GATE-2023

Electronics Engineering

Control Systems
Chapterwise & Topicwise

Contents
S.No. Topic Page No.

1. Basics of Control Systems, Block Diagram and SFG’s .............................................................. 1-19

2. Compensators and Controllers .................................................................................................... 20-31

3. Time Response Analysis ................................................................................................................ 32-60

4. Stability Analysis ............................................................................................................................... 61-81

5. Root Locus .......................................................................................................................................... 82-98

6. Frequency Response Analysis .................................................................................................. 99-134

7. State Space Analysis ................................................................................................................... 135-164

 1 Basics of Control Systems,
Block Diagram and SFG’s
ELECTRO NICS EN GINEERIN G G1G2 G3G4
(c)
(GATE Previous Years Solved Papers) (1 + G1 + G2 ) (1 + G3 + G4 )

G1G2 G3G4
Q.1 In the signal flow graph shown in figure (d)
(1 + G1 + G2 + G3 + G4 )
X2 = TX1 where T, is equal to
[EC-1989 : 2 Marks]
0.5
Q.4 In the signal flow graph of figure the gain c/r
will be

5 5
X1 X2

(a) 2.5 (b) 5 1 2 3 4

c
r
(c) 5.5 (d) 10
[EC-1987 : 2 Marks] –1 –1 –1

Q.2 For the system shown in figure the transfer 11 22

function C(s)/R(s) is equal to (a) (b)
9 15
10 24 44
R(s) +
–
+
– s (s + 1)
C(s ) (c) (d)
23 23
[EC-1991 : 2 Marks]

s
Q.5 Signal flow graph is used to find
(a) stability of the system

10 10 (b) controllability of the system

(a) (b)
s 2 + s + 10 s 2 + 11 s + 10 (c) transfer function of the system
(d) poles of the system
10 10
(c) (d) [EC-1995 : 1 Mark]
s 2 + 9 s + 10 s 2 + 2 s + 10
[EC-1987 : 2 Marks] Q.6 The transfer function of a linear system is the
(a) ratio of the output, vo(t) and input vi(t).
Q.3 The C/R for the signal flow graph in figure is
(b) ratio of the derivatives of the output and
1 G1 G2 1 G3 G4 1
the input.
R C
(c) ratio of the Laplace transform of the output
–1 –1 –1 –1
and that of the input with all initial
G1G2 G3G4 conditions zeros.
(a)
(1 + G1G2 ) (1 + G3G4 )
(d) none of these.
G1G2 G3G4 [EC-1995 : 1 Mark]
(b)
(1 + G1 + G2 + G1G2 ) (1 + G3 + G4 + G3G4 )
 2 Electronics Engineering Control Systems

Q.7 In the signal flow graph of figure, y/x equals

5 2 1 Z1(s) Z2(s)
x y Vo(s )

–2 I1(s) I2(s )
Vi(s) Z 3 (s ) Z4(s)
5
(a) 3 (b)
2
(c) 2 (d) None of the above
Fig. (a)
[EC-1997 : 2 Marks]

Q.8 The equivalent of the block diagram in the figure G1 I1(s ) G2 I2(s) G3
is given as, Vi(s ) Vo(s )

E G1 G2 C H
Fig. (b)

Z3 (s) Z3 (s)
(a) ,
F H Z2 (s) + Z3 (s) + Z4 (s) Z1 (s) + Z3 ( s)
Z3 (s) Z3 (s)
(b) ,
E G1 C Z2 (s) Z3 (s) + Z4 (s ) Z1 (s) + Z3 (s)
Z3 (s) Z3 (s)
(a) (c) ,
Z2 (s) + Z3 (s) + Z4 (s) Z1 (s) + Z3 ( s)
F H/G2
Z3 (s) Z3 (s)
(d) ,
Z2 (s) Z3 (s) + Z4 (s ) Z1 (s) + Z3 (s)
E G1G2 C [EC-2001 : 2 Marks]
(b) Q.10 The signal flow graph of a system is shown in
HG2 the figure. The transfer function C(s)/R(s) of the
F
system is
1 1/s 6 1/s
E G1 C R(s)
–3
(c) 1 –2
–4
F HG2
C(s )

6 6s
E G1G2 C (a) 2 (b) 2
s + 29s + 6 s + 29s + 6
(d) s (s + 2) s (s + 27)
(c) 2 (d) 2
s + 29s + 6 s + 29s + 6
F H/G2
[EC-2003 : 2 Marks]
[EC-2001 : 1 Mark] Q.11 Consider the signal flow graph shown in the
Q.9 An electrical system and its signal flow graph figure. The gain x5/x1 is
representation are shown in the Fig. (a) and (b) a x2 b x3 c x4 d x5
x1
respectively. The values of G2 and H, repectively,
are:
e f g
 GATE Previous Years Solved Paper 3

1 ( be + cf + dg ) –100
(a)
abc
1/s 1/s 1/s 100
(b) u y
bedg
(b)
1 (be + cf + dg )
–20
abcd
(c) –100
1 (be + cf + dg ) + bedg
1/s 1/s 1/s 100
1 ( be + cf + dg ) + bedg (c) u y
(d)
abcd
–20
[EC-2004 : 2 Marks]
–100
Q.12 The transfer function Y(s)/R(s) of the system
shown is (d) u
1/s 1/s 1/s 100 y

+ 1 [EC-2011 : 2 Marks]
R(s ) Y(s )
s+1
– Q.14 The signal flow graph for a system is given
+ below. The transfer function Y(s)/U(s) for this
1
s+1 – system is
1

1 s–1 s–1 1
1
(a) 0 (b) U(s ) Y(s )
s+1
2 2 –4
(c) (d)
s+1 s+3
–2
[EC-2010 : 1 Mark]
s+1 s+1
Q.13 The input-output transfer function of a plant (a) 2 (b) 2
5s + 6 s + 2 s + 6s + 2
100 s+1 1
H (s) = . The plant is placed in a unity (c) (d)
s (s + 10) 2 s 2 + 4s + 2 5s 2 + 6 s + 2
[EC-2013 : 2 Marks]
negative feedback configuration as shown in
the figure below. Q.15 For the following system,
X2 ( s )
+ u 100
r H (s ) = y
s (s + 10)2 X1(s ) +
s
+
+ 1
Y(s )
– – s+1 – s
Plant

where X 1 (s) = 0, the transfer function is

The signal flow graph that does not model the Y(s)/X2(s) is
plant transfer function H(s) is s+1 1
(a) 2
(b)
1 1/s 1/s 1/s 100 s s+1
(a) u y s+2 s+1
(c) (d)
s ( s + 1) s ( s + 2)
–10 –10
[EC-2014 : 1 Mark]
 4 Electronics Engineering Control Systems

Q.16 Consider the following block diagram in the 1

figure. (c) G1 (s ) + G2 (s )
G1 (s )
R(s ) G1 + G2 + C(s )
+ + 1
(d) G1 (s ) G2 (s )
G1 (s )

The transfer function C(s)/R(s) is [EC-2015 : 1 Mark]

G1G2 Q.20 The position control of a dc servo-motor is given

(a) (b) G1G2 + G1 + 1
1 + G1G2 in the figure. The values of the parameters are
G1 KT = 1 N-m A, Ra = 1 , La = 0.1 H. J = 5 kg-m2,
(c) G1G2 + G2 + 1 (d) B = 1 N-m (rad/sec) and Kb = 1 V/(rad/sec).
1 + G1G2
The steady-state position response (in radians)
[EC-2014 : 1 Mark]
due to unit impulse disturbance torque Td is __.
Q.17 Negative feedback in closed-loop control system Td(s)
does not
(a) reduce the overall gain KT – 1
+ + 1/s
(b) reduce bandwidth Va(s ) – Ra + L a s Js + B (s)

(c) improve disturbance rejection

Kb
(d) reduce sensitive to parameter variation
[EC-2015 : 1 Mark] [EC-2015 : 2 Marks]

Q.18 For the signal flow graph shown in the figure, Q.21 The block diagram of a feedback control system
the value of C(s)/R(s) is is shown in the figure. The overall closed-loop
–H 3 gain G of the system is

X + G2 + G1 Y
– –
1 X1 X3 1 X4
R(s) G1 X2 G2 G3 X5 G4 C(s ) H1

–H1 –H2 G1G2

(a) G =
G1G2 G3 G4 1 + G1 H 1
(a) 1 G G H G G H G G H + G G G G H H
1 2 1 3 4 2 2 3 3 1 2 3 4 1 2 G1G2
G1G2 G3 G4
(b) G =
(b) 1 + G1G2 + G1 H 1
1 + G1G2 H 1 + G3G4 H 2 + G2 G3 H 3 + G1G2 G3G4 H 1 H 2
G1G2
(c)
1 (c) G =
1 + G1G2 H 1 + G3G4 H 2 + G2 G3 H 3 + G1G2 G3G4 H 1 H 2 1 + G1G2 H 1
1 G1G2
(d) (d) G =
1 G1G2 H 1 G3G4 H 2 G2 G3 H 3 + G1G2 G3G4 H 1 H 2
1 + G1G2 + G1G2 H 1
[EC-2015 : 1 Mark]
[EC-2016 : 1 Mark]
Q.19 By performing cascading and/or summing/
Q.22 For the system shown in the figure, Y(s)/X(s) =
differencing operates using transfer function
_______ .
blocks G1(s) and G2(s), on cannot realize a
transfer function of the form
–
(a) G1(s) G2(s) X(s ) + G(s ) = 2 +
+
Y (s )

G1 (s)
(b)
G2 (s) [EC-2017 : 1 Mark]
 GATE Previous Years Solved Paper 5

Q.23 The block diagram of a system is illustrated in ELECTRICAL EN GINEERIN G

the figure shown, where X(s) is the input and
(GATE Previous Years Solved Papers)
Y(s) is the output. The transfer function
Q.1 The signal flow graph of figure shown below,
Y (s )
H (s) = is has ____ forward paths and ___ feedback loops.
X( s )
c

s b d e
– +
+
X(s) 1/s Y(s ) a h
x
– +
1/s
k I f

m
y
2 g
s +1
(a) H (s ) =
2s2 + 1 n
2
s +1 [EE-1991 : 2 Marks]
(b) H (s ) =
s + 2s 2 + s + 1
3
Q.2 The overall transfer function of the system
s+1
(c) H (s ) = shown in figure is
s2 + s + 1
+
s2 + 1 G
(d) H (s ) = 3 2 +
s +s +s+1
[EC-2019 : 2 Marks] H +
w y
Q.24 The block diagram of a feedback control system H +

is shown in the figure.

+
+
G
G2

X(s) +– G1 +
+ Y(s ) G 2G
(a) (b)
1 GH 1 GH
H GH GH
(c) (d)
1 GH 1 H
Y (s ) [EE-1992 : 1 Mark]
The transfer function of the system is
X( s )
Q.3 Signal flow graph is used to obtain the
G1 + G2
(a) (a) stability of a system.
1 + G1 H
(b) transfer function of a system.
G1 + G2 + G1G2 H (c) controllability of a system.
(b)
1 + G1 H
(d) observability of a system.
G1 + G2 + G1G2 H [EE-1993 : 1 Mark]
(c)
1 + G1 H + G2 H
Q.4 The closed loop transfer function of a control
G1 + G2
(d) system is given by
1 + G1 H + G2 H
C (s) 2 (s 1)
[EC-2021 : 1 Mark] =
R(s ) ( s + 2) (s + 1)
 6 Electronics Engineering Control Systems

For a unit step input the output is Q.8 A control system is defined by the following
(a) –3e–2t + 4e–t – 1 (b) –3e–2t – 4e–t + 1 mathematical relationship
(c) zero (d) infinity d2 x dx
2
+6 + 5x = 12 (1 e 2t )
[EE-1995 : 1 Mark] dt dt
The response of the system as t is,
Q.5 For block diagram shown in figure C(s)/R(s) is
given by (a) x = 6 (b) x = 2
(c) x = 2.4 (d) x = –2
H2
[EE-2003 : 1 Mark]
–
R(s) +
–
G1 + G2 G3 C(s ) Q.9 A control system with certain excitation is
governed by the following mathematical
H1 equation,

G1G2 G3 d2 x 1 dx 1
(a) 2
+ + x = 10 + 5 e 4t + 2 e 5t
1 + H 2 G2 G3 + H1G1G2 dt 2 dt 18
The nature time constants of the response of the
G1G2 G3
(b) system are
1 + G1G2 G3 H 1 H 2
(a) 2s and 5s (b) 3s and 6s
G1G2 G3 (c) 4s and 5s (d) 1/3 and 1/6s
(c)
1 + G1G2 G3 H 1 + G1G2 G3 H 2
[EE-2003 : 2 Marks]
G1G2 G3
(d) Q.10 The block diagram of a control system is shown
1 + G1G2 G3 H 1
in figure. The transfer function G(s) = Y(s)/U(s)
[EE-1998 : 2 Marks]
of the system is
Q.6 A linear time invariant system initially at rest, 9
when subjected to a unit step input, gives a
response y(t) = te–t, t > 0. The transfer function of – for for y(t)
+– 2 +–
integrator integrator
the system is
1 1
(a) (b) 3 12
(s + 1) 2 s(s + 1)2
1
s s (a)
(c) (d) s s
(s + 1)2 s ( s + 1) 18 1 + 1+
12 3
[EE-2000 : 1 Mark]
1
(b)
Q.7 The transfer function of the system described s s
27 1 + 1+
6 9
d2 y
dy du
by +
= + 2u with ‘u’ as input and ‘y’
2 dt dt 1
dt (c)
as output is s s
27 1 + 1+
(s + 1) 12 9
(s + 2)
(a) (b)
2
(s + s) (s2 + s) 1
(d)
2 2s s s
27 1 + 1+
(c) 2 (d) 2 9 3
(s + s) (s + s)
[EE-2002 : 2 Marks] [EE-2003 : 2 Marks]
 GATE Previous Years Solved Paper 7

Q.11 For a tachometer, if (t) is the rotor displacement Q.15 The system shown in figure below:
in radians, e(t) is the output voltage and Kt is
the tachometer constant (in V/rad/sec), then
the transfer function, E(s)/Q(s) will be b0 c0 b1 c1

(a) Kt s2 (b) Kt/s +

(c) Kt s (d) Kt +
+ +
[EE-2004 : 1 Mark] +
1/s
+
1/s P
– –
Q.12 For the block diagram shown in figure, the
a0 a1
transfer function C(s)/R(s) is equals to

R(s) 1/s + 1/s + C(s )

+ +
can be reduced to the form
+
X Y P
+

s2 + 1 s2 + s + 1 Z
(a) (b)
s2 s2
with
s2 + s + 1 1 1
(c) (d) (a) X = c0 s + c1 , Y = , Z = b0 s + b1
s s2 + s + 1 (s 2 + a0 s + a1 )
[EE-2004 : 2 Marks] (c 0 s + c 1 )
(b) X = 1, Y = 2
, Z = b0 s + b1
Q.13 The unit impulse response of a second order (s + a0 s + a1 )
under damped system starting from rest is given (b1 s + b0 )
(c) X = c1 s + c0 , Y = ,Z=1
by 2
(s + a1s + a1 )
c(t) = 12.5 e–6t sin8t, t 0 1
(d) X = c1s + c0 , Y = 2
, Z = b1s + b0
The steady-state value of the unit step response (s + a1s + a0 )
of the system is equal to [EE-2007 : 2 Marks]
(a) 0 (b) 0.25
Q.16 A function y(t) satisfies the following differential
(c) 0.5 (d) 1.0
equation,
[EE-2004 : 2 Marks]
dy(t )
+ y (t ) = ( t )
Q.14 When subjected to a unit step input, the closed dt
loop control system shown in the figure will where, (t) is the delta function.
have a steady-state error of Assuming zero initial condition, and denoting
the unit step function by u(t), y(t) can be of the
X(s) form
– 2
R(s) + 3/s + Y(s )
– s+2 (a) et (b) e–t
(c) et u(t) (d) e–t u(t)
[EE-2008 : 1 Mark]
(a) –1.0 (b) –0.5
Q.17 The response h(t) of a linear time invariant
(c) 0 (d) 0.5
system to an impulse (t), under initially relaxed
[EE-2004 : 2 Marks]
condition is h(t) = e–t + e–2t. The response of this
system for a unit step input u(t) is
 8 Electronics Engineering Control Systems

(a) u(t) + e–t + e–2t Assuming, h1 = b1 and h0 = b0 – b1a1, the input-

(b) (e–t + e–2t) u(t)
C(s)
(c) (1.5 – e–t – 0.5 e–2t) u(t) output transfer function, G(s) = of the
U(s )
(d) e–t (t) + e–2t u(t) [EE-2011 : 2 Marks]
system is given by
Q.18 The transfer function V2(s)/V1(s) on the circuit b0 s + b1
(a) G(s ) =
shown below is 2
s + a0 s + a1
100 µF a1 s + a0
(b) G(s ) =
+ + 2
s + b1s + b0
10 k
V1(s) V2(s) b1 s + b0
(c) G(s ) =
2
s + a1s + a0
100 µF
– –
a s + a1
(d) G(s ) = 2 0 [EE-2014 : 1 Mark]
0.5s + 1 3s + 6 s + b0 s + b1
(a) (b)
s+1 s+2
Q.21 For the signal flow graph shown in the figure,
s+2 s+1
(c) (d) which one of the following expressions is equal
s+1 s+2
[EE-2013 : 1 Mark] Y (s )
to the transfer function ?
Q.19 The signal flow graph for a system is given X2 (s ) X
1 (s) = 0
below. The transfer function Y(s)/U(s) for this
system is X1(s) X2(s)

1
1 G1 G2
Y(s )
1 s–1 s–1 1
U(s ) Y(s )

–4
–1 –1
–2
G1 G2
s+1 s+1 (a) (b)
(a) (b) 1 + G2 (1 + G1 ) 1 + G1 (1 + G2 )
5s 2 + 6 s + 2 s 2 + 6s + 2
s+1 1 G1 G2
(c) (d) (c) (d)
5s 2 + 6 s + 2 1 + G1 G2 1 + G1 G2
s 2 + 4s + 2
[EE-2013 : 2 Marks] [EE-2015 : 1 Mark]

Q.20 The signal flow graph of a system is shown Q.22 Find the transfer function Y(s)/X(s) on the
below. U(s) is the input and C(s) is the output. system given below.
h1 +– G1

h0 1 1/s 1 1/s 1
U(s) C(s ) X(s) + Y(s )
H
Y(s ) +
–a1

–
+ G2
–a0
 GATE Previous Years Solved Paper 9

G1 G2 Q.25 For a system having transfer function,

(a) +
1 HG1 1 HG2 s+1
G(s ) = , a unit step input is applied time
G1 G2 s+1
(b) +
1 + HG1 1 + HG2 t = 0. The value of the response of the system at
G1 + G2 t = 1.5 sec (Rounded off to 3 decimal places), is
(c) _________ . [EE-2017 : 2 Marks]
1 + H (G1 + G2 )
G1 + G2 Q.26 Let a causal LTI system be characterized by the
(d) [EE-2015 : 2 Marks]
1 H (G1 + G2 ) following differential equation, with initial rest
condition,
Q.23 For the system governed by the set of equations:
dx1 d2 y dy dx(t )
= 2 x1 + x 2 + u 2
+7 + 10 y(t ) = 4x(t ) + 5
dt dt dt dt
dx2 where, x(t) and y(t) are the input and output
= 2 x1 + u
dt respectively. The impulse response of the system
y = 3x1 is (u(t) is the unit step function)
The transfer function Y(s)/U(s) is given by (a) 2e–2t u(t) – 7e–5t u(t)
3( s + 1) 3(2 s + 1) (b) –2e–2t u(t) + 7e–5t u(t)
(a) (b) (c) 7e–2t u(t) – 2e–5t u(t)
(s2 2 s + 2) (s2 2 s + 1)
(d) –7e–2t u(t) + 2e–5t u(t) [EE-2017 : 2 Marks]
(s + 1) 3(2 s + 1)
(c) (d)
(s2 2s + 1) (s2 2 s + 2) Q.27 Which of the options is an equivalent
[EE-2015 : 2 Marks] representation of the signal flow graph shown
here?
Q.24 In the system whose signal flow graph is shown
c
in figure, U1(s) and U2(s) are inputs. The transfer 1 a 1
function Y(s)/U1(s) is d

–R U2 e
–1
1 (a + c) d 1
1 1 (a)
U1 1/L 1/s k1 1/J 1/s Y

e
1 a( d + c) 1
(b)
–k2

k1 e
(a)
JLs 2 + JRs + k1 k2 a
c
1 1 cd 1
k1 (c)
(b)
JLs 2 JRs k1 k2
e
k1 U 2 ( R + sL )
(c) 2 d
JLs + ( JR U 2 L ) s + k1 k2 U 2 R a
1 cd
1 1
(d)
k1 U 2 (sL R )
(d) 2
JLs ( JR + U 2 L ) s k1 k2 + U 2 R
e
[EE-2017 : 2 Marks] [EE-2020 : 2 Marks]
10 Electronics Engineering Control Systems

Electronics & Electrical Engineering

GATE Previous Years Solved Paper

A n swe rs & Expl a n a t i o n s

Answers
EC Basics of Control Systems, Block Diagram and SFG’s

1. (d) 2. (b) 3. (c) 4. (d) 5. (c) 6. (c) 7. (c) 8. (d)

9. (c) 10. (d) 11. (c) 12. (b) 13. (d) 14. (a) 15. (d) 16. (c)

17. (b) 18. (b) 19. (b) 20. (–0.5) 21. (b) 22. (1) 23. (b) 24. (a)

Solutions
EC Basics of Control Systems, Block Diagram and SFG’s

1. Sol. C G1G2 G3 G4
=
X2 5 5 5 R 1 [G1 G2 G3 G4 ]
= = = = 10
X1 1 (0.5) 0.5 + [G1G3 + G1G4 + G2 G3 + G2 G4 ]

2. (b) C G1G2 G3G4

=
R 1 + G1 + G2 + G3 + G4 + G1G3
10 + G1G4 + G2 G3 + G2 G4
C (s) s (s + 1)
= G1G2 G3G4
R( s ) 10 =
1+ ×s (1 + G1 + G2 ) (1 + G3 + G4 )
s (s + 1)
10
4. (d)
s (s + 1)
1+ ×1 By using Masson’s gain formulae,
10
1+ ×s
s (s + 1) C PK K
=
R
10
C (s) s(s + 1) + 10s 10 C (1 × 2 × 3 × 4 × 1) + (1 × 5 × 1) × (1 + 3)
= = 2 =
R( s ) 10 s + s + 10s + 10 R 1 ( 2 3 4 5) + ( 2) × ( 4)
1+
s(s + 1) + 10s
C 24 + 20 44
= =
C (s) 10 R 1 + 14 + 8 23
= 2
R( s ) s + 11s + 10
5. (c)
3. (c) The signal flow graph can not be used to
By using Masson’s gain formulae, comment on stability, controllability
C PK K absorbability or pole zero locations. It only gives
= transfer function.
R
 GATE Previous Years Solved Paper 11

6. (c) L1 and L3 are non-touching,

The transfer function of a linear time invariant (s + 27)
system is defined as the ratio of the Laplace s
G(s) =
transform of the output and that of the input 3 24 2 2 3
1 + ×
with all initial conditions zero. s s s s s

7. (c) (s + 27)
s
C PK K =
= 29 6
1+ +
R s s2
C 5× 2× 1 10 10
= = = =2 C (s) s (s + 27)
R 1 ( 4) 1 + 4 5 = 2
R(s ) s + 29s + 6
8. (d)
11. (c)
Take off point is moved after G2 so H/G2.
P1 = abcd, 1 = 1
9. (c) L1 = be, L2 = cf, L3 = dg
From KVL in both loops: Non-touching loops are L1 and L3 = bedg
In first loop, X5 abcd
=
Vi(s) = I1(s) Z1(s) + [I1(s) – I2(s)] Z3(s) X1 1 (be + cf + dg ) + bedg
Vi(s) = I1(s) [Z1(s) + Z3(s)] – I2(s) Z3(s)
12. (b)
Vi (s) I 2 (s) Z3 (s)
= I1 (s) ...(i)
Z1 (s) + Z3 (s) Z1 (s) + Z3 (s) + P(s ) 1
R(s ) Y(s )
In second loop, s+1
–
[I2(s) – I1(s)] Z3(s) + I2(s) Z2(s) + I2(s) Z4(s) = 0
+
I2(s) (Z2(s) + Z3(s) + Z4(s)) = I1(s) × Z3(s) 1
s+1 –
I 2 (s) Z3 (s)
G2 = =
I 1 (s) Z2 (s) + Z3 (s) + Z4 (s)
Q(s )
From SFG,
I1(s) = ViG1(s) + I2(s) H(s) 1 1
Q(s) = P(s) =0
1 Z3 (s ) s+1 s+1
I1(s) = Vi (s) + I 2 (s)
Z1 (s ) + Z3 (s ) Z1 (s ) + Z3 (s ) So, P(s) = R(s) – 0 = R(s)
...[(From equation (i)] P(s ) R(s )
Y(s) = =
Z3 (s) s+1 s+1
H(s) =
Z1 (s) + Z3 (s) Y (s) 1
Therefore, =
...(Comparing above two equations) U (s) s+1

10. (d) 13. (d)

P1 = 1 For option (d),
3 24 s + 27
1 = 1+ + = Y (s) 100 / s 3
s s s =
U (s) 100
P1 1 1+ 2
G(s) = 1 (loop gain) + pair of non-touching loops s
3 24 2 Which is not transfer function of H(s).
L1 = , L2 = , L3 =
s s s
12 Electronics Engineering Control Systems

14. (a) G1 G2
R(s ) C(s )
Using Mason’s gain formula,
= 1 – [–2s–1 – 2s–2 – 4 – 4s–1]
1 1
2 2 4
= 1+ + 2 + 4+
s s s Forward paths,
P1 = G1G2, P2 = G2 1
5s 2 + 6 s + 2
= P3 = 1 1 = 1
s2
So, the transfer function is,
2 1
P1 = s = C (s)
s2 = G1G2 + G2 + 1
R(s )
1
P2 = s 1 =
s 18. (b)
1 = 1; 2=1 Transfer function,
1 1 C (s) PK
×1+ ×1 K
Y (s) PK 2 s =
=s 2
K
= R(s )
U (s) 5s + 6s + 2 G1G2 G3G4
=
s2 1 (G1G2 H 1 G2 G4 H 2 G2 G3 H 3 ) + G1G2 H1 G3G4 H 2

Y (s) s+1 C (s) G1G2 G3G4

= = 1 + G1G2 H 1 + G2 G4 H 2 + G2 G3 H 3 + G1G2 H1 G3G4 H 2
U (s) 2
5s + 6 s + 2 R(s )

15. (d) 19. (b)

Redrawing the block diagram with X1(s) = 0 Given blocks has transfer function G1(s) and
G2(s).
X2(s) + 1/s C(s ) In cascade connection: G1(s) G2(s)
–
In parallel connection: G1(s) + G2(s)
s From the given options:
(s + 1) (For cascading/summing/differencing)
(a) G1(s) G2(s) Realization is possible.
The transfer function,
Y (s) G(s ) G1 (s)
T(s) = = ...(i) (b) Realization is not possible
X2 (s) 1 + G(s) H (s) G2 (s)
1 s because the gain of blocks given as G1(s)
Here, G(s) = and H (s ) =
s s+1 and G2(s).
Y (s ) 1/ s (s + 1) 1
= = (c) G1 (s ) + G 2 ( s ) = 1 + G1 ( s ) G 2 ( s )
X2 (s ) 1 s s(s + 2)
1+ × G1 (s )
s s+1
Realization is possible.
16. (c)
1
(d) G1 (s ) G2 (s ) = 1 G1 (s ) G2 (s )
R(s ) G1 + G2 + C(s ) G1 (s )
+ +
Realization is possible.

20. Sol.
Converting the block diagram into signal flow
The transfer function due to the disturbance
graph on,
torque Ta(s) is
 GATE Previous Years Solved Paper 13

1 1 22. Sol.
×
(s ) ( Js + B) s
=
Td (s) 1 Kb KT
1+
Js + B Ra + L a s X(s ) +
–
G(s ) = 2 + Y(s )
X(s) – Y(s) +
1
( Ra + L a s )
s
=
( Ra + La s) ( Js + B) + Kb KT Y(s) = [X(s) – Y(s)] G(s) + X(s)
The steady value of response for unit impulse [1 + G(s)] Y(s) = [G(s) + 1] X(s)
input, Y (s )
=1
1 X( s )
s ( Ra + L a s )
s
(0) = lim Td 23. (b)
s 0 ( Ra + La s ) ( Js + B) + K b KT
Using block diagram reduction, we get
Ra
= 1
Ra B + Kb KT
–
Given, + 1
X(s) s+ 1/s Y(s )
s
K T = 1 N-m/A, Ra = 1 –
B = 1 N-m/rad/sec
and Kb = 1 V/rad/sec
+ s2 + 1
Substituting the given values into above X(s)
2
1/s Y(s )
s +s+1
equation, we get –

1
(0) = = 0.5 rad
2 Y (s ) s2 + 1
= H (s) = 3
21. (b) X( s ) s + 2s 2 + s + 1

G1 24. (a)
X + G2 Y
– 1 + G1 H 1
Y (s ) G + G2
= 1
X( s ) 1 + G1 H
[By using Mason’s gain formula]
G2 G1
Y (s ) 1 + G1 H 1 G2 G1
= =
X( s ) G2 G1 1 + G1G2 + G1 H 1
1+
1 + G1 H 1

Answers
EE Basics of Control Systems, Block Diagram and SFG’s

1. (4, 4) 2. (b) 3. (b) 4. (a) 5. (a) 6. (c) 7. (a) 8. (c)

9. (b) 10. (b) 11. (c) 12. (b) 13. (d) 14. (c) 15. (d) 16. (d)

17. (c) 18. (d) 19. (a) 20. (c) 21. (b) 22. (c) 23. (a) 24. (a)

25. (0.554) 26. (b) 27. (d)

14 Electronics Engineering Control Systems

Solutions
EE Basics of Control Systems, Block Diagram and SFG’s

1. Sol. t 1
Y(s) = L te =
Number of forward paths (s + 1)2
= 4 (abdfg, ahfg, aklfg, akmg)
Y (s ) s
Number of loops = 4 (c, de, lfn, mn) T.F. = =
X(s ) (s + 1)2
2. (b)
SFG : 7. (a)

G d2 y dy du
2
+ = + 2u
dt dt dt
1 H 1
w(s ) y(s) s2Y(s) + sY(s) = sU(s) + 2U(s)
H
Y (s) s+2
= 2
G U (s) (s + s)
G + GHG + G + GHG
T.F. = 8. (c)
1 [GH GH ]
Taking (LT) on both sides,
(4 forward paths are 3)
1 1 24
2G (s2 + 6s + 5) X(s) = 12 =
= s s+2 s (s + 2)
1 GH
24
X(s) =
3. (b) s(s + 2) (s + 1) (s + 5)
Signal flow graph is used to find the transfer Response at t
function between the output and input node. Using final value theorem,
Lt x(t ) Lt sX(s)
4. (a) t = s 0

C (s) 2(s 1) s × 24
= = Lt
1 /s (s + 2) (s + 1) s 0 s(s + 1) (s + 2) (s + 5)

= 2.4
1 3 4
C(s) = + +
s s+2 s+1 9. (b)
C(t) = –1 – 3e–2t + 4e–t Natural ratio constant of the response depends
only on poles of the system,
5. (a)
Number of foward paths = 1 (G1G2G3) C (s) 1
T(s) = =
Number of loops = 2 (–G1G2H1, –G2G3H2) R(s ) s 2 + s + 1
Number of non-touching loops = 0 2 18

C (s) G1G2 G3 18 1
T.F. = = = 2
=
R(s) 1 + G1G2 H 1 + G2 G3 H 2 18s + 9s + 1 (6s + 1) (3s + 1)

1
6. (c) This is in the form
(1 + sT1 ) (1 + sT2 )
1
X(s) = L u(t ) = T1, T2 = 6 sec, 3 sec.
s
 GATE Previous Years Solved Paper 15

10. (b) 11. (c)

Integrator are represented as 1/s in s-domain.
(s ) T.F. E(s )
9
(t) = rotor displacement in radians
– y ( t) d
u(t) +
–
1/s 2 +
–
1/s (t ) = = angular speed in rad/sec.
dt
Output voltage,
3 12
d
As per the block diagram, the corresponding e(t) = Kt (t ) = Kt
dt
singal flow graph is drawn.
Taking Laplace transform on both sides,
–9 E(s) = Kt s (s)
E(s)
= Kt s
1 1/s 2 1/s 1 ( s)
u(s) y (s )
12. (b)
–3 –12 Using signal flow graph,
2 1/s 1/s
One forward path, P1 = 1
s2 R(s) C(s )

The individual loos pare,

1
3 12
L1 = , L2 =
s 3 1
18 Three forward paths:
and L3 =
s2
11 1
L1 and L2 are non-touching loops, P1 = =
s s s2
36
L1L2 = 1 1
s2 P2 = 1 = and P3 = 1
s s
The loops touches the forward path 1= 1.
The numbmer of individual loop = 0
The graph determinant is,
So, graph determinant = = 1
= 1 – (L1 + L2 + L3) + L1L2
and 1 = 2= 3=1
3 12 18 36 Applying Mason’s gain formula,
= 1+ + + +
s s s2 s2
C (s)
G(s) =
Applying Mason’s gain formula, R(s )
Y (s) P1 1 P1 1 + P2 2 + P3 3
G(s) = = =
U (s)

2 / s2 1
1+
1
1+1+1
= 3 12 18 36 2 s2 + s + 1
s s
1+ + + + = =
s s s2 s2 1 s2
2 2
= 2
= 13. (d)
s + 15s + 54 (s + 9) (s + 6)
Transfer function of a system is the unit impulse
1 response of the system.
=
s s
27 1 + 1+
9 6
16 Electronics Engineering Control Systems

C(s) Using Mason’s gain formula,

Transfer function = = L (12.5e 6t sin 8t )
R(s) Y (s ) P1 1 + P2 2
=
8 R(s )
= 12.5 ×
( s + 6)2 + 82 2 6
×1+ ×1
100 s+2 s(s + 2)
=
= s(s + 2) + 6
(s + 6)2 + 82
s(s + 2)
when input is unit step,
1 Y (s ) 6 2s
R(s) = =
s R(s ) s2 + 2 s + 6
1 100 For unit step unit,
C(s) =
s (s + 6)2 + 82 1
R(s) =
Steady-state value of response, using final value s
theorem, 6 2s
Csteady-state = Lt C (t ) = Lt sC(s) Y(s) = R(s ) 2
f s 0 s + 2s + 6
= Error = E(s) = R(s) – Y(s)

1 100 6 2s
Lt s =1 = R(s ) R(s ) 2
s 0 s (s + 6)2 + 82 s + 2s + 6

6 2s
14. (c) = R(s ) 1 2
s + 2s + 6
Using signal flow graph,
1 s 2 + 4s
–1 E(s) =
s s2 + 2s + 6
2
1 1 3/s s+2 1
Steady state value of error, using final value
Y(s )
theorem,
R(s)
ess = Lt sE(s)
s 0
–1
Forward path gains, 1 s 2 + 4s
= Lt s
s 0 s s2 + 2s + 6
2 2
P1 = ( 1) × =
s+2 s+2 s 2 + 4s
= Lt =0
3 2
=
6 s 0 s 2 + 2s + 6
and P2 =
s s + 1 s (s + 2)
Individual loop, 15. (d)
The block-diagram can be redrawn as,
3 2 6
L1 = 1× × =
s s + 2 s(s + 2) 2
+ +
c1 b1
Loop touches forward paths, therefore,
1 = 1 and 2 = 1
3 4
D = 1 – L1 1 + +
5 6
R(s) c1 1/s 1/s P
+ –
6 s (s + 2) + 6 1 C(s )
= 1+ =
s (s + 2) s(s + 2) b0 a0 a1
 GATE Previous Years Solved Paper 17

Signal flow graph of the block-diagram, +

X Y P C(s )
+
2
c1 b1
1 Z
1 3 4 1/s 5 1
C (s) xyP
R(s ) c0 1/s P C(s ) = 1 yzP ...(ii)
R(s )
–a1
Comparing equation (i) and (ii), we get
–a0 c0 + c1s
xy = 2
b0
s + a1s + a0
b0 + b1 s
There are two forward paths: yz = 2
s + a1s + a0
1 1 c0 P
P1 = 1 + c0 × × × P = 2 Hence option (d) is correct.
s s s
1 c P 16. (d)
P2 = 1 × c1 × 1 × × P = 1
s s Taking (L.T.) on both sides,
These are four individual loops, Y(s) (s + 1) = 1
1 a1 1
L1 = a1 × = Y(s) =
s s s+1
1 1 a0 Taking inverse Laplace transform,
L2 = × × a0 =
s s s2 y(t) = e–t u(t)
1 1 b P
L3 = × × P × b0 = 02 17. (c)
s s s
Transfer function of system is impulse response
1 b P of the system with zero initial conditions.
L4 = b1 × P × = 1
s s Transfer function,
All the loops touch forwad paths, H(s) = L(e–t + e–2t)
1 = 2=1 1 1
= 1 – (L1 + L2 + L3 + L4) = +
s+1 s+2
a0 a1 b0 P b1 P
= 1+ 2
+ 2 C(s) 1 1
s s s s H(s) = = +
R(s ) s+1 s+2
Using Mason’s gain formula,
C (s) P1 + P2 1
=
1 2 R(s) = (step input)
R(s ) s s

c0 P c1 P 1 1 1
+ C(s) = R(s) H (s) = +
s s+1 s+2
s2 s
=
a a b0 P b1 P 1 1
1 + 1 + 20 2 = +
s s s s s(s + 1) s(s + 2)
C (s) c0 P + c1 Ps
= 2 1 1 1 1 1
R(s ) s + ( a0 b1 ) s + ( a0 b0 P ) C(s) = +
s s+1 2 s s+2
C (s) P(c0 + c1s )/(s 2 + a1s + a0 ) 1.5 1 0.5
= ...(i) =
R(s ) 1 (b0 + b1 s )P /(s 2 + a1s + a0 ) s s+1 s+2
18 Electronics Engineering Control Systems

Response = C(t) = L–1[C(s)] Forward paths are,

1 1.5 1 0.5 h0 h1
= L P1 = 2
, P2 =
s s+1 s+2 s s
C(t) = (1.5 – e–t – 0.5e–2t) u(t) Individual loops are:
a1 a0
18. (d) L1 = , L2
s s2
100 µF Non-touching loops = zero
+ + 1 = 1
10 k a1 a s + a1
V1(s) V2(s) 2 = 1 = 1+ 1 =
s s s
100 µF
– – a1 a0 s2 + a1s + a0
= 1 =
s s2 s2
1
R+ C(s) P1 + P2
V2 (s) 1 + RCs
Cs 1 2
= = G(s) = =
V1 (s) 1 1 2 + RCs U (s)
+R+
Cs Cs
h0 h1 s + a1
×1+ ×
1 + 10 × 10 3 × 100 × 10 6 s
1+s s 2 s s
= 3 6
= =
2 + 10 × 10 × 100 × 10 s 2 + s s 2 + a1s + a0
19. (a) s2

Using Mason’s gain formulae,

h0 + h1 (s + a1 )
= 1 – [–2s–1 – 2s–2 – 4 – 4s–1] =
s2 + a1s + a0
2 2 4
= 1+ + +4+ Given, h 1 = b1 and h0 = b0 – b1a1
s s2 s
(b0 b1 a1 ) + b1 (s + a1 )
5s 2 + 6 s + 2 Thus, G(s) =
= (s 2 + a1s + a0 )
s2
2 1 b1s + b0
P1 = s = 2 = 2
s s + a1s + a0
1 1
P2 = s = 21. (b)
s
1 = 1, 2=2 X1(s) X2(s)
1
1
×1+ ×1
Y (s) Pk k s 2 s 1 G1 G2
= = 2 Y(s )
U (s) 5s + 6s + 2
s2
Y (s) s+1
= 2
U (s) 5s + 6 s + 2 –1 –1

20. (c) Y (s) G2

=
Using Mason gain formula: X 2 (s ) x 1 ( G1G2 + G1 )
1 (s ) = 0
Transfer function,
G2
C(s) Pk =
G(s) = =
k 1 + G1 (G2 + 1)
U (s)
 GATE Previous Years Solved Paper 19

22. (c) 25. Sol.

