - A = ê ú –ê ú =ê ú
ë0 s û ë –K1 –(K2 + 1) û ë K1 s + K2 + 1û
| sI- A | = 0 Þ (s + 2)(s + K2 + 1) + K1 = 0 or s2 + (K2 + 3)s + K1 + 2K2 + 2 = 0
4
Settling time, ts = 0.5 Þ = 0.5 or xwn = 8
xwn
Since, x = 0.5 , wn = 16
2xwn = K2 + 3 = 16 Þ K2 = 13
wn2 = (K1 + 2K2 + 2) = 162 Þ K1 = 162 – 28 = 228
K1 + K2 = 13 + 228 = 241 b1
Q22(b) x&1 = –5x1 + x2 + b1u x& 2 x2 x1
x& 2 = –x1 – 3x2 + b2 u b2 s
–1
1 s–1
u y
é x&1 ù é –5 1 ù é x1 ù é b1 ù 1
ê x& ú = ê –1 –3ú ê x ú + êb ú u –3 x&1
–5
ë 2û ë û ë 2û ë 2û
é b1 –5b1 + b2 ù –1
Controllability max trix , Q2 = [B : AB] = ê ú
ë b2 –b1 – 3b2 û
Since , the mod el is UNCONTROLLABLE , | Qc | = 0 , that is ,
– b1 (b1 + 3b2 ) – b2 (–5b1 + b2 ) = 0 Þ (b1 – b2 )2 = 0 Þ b1 = b2

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16 Control System Soluation
é1 1ù
é s –1ù 1 é s 1ù ês s2 ú
Q23. sI - A = ê ú and f(s) = (sI - A)–1 = 2 ê ú =ê ú
ë0 s û s ë0 s û ê
0
1ú
ëê s ûú
é1 t ù é x1 (t) ù é1 t ù é1ù é1 + t ù
STM, f(t) = ê ú and ê ú = f(t)x(0) = ê úê ú=ê ú
ë0 1û ë x2 (t) û ë0 1û ë1û ë 1 û
éë x12 (t) + x22 ùû = éë(1 + t)2 + 12 ùû = 5
t =1 t =1

Alternate method
x&1 (t) = x2 (t) and x& 2 (t) = 0 Þ s X1 (s) – X1 (0) = X2 (s) and s X2 (s) – x2 (0) = 0
x2 (0) 1
X2 (s) = = Þ x2 (t) = 1 Þ x2 (1) = 1
s s
X (s) x (0) 1 1
X1 (s) = 2 + 1 = 2 + Þ x1 (t) = t + 1 Þ x1 (1) = 2
s s s s
2 2 2 2
x1 (1) + x2 (1) = 2 + 1 = 5

1
Q24. x&1 = x1 + x2 + r s–1
2
x&1 x& 2
x& 2 = –x&1 – x2
1 1 1
1 r y
= – x1 – x2 – r – x2 –1 1
2 x1 –1
3 1/2
= –x1 – x2 – r
2 s–1
x2
&
x
é 1ù é 1 1
2 ù é x1 ù é1ù é1 1
2 ù
ê x& ú = ê –1 – 3 ú ê x ú + ê –1ú r Þ A = ê –1 – 3 ú
ë 2û ë 2ûë 2û ë û ë 2û

1 3
l11 + l12 + l21 + l22 = 1 + –1 – = –1
2 2

1 0.6 K
Q25. G1 (s) = 10 , G2 (s) = = ; h int : 20log = 0 Þ K =1
æ s ö s (s + 0.6) w w=1
s ç1 +
è 0.6 ÷ø
G3 (s) = 3s ; h int : 20log (3w ) w=1 = 9.54
Y(s) G1 (s) G2 (s) 6
= = 2
R(s) 1 + G1 (s) G2 (s) + G2 (s) G3 (s) s + 2.4s + 6
2.4
wn = 6 and x = = 0.48989 @ 0.5
2 6

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