NPTEL Online Course - 2025
Control Engineering by [Link] Pasumarthy
Assignment 6: Solutions
s
1. [2 Marks] If the input to a system with transfer function G(s) = s+3 , is r(t) = 7 cos(3t − 40o ), the
steady state response of the open loop system is given by
(a) √7 cos(3t + 5o ) [Correct]
2
7
(b) √
2
sin(3t + 5o )
(c) √1 sin(3t − 5o )
2
(d) √1 cos(3t − 5o )
2
Solution: A
Given, r(t) = 7 cos(3t − 40o ). We get ω = 3 from the input r(t).
jω j3 1
G(jω) = = = 0.5 + j0.5 = √ ∠45o
3 + jω 3 + j3 2
The steady state response of the open loop system is
1 7
7 × √ cos(3t − 40o + 45o ) = √ cos(3t + 5o )
2 2
2. [2 Marks] The amplitude A(ω) and phase shift ϕ(ω) for an irrational transfer function of the form
−4s
G(s) = e s , are respectively
(a) A(ω) = −4ω, ϕ(ω) = −π/2
(b) A(ω) = −4ω, ϕ(ω) = −4ω
(c) A(ω) = 1/ω, ϕ(ω) = −π/2 − 4ω [Correct]
(d) A(ω) = 1/ω, ϕ(ω) = −π/2
Solution: C
e−4s |e−4s | 1
A(ω) = |G(s)| = | |= =
s |s| ω
π
ϕ(ω) = ∠G(s) = ∠(e−4s ) − ∠(s) = −4ω −
2
2
ωn
3. [2 Marks] An under damped second order system of the form M (s) = s2 +2ξωn s+ωn
2 has a peak
response Mr = 2.5. The damping ratio of the system is .
(a) 0.204 [correct]
(b) 0.450
(c) 0.832
(d) 0.5
1
Solution: A
1 p
Mr = p =⇒ ζ 1 − ζ 2 = 0.2
2ζ 1 − ζ 2
ζ 2 (1 − ζ 2 ) = 0.04
Taking, ζ 2 = t, we get t2 − t + 0.04 = 0. Solving we get, t = 0.04174, 0.958258.
√ √
ζ = 0.04174 or 0.958258 = 0.2043 or 0.9789
as+1
4. [2 Marks] The open loop transfer function of a unity feedback system is given by G(s) = s2 .
The value of a such that the phase margin is 45o is .
(a) 0.5
(b) 0.45
(c) 0.841 [correct]
(d) 1
Solution: C
Given, that the open-loop transfer function of the system is
as + 1
G(s) =
s2
∴ ∠G(jω) = arctan(ωa) − π
π
∵ P.M. is 4, thus
π
= π + ∠G(jωg )
4
= π + arctan(ωg a) − π
= arctan(ωg a)
1
⇒ ωg =
a
At gain crossover frequency, ωg , |G(jωg )| = 1. Thus,
q
1 + a2 ωg2
=1
ωg2
√
⇒ ωg2 = 2 = 1.414
s
1
⇒ a = √ = 0.841
2
K
5. [2 Marks] The open loop transfer function of a unity feedback system is given by G(s) = s(s+2)(s+10) .
The value of K such that the closed loop system is stable with a gain margin of 6dB is .
2
(a) 100
(b) 120 [correct]
(c) 140
(d) 150
Solution: B
The phase cross-over frequency ωpc is calculated by solving
ωpc ωpc
∠G(jωpc ) = −180o =⇒ −90o − tan−1 ( ) − tan−1 ( ) = −180o
2 10
ωpc ωpc
+ ωpc ωpc √
tan−1 2 10
ωpc ωpc = 90o =⇒ = 1 =⇒ ωpc = 20 rad/s
1− 2 10
2 10
The Gain Margin (GM) is calculated as
GM = 20 log |1/G(jωpc )| =⇒ 6 = 20 log |1/G(jωpc )| =⇒ |G(jωpc )| = 0.5
|K| √ √ √
q q = 0.5 =⇒ K = 0.5 × 20 × 24 × 120 = 120
ωpc 2
4 + ωpc 2
100 + ωpc
6. [1 Marks] The open loop transfer function and closed loop transfer function of a system are stable.
Then, which of the following statement is true?
(a) Contour of GH encircles the origin
(b) Contour of GH does not encircle the origin
(c) Contour of GH does not encircle (−1 + j0) [Correct]
(d) Contour of GH does encircles (−1 + j0)
Solution : C
If the open loop system is stable, then there are no open loop poles (P ) in RHP. If the closed loop
system is stable, there are no zeros of 1 + GH (Z) in the right half plane. Therefore N = Z − P = 0
and contour of of GH does not encircle (−1 + j0)
7. [2 Marks] If the gain margin of a certain stable feedback system is 20 dB, the Nyquist plot will
cross the negative real axis at the point
(a) −0.05
(b) −0.02
(c) −0.1 [Correct]
(d) −0.01
Solution: C
1
20 log = 20
|GH(jω)|
1
⇒ = 10
|GH(jω)|
⇒ |GH(jω)| = 0.1
Since the system is stable, it will cross at s = −0.1.
3
8. [2 Marks] The Bode magnitude plot of
104 (1 + jω)
H(jω) = , is
(10 + jω)(100 + jω)2
Solution: A
Given transfer function is
104 (1 + jω)
H(jω) =
(10 + jω)(100 + jω)2
0.1(1 + jω)
=
ω ω 2
1 + j 10 1 + j 100
The system is type 0. So, initial slope of the Bode plot is 0 dB/decade.
Corner frequencies are
ω1 = 1 rad/s
ω2 = 10 rad/s
ω3 = 100 rad/s
As the initial slope of Bode plot is 0 dB/decade and corner frequency ω1 = 1 rad/s, the slope after
ω = 1 rad/s is (0 + 20) = +20 dB/decade.
After corner frequency, ω2 = 10 rad/s, the slope is (20 − 20) = 0 dB/decade.
Similarly, after ω3 = 100 rad/s, the slope is (0 − 20 × 2) = −40 dB/decade.
s+2
9. [2 Marks] The transfer function of an open loop system is G(s)H(s) = s2 −1 . The Nyquist plot
will be of the form
(a) (a)
(b) (b)
(c) (c)
4
(d) (d) [Correct]
Solution: D
s+2
G(s)H(s) =
s2 − 1
√
4 + ω2
⇒ |G(jω)H(jω)| =
1 + ω2
∠G(jω)H(jω) = −180◦ + tan−1 (ω/2)
At ω = 0, G(jω)H(jω) = 2∠−180o
√
2 2 o
At ω = 2, G(jω)H(jω) = 5 ∠−135
o
At ω = ∞, G(jω)H(jω) = 0∠−90
1
10. [1 Marks] Consider a second-order system expressed as G(s)H(s) = s2 +2ζs+1 For different values
of ζ, Nyquist plot of the system is shown below.
5
The relation between values of ζ1 , ζ2 , ζ3 and ζ4 is
(a) ζ1 < ζ2 < ζ3 < ζ4
(b) ζ1 > ζ2 > ζ3 > ζ4 [Correct]
(c) ζ1 < ζ2 and ζ3 > ζ4
(d) ζ1 > ζ2 and ζ3 < ζ4
Solution: B
As ζ increases the lobe size decreases and vice-versa. ζ1 > ζ2 > ζ3 > ζ4 .