G1 s+1
G(s) =
s+1
–H
System output,
X(s) Y(s )
G2 1 s+1 1
Y(s) = G(s ) =
s s+1 s
–H
1 2
Y (s ) G1 + G2 G1 + G2 =
s s+1
= =
X( s ) 1 ( G1 H G2 H 1 ) 1 + G1 H + G2 H y(t) = u(t) – 2e–t u(t)
y(1.5) = 1 – 2e–1.5
23. (a)
= 1 – 0.446 = 0.554
dx1
= 2x1 + x2 + u ...(i) 26. (b)
dt
dx2 d2 y dy dx
= –2x1 + 4 ...(ii) +7 + 10 y = 4x + 5
dt 2 dt dt
dt
From equation (i),
(s2 + 7s + 10) Y(s) = (4 + 5s) X(s)
sX1 = 2X1 + X2 + u
Y (s ) 5s + 4
sX2 = –2X1 + u = 2
X( s ) s + 7 s + 10
2X1 + u
X2 = Impulse response = L –1 (Transfer function)
s
1 5s + 4
2 X1 + u = L
sX1 = 2 X1 + +4 (s + 2) (s + 5)
s
2 X1 4 1 2 7
sX1 2 X1 + = +4 = L +
s 5 s+2 s+5
2 1 = –2e–2t u(t) + 7e–5t u(t)
X1 s 2 + = u 1+
s s
27. (d)
1 Simplying given signal flow graph:
1+
X1 s Step-1:
=
4 2
s 2+ d
s
1 a 1 cd 1
1
3 1+
y 3 X1 s
= = e
u u 2
s 2+
s Step-2:
y 3( s + 1)
= 2 d
u a
( s 2 s + 2) 1 1 cd 1

24. (a)
Transfer function, e

K1
[1]
Y (s) LJs 2 K1
= = 2
U1 ( s) R K1K 2 LJs + RJs + K 1K 2
1 2
Ls LJs
 2 Compensators and
Controllers
ELECTRO NICS EN GINEERIN G Q.5 The transfer function of a phase lead controller

(GATE Previous Years Solved Papers) 1+ 3Ts

is . The maximum value of phase
1 + Ts
Q.1 The transfer function of a simple RC network
provided by this controller is
functioning as a controller is
(a) 90° (b) 60°
s + z1
Gc (s) = (c) 45° (d) 30°
s + p1
[EC-1998 : 1 Mark]
The condition for the RC network to act as a
phase lead controller is Q.6 A PD controller is used to compensate a system.
Compared to the uncompensated system, the
(a) p1 < z1 (b) p1 = 0
compensated system has
(c) p1 = z1 (d) p1 > 0
(a) a higher type number
[EC-1990 : 2 Marks]
(b) reduced damping
Q.2 A process with open-loop mode of (c) higher noise amplification
(d) larger transient overshoot
Ke sTD
G(s ) = is controlled by a PID controller. [EC-2003 : 1 Mark]
s+1
For this process
K
(a) the integral mode improves transient Q.7 A double integrator plant, G(s ) = , H(s) = 1 is
s2
performance. to be compensated to achieve the damping ratio
(b) the integral mode improves steady-state = 0.5 and an undamped natural frequency,
performance.
n = 5 rad/s. Which one of the following
(c) the derivative mode improve transient compensator Ge(s) will be suitable?
performance. s+3 s + 9.9
(d) the derivative mode improves steady-state (a) (b)
s + 9.9 s+3
performance.
s 6 s+6
[EC-1992 : 2 Marks] (c) (d)
s + 8.33 s
Q.3 Tachometer feedback in a dc position control [EC-2005 : 2 Marks]
system enhances stability (T/F). Q.8 The tranfser function of a phase-lead
[EC-1994 : 1 Mark] compensator is given by
Q.4 The transfer function of a tachometer is of the 1 + 3Ts
Ge ( s ) = where, T > 0
form 1 + Ts

K The maximum phase-shift provided by such a

(a) Ks (b) compensator is
s
K K (a) (b)
(c) (d) 2 3
(s + 1) s ( s + 1)
(c) (d)
[EC-1998 : 1 Mark] 4 6
[EC-2006 : 2 Marks]
 GATE Previous Years Solved Paper 21

Q.9 A control system with a PD controller is shown C2

in the figure. If the velocity error constant
KV = 1000 and the damping ratio = 0.5, then R.
the values of KP and KD are
R2
+ 100
r KP + KDS y
s ( s + 10) Group-II
–
1. PID controller
2. Lead compensator
3. Lag compensator
(a) KP = 100, KD = 0.09
(a) Q-1, R-2 (b) Q-1, R-3
(b) KP = 100, KD = 0.9
(c) Q-2, R-3 (d) Q-3, R-2
(c) KP = 10, KD = 0.09
[EC-2008 : 2 Marks]
(d) KP = 10, KD = 0.9
[EC-2007 : 2 Marks] Q.12 The magnitude plot of a rational transfer
function G(s) with real coefficients is shown
Q.10 The open-loop transfer function of a plant is
below. Which of the following compensators
1 has such a magnitude plot?
given as G(s ) = . If the plant is operated
2
s 1
G( j )
in a unity feedback configuration, then the lead
compensator that can stabilize this control 20 dB
system is
10( s 1) 10( s + 4) log
(a) (b)
(s + 2) (s + 2)
10( s + 2) 2(s + 2)
(c) (d) –40 dB
(s + 10) (s + 10)
[EC-2007 : 2 Marks] (a) Lead compensator
Q.11 Group I gives two possible choice for the (b) Lag compensator
impedance Z in the diagram. The circuit (c) PID compensator
elements in Z satisfy the condition R2C2 > R1C1. (d) Lead-Lag compensator
The transfer function Vo/Vi represents a kind of [EC-2009 : 1 Mark]
controller. Match the impedance in Group I with
Q.13 A unity negative feedback closed-loop system
the types of controllers in Group II:
has a plant with the transfer function
C1 Z
1
G(s ) = 2
and a controller G2(s) in the
s + 2s + 2
Vi –
R1 Vo feed forward path. For a unit step input, the
+
transfer function of the controller that gives
minimum steady state error is
s+1
Group-I (a) Gc (s ) =
s+2
R2 C2
Q. s+2
(b) Gc (s ) =
s+1
 22 Electronics Engineering Control Systems

(s + 1) (s + 4) Q.18 The transfer function of a first order controller

(c) Gc (s ) =
(s + 2) (s + 3) is given as,
K (s + a)
2 Gc (s ) =
(d) Gc (s ) = 1 + + 3s s+b
s
where, K is a and b are positive real numbers.
[EC-2010 : 2 Marks]
The condition for this controller to act as a phase
Linked Answer Questions (14 and 15): lead compensator is
The transfer function of a compensator is given as, (a) a < b (b) a > b
s+a (c) K < ab (d) K > ab
Gc (s ) =
s+b [EC-2015 : 1 Mark]
Q.14 Gc(s) is a lead compensator if Q.19 Which of the following can be the pole-zero
(a) a = 1, b = 2 (b) a = 3, b = 2 configuration of a phase lag controller (lag
(c) a = –3, b = –1 (d) a = 3, b = 1 compensator)?
[EC-2012 : 2 Marks] j

Q.15 The phase of the above lead compensator is s-plane Pole

maximum at Zero
(a)
(a) 2 rad/s (b) 3 rad/s
1
(c) 6 rad/s (d) rad/s
3
[EC-2012 : 2 Marks]
j
Q.16 For the following feedback system,
s-plane Pole
1
G(s) = Zero
(s + 1) (s + 2) (b)
The 2% settling time of the step response is
required to be less than 2 seconds.
r + C(s ) G(s ) y
–
j

Which one of the following compensators C(s) s-plane Pole

achieves this? Zero
(c)
1 0.03
(a) 3 (b) 5 +1
s+5 s
s+8
(c) 2(s + 4) (d) 4
s+3
j
[EC-2014 : 2 Marks]
s-plane Pole
Q.17 A lead compensator network includes a parallel Zero
combination of R and C in the feed forward path. (d)
If the transfer function of the compensator is
s+2
Gc (s ) =
s+4
The value of RC is ______ . [EC-2017 : 1 Mark]
[EC-2015 : 2 Marks]
 GATE Previous Years Solved Paper 23

Q.20 Which of the following statements is incorrect? j

(a) Lead compensator is used to reduce the
settling time.
(b) Lag compensator is used to reduce the (c)
steady-state error.
(c) Lead compensator may increase the order
of a system.
(d) Lag compensator always stabilizes an j
unstable system.
[EC-2017 : 1 Mark]
(d)
Q.21 A unity feedback system that, uses proportional
integral (PI) control is shown in the figure.

KI 2
X(s) + KP + Y(s )
– s s 3 + 4s 2 + 5s + 2
[EE-1994 : 1 Mark]

Q.2 Introduction of integral action in the forward

The stability of the overall system is controlled
path of a unity feedback system results in a
by tuning the PI control parameters KP and KI.
(a) marginally stability
The maximum value of KI that can be chosen so
as to keep the overall system stable or, in the (b) system with no steady-state error
worst case, marginally stable (Rounded off to (c) system with increased stability margin
three decimal places) is ______ . (d) system with better speed of response
[EC-2021 : 2 Marks] [EE-1997 : 1 Mark]

Q.3 A differentiator has transfer function whose

ELECTRICAL EN GINEERIN G
(a) phase increases linearly with frequency
(GATE Previous Years Solved Papers)
(b) amplitude remains constant
Q.1 The pole zero configuration of a phase lead (c) amplitude increases linearly with
compensator is given by frequency
j (d) amplitude decreases linearly with
frequency
[EE-1997 : 1 Mark]
(a)
Q.4 The phase lead configurations used to
(a) increase rise time and decrease overshoot.
(b) decrease both rise time and overshoot.

j
(c) increase both rise time and overshoot.
(d) decrease rise time and increase overshoot.
[EE-1998 : 1 Mark]
(b)
(0.5s + 1)
Q.5 G(s) = maximum phase lead of the
(0.05s + 1)

compensator is
 24 Electronics Engineering Control Systems

(a) 52 deg at 4 rad/sec (b) C1 is lag compensator and C2 is a lead

(b) 52 deg at 10 rad/sec compensator.
(c) 55 deg at 12 rad/sec. (c) Both C1 and C2 are lead compensator.
(d) None of these (d) Both C1 and C2 are lag compensator.
[EE-2000 : 2 Marks] [EE-2008 : 2 Marks]

Q.6 A lead compensator used for a closed-loop Statement for Linked Answer Questions (9 and 10):
controller has the following transfer function, The transfer function of a compensator is given as,
s+a
Gc (s ) =
s s+b
K 1+
a
. For such a lead compensator Q.9 Gc(s) is a lead compensator if
s
1+
b (a) a = 1, b = 2 (b) a = 3, b = 2
(c) a = –3, b = –1 (d) a = 3, b = 1
(a) a < b (b) b < a [EE-2012 : 2 Marks]
(c) a > Kb (d) a < Kb
Q.10 The phase of the above lead compensator is
[EE-2003 : 1 Mark]
maximum at
900 (a) 2 rad/sec. (b) 3 rad/sec.
Q.7 The system is to be such that its
s (s + 1) (s + 9) 1
(c) 6 rad/sec. (d) rad/sec.
gain crossover frequency becomes same as its 3
uncompensated phase crossover frequency and [EE-2012 : 2 Marks]
provides a 45° phase margin. To achieve this,
one may use Q.11 For the network shown in the figure below, the
(a) a lag compensator that provides an frequency (in rad/sec) at which the maximum
attenuation of 20 dB and a phase lag of 45° phase lag occurs is ________ .

at the frequency of 3 3 rad/sec.

9
(b) a lead compensator that provides an 1
attenuation of 20 dB and a phase lag of 45° Vin Vo

at the frequency of 3 rad/sec. 1F

(c) a lag-lead compensator that provides an
attenuation of 20 dB and a phase lag of 45° [EE-2016 : 1 Mark]
at the frequency of 3 rad/sec.
Q.12 The transfer function C(s) of a compensator is
(d) a lag-lead compensator that provides an
given below,
attenuation of 20 dB and a phase lead of
s s
45° at the frequency of 3 rad/sec. 1+ 1+
0.1 100
C (s) =
Q.8 The transfer function of two compensators are s
(1 + s ) 1 +
given below, 10
10(s + 1) s + 10 The frequency range in which the phase (lead)
C1 = , C2 =
(s + 10) 10( s + 1) introduced by the compensator reaches the
Which one of the following statements is maximum is
correct? (a) 0.1 < <1 (b) 1 < < 10
(a) C1 is lead compensator and C2 is a lag (c) 1.0 < < 100 (d) > 100
compensator. [EE-2017 : 1 Mark]
 GATE Previous Years Solved Paper 25

Q.13 The transfer function of a phase lead 3

compensator is given by (a) (b) 3T
T2
1 1
3 s+
3T (c) (d) 3T 2
D(s ) = 3T 2
1
s+ [EE-2019 : 2 Marks]
T
The frequency (in rad/sec), at which D(j ) is
maximum, is

Electronics & Electrical Engineering

GATE Previous Years Solved Paper

A n swe rs & Expl a n a t i o n s

Answers
EC Compensators and Controllers

1. (d) 2. (b, c) 3. (True) 4. (a) 5. (d) 6. (c) 7. (a) 8. (d)

9. (b) 10. (c) 11. (b) 12. (d) 13. (d) 14. (a) 15. (a) 16. (c)

17. (0.5) 18. (a) 19. (a) 20. (d) 21. (3.125)

Solutions Compensators and Controllers

EC
1. (d) 3. Sol.
(True)
1 1
= tan tan The tachometer feedback is derivative feedback.
z1 p1
So, tachometer adds zero at origin.
For phase lead controller,
Hence, type decreases and stability is improved
>0
(True).
1 1
tan tan >0 4. (a)
z1 p1
Tachometer is basically a differentiator. So, the
1 1 transfer function of a tachometer is of the
tan > tan
z1 p1 form Ks.
p 1 > z1
5. (d)
2. (b, c) For lead compensator,
The integral mode improves steady-state (1 + T s ) 1 + 3Ts
performance and the derivative mode improves T.F. = =
1+ T s 1 + Ts
the transient performance.
So, T = 3T
26 Electronics Engineering Control Systems

T =T 8. (d)
3T = T Maximum phase shift,
1 m = Ge(s)
=
3 = tan–1 3 T – tan–1 t
For maximum phase shift,
1 1 1 1 1/3
= sin = sin d
max 1+ 1 + 1/3 =0
d
1 2 /3 1 3T T
max = sin = sin 1 = 30° =
4 /3 2 1 + (3T ) 2
1 + (T )2
3[1 + (T )2] = 1 + (3T )2
6. (c)
3 + 3T2 2 = 1 + 9T2 2
• A PD controller does not effect the type of 2 = 6( T)2
the system. 1
( T)2 =
• It reduces the overshoot and increases the 3
damping. 1
T=
• It increases the bandwidth therefore SNR 3
decreases. 1 1 1 1
max = tan 3× tan
• System become more prone to noise. 3 3

7. (a) = =
3 6 6
(–2.5, 4.33j)
9. (b)
K v = lim sG(s) H (s )
5 s 0

(K P + KD s )100
60° 1000 = lim s ×
s 0 s (s + 10)
= 0.5 K P = 100
cos–1 0.5 = 60° Now characteristic equation (1 + G(s) H(s)) = 0
= 60°
(K P + KD s )100
1+ =0
K s (s + 10)
G(s) =
s 2 s = 2.5 + 4.33 j Putting, K P = 100
s2 + 10s + 104 + 100KDs = 0
1 4.33
= 2 tan ; 120° s2 + (10 + 100KD) s + 104 = 0
2.5
Comparing with standard second order
For compensated system =180 – 120; 60°
equation.
(b) and (d) are lag network and for
compensating lag network K/s2, a lead network i.e., s2 + 2 n + 2
n =0
is required.
So, = n 100
Putting, s = –2.5 + 4.33j in (a) gives, 2 n= 10 + 100KD
K (s + 3) 0.5 + j 4.33 Given, = 0.5
2 = = 53°; 60°
s (s + 9.9) 7.4 + j 4.33 2 × 0.5 × 100 = 10 + 100KD
Option (a) is the correct answer. KD = 0.9
 GATE Previous Years Solved Paper 27

10. (c) s+2 1

Taking, Gc(s) = , ess =
Lead compensator is required for stability. s+1 3
Controllers given in option (a) and (b) are not (s + 1) (s + 4) 3
Taking, Gc(s) = , ess =
lead compensator. From option (c) and (d), with (s + 2) (s + 3) 5
option (d) system becomes unstable hence option 2
Taking, Gc(s) = 1 + + 3s , ess = 0
(c) is correct. s

11. (b) 14. (a)

Vi ( R1C 1s + 1)1 Vo s+a
= Gc(s) =
R1 Z s+b
Vo Z( R1C1s + 1) 1 1
= Phase, P = tan tan
Vi R1 a b

R2C2 s + 1 For lead comparators phase must be +ve.

In case of Q, Z=
C2 s For this > a<b
a b
R2
In case of R, Z= So, a = 1, b = 2
R2C2 s + 1
Considering Q, 15. (a)

Vo ( R1C1s + 1) ( R2C 2 s + 1) For phase to be maximum,

= P
Vi R1 C2 s =0
Considering R,
1/a 1 /b
Vo ( R1C1s + 1) R2 =0
= 2 2
Vi R1 ( R2C 2 s + 1) 1+ 2 1+ 2
a b
Q Given that, R2C2 > R1C1
Considering R, controller is lag 1 1/ b
2 2 =0
compensator and Considering Q, Controller is 1+
1+
PID controller. 4
1 2
13. (d) =0
2 2
1+ +4
Steady state error, 4+4–2–2 2 = 0
s R(s ) 2 = 4
ess = lim
s 0 1 + G(s ) Gc (s)
= 2 rad/sec
r(t) = u(t)
1 16. (c)
R(s) =
s
Given open-loop transfer function is
1
s 1
ess = lim s G(s) =
(s + 1) (s + 2)
s 0 1 + G( s ) Gc ( s )
T(s) =
1
ess = lim G(s) 1
s 0 1 + G(s ) Gc (s ) =
1 + G(s) (s + 1) (s + 2) + 1
s+1 2
Taking, Gc(s) = , ess = 1
s+2 3 T(s) = 2 ...(i)
s + 3s + 3
28 Electronics Engineering Control Systems

Comparing equation (i) with standard transfer 18. (a)

function, For phase lead compensator,
3 (1 + s )
n =
= 1.5 Gc(s) = ; <1
2 (1 + s )
2% settling time,
1
4 4 Here, =
= = = 2.67 > 2 sec a
s
n 1.5
1
Thus, in order to make settling time ( s) less than and =
b
2 sec, PD controller should be used. Hence, a
option (c) is the correct choice. or, = < 1 or a < b
b
Where, C(s) = 2(s + 4)
New transfer function = T (G) 19. (a)
C (s ) G(s ) Phase lag controller transfer function is,
=
1 + C (s) G(s ) s+Z
Gc(s) = ; Z > P
2 (s + 4) s+P
= 2 j
s + 3s + 2 + 2 s + 8
2 (s + 4)
or, T (s) = 2
s + 5s + 10
4 4 4
s = = = = 1.6
n 5/2 2.5 –Z –P

17. Sol. 20. (d)

s+2 In case of high type systems lag compensator
Gc(s) = ...(i)
s+4 fails to give stability.
For lead compensator,
21. (3.125)
C1
SK P + K I 2
G(s) = 3 2
S S + 4S + 5S + 2
R1 2(SK P + K I )
=
R2 S(S + 4S 2 + 5S + 2)
3

CE
1 + G(S ) = 0
CE
1+s S 4 + 4S 3 + 5S 2 + S(2 + 2 K P ) + 2 K I = 0
T.F. = ...(ii)
1+ s From necessary condition KP > –1, KI > 0
where, = lead time constant = R1C
R2 S4 1 5 2K I
and = S 3
4 2 + 2K P
R1 + R2
Comparing equation (i) and (ii), we get [20 (2 + 2K P )]
S2 2K I
4
1 1 [(18 2 K P ) (2 + 2 K P )]
=
and = S1 8K I
2 4 (18 2 K P )
1
or, = S0 2K I
2
RC time constant = 0.5
 GATE Previous Years Solved Paper 29

20 2 2 K P 36 + 32 K P 4K 22
For stability, >0 KP < 9 0 < KI <
4 32
–1 < KP < 9
For stability: dK I
To get maximum value of K I =0
dK P
(18 2K P ) (2 + 2 K P )
8K I > 0 dK I
4 = 0 = [0 + 32 – 8KP] = 0
dK P
(18 – 2KP) [2 + 2KP] – 32KI > 0
KP = 4
36 + 36K P 4K P 4K P2 32 K I > 0
36 + 32(4) 4(4)2
For KP = 4, KI =
(36 + 36K P 4K P2 ) > 32 K I 32
= 3.125
36 + 32 K P 4K22 KImax = 3.125
KI <
32

Answers
EE Compensators and Controllers

1. (b) 2. (b) 3. (c) 4. (b) 5. (d) 6. (a) 7. (d) 8. (a)

9. (a) 10. (a) 11. (0.316) 12. (a) 13. (c)

Solutions
EE Compensators and Controllers

1. (b) 5. (d)

In phase lead compensator P > Z . 0.5s + 1

G(s) =
0.05s + 1
2. (b) On comparing with,
Integral controller is widely used to eliminate 1 + aTs
G(s) =
steady-state error. 1 + Ts
we get, T = 0.05 and a = 10
3. (c)
1 a 1
= sin = 55°
X(s) Differentiator Y(s ) = sX(s ) n a+1
Y (s ) 1
H(s) = =s and m = = 6.32 rad/sec.
X(s ) T a
Frequency response, H (j ) = j
6. (a)
Hence, phase is constant at 90° for all but
amplitude increases linearly with frequency. s
k 1+
a
Transfer function =
4. (b) s
1+
Lead compensator increases bandwidth, hence b
decreases rise time. As it improve damping, so Zero of TF = –a
overshoot also decreases. Poles of TF = –b
30 Electronics Engineering Control Systems

For a lead compensator, the zero is nearer to Phase margin = 180° + T ( j ) = ( gc )2

origin as compared to pole, hence the effect of
the zero is dominant, therefore, the lead 45° = 180° + T ( j ) = ( pc )2
compensator when introduced in series with
At ( gc)2 = 3 rad/sec.
forward path of the transfer function the phase
Phase angle of T(j ) is –135° and phase of
shift is increased.
uncompensated system is –180° at 3 rad/sec.
Therefore, the compensator provides phase lead
of 45° at the frequency of 3 rad/sec.
–b –a Let X dB is the gain provided by the
Pole Zero compensator, so at gain cross frequency,

T ( j ) com = 1 or 0 dB.

So, from pole-zero configuration of the Gain of uncompensated system = T ( j ) un-com

compensator a < b. 100
=
2
7. (d) 2
1+ 1+
Let uncompensated system, 9
900 T ( j ) un-com in dB
T(s) =
s (s + 1) (s + 9)
2
Phase crossover frequency of uncompensated = 40 20 log 20 log 1 +
system = ( pc), at this frequency phase of T(j ) 2
is –180°. 20 log 1 +
9
Put, s = j in T(s)
Gain of compensated system,
900
T(j ) = T ( j ) com = X + T ( j )un-com
j ( + 1) ( + 9)

T(j ) = 90° tan 1

tan 1 T ( j ) com must be zero at gain cross frequency
9
( gc)2.
At ( pc)1,
T(j ) = –180° T ( j gc )2
com
1 1
( pc )1
–180° = 90° tan ( pc )1 tan = X + 40 – 20 log( 20 log 1 + ( 2
gc )2
9 gc)2

( pc )1 ( 2
( + gc )
pc )1 20 log 1 + =0
1 9 2
+90° = tan 2 g
( pc )1
1 2
9 3
X + 40 20 log 3 20 log 1 + 32 20 log 1 +
2 9
( pc )1
1 =0 =0
9 X = –20 dB
( pc)1 = 3 rad/sec. So, the compensator provides an attenuation of
Gain cross frequency of compensated system, 20 dB. Hence option (d) is correct.
( gc ) 2 = phase cross frequency of
uncompensated system, ( pc)1. 8. (a)
( gc)2 = ( gc)1 = 3 rad/sec. 10( s + 1)
C1 =
(s + 10)
 GATE Previous Years Solved Paper 31

Zero at s = –1 11. Sol.

Pole at s = –10 Assuming, R1 = 9 , R2 = 1
we can write,
1
Vo (s) R2 + 1 + R2 Cs
= sC =
Vi (s) 1 1 + ( R1 + R2 ) Cs
–10 –1 R1 + R2 +
sC
s-plane
1 + R2 Cs
=
As zero is closer origin, zero dominates pole. R1 + R2
1+ R2 Cs
Hence, C1 is lead compensator, R2
Let, R2 C = T
s + 10
C2 = R1 + R2
10( s + 1) =
R2
Zero at s = –10
Pole at s = –1 Vo (s) 1 + Ts
Hence, =
Vi (s) (1 + Ts )
which represent a lag compensator.
Q Here, T = R2C = 1 sec.
1+9
–10 –1 = 10 =
1
Maximum phase lag occurs at frequency,
As pole is closer to origin, pole dominates zero. 1 1
Hence, C2 is lag compensator. n = = = 0.316 rad/sec.
T 1 10
9. (a)
12. (a)
s+a Pole zero diagram of compensator transfer
Gc(s) =
s+b
function is shown below.
j +a
Gc(j ) =
j +b
1 1
Gc(j ) = tan tan
–100 –10 –1 –0.1
a b
Maximum phase lead is between 0.1 and 1,
1 a b 0.1 < < 1
= tan 2
1+ 13. (c)
ab
For Gc(s) to be a lead compensator, 1 + 3Ts
T(s) =
Gc(j ) > 0 1 + Ts
Frequency at which T(j ) is maximum,
> 1
a b ( m) =
b>a T
Option (a) satisfies the above equation. 1
= =3
1 /3
10. (a)
1 1
= =
m = c1 × c2 = 1 × 2 = 2 rad/sec.
m
T 3 3T 2
 3 Time Response Analysis

ELECTRO NICS EN GINEERIN G If the input to the system is a unit ramp, the
steady-state error will be
(GATE Previous Years Solved Papers)
(a) 0 (b) 0.5
Q.1 The unity feedback system shown in figure has (c) 2 (d) Infinity
[EC-1991 : 2 Marks]
K
R(s ) + C(s ) Q.5 The poles of a continuous time oscillator are
– s (s + 10)
________ .
[EC-1994 : 1 Mark]

Q.6 The response of an LCR circuit to a step input is

(a) zero steady-state position error.
(a) over damped
(b) zero steady-state velocity error.
(b) critically damped
(c) steady-state position error K/10 units.
(c) oscillatory
(d) steady-state velocity error K/10 units.
If the transfer function has
[EC-1987 : 2 Marks] 1. poles on the negative real axis
Q.2 The steady-state error of a stable ‘type 0’ unity 2. poles on the imaginary axis
feedback systm for a unit step function is 3. multiple poles on the positive real axis
1 4. Multiple poles on the negative real axis
(a) 0 (b) [EC-1994 : 2 Marks]
1 + KP
1 Q.7 Match the following codes with List-I with
(c) (d)
KP List-II:
[EC-1990 : 2 Marks] List-I
(a) Very low response at very high frequencies
Q.3 A second order system has a transfer function
(b) Very shoot
given by
(c) Synchro-control transformer output
25 List-II
G( s ) =
s 2 + 8s + 25 (1) Low pass systems
If the system, initially at rest, is subjected to a (2) Velocity damping
unit step iinput at t = 0, the second peak in the (3) Natural frequency
response will occur at (4) Phase sensitive modulation
(a) sec. (b) sec. (5) Damping ratio [EC-1994 : 2 Marks]
3
2 Q.8 For a second order system, damping ratio ( ), is
(c) sec. (d) sec. 0 < < 1, the the roots of the characteristic
3 2
polynomial are
[EC-1991 : 2 Marks]
(a) real but not real
Q.4 A unit feedback control system has the open- (b) real and equal
loop transfer function, (c) complex conjugates
4 (1 + 2 s ) (d) imaginary
G( s ) = 2
s + (s + 2) [EC-1995 : 1 Mark]
 GATE Previous Years Solved Paper 33

Q.14 Consider a unity feedback control system with

2 (s + 1)
Q.9 If L[ f (t )] = then f(0+) and f( ) are
s2 + 2s + 5 K
open-loop transfer function G(s) = the
given by s (s + 1)
steady-state error of the system due to a unit
(a) 0, 2 respective (b) 2, 0 respectively
step input is
(c) 0, 1 respectively (d) 2/5, 0 respectively
(a) zero (b) K
[Note: ‘L’ stands for ‘Laplace transform of’] (c) 1/K (d) infinite
[EC-1995 : 1 Mark] [EC-1998 : 1 Mark]
Q.10 The step error coefficient of a system Q.15 Tht unit impulse response of a linear time
1 invariant system is the unit step function u(t).
G(s) =
(s + 6) (s + 1) For t > 0, the response of the system to an
with unity feedback is excitation e–at u(t), a > 0 will be
1 (a) ae–at (b) (1/a) (1 – e–at)
(a) (b) (c) a(1 – e–at) (d) 1 – e–at
6
[EC-1998 : 2 Marks]
(c) 0 (d) 1
[EC-1995 : 1 Mark] Q.16 For a second order system with the closed-loop
transfer function,
Q.11 The final value theorem is used to find the
9
(a) steady-state value of the system output. T (s) = 2
s + 4s + 9
(b) intial value of the system output.
the settling time for 2 percent band (in seconds),
(c) transient behaviour of the system output.
is
(d) none of these.
(a) 1.5 (b) 2.0
[EC-1995 : 1 Mark] (c) 3.0 (d) 4.0
[EC-1999 : 1 Mark]
Q.12 If F(s ) = , then the value of lim f (t ),
s2 + 2 t Q.17 If the closed-loop transfer function T(s) of a unity
negative feedback system is given by
{where F(s) is the L[ f(t)}
(a) cannot be determined
an 1 s + an
T (s ) =
(b) is zero s n + a1s n 1
+ ... + an 1 s + an
(c) is unity then the steady-state error for a unit ramp input
(d) is infinite is
[EC-1998 : 1 Mark] an an
(a) (b)
an 1 an 2
Q.13 Consider a feedback control system with loop
transfer function, an 2
(c) (d) zero
K (1 + 0.5s) an 1
G(s ) H (s ) =
s (1 + s ) (1 + 2 s) [EC-1999 : 2 Marks]
The type of the closed-loop system is
Q.18 If the characteristic equation of a closed-loop
(a) zero (b) one system is s2 + 2s + 2 = 0, then the system is
(c) two (d) three (a) overdamped (b) critically damped
[EC-1998 : 1 Mark] (c) underdamped (d) undamped
[EC-2001 : 1 Mark]
 34 Electronics Engineering Control Systems

Q.19 The open-loop dc gain of a unity negative

Step response
feedback system with closed-loop transfer 1

s+4
function is
2
s + 7 s + 13

Amplitude
4 (b) 0.5
4
(a) (b)
13 9
(c) 4 (d) 13
[EC-2001 : 2 Marks] 0
0 2 4 6
Time (sec.)
Q.20 Consider a system with the transfer function,
s+6
G( s ) =
Ks 2 + s + 6 2
Step response

Its damping ratio will be 0.5 when the value of

K is 1.5

Amplitude
2
(a) (b) 3 1
6 (c)
1 0.5
(c) (d) 6
6
[EC-2002 : 1 Mark] 0
0 5 10 15 20 25

Q.21 The transfer function of a system is, Time (sec.)

100
G(s) =
(s + 1) (s + 100) Step response
1
For a unit step input to the system the
approximate sesttling time for 2% criterion is
Amplitude

(a) 100 sec. (b) 4 sec.

0.5
(c) 1 sec. (d) 0.01 sec. (d)
[EC-2002 : 2 Marks]

Q.22 A second order system has the transfer function,

0
C (s) 4 0 5 10
= 2 Time (sec.)
R(s) s + 4s + 4
With r(t) as the unit step function, the response [EC-2003 : 2 Marks]
c(t) of the system is represented by
Q.23 A causal system having the transfer function
Step response
1.5 1
H (s ) = is excited with 10 u(t). The time at
s+2
1
Amplitude

which the output reaches 99% of its steady-state

(a)
value is
0.5 (a) 2.7 sec. (b) 2.5 sec.
(c) 2.3 sec. (d) 2.1 sec.
0 [EC-2004 : 2 Marks]
0 2 4 6
Time (sec.)
 GATE Previous Years Solved Paper 35

Q.24 A system described by the following differential Q.28 The unit step response of a system starting from
rest is given by
d2 y dy c(t) = 1 – e–2t for t 0
equation 2
+3 + 2 y = x(t ) is initially at
dt dt The transfer function of the system is
rest. For input x(t) = 2u(t), the output y(t) is 1 2
(a) (b)
(a) (1 – 2e–t + e–2t) u(t) 1 + 2s 2+s
(b) (1 + 2e–t – 2e–2t) u(t)
1 2s
(c) (0.5 + e–t + 1.5e–2t) u(t) (c) (d)
2+s 1 + 2s
(d) (0.5 + 2e–t + 2e–2t) u(t)
[EC-2006 : 2 Marks]
[EC-2004 : 2 Marks]
Q.29 The unit impulse response of a system is
Q.25 Despite the presence of negative feedback,
h(t) = e–t, t 0
control systems still have problems of instability
because the For this system, the steady-state value of the
output for unit step input is equal to
(a) components used have non-linearities
(b) dynamic equations of the systems are not (a) –1 (b) 0
known exactly. (c) 1 (d)
(c) mathematical analysis involves [EC-2006 : 2 Marks]
approximations.
Q.30 The transfer function of a plant is
(d) system has large negative phase angle at
high frequencies. 5
T (s) =
[EC-2005 : 1 Mark] ( s + 5) ( s 2 + s + 1)

The second-order approximation of T(s) using

Q.26 In the derivation of expression for peak percent
dominant pole concept is
1 5
overshoot, M p = exp × 100 which (a) (b)
2 (s + 5) (s + 1) (s + 5) (s + 1)
1
5 1
one of the following conditions is not required? (c) 2 (d) 2
s +s+1 s +s+1
(a) System is linear and time invariant.
[EC-2007 : 2 Marks]
(b) The system transfer function has a pair of
complex conjugate poles and no zeroes. Q.31 Step response of a set of three-second order
(c) There is no transportation delay in the underdamped systems all have the same
system. percentage overshoot. Which of the following
(d) The system has zero initial conditions. diagrams represents the poles of three systems?
[EC-2005 : 2 Marks]
j
Q.27 A ramp input applied to an unity feedback
system results in 5% steady-state error. The type
number and zero frequency gain of the system
are respectivley (a)
(a) 1 and 20 (b) 0 and 20
1 1
(c) 0 and (d) 1 and
20 20
[EC-2005 : 2 Marks]
 36 Electronics Engineering Control Systems

j Group-I
25 36
P= 2 ; Q= 2
s + 25 s + 20s + 36
36 36
(b) R= 2 ; S= 2
s + 12 s + 36 s + 7 s + 49
Group-II
y(t )
1
j 1.

(c) y(t)

1
2.

t
j
y(t )

3. 1
(d)
t

y(t )
1
[EC-2008 : 1 Mark]
4.
Q.32 A linear, time-invariant, causal continuous time
t
system has a rational transfer function with
simple poles at s = –2 and s = –4 and one simple (a) P-3, Q-1, R-4, S-2
zero at s = –1. A unit step u(t) is applied at the (b) P-3, Q-2, R-4, S-1
input of the system. At steady-state, the output
(c) P-2, Q-1, R-4, S-3
has constant value of 1. The impulse response
(d) P-3, Q-4, R-1, S-2
of this system is
[EC-2008 : 2 Marks]
(a) [exp(–2t) + exp(–4t)] u(t)
(b) [–4 exp(–2t) + 12 exp(–4t) – exp(–t)] u(t) Q.34 The unit step response of an under damped
(c) [–4 exp(–2t) + 12 exp(–4t)] u(t) second order system has steady-state value of
–2. Which one of the following transfer functions
(d) [–0.5 exp(–2t) + 1.5 exp(–4t)] u(t)
has these properties?
[EC-2008 : 2 Marks]
2.24 3.82
(a) (b)
Q.33 Group-I : Lists a set of four transfer function. s 2 + 2.59s + 1.12 s 2 + 1.91 s + 1.91
Group-II : Gives a list of possible step responses 2.24 3.82
y(t). Match the step responses with the (c) 2 (d) 2
s 2.59 s + 1.12 s 1.91 s + 1.91
corresponding transfer function:
[EC-2009 : 2 Marks]
 GATE Previous Years Solved Paper 37

Q.35 The differential equation,

(c) change the initial condtion to j 2 y(0) and
2
d y dy
100 2
20 + y = x(t ) the forcing function to j 2 x(t ).
dt dt
describes a system with an input x(t) and an (d) change the initial condtion to –2y(0) and
output y(t). The system, which is initially the forcing function to –2x(t).
relaxed, is excited by a unit step input. The [EC-2013 : 2 Marks]
output y(t) can be represented by the waveform
Q.37 The open-loop transfer function of a dc motor is
y(t) given as,
(s ) 10
(a) =
Va (s ) 1 + 10s
When connected in feedback as shown below,
t
the approximate value of Ka that will reduce the
time constant of the closed-loop system by one
y(t)
hundred times as compared to that of the open-
loop system is
(b)
Va(s) 10
R(s) + Ka
– 1 + 10s (s )
t

y(t)

(a) 1 (b) 5
(c)
(c) 10 (d) 100
[EC-2013 : 2 Marks]
t
Q.38 The natural frequency of an undamped second
y(t) order system is 40 rad/s. If the system is damped
with a damping ratio 0.3, the damped natural
(d) frequency (in radians), is _______ .
[EC-2014 : 1 Mark]
t
Q.39 The steady-state error of the system shown in
[EC-2011 : 1 Mark] the figure for a unit step input is ______ .
Q.36 A system described by a linear, constant R(s ) E(s) C(s )
1
coefficient, ordinary, first order differential + K=4
r (t ) – e(t) s+2 c(t)
equation has an exact solution given by y(t) for
t > 0, when the forcing function is x(t) and the
2
initial condition is y(0). If one wishes to modify
s+4
the system so that the solution becomes –2y(t)
for t > 0, we need to [EC-2014 : 2 Marks]
(a) change the initial condtion to –y(0) and the
Q.40 For the second order closed-loop system shown
forcing function to 2x(t).
in the figure, the natural frequency (in rad/sec),
(b) change the initial condtion to 2y(0) and the
is
forcing function to –x(t).
 38 Electronics Engineering Control Systems

The transfer function of the system is

4
U(s) + Y(s )
– s ( s + 4) 2 1
(a) (b)
(s + 2) (s + 3) 2
s + 2s + 1
3 4
(a) 16 (b) 4 (c) 2
(d) 2
s + 2s + 3 s + 2s + 4
(c) 2 (d) 1
[EC-2015 : 2 Marks]
[EC-2014 : 1 Mark]
Q.44 The open-loop transfer function of unity
Q.41 The characteristic equation of a unity negative feedback control system is given by
feedback system is 1 + KG(s) = 0. The open-loop
K
transfer function G(s) has one pole at 0 and two G(s) =
s (s + 2)
poles at –1. The root locus of the system for
varying K is shown in the figure. For the peak overshoot of the closed-loop system
to a unit step input to be 10%, the value of K is
j
_______ .
[EC-2016 : 2 Marks]

= 0.5 Q.45 For the unity feedback control system shown in

A
the figure, the open-loop transfer function G(s)
is given as,
(0, 0)
2
–1 –1/3 Q G(s) =
s (s + 1)
The steady-state error ess due to a unit step input
is
e(t)
x(t ) + G(s ) y(t )
–

The constant damping ratio line, for = 0.5,

intersects the root locus at point A. The distance
(a) 0 (b) 0.5
from the region to point A is given as 0.5. The
(c) 1.0 (d)
value of K at point A is _____ .
[EC-2016 : 1 Mark]
[EC-2014 : 2 Marks]

Q.42 A unity negative feedback system has an open- s 2

Q.46 The response of the system, G(s) =
loop transfer function, (s + 1) (s + 3)
K
G(s) = to the unit step input u(t) is y(t). The value of
s (s + 10)
dy/dt at t = 0+ is ______ .
The gain K for the system to have a damping
[EC-2016 : 1 Mark]
ratio of 0.25 is ______ .
[EC-2015 : 1 Mark] Q.47 In the feedback system shown below,
1
Q.43 The output of a standard second-order system G(s ) = 2
(s + 2s )
for a unit step input is given as,
The step response of the closed-loop system
2 t should have minimum settling time and have
y (t ) = 1 e cos 3t
3 6 no overshoot.
 GATE Previous Years Solved Paper 39

r G(s ) y 1
+
–
K where, G(s) =
s ( s + 1)

s+1
and C(s) = K
s+3
The required value of gain K to achieve this is
If the steady-state error for a unit ramp input is
______ .
0.1, then the value of K is ______ .
[EC-2016 : 2 Marks]
[EC-2020 : 2 Marks]
Q.48 The open-loop transfer function,
Q.51 Two linear time invariant systems with transfer
( s + 1) function:
G( s ) = p
s (s + 2) (s + 3)
10 10
G1 ( s ) = and G2 (s ) =
where, p is an integer, is connected in unity 2
s +s+1 2
s + s 10 + 10
feedback configuration as shown in the figure.
have unit step responses y 1 (t) and y 2 (t),
+ G(s ) y respectively. Which of the following statements
–
is/are true?
(a) y1(t) and y2(t) have the same percentage
Given that the steady-state error is zero for unit peak overshoot.
step input and is 6 for unit ramp input, the value (b) y1(t) and y2(t) have the same steady-state
of the parameter p is ______ . value.
[EC-2017 : 1 Mark] (c) y 1(t) and y 2(t) have the same damped
frequency of oscillation.
Q.49 Consider a causal second-order system with the
(d) y1(t) and y2(t) have the same 2% settling
transfer function,
time.
1
G( s ) = [EC-2022]
1 + 2s + s 2
Q.52 The block diagram of a closed-loop control
1
with a unit step R(s ) = as an input. Let C(s) system is shown in the figure. R(s), Y(s), and
s
D(s) are the Laplace transforms of the time
be the corresponding output. The time taken by domain signals r(t), y(t) and d(t), respectively.
the system output c(t) to reach 94% of its steady- Let the error signal be defined as, e(t) = r(t) – y(t).
state value lim c(t ), (rounded off to two Assuming the reference input r(t) = 0 for all t,
t the steady-state error e( ), due to a unit step
decimal places), is disturbance d(t), is _______ (Rounded off to two
(a) 5.25 (b) 4.50 decimal places).

(c) 2.81 (d) 3.89 D(s)

[EC-2019 : 2 Marks]
+
+ + 1
R(s) 10 Y(s )
Q.50 Consider the following closed-loop control s(s + 10)
–
system,

R(s) + C(s ) G(s) Y(s )

– [EC-2022]
 40 Electronics Engineering Control Systems

ELECTRICAL EN GINEERIN G When connected in feedback as shown below,

the approximate value of Ka that will reduce the
(GATE Previous Years Solved Papers)
time constant of the closed-loop system by one
SECTIO N - A hundred times as compared to that of the open-
loop system is
Q.1 The unit impulse response of a unit feedback
Va(s) 10
control system is given by R(s) + Ka (s )
– 1 + 10s
c(t) = –te–1 + 2e–t, (t 0)
The open loop transfer function is equal to
s+1 2s + 1
(a) (b) (a) 1 (b) 5
(s + 2) 2
s2
(c) 10 (d) 100
s+1 s+1
(c) (d) [EE-2013 : 2 Marks]
(s + 1)2 s2
[EE-1996 : 1 Mark] Q.5 The closed-loop transfer function of a system is
4
Q.2 Feedback control systems are T (s ) = 2
(s + 0.4s + 4)
(a) insensitive to both forward and feedback
path parameter changes. The steady-state error due to unit step input is
(b) less sensitive to feedback path parameter ________ .
changes than to forward path parameter [EE-2014 : 1 Mark]
changes.
Q.6 The block diagram of a system is shown in the
(c) less sensitive to forward path parameter
figure.
changes than to feedback path parameter
changes.
(d) equally sensitive to forward and feedback
–
path parameter changes. + 1/s +– G(s) (s )
R(s ) – C(s )
[EE-2000 : 1 Mark]

Q.3 As shown in the figure, a negative feedback

system has an amplifier of gain 100 with ±10% If the desired transfer function of the system is
tolerance in the forward path, and an attenuator C (s) s
= 2
of value 9/100 in the feedback path. The overall R(s ) s + s + 1
system gain in approximately
then G(s) is
+ 100 ± 10% (a) 1 (b) s
–
1 s
(c) (d) 3 2
s s +s s 2
9/100
[EE-2014 : 2 Marks]
(a) 10 ± 1% (b) 10 ± 2%
SECTIO N -B
(c) 10 ± 5% (d) 10 ± 10%
[EE-2010 : 1 Mark] Q.1 A first order system and its response to a unit
step input are shown in figure below. The system
Q.4 The open-loop transfer function of a dc motor is
parameters are:
given as,
a = ________
(s) 10
= k = ________
Va ( a) 1 + 10s
 GATE Previous Years Solved Paper 41

Q.6 For the system shown in figure, with a damping

c(t )
ratio of 0.7 and an undamped natural
2.0
c(t)
frequency n of 4 rad/sec., the values of ‘K’ and
‘a’ are

K
R(s ) + C(s )
– s ( s + 2)
0 0.2 t(sec)

1 + as
K
r (t ) c(t)
s+a
(a) K = 4, a = 0.35 (b) K = 8, a = 0.455
[EE-1991 : 2 Marks] (c) K = 16, a = 0.225 (d) K = 64, a = 0.9
[EE-1996 : 2 Marks]
Q.2 For what values of ‘a’ does the system shown in
figure have a zero steady-state error Q.7 A unity feedback system has open loop transfer
function G(s). The steady-state error is zero for
[i.e., Lim E(t ) ] for a step input?
t (a) step input and type 1 G(s).
(b) ramp input and type 1 G(s).
s+1
u(t ) + (c) step input and type 0 G(s).
– (s 2 + 5s + a)
(d) ramp input and type 0 G(s).
[EE-2000 : 1 Mark]
1
s+4 Q.8 A unity feedback system has open loop transfer
function,
(a) a = 0 (b) a = 2
(c) a 4 (d) for no value of ‘a’ 25
G(s) =
[EE-1992 : 1 Mark] s(s + 6)
The peak overshoot in the step-input response
Q.3 The steady-state error due to a step input for
of the system is approximately equal to
type 1 system is ______ .
(a) 5% (b) 10%
[EE-1995 : 1 Mark]
(c) 15% (d) 20%
Q.4 Consider the unit step response of a unity [EE-2000 : 2 Marks]
feedback control system whose open loop
transfer function is Q.9 The block diagram shown in figure gives a unity
feedback closed-loop control system. The
1
G(s) = steady-state error in the response of the above
s (s + 1)
system to unit step input is
The maximum overshoot is equal to
(a) 0.143 (b) 0.153 3 15
u(t) + y(t)
– s + 15 s+1
(c) 0.163 (d) 0.173
[EE-1996 : 1 Mark]

Q.5 For a feedback control system of type 2, the (a) 25% (b) 0.75%
steady-state error for a ram input is (c) 6% (d) 33%
(a) infinite (b) constant [EE-2003 : 2 Marks]
(c) zero (d) indeterminate
[EE-1996 : 1 Mark]
 42 Electronics Engineering Control Systems

Q.10 The block diagram of a closed-loop control Q.13 If the above step response is to be observed on a
system is given by the figure. The value of K and non-storage CRO, then it would be best have
P such that the system has a damping ratio of the ei as a
0.7 and an undamped natural frequency n of (a) step function
5 rad/sec, are respectively equal to
(b) square wave of 50 Hz

R(s )
K
C(s )
(c) square wave of 300 Hz
+
– s ( s + 2)
(d) square wave of 2.0 kHz
[EE-2007 : 2 Marks]
1 + sP
Q.14 The transfer function of a linear time invariant
(a) 20 and 0.3 (b) 20 and 0.2 system is given as,
(c) 25 and 0.3 (d) 25 and 0.2 1
G(s ) = 2
[EE-2004 : 2 Marks] s + 3s + 2

Q.11 Consider the feedback system shown below The steady-state value of the output of the
which is subjected to a unit step input. The system for a unit impulse input applied at time
system is stable and has following parameters instant t = 1 will be
kp = 4, ki = 10, = 500 and = 0.7. The steady- (a) 0 (b) 0.5
state value of Z is (c) 1 (d) 2
[EE-2008 : 2 Marks]
Ki/s Z(s )
1
Q.15 The transfer function of a system is given as,
+ 2
+
KP 100
+ s2 + 2 s+ 2
2 .
0 – s + 20s + 100
The system is
(a) 1 (b) 0.25
(a) an overdamped system.
(c) 0.1 (d) 0
(b) an underdamped system.
[EE-2007 : 2 Marks]
(c) a critically damped system.
Statement for Common Data Questions (12 and 13): (d) an unstable system.
R-L-C circuit shown in figure.
[EE-2008 : 2 Marks]
R = 10 L=1m
Q.16 The unit step response of a unity feedback
system with open-loop transfer function,
ei e0 C = 10 µF K
G(s) = is shown in the figure. The
(s + 1) (s + 2)

value of K is
Q.12 For a step input ei, the overshoot in the output eo 1
will be 0.75
Response

(a) 0, since the system is not under damped

0.5
(b) 5%
(c) 16%
(d) 48% 0 1 2 3 4
Time
[EE-2007 : 2 Marks]
 GATE Previous Years Solved Paper 43

(a) 0.5 (b) 2 Q.20 A open-loop control system results in a response

(c) 4 (d) 6 of e–2t (sin5t + cos5t) for a unit impulse input.
[EE-2009 : 2 Marks] The dc gain of the control system is ______ .
[EE-2015 : 1 Mark]
2
Q.17 For the system , the approximate time Q.21 The unit step response of a system with the
(s + 1)
1 2s
taken for a step response to reach 98% of its transfer function G(s ) = is given by
1+s
final value is
which one of the following waveforms?
(a) 1 s (b) 2 s
y
(c) 4 s (d) 8 s
1
[EE-2010 : 1 Mark]
(a) 0 t
Q.18 The steady-state error of a unity feedback linear 5
system for a unit step input is 0.1. The steady-
state error of the same system, for a pulse input –2
r(t) having a magnitude of 10 and a duration of
y
one second as shown in the figure is
2
r( t)

(b) 1

10
t
t 0 5
1s
(a) 0 (b) 0.1 y

(c) 1 (d) 10 2

[EE-2011 : 1 Mark] 1
(c)
Q.19 A two loop position control system in shown 0 t
5
below.
–0.75
Motor
1
R(s) + + Y(s ) y
– – s (s + 1)
1

ks
(d) 0 t
5
Tacho-generator

The gain of ‘k’ of the tacho-generator influences –2

mainly the
[EE-2015 : 2 Marks]
(a) peak overshoot
(b) natural frequency of oscillation Q.22 A second order real system has the following
(c) phase shift of the closed-loop transfer properties:
function at very low frequencies ( 0) (a) The damping ratio = 0.5 and undamped
(d) phase shift of the closed-loop transfer natural frequency n = 10 rad/sec.
function at very high frequencies ( ) (b) The steady-state value of the output, to a
[EE-2011 : 2 Marks] unit step input, is 1.02.
 44 Electronics Engineering Control Systems

The transfer function of the system is Codes:

102 102 (a) P-I, Q-II, R-III (b) P-II, Q-I, R-III
(a) 2 (b) 2
s + 5s + 100 s + 10s + 100 (c) P-III, Q-II, R-I (d) P-III, Q-I, R-II
100 102 [EE-2018 : 1 Mark]
(c) 2 (d) 2
s + 10s + 100 s + 5s + 100 Q.26 Consider a unity feedback system with forward
[EE-2016 : 2 Marks] transfer function given by
Q.23 When a unit ramp input is applied to the unity 1
G(s) =
feedback system having closed-loop transfer (s + 1) (s + 2)
function, The steady-state error in the output of the
C (s) Ks + b system for a unit step input is _____ (upto two
= 2 , ( a > 0, b > 0, K > 0)
R(s) s + as + b decimal places).
The steady-state error will be [EE-2018 : 1 Mark]

a Q.27 The unit step response y(t) of a unity feedback

(a) 0 (b)
b system with open-loop transfer function,
a+K a K K
(c) (d) G( s ) H ( s ) = is shown in the
b b 2
( s + 1) ( s + 2)
[EE-2017 : 1 Mark]
figure.
Q.24 Which of the following system has maximum
The value of ‘K’ is _____ (upto two decimal
peak overshoot due to a unit step input?
places).
100 100
(a) 2 (b) 2
s + 10s + 100 s + 15s + 100 y

100 100 1.4

(c) (d) 1.2
s 2 + 5s + 100 s 2 + 20s + 100
1
[EE-2017 : 2 Marks] 0.8
0.6
Q.25 Match the transfer functions of the second order
0.4
systems with the nature of the system given
0.2
below: 0
0 2 4 6 8 10 12 14 16 18 20 t(sec)
Transfer function Nature of system
15 [EE-2018 : 2 Marks]
P. 2 I. Overdamped
s + 5s + 15
25
Q. 2 II. Critically damped
s + 10s + 25
35
R. 2 III. Underdamped
s + 18s + 35
 GATE Previous Years Solved Paper 45

Electronics & Electrical Engineering

GATE Previous Years Solved Paper

A n swe rs & Expl a n a t i o n s

Answers
EC Time Response Analysis

1. (a) 2. (b) 3. (a) 4. (a) 5. (Sol.) 6. (Sol.) 7. (Sol.) 8. (c)

9. (b) 10. (a) 11. (a) 12. (a) 13. (b) 14. (a) 15. (b) 16. (b)

17. (d) 18. (c) 19. (b) 20. (c) 21. (b) 22. (b) 23. (c) 24. (a)

25. (d) 26. (c) 27. (a) 28. (b) 29. (c) 30. (d) 31. (c) 32. (c)

33. (d) 34. (b) 35. (a) 36. (d) 37. (c) 38. (38.16) 39. (0) 40. (c)

41. (0.37) 42. (400) 43. (d) 44. (2.8) 45. (a) 46. (1) 47. (1) 48. (1)

49. (b) 50. (30) 51. (a) 52. (–0.1)

Solutions
EC Time Response Analysis

1. (a) 2 n =8

K p = lim G(s ) H (s) 8 4

s 0 = = = 0.8
2 n 5
K
= lim = = 1 2
s 0 s (s + 10) d n

A A = 5 1 (0.8)2 = 3
ess = = =0
1 + Kp 1 + For 2nd peak n = 3,
n 3
2. (b) tp = = = sec.
d 3
The steady-state error of a stable ‘type 0’ unity
feedback system for a unit step function is 4. (a)
1 s 4(1 + 2 s )
. K V = lim s G(s ) H (s ) = lim
1 + Kp s 0 s 0 s 2 (s + 2)
4(1 + 2s)
= lim =
3. (a) s 0 s (s + 2)

2 = 25 A A
n ess = = =0
KV
n =5
46 Electronics Engineering Control Systems

5. Sol. 11. (a)

The poles of a continuous time oscillator are The final value theorem is used to find the
pure imaginary. steady-state value of the system.

6. Sol. 12. (a)

(a) - 1, (b) - 5, (c) - 2 s = ±j
(a) Overdamped (1) poles on the negative So, poles are pure imaginary, hence final value
real axis > 1, can not be determined.

2 13. (b)
s= n ± n +1
(b) Critically damped (5), multiple poles on Number of poles at origin of open-loop transfer
the negative real axis, function gives the type of the system.

= 1 14. (a)
s= – n, – n K
(c) Oscillatory (2) poles on the imaginary K p = lim G(s) H (s) = lim =
s 0 s 0 s (s + 1)
axis,
A A
= 0 ess = = =0
1 + Kp 1 +
s = ±j n
15. (b)
7. Sol.
1
(a) - 1, (b) - 5, (c) - 4 H(s) =
s
(a) Very low response at very high frequencies
1
Low pass system. R(s) =
s+a
(b) Overshoot Damping ratio
1 1 1 1
(c) Synchro-control transformer output C(s) = R(s ) H (s ) = =
s (s + a ) a s s+a
Phase-sensitive modulation
1 at
C(t) = [1 e ]
8. (c) a
<1
16. (b)
For underdamped system, roots or poles are:
4
2 ts =
s= n±j n 1 n
2 n =4 n=2
10. (b)
4
ts = =2
2 s2 + 2s 2
f = lim sF(s ) = =2
(0 + ) s s 2 + 2s + 5
17. (d)
2
2 s + 2s
f ( ) = lim sF(s ) = 2 =0 an 1 s + an
s s + 2s + 5
sn + a1 s n 1
+ ...an 2 s 2
T(s) =
10. (a) an 1 s + an
1+ n
K p = lim G(s) H (s) s + a1 s n 1 + ...an 2 s 2
s 0
an 1 s + an
1 1 G(s) =
= lim = sn + a1 s n 1
+ ...an 2 s2
s 0 ( s + 6) ( s + 1) 6
 GATE Previous Years Solved Paper 47

For type 2, ramp input 1

2 n =
K V = lim sG(s) K
s 0
6 1
KV = 2 × 0.5 × =
K K
1
ess = =0 6 1
KV = 2
K K
18. (c) 1
K=
6
s2 + 2 n + 2
n =0
21. (b)
1
2 = 2, =
n
n
100
G(s) =
(s + 1) (s + 100)
n = 2
Taking dominant pole consideration,
1
= s = –100 pole is not taken
2
100
Q < 1, hence response will be underdamped. G(s) =
s+1
19. (b) Now it is 1st order system
CLTF = ts = 4T = 4 × 1 = 4s
G(s) s+4
= 22. (b)
1 + G(s) H (s ) s 2 + 7 s + 13
C (s) 4
1 + G(s) H (s) s 2 + 7 s + 13 = 2
= R(s ) s + 4s + 4
G(s ) s+4
2 n = 4, n = 2
H(s) = 1 for unity feedback
= 1 (Critical damping)
1 s 2 + 7 s + 13 4 4
= 1 ts = = =2
G(s ) s+4 1× 2
n
2
1 s + 6s + 9
= 23. (c)
G(s ) s+4
1
s+4 H(s) =
G(s) = s+2
s 2 + 6s + 9
r(t) = 10 u(t)
For D.C. : s=0
G(s) = open-loop gain 10
R(s) =
s
4
= 1 10
9 C(s) = H (s ) R(s ) =
s+2 s
20. (c) 10 A B
= +
s+6 s(s + 2) s s+2
s 6 5 5
K s2 + + C(s) =
K K s s+2
c(t) = 5[1 – e–2t] u(t)
Comparing with s 2 + 2 n + 2
n Steady-state value when t = 0 is 5.99% of steady-
6 state value reaches at,
n = 5[1 – e–2t] = 0.99 × 5
K
48 Electronics Engineering Control Systems

1 – e–2t = 0.99 29. (c)

e–2t = 0.01 h(t) = e–t
–2t = ln 0.01 1
t = 2.3 sec. H(s) =
s+1
24. (a) 1
R(s) =
s
d2 y 3 dy 1 1
2
+ + 2 y = X(t) Output = H (s) R(s) =
dt dt (s + 1) s
s2Y(s) + 3sY(s) + 2Y(s) = X(s)
1 1
x(t) = 2u(t) Output = = (1 e t ) u(t )
s s+1
2 When t = at steady-state,
X(s) =
s Output = 1
2
(s2 + 3s + 2) Y(s) = 30. (d)
s
In dominant pole concept, the factor that has to
2
Y(s) = be eliminated should be in time constant for,
s(s + 2) (s + 1)
5 5
2 A B C 2 =
= + + ( s + 5) ( s + s + 1) s
s(s + 2) (s + 1) s s+2 s+1 5 1+ (s2 + s + 1)
5
1 1 2
Y(s) = + 1
s s+2 s+1 = 2
s +s+1
y(t) = [1 + e–2t – 2e–t] u(t)
31. (c)
27. (a)
Peak overshoot depends on as,
1
ess = lim sE(s), R(s) = 2
s 0 s2 Mp = e
/ 1

R(s) where, = cos–1

= lim s
s 0 1 + G(s) where is the angle made by pole from negative
1 real axis.
= lim = finite (given)
s 0 s + sG(s ) To make Mp same, should be the same.
K V = lim sG(s )
s 0 32. (c)
1 1 Transfer function can be written as,
ess = lim = finite = 5% =
s 0 sG(s ) 20 K (s + 1)
H(s) =
K = 20 (s + 2) (s + 4)
KV is finite for type 1 system having ramp input. 1
Input, R(s) =
s
28. (b)
Output, C(s) = R(s) H(s)
1 1 2 lim sC (s ) = 1
C(s) = = Given,
s s + 2 s(s + 2) s 0

1 s K (s + 1)
R(s) = or, lim =1
s s 0 s(s + 2) (s + 4)
C (s) 2 K
H(s) = = or, =1
R(s ) s + 2 8
 GATE Previous Years Solved Paper 49

K=8 35. (a)

8(s + 1)
H(s) = d2 y dy
(s + 2) (s + 4) 100 2
20 + y = x(t )
dt dt
4 12 Taking Laplace transform of both sides,
= +
s+2 s+4
X (s)
h(t) = (–4e–2t + 12e–4t) u(t) 100 s 2 Y (s) 20 sY (s) + Y (s) =
s
Which is also the required impulse response of
Y (s ) 1/ s
the system. =
X( s ) 2
(100s 20s + 1)
33. (d)
1
Comparing the given transfer function with =
s (10 s 1)2
2 1 1
n , ,0
2 ,
Poles are at, s=
s2 + 2 ns + n
10 10
At poles are on the right-hand side of s-plane so
25 given system is unstable system.
P= =0
s 2 + 25 Only option (a) represents unstable system.
So, P is undamped,
36. (d)
36
Q=
s 2 + 20s + 36 dy(t )
+ ky(t ) = x(t)
20 dt
= = 1.67 Taking Laplace transform of both sides, we have
2×6
So, Q is overdamped, sY(s) – y(0) + kY(s) = X(s)
Y(s) [s + K] = X(s) + y(0)
36
R= 2 X( s ) y(0)
s + 12 s + 36 Y(s) = +
s+k s+k
12
= =1 Taking inverse Laplace transform, we have
2×6
y(t) = e–kt x(t) + y(0) e–kt
So, R is critically damped,
So, if we want –2y(t) as a solution both x(t) and
49
S= 2
y(0) has to be multiplied by –2; hence change
s + 7 s + 49
x(t) by –2x(t) and y(0) by –2y(0).
7
= = 0.5 37. (c)
2×7
So, S is underdamped. (s ) 10
=
Va (s) 1 + 10s
34. (b)
1 + Ts = 1 + 10s
Steady-state value = –2
Ts = 10
Denominator,
T = 10
2 n = 1.91, n2 = 1.91 T 10 1
T = = =
n 1.4 100 100 10
1.91 1.91 10
= = <1 Ka ×
2 n 2.8 ( s) 1 + 10 s
= 10
...(underdamped) R(s ) 1 + Ka
1 + 10s
50 Electronics Engineering Control Systems

( s) 10 K a 10 K a 41. Sol.
= =
R(s ) 1 + 10 s + 10 K a (1 + 10 K a ) + 10s According the question,
( s) 10 K a K
= G(s) H(s) = ...(i)
R(s ) 10s s(s + 1)2
(1 + 10K a ) 1 +
1 + 10K a
j
10 1
T = =
1 + 10K a 10
1 + 10Ka = 100
10Ka = 99 A jb

Ka = 9.9 10

39. Sol. B O
–1 –1/3
Given, n = 40 rad/sec.
= 0.3
2
d = n 1
= 38.16 rad/sec.

39. Sol.
After converting the system into equivalent The damping ratio is given as = 0.5.
unity feedback system. = cos–1 = 60°
Let the co-ordinates of point ‘A’ is (–a + jb)
4(s + 4)
R(s ) +
–
C(s ) OB
s (s + 2) where, cos60° = ...(ii)
OA
Also, 0 A = 0.5 (Given)

4(s + 4) BA
Similarly, sin60° = ...(iii)
OLTF = OA
s(s + 2)
BA = jb = 0.433j
Type = 1
Hence, co-ordinates of A = –0.25 + 0.43j
ess for step input = 0
The value of system gain K can be obtained
40. (c) as,
The closed-loop transfer function of the given G(s) H (s) = 1 ...(iv)
system is, From equation (i) and (iv) we get,
C (s) 4 4 s = –0.25 + j4.33
= = 2
R(s ) s (s + 4) + 4 s + 4s + 4 K = 0.37
Comparing with standard second order transfer
42. Sol.
K n2 G(s) K
function 2 , we get, T(s) = =
s + 2 n + n2 1 + G(s) H (s) s 2 + 10s + K
Comparing with standard second order transfer
2 =4
n function,
2
or, n = 4 = 2 rad/sec. n
T(s) =
s2 + 2 ns +
2
n
 GATE Previous Years Solved Paper 51
2 2 = (2.3)2 (1 – 2)
we have, 2 =K
n 2
15.16 = (2.3)2
and 2 n = 10 = 0.59
Q = 0.25 (Given)
1
Also, K= = 2.8
10 2
= = 20
n
2 × 0.25
2 45. (a)
and K= n = (20)2 = 400
R(s)
E(s) =
43. (d) 1 + G(s) H (s)
The output of a second order system for unit 1 2
R(s) = , G(s) = , H(s) = 1
step input, s s (s + 1)
e nt
1/ s s+1
y(t) = 1 sin( ot ) ...(i) E(s) = = 2
1 2 2 s +s+2
1+
s (s + 1)
From given data,
2 s (s + 1)
y(t) = 1 e t
cos 3t ess = lim sE(s) = lim 2 =0
s 0 s 0 s +s+2
3 6
= n=1 46. Sol.
and = 3
d dy
L = (sY(s) – y(0))
= 2 2 dt
n + d =2
1 s 2
1 Y(s) = G(s) × =
= s s (s + 1) (s + 3)
2
Therefore, the transfer function. y(0) = lim sY (s )
s
2 (Applying initial value theorem)
n 4
T(s) = =
s2 + 2 ns +
2
n s 2 + 2s + 4 2
1
s 2 s
= lim =
44. Sol. s (s + 1) (s + 3) 1 3
s 1+ 1+
s s
K
G(s) = ; H (s) = 1 y(0) = 0
s (s + 2)
dy s × (s 2) s 2
Characteristic equation = 1 + G(s) H(s) = 0 L = sY (s) = =
dt s (s + 1) (s + 3) (s + 1) (s + 3)
K
1+ =0 dy dy
s (s + 2) = lim sL
dt t = 0 s dt
s2 + 2s + K = 0

n = K 1
2
s × (s 2) s
1 = lim = =1
2 = 2; = s (s + 1) (s + 3) 1 3
n 1+ 1+
K s s

/ 1 2
Mp = e = 0.1 47. Sol.
1
= ln (0.1) G(s) = 2
1 2 s + 2s
52 Electronics Engineering Control Systems

K Since the system is type-1 so far a given unit

Y (s ) s 2 + 2s = K ramp input steady-state,
= K 2
R(s ) s + 2s + K 1
1+ 2 ess =
s + 2s Kv
Minimum settling time and no overshoot K K
where, K v = lim s × =
implies critical damping i.e., s 0 s(s + 3) 3
=1 1 3
So, ess = =
n = K K /3 K
2× n =2 Given that,
n =1 ess = 0.1
K = 1 or K = 1 3
So, 0.1 = K = 30
K
48. Sol.
51. (a)
Steady-state error of type 1 system, for step input
is zero, for ramp input is 1/Kv and for parabolic 10
For system: G1(s) = 2
input is infinity. s +s+1
So, the given system must be of type-1 and p = 1. Characteristic equation,
s2 + s + 1 = 0
49. (b) The standard characteristics equation is,
2 1
G(s) = 2
= s2 + 2 ns +
2
n =0
s + 2s + 1 (s + 1)2
On comparing,
1
R(s) = 1
s n = 1, = = 0.5
2
1
C(s) = G(s ) R(s ) = 1 2
s(s + 1)2 d = n

Using partial fraction expansion, we get, = 1 1 (0.5)2 = 0.866

A B C
C(s) = + + 4
s (s + 1) (s + 1)2 Settling time, ts = = 8 sec
n
1 1 1 1
C(s) = 10 s
s (s + 1) (s + 1)2 s
Steady-state, ess = lim = 10
and c(t) = (1 – e–t – te–t) u(t) s 0 s2 + s + 1

lim c(t ) = 1 10
t For system: G2(s) = 2
s + 10s + 10
In order to reach 94% of its steady-state value,
Characteristic equation,
(1 – e–t – te–t) = 0.94
By trial and error, we get, s2 + 2 ns +
2
n =0
t 4.50 sec. On comparing,
2
50. Sol. n = 10 n = 10

Open-loop transfer function for the system 2 n = 10 = 0.5

K (s + 1) 1 = = 1 2
= C (s) × G(s) = × d n
(s + 3) s(s + 1)
= 10 1 (0.5)2 = 2.739
 GATE Previous Years Solved Paper 53

4 4 1
Settling time, ts = = G1(s) = 10, G2 (s) =
n 0.5 10 s(s + 10)
8 E(s) G2 (s)
= = 2.535 =
10 D(s) 1 + G1 (s) G2 (s)
Steady-state error, 1
s(s + 10) 1
1 = = 2
10 s 1 s + 10s + 10
s 1 + 10 ×
ess = lim =1 s(s + 10)
s 0 s 2 + 10 s + 10
ess = lim e(t ) = lim sE(s)
Since ‘ ’ value for both the system is same. So t s 0
percentage peak overshoot for both system is
s(1/ s)( 1)
same. ess = lim 2
s 0 s + 10s + 10

52. (–0.1) 1
= = 0.1
D(s )
10

R(s ) = 0 1
+– 10 ++ Y(s )
s(s + 10)

Answers
EE Time Response Analysis (Section-A)

1. (b) 2. (c) 3. (a) 4. (c) 5. (0) 6. (b)

Solutions
EE Time Response Analysis (Section-A)

1. (b) 2. (c)
Close loop T.F. = L (Impulse response) 1
T .F . =
2s + 1 Q SG
1 + GH
C.L.T.F. =
(s + 1)2
GH
O.L.T.F. STH.F. =
Q C.L.T.F. = 1 + GH
1 + O.L.T.F.
Less sensitive to ‘change in G’ then ‘change
(For unity feedback)
in H’
G(s )
i.e., C.L.T.F. = 3. (a)
1 + G(s ) H ( s ) = 1
G = 100 ± 10%
C.L.T.F.
G(s) = G
1 C.L.T.F. H ( s ) = 1 = 10% or 0.1
G
On putting the value of C.L.T.F.
9
2s + 1 H=
We get, G(s) = 100
s2
54 Electronics Engineering Control Systems

Overall gain, 5. Sol.

G Closed-loop transfer function,
T= ...(i)
1 + GH 4
T(s) = 2
100 (s + 0.4s + 4)
T= = 10
9 G(s)
1 + 100 × 4
100 or, = [H(s) = 1]
1 + G(s) s 2 + 0.4s + 4
Sensitivity w.r.t.,
or, (s2 + 0.4s + 4) = 4 + 4 G(s)
1 4
‘G’ = × 10%
1 + GH or, G(s) =
s (s + 0.4)
1 10 Open loop transfer function (for unity feedback
= × 10% = 1%
1 + 10 × 1 11 system)
Given, Input = u(t) = r(t)
4. (c)
1
(s) 10 10 R(s) =
= = s
Va (s ) 1 + 10s 1 + s Steady-state error,
= 10
sR(s ) sR(s )
Closed loop system, ess = lim = lim
s 0 1 + G(s) H (s ) s 0 1 + G( s )
10 K a
(For H(s) = 1)
(s) 1 + 10s = 10 K a
= 10 K a
R(s ) 1+ 1 + 10 K a + 10s 1
s×
1 + 10s s s (s + 0.4)
= lim = lim 2
s 0 4 s 0 s + 0.4s + 4
1+
10 K a s (s + 0.4)
1 + 10 K a
= s (s + 0.4)
10 = lim =0
1+ s s 0 2
s + 0.4s + 4
1 + 10 K a
Steady-state error for step input, ess = 0.
According to question,
10 1 6. (b)
= × 10
1 + 10 K a 100 For all the given values of G(s) in options, G(s)
1 + 10 Ka = 100 does not satisfy the desired condition. But
Ka = 9.9 option (b) is official answer given by IIT.

Answers
EE Time Response Analysis (Section-B)

1. (5, 10) 2. (a) 3. (0) 4. (c) 5. (c) 6. (c) 7. (a) 8. (b)

9. (a) 10. (d) 11. (a) 12. (c) 13. (c) 14. (a) 15. (c) 16. (d)

17. (c) 18. (a) 19. (a) 20. (0.241) 21. (a) 22. (b) 23. (d) 24. (c)

25. (c) 26. (0.66) 27. (8)

 GATE Previous Years Solved Paper 55

Solutions
EE Time Response Analysis (Section-B)

1. Sol. 4. (c)
Q Time constant = 0.2 sec. (from figure) 1
G(s) =
s ( s + 1)
1 K Characteristic equation = 1 + G(s)
= From G(s) =
a s = s2 + s + 1
a 1+
a
On comparing with s 2 + 2 ns +
2
n
1
= 0.2 we have, = 0.5
a
a=5
1 2
Q Final value = lim sC (s) Mp = e = 0.1630
s 0
5. (c)
K 1 K
= slim0 s s + a a = a = 2 1
s
(From figure) lim sE( s ) = lim s2 =0
s 0 s 0 G ( s ) H (s)
K 1+
=2 s
a
K = 2 × 5 = 10 6. (c)
Characteristic equation:
2. (a) 1 + G(s) H(s) = 0
R(s) K
E(s) = = 1+ (1 + as) = 0
1 + G(s) H (s) s (s + 2)
lim E(t ) = lim sE(s) s2 + (Ka + 2) s + K = 0 ...(i)
t s 0
Q Characteristic equation is in the form of

s
1 s2 + 2 ns +
2
n =0
= lim s
( s + 1) 1 For = 0.7 and n = 4
s 0
1+ 2
(s + 5s + a) (s + 4) Characteristic equation will be
s2 + 5.6s + 16 = 0 ...(ii)
1 On comparing equation (i) and (ii), we get,
=0
1 K = 16 and a = 0.225
1+
4a
7. (a)
4a
=0 Steady-state error is zero for step input with
4a + 1
type-1 G(s).
Hence, a=0
8. (b)
3. Sol.
25
1 G(s) =
s s ( s + 6)
lim sE(s) = lim s =0
s 0 s 0 G (s ) H ( s) Characteristic equation,
1+
s 1 + G(s) = 0
56 Electronics Engineering Control Systems

25 So, characteristic equation

1+
s (s + 6) = 0 = s2 + (2 + kP) s + P
s2 + 6s + 25 = 0 Comparing with standard equation
On comparing with, 2 2
= s +2 ns + n

s2 + 2 ns +
2
n =0 k=
2
n = 52 = 25
we get, n = 5 and = 0.6 (where, n = undamped natural frequency)
2 n = 2 + kP
1 2 2 × 0.7 × 5 = 2 + 25 P
Mp = e = 0.0948 10%
(where = damping ratio)
9. (a) P = 0.2

3 15 45 11. (a)
G(s) = × =
s + 15 s+1 (s + 1) (s + 15) 1
Step input R(s ) =
and H(s) = 1 s
Open loop transfer function Ki/s Z(s )
45
= G(s) H (s ) = +
(s + 1) (s + 15) +
KP
2
R(s) 2 2 C (s )
E(s ) + s +2 s+
The system is type-0. –
Steady-state error to unit step input,
1 ki 2
ess = G(s) = kp +
1 + Kp
s s2 + 2 s+ 2

where, and H(s) = 1

kp = Position error constant = lim G(s) H (s) C (s) G(s) G(s)
s 0 =
=
R(s ) 1 + G(s) H (s ) 1 + G(s)
45
k p = lim =3 E(s) = R(s) – C(s)
s 0 (s + 1) (s + 15)

1 1 C (s)
= = R(s ) 1
ess = R(s )
1 + kp 1 + 3
= 0.25 or 25% G(s ) R(s )
= R(s ) 1 =
1 + G(s) 1 + G(s)
10. (d)
ki
k R(s)
ki
G(s) = and H(s) = 1 + sP Z(s) = E(s) = s
s(s + 2) s 1 + G(s)
Closed-loop transfer function, Steady-state value of Z,
k Zss = lim sZ( s)
s 0
G(s) s ( s + 2)
T(s) = = k ki 1
1 + G(s) H (s) 1 + (1 + sP ) s
s ( s + 2) s s
= lim 2
k
s 0 ki
= 1 + kp +
s(s + 2) + k (1 + sP ) s s2 + 2 s+ 2

k ki
T(s) = = 2
=1
s 2 + (2 + kP ) s + k ki 2
 GATE Previous Years Solved Paper 57

12. (c) / 1 2
Overshoot = PP = e
R = 10 L = 1 mH
× 0.5 / 1 0.5 2
= e
= 0.163 or 16.3%
ei i C = 10 µF
13. (c)
1
=
n LC
di 1
ei = Ri + L + i dt 1
dt c =
1 × 10 × 10 × 10 6
3
Taking Laplace transform,
= 104 rad/sec.
1
Ei(s) = R + Ls + I (s ) 4 4
Cs Settling time (ts) = = 4
n 10 × 0.5
Ei (s )
I(s) = = 0.8 msec.
1
R + Ls +
Cs
1
Square wave
e0 = i dt
c

1 1 Ei (s )
E0(s) = I (s) =
Cs Cs R + Ls + 1 T
Cs
T/2
Ei (s )
E0(s) = For a square wave T/2 should be greater than ts.
RCs + LCs 2 + 1
E0 (s) 1 For, f1 = 50 Hz
= T1 1
Ei (s) R2 1 = 10 ms >> ts
LC s + s + =
L LC 2 2 × 50
Characteristic equation, For, f2 = 300 Hz

R 1 T2 1
s2 +
s+ = = 1.67 ms > ts
=0 2 2 × 300
L LC
For, f3 = 2 kHz
Comparing with,
T3 1
s2 + 2 2 = = 0.25 ms < ts
ns + n 2 2 × 2 × 10 3
1 Therefore, it would be best to have ei as a square
=
LC wave of 300 Hz.
R 14. (a)
2 n =
L
r(t) = unit impulse applied at t = 1
R 1
= × = (t – 1)
L 2 n
R(s) = 1[r(t)] = e–s
R LC R C C (s) 1
= × = G(s) = =
L 2 2 L R(s) s 2 + 3s + 2
10 10 × 10 6 e s
= = 0.5 C(s) = R(s ) G(s ) =
2 1 × 10 3 s 2 + 3s + 2
58 Electronics Engineering Control Systems

Steady-state value of output, using final value 17. (c)

theorem,
C (s) 2
Css = lim sC (s) =
R( s ) s+1
s 0

s 1
se R(s) = (step-input)
= lim 2 =0 s
s 0 s + 3s + 2
2 2
C(s) = R(s ) =
15. (c) s+1 s (s + 1)
100 1 1
M(s) = 2 = 2
s + 20s + 100 s s+1
Comparing with standard form,
C(t) = L –1 [C(s)] = 2[1 – e–t]
2
n Final value of C(t) = Css = 2
M(s) =
s2 + 2 ns +
2
n 98% of Css = 0.98 × 2 = 1.96
2 = 20 Let, t = T, the response reaches 98% of its final
n
values,
n = 100
=1 1.96 = 2[1 – e–T]
T 4 sec.
n = 10
The system is critically damped.
18. (a)
16. (d) Let the system is represented as,
Steady-state value of response = 0.75 X(s ) + G(s ) Y(s )
–
Input is unit-step.
So steady-state error,
ess = 1 – 0.75 = 0.25 y( s ) G(s)
=
R(s) x(s) 1 + G(s) H (s)
Error = E(s) =
1 + G(s) H (s) H(s) = 1 (unity feedback)
k x(s)
where, G(s) = Error = E(s) =
(s + 1) (s + 2) 1 + G(s)
1 1
H(s) = 1 and R = Steady-state error for x(s ) = , e = 0.1
s s ss
Steady-state error using find value theorem, sx(s)
ess = lim sE(s) = lim
ess = lim sE(s) s 0 s 0 1 + G( s)
s 0
1
sR(s ) sx
= lim 0.1 = lim s
s 0 1 + G( s ) H ( s )
s 0 1 + G( s )
1 1
s lim
s 1 = 0.1
= lim = s 0 1 + G(s)
s 0 k k
1+ 1+ When input,
(s + 1) (s + 2) 2
1
0.25 = k 10
1+
2
k
1+ =4 k=6 t
2 1s
 GATE Previous Years Solved Paper 59

x(t) = 10[u(t) – u(t – 1)] Since mp depnds on which depends on K.

s Hence peak overshoot is influenced by gain (K)
1 e 10
x(s) = 10 = [1 e s ] of the techo-generator.
s s s
sx(s) 20. Sol.
ess = lim sE(s) = lim
s 0 s 0 1 + G( s) 5 (s + 2)
2 2
+
10 (s + 2) + 5 ( s + 2)2 + 5 2
s× [1 e s ]
= lim s Putting s = 0,
s 0 1 + G(s)
5 2
= +
10(1 e s ) 2
2 +5 2
2 + 52
2
ess = lim =0
s 0 1 + G( s )
5 2 7
= + = = 0.241
29 29 29
19. (a)
21. (a)
1
R(s) + + Y(s )
– – s ( s + 1) 1 2s
T.F. =
1+s
ks
1 2s 1 A B
C(s) = = +
1+s s 1+s s
1 3
1 C(s) =
R(s ) + Y(s ) s 1+s
– s (s + 1 + K )
C(t) = (1 – 3e–t) u(t)

22. (b)
1 Damping ratio,
G(s) = and H(s) = 1
s(s + 1 + K ) = 0.5
Characteristic equation, Undamped natural frequency,
1 + G(s) H(s) = 0 n = 10 rad/sec.

1 Steady-state output to a unit step input,

1+ =0
s(s + 1 + K ) Css = 1.02
Hence steady-state error = 1.02 – 1.00
s(s + 1 + K) + 1 = 0
ess = 0.02
s2
+ (K + 1) s + 1 = 0
Characteristic equation is,
Comparing with,
s2 + 2 ns +
2 =0
s2 + 2 ns +
2
n =0 n
s2
+ 2 × 0.5 × 10s + 100 = 0
Natural frequency,
s2 + 10s + 100 = 0
n = 1 From options, if we take option (b).
Remains constant and does not depend on K,
Then, Css = lim sC (s)
2 n = K+1 s 0
K+1
= 1 102
2 = lim s × × 2
s 0 s s + 10s + 100
Damping ratio depends on k,
Css = 1.02
/ 1 2
Peak overshoot = mp = e Hence option (b) is correct answer.
60 Electronics Engineering Control Systems

23. (d) 25
Q= 2
Ks + b s + 10s + 25
Close-loop transfer function = 2
s + as + b =
25 = 5 rad/sec.
n
Open-loop transfer function 2 × 5 = 10
Ks + b =1 (Critically damped)
= G( s ) = 2
s + as + b Ks b Observing all the options, option (c) is correct.
Ks + b Ks + b 26. Sol.
G(s) = 2
=
s + as Ks s(s + a K )
Steady-state error for type-0 and step input,
Steady-state error for ramp input given to type-1 1
system = 1/Kv. ess =
1 + kp
Where, velocity error coefficient,
1 1
Ks + b b k p = lim =
K v = lim s = s 0 (s + 1) (s + 2) 2
s 0 s (s + a K ) a K
1 2
Steady-state error, ess = = = 0.66 units
1 3
a K 1+
ess = 2
b
27. Sol.
24. (c)
Closed-loop transfer function,
For maximum peak over shoot,
K
1 2
Mp C (s) (s + 1) (s + 2)
=
R(s ) K
1+ 2
= 0.25 for option (c), which is least among all (s + 1) (s + 2)
options. Therefore correct option is (c).
C (s) K
= 2
25. (c) R(s ) (s + 1) (s + 2) + K
15 1
P= Given, R(s) =
2 s
s + 5s + 15
K
n = 15 = 3.872 rad/sec. C(s) = 2
s [(s + 1) ( s + 2) + K ]
2 × 3.872 = 5
lim sC (s ) = 0.8 (Given)
5 s 0
= = 0.64
2 × 3.872
K
(Underdamped) = 0.8 K=8
2+K
 4 Stability Analysis

ELECTRO NICS EN GINEERIN G Q.6 The number of roots of s3 + 5s2 + 7s + 3 = 0 in the

left half of the s-plane is
(GATE Previous Years Solved Papers)
(a) zero (b) one
Q.1 Consider a characteristic equation given by (c) two (d) three
s4 + 3s3 + 5s2 + 6s + K + 10 [EC-1998 : 1 Mark]
The condition for stability is Q.7 The open-loop transfer function of an unity
(a) K > 5 (b) –10 < K feedback open-loop system is
(c) K > –4 (d) –10 < K < –4
2 s2 + 6s + 5
[EC-1988 : 2 Marks]
(s + 1)2 (s + 2)
Q.2 In order to stabilize the system shown in figure
The characteristic equation of the closed-loop
Ti should satisfy,
system is
1 + sTi 1 (a) 2s2 + 6s + 5 = 0
r( t) +
– s s (1 + sT ) c(t)
(b) (s + 1)2 (s + 2) = 0
(c) 2s2 + 6s + 5 + (s + 1)2 (s + 2) = 0
(d) 2s2 + 6s + 5 – (s + 1)2 (s + 2) = 0
(a) Ti = –T (b) Ti = T
[EC-1998 : 1 Mark]
(c) Ti < T (d) Ti > T
[EC-1989 : 2 Marks] Q.8 An amplifier with resistive negative feedback
has two left half plane poles in its open-loop
Q.3 An electromechanical closed-loop control
transfer function. The amplifier
system has the following characteristic equation:
(a) will always be unstable at high frequency.
s3 + 6Ks2 + (K + 2)s + 8 = 0
(b) will be stable for all frequency.
where K is the forward gain of the system. The
(c) may be unstable, depending on the
condition for closed-loop stability is,
feedback factor.
(a) K = 0.528 (b) K = 2
(d) will oscillate at low frequency.
(c) K = 0 (d) K = –2.258
[EC-2000 : 1 Mark]
[EC-1990 : 2 Marks]
Q.9 A system described by the transfer function,
Q.4 If s3 + 3s2 + 4s + A = 0, then all the roots of this
equation are in the left half plane provided that 1
H (s) = 3 2 is stable.
(a) A > 12 (b) –3 < A < 4 s + s + Ks + 3
(c) 0 < A < 12 (d) 5 < A < 12 The constraints on and K are
[EC-1993 : 2 Marks] (a) > 0, K < 3 (b) > 0, K > 3
Q.5 If G(s) is a stable transfer function, then (c) < 0, K > 3 (d) < 0, K < 3
[EC-2000 : 2 Marks]
1
F(s) = is always a stable transfer function.
G( s) Q.10 The feedback control system in the figure is
stable.
(T/F).
[EC-1994 : 2 Marks]
 62 Electronics Engineering Control Systems

s 2
Q.15 For the polynomial
R(s) + K 0 C(s )
– (s + 2)2 P(s) = s5 + s4 + 2s3 + 2s2 + 3s + 15
The number of roots which lie in the right half
of the s-plane is
s–2
(a) 4 (b) 2
(a) for all K 0 (b) only if K 0 (c) 3 (d) 1
(c) only if 0 K < 1 (d) only if 0 K 2 [EC-2004 : 2 Marks]
[EC-2001 : 2 Marks]
Q.16 The positive values of ‘K’ and ‘a’ so that the
Q.11 The system shown in the figure remains stable system shown in the figure below oscillates at a
when frequency of 2 rad/sec respectively are
1 K s–1 1 K (s + 1)
R(s ) Y(s ) R(s ) + C(s )
– ( s + as 2 + 2s + 1)
3

1
(a) 1, 0.75 (b) 2, 0.75
(c) 1, 1 (d) 2, 2
(a) K < –1 (b) –1 < K < 1
[EC-2006 : 2 Marks]
(c) 1 < K < 3 (d) K < –3
[EC-2002 : 2 Marks] Common Data Questions (17 and 18):
Consider a unity gain feedback control system whose
Q.12 The characteristic polynomial of a system is
q(s) = 2s5 + s4 + 4s3 + 2s2 + 2s + 1 as + 1
open-loop transfer function is G(s ) = .
The system is s2
(a) stable (b) marginally stable
Q.17 The value of ‘a’ so that the system has a phase
(c) unstable (d) oscillatory
margin equal to /4 approximately equal to
[EC-2002 : 2 Marks]
(a) 2.40 (b) 1.40
Q.13 The gain margin for the system with open-loop (c) 0.84 (d) 0.74
[EC-2006 : 2 Marks]
2 (1 + s)
transfer function G(s) H (s ) = , is
s2 Q.18 With the value of ‘a’ set for phase margin of /4,
the value of unit impulse response of the open-
(a) (b) 0
loop system at t = 1 second is equal to
(c) 1 (d) –
(a) 3.40 (b) 2.40
[EC-2004 : 1 Mark]
(c) 1.84 (d) 1.74
Q.14 The open-loop transfer function of a unity [EC-2006 : 2 Marks]
feedback system is
Q.19 If the closed-loop transfer function of a control
K
G( s ) = s 5
s (s 2 + s + 2) (s + 3) system is given as, T (s) = .
(s + 2) (s + 3)
The range of K for which the system is stable is Then it is
21 (a) an unstable system.
(a) >K >0 (b) 13 > K > 0
4 (b) an uncontrollable system.
21 (c) a minimum phase system.
(c) <K < (d) –6 < K <
4 (d) a non-minimum phase system.
[EC-2004 : 2 Marks] [EC-2007 : 1 Mark]
 GATE Previous Years Solved Paper 63

Q.20 A certain system has transfer function, The value of K which will place both the poles
s+8 of the closed-loop system at the same location,
G( s ) = 2
s + s 4 is ______.
where is a parameter. [EC-2014 : 1 Mark]
Consider the standard negative unity feedback Q.24 Consider a transfer function,
configuration as shown below.
ps2 + 3 ps 2
+ G(s ) Gp ( s ) =
– s 2 + (3 + p ) s + (2 p )
with ‘p’ a positive real parameter. The maximum
Which of the following statements is true? value of ‘p’ until which Gp remains stable is
______ .
(a) The closed-loop system is never stable for
any value of . [EC-2014 : 2 Marks]

(b) For some positive values of , the closed- Q.25 A plant tranfer function is given as,
loop system is stable, but not for all positive
KI 1
values. G(s ) = K P +
s s (s + 2)
(c) For all positive values of , the closed-loop
when the plant operates in a unity feedback
system is stable.
configuration, the condition for the stability of
(d) The closed-loop system is stable for all
the closed-loop system is
values of , both positive and negative
KI
[EC-2008 : 2 Marks] (a) K P > >0 (b) 2KI > KP > 0
2
Q.21 The number of open right half plane poles of (c) 2KI < KP (d) 2KI > KP
10 [EC-2015 : 2 Marks]
G( s ) = 5 4 3 2
is
s + 2 s + 3s + 6 s + 5s + 3 Q.26 The characteristic equation of an LTI system is
(a) 0 (b) 1 given by
(c) 2 (d) 3 F(s) = s5 + 2s4 + 3s3 + 6s2 – 4s – 8 = 0
[EC-2008 : 2 Marks] The number of roots that lie strictly in the left
Q.22 The feedback system shown below oscillates at half s-plane is _____ .
2 rad/sec when, [EC-2015 : 2 Marks]

K (s + 1) Q.27 Match the inference X, Y and Z about a system,

R(s ) + 3 2 Y(s )
– (s + as + 2s + 1) to the corresponding properties of the elements
of first column in Routh’s table of the system
characteristic equation:
(a) K = 2 and a = 0.75 List-I
(b) K = 3 and a = 0.75 X. The system is stable.
(c) K = 4 and a = 0.5 Y. The system is unstable.
(d) K = 2 and a = 0.5 Z. The test breaks down.
[EC-2012 : 2 Marks]
List-II
Q.23 The forward path transfer function of a unity P. ....when all elements are positive.
negative feedback system is given by Q. ....when any one element is zero.
K R. ....when there is a change in sign of
G(s) =
(s + 2) (s 1) coefficients.
 64 Electronics Engineering Control Systems

Codes: 1
G(s ) =
(a) X-P, Y-Q, Z-R (b) X-Q, Y-P, Z-R 2
s + 3s + 2
(c) X-R, Y-Q, Z-P (d) X-P, Y-R, Z-Q where K > 0. The positive value of K for which
[EC-2016 : 1 Mark] there are exactly two poles of the unity feedback
Q.28 The transfer function of a linear time invariant system of the j -axis is equal to ______ (rounded
system is given by off to two decimal places).

H(s) = 2s4 – 5s3 + 5s – 2 X(s)

+
K/s G(s ) Y(s )
The number of zeroes in the right half of the –
s-plane is ______ .
[EC-2016 : 2 Marks]
[EC-2019 : 2 Marks]
Q.29 The first two rows in the Routh table for the
characteristic equation of a certain closed-loop Q.33 The loop transfer function of a negative feedback
control system are given as, system is

3 K (s + 11)
s 1 (2K + 3) G(s ) H (s ) =
s (s + 2) (s + 8)
2
s K 4
The value of K, for which the system is
The range of K for which the system is stable is marginally stable, is ______ .
(a) –2.0 < K < 0.5 (b) 0 < K < 0.5 [EC-2020 : 1 Mark]
(c) 0 < K < (d) 0.5 < K < Q.34 The characteristic equation of a system is
[EC-2016 : 2 Marks] s3 + 3s2 + (K + 2)s + 3K = 0
Q.30 Which one of the following options correctly In the root locus plot for the given system, as K
describes the locations of the roots of the varies from 0 to , the break-away or break-in
equation s4 + s2 + 1 = 0 on the complex plane? point(s) lie within
(a) Four left half plane (LHP) roots. (a) (–2, –1) (b) (–1, 0)
(b) One right half plane (RHP) root, one LHP (c) (–3, –2) (d) (– , –3)
root and two roots on the imaginary axis. [EC-2020 : 2 Marks]
(c) Two RHP roots and two LHP roots.
Q.35 Consider an even polynomial p(s) given by:
(d) All four roots are on the imaginary axis.
p(s) = s4 + 5s2 + 4 + K
[EC-2017 : 2 Marks]
where ‘K’ is an unknown real parameter. The
Q.31 A unity feedback control system is characterized complete range of ‘K’ for which p(s) has all its
by the open-loop transfer function, roots on the imaginary axis is ______ .
2(s + 1) 9
G(s) = (a) 4 K
s3 + Ks2 + 2s + 1 4
The value of K for which the system oscillates at 9
(b) 3 K
2 rad/sec is ______ . 2
[EC-2017 : 2 Marks] 5
(c) 6 K
4
Q.32 Consider a unity feedback system, as in the
(d) –5 K 0
figure shown, with an integral compensator K/s
[EC-2022]
and open-loop transfer function,
 GATE Previous Years Solved Paper 65

ELECTRICAL EN GINEERIN G that in lie in the right half of s-plane is

(GATE Previous Years Solved Papers) (a) zero (b) one

(c) two (d) three
Q.1 The closed-loop system of figure is stable if the [EE-1998 : 2 Marks]
C (s) Q.8 The roots of the closed-loop characteristic
transfer function T (s) = is stable.
R(s) equation of the system shown above.
(True/False)
3 15
u(t) + y(t)
R(s) G(s ) – s + 15 s+1
+ C(s )
–

(a) –1 and –15 (b) 6 and 10

H(s )
(c) –4 and –15 (d) –6 and –10
[EE-1994 : 1 Mark] [EE-2003 : 2 Marks]

Q.2 The number of positive real roots of the equation Q.9 The loop gain GH of a closed-loop system is
s3 – 2s + 2 = 0, is ________ .
K
[EE-1994 : 1 Mark] given the following expression .
s (s + 2) (s + 4)
Q.3 Closed-loop stability implies that, [1 + G(s) H(s)] The value of ‘K’ for which the system just
has all the ______ in the left half of the s-plane. becomes unstable is
[EE-1995 : 1 Mark] (a) K = 6 (b) K = 8
Q.4 Determine whether the system given by the block (c) K = 48 (d) K = 96
diagram of figure is stable. [EE-2003 : 2 Marks]

Q.10 For the equation, s3 – 4s2 + s + 6 = 0 the number

1 – 1 1
R(s)
(s + 1)
+
–
4 +
( s 4)
3 +
– (s + 3)
C(s)
of roots in the left-half of s-plane will be
(a) zero (b) one
4 8
(c) two (d) three
[EE-1997 : 2 Marks]
[EE-2004 : 2 Marks]
Q.5 The system represented by the transfer function
Q.11 A unity feedback system, having an open-loop
s 2 + 10s + s 24
G( s ) = 4 k(1 s)
s + 6s 3 39s 2 + 19s + 84 gain G(s) H (s) = , becomes stable when
(1 + s)
has _____ pole(s) in the right-half of s-plane.
[EE-1997 : 2 Marks] (a) k >1 (b) k > 1
Q.6 None of the poles of a linear control system lie (c) k <1 (d) k < –1
in the right half of s-plane. For a bounded input,
[EE-2005 : 2 Marks]
the output of this system
(a) is always bounded. Q.12 The system shown in the figure is
(b) could be unbounded. + s 1
u1
(c) always tends to zero. s+2
–
(d) none of the above [EE-1998 : 1 Mark]
+
Q.7 The number of roots on the equation, 1
u2
s 1 +
2s4 + s3 + 3s2 + 5s + 7 = 0
 66 Electronics Engineering Control Systems

(a) stable (d) two roots at s = ±j and one root in left half
(b) unstable s-plane.
(c) conditional stable [EE-2009 : 1 Mark]
(d) stable for input u1, but unstable for input u2 Q.16 An open-loop system represented by the transfer
[EE-2007 : 1 Mark] function is
Q.13 If the loop gain ‘k’ of a negative feedback system (s 1)
G(s) =
(s + 2) (s + 3)
k(s + 3)
having a loop transfer function is to be (a) stable and of the minimum phase type
(s + 8)2
(b) stable and of the non-minimum phase type
adjusted to induce a sustained oscillation then (c) unstable and of the minimum phase type
(a) the frequency of this oscillation must be (d) unstable and of the non-minimum phase
4 / 3 rad/sec. type
[EE-2011 : 1 Mark]
(b) the frequency of this oscillation must be
4 rad/sec. Q.17 The feedback system shown below oscillates at
(c) the frequency of this oscillation must be 2 rad/sec when

4 or 4 / 3 rad/sec. k(s + 1)
R(s ) +– Y(s )
s + as 2 + 2s + 1
3
(d) such a ‘k’ does not exist.
[EE-2007 : 2 Marks]

Q.14 Figures shows a feedback system where k > 0. (a) k = 2 and a = 0.75
The range of ‘k’ for which is stable will be (b) k = 3 and a = 0.75
given by (c) k = 4 and a = 0.5

k
(d) k = 2 and a = 0.5
+
s (s + 3) ( s + 10) [EE-2012 : 2 Marks]
–
Q.18 In the formation of Routh-Hurwitz array for a
polynomial, all the elements of a row have zero
(a) 0 < k < 30 (b) 0 < k < 39 values. This premature termination of the array
(c) 0 < k < 390 (d) k > 390 indicates the presence of
[EE-2008 : 2 Marks] (a) only one root in the origin
Q.15 The first two rows of Routh’s tabulation of a 3rd (b) imaginary roots
order equation are as follows: (c) only positive real roots
(d) only negative real roots
s3 2 2
[EE-2014 : 1 Mark]
s2 4 4
This means three are: Q.19 For the given system, it is desired that the system
(a) two roots at s = ±j and one root in right half be stable. The minimum value of for this
s-plane. condition is _______ .
(b) two roots at s = ±j2 and one root in left half (s + )
R(s ) +– C(s )
s-plane. s 3 + (1 + ) s 2 + ( 1) s + (1 )

(c) two roots at s = ±j2 and one root in right

half s-plane.
[EE-2014 : 2 Marks]
 GATE Previous Years Solved Paper 67

Q.20 A system with the open-loop transfer function, The closed-loop system will be stable if,
K 4(K + 1)
G( s ) = (a) 0 < T <
s(s + 2) ( s 2 + 2 s + 2) K 1
is connected in a negative feedback
4(T + 2)
configuration with a feedback gain of unity. For (b) 0 < K <
T 2
the closed-loop system to be marginally stable,
the value of ‘K’ is _______ . T +2
(c) 0 < K <
[EE-2014 : 2 Marks] T 2

Q.21 A single-input single-output feedback system 8( k + 1)

(d) 0 < T <
has forward transfer function G(s) and feedback K 1
transfer function H(s). It is given that, [EE-2016 : 2 Marks]
G(s) H (s) < 1. Q.25 A closed-loop system has the characteristic
Which of the following is true about the stability equation given by,
of the system? s3 + Ks2 + (K + 2) s + 3 = 0
(a) The system is always stable. For this system to be stable, which one of the
(b) The system is stable if all zeros of G(s) H(s) following conditions should be satisfied?
are in left half of the s-plane. (a) 0 < K < 0.5 (b) 0.5 < K < 1
(c) The system is stable if all poles of G(s) H(s) (c) 0 < K < 1 (d) K > 1
are in left half of the s-plane. [EE-2017 : 1 Mark]
(d) It is to possible to say whether or not the Q.26 The range of ‘K’ for which all the roots of the
system is stable from the information given. equation s3 + 3s2 + 2s + K are in the left half of
[EE-2014 : 1 Mark] the complex s-plane is
Q.22 The transfer function of a second order real (a) 0 < K < 6 (b) 0 < K < 16
system with a perfectly flat magnitude response (c) 6 < K < 36 (d) 6 < K < 16
of unity has a pole at (2 – j3). List all the poles [EE-2017 : 2 Marks]
and zeros
Q.27 The number of roots of polynomial,
(a) Poles at (2 ± j3), no zeros
s7 + s6 + 7s5 + 14s4 + 31s3 + 73s2 + 25s + 200,
(b) Poles at (±2 – j3), one zero at origin
in the left half of the complex plane is
(c) Poles at (2 – j3), (–2 + j3), zeros at (–2 – j3),
(a) 3 (b) 4
(2 + j3)
(c) 5 (d) 6
(d) Poles at (2 ± j3), zeros at (–2 ± j3)
[EE-2018 : 2 Marks]
[EE-2015 : 2 Marks]
Q.28 The characteristic equation of a linear time-
Q.23 Given the following polynomial equation,
invariant (LTI) system is given,
s3 + 5.5s2 + 8.5s + 3 = 0
(s) = s4 + 3s3 + 3s2 + s + k = 0
The number of roots of the polynomial, which
The system is BIBO stable is
have real parts strictly less than –1, is _____ .
12
[EE-2016 : 2 Marks] (a) 0 < k < (b) k > 3
9
Q.24 The open-loop transfer function of a unity 8
(c) 0 < k < (d) k > 6
feedback control system is given by 9
K (s + 1) [EE-2019 : 1 Mark]
G(s) = , K > 0, T > 0
s(1 + Ts) (1 + 2s)
 68 Electronics Engineering Control Systems

Q.29 Which of the following option is correct for the Q.30 Consider a negative unity feedback system with
system shown below? the forward path transfer function

R(s ) +
1 1
Y(s ) s2 + s + 1
– s+1 s2 , where ‘K’ is a positive real
s3 + 2 s2 + 2s + K

20 number. The value of ‘K’ for which the system

s + 20 will have some of its poles on the imaginary
axis is _________ .
(a) 3rd order and stable
(a) 8 (b) 9
(b) 4th order and unstable
(c) 6 (d) 7
(c) 4th order and stable
[EE-2020 : 2 Marks]
(d) 3rd order and unstable
[EE-2020 : 2 Marks]

Electronics & Electrical Engineering

GATE Previous Years Solved Paper

A n swe rs & Expl a n a t i o n s

Answers
EC Stability Analysis

1. (d) 2. (d) 3. (b) 4. (c) 5. (False) 6. (d) 7. (c) 8. (b)

9. (b) 10. (c) 11. (d) 12. (c) 13. (a) 14. (a) 15. (b) 16. (b)
17. (c) 18. (c) 19. (d) 20. (c) 21. (c) 22. (a) 23. (2.25) 24. (1.99)
25. (a) 26. (0) 27. (d) 28. (3) 29. (d) 30. (c) 31. (0.75) 32. (6)
33. (160) 34. (b) 35. (a)

Solutions
EC Stability Analysis

1. (d) For stable system, all the coefficient of 1st column

Using R-H criterion: should be positive.
12 3K
s4 1 5 K + 10 So, >0
3
s3 3 6 0 –12 – 3 K > 0
2
s 3 K + 10 0 –12 > +3 K
12 3 K –4 > K and K + 10 > 0
s1 0 0
3 K > –10
s0 K + 10 So, the range of K
–10 < K < –4
 GATE Previous Years Solved Paper 69

2. (d) 4. (c)
Characteristic equation, s3 + 3s2 + 4s + A = 0
1 + GH = 0 Using R-H criteria:
(1 + sTi ) 1
1+ × ×1 = 0 s3 1 4
s s (1 + sT )
2
s 3 A
s2(1 + sT) + (1 + sTi) = 0
12 A
s3T + s2 + sTi + 1 = 0 s1 0
3
Using R-H method:
s0 A
s3 T Ti
For stable system,
s2 1 1 A>0
s1 Ti T 12 A
0 and >0
s 1 3
12 – A > 0
For stability, 1st column should be positive.
12 > A
So, Ti – T > 0
0 < A < 12
Ti > T
5. Sol.
3. (b)
(False)
s3 + 6Ks2 + (K + 2)s + 8 = 0
Using R-H criteria: ( s + Z1 ) (s + Z2 )
T.F. of G(s) =
(s + P1 ) (s + P2 )
s3 1 K+2
( s + P1 ) (s + P2 )
s 2
6K 8 T.F. of F(s) =
(s + Z1 ) (s + Z2 )
6K 2 + 12 K 8 The condition for stability is that none of the
s1 0
6K pole of G(s) should be on the right half of s-plane,
s0 8 but G(s) may have zeros in the right half of
s-plane. These zeros become pole of F(s).
For stable system, 1st column element should be
Therefore the F(s) need not be stable (False).
positive.

6K 2 + 12K 8 6. (d)
>0 Using R-H criterion:
6K
6K2 + 12K – 8 > 0
s3 1 7
3K2 + 6K – 4 > 0
s2 5 3
6 ± 36 + 48 1
K= s 6.4 0
6
s0 3
K = –2.528, +0.528
K > 0.528 There is no sign change in the first column of
K > –2.528 R-H array. So, there is no roots lie in R.H.S. of
So, K > 0.528 s-plane. So, all the 3 roots will lie in the left half
So, from given option for K = 2 system will be of s-plane.
stable.
70 Electronics Engineering Control Systems

7. (c) For third row,

2s2 + 6s + 5 + (s + 1)2 (s + 2) = 0 K > –1
Characteristic equation, 0 K<1
1 + GH = 0
11. (d)
2
2 s + 6s + 5
1+ =0 Y (s ) K /s K
(s + 1)2 ( s + 2) = =
R(s ) 3 K s (3 + K )
1 +
2s2 + 6s + 5 + (s + 1)2 (s + 2) = 0 s s

8. (b) For system to be stable,

3+K < 0
Second-order system is stable.
K < –3
9. (b)
12. (c)
The characteristic equation is,
Routh table is,
s3 + s2 + Ks + 3 = 0
Routh table is,
s5 2(1) 4(2) 2(1)
3
s 1 K
s4 1 2 1
2
s 3 3
s 0 0 0
1 K 3
s 0 s2

s0 3 0 s1

For system to be stable, s0

K 3
> 0, >0 d 4
(s + 2 s 2 + 1) = 0
ds
K>3
4s3 + 4s = 0
10. (c) s = ±j, s = ±j
K(s 2) d 2
(s + 1) = 0
G1G2 (s + 2) 2 ds
T.F. = = 2s = 0
1 + G1G2 H K (s 2) (s 2)
1+
(s + 2)2 s=0
K (s 2) Double roots on imaginary axis so system is
= unstable.
(s + 2)2 + K (s 2)2
Characteristic equation, 13. (a)
= s2 + 4 + 4s + Ks2 – 4Ks + 4K G(s) H(s) = –180° + tan–1
(1 + K)s2 + K(4 – 4K)s + 4K + 4 = 0 For = –180° + tan–1 = –180°
Routh table is, =0
s2 (1 + K ) (4K + 4) 2
2 1+
1 G(s) H (s) = =
s K (4 4K ) 0 2

s0 4(K + 1) 1
G.M. = =0
For system to be stable,
1–K > 0 In dB G.M. =
1 > K and K 0 (Given in question)
 GATE Previous Years Solved Paper 71

14. (a) 16. (b)

K K (s + 1)
G(s) = 2 1 + G( s ) H ( s ) = 1 + =0
s(s + s + 2) (s + 3) s + as 2 + 2 s + 1
3

H(s) = 1
s 3 + as 2 + 2 s + 1 + Ks + K
K =0
1 + G(s) H(s) = 1 + 3 2 2 s 3 + as 2 + 2 s + 1
s(s + 3s + s + 3s + 2s + 6)
s3 + as2 + (2 + K)s + K + 1 = 0
4 3 2
s + 4s + 5s + 6 s + K
= s3 1 2+K
s(s 3 + 4s 2 + 5s + 6)
s2 a K +1
1 + G(s) H(s) = 0
s + 4s3 + 5s2 + 6s + K = 0
4 a (2 + K ) (K + 1)
s
a
s4 1 5 K For oscillation,
3 a (2 + K ) ( K + 1)
s 4 6
=0
7 a
s2 K
2 K +1
7 a=
× 6 4K K+2
s 2 0 as2 + K + 1 = 0
7 /2 s=j ; s2 = – 2 = –4
s0 K –4a + K + 1 = 0
For system to be stable, K > 0 K+1
a=
4
2
(21 4K ) >0 K+1 K +1
7 = K=2
4 K+2
21 21
> K K< a = 0.75
4 4
21 17. (c)
> K>0
4
P.M. =
15. (b) 4
P(s) = s5 + s4 + 2s3 + 2s2 + 3s + 15 180 + tan–1 a – 180° =
4
s5 1 2 3
tan
=a a =1
s4 1 2 15 4
Now for gain crossover frequency,
s3 0( ) 12 0
2 +12 G(s) = 1
s2 15 0

12 (2 +12)
15
1 + a2 2
2 =1
s1
2 +12
2
1+1 = (as a = 1)
0 2
s 15 = 2
= (2)1/4
• Coefficient of s2 tend to + .
1
• Coefficient of s1 tend to –12. a= 1/4
= 0.84
2
Two sign change from s2 to s and s to s0.
Two roots on RHS of s-plane.
72 Electronics Engineering Control Systems

18. (c) 22. (a)

0.84 s + 1 Characteristic equation is,
G(s) = 2 1 + G(s) H(s) = 0
s
H(s) = 1, R(s) = 1 K (s + 1)
1+ =0
C(s) = G(s) R(s) s 3 + as 2 + 2 s + 1
0.84 s + 1 s3 + as2 + (2 + K)s + (1 + K) = 0
C(s) =
s2 Routh array for this is,

1 1 + 0.84 s 1 1 0.84 s3 1 (2 + K )
c(t) = L 2
=L 2
+
s s s 2
s a (1 + K )
c(t) = [t + 0.84] U(t)
a (2 + K ) (1 + K )
At t = 1, c(t) = 1 + 0.84 = 1.84 s1
a
19. (d) s0 (1 + K )
As there is a right half zero, the system is a non- For oscillation,
minimum phase system. a (2 + K ) (1 + K )
=0
20. (c) a

Closed-loop gain is, 1+K

a=
s+8 2+K
G(s)
= 2 Now, as2 + (1 + K) = 0
1 + G(s) s + s 4+s+8
Characteristic equation, –a 2 + (1 + K) = 0
q(s) = s2 + ( + 1)s + 4 Given, = 2 rad/sec
Closed-loop system is stable only for > –1. –4a + (1 + K) = 0
Therefore, for all positive of , the closed-loop (1 + K )
4 + (1 + K ) = 0
system is stable. (2 + K )
–4(1 + K) + (2 + K) (1 + K) = 0
21. (c)
So, K=2
Characteristic equation,
1+K 3
q(s) = s5 + 2s4 + 3s3 + 6s2 + 5s + 3 a= = = 0.75
2+K 4
1
Putting, s= 23. Sol.
z
a (z) = 3z5 + 5z4 + 6z3 + 3z2 + 2z + 1 K
Given that, G(s) =
Routh array is, (s + 2) (s 1)
z5 3 6 2 Using root locus method, the break point can be
obtain as,
z4 5 3 1
21 7 Img
z3
5 5
63 35 = 0.5

z2 5 5 =4 1 Re
21 3 –2 0.5
28 21
z1 15 5 = 35 /15 = 7
4 /3 4 /3 4
z0 1 1 + G(s) = 0
Since sign changes twice in Routh-array,
therefore, there are two poles on right half plane.
 GATE Previous Years Solved Paper 73

K For system to be stable,

1+ =0
(s + 2) (s 1) KP > 0
or, K = –(s + 2) (s – 1) 2 Kp KI
and >0
dK 2
= –2s – 1 = 0 or, 2Kp – KI > 0
ds
or, s = –0.5 KI
or, Kp > >0
To have, both the poles at the same directions, 2
G(s) s = 0.5 = 1 26. Sol.
K = 2.25 Using Routh’s tabular form:

24. Sol. s5 1 3 4
4
Given transfer function, s 2 6 8

ps2 + 3 ps 2 s3 0(8) 0(12) 0

Gp(s) = ...(i) 2
s2 + (3 + p) s + (2 p ) s 3 8 0
The characteristic equation is 100
s1 0 0
= s2 + (3 + p) s + (2 – p) ...(ii) 3
Using Routh Hurwitz criterion, s0 8

s2 1 (2 p) Auxiliary equation,
A = 2s4 + 6s2 – 8 = 0
s1 (3 + p) 0
dA
s 0
(2 p) 0 = 8s3 + 12s = 0
ds
For system to be remain stable, As one time row of zero occur in Routh’s table
2–p 0 therefore a pair of imaginary pole exists, also
pmax = 1.99 number of sign change in Routh’s table is one.
Hence, two poles lie strictly in the left half of
25. (a) s-plane.
KI 1 27. (d)
G(s) = Kp +
s s (s + 2)
When all elements are positive, the system is
The closed-loop transfer function for unity stable. When any element is zero, the test breaks
feedback, down. When there is change in sign of
G(s) (K p s + K I ) coefficients the system is unstable.
= 2
1 + G(s) s (s + 2) + (K p s + K I ) 28. Sol.
Kps + KI 2s4 – 5s3 + 5s – 2 = 0
= By Routh array,
s3 + 2s2 + K p s + K I
Using Routh’s tabular form: s4 2 0 2
3
s 5 5
s3 1 Kp
s2 2 2
s2 2 KI
1
2 Kp KI s 0(2)
s1 0 0
2 s 2
0
s Kp Number of sign changes = number of roots
(zeros) in right half of s-plane = 3.
74 Electronics Engineering Control Systems

29. (d) 32. Sol.

s3 1 (2K + 3) Y (s ) K
= 3
X( s ) s + 3s 2 + 2 s + K
s2 2K 4
2 The poles of this system lie on the j -axis when
4K + 6 K 4
s 0 the system is marginally stable,
2K
kmar = 3 × 2 = 6
s0 4
For stability, K > 0 ...(i) 33. Sol.
4K2 + 6K – 4 > 0 Characteristic equation q(s) for the given open-
2K2 + 3K – 2 > 0 loop system will be
(2K – 1) (K + 2) > 0 q(s) = s3 + 10s2 + 16s + Ks + 11K = 0
1 Using R-H criteria:
K= or K < –2 ...(ii)
2
s3 1 16 + K
Hence, 0.5 < K <
2
s 10 11 K
30. (c) 10 (16 + K ) 11 K
s1 0
q(s) = s4 + s2 + 1 = 0 10
s0 11 K 0
s4 1 1 1
For system to be marginally stabled,
s3 4 2 0
10(16 + K ) 11 K
s2 0.5 1 0 dA(s ) =0
= 4s 3 + 2 s1 10
ds
s1 6 0 0 160 + 10K – 11K = 0
s 0
1 0 0 K = 160

There are two sign changes in the first column 34. (b)
of the R-H table and the order of auxiliary Q(s) = 1 + G(s) H(s) = 0
equation is 4. So, 4-poles are symmetric about s3 + 3s2 + 2s + Ks + 3K = 0
origin.
s 3 + 3s 2 + 2s
2 RHP roots and 2 LHP roots. –K =
s+3
j
dK ( s + 3) (3s 2 + 6s + 2) ( s 3 + 3s 2 + 2 s )
= =0
ds (s + 3)2
0 3s3 + 6s2 + 2s + 9s2 + 18s + 6 – s3 – 3s2 – 2s = 0
2s3 + 12s2 + 18s + 6 = 0
31. Sol. s = –0.46, –3.87, –1.65
The given open-loop transfer function is, Img

2(s + 1)
G(s) =
s + Ks 2 + 2s + 1
3

The closed-loop transfer function is,

G(s ) 2 (s + 1) Re
T(s) = = 3 –2 –1 0
1 + G(s) s + Ks 2 + 4s + 3
When system oscillates, i.e., when system is
marginally stable,
(1) (3) = K(4) Break-away point lies between (0, –1),
So, K = 0.75 i.e. (–1, 0).
 GATE Previous Years Solved Paper 75

35. (a) 1st column of R-H table must be all positive.

Given, p(s) = s4 + 5s2 + (4 + K) 25 4(4 + K ) 9
Routh’s table: i.e., >0 K<
5 /2 4
s4 1 5 (4 + K ) 4+K > 0 K > –4
s 3
0 0 Range of K :
9
s2 –4 < K <
4
s1
s0
As all row of s3 are zero,
A(s) = s4 + 5s2 + (4 + K)
dA(s )
= 4s3 + 10s + 0
ds

s4 1 5 (4 + K )
s3 4 10 0
10 5
s2 (4 + K )
4 2
25 4(4 + K )
s1
5 /2
s0 4+K

Answers
EE Stability Analysis

6. (d) 7. (c) 8. (d) 9. (c) 10. (b) 11. (c) 12. (d) 13. (b)

14. (c) 15. (d) 16. (b) 17. (a) 18. (b) 19. (0.618) 20. (5) 21. (d)

22. (d) 23. (2) 24. (c) 25. (d) 26. (a) 27. (a) 28. (c) 29. (b)

30. (a)

Solutions
EE Stability Analysis

1. Sol. 3. Sol.
All the close-loop poles must lie in left half of Because zeros of the 1 + G(s) H(s) represents
the s-plane. closed-loop transfer function poles which must
lie in the left half of the s-plane.
2. Sol.
Q s3 – 2s + 2 = 0
s = –1.77, 0.88 ± j0.59
Hence, no positive real root exists.
76 Electronics Engineering Control Systems

4. Sol. 7. (c)
SFG : 2s4 + s3 + 3s2 + 5s + 7 = 0

–1 s4 2 3 7

1 1 1
s3 1 5 0
(s + 1) (s 4) (s + 3) 2
R(s )
4 3 1
C(s )
s 7 7
s1 6
–8 0
s 7
–4
Q Two sign changes in first column.
1 1 1
s+1
× 4×
s 4
× 3×
s+3
× [1] Two poles in the right half of s-plane.
T.F. = 16 8 3 16 8
1 + ×
s 4 s + 3 ( s + 3) ( s 4) s 4 s+3 8. (d)

On solving, 1 + GH = 0 (characteristic equation),

12 45
1+
T.F. =
s 3 + 24s 2 + 158s + 135 (s + 15) (s + 1) = 0
s2 + 16s + 60 = 0
s3 1 158
(s + 10) (s + 6) = 0
s2 24 135 Roots are (–6, –10)
s1 +ve
9. (c)
0
s +ve
Characteristic equation = 1 + GH = 0
Q No sign change in first column K
1+ =0
System is stable. s (s + 2) (s + 4)

5. Sol. Characteristic equation,

s3 + 6s2 + 8s + K = 0
Characteristic equation:
The Routh-array is formed as follows:
s4 + 6s3 – 39s2 + 19s + 84 = 0
Routh Hurwitz criteria:
s3 1 8
4 2
s 1 39 84 s 6 K
s3 6 19 48 K
s1
6
s2 42 84
s0 K
1
s 31
s0 84 According to Routh-Hurwitz criterion, for a
stable system there should be no change of sign
Q Two sign chanegs in first column. in the first column of Routh-array.
Two poles in the right-half of s-plane. 48 K
So, > 0 and K > 0
6. (d) 6
0 < K < 48
If the poles lie on imaginary axis and at the
Hence for K = 48, the system just becomes
origin then output may be bounded or
unstable.
unbounded for a bounded input.
 GATE Previous Years Solved Paper 77

10. (b) 12. (d)

– s3 4s2
+s+6=0
s 1 y1(s )
The Routh-array is formed as follows: u1(s ) +
– s+2
s3 1 1
2 1
s 4 6
s 1
4×1 6×1
s1 = 2.5
4
(s 1)
s0 6 (s 1)
s+2 =
(T/F)1 = (s 1) 1
Number of sign changes in first column of 1+ × (s + 3)
Routh-array = 2. (s + 2) (s 1)
Accroding to Routh-Hurwitz criterion, the Poles is in LHS of s-plane, hence stable.
number of changes of sign in the first column
1 y2(s )
gives the number of positive real part roots of u2(s ) +
– s 1
the polynomial. So, number of roots in RHS of
s-plane = 2.
s 1
Total number of roots = 3
s+2
Hence, number of roots in LHS of s-plane =
3 – 2 = 1. 1
( s 1) s+2
11. (c) (T/F)2 = =
1 (s 1) ( s 1) (s + 3)
1+ ×
Characteristic equation, (s 1) (s + 2)
1 + G(s) H(s) = 0
Hence, unstable as it has pole at right hand side
k(1 s ) of s-plane.
1+ =0
1+s
s + 1 + k(1 – s) = 0 13. (b)
s(1 – k) + 1 + k = 0 Open-loop transfer function,
k+1 (s + 3)
s= G(s) H(s) = k
k 1 (s + 8)2
For a stable system pole lies in left hand side of Characteristic equation,
s-plane, it means and must be negative for stable 1 + G(s) H(s) = 0
system, (s + 3)
1+ k =0
s<0 (s + 8)2
k+1 s2 + 16s + 64 + (s + 3) = 0
<0
k 1 s2 + (16 + k) s + (64 + 3k) = 0
Case-I: Routh array,
k + 1 < 0 and k – 1 > 0
k < –1 and k > 1 s2 1 64 + 3 k
which is not possible. s1 16 + k
Case-II: 0
s 64 + 3 k
k + 1 > 0 and k – 1 < 0
For sustained oscillation,
k > –1 and k < 1
16 + k = 0
–1 < k < 1
k = –16
k <1
78 Electronics Engineering Control Systems

Auxiliary equation, The derivative of this auxiliary equation is taken

s2 + 64 + 3k = 0 w.r.t. ‘s’ and the coefficients of the differentiated
s2 + 64 + 3(–16) = 0 equation are taken as the elements of 3rd row,
s2 + 16 = 0 dA(s )
s = ±j4 = 8s
ds
So, frequency of oscillation is 4 rad/sec. Routh-array,

14. (c) s3 2 2
k s2 4 4
G(s) =
s (s + 3) (s + 10) s 1
8
and H(s) = 1 s0 4
Characteristic equation,
There is no root in RHS of s-plane.
1 + G(s) H(s) = 0
Two roots of s = ±j, so one root in LHS of s-plane.
k
1+
s (s + 3) (s + 10) = 0 16. (b)
s(s + 3) (s + 10) + k = 0 s 1
1+ =0
s3 + 13s2 + 30s + k = 0 (s + 2) (s + 3)
Routh-array s2 + 6s + 5 = 0

s3 1 30 s2 1 5
s2 13 k s1 6 0
13 × 30 k 0
s 5 0
s1
13 There is not root in RHS of s-plane.
s0 k
17. (a)
According to Routh-Hurwitz criterion.
The characteristic equation,
For a stable system, signs of first column do not
1 + G(s) H(s) = 0
chane,
s + as2 + (k + 2) s + (k + 1) = 0
3
k>0
Routh array for above equation,
13 × 30 k
and
13
>0 s3 1 ( k + 2)
2
Therefore sytem to be stable 0 < k < 390. s a ( k + 1)
a ( k + 2) ( k + 1)
15. (d) s1 0
a
Routh-array: s0 ( k + 1) 0
3
s 2 2 as2 + (k + 1) = 0
2 For s = j and =2
s 4 4
2× 4 4×2 –a 2 + (k + 1) = 0
s1 =0
4 k = 4a – 1
The third row vanishes. k+1
and a=
An auxiliary equation is formed using elements k+2
of 2nd row. a = 0.75 and k = 2
Auxiliary equation, A(s) = 4s2 + 4 = 0 s = ± j.
 GATE Previous Years Solved Paper 79

18. (b) 20. Sol.

When all the elements of a row in Routh-Hurwitz K
Given, G(s) =
array ends abruptly i.e. all elements of that row s(s + 2) ( s 2 + 2 s + 2)
have a zero values then, the system will be either
R(s) + G(s ) Y(s )
unstable or marginally stable. Marginally stable –
means it will have imaginary roots (two equal
and opposite complex roots on imaginary axis 1
of s-plane). The characteristic equation of the given unity-
19. Sol. negative feedback control system is given by
1 + G(s) H(s) = 0
(s + )
Given, G(s) = K
3
s + (a + ) s + ( 2
1) s + (1 ) or, 1+ =0
s(s + 2) ( s 2 + 2 s + 2)
and H(s) = 1 or, s(s + 2) (s2 + 2s + 2) + K = 0
Characteristic equation of given control system
or, s4 + 4s3 + 6s2 + 4s + K = 0
is given by
Forming Routh’s array as shown below,
1 + G(s) H(s) = 0

s+ s4 1 6 K
or, 1 + =0 3
s 3 + (1 + ) s 2 + ( 1) s + (1 ) s 4 4 0
2
or, s3 + (1 + ) s2 + ( – 1) s + (1 – ) + s + =0 s 5 K 0
or, s3 + (1 + ) s2 + s + 1 = 0 20 4 K
s1 0 0
Routh’s array is, 5
s0 K 0 0
3
s 1
s2 (1 + ) 1 For stability of the system, K > 0 and
2
+ 1 20 4 K
s1 0 > 0 or K < 5
1+ 5

s0 1 0 For stable, 0 < K<5

For the given system to be marginally stable,
For the given system to be stable, there should K=5
not be any sign change in the first column of
Routh’s array. 22. (d)
1 + > 0 or > –1 ...(i) Response of transfer function is unit for all .
2 M = 1, P1 = 2 – j3
+ 1
Also, > 0 or 2 + – 1 > 0 Second order system, hence number of poles = 2
1+
Therefore, second pole, P2 = 2 + j3.
or, ( + 1.618) ( – 0.618) > 0
Now for M = 1, and due to x-axis symmetry of
or, < – 1.618 or > 0.618
root locus of transfer function, position of zeroes
As, > –1 [(using equation (i)]
must be Z1 = –2 – j3 and Z2 = –2 + j3.
> 0.618 ...(ii)
Combining conditions (i) and (ii), 23. Sol.
–1 < < 0.618 s3 + 5.5s2 + 8.5s + 3 = 0
Thus, for the system to be stable, minimum value Putting, s = s1 – 1
of = 0.618. (s1 – 1) + 5.5(s1 – 1)2 + (8.5) (s1 – 1) + 3 = 0
3
80 Electronics Engineering Control Systems

or, K2 + 2K – 3 < 0
s13 + 2.5 s12 + 0.5s1 1 = 0
or, (K + 3) (K – 1) > 0
s13 1 0.5 Here, the valid answer will be out of all the
options given.
s12 2.5 1
i.e., K>1
s1 0.9 0
s10 1 26. (a)

As there is one sign change hence, two roots of From the given equation,
s3 + 3s2 + 2s + K = 0
given polynomial will lie to the left of s = –1.
Using Routh’s criterion, we get
24. (c) K < 6 and K > 0 or 0 < K < 6
Open-loop transfer function:
27. (a)
K (s + 1)
G(s) = ; K > 0 and T > 0 Characteristic equation,
s(1 + Ts) (1 + 2 s)
s7 + s6 + 7s5 + 14s4 + 31s3 + 73s2 + 25s + 200 = 0
For closed-loop system stability, characteristic
s7 1 7 31 25
equation is,
6
1 + G(s) H(s) = 0 s 1 14 73 200
5
K (s + 1) s 7 42 175 0
1+ 1 =0
s(1 + Ts ) (1 + 2s) s4 8 48 200 0
s(1 + Ts) (1 + 2s) + K(s + 1) = 0 3
s 32 96 0 0
2
2Ts3 + (2 + T ) s 2 + (1 + K ) s + K = 0 s 24 200 0 0
1
s 170 0 0 0
Using Routh’s criteria,
s0 200 0 0 0
s3 2T (1 + K )
Auxiliary equation,
s2 (2 + T ) K
A(s) = 8s4 + 48s2 + 200
(2 + T ) (1 + K ) 2TK
s1 0 d
(2 + T ) A(s ) = 32s3 + 96s
ds
s0 K Total number of poles = 7
For stability, K > 0 and (2 + T) (1 + K) – 2TK > 0 Two sign change above auxiliary equation =
K(2 + T – 2T) + (2 + T) > 0 two-poles in RHS.
or, –(T – 2) K + 2(2 +T) > 0 Two sign changes below auxiliary equation
(2 + T ) implies out of 4 symmetric roots about origin
T +2
–K > or K < two-poles are in LHS and two-poles are in RHS.
(T 2) (T 2)
Three poles in LHS and 4 poles in RHS.
Hence for stability,
T +2 28. (c)
0 < K<
T 2 Routh array is,

25. (d) s4 1 3 K
Characteristic equation is, s 3
3 1
s3 + Ks2 + (K + 2)s + 3 = 0 2
s 8 /3 K
For this system to be stable, using Routh’s
8
criterion, we can write, 3K
1 3
3 < K(K + 2) s
8 /3
s0 K
 GATE Previous Years Solved Paper 81

For BIBO stability, 30. (a)

8 C.E. is, 1 + G(s) H(s) = 0
3K
3 s2 + s + 1
>0
8 1+ 3 =0
s + 2s 2 + 2s + K
3
s3 + 3s2 + 3s + (1 + K) = 0
8 R.H. criteria:
K< and K > 0
9
8 s3 1 3
0 < K< 2
9 s 3 (1 + K )
s1 9 (1 + K ) 0
29. (b)
For marginal stability,
20
1+ 2 =0 9 – (1 + K) = 0
s (s + 1) ( s + 20)
K=8
(s3 + s2) (s + 20) + 20 = 0
s4
+ 20s3 + s3 + 20s2 + 20 = 0
s4 + 21s3 + 20s2 + 20 = 0
s1 coefficeint = 0
Given system is 4th order system and unstable.
 5 Root Locus

ELECTRO NICS EN GINEERIN G Im

(GATE Previous Years Solved Papers)

Q.1 Consider a closed-loop system shown in Fig. (a) –1

(b) Re
below. The root locus for it is shown in Fig. (b).
–3
The closed-loop transfer function for the system
is
R(s) + K G (s ) c (t)
–

Im
Fig. (a)

(c) Re
–3 –1
–1.05
Re
–2 –0.1

Fig. (b) Im

K
(a)
1 + (0.5s + 1) (10 s + 1)
–3
K (d) Re
(b) –1
(s + 2) (s + 0.1)
K
(c)
1 + K (0.5s + 1) (10s + 1)
K [EC-1989 : 2 Marks]
(d)
K + 0.2(0.5s + 1) (10s + 1)
Q.3 The transfer function of a closed-loop system is
[EC-1988 : 2 Marks]
K
T (s) = 2
Q.2 The OLTF of a feedback system is, s + (3 K ) (s + 1)
K (s + 1) (s + 3) where K is the forward path gain. The root locus
G(s) H (s) =
s 2 + 4s + 8 plot of the system is
The root locus for the same is j

Im

(a)
(a)
Re
–3 –1
 GATE Previous Years Solved Paper 83

Q.5 Given a unity feedback system with open-loop

j
transfer function,
K=3
K
G(s) =
s (s + 1) (s + 2)
K=1
The root locus plot of the system is of the form.
(b) j
K=0

K=3 (a)

K=

j
(c)
K=0 K=0

K=

(b)

j
(d)

(c)

[EC-1990 : 2 Marks]

Q.4 The characteristic equation of a feedback control

system is given by
s3 + 5s2 + (K + 6) s + K = 0
j
where K > 0 is a scalar variable parameter. In
the root-locus diagram of the system the
asymptotes of the root-loci for large values of K
meet at a point in the s-plane, whose coordinates
are (d)
(a) (–3, 0) (b) (–2, 0)
(c) (–1, 0) (d) (2, 0)
[EC-1991 : 2 Marks]
[EC-1992 : 2 Marks]
 84 Electronics Engineering Control Systems

Q.6 If the open-loop transfer function is a ratio of a

(a) s = j 3 (b) s = –1.5
numerator polynomial of degree ‘m’ and a
denominator polynomial of degree ‘n’ then the (c) s = –3 (d) s = –
integer (n-m) represents the number of [EC-2002 : 1 Mark]
(a) breakaway points Q.10 The root locus of the system
(b) unstable poles
K
(c) separate root loci G(s) H (s) =
s (s + 2) (s + 3)
(d) asymptotes
has the break-away point located at
[EC-1994 : 1 Mark]
(a) (–0.5, 0) (b) (–2.548, 0)
Q.7 Consider the points s1 = –3 + j4 and s2 = –3 – j2 (c) (–4, 0) (d) (–0.784, 0)
in the s-plane. Then for a system with the open- [EC-2003 : 2 Marks]
loop transfer function
K K
G(s ) H (s ) = Q.11 Given, G(s) H (s) = the point of
(s + 1) 4 s (s + 1) (s + 3)

(a) s1 is on the root locus, but not s2. intersection of the asymptoes of the root loci
(b) s2 is on the root locus, but not s1. with the real axis is
(c) both s1 and s2 are on the root locus. (a) –4 (b) 1.33
(d) neither s1 nor s2 is on the root locus. (c) –1.33 (d) 4
[EC-1999 : 2 Marks] [EC-2004 : 1 Mark]

Q.8 The root-locus diagram for a closed-loop Q.12 An unity feedback system is given as,
feedback system shown in the figure. The system K (1 s )
G(s ) =
is overdamped. s (s + 3)
j Indicate the correct root locus diagram,

j
K=5
K= K=0 K=0

K –3 –2 –1

K=1 (a)

(a) only if 0 K 1
(b) only if 1 < K < 5
(c) only if K > 5
j
(d) if 0 K < 1 or K > 5
[EC-2001 : 1 Mark]

Q.9 Which of the following points is not on the root

locus of a system with the open-loop transfer (b)
K
function, G(s) H (s) = ?
s (s + 1) (s + 3)
 GATE Previous Years Solved Paper 85

j (a) ± 2 and 0° (b) ± 2 and 45°

(c) ± 3 and 0° (d) ± 3 and 45°

[EC-2009 : 2 Marks]
(c) Q.15 The root locus plot for a system is given below.

–3 –2 –1 0

(d)

The open-loop transfer function corresponding

to this plot is given by
[EC-2005 : 2 Marks] s (s + 1)
(a) G(s ) H (s ) = K
(s + 2) (s + 3)
Q.13 A unity feedback control system has an open-
loop transfer function, ( s + 1)
(b) G(s ) H (s ) = K
K s (s + 2) ( s + 3)2
G( s ) =
s (s 2 + 7 s + 12) 1
(c) G(s) H (s) = K
The gain K for which s = –1 + j1 will lie on the s (s 1) (s + 2) (s + 3)
root locus of this system is
(s + 1)
(a) 4 (b) 5.5 (d) G(s) H (s) = K
s (s + 2) (s + 3)
(c) 6.5 (d) 10
[EC-2011 : 1 Mark]
[EC-2007 : 2 Marks]
Q.16 In the root locus plot shown in the figure, the
Q.14 The feedback configuration and the pole-zero
pole/zero marks and the arrows have been
removed. Which one of the following transfer
s2 2s + 2
locations of G(s ) = are shown below. functions has this root locus?
2
s + 2s + 2
The root locus for negative values of K, i.e. for j
– < K < 0, has breakaway/break-in points and
angle of departure at pole P (with respsect to
the positive real axis) equal to 2

Im(s)
1
+ K G(s)
–
Re(s)
 86 Electronics Engineering Control Systems

s+1 Q.21 The forward path transfer function and the

(a)
(s + 2) (s + 4) (s + 7) feedback path transfer function of a single-loop
negative feedback control system are given as,
s+4
(b) K (s + 2)
(s + 1) (s + 2) (s + 7) G(s) = and H(s) = 1
2
s + 2s + 2
s+7 respectively. If the variable parameter K is real
(c)
(s + 1) (s + 2) (s + 4) positive, then the location of the breakaway
(s + 1) (s + 2) point on the root-locus diagram of the system is
(d) ______ . [EC-2016 : 2 Marks]
(s + 7) (s + 4)
[EC-2014 : 2 Marks] Q.22 A linear time invariant (LTI) system with the

Q.17 A unity negative feedback system has the open- K (s 2 + 2 s + 2)

transfer function, G(s ) = is
loop transfer function, (s 2 3s + 2)
K
G(s) = connected in unity feedback configuration as
s (s + 1) s ( +3)
shown in the figure.
The value of the gain K (> 0) at which the root
locus crosses the imaginary axis is _____ . + G(s )
–
[EC-2015 : 1 Mark]

Q.18 The open-loop transfer function of a unity For the closed-loop system shown, the root-locus
feedback configuration is given as, for 0 < K < intersects the imaginary axis for
K = 1.5. The closed-loop system is stable for
K (s + 4)
G( s ) = (a) K > 1.5
( s + 8) (s 2 9)
(b) 1 < K < 1.5
The value of gain K (> 0) for which –1 + j2 lies
(c) 0 < K < 1.5
on the root locus is ______ .
(d) no positive value of K
[EC-2015 : 2 Marks]
[EC-2017 : 2 Marks]
Q.19 For the sysetm shown in figure, s = –2.75 lies on
Q.23 The root-locus plot of a closed-loop system with
the root locus if K is ______ .
unity negative feedback and transfer function
s+3 KG(s) in the forward path is shown in the figure.
+ K Y(s )
– s+2
Note that, K is varied from 0 to . Select the
transfer function G(s) that results in the root-
10 locus plot of the closed-loop system as shown
in the figure.
[EC-2015 : 2 Marks]
Im (s)

Q.20 The open-loop transfer function of a unity

feedback control system is
72°
K
G( s ) =
s 2 + 5s + 5 72° 36°
36°
The value of K at the breakaway point of the (0, 0) Re (s)
72°
feedback control system’s root-locus plot is __ . 72°

[EC-2016 : 2 Marks]
1.0
 GATE Previous Years Solved Paper 87

1 1 Q.2 Which of the following figure(s) represent valid

(a) G(s ) = (b) G(s ) =
(s + 1)5 s5 + 1 root loci in the s-plane for positive K ? Assume
that the system has transfer function with real
s 1 s 1
(c) G(s ) = (d) G(s ) = coefficient.
(s + 1) 6
s6 + 1
[EC-2022]

ELECTRICAL EN GINEERIN G
(a)
(GATE Previous Years Solved Papers)

Q.1 A unity feedback system has an open-loop

K(s + a)
transfer function of the form KG(s ) = ;
s2 (s + b )
b > a which of the loci shown in figure can be
valid root-loci for the system?
(b)
j

(a)
–b –a 0

(c)
j

(b) 0
–b –a

(d)

[EE-1992 : 1 Mark]
–a
(c)
0
–b Q.3 In case of an armature controlled separately
excited dc motor drive with closed-loop speed
control, an inner current loop is useful because it
(a) limits the speed of the motor to a safe value.
j
(b) helps in improving the drive energy
efficiency.
(c) limits the peak current of the motor to be
(d)
–b –a 0 permissible value.
(d) reduces the steady-state speed error.
[EE-2001 : 1 Mark]

[EE-1991 : 1 Mark]
 88 Electronics Engineering Control Systems

Q.4 A unity feedback system has an open-loop

Im
K
transfer function, G(s ) = . Its root locus plot
s2 2 3

will be 3

j Re
–3 –2 –1 1 2 3
3

(a) 2 3

K K
(a) 3 (b) 2
s s (s + 1)
j K
K
(c) 2
(d) 2
s(s + 1) s(s 1)
[EE-2005 : 1 Mark]
(b)
Q.6 A closed-loop system has the characteristic
function (s2 – 4) (s + 1) + K(s – 1) = 0. Its root
locus plot against ‘K’ is

j
j

(a)
–2 –1 +1 +2
(c)

(b)
–2 –1 +1 +2

(d)

[EE-2002 : 2 Marks]
(c)
–2 –1 +1 +2
Q.5 Figure shows the root locus plot (location of
poles not given) of a third order system whose
open-loop transfer function is
 GATE Previous Years Solved Paper 89

j The closed-loop transfer function of the system

is
C (s) K
(d) (a) =
–2 –1 +1 +2
R(s) ( s + 1) (s + 2)
C(s) K
(b) =
R(s) (s + 1) (s + 2) + K
[EE-2006 : 2 Marks] C (s) K
(c) =
R(s) (s + 1) (s + 2) K
Q.7 The characteristic equation of a closed-loop
system is, C(s) K
(d) =
s(s + 1) (s + 3) + k(s + 2) = 0, k > 0 R(s) (s + 1) (s + 2) + K
Which of the following statements is true? [EE-2014 : 1 Mark]
(a) Its roots are always real.
Q.10 The open-loop poles of a 3 rd order unity
(b) It cannot have a breakaway point in the
feedback system are at 0, –1, –2. Let the frequency
range –1 < Re[s] < 0.
corresponding to the point where the root locus
(c) Two of its roots tend to infinity along the
of the system transits to unstable region be K.
asymptotes Re[s] = –1.
Now suppose we introduce a zero in the open-
(d) It may have complex roots in the right half
loop transfer function at –3, while keeping all
plane.
the earlier open-loop poles intact. Which one of
[EE-2010 : 2 Marks] the following is true about the point where the
Q.8 The open-loop transfer function G(s) of a unity root locus of the modified system transits to
feedback control system is given as, unstable region.

2 (a) It corresponds to a frequency greater than K.

k s+
3 (b) It corresponds to a frequency less than K.
G(s) = 2
s (s + 2) (c) It corresponds to a frequency K.
From the root locus, it can be inferred that when (d) Root locus of modified system never transits
‘k’ tends to positive infinity to unstable region.
(a) three roots with nearly equal real parts exist [EE-2015 : 2 Marks]
on the left half of the s-plane.
Q.11 An open-loop transfer function G(s) of a system
(b) on real root is found on the right half of the is
s-plane.
K
(c) the root loci cross the j -axis for a finite G(s) =
s(s + 1) (s + 2)
value of k : k 0.
(d) three real roots are found on the right half For a unity feedback system, the breakaway
of the s-plane. point of the root loci on the real axis occurs at,
[EE-2011 : 2 Marks] (a) –0.42 (b) –1.58
(c) –0.42 and –1.58 (d) None of the above
Q.9 The root locus of a unity feedback system is
[EE-2015 : 2 Marks]
shown in the figure.
j Q.12 The gain at the breakaway point of the root locus
of a unity feedback system with open-loop
K=0 K=0
Ks
transfer function G(s) = is
–2 –1 (s 1) (s 4)
 90 Electronics Engineering Control Systems

(a) 1 (b) 2 where K > 0, enters into the real axis at

(c) 5 (d) 9
(a) s = –1 (b) s = 5
[EE-2016 : 2 Marks]
(c) s = –5 (d) s = 5
Q.13 The root locus of the feedback control system
[EE-2017 : 2 Marks]
having the characteristic equation,
s2 + 6 Ks + 2s + 5 = 0

Electronics & Electrical Engineering

GATE Previous Years Solved Paper

A n swe rs & Expl a n a t i o n s

Answers
EC Root Locus

1. (d) 2. (a) 3. (a) 4. (b) 5. (a) 6. (d) 7. (b) 8. (d)

9. (b) 10. (d) 11. (c) 12. (c) 13. (d) 14. (*) 15. (b) 16. (b)

17. (12) 18. (25.54) 19. (0.3) 20. (1.25) 21. (–3.41) 22. (a) 23. (a)

Solutions
EC Root Locus

1. (d) 4. (b)
1 K (s + 1)
G(s) = O.L.T.F. = G(s) H (s) = 3
(s + 0.1) (s + 2) s + 5s 2 + 6s
K K (s + 1)
K G(s ) (s + 0.1) ( s + 2) =
T.F. = = s(s 2 + 5s + 6)
1 + KG( s) K
1+
(s + 0.1) (s + 2) K (s + 1)
G(s) H(s) =
K s(s + 2) (s + 3)
T.F. =
(s + 0.1) (s + 2) + K Poles: 0, –2, –3
K Zeros: –1
T.F. =
K + 0.2 (1 + 10 s) (1 + 0.5 s) ( 2 3) ( 1)
Centroid =
3 1
2. (a)
5+1
(b) and (d) options are wrong, because root locus = = 2 = ( 2, 0)
2
is symmetrical about real axis.
Option (c) is wrong because root locus directions
are from pole to zeros.
 GATE Previous Years Solved Paper 91

5. (a) 10. (d)

P=3 1 + G(s) H(s) = 0
Z=0 K
1+ =0
P–Z = 3–0=3 s(s + 2) (s + 3)
(2 q + 1) 180°
= K
P Z 1+ 2 =0
s (s + 5s + 6)
= 60°, 180°, 300°
So, only option (a) satisfy this. K = –1 (s3 + 5s2 + 6s)
dK
6. (d) = –(3s2 + 10s + 6)
ds
(n – m) For break-away point,
difference between poles and zeros give number dK
of asymptotes. =0
ds
7. (b) 3s2 + 10s + 6 = 0

s1 = –3 + 4j 10 ± 100 72
s=
K K 6
G(s) H(s) = 4
= 10 ± 5.3
( 3 + 4 j + 1) ( 2 + 4 j )4 = = 0.784, 2.55
6
G(s) H(s) = –4[ – tan–1 2]
= –466° odd multiple of Img

So, s1 does not lie on root locus,

s2 = –3 – j2
K K
G(s) H(s) = 4
= Re
( 3 j 2 + 1) ( 2 2 j )4 –3 –2 0

1
G(s) H(s) = 4[tan 1] = 4 × =
4
Odd multiple of
s2 lies on root locus. 2 3 5
Centroid = = = 1.66
3 3
8. (d)
For overdamping roots of characteristic Angle of asymptotes = (2K + 1)
P Z
equation should lie on negative axis and be
unequal. = (2K + 1)
3
9. (b) 5
, ,
3 3
Img
Break-away point is (–0.784, 0) as –2.55 does
not lie on RL.

11. (c)
Re
–3 –1 0
P Z
Centroid =
P Z
RL lies where number of poles and zeros to the
1 3
right of the pole is odd. = = 1.33
3
s = –1.5 does not lie on RL
92 Electronics Engineering Control Systems

12. (c) K
Put, = 0 we have
1 + G(s) H(s) = 0 s
(s2 – 2s + 2) (s + 1) – (s2 + 2s + 2) (s – 1) = 0
s 2 + 3s
K= 2s2 – 4s2 + 4 = 0
1 s
2s2 = +4
For break-away and break in point,
s= ± 2
dK
= (1 – s) (2s + 3) + s2 + 3s = 0 Angle of departure is
ds
= –s2 + 2s + 3 = 0 D =
2 where, = Z–
s – 2s – 3 = 0 P
= 225°
(s – 3) (s + 1) = 0
s = 3, –1 D = ±225°
No option is matching.
–1 is the break-away point and 3 is the break-in
point. 15. (b)

13. (d) From plot we can observe that one pole

terminates at one zero at position –1 and three
G(s)
T.F. = poles terminates to . It means three are 4-poles
1 + G(s) and 1 zero. Pole at –3 goes on both sides. It
As, H(s) = 1 means there are 2-poles at –3.
For the point, s = –1 + j1 to lie on root locus,
1 + G(s) = 0 16. (b)

K j
1+ 2 =0
s(s + 7 s + 12)
s(s2 + 7s + 12) + K = 0
Putting, s = –1 + j
–7 –4 –2 –1
(–1 + j) (1 – 2j – 1 – 7 + 7j + 12) + K = 0
K = +10

14. ( )
Since the root locus always emerges from the
+ K G (s ) break-away points i.e. when two poles are at a
–
part of same root locus lie. So, = –1 and –2 will
surely be poles. Also we know that locus
emerges from poles and terminates at zero.
Im(s) So, s = –4 is a zero and s = –7 is a pole.
(s + 4)
T(s) =
Re(s) (s + 1) (s + 2) (s + 7)

17. Sol.
K
G(s) =
1 + G(s) H(s) = 0 s (s + 1) (s + 3)
K (s 2 + 2 s + 2) The characteristic equation
1+ =0
2
s + 2s + 2 = 1 + G(s) H(s) = 0
= s(s + 1) (s + 3) + K = 0
s 2 + 2s + 2
K= = s3 + 4s2 + 3s + K = 0
s2 2s + 2
 GATE Previous Years Solved Paper 93

Using Routh’s tabular form, K 13

= =1
s3 1 3 53 8 20
2 53 × 8 × 20
s 4 K
K= = 25.54
12 K 13
s1 0
4
19. Sol.
s0 K
The open-loop transfer function of the system,
In order to cross the imaginary axis, system
K (s + 3) × 10
should be marginally stable. G(s) H(s) =
(s + 2)
12 K
=0 In order to lie a point, s = –2.75 the angle
4
condition must be satisfy and therefore the
or, K = 12
magnitude condition is,
18. Sol. G( s ) H ( s ) =1
s = 2.75
K (s + 4) K (s + 4) 0.25 × 10 K
G(s) = 2 = = =1 K = 0.3
(s + 8) (s 9) (s + 8) ( s + 3) ( s 3) 0.75
For the point (–1 + 2j) to lie on the root locus the
20. Sol.
angle condition must be satisfy.
Characteristic equation is,
i.e., G(s) H(s) = ±(2Q + 1) 180°
1 + G(s) H(s) = 0
Taking LHS:
K
G(s) H (s) s = 1+ 2 =0
1+ 2 j s + 5s + 5
K + (s + 4) K = –s2 – 5s – 5
= dK
(s + 8) + (s + 3) + (s 3) For break-away point =0,
ds
K + ( 1 + 2 j + 4)
= ( 1 + 2 j + 8) + ( 1 + 2 j + 3) + ( 1 + 2 j 3) dK
= –2s – 5 = 0
ds
2
0 + tan 1 s = –2.5
3
= 2 1 According to magnitude condition,
tan 1 + tan 1 (1) + 180° tan 1
7 2 G(s) H (s) s = =1
2.5
1 2 1 2 1 1 1
= tan tan tan 1 180° + tan K
3 7 2 G(s) H (s) s = = =1
2.5 2
= 33.69° – 15.945° – 45° – 180° + 26.565° ( 2.5) + 5 × 2.5 + 5
180°
As angle condition is satisfied the value of K = (6.25 + 5 12.5) = 1.25
system gain K can be obtained by using K = ±1.25
magnitude condition.
21. Sol.
i.e., G(s) H (s) s = 1+ 2 j
=1 K (s + 2)
G(s) = 2
; H (s) = 1
2 2
s + 2s + 2
K ( 1 + 4) + 2
= =1 1 + G(s) H(s) = 0
2 2
( 1 + 8) + 2 ( 1 + 3)2 + 2 2 ( 1 3)2 + 2 2
K
(s + 2) = 0
K 9+4 2
(s ) + 2s + 2
= =1
49 + 4 4 + 4 16 + 4
94 Electronics Engineering Control Systems

(s2 + 2s + 2) 22. (a)

K=
(s + 2) K (s 2 + 2 s + 2)
Given that, G(s) =
j s 2 3s + 2
The root locus plot of the given system is as
j
follows:
j
at K = 1.5
–2 –1 0

–j

0 –1 –2
2
dK (2s + 2) (s + 2) (s + 2s + 2)
=
ds (s + 2)2
dK
For break-away points, =0
ds System is stable for K > 1.5.
(2s + 2) (s + 2) – (s2 + 2s + 2) = 0
2s2 + 6s + 4 – s2 – 2s – 2 = 0 23. (a)
s2 + 4s + 2 = 0 There are 5 root-locus branches from the same
point, so there are 5 real multiple poles.
4 ± 16 8
s= So, correct option is (a).
2
4±2 2
= = 2± 2
2
s = –0.58, s = –3.41
But, s = –3.41 lies on root locus
Hence, s = –3.41
 GATE Previous Years Solved Paper 95

Answers
EE Root Locus

1. (a) 2. (a) 3. (c) 4. (b) 5. (a) 6. (b) 7. (c) 8. (a)

9. (c) 10. (d) 11. (a) 12. (a) 13. (b)

Solutions
EE Root Locus

1. (a) These are three asymptotes with angle 60°, 180°

P = 3, Z = 1 and 300°.
and two repeating poles at origin, (2 k + 1) × 180°
Angle of asymptotes =
0 b ( a) P Z
Centroid = where, k = 0, 1, 2 upto (P – Z) – 1 as angles are
3 1
(b a) 60°, 180° and 300°.
= <0 It means, P–Z = 3
2
(2 q + 1)180° Intersection of asymptotes on real axis,
Angle of asymptotes =
3 1 poles zeros
x =
= 90° (for q = 0) P Z
= 270° (for q = 1) Since, system does not have zeros,
option (a) is correct.
poles
x =
2. (a) P
The valid root loci in the s-plane can be only As asymptotes intersect at origin, it means all
option (a), because of symmetry and root locus the three poles are at origin.
definition. Hence, option (a) is correct.

3. (c) 6. (b)
Closed-loop system limits the peak value. Characteristic function:
(s2 – 4) (s + 1) + K(s – 1) = 0
4. (b)
K (s 1)
K 1+ 2 = 1 + G(s) H(s)
G(s) H(s) = (s 4) ( s + 1)
2
s
Open-loop transfer function
P–Z = 2
= G(s) H(s)
0
Centroid = =0 K (s 1)
2 = 2
Angle of asymptotes = 90°, 270° (s 4) ( s + 1)
option (a) is correct. Zero of OLTF: s = 1, z = 1
Poles of OLTF: s = –1, –2, + 2, P = 3
5. (a)
Im
k=

k= 60°
Re –2 –1 1 2

s-plane
k=
96 Electronics Engineering Control Systems

The root locus starts from open-loop poles and

Im
terminates either on open-loop zero or infinity.
Root locus exists on a section of real axis it the
k=0 k=
sum of the open-loop poles and zeros to the right Re
of the section is odd. –3 –2 +1

Number of branches terminating on infinity

= P–Z=3–1=2
Angle of asymptotes Breakaway point lies in the range –1 < Re[s] < 0
(2 K + 1) × 180° (2K + 1) × 180° and two branches terminates at infinity along
= =
P Z 2 the asymptotes Re(s) = –1.
= 90° and 270°
8. (a)
Intersection of asymptotes on real axis (centroid)
poles zeros 2
K s+
= 3
P Z G(s) = 2 and H(s) = 1
s (s + 2)
( 1 2 + 2) (1)
= = 1 Characteristic equation,
2
Option (b) is correct on the basic of above 1 + G(s) H(s) = 0
analysis. 2
K s+
3
7. (c) 1+ 2 =0
s (s + 2)
Characteristic equation,
s(s + 1) (s + 3) K(s + 2) = 0 2
s 3 + 2s2 + K s + =0
K (s + 2) 3
1+ =0
s (s + 1) (s + 3) 2K
s 3 + 2 s 2 + Ks + =0
Comparing with 1 + G(s) H(s) = 0 3
G(s) H(s) = Open-loop transfer function (OLTF) Routy array:

K (s + 2) s3 1 K
=
s (s + 1) (s + 2) 2K
s2 2
3
Number of zeros = Z = 1 zero at –2
2K 2K /3 2
Number of poles = P = 3 poles at 0, –1 and –3 s1 = K
2 3
Number of branches terminating at infinity 2K
=P – Z = 3 – 1 = 2 s0
3
Angle of asymptotes
As K > 0, there is no sign change in the 1 st
(2 K + 1) × 180° (2K + 1) × 180° column of Routh array. So the system is stable
= =
P Z 2 and all the three roots lie on LHS of s-plane.
= (2K + 1) × 90° = 90° and 270° For K > 0 (K 0), none of the row of Routh array
poles zeros becomes zero. So root loci does not cross the
Centroid = j -axis.
P Z
Number of zero = Z = 1
0 1 3 ( 2)
= = 1 Number of poles = P = 3
2
Number of branches terminating at infinity
= P–Z=3–1=2
 GATE Previous Years Solved Paper 97

(2 K + 1) × 180° Asymptotes angle = 90°, 180°

Angle of asymptotes =
P Z ( 3) ( 3)
Centroid = =0
(2 K + 1) × 180° 2
= As root locus never cross asymtptoes so, will
2
= (2K + 1) × 90° remain in left side of x-axis.
= 90° and 270° 11. (a)
poles zeros K
Centroid = G1(s) =
P Z s (s + 1) (s + 2)
2
0+0 2 K
3 2 1+ =0
= = s (s + 1) (s + 2)
2 3
s(s2 + 3s + 2) + K = 0
s3 + 3s2 + 2s + K = 0
K = –s3 – 3s2 – 2s ...(i)
dK
=0
ds
–2 –2/3 Double pole dK
at origin = –3s3 – 6s – 2 = 0
ds
s = –0.422, –1.577

Since, all the three branches terminates at

2 RL NRL RL
Re(s) = . So, all the three roots have nearly
3 –2 –1 0

equal real part.

9. (c) Only s = –0.422 lie on root locus. Therefore

This is converse root locus having no zero. breakaway point is, s = –0.42.
K
As its, G(s) H(s) = 12. (a)
(s + 1) (s + 2)
Its converse root locus only valid when K < 0 Ks
OLTF G(s) =
(s 1) (s 4)
G(s ) H (s )
So, C.L.T.F. = Now characteristics equation,
1 G(s) H (s)
1 + G(s) H(s) = 0
K
Ks
(s + 1) (s + 2) +1 = 0
= (s 1) (s 4)
K
1
(s + 1) (s + 2) (s2 5s + 4)
K=
K s
=
(s + 1) (s + 2) K 4
= s 5+
s
10. (d)
dK
For breakaway point : =0
K (s + 3) ds
s (s + 1) (s + 2) dK 4
= 1 0 =0
P = 3, Z = 1 ds s2
98 Electronics Engineering Control Systems

we get, s = ±2
Therefore valid breakaway point is
s=2
Now gain at s = 2 is,
Product of distances from all
the poles to breakaway point The point at which root locus enters real axis
K=
Product of distance from all (breakaway point) is given by
the zeros to breakaway point dK
=0
ds
1× 2
Gain, K= =1
2 (s 2 + 2s + 5)
K=
6s
13. (b)
dK
=0 s=± 5
6Ks ds
GH(s) =
s2 + 2s + 5 5
s=
 6 Frequency Response Analysis

ELECTRO NICS EN GINEERIN G 2 4 2

(c) n (1 2 )+ 4 4 +2
(GATE Previous Years Solved Papers)
2 4 2
(d) n (1 2 ) 4 4 +2
Q.1 A system has fourteen poles and two zeros. Its
high frequency asymptotes in magnitude plot [EC-1994 : 1 Mark]
having a slope of
Q.5 The open-loop frequency response of a system
(a) –40 dB/decade
at two particular frequencies are given by
(b) –240 dB/decade 1.2 –180° and 1.0 –190°. The closed-loop unity
(c) –280 dB/decade feedback control is then _______ .
(d) –320 dB/decade [EC-1994 : 1 Mark]
[EC-1987 : 2 Marks]
Q.6 Non-minimum phase transfer function is
defined as the transfer function
10
Q.2 The polar plot of G(s ) = intercepts real (a) which has zeros in the right-half s-plane.
s (s + 1)2
(b) which has zeros in the left-half s-plane.
axis at = o. Then, the real part and o are
(c) which has poles in the right-half s-plane.
respectively given by
(d) which has poles in the left-half s-plane.
(a) –2.5, 1 (b) –5, 0.5
[EC-1995 : 1 Mark]
(c) –5, 1 (d) –5, 2
[EC-1987 : 2 Marks] Q.7 In the Bode-plot of a unity feedback control
system, the value of phase of G(j ) at the gain
Q.3 The open-loop transfer function of a feedback
crossover frequency is –125°. The phase margin
control system is
of the system is
1
G(s ) H (s ) = (a) –125° (b) –55°
(s + 1)2
(c) 55° (d) 125°
The gain margin of the system is [EC-1998 : 1 Mark]
(a) 2 (b) 4
Q.8 The Nyquist plot of a loop transfer function
(c) 8 (d) 16
G(j ) H(j ) of a system encloses the (–1, 0) point.
[EC-1991 : 2 Marks]
The gain margin of the system is
Q.4 The 3-dB bandwidth of a typical second-order (a) less than zero
system with the transfer function (b) zero
2 (c) greater than zero
C (s) n
=
R(s ) s 2 + 2 ns +
2
n (d) infinity
is given by [EC-1998 : 1 Mark]

(a) 1 2 2 Q.9 The gain margin (in dB) of a system having the
n

2
(b) (1 2
)+ 4 2
+1 loop transfer function G(s ) H (s ) = is
n s (s + 1)
 100 Electronics Engineering Control Systems

(a) 0 (b) 3 (a) 0° (b) 63.4°

(c) 6 (d) (c) 90° (d)
[EC-1999 : 1 Mark] [EC-2002 : 1 Mark]

Q.10 The phase margin (in degrees) of a system Q.14 The gain margin and the phase margin of a
having the loop transfer function
s
feedback system with G(s ) H (s ) = are
2 3 (s + 100)3
G( s ) H ( s ) = , is
s (s + 1) (a) 0 dB, 0° (b) ,
(c) , 0° (d) 88.5 dB,
(a) 45° (b) –30°
[EC-2003 : 2 Marks]
(c) 60° (d) 30°
[EC-1999 : 1 Mark] Q.15 In the figure, the Nyquist plot of the open-loop
transfer function G(s) H(s) of a system is shown.
Q.11 The Nyquist plot for the open-loop transfer
If G(s) H(s) has one right hand pole, the closed-
function G(s) of a unity negative feedback system loop system is
is shown in the figure, if G(s) has no pole in the
Im
right-half of s-plane, the number of roots of the
system characteristic equation in the right-half GH-plane
of s-plane is
=0 Re
(–1, 0)
Im(s)

G(s)-plane positive

(a) always stable.

–1 (b) unstable with one closed-loop right hand
Re(s) pole.
(c) unstable with two closed-loop right hand
poles.
(d) unstable with three closed-loop right and
poles.
(a) 0 (b) 1 [EC-2003 : 1 Mark]
(c) 2 (d) 3
Q.16 The approximate Bode magnitude plot of a
[EC-2001 : 1 Mark]
minimum phase system is shown in the figure.
Q.12 The system with the open-loop transfer function dB
1P
1 160
G( s ) H ( s ) = has a gain margin of
s (s 2 + s + 1) 140
2P

(a) –6 dB (b) 0 dB
(c) 3.5 dB (d) 6 dB 3Z
20
[EC-2002 : 2 Marks]
0.1 10 100
Q.13 The phase margin of a system with the open-
loop transfer function, The transfer function of the system is

(1 s) (s + 0.1)3
G(s) H (s) = (a) 108
(1 + s) (2 + s ) (s + 10)2 ( s + 100)
 GATE Previous Years Solved Paper 101

7 (s + 0.1)3 Im
(b) 10
(s + 10) (s + 100)

(s + 0.1)2 (b)
(c) 108 2 =0 =
(s + 10) (s + 100) Re

(s + 0.1)3
(d) 109
(s + 10) (s + 100)2
Im
[EC-2003 : 2 Marks]

Q.17 Consider the Bode magnitude plot shown in the (c)

figure. The transfer function H(s) is =0
Re
dB =

20 log H ( j )
0 Im
–20 dB/decade

–20 (d)
= =0
Re
1 10 100

(s + 10) 10(s + 1) [EC-2005 : 1 Mark]

(a) (b)
(s + 1) (s + 100) (s + 10) (s + 100)
Q.20 The polar diagram of a conditionally stable
2
10 (s + 1) 10 (s + 100)3 system for open-loop gain K = 1 is shown in the
(c) (d) figure. The open-loop transfer function of the
(s + 10) (s + 100) (s + 1) (s + 10)
system is known to be stable. The closed-loop
[EC-2004 : 2 Marks]
system is stable for
Q.18 A system has poles at 0.01 Hz, 1 Hz and 80 Hz,
Im
zeros at 5 Hz, 100 Hz and 200 Hz. The
approximate phase of the system response at
20 Hz is –8 –0.2

(a) –90° (b) 0°

Re
(c) 90° (d) –180°
–2
[EC-2004 : 2 Marks]

Q.19 Which one of the following polar diagrams

corresponds to a lag network? GH-plane

Im

(a) 1 1
(a) K < 5 and <K<
= 2 8
Re
=0 1 1
(b) K < and < K < 5
8 2
 102 Electronics Engineering Control Systems

1 Q.25 In the system shown below, x(t) = (sint) u(t). In

(c) K < and 5 < K
8 steady-state, the response y(t) will be

1 1
(d) K < and K < 5 x(t ) y(t )
8 s+1

[EC-2005 : 2 Marks] 1
1
(a) sin t (b) sin t +
Common Data for Questions (21 and 22): 2 4 2 4
The open-loop transfer function of a unity feedback 1 t
(c) e sin t (d) sint – cost
2s
2
3e
system is given by G(s ) = . [EC-2006 : 1 Mark]
s (s + 2)
Q.26 The frequency response of a linear, time-
Q.21 The gain and phase crossover frequencies in invariant system is given by
rad/sec are, respectively 5
H( f ) =
(a) 0.632 and 1.26 (b) 0.632 and 0.485 1 + j 10 f
(c) 0.485 and 0.632 (d) 1.26 and 0.632
The step response of the system is
[EC-2005 : 2 Marks]
(a) 5(1 – e–5t) u(t) (b) 5(1 – e–t/5) u(t)
Q.22 Based on the above results, the gain and phase 1 5t 1
(c) (1 e ) u(t ) (d)
margins of the system will be 5 (s + 5) (s + 1)
(a) –7.09 and 87.5° [EC-2007 : 2 Marks]
(b) 7.09 and 87.5°
Q.27 The asymptotic Bode plot of a transfer function
(c) 7.09 dB and –87.5°
is as shown in the figure. The transfer function
(d) –7.09 dB and –87.5°
G(s) corresponding to this Bode plot is
[EC-2005 : 2 Marks]
G( j ) (dB)
Q.23 The open-loop transfer function of a unity gain
feedback control system is given by 60
–20 dB/decade
K 40
G(s) =
(s + 1) (s + 2) –40 dB/decade
20
The gain margin of the system in dB is given by 20
0
(a) 0 (b) 1 0.1 1 10 100
(c) 20 (d)
–60 dB/decade
[EC-2006 : 1 Mark]
1 1
Q.24 The Nyquist plot of G(j ) H(j ) for a closed-loop (a) (b)
(s + 1) ( s + 20) s (s + 1) (s + 20)
control system, passed through (–1, j0) point in
the GH-plane. The gain margin of the system 100 100
(c) (d)
(in dB) is equal to s (s + 1) (s + 20) s (s + 1) (1 + 0.05s)
(a) infinite [EC-2007 : 2 Marks]
(b) greater than zero
Q.28 The magnitude of frequency response of an
(c) less than zero underdamped second order system is 5 at
(d) zero
10
[EC-2006 : 2 Marks] 0 rad/sec and peaks to at 5 2 rad/sec.
3
 GATE Previous Years Solved Paper 103

The transfer function of the system is 10 s + 1 100 s + 1

(a) (b)
500 375 0.1 s + 1 0.1 s + 1
(a) 2
(b) 2
s + 10s + 100 s + 5s + 75 100 s 0.1 s + 1
(c) (d)
720 1125 10 s + 1 10 s + 1
(c) 2 (d) 2
s + 12 s + 144 s + 25s + 225 [EC-2010 : 1 Mark]
[EC-2008 : 2 Marks]
Y (s ) s
Common Data for Questions (29 and 30): Q.32 A system with the transfer function =
X( s ) s + p
The Nyquist plot of a stable transfer function G(s) is
shown in the figure. We are interested in the stability of
the closed-loop system in the feedback configuration has an output y(t ) = cos 2t for the input
3
shown.

Im signal x(t ) = p cos 2t . Then, the system

2

parameter ‘p’ is
+
–
G(s) 2
–1 –0.5 Re (a) 3 (b)
3
–j
3
(c) 1 (d)
2
[EC-2010 : 1 Mark]
Q.29 Which of the following statement is true?
(a) G(s) is an all-pass filter. Q.33 For the transfer function G(j ) = 5 + j , the
(b) G(s) has a zero in the right-half palne. corresponding Nyquist plot for positive
(c) G(s) is the impedance of a passive network. frequency has the form
(d) G(s) is marginally stable. j
[EC-2009 : 2 Marks]

Q.30 The gain and phase margins of G(s) for closed- (a)
5
loop stability are
(a) 6 dB and 180° (b) 3 dB and 180°
(c) 6 dB and 90° (d) 3 dB and 90°
j
[EC-2009 : 2 Marks]
j5
Q.31 For the asymptotic Bode magnitude plot shown
(b)
below, the system transfer function can be
Magnitude (dB)

40 j

1/5
(c)
0
0.001 0.1 10 1000
 104 Electronics Engineering Control Systems

j Q.37 Consider the feedback system shown in the

figure. The Nyquist plot of G(s) is also shown.
Which one of the following conclusions is
(d)
1/5 correct?
R(s ) + K G( s ) C(s )
–

[EC-2011 : 1 Mark]

Q.34 The gain margin of the system under closed- Im G(j )

loop unity negative feedback is
100
G( s ) H ( s ) =
s (s + 10)2
(a) 0 dB (b) 20 dB –1 +1 Re G(j )
(c) 26 dB (d) 46 dB
[EC-2011 : 2 Marks]

Q.35 A system with transfer function,

(a) G(s) is an all pass filter.
(s 2 + 9) (s + 2) (b) G(s) is strictly proper transfer function.
G(s ) =
(s + 1) (s + 3) ( s + 4) (c) G(s) is a stable and minimum phase transfer
is excited by sin( t). The steady-state output of function.
the system is zero at (d) The closed-loop system is unstable for
(a) = 1 rad/sec. (b) = 2 rad/sec. sufficiently large and positive K.
(c) = 3 rad/sec. (d) = 4 rad/sec. [EC-2014 : 1 Mark]
[EC-2012 : 1 Mark]
Q.38 The phase margin is degrees of
Q.36 The Bode plot of a transfer function G(s) is 10
G(s) =
shown in the figure below. (s + 0.1) (s + 1) (s + 10)
Gain (dB) calculated using the asymptotic Bode plot is
_______ .
40
[EC-2014 : 2 Marks]
32
Q.39 The Bode asymptotic magnitude plot of a
20 minimum phase system is shown in the figure.
G(j ) dB
0 10 100
26.02
1 (rad/s)
–8

6.02
The gain (20 log G( s) ) is 32 dB and –8 dB at 0
0.1 1 2 10 20
1 rad/sec and 10 rad/sec respectively. The –6.02
(rad/s) in log scale
phase is negative for all . Then G(s) is
39.8 39.8 If the system is connected in a unity negative
(a) (b)
s s2 feedback configuration, the steady-state error of
32 32 the closed-loop system, to a unity ramp input,
(c) (d)
s s2 is _______ .
[EC-2013 : 1 Mark] [EC-2014 : 2 Marks]
 GATE Previous Years Solved Paper 105

Q.40 In a Bode magnitude plot, which one of the Q.44 The phase margin (in degrees) of the system
following slopes would be exhibited at high
10 is _______ .
frequencies by a 4th order all pole system? G(s) =
s (s + 10)
(a) –80 dB/decade (b) –40 dB/decade
(c) +40 dB/decade (d) +80 dB/decade [EC-2015 : 1 Mark]
[EC-2014 : 1 Mark]
Q.45 A closed-loop control system is stable if the
Q.41 The polar plot of the transfer function, Nyquist plot of the corresponding open-loop
10 ( s + 1) transfer function
G( s ) = for 0 <
s + 10 (a) encircles the s-plane point (–1 + j0) in the
will be in the counterclockwise direction as many times
(a) first quadrant (b) second quadrant as the number of right-half s-plane poles.
(c) third quadrant (d) fourth quadrant (b) encircles the s-plane point (0 – j1) in the
[EC-2015 : 1 Mark] clockwise direction as many times as the
number of right-half s-plane poles.
Q.42 The transer function of a mass-spring-damper
(c) encircles the s-plane point (–1 + j0) in the
system is given by
counterclockwise direction as many times
1
G(s ) = as the number of left-half s-plane poles.
2
Ms + Bs + K
(d) encircles the s-plane point (–1 + j0) in the
The frequency response data for the system are
counterclockwise direction as many times
given in the following table.
as the number of right-half s-plane zeros.
(in rad/s) G( j ) (in dB) arg (G(j )) (in deg)
[EC-2016 : 1 Mark]
0.01 –18.5 –0.2
Q.46 The number and direction of encirclements
0.1 –18.5 –1.3
around the point –1 + j0 in the complex plane
0.2 –18.4 –2.6
1 –16 –16.9 1 s
by the Nyquist plot of G(s ) = is
2 –11.4 –89.4 4 + 2s
3 –21.5 –151 (a) zero
5 –32.8 –167
(b) one, anti-clockwise
10 –45.3 –174.5
(c) one, clockwise
The unit step response of the system (d) two, clockwise
approaches a steady-state value of ______ . [EC-2016 : 1 Mark]
[EC-2015 : 2 Marks]
Q.47 In the feedback system shown below,
Q.43 Consider the Bode plot shown in figure. Assume
1
that all the poles and zeros are real valued. G(s) =
(s + 1) (s + 2) (s + 3)

r + K G(s ) y
40 dB –
–40 dB/decade

40 dB/decade
0 dB The positive value of K for which the gain
fL 300 900 fH f (Hz)
margin of the loop is exactly 0 dB and the phase
The value of fH – fL (in Hz) is _____ . margin of the loop is exactly zero degree is ___.
[EC-2015 : 1 Mark] [EC-2016 : 2 Marks]
 106 Electronics Engineering Control Systems

Q.48 The asymptotic Bode phase plot of The Nyquist path and the corresponding
K Nyquist plot of G(s) are shown in the figures
G(s) =
(s + 0.1) (s + 10) (s + p1 ) below.
with K and p1 both positive, is shown below, j

+j s-plane
0.01 0.1 1 10 100
0°
(rad/s) j
–45° s = Re
R

–135° 0

–225°
–270°
–j

The value of p1 is ______ . Nyquist path for G(s)

[EC-2016 : 2 Marks]
jIm G
Q.49 Consider a stable system with transfer function,
+j5.43 K G(s )-plane
s p + b1 s p 1
+ ... + bp
G( s ) =
s q + a1 sq 1
+ ... + aq
–j
where b1, ..., bp and a1, ...., aq are real valued
=0
constants. The slope of the Bode log magnitude –K
Re G
2K
curve of G(s) converges to –60 dB/decade as +j
. A possible pair of values for p and q is
(a) p = 0 and q = 3 (b) p = 1 and q = 7
(c) p = 2 and q = 3 (d) p = 3 and q = 5 –j5.43 K
[EC-2017 : 1 Mark] Nyquist plot for G(s)

Q.50 The Nyquist plot of the transfer function If 0 < K < 1, then the number of poles of the
closed-loop transfer function that lie in the right-
K
G( s ) = does not encircle the half of the s-plane is
2
( s + 2 s + 2) ( s + 2)
(a) 0 (b) 1
point (–1 + j0) for K = 10 but does encircle the
(c) 2 (d) 3
point (–1 + j0) for K = 100. Then the closed-loop
[EC-2017 : 2 Marks]
system (having unity gain feedback) is
(a) stable for K = 10 and stable for K = 100. Q.52 The Nyquist stability criterion and the Routh
(b) stable for K = 10 and unstable for K = 100. criterion both are powerful analysis tools for
(c) unstable for K = 10 and stable for K = 100. determining the stability of feedback controllers.
Identify which of the following statements is
(d) unstable for K = 10 and unstable for K = 100.
false.
[EC-2017 : 2 Marks]
(a) Both the criteria provide information relative
Q.51 A unity feedback control system is characterized to the stable gain range of the system.
by the open-loop transfer function, (b) The generated shape of the Nyquist plot is
10 K( s + 2) readily obtained from the Bode magnitude
G(s) = 3
s + 3s2 + 10 plot for all minimum phase systems.
 GATE Previous Years Solved Paper 107

(c) The Routh criterion is not applicable in the Q.55 For an LTI system, the Bode plot for its gain is as
condition of transport lag, which can be illustrated in the figure shown. The number of
readily handled by the Nyquist criterion. system poles Np and the number of system zeros
(d) The closed-loop frequency response for a Nz in the frequency range 1 Hz f 107 Hz is
unity feedback system cannot be obtained Gain (dB)
from the Nyquist plot. –20 dB/dec.
[EC-2018 : 1 Mark] 100
–60 dB/dec.
Q.53 For a unity feedabck control system with the
–40 dB/dec.
K
forward path transfer function G(s) = . 10
4
10
5
10
6 7
10
s (s + 2) 0
10
1
10
2
10
3
f (in Hz)

The peak resonant magnitude Mr of the closed- –40 dB/dec.

loop frequency response is 2. The corresponding
value of the gain K (correct to two decimal –60 dB/dec.
places) is _____ .
[EC-2018 : 2 Marks] (a) Np = 6, Nz = 3 (b) Np = 7, Nz = 4
(c) Np = 5, Nz = 2 (d) Np = 4, Nz = 2
Q.54 The figure below shows the Bode magnitude
[EC-2019 : 1 Mark]
and phase plots of a stable transfer function,
n0 Q.56 The pole-zero map of a rational function G(s) is
G(s ) =
s 3 + d2 s 2 + d1s + d0 shown below. When the closed counter G is
mapped into the G(s) plane, then the mapping
encircles.
G( j )
Im

36 dB s-plane

20 dB
0 dB

Re

0°

–180°
–270°
(a) The point –1 + j0 of the G(s) plane once in
the counter-clockwise direction.
+
G(s)
(b) The origin of the G(s) plane once in the
K
– clockwise direction.
(c) The origin of the G(s) plane once in the
Consider the negative unity feedback counter-clockwise direction.
configuration with gain k in the feed forward (d) The point –1 + j0 of the G(s) plane once in
path. The closed-loop is stable for k > k0. The the clockwise direction.
maximum value of k0 is ______ . [EC-2020 : 1 Mark]
[EC-2018 : 2 Marks]
 108 Electronics Engineering Control Systems

Q.57 The complete Nyquist plot of the open-loop ELECTRICAL EN GINEERIN G

transfer function G(s) H(s) of a feedback control
(GATE Previous Years Solved Papers)
system is shown in the figure.
jImGH Q.1 Which of the following is the transfer function
G(s ) H(s) plane of a system having the Nyquist plot shown in
figure below?

Im

0 Re GH
(–1, j0)

+
0 +
Re
– –
0
If G(s) H(s) has one zero in the right half of the
s-plane, the number of poles that the closed-loop
system will have in the right half of the s-plane is
(a) 1 (b) 3
K K
(c) 4 (d) 0 (a) (b)
2
s (s + 2) (s + 5) s 2 (s + 2) (s + 5)
[EC-2021 : 2 Marks]
K (s + 1) K (s + 1) (s + 3)
Q.58 Consider a closed-loop control system with unity (c) 2 (d)
negative feedback and KG(s) in the forward path, s (s + 2) (s + 5) s2 (s + 2) (s + 5)
where the gain K = 2. The complete Nyquist plot [EE-1991 : 1 Mark]
of the transfer function G(s) is shown in the figure.
Note that, Nyquist contour has been chosen to Q.2 The system having the Bode magnitude plot
have the clockwise sense. Assume G(s) has no shown in figure below has the transfer function.
poles on the closed right half of the complex
plane. The number of poles of the closed-loop
transfer function in the closed right half of the 60 –20 dB/dec
complex plane is _________ . –40 dB/dec
–20 dB/dec
Im G(s)

0.01 0.05 0.1 1.0 10

60 ( s + 0.01) ( s + 0.1)
(a)
s 2 (s + 0.05)2
–1 Re G(s )
10(1 + 10s)
(b)
s (1 + 20s)
0.4
3(s + 0.05)
0.8
(c)
s (s + 0.1) (s + 1)
5(s + 0.1)
(a) 0 (b) 1 (d)
(s + 0.05)
(c) 2 (d) 3
[EE-1991 : 1 Mark]
[EC-2022]
 GATE Previous Years Solved Paper 109

Q.3 A unity feedback system has the open-loop

transfer function, –40 dB/sec
54 dB
1 –60 dB/sec
G(s) =
(s 1) (s + 2) (s + 3)
–40 dB/sec
The Nyquist plot of G(s) encircle the origin.
(a) Never (b) Once –60 dB/sec
(c) Twice (d) Thrice
[EE-1992 : 1 Mark]
0.1 2 5 25 rad/sec.
Q.4 The closed-loop transfer function of a control
system is given by
20(s + 5) 10(s + 5)
(a) (b)
C (s) 1 s(s + 2) (s + 25) (s + 2)2 (s + 25)
=
R(s ) (1 + s)
20(s + 5) 50(s + 5)
(c) (d)
For the input r(t) = sint, the steady-state value of 2
s (s + 2) (s + 25) 2
s (s + 2) (s + 25)
c(t) is equal to
[EE-2001 : 1 Mark]
1
(a) cos t (b) 1 Q.7 The asymptotic Bode plot of the transfer function
2

1 1 K
(c) sin t (d) sin t is given in figure. The error in phase
2 2 4 s
1+
a
[EE-1996 : 1 Mark]

Q.5 The polar plot of a type-1, 3-pole, open-loop angle and dB gain at a frequency of = 0.5 a are
system is shown in figure below. The closed- respectively
loop system is
GH-plane 20 log K
20 dB/decade
G dB

–1.42 =
a

=0 0.1a 0.5a a

(a) always stable. 45° per decade

Ph°
(b) marginally stable.
(c) unstable with one pole on the right half
s-plane.
(d) unstable with two poles on the right half (a) 4.9°, 0.97 dB (b) 5.7°, 3 dB
s-plane. (c) 4.9°, 3 dB (d) 5.7°, 0.97 dB
[EE-2001 : 1 Mark] [EE-2003 : 2 Marks]

Q.6 The asymptotic approximation of the log- Q.8 The Nyquist plot of loop transfer function
magnitude versus frequency plot of a minimum G(s) H(s) of a closed-loop control system passes
phase system with real poles and one zero is through the point (–1, j0) in the G(s) H(s) plane.
shown in figure. Its transfer function is
 110 Electronics Engineering Control Systems

The phase margin of the system is Q.13 In the GH(s) plane, the Nyquist plot of the loop
(a) 0° (b) 45°
e 0.25s
(c) 90° (d) 180° transfer function G(s ) H (s ) = passes
s
[EE-2004 : 1 Mark]
through the negative real axis at the point.
Q.9 In the system shown in figure, the input (a) (–0.25, j0) (b) (–0.5, j0)
x(t) = sint. In the steady-state, the response y(t)
(c) (–1, j0) (d) (–2, j0)
will be
[EE-2005 : 2 Marks]
s
x(t) y (t )
s+1 Q.14 If the compensated system shown in the figure
has a phase margin of 60° at the crossover
1
(a) sin(t 45°) frequency of 1 rad/sec, then value of the gain
2
‘k’ is
1
(b) sin(t + 45°)
2 1
R(s) +– k + 0.366s Y(s )
s( s + 1)
(c) sin(t – 45°)
(d) sin(t + 45°)
[EE-2004 : 2 Marks] (a) 0.366 (b) 0.732
Q.10 The open-loop transfer function of a unity (c) 1.366 (d) 2.738
feedback control system is given as, [EE-2005 : 2 Marks]

as + 1 Q.15 The Bode magnitude plot of

G( s ) = 2
. The value of ‘a’ to give a phase
s 10 4 (1 + j )
H( j ) = is
margin of 45° is equal to (10 + j ) (100 + j )2
(a) 0.141 (b) 0.441
(c) 0.841 (d) 1.141
40
[EE-2004 : 2 Marks]
20
Q.11 A system with zero initial conditions has the
closed-loop transfer function, (a) log( )
–1 0 1 2 3
–20
s2 + 4
T (s) =
(s + 1) (s + 4) –40
The system output is zero at the frequency
(a) 0.5 rad/sec. (b) 1 rad/sec.
(c) 2 rad/sec. (d) 4 rad/sec. H ( j ) dB

[EE-2005 : 1 Mark]
40
Q.12 The gain margin of a unity feedback control 20
system with the open-loop transfer function is
(b) log( )
( s + 1) –1 0 1 2 3
G(s ) = . –20
s2
(a) 0 (b) 1/ 2 –40

(c) 2 (d)
[EE-2005 : 1 Mark]
 GATE Previous Years Solved Paper 111

H ( j ) dB Im

40 =
(4) Re
20 –1

(c) log( )
–1 0 1 2 3
–20

–40
(a) (1) only (b) All, except (1)
(c) All, except (3) (d) (1) and (2) only
H ( j ) dB
[EE-2006 : 2 Marks]
40 Q.17 If x = Re G(j ), and y = Im G(j ) then for 0+,
20
1
the Nyquist plot for G(s) = .
(d) log( ) s (s + 1) (s + 2)
–1 0 1 2 3
–20
3
–40 (a) x = 0 (b) x =
4
1 y
[EE-2006 : 2 Marks] (c) x = y (d) x =
6 3
Q.16 Consider the following Nyquist plots of loop
[EE-2007 : 2 Marks]
transfer functions over = 0 to = . Which of
these plots represents a stable closed-loop Q.18 The asymptotic Bode magnitude plot of a
system? minimum phase transfer function is shown in
the figure.
Im

G( j ) dB
=
(1) Re
–40 dB/decade
–1

20
–20 dB/decade

Im 0 0.1 (rad/sec)
(log scale)
–20

0 dB/decade
(2)
=
Re The transfer function has
–1
(a) 3-poles and one zero.
(b) 2-poles and one zero.
Im (c) 2-poles and two zeros.
(d) 1-pole and two zeros.

(3)
= [EE-2008 : 2 Marks]
Re
–1
Q.19 The polar plot of an open-loop stable system is
shown below.
 112 Electronics Engineering Control Systems

Im 1
Q.22 The frequency response G(s ) =
[s (s + 1) (s + 2)]
=
Re plotted in the complex G(j ) plane (for 0 < < )
–1.42
is
Im
=0

–3/4
The closed-loop system is (a) Re
(a) always stable
(b) marginally stable
(c) unstable with one pole on the RHS s-plane =0
(d) unstable with two poles on the RHS s-plane
Im
[EE-2009 : 1 Mark] =0

Q.20 The asymptotic approximation of the log-

magnitude vs frequency plot of a system (b)
containing only real poles and zeros is shown. Re
Its transfer function is –3/4

–40 dB/sec Im
80 dB =0
–60 dB/sec

–40 dB/sec (c)

Re
–60 dB/sec –1/6

Im
0.1 2 5 25 rad/sec.
–1/6
Re
10(s + 5) 1000(s + 5)
(a) (b) (d)
s (s + 2) (s + 25) s2 (s + 2) (s + 25)

100(s + 5) 80(s + 5) =0
(c) (d) 2
s (s + 2) (s + 25) s (s + 2) (s + 25)
[EE-2009 : 1 Mark] [EE-2010 : 2 Marks]

Q.21 The open-loop transfer function of a unity Q.23 The frequency response of a linear system G(j )
feedback system is given by is provided in the tabular form below.
G(j ) 1.3 1.2 1.0 0.8 0.5 0.3
0.1s
(e )
G(s ) = G(j ) –130° –140° –150° –160° –180° –200°
s
The gain margin and phase margin of the
The gain margin of this system is
system are
(a) 11.95 dB (b) 17.67 dB
(a) 6 dB and 30° (b) 6 dB and –30°
(c) 21.33 dB (d) 23.9 dB
(c) –6 dB and 30° (d) –6 dB and –30°
[EE-2009 : 2 Marks]
[EE-2011 : 1 Mark]
 GATE Previous Years Solved Paper 113

Q.24 A system with transfer function, Q.27 For the transfer function,
(s 2 + 9) (s + 2) 5(s + 4)
G(s ) = G(s) =
(s + 1) (s + 3) ( s + 4) s (s + 0.25) (s2 + 4s + 25)
is excited sin( t). The steady-state output of the The values of the constant gain term and the
system is zero at highest corner frequency of the Bode plot
(a) = 1 rad/sec. (b) = 2 rad/sec. respectively are
(c) = 3 rad/sec. (d) = 4 rad/sec. (a) 3.2 and 5.0 (b) 16.0 and 4.0
[EE-2012 : 1 Mark] (c) 3.2 and 4.0 (d) 16.0 and 5.0
[EE-2014 : 2 Marks]
Q.25 The Bode plot of a transfer function G(s) is
shown in the figure below. Q.28 The magnitude Bode plot of a network is shown
Gain (dB) in the figure.
40
G( j ) dB Slope 20 dB/decade
32

20

0 10
100 (rad/s)
–8
0 1/3 1 log10
The gain (20 log |G(s)|) is 32 dB and –8 dB at
The maximum phase angle m and the
1 rad/sec and 10 rad/sec respectively. The
corresponding gain Gm respectively, are
phase is negative for all . Then G(s) is
(a) –30° and 1.73 dB (b) –30° and 4.77 dB
39.8 39.8
(a) (b) (c) +30° and 4.77 dB (d) +30° and 1.73 dB
s s2
[EE-2014 : 2 Marks]
32 32
(c) (d)
s s2 Q.29 A Bode magnitude plot for the transfer function
[EE-2013 : 1 Mark] G(s) of a plant is shown in the figure. Which one
of the following transfer functions best describes
Q.26 The Bode magnitude plot of the transfer function
the plant?
is shown below.
K (1 + 0.5s ) (1 + as) 20 log G( j 2 f )
G(s ) =
s s
s 1+ (1 + bs ) 1 +
8 36
20
Note that –6 dB/octave = –20 dB/decade. The
value of a/bK is _______ . 0

dB –20
–6 dB/Octave

0 dB/Octave
0 dB/Octave

6 dB/Octave –6 dB/Octave 0.1 1 10 100 1k 10 k 100 k f(Hz)

1000 ( s + 10) 10(s + 10)

(a) (b)
–12 dB/Octave s + 1000 s (s + 1000)
s + 1000 s + 1000
0.01 2 4 8 24 36 (c) (d)
(rad/s) 10s ( s + 10) 10(s + 10)
[EE-2014 : 2 Marks] [EE-2015 : 2 Marks]
 114 Electronics Engineering Control Systems

Q.30 Nyquist plots of two functions G1(s) and G2(s)

Im
are shown in figure.
Im

=
(d) Re

Re
0
G1(s)

0
[EE-2015 : 1 Mark]

Im Q.31 The phase cross-over frequency of the transfer

G2(s) 100
function G(s ) = in rad/sec is
=0 (s + 1)3
Re
1
(a) 3 (b)
3

(c) 3 (d) 3 3
Nyquist plot of the product of G1(s) and G2(s) is [EE-2016 : 1 Mark]

Im Q.32 Consider the following asymptotic Bode

magnitude plot ( is in rad/sec). Which one of
=0
the following transfer function is best
(a) represented by the above Bode magnitude plot?
Re
Magnitude (dB)

20 dB/dec

Im 12 dB

–40 dB/dec
0 dB
0.5 8
(b) Re
1
2s
(a)
(1 + 0.5s ) (1 + 0.25s 2 )

4(1 + 0.25s)
(b)
s (1 + 0.25s)
Im
2s
(c)
(1 + 2s) (1 + 4s)

(c) Re 4s
(d)
(1 + 2 s ) (1 + 4s )2
[EE-2016 : 2 Marks]
 GATE Previous Years Solved Paper 115

Q.33 Loop transfer function of a feedback system is Q.37 The asymptotic Bode magnitude plot of
minimum phase transfer function G(s) is shown
s+3
G(s ) H (s ) = 2
. Take the Nyquist contour below.
s (s 3)

in the clockwise direction. Then, the Nyquist G( j ) dB

plot of G(s) H(s) encircles –1 + j0

60
(a) once in clockwise direction –20 dB/dec
(b) twice in clockwise direction 40
(c) once in anticlockwise direction –40 dB/dec
20
(d) twice in anticlockwise direction
20
[EE-2016 : 2 Marks] 0 1 10 (log scale)

Q.34 Consider the unity feedback control system

shown. The value of ‘K’ that results in a phase –60 dB/dec
margin of the system to be 30° is _______ .
(Give the answer upto 2 decimal places)
Consider the following statements:
Ke s
U(s ) +– Y(s ) Statement-1: Transfer function G(s) has 3-poles
s
and one zero.
Statement-2: At very high frequency ( ),

[EE-2017 : 1 Mark] 3
the phase angle G( j ) = .
2
Q.35 The transfer function of a system is given by
Which of the following options is correct?
Vo (s ) 1 s
= (a) Statement 2 is true and statement 1 is false.
Vi (s ) 1 + s
(b) Both the statements are false.
Let the output of the system be v o (t) =
(c) Both the statements are true.
Vm sin( t + j) for the input, vi(t) = Vm sin( t).
(d) Statement 1 is true and statement 2 is false.
Then the minimum and maximum values of
[EE-2019 : 2 Marks]
j (in radians) are respectively
Q.38 Consider a negative unity feedback system with
(a) and (b) and 0
2 2 2 forward path transfer function,
K
(c) 0 and (d) – and 0 G(s) =
2 (s + a) ( s b ) (s + c )
where K, a, b, c are positive real numbers. For a
Q.36 The open-loop transfer function of a unity
Nyquist path enclosing the entire imaginary
feedback system is given by
axis and right half of the s-plane in the clockwise
e 0.25s direction, the Nyquist plot of (1 + G(s)), encircles
G( s ) =
s the origin of (1 + G(s)) plane once in the
In G(s) plane, the Nyquist plot of G(s) passes clockwise direction and never passes through
through the negative real axis at the point. this origin for a certain value of K. Then, the
(a) (–1.25, j0) (b) (–0.5, j0) number of poles of G(s)/1 + G(s) lying in the
(c) (–1.5, j0) (d) (–0.75, j0) open right half of the s-plane is ______ .
[EE-2017 : 1 Mark] [EE-2020 : 1 Mark]
 116 Electronics Engineering Control Systems

Q.39 A stable real linear time-invariant system with (a) 11.08 (b) 78.13
single pole at p, has a transfer function (c) 8.84 (d) 122.87
[EE-2020 : 2 Marks]
s2 + 100
H(s) = with a dc gain of 5. The smallest
s p

positive frequency, (in rad/sec) at unity gain is

closed to

Electronics & Electrical Engineering

GATE Previous Years Solved Paper

A n swe rs & Expl a n a t i o n s

Answers
EC Frequency Response Analysis

1. (b) 2. (c) 3. (c) 4. (c) 5. (–10) 6. (a, c) 7. (c) 8. (a)

9. (d) 10. (d) 11. (a) 12. (b) 13. (d) 14. (b) 15. (a) 16. (a)
17. (c) 18. (a) 19. (d) 20. (b) 21. (d) 22. (d) 23. (d) 24. (d)
25. (a) 26. (b) 27. (d) 28. (a) 29. (b) 30. (c) 31. (a) 32. (b)
33. (a) 34. (c) 35. (c) 36. (b) 37. (d) 38. (45) 39. (0.5) 40. (a)
41. (a) 42. (0.12) 43. (8970) 44. (84.36) 45. (a) 46. (a) 47. (60) 48. (1)
49. (a) 50. (b) 51. (c) 52. (d) 53. (14.92) 54. (0.10) 55. (a) 56. (b)
57. (b) 58. (c)

Solutions
EC Frequency Response Analysis

1. (b) 2 tan–1( ) = 45°

P = 14, Z = 2 =1
P – Z = 14 – 2 = 12 pc = 1 rad/sec.

Slope = –20(P – Z) = –20(12) G 10 10

= pc = 2
= =5
= –240 dB/decade (1 + ) 1(1 + 1)
At = pc the polar plot crosses the negative
2. (c)
real axis at –5.
10
G(s) = 3. (c)
s(s + 1)2
G = –180° pc
–3 tan–1 ( pc) = –180°
= –90° – 2 tan–1( )
tan–1 ( pc) = 60°
 GATE Previous Years Solved Paper 117

= 10. (d)
pc 3 rad/sec.
Gain crossover frequency where gain is 1 is g,
1
G.H. = X =
( )
2 3
2 =1
1+ pc j (1 + j )

1 1 2 3
= = =1
( )
3 8 2
1 + ( 3)2 1+
2
2 3 = 1+
1
G.M. = =8 =3
X
G(j ) H(j ) = –90° – tan–1
4. (c)
= 90° tan 1 3 = 150°
2 4 2 P.M. = 180° – 150° = 30°
n (1 2 )+ 4 4 +2
11. (a)
5. Sol. N=0
At 180° GH = 1.2 (1 encirclement in CW direction and other in
1 1 ACW)
G.M. = 20 log = 20 log P = 0 (no pole in right half)
GH 1.2
So, N = P–Z
= –1.6 dB
Z = P–N=0
At GH = 1 = –190°
No roots on RH of s-plane.
P.M. = 180° +
= 180° – 190° = –10° 12. (b)
Since both G.M. and P.M. are negative. 1
G(s) H(s) =
So, the system is unstable. 2
s(s + s + 1)

6. (a, c) when,
G(s) H(s) = –180°
The non-minimum phase transfer function is
defined as the transfer function which has zeros 1
–180 = 90 tan 2
(or) poles in right side of s-plane. 1
1
–90 = tan 2
7. (c) 1
= –125° 1–
=0 2
P.M. = 180° + pc = 1 rad/sec
= 180° – 125° = 55° Value of gain at pc = 1
1
8. (a) G(s) H (s) =
2 2 2
A system is unstable when Nyquist plot of G(j ) (1 ) + j
H(j ) encloses the point (–1 + j0) and gain G.M. = –20 log1 = 0
margin of unstable system is always negative
or less than zero. Therefore, the gain margin of 13. (d)
given system is less than zero. P.M. = 180° + GH ( j )
pc
9. (d) For gc,
This is a second-order function and so its gain G( s ) H ( s ) = gc =1
margin is infinity.
118 Electronics Engineering Control Systems

1 s 1+ 2 20 log (K / ) = 10 = 140
= =1
(1 + s) (2 + s ) 1+ 2 4+ 2 K
= 107
2 =1 = 10
4+
4+ =1 2 K = 10 8
2 = –3 (Imaginary)
17. (c)
So no gain crossover frequency
20 log K = –20 dB
P.M. =
K = 10–1 = 0.1
14. (b) Zero at = 1 and poles at = 10, 100
s K ( s + 1)
G(s) H(s) = 3 H(s) =
(s + 100) s s
+1 +1
Calculating 10 100
pc,

pc
0.1(s + 1) × 10 × 100
–180° = +90 3 tan
1 =
100 (s + 10) ( s + 100)

pc 100(s + 1)
–270° = 3 tan 1 =
(s + 10) (s + 100)
100
or, = pc
18. (a)
G.M. =
Pole at 0.01 and 1 Hz gives –180° phase.
Hence cannot be determined.
Zero at 5 Hz gives +90° phase.
Calculating gc
at 20 Hz –90° phase shift is provided.
From, G(s) H (s) = 1
= Negative value 19. (d)
gc
G.M. and P.M. of the system cannot be 1
Let be a lag network.
determined. s+1
At = 0, Mag = , =–tan–1 0 = 0
15. (a)
= , Mag = 0, =–tan–1 = –90°
The encirclement of critical point (–1, 0) in
If in the direction of increasing phase shift is
A.C.W. direction is once.
decreasing system is lag network.
N = 1, P = 1 (Given)
Z = P–N=0 20. (b)
No zero in RH of s-plane.
Im
So system is stable.
=0
16. (a)
= 0.1 to 10, +120 dB change
3 zeros at 0.1,
= 10 to 100, –40 dB
Re
[i.e. +60 to +20] change –8
So, two poles at = 10, –2 –0.2
= 100, –20 dB change
One pole at = 100

K (s + 0.1)3 =0
T(s) = 2
(s + 10) ( s + 100)
 GATE Previous Years Solved Paper 119

System is stable in region –0.2 to –2 and on the 25. (a)

left side of –8 as number of encirclement there is y(t) = x(t) h(t)
zero. Y(s) = X(s) H(s)
0.2 K < 1 K < 5
1 1
2 K > 1 K > 0.5 H(j ) = = 45°
s+1 2
0.5 < K < 5
1
1 > 8K =
2 4
1 x(t) = sin(t) u(t)
K> (negative sign only shows that it is on
8
1
negative axis). y(t) = sin t
2 4
21. (d)
26. (b)
Gain crossover frequency where gain is 1.
5
G(s) = 1 H(f) =
1 + j 10 f
3
2 =1 5 5 1
( + 4)1/2 H(s) = = =
1 + 5s 1 1
5 s+ s+
9 5 5
2 =1
( 2 + 4) 1 1
Step response =
gc = 1.26 s 1
s+
Phase crossover frequency 5
where, GH = –180° 5 5
Y(s) =
pc = 0.632 s 1
s+
5
22. (d)
y(t) = 5[1 – e–t/5] u(t)
3
G.M. at, = 27. (d)
0.632 (0.632 2 + 4)1/2
a = 2.26 K K /20
G(s) = =
1 s(s + 1) (s + 20) s
G.M. = 20 log s (1 + s) 1 +
a 20
1 Bode plot is in (1 + sT) form
20 log = –7.09
2.26 –20 log + 20 logK = 60 dB = 0.1
Since, G.M. is negative system is unstable.
–20 log + 20 logK = 60 dB
P.M. is also negative,
20 logK = 40 dB
P.M. = –87.5°
K = 100
23. (d) 100
G(s) =
For 2nd order system G.M. = s(s + 1) (1 + 0.5s)

24. (d) 28. (a)

1 5 10
G.M. = 20 log dB Mr = =
a 2 3
2 1
a=1
G.M. = 0 1
or, =
2
120 Electronics Engineering Control Systems

Also, r = n 1 2 z2 = 90° tan

1
p
1
5 2 = n 1 2× 1 2
4 90° tan = 30°
p
or, n = 10 rad/sec.
Only option (a) satisfies the conditions. 2
tan 1 = 60°
p
29. (b)
2
Nyquist plot will encircles the origin as many = tan 60° = 3
p
number of times as the difference between the
number of right side poles and zeros of open- 2
p =
loop transfer function. 3
i.e., N = P–Z
From the plot, 33. (a)
N = –1 G(j ) = 5 + j
and P = 0 (Given) G( j ) = 2
25 +
Z=1 At = 0,
Thus, one open-loop zero in right half of s-plane.
G(0) = 25 + 0 = 5
30. (c) At = ,
1 G( ) =
Gain margin = 20 log
X
= 34. (c)
1 100
20 log = 20 log 2 = 6 dB
0.5 G(s) H(s) =
s(s + 10)2
and phase margin = 90°
1
= 90° 2 tan
31. (a) 10
System transfer function, For phase crossover frequency,
= –180°
s
K 1+
0.1 –180 = 90° 2 tan 1
G(s) H(s) = 10
s
1+
10 = 10 rad/sec.
Here, 20 logK = 0 Put, s=j
K=1 100
G(j ) H(j ) =
10s + 1 j ( j + 100)2
G(s) H(s) =
0.1 s + 1 100
G( j ) H ( j ) =
= 10 ( 2 + 100)
32. (b)
100 1
Phase difference between input and output, = =
10(200) 20
= = = 30° 1
3 2 6 G.M. = = 20
G( j ) H ( j )
and = 2 rad/sec.
G.M. in dB = 20 log20 = 26 dB
From the transfer function,
 GATE Previous Years Solved Paper 121

35. (c) 10
=
Transfer function is, s s s
+1 +1 +1
0.1 1 10
(s 2 + 9) (s + 2)
G(s) = Amount of shift = 20 logK = 20 log10 = 20 dB
(s + 1) (s + 3) ( s + 4)
dB
The system has zero at = 3 rad/sec.

36. (b) –20 dB/dec.

20 dB
10 rad/sec to 1 rad/sec is 1 decade.
1 10
32 – (–8) = 40 dB
0 dB 0.1 gc
So, the slope is 40 dB/decade it means there are
two poles at origin, it means either option (b) or
option (d) is correct put = 1 rad/sec in both
the options,

39.8 20 0
20 log = 32 dB –20 dB =
(1)2 log 0.1 log pc

32 or, gc = 1 rad/sec. ...(i)

20 log = 30.1 dB
(1)2 P.M. = 180° + GH ( j ) at ...(ii)
= gc
39.8
So, option (b) is correct option . From the given transfer function,
s2
1 gc 1 gc 1 gc
G(j ) = tan tan tan
37. (d) 0.1 1 10
or, G(j ) = –84.289° – 45° – 5.711°
R(s ) + K G( s ) C(s )
– = –135° ...(iii)
From equation (ii) and (iii) we get,
P.M. = 180° – 135° = 45°
Im G(j )
39. Sol.
dB

26.02 –20 dB/decade

–1 +1 Re G(j )
6.02
10 20
0
0.1 1 2
–6.02 –20 dB/decade

From the Nyquist plot, it can be seen that it does +20 dB/decade
not encircle the critical point (–1, 0), The open-loop transfer function of the system is
N = P – Z, N = 0
s
The closed-loop system is unstable for +1 K
2
sufficiently large and positive K. G(s) H(s) = ...(i)
s
s +1
10
38. Sol.
where,
10
s s s 26.02 = 0.1 = 20 logK – 20 log
0.1 × 10 +1 +1 +1
0.1 1 10
or, K = 1.99 2 ...(ii)
122 Electronics Engineering Control Systems

From equation (i) and (ii), we get 42. Sol.

20(s + 2) C (s) 1
G(s) = ...(iii) = G(s ) =
2s (s + 10) R(s ) 2
Ms + Bs + K
Steady-state error for ramp input is, Steady-state value of response for unit step input,
A 1 1 1
ess = C(s) = lim s × × =
KV 2
s 0 Ms + Bs + K s K
where, KV = lim sG(s)
s 0 1
Also, G( 0) = = 18.5 dB
From equation (iii), K
(as per the given table)
10(s + 2)
K V = lim s × =2 18.5
s 0 s (s + 10) 1
= 10 20 = 0.12
1 K
ess = = 0.5
2 43. Sol.

40. (a) As we know,

A 4th order all-pole system means that the system y2 y1

Slope =
must be having no zero or s-terms in numerator x2 x1
and s4 terms in denominator or 4-poles i.e. 40 0
40 dB/dec =
1 log 300 log f L
H(s)
s4 300 40
or, log = =1
One pole exhibits –20 dB/decade slope, so fL 40
4 pole exhibits a slope of –80 dB/decade.
or, fL = 30 Hz
41. (a) Similarly,
40 0
10( s + 1) –40 dB/dec. =
G(s) = log 900 log f H
(s + 10)
For, =0 M1 = 1 and 1 = 0° 900
log = –1
=0 M2 = 10 fH
and = –tan–1 + tan–1 = 0° or, fH = 9000 Hz
2
Polar plot, fH – fL = 9000 – 30 = 8970 Hz

–270° or +90° 44. Sol.

10
G(s) =
s (s + 10)

P.M. = 180° + G( ) H ( ) = gc
± 180° 0° or 360°
1 10 The gain crossover frequency can be calculated
by
G( ) H ( ) = 1
10
=1
2
–90° or +270° + 100
As the zero is nearer to the imaginary axis hence 4 2
gc + 100 gc 100 = 0
the direction of polar plot is clockwise.
 GATE Previous Years Solved Paper 123

or, 2
= 0.99, –100.99 47. Sol.
gc
or, = 0.99 rad/sec. K
gc 1 + G(s) H(s) = 1 + =0
(s + 1) (s + 2) (s + 3)
1 gc
P.M. = 180° + 90° tan (s + 1) (s2 + 5s + 6) + K = 0
10
s3 + 5s2 + 6s + s2 + 5s + 6 + K = 0
0.99 s3 + 6s2 + 11s + 6 + K = 0
= 180° 90° tan 1
10 Gain margin = 0 dB and phase margin = 0 °
84.364° It implies marginal stable system.
By Routh array:
45. (a)
N = P–Z s3 1 11
N = Number of encirclements of (–1 + j0). It is s2 6 (6 + K )
positive if Nyquist plot encircles the point –1 + j0 66 6 K
s1 0
in counterclockwise direction. 6
Z = Number of closed-loop poles lying in the s0 6+K
right half of s-plane.
For marginal stable system,
P = Number of open-loop poles lying in right
60 – K = 0
half of s-plane.
K = 60
For stability, Z = 0 N=P
48. Sol.
46. (a)
K
1 s G(s) =
G(s) = (s + 0.1) (s + 10) (s + p1 )
4 + 2s
1 1 1
1 1 G(s) = tan tan tan
and G(s) = tan tan 0.1 10 p1
2
1 1 1 1 1 1
1 G( s ) =1 = tan tan tan
At s = 0, G(s) = = 0.25 0.1 10 p1
4
= –135°
and G( s ) =0
= 0°
1 1 1 1
tan 10 tan 0.1 tan = –135°
1 p1
At s = , G(s) = = 0.5
2 1 1
84.28° 5.71° tan = 135°
and G(s) = –180° p1
=
Nyquist plot is, 1 1
tan = –135° + 90°
p1
Im
1 1
tan = 45°
p1
1
=1 p1 = 1
Re p1
–1 –0.5 0.25

49. (a)
Final slope = –60 dB/decade
which indicates that, q – p = 3
Hence, number of encirclements of (–1 + j0) = 0 Among the given options, option (a) satisfies
this condition.
124 Electronics Engineering Control Systems

50. (b) 53. Sol.

K Maximum resonant peak,
Given that, G(s) = 2
(s + 2 s + 2) ( s + 2) 1
Mr = =2
2
P = Open-loop poles in RHS of s-plane 2 1
Z = Closed-loop poles in RHS of s-plane
2
1
N = Number of encirclements about the point 2 1 =
2
(–1 + j0)
1
For K = 10; N = P – Z = 0 Z = 0 : stable 2(1 – 2) =
16
For K = 100; N = P – Z = 1 Z 0 : unstable
4 2 1
+ =0
51. (c) 16
Given that, the open-loop transfer function of a
1
unity feedback system is, 1
1 4 = 1± 3
2 = ±
10 K(s + 2) 2 4 2 4
G(s) =
s3 + 3s 2 + 10 1 1
From the given Nyquist plot, for 0 < K < 1, the As Mr = 2 > 1, < and 2 <
2 2
encirclements about the point (–1 + j0) is,
N=0 2
1 3
So, =
N = P–Z 2 4
P = Number of open-loop poles in right half of 2
K n
Given, G(s) = =
s-plane s(s + 2) s (s + 2 n)
Z = Number of closed-loop poles in right half of
So, n = K
s-plane
To determine the value of P : 2 K =2
Applying R-H criteria to G(s), 1
K =
10 K(s + 2)
G(s) =
s + 3s 2 + 10
3
1 1
K= 2
1 3
s3 1 0
2 4
s2 3 10
10 4
s1 0 = = 14.928
3 2 3
s0 10 0
54. Sol.
Two sign changes are there in the first column For G(s),
of the RH table. So, two open-loop poles are there MdB ( pc) = 20 dB
in right half of s-plane. When cascaded with K,
So, P=2 GMdB = –20 dB – 20 log10(K) > 0 dB
N = P–Z 20 dB + 20 log10 (K) < 0
0 = 2–Z 20 log10 (K) < –20
Z=2 K < 10–1 = 0.10
Z = 2 indicates, there are two closed-loop poles So, K 0 = 0.10
in right half of s-plane.
 GATE Previous Years Solved Paper 125

55. (a) OL poles = 3[3 OL poles in the RHS]

P = 3
Corner frequency (in Hz) No. of poles (or) zeros
N(–1, 0) = (P – Z)
10 1 pole O = 3–Z
2
10 2 poles Z = 3 (3 CL poles in the RHS plane)
3
10 1 zero
4
58. (c)
10 2 zeros
5 For K = 1,
10 2 poles
6
1 pole 0.4 K
10
0.8 K
Number of poles (Np) = 5
Number of zeros (Nz) = 3

56. (b)
(–1, 0) 0.4
s-plane contour is encircling 2-poles and 3-zeros
in clockwise direction hence the corresponding
G(s) plane contour encirlces origin 2-times in
anticlockwise direction and 3-times in 0.8
clockwise direction. For K = 2, the plot will be
Effectively once in clockwise direction.
–0.8 K

57. (b) –1.6 K

jImGH

G(s ) H(s) plane

(–2, 0)

–1 + j0

0 Re GH N = Number of encirclement about (–1, 0) in

anticlockwise.
P = Total number of open-loop poles, in RHS,
N=0 Z = P–N
N=2 N = –2, P = 0
Z = 0 – (–2) = 2
Open zeros in the RH, Z = 1
Z=2
N(0, 0) = (OL poles – OL zeros)
Two poles lies in right side.
2 = OL poles – 1
126 Electronics Engineering Control Systems

Answers
EE Frequency Response Analysis

1. (b) 2. (b, d) 3. (a) 4. (d) 5. (d) 6. (d) 7. (a) 8. (a)

9. (b) 10. (c) 11. (c) 12. (d) 13. (b) 14. (c) 15. (a) 16. (d)

17. (b) 18. (c) 19. (d) 20. (b) 21. (d) 22. (d) 23. (a) 24. (c)

25. (b) 26. (0.755) 27. (a) 28. (c) 29. (d) 30. (b) 31. (a) 32. (a)

33. (a) 34. (1.047) 35. (d) 36. (b) 37. (a) 38. (2) 39. (c)

Solutions
EE Frequency Response Analysis

1. (b) Applying Routh criteria,

Q Curve starts from –180° type 2 system and
s3 1 1
Q Curve ends at –360°.
Difference between number of poles and s2 4 5
9
360° s1 0
number of zeros = =4 4
90°
s0 5
Q only option (b) is satisfying these two
properties. Hence, number of closed-loop poles at RHS of
Option (b) is correct. s-plane = number of sign changes = one.
Number of encirclements of G(s) about origin =
2. (b, d) Number of encirclements of G(s) H(s) about
Type = 1 (–1, 0) = {Number of open-loop poles at RHS of
Poles at = 0, 0.05 s-plane – Number of closed-loop poles at RHS
Zer at = 0.1 of s-plane}.
Using inital line equation, N = P–Z=1–1=0
dB = 20 log K – 20 log( ) No encirclement of origin of G(s).
At = 0.01,
4. (d)
dB = 60
60 = –20 log(0.01) + 20 log K Q r(t) = sint
On solving, K = 10 =1

10(1 + 10s) 1 1 1
T.F. = Gain = = =
s (1 + 20s) (1 + s) 1 + j 1+ j

5(s + 0.1) 1
= = 45°
s (s + 0.05) 2

1
3. (a) Output = sin t × 45°
2
1
G(s) = 1
(s 1) (s + 2) (s + 3) = sin(t 45°)
2
1 + G(s) H(s) = 0
i.e., s3 + 4s2 + s – 5 = 0
 GATE Previous Years Solved Paper 127

5. (d) K
Magnitude of G( j ) = G( j ) =
Nyquist plot will be 2
1+ 2
Im a

Phase of G(j ) G(j ) = tan 1

a
At = 0.5a;

G( j ) K K
= 0.5 a = =
Re (0.5 a)2 1.25
1.42 1+
a2
In dB
= 20 log K – 20 log (1.25)1/2
= 20 log K – 0.97 dB
From the plot,
Number of encirclement of (–1, j0) = –2 and magnitude = 20 log K
number of right sided poles in open-loop error in dB gain = 0.97 dB
system = 0 1 0.5 a
G( j ) = 0.5 a = tan = 26.56°
N = P–Z a
–2 = 0 – 2 Since it is –45°/dec (–ve slope) at = 0.5a
Z=2 phase = –22.5°
closed-loop system is unstable with two
poles on the right half of s-plane. Error in phase of G( j ) = 0.5a

= –22.5 – (–26.56)
6. (d)
= +4.06° +4.9°
Type-2:
Poles: 0, 0, 2, 25 8. (a)
Zeros: 5 Im
Gain = –40 log + 20 log K
Wg
54 = –40 log(0.1) + 20 log K
Re
K=5 (–1, j0)
1
5(1 + 0.2 s)
T.F. = 2
s (1 + 0.5s ) (1 + 0.04s)

50(s + 5)
= 2
s (s + 2) (s + 25) g is gain cross over frequency at which the gain

G( j ) H ( j ) becomes unity.
7. (a)
In this case, phase G(j ) H(j ) is –180° at = g,
K = –180°
Transfer function = G(s ) =
s So, phase margin = 180° + = 0°
1+
a
Put s = j ; 9. (b)

K x(t) = sint = 1 < 0

G( j ) = = 1 rad/sec.
1+ j
a s
T.F. = G(s ) =
s+1
128 Electronics Engineering Control Systems

For sinusoidal input, 1

s = j =j 1 + a2 ×
a2
2 =1
j j 1 1/ a
G( j ) =1 = = = 45°
j +1 j+1 2 1
y(t) = = 2
a2
1 1 1
45° 1 0° = 45° a= = 0.841
2 2 2 1 /4

1
y(t) = sin(t + 45°) 11. (c)
2
s2 + 4
10. (c) T(s) =
(s + 1) (s + 4)
Im For frequency response, put s = j

( j )2 + 4
T(j ) =
( j + 1) ( j + 4)

Re 2
4
–1 + j0 =
(1 + j ) (4 + j )
Magnitude of
Wg
2
4
T(j ) = T ( j ) =
2
(1 + ) (16 + )2

as + 1 2
4
G(s) = 2 T( j ) = =0
s (1 + 2
) (16 + )2
g = gain crossover frequency
= 2 rad/sec.
at
The system output is zero at 2 rad/sec.
which open gain is loop,
phase margin = 180° + G(j ) 12. (d)
45° = 180° + G(j g)
Im
G(j g) = –130°
ja g + 1 (–1 + j0)
G(j g) = 2 Re
(j g)
= –2 × 90° + tan–1 a g
G(j g) = –180° + tan–1 a g = –135°
tan–1 a g = 45° –1 + j0 is not enclosed, system is always stable.
a g= 1 G.M. =
1
g = 13. (b)
a
0.25s
Gain = G( j g ) = 1 e
G(s) H(s) =
s
1 + a2 2g Putting s = j , for frequency response,
2 =1 j 0.25
g e
G(j ) H(j ) =
j
 GATE Previous Years Solved Paper 129

phase angle = G(j ) H(j ) 1

where, K= = 0.1
= –90 – 0.25 10
At pc Nyquist plot cuts negative real axis and Corner frequencies,
this frequency G(j pc) H(j pc) is –180°.
1 = 1 rad/sec.

G(j 90° 2 = 10 rad/sec.

pc) H(j pc) =
4 and 3 = 100 rad/sec.

–180° = 90°
4 For frequency less than 1 i.e. < 1
= 360° or 2 Gain of the system is constant as there is no
pole at origin.
j 0.25 × 2
e Gain = 20 log K = 20 log 0.1
G( j pc ) H ( j pc ) = = 0.5
j2 = –20 dB
At = 1 = 1 rad/sec or log 1 = log = 0
14. (c) There is zero, so system gain increases with slope
K + 0.366s +20 dB/decade and system gain becomes 0 dB
G(s) = and H(s) = 1
s(s + 1) at = 10 rad/sec or
K + 0.366s log = 10 = log10 = 1
O.L.T.F. = G(s) H (s) =
s(s + 1)
At = 10 or log = log 10 = 1
Phase margin = 60° at pc 2
2 = 10
(gain crossover frequency) There is pole, so slope is –20 dB/decade.
180° + G(j pc) H(j pc) = 60° Overall slope 2 < < 3
G(j pc) H(j pc) = –120° = 20 dB/decade – 20 dB/decade
0.366 = 0 dB/decade
1 1 gc
90° tan pc + tan = 120° So, gain remains constant between,
K
2 < < 3
gc = 1 rad/sec
or, 1 < log < 2
0.366 × 1
90° tan 1 (1) + tan 1 = 120° At = 3 = 100 rad/sec or
K
log = log 100 = 2
0.366 3 = 100
1
= 90° 45° + tan = 120°
K The double pole are present.
0.366 So, system gain decrease with –40 dB/decade.
1
tan = 15°
K 17. (b)
0.366
K= = 1.366 1
tan 15° G(s) =
s(s + 1) (s + 2)
15. (a) Put s = j ,
1
10 4 (1 + j ) G(j ) =
H(j ) = j (1 + j ) (2 + j )
(10 + j ) (100 + j )2
j(1 j ) (2 j )
(1 + j ) = 2 2
= (1 + ) (4 + )
2
j j
10 × 1 + × 1+ j(2 3 j 2
)
10 100 = 2 2
(1 + ) (4 + )
K (1 + j )
H(j ) = 2 2
j j 3 j(2 )
1+ × 1+ = 2 2
10 100 (1 + ) (4 + )
130 Electronics Engineering Control Systems

2 At = 2 rad/sec, slope changes by –20 dB/dec.

3 j( 2)
= 2 2
+ 2 2 from –40 dB/decade to –60 dB/decade Hence
(1 + ) (4 + ) (1 + ) (4 + )
the corresponding term of the transfer function
= x + iy
At 0, x –3/4, y – 1
is .
s
18. (c) 1+
2
Initial slope is –40 dB/decade, it means there
are double pole or origin. At = 5 rad/sec, slope changes by 20 dB/decade
Slope changes from –40 dB/degree to from –60 dB/decade to –40 dB/decade. Hence
–20 dB/decade. It means there is a zero. the corresponding term of the transfer function
Slope changes from –20 dB/decade to s
0 dB/decade at some other frequency. It means is 1 + .
5
there is one more zero.
Therefore transfer function has two poles and At = 25 the slope changes by –20 dB/decade
two zeros. from –40 dB/decade to –60 dB/decade. Hence
the corresponding term of the transfer function
19. (d)
1
is .
s
Im 1+
– 25
=0

s
K 1+
5
G(s) =
s s
s2 1 + 1+
+ 2 25
–1 =
Re
–1.42 = – At = 0.1 ( 2 rad/sec)
Gain (dB) = 20 log K – 40 log
80 = 20 log K – 40 log 0.1
20 log K = 40
Nyquist-plot
K = 100
+
=0
s
100 1 +
5
G(s) =
Two clockwise encirclement of 1 + j0, s s
s2 1 + 1+
N = –2 2 25
Open-loop system is stable P = 0
1000(s + 5)
N = P–Z = 2
s (s + 2) (s + 25)
–2 = 0 – Z
Z = Number of closed-loop poles in RHS of
21. (d)
s-planes. Hence the system is unstable.
Open-loop transfer function,
20. (b) e 0.1s

Initial slope = –40 dB/decade G(s) =

s
Hence the system is type-2. So the Put s = j ,
corresponding term of the transfer function is j 0.1
e
1/s2. G(j ) =
j
 GATE Previous Years Solved Paper 131

At phase crossover frequency ( pc), phase of For zero steady-state output,

OLTF is –180°, 2 = 9

G( j ) = 3 rad/sec
/ pc = –180° = –
25. (b)
0.1 pc = –
2 K
Let, G(s) =
sn
–0.1 =
pc 2 K
G(j ) =
pc =5 ( j )n

e 0.1
is always 1 for any value of , Q Gain = 32 dB at = 1 rad/sec.

1 K
G( j ) 20 log n = 32
pc = 5 = 1
5
1 20 log K = 32
Gain margin = 20 log
G( j K = 39.8
pc )
Now,
= 20 log 5 = 23.9 dB
Q Gain = –8 dB at = 100 rad/sec.
23. (a) 39.8
20 log = –8
At gain across over frequency ( gc), magnitude 10 n
of G(j ) is 1. 10 n = 100
G( j n=2
gc ) =1
Phase of G(j ) = G(j gc) = –150° 26. Sol.
Phase margin = 180° + G(j gc) K(1 + 0.5s) (1 + as)
= 180° – 150° = 30° Given, G(s) =
s s
s 1+ (1 + bs ) 1 +
At phase cross frequency ( pc), phase of G(j ) is 8 36
–180°, G(j pc) = –180°
(1 + as) is addition of zero to the transfer function
M = magnitude of G(j ) at
whose contribution in slope = +20 dB/decade
pc = G( j pc ) = 0.5 or –6 dB/octave.
(1 + bs) is addition of pole to the transfer function
1 1
Gain margin = 20 log = 20 log = 6 dB whose contribution in slope = –20 dB/decade
M 0.5
or –6 dB/octave.
24. (c) Observing the change in the slope at different
For sinusoidal excitation, corner frequencies, we conclude that,
s=j 1
a= rad/sec.
4
( 2 + 9) ( j + 2)
G(j ) = 1
( j + 1) ( j + 3) ( j + 4) and b= rad/sec.
24
For zero steady-state output,
From = 0.01 rad/sec to = 8 rad/sec.
G( j ) = 0 slope = –20 dB/decade
Let the vertical length in dB be y,
2 2
( + 9) +4
= 0 y
2 2 2 –20 =
( + 1) ( + 9) ( + 16 )
log 8 log 0.01
132 Electronics Engineering Control Systems

y 28. (c)
or, –20 =
log 8 + 2 From the given Bode plot, it is clear that corner
or, y = 58 dB frequencies,
Appyling, y = mx + C at = 0.01 rad/sec. 1
we have, 58 = –20 log 0.01 + C c1 and c2 = 1
=
3
or, C = 58 – 40 = 18 Transfer function of given system is given
Now, C = 20 log K by
18 C(s) 1 + 3s 1 + Ts
or, log K = = 0.9 = =
20 T(s) =
R(s ) 1+s 1 + Ts
K = log–1 (0.9) = (10)0.9 = 7.94
1
1 Here, T = 3 and T = 1 or =
3
a 4
= As < 1, therefore the transfer function T(s)
bK 1
× 7.94
24 1
represents a lead compensator having = .
24 3
= = 0.755
4 × 7.94 Maximum phase shift,
a
= 0.755 1
bK 1
1 1 1 3
= tan = tan
m
2 2
27. (a)
3
5(s + 4)
Given, G(s) = 1 2 3 1
s (s + 0.25) (s2 + 4s + 25) = tan × = tan 1 = 30°
3 2 3
Reducing G(s) in time constant form, we have
1+3
s Also, T(j ) =
5× 4 1 + 1+ j
4
G(s) =
s 4 1 1+9 2
s 0.25 1 + 25 1 + s + s2
0.25 25 25 T( j ) =
2
1+
20(1 + 0.25s)
= Gain Gm in dB = 20 log T ( j )
s [0.25(1 + 4s)] [25(1 + 0.16s + 0.04s2 )]
2
or, 1+9 m
= 20 log 10 2
3.2(1 + 0.25s) 1+ m
G(s) = 2
s (1 + 4s) (1 + 0.16s + 0.04s ) 1 1
Now, m = =
The value of constant gain term = 3.2 T 3
Also,
2
1
j 1+ 9×
3.2 1 + 3
4 Gm = 20 log 10 2
G(j ) = 2 1
j 1+
(j ) 1+ 1 + j 0.16 3
0.25 25
Corner frequencies are:
1+ 3
1 = 4 rad/sec = 20 log 10 = 20 log 10 3
1
2 = 0.25 rad/sec 1+
3
and 3 = 5 rad/sec
Highest corner frequency = 3 = 5 rad/sec. or, GM = 4.77 dB
 GATE Previous Years Solved Paper 133

29. (d) 32. (a)

From initial line equation, From the given Bode plot, it is evident that there
dB = 20 log10 K ...(i) are 3-poles in the transfer function, out of which
As we know, there are double poles at corner frequency near
20 dB = 20 log10 K but less than = 8 rad/sec and one pole is near
i.e., K = 10 but greater than = 0.5 rad/sec. The initial slope
Now, from the given plot we know type of system is +20 dB/decade. Therefore one zero exist at
is one. s = 0. So from all the given options, option (a)
K (1 + sT1 ) satisfies all the conditions. Therefore option (a)
Hence, G(s) = is correct.
(1 + sT2 )
1 1 33. (a)
T1 = , T2 =
10 1000
s+3
10(1 + 0.001s) Nyquist plot of G(s ) H (s ) = 2 is as
= s (s 3)
(1 + 0.1s)
shown below.
1 (1000 + s)
=
10 (s + 10)

30. (b)
1
G1(s) =
s
=
=0
G2(s) = s
=0
1 =
G1(s) × G2(s) = s=1
s

31. (a)
100
G(s) =
(s + 1)3
From the Nyquist plot G(s) H(s) encircle –1 + j0
100 once in clockwise direction.
G(j ) =
(1 + j )3
34. Sol.
100
= Forward path transfer function,
1 + ( j )3 + 3( j )3 + 3 j
s
Ke
100 G(s) =
= s
(1 3 2 ) + j (3 3
)
Given:
2 2 2 Phase margin = 30°
100[(1 3 ) j (3 ) ]
=
[(1 3 2
)+ 2
(3 2 2
) ] or, Phase margin = 180°
30° = 180° +
For phase crossover frequency,
= –150°
Img[G(j )] = 0
Hence, (3 – 2) = 0 = G( j ) = gc

or, = 0, ± 3 [where, gc is gain crossover frequency]

Therefore, = G(j ) = –90° – 57.3

ph 3 rad/sec.
134 Electronics Engineering Control Systems

At = gc 37. (a)
(gain crossover frequency)
K
G(s) =
G( j ) = 1 s s
s 1+ 1+
1 20
K ×1
or, =1 Transfer function shows two-poles and no
zeros. So statement 1 is wrong.
= gc = K rad/sec.
1 1
G( j ) = gc = –90° – 57.3 K G(j ) = 90 tan tan
20
–90° – 57.3 K° = –150° 3
G( j ) = 270° = radian
– 57.3 K° = –60° 2
60 So, statement 2 is correct.
K= = 1.047
57.3
38. Sol.
35. (d) K
O.L.T.F. G(s) =
Vo (s) 1 s ( s + a ) (s b ) ( s + c )
= = H (s)
Vi (s) 1+s N = P – Z, P=1
For the minimum and maximum values of ‘ ’, –1 = 1 – Z, N = –1
1 j Z=2
H(j ) =
1+ j
39. (c)
H(j ) = –2 tan–1
At = 0; s2 + 100
H(s) = T.F. =
H(j ) = 0° s p
At = , D.C. gain = 5
H(j ) = – 100
= 5 = p – 20
36. (b) p
2
180 pc + 100
G(j ) = 0.25 × 90° H(j ) =
j + 20
= –180° 2
+ 100
H( j ) =
180 pc 2
0.25 × = –90° + 400
2
+ 100
4 =1
pc = =2 2
+ 400
2
0.25s = 8.84 rad/sec.
G( j ) e
= pc = = = 0.5
s 2
= pc

Point is (–0.5, j0).

 7 State Space Analysis

ELECTRO NICS EN GINEERIN G Q.4 A certain linear time invariant system has the
state and the output equations given below:
(GATE Previous Years Solved Papers)
x1 1 1 x1 0
= + u
Q.1 Given the following state space description of a x2 0 1 x2 1
system,
x1
y = [1 1] is
x1 2 0 x1 0 x2
= + u
x2 0 4 x2 1 dy
x1(0) = 1, x2(0) = –1, u(0) = 0 then is
x1 dt t = 0
y = [1 0]
x2 (a) 1 (b) –1
Find the state transmission matrix. (c) 0 (d) None of the above
[EC-1988 : 2 Marks] [EC-1997 : 2 Marks]

Q.2 A linear second-order single-input continuous Q.5 The system mode described by the state
time system is described by following set of equations,
differential equations: 0 1 0
x = x+ u
x1 (t ) = –2x1(t) + 4x2(t) 2 3 1
Y = [1 1] x is
x2 (t ) = 2x1(t) – x2(t) + u(t)
(a) controllable and observable
where, x1(t) and x2(t) are the state variables and
(b) controllable, but not observable
u(t) is the control variable. The system is
(c) observable, but not controllable
(a) controllable and stable.
(d) neither controllable nor observable
(b) controllable but unstable.
[EC-1999 : 1 Mark]
(c) uncontrollable and unstable.
(d) uncontrollable but stable. Q.6 For the system described by the state equation,
[EC-1991 : 2 Marks] 0 1 0 0
Q.3 A linear time invariant system is described by x= 0 0 1 x+ 0 u
the state variable model 0.5 1 2 1

x1 1 0 x1 0 If the control signal ‘u’ is given by

= + u
x2 0 2 x2 1 u = [–0.5 – 3 – 5] x + v
then the eigen values of the closed-loop system
x1 will be
Y = [1 2]
x2 (a) 0, –1, –2 (b) 0, –1, –3
(a) The system is completely controllable. (c) –1, –1, –2 (d) 0, –1, –1
(b) The system is not completely controllable. [EC-1999 : 2 Marks]
(c) The system is completely observable. Q.7 The transfer function Y(s)/U(s) of a system
(d) The system is not completely observable. described by the state equations,
[EC-1992 : 2 Marks] x(t ) = 2 x(t ) + 2 u(t ) and y(t) = 0.5x(t) is
 136 Electronics Engineering Control Systems

0.5 1 The eigen values of the representations are also

(a) (b) computed as [ ] and [µ]. Which one of the
(s 2) (s 2)
0.5 1 following statements is true?
(c) (d) (a) [ ] = [µ] and X = W
(s + 2) (s + 2)
(b) [ ] = [µ] and X W
[EC-2002 : 1 Mark]
(c) [ ] [µ] and X = W
Q.8 The zero-input response of a system given by
(d) [ ] [µ] and X W [EC-2005 : 1 Mark]
state-space equation,
x1 1 0 x1 Q.12 A linear system is described by the following
= state equation:
x2 1 1 x2
1 0 1
x1 (0) X (t ) = AX(t ) + BU (t ), A =
and = is 1 0
x2 (0) 0
The state-transition matrix of the system is
tet et
(a) (b) cos t sin t cos t sin t
t t (a) (b)
sin t cos t sin t cos t
t t
e
(c) (d) cos t sin t cos t sin t
tet tet (c) sin t cos t (d) cos t sin t
[EC-2003 : 2 Marks] [EC-2006 : 2 Marks]
Q.9 The state variable equations of a system are: Q.13 The state space representation of a separately
1. x1 = 3 x1 x 2 + u excited dc servo-motor dynamics is given as,
2. x 2 = 2 x1 ; y = x1 + u d
The system is dt 1 1 0
= + u
(a) controllable but not observable. dia 1 10 ia 10
(b) observable but not controllable. dt
(c) neither controllable nor observable. where is the speed of the motor, ia is the
(d) controllable and observable. armature current and u is the armature voltage.
[EC-2004 : 2 Marks] The transer function (s)/U(s) of the motor is
10 1
(a) (b)
1 0 s 2 + 11s + 11 2
s + 11s + 11
Q.10 Given, A = , the state transition matrix
0 1 10s + 10 1
(c) (d)
s 2 + 11s + 11 s2 + s + 1
eAT is given by
[EC-2007 : 2 Marks]
0 e t et 0
(a) (b) Statement for Linked Answer Questions (14 and 15):
e t
0 0 et
Consider a linear system whose state space
t t
e 0 0 e representation is x(t ) = Ax (t ). If the initial state vector
(c) (d) t
t e 0
0 e
1
[EC-2004 : 2 Marks] of the system is x(0) = , then the system response
2
Q.11 A linear system is equivalently represented by
two sets of state equations: e 2t

X = AX + BU and W = CW + DU is x(t ) = .
2t
2e
 GATE Previous Years Solved Paper 137

If the initial state vector of the system changes to The set of equations that correspond to this
signal flow graph is
1
x(0) = . Then the system response becomes x1 0 x1 1 0
1 u1
d
(a) x2 = 0 x2 + 0 0
dt u2
t x3 0 x3 0 1
e
x (t ) = .
t x1 0 x1 0 0
e
d u1
(b) x2 = 0 x2 + 0 1
dt u2
Q.14 The eigen value and eigen-vector pairs ( i, vi) x3 0 x3 1 0
for the system are:
x1 0 x1 1 0
d u1
1 1 (c) x2 = 0 x2 + 0 1
(a) 1, and 2, dt u2
1 2 x3 0 x3 0 0

1 1 x1 0 x1 0 1
(b) 2, and 1, d u1
1 2 (d) x 2 = 0 x2 + 0 0
dt u2
x3 0 x3 1 0
1 1
(c) 1, and 2, [EC-2008 : 2 Marks]
1 2

1 1 0 1
(d) 2, and 1, Q.17 Consider the matrix P = . The value
1 2 2 3

[EC-2007 : 2 Marks] of eP is

Q.15 The system matrix A is 2 1 1 2

2e 3e e e
(a) 2 1 2 1
0 1 1 1 2e 2e 5e e
(a) 1 1 (b) 1 2
1 2 2 1
e +e 2e e
1 1 0 1 (b) 1
(c) (d) 2e 4e2 3e 1
+ 2e 2
1 2 2 3
2 1 1 2
[EC-2007 : 2 Marks] 5e e 3e e
(c)
2 1 2 1
Q.16 A signal flow graph of a system is given below. 2e 6e 4e +e

– 1 2 1 2
2e e e e
(d)
1 2 1 2
2e + 2e e + 2e
1 x3 1/s
x3 [EC-2008 : 2 Marks]
–
dx
x2 x2 Q.18 Consider the system = Ax + Bu with
1/s dt

x1 1 0 p
x1 A= and B = where p and q are
1 1/s 0 1 q

arbitrary real numbers. Which of the following

– statements about the controllability of the
system is true?
 138 Electronics Engineering Control Systems

(a) The system is completely state controllable

1
for any non-zero values of p and q. V
s+2
(b) Only p = 0 and q = 0 result in controllability.
Y
(c) The system is uncontrollable for all values
2
of p and q.
s+2
(d) We cannot conclude about controllability
from the given data. A state space model of the above system in terms
[EC-2009 : 1 Mark] of the state vector x and the output vector
y = [y1 y2]T is
Common Data Questions (19 and 20):
(a) x = [2]x + [1] u ; y = [1 2] x
The signal flow graph of a system is shown below:
1 1
(b) x = [ 2]x + [1] u ; y= x
2
2 1/s 1/s 0.5
2 0 1
U(s) 1 Y(s ) (c) x = x+ u; y = [1 2] x
0 2 1
–1
2 0 1 1
(d) x = x+ u; y= x
–1 0 2 2 2
Q.19 The state variable representation of the system [EC-2011 : 2 Marks]
can be
Q.22 The state variable description of an LTI system
1 1 0 is given by:
(a) x = x+ u
1 0 2
x1 0 a1 0 x1 0
y = [0 0.5] x x2 = 0 0 a2 x2 + 0 u
1 1 0 x3 a3 0 0 x3 1
(b) x = x+ u
1 0 2 x1
y = [0 0.5] x y = (1 0 0) x2
1 1 0 x3
(c) x = x+ u
1 0 2 where y is the output and u is the input. The
y = [0.5 0.5] x system is controllable for
(a) a1 0, a2 = 0, a3 0
1 1 0
(d) x = x+ u (b) a1 = 0, a2 0, a3 0
1 0 2
(c) a1 = 0, a2 0, a3 = 0
y = [0.5 0.5] x
(d) a1 0, a2 0, a3 = 0
[EC-2010 : 2 Marks]
[EC-2012 : 2 Marks]
Q.20 The transfer function of the system is
Statement for Linked Answer Questions (23 and 24):
s+1 s 1
(a) (b) The state diagram of a system is shown below is
s2 + 1 s2 + 1 described by the state-variable equations:
s+1 s 1
(c) 2
(d) 2 X = AX + Bu; y = CX + Du
s +s+1 s +s+1
1 x1 –1 x1 1 x2 –1 x2 1
[EC-2010 : 2 Marks] u y

Q.21 The block diagram of a system with one input u

and two outputs y1 and y2 is given below. 1/s 1/s
 GATE Previous Years Solved Paper 139

Q.23 The state-variable equations of the system in the Q.26 An unforced linear time invariant (LTI) system
figure above are: is represented by
x1 1 0 x1
1 0 1 =
(a) X = X+ u x2 0 2 x2
1 1 1
y = [1 1] X + u If the initial conditons are x 1 (0) = 1 and
x2(0) = –1, the solution of the state equation is
1 0 1 (a) x1(t) = –1, x2(t) = 2
(b) X = X+ u
1 1 1 (b) x1(t) = –e–t, x2(t) = 2e–t
y =[ 1 1] X + u (c) x1(t) = e–t, x2(t) = –e–2t
(d) x1(t) = –e–t, x2(t) = –2e–t
1 0 1
(c) X = X+ u [EC-2014 : 2 Marks]
1 1 1
y =[ 1 1] X u Q.27 Consider the state space system expressed by
the signal flow diagram shown in the figure.
1 1 1
(d) X = X+ u c3
c2
0 1 1
y = [1 1] X u 1 s
–1
s
–1
s
–1
u y
x3 x2 x1 c 1
[EC-2013 : 2 Marks] a3
a2
Q.24 The state transition matrix e4t of the system a1
shown in figure above is
The corresponding system is
t t
e 0 e 0 (a) always controllable.
(a) t t
(b) t t
te e te e (b) always observable.
(c) always stable.
t t t
e 0 e te (d) always unstable. [EC-2014 : 2 Marks]
(c) t t
(d) t
e e 0 e
Q.28 The state equation of a second-order linear
[EC-2013 : 2 Marks] system is given by
Q.25 Consider the state space model of a system, as x(t ) = Ax(t ), x(0) = x0
given below: t
1 e 0
x1 1 1 0 x1 0 For x0 = , x( t ) = and for x0 = ,
1 e t 1
x2 = 0 1 0 x2 + 4 u
t 2t
x3 0 0 2 x3 0 e e
x( t ) =
t 2t
x1 e + 2e
y = [1 1 1] x2 3
When x0 = , x(t ) is
x3 5
The system is 8 e t + 11 e 2 t 11 e t
8e 2t

(a) controllable and observable. (a) (b)

8e t 22 e 2 t 11 e t
+ 16 e 2t
(b) uncontrollable and observable.
t 2t t 2t
(c) uncontrollable and unobservable. 3e 5e 5e +6e
(c) t 2t (d) t 2t
(d) controllable and unobservable. 3e + 10 e 5e +6e
[EC-2014 : 2 Marks] [EC-2014 : 2 Marks]
 140 Electronics Engineering Control Systems

Q.29 The state transition matrix (t) of a system (a) controllable but not observable.
(b) observable but not controllable.
x1 0 1 x1
= is (c) both controllable and observable.
x2 0 0 x2
(d) neither controllable nor observable.
t 1 1 0 [EC-2016 : 2 Marks]
(a) (b)
1 0 t 1
Q.33 Consider the state space realization:
0 1 1 t
(c) (d) x 1 (t ) 0 0 x1 (t ) 0
1 t 0 1 = + u(t ) with the
x 2 (t ) 0 9 x 2 (t ) 45
[EC-2014 : 2 Marks]
x1 (0) 0
Q.30 The state variable representation of a system is initial condition = , where u(t)
x2 (0) 0
given as,
denotes the unit step function. The value of
0 1 1
x = x; x(0) =
0 1 0
lim x12 (t ) + x22 (t ) is _______ .
y = [0 1]x t
The response y(t) is [EC-2017 : 1 Mark]
(a) sin(t) (b) 1 – et
Q.34 A second-order LTI system is described by the
(c) 1 – cos(t) (d) 0
following state equations:
[EC-2015 : 2 Marks]
d
x 1 (t ) x 2 ( t ) = 0
Q.31 A network is described by the state model as, dt
x1 = 2x1 – x2 + 3u d
x2 (t ) + 2 x1 (t ) + 3x2 (t ) = r(t)
dt
x2 = –4x2 – u
where x1(t) and x2(t) are the two state variables
y = 3x1 – 2x2 and r(t) denotes the input. The output c(t) = x1(t).
Y (s) The system is
The transfer function, H (s ) = is
U (s) (a) undamped (oscillatory)
(b) underdamped
11 s + 35 11 s 35
(a) (b) (c) critically damped
(s 2) (s + 4) (s 2) (s + 4)
(d) overdamped [EC-2017 : 2 Marks]
11 s + 38 11 s 38
(c) (d) Q.35 The state equation and the output equation of a
(s 2) (s + 4) (s 2) (s + 4)
control system are given below:
[EC-2015 : 2 Marks]
4 1.5 2
x = x+ u
Q.32 A second-order linear time-invariant system is 4 0 0
described by the following state equations: y = [1.5 0.625 x]
d The transfer function representation of the
x1 (t ) + 2 x1 (t ) = 3u(t )
dt system is
d 3s + 5 3s 1.875
x2 (t ) + x2 (t ) = u(t ) (a) (b)
dt
2
s + 4s + 6 s 2 + 4s + 6

where x1(t) and x2(t) are the two state variables 4s + 1.5 6s + 5
(c) 2 (d) 2
and u(t) denotes the input. If the output s + 4s + 6 s + 4s + 6
c(t) = x1(t), then the system is [EC-2018 : 2 Marks]
 GATE Previous Years Solved Paper 141

Q.36 Let the state-space representation of an LTI

d v 4 4 v 4 4 i1
system be (c) = +
dt i 2 4 i 4 0 i2
X(t ) = AX(t) + Bu(t)
y(t) = CX(t) + du(t) d v 4 4 v 0 4 i1
(d) = +
dt i 2 4 i 4 4 i2
where A, B, C are matrices, d is a scalar, u(t) is
the input to the system, and y(t) is its output. Let [EC-2020 : 2 Marks]
B = [0 0 1]T and d = 0. Which one of the following
Q.38 The electrical system shown in the figure
options for A and C will ensure that the transfer
converts input source current iS(t) to output
function of this LTI system is
voltage vo(t).
1
H (s) = 3 2
s + 3s + 2 s + 1 iL(t )

0 1 0 1H
vo(t)
(a) A = 0 0 1 and C = [0 0 1] 1
3 2 1
+
is(t) vC(t) 1F 1
–
0 1 0
(b) A = 0 0 1 and C = [0 0 1]
1 2 3

0 1 0 Current iL(t) in the inductor and voltage vc(t)

(c) A = 0 0 1 and C = [1 0 0] across the capacitor are taken as the state
1 2 3 variables, both assumed to be initially equal to
zero i.e., iL(0) = 0 and vc(0) = 0. The system is
0 1 0 (a) completely state controllable as well as
(d) A = 0 0 1 and C = [1 0 0] completely observable.
3 2 1 (b) neither state controllable nor observable.
(c) completely state controllable but not
[EC-2019 : 2 Marks]
observable.
Q.37 For the given circuit, which one of the following (d) completely observable but not state
is the correct state equation? controllable.
0.5 H [EC-2021 : 2 Marks]
i
ELECTRICAL EN GINEERIN G
+
i1 2 V 0.25 F 1 i2 (GATE Previous Years Solved Papers)
–
Q.1 The transfer function for the state variable

representation X = AX + BU , Y = CX + DU , is
d v 4 4 v 0 4 i1
(a) = + given as
dt i 2 4 i 4 0 i2
(a) D + C(sI – A)–1 B (b) B(sI – A)–1 C + D
d v 4 4 v 4 0 i1 (c) D(sI – A)–1 B + C (d) C(sI – A)–1 D + B
(b) = +
dt i 2 4 i 0 4 i2 [EE-1993 : 1 Mark]
 142 Electronics Engineering Control Systems

Q.2 Consider a second order system whose state Q.7 Given the homogenous state-space equation
space representation is of the form
3 1
X = AX + BU . If x1(t) = x2(t), then system is X= x the steady-state value of
0 2
(a) controllable (b) uncontrollable
(c) observable (d) unstable xss = lim x(t ), given the initial state value of
t
[EE-1993 : 1 Mark]
x(t) = [10 – 10]T, is
Q.3 The matrix of any state space equations for the 0 3
transfer function C(s)/R(s) of the system, shown (a) xss = (b) xss =
0 2
below in figure is
10
(c) xss = (d) xss =
R(s ) 3 +
–
1/s C(s ) 10
[EE-2001 : 1 Mark]

Q.8 The state transition matrix for the system

1 0 1 0
(a) (b)
0 1 0 1 X = AX with initial state X(0) is

(c) [–1] (d) [3] (a) (sI – A)–1

[EE-1994 : 1 Mark] (b) eAt X(0)
(c) Laplace inverse of [(sI – A)–1]
a 1 (d) Laplace inverse of [(sI – A)–1 X(0)]
Q.4 The eigen-values of the matrix are
a 1 [EE-2008 : 1 Mark]

(a) (a + 1), 0 (b) a, 0 Q.9 For the system

(c) (a – 1), 0 (d) 0, 0 2 0 1
X= X+ u ; y = [4 0] X
[EE-1994 : 1 Mark] 0 4 1

Q.5 A system is described by the state equation with ‘u’ as unit impulse and with zero initial
state, the output ‘y’ becomes
X = AX + BU . The output is given by Y = CX.
(a) 2e2t (b) 4e2t
4 1 1 (c) 2e4t (b) 4e4t
Where, A = ,B= , C = [1 0] .
3 1 1 [EE-2002 : 2 Marks]
Transfer function G(s) of the system is
s 1 2 3 1
(a) (b) Q.10 For the system X = X+ u , which of
2 2 0 5 0
s + 5s + 7 s + 5s + 7
s 1 the following statement is true?
(c) 2 (d) 2
s + 3s + 2 s + 3s + 2 (a) The system is controllable but unstable.
[EE-1995 : 1 Mark]
(b) The system is uncontrollable and unstable.
Q.6 Given the matrix: (c) The system is controllable and stable.
0 1 0 (d) The system is uncontrollable and stable.
A= 0 0 1 [EE-2002 : 2 Marks]
6 11 6 Q.11 A second order system starts with an initial
Its eigen values are ________ .
2
[EE-1995 : 1 Mark] condition of without any external input.
3
 GATE Previous Years Solved Paper 143

The state transition matrix for the system is Statement for Common Data Questions (14 and 15):
2t
e 0 0 1 1
given by . The state of the system at A state variable system X (t ) = X (t ) + U (t ),
0 e t 0 3 0

the end of 1 second is given by with the initial condition X(0) = [–1 3]T and the unit
0.271 0.135 step input u(t) has
(a) (b)
1.100 0.368 Q.14 The state transition matrix
0.271 0.135 1 3t
(c) (d) 1 (1 e )
0.736 1.100 (a) 3
3t
[EE-2003 : 1 Mark] 0 e

Q.12 The following equation defines a separately 1 t 3t

1 (e e )
excited dc motor in the form of a differential (b) 3
t
equation, 0 e

d2 Bd K2 K 1 t 3t
2
+ + = Va 1 (e e )
dt J dt LJ LJ (c) 3
3t
The above equation may be organized in the 0 e
state space form as follows:
1 (1 e t )
(d) t
[EE-2005 : 2 Marks]
d2 0 e
d
dt 2 = P dt + QVa
d Q.15 The state transition equation
dt t e t
t e t
(a) X (t ) = (b) X (t ) =
where the ‘P’ matrix is given by e t
3e 3t

B K2 K2 B 3t 3t
t e t e
(a) J LJ (b) LJ J (c) X (t ) = (d) X (t ) =
3t t
1 0 0 1 3e e
[EE-2005 : 2 Marks]
0 1 1 0
K2 Q.16 For a system with the transfer function,
(c) B (d) B K2
LJ J J LJ 3(s 2)
H (s) = 3
[EE-2003 : 2 Marks] s + 4s 2 2 s + 1
The matrix A in the state space form x = Ax + Bu
Q.13 The state variable description of a linear
is equal to
autonomous system is, X = AX, where X is the
two dimensional state vector and A is the system 1 0 0 0 1 0
(a) 0 1 0 (b) 0 0 1
0 2
matrix given by A = . The roots of the 1 2 4 1 2 4
2 0
0 1 0 1 0 0
characteristic equation are
(c) 3 2 1 (d) 0 0 1
(a) –2 and +2 (b) –j2 and +j2
1 2 4 1 2 4
(c) –2 and –2 (d) +2 and +2
[EE-2006 : 1 Mark]
[EE-2004 : 2 Marks]
 144 Electronics Engineering Control Systems

Q.17 The state equation for the current I1 shown in (a) 0 (b) 1
the network shown below in terms of the voltage (c) 2 (d)
Vx and the independent source V, is given by [EE-2008 : 2 Marks]
3 0.2 H 5 Statement for Common Data Questions (20 and 21):
+ V – A system is described by the following state and output
x I2
equations:
V I1 –
0.5 H + 0.2Vx
dx1 (t )
= 3x1 (t ) + x2 (t ) + 2 u(t )
dt
dx2 (t )
= 2 x2 (t ) + u(t )
dI1 5 dt
(a) = 1.4 Vx 3.75 I 1 + V
dt 4 y(t) = x1(t)
dI1 5 Q.20 The system transfer function is
(b) = 1.4 Vx 3.75 I1 V
dt 4
s+2 s+3
dI1 5 (a) 2 (b) 2
(c) = 1.4 Vx + 3.75 I 1 + V s + 5s 6 s + 5s + 6
dt 4
2s + 5 2s 5
dI1 5 (c) 2 (d) 2
(d) = 1.4 Vx + 3.75 I 1 V s + 5s + 6 s + 5s 6
dt 4
[EE-2009 : 2 Marks]
[EE-2007 : 2 Marks]
Q.21 The state-transition matrix of the above system
Statement for Linked Answer Questions (18 and 19):
is
The state space equation of a system is described by
x = Ax + Bu, y = Cx where x is state vector, u is input, y e 3t 0
(a)
e 2 t + e 3t e 2t
0 1 0
is output and A = ,B= , C = [1 0] . 3t 2t 3t
0 2 1 e e e
(b)
2t
0 e
Q.18 The transfer function G(s) of this system will be
3t 2t 3t
s s+1 e e +e
(a) (b) (c)
2t
(s + 2) s ( s 2) 0 e

s 1 e 3t e 2t
e 3t
(c) (d) (d)
(s 2) s ( s + 2) 2t
0 e
[EE-2008 : 2 Marks]
[EE-2009 : 2 Marks]
Q.19 A unity feedback is provided to the above system
G(s) to make it a closed-loop system as shown Q.22 The system X = AX + BU and
in figure. 1 2 0
A= , B=
+ 0 2 1 is
r (t ) G(s ) y(t )
– (a) stable and controllable
(b) stable but uncontrollable
(c) unstable but controllable
For a unit step input r(t), the steady state error (d) unstable and uncontrollable
in the input will be
[EE-2010 : 2 Marks]
 GATE Previous Years Solved Paper 145

Q.23 The state variable description of an LTI system

et 0 et 0
is given by (a) t t (b) 2 t
e e t e et
x1 0 a1 0 x1 0
x2 = 0 0 a2 x2 + 0 u et 0 et t et
(c) (d)
x3 a3 0 0 x3 1 t et et 0 et
[EE-2014 : 1 Mark]
x1
y = (1 0 0) x2 Q.27 Consider the system described by following
x3 state space equations:
x1 0 1 x1 0
where ‘y’ is the output and ‘u’ is the input. The = + u
x2 1 1 x2 1
system is controllable for
(a) a1 0, a2 = 0, a3 0 x1
y = [1 0]
(b) a1 = 0, a2 0, a3 0 x2
(c) a1 = 0, a2 0, a3 = 0 If ‘u’ is unit step input, then the steady-state
(d) a1 0, a2 0, a3 = 0 error of the system is
[EE-2012 : 2 Marks] (a) 0 (b) 1/2
(c) 2/3 (d) 1
Common Data Questions (24 and 25):
[EE-2014 : 2 Marks]
The state variable formulation of a system is given as,
Q.28 In the signal flow diagram given in the figure,
x1 2 0 x1 1
= + u u1 and u2 are possible inputs whereas y1 and y2
x2 0 1 x2 2 are possible outputs. When would the SISO
x1(0) = (0), x2(0) = 0 system derived from this diagram be controllable
x1 and observable?
and y = [1 0] 5
x2

Q.24 The system is x1

u1 1/s y1
1 1
(a) controllable but not observable.
–2
(b) not controllable but observable.
1 1
(c) both controllable and observable.
(d) both not controllable and not observable. 2

[EE-2013 : 2 Marks] x2
u2 1/s y2
1 –1
Q.25 The response y(t) to a unit step input is
1 1 2t 1 2t 1 t 1
(a) e (b) 1 e e
2 2 2 2 (a) When u1 is the only input and y1 is the only
(c) e–2t – e–t (d) 1 – e–t output.
[EE-2013 : 2 Marks] (b) When u2 is the only input and y1 is the only
output.
Q.26 The state transition matrix for the system (c) When u1 is the only input and y2 is the only
x1 1 0 x1 1 output.
= + u is (d) When u2 is the only input and y2 is the only
x2 1 1 x2 1
output.
[EE-2015 : 2 Marks]
 146 Electronics Engineering Control Systems

Q.29 Consider a linear time invariant system x = Ax , Q.32 Consider the system described by the following
state space representation:
with initial conditions x(0) at t = 0. Suppose
and are eigen vectors of (2 × 2) matrix A x1 ( t ) 0 1 x1 ( t ) 0
= 0 + u(t )
corresponding to distinct eigen values 1 and 2 x2 (t ) 2 x2 (t ) 1
respectively. Then the response x(t) of the system
x1 ( t )
due to initial condition x(0) = is y(t) = [1 0]
x2 (t )
(a) e 1t (b) e 2t
x1 ( t ) 1
(c) e 2t (d) e 1t + e 2t If u(t) is a unit step input and = ,
x2 (t ) 0
[EE-2016 : 2 Marks]
value of output y(t) at t = 1 sec. (Rounded off to
Q.30 The second order dynamic system, 3 decimal places), is _______ .
dX [EE-2017 : 2 Marks]
= PX + Qu , y = RX
dt
Q.33 Consider a state-variable model of a system:
has the matrices P, Q and R as follows:
xˆ 1 0 1 x1 0
1 1 0 = + r
P= ,Q = , R = [0 1] xˆ 2 2 x2
0 3 1
x1
The system has the following controllability and y = [1 0]
x2
observability properties:
where ‘y’ is the output, and ‘r’ is the input. The
(a) controllable and observable
damping ratio and the undamped natural
(b) not controllable and observable
frequency n (rad/sec) of the system are given by
(c) controllable but not observable
(d) not controllable and not observable (a) = , n =
[EE-2017 : 2 Marks]

Q.31 The transfer function of the system Y(s)/U(s) (b) = , n =

whose state-space equations are given below is
x1 ( t ) 1 2 x1 ( t ) 1 (c) = , =
= 2 0 + u(t ) n
x2 (t ) x2 (t ) 2

x1 ( t ) (d) = , n =
y(t) = [1 0]
x2 (t ) [EE-2017 : 2 Marks]

(s + 2) (s 2)
(a) 2 (b) 2
(s 2s 2) (s + s 4)

(s 4) (s + 4)
(c) 2 (d) 2
(s + s 4) (s s 4)
[EE-2017 : 2 Marks]
 GATE Previous Years Solved Paper 147

Electronics & Electrical Engineering

GATE Previous Years Solved Paper

A n swe rs & Expl a n a t i o n s

Answers
EC State Space Analysis

1. (Sol.) 2. (b) 3. (b, c) 4. (a) 5. (a) 6. (a) 7. (d) 8. (c)

9. (d) 10. (b) 11. (b) 12. (a) 13. (a) 14. (c) 15. (d) 16. (d)

17. (d) 18. (c) 19. (b) 20. (c) 21. (c) 22. (d) 23. (a) 24. (a)

25. (b) 26. (c) 27. (a) 28. (b) 29. (d) 30. (d) 31. (a) 32. (a)

33. (5) 34. (d) 35. (a) 36. (c) 37. (a) 38. (b)

Solutions
EC State Space Analysis

1. Sol. 0
B=
2 0 1
A
0 4
2 4 0 4
AB = =
s+2 0 +2 1 1 1
sI – A =
0 s+4
0 4
[sI – A]–1 = Qc =
1 1
1 s+4 0
( s + 2) ( s + 4) 0 s + 2 Qc = 0 – 4 = 4 0
1 Hence the given system is controllable.
0
s+2 Characteristic equation,
[sI – A]–1 =
1 [sI – A] = 0
0
s+4
s+2 4
State transition matrix, =0
2 s+1
(t) = eAt = L –1{[sI – A]–1}
(s + 2) (s + 1) – 8 = 0
2t
At e 0
(t) = e = 3 ± 9 + 24
4t s=
0 e
2
= –4.37, 1.37
2. (b)
Since 1 pole lie in RHS of s-plane.
x1 2 4 x1 0 So, the given system is unstable.
= + u(t )
x2 +2 1 x2 1
Qc = [B AB]
148 Electronics Engineering Control Systems

3. (b, c) 5. (a)
1 0 Qc = [B AB A2B ... An – 1 B]
A= 0 1
0 2
A=
2 3
0
B= 0
1
B= 1
1 0 0 0
AB = = C = [1 1]
0 2 1 2
Qc = [B AB] +1
AB =
3
0 0
Qc = 0 1
1 2
Qc = 0
1 3 2×2
Qc = 0 – 0 = 2
So, the given system is not completely Order 2, rank 2
controllable, Controllable,
2
1 0 Q0 = [CT AT CT AT CT ... ...]
AT = 0 2 1 0 2
CT = , AT =
C = [1 2] 1 1 3

1 1 2
CT = Q0 = 0
2 1 2
1 0 1 1 rank 2 observable.
AT CT = =
0 2 2 4
6. (a)
Qo = [CT ATCT]
0 1 0 0
1 1
Qo = x = 0 0 1 x + 0 [ 0.5 3 5] x + v
2 4
0.5 1 2 1
Qo = –4 – (–2) = –2 0
0 1 0
So, the given system is completely observable.
x = 0 0 1 x+v
(b) The system is not completely controllable.
0 2 3
(c) The system is completely observable.
Characteristic equation
4. (a) = 3+3 2+2 +0=0
x1 = x1 – x2 = 0, –1, –2

x1 (0) = x1(0) – x2(0) 7. (d)

x1 (0) = 1 – (–1) = 2 x(t ) = –2x(t) + 2u(t) ...(i)
x2 = x 2 y(t) = 0.5x(t) ...(ii)
x2 (0) = x2(0) = –1 From equation (i), taking Laplace transform of
y = x1 + x2 equation (i),
dy sX(s) = –2X(s) + 2U(s)
= x1 + x 2 X(s) [s + 2] = 2U(s)
dt
dy 2 U (s)
= x1 (0) + x2 (0) = 2 1 = 1 X(s) =
dt t = 0 (s + 2)
 GATE Previous Years Solved Paper 149

Taking Laplace transform of equation (ii), 3

Y(s) = 0.5 X(s) ATCT =
1
0.5 × 2 U ( s )
Y(s) = 1 3
s+2 Qo = 0
0 1
Y (s) 1
= Observable.
U (s) (s + 2)
10. (b)
8. (c)
s 0 1 0
s 0 1 0 [sI – A] =
(sI – A) = 0 s 0 1
0 s 1 1

s 1 0 s 1 0
= [sI – A] =
1 s 1 0 s 1
eAt = [sI – A]–1
(s 1) 0
+1 (s 1) 1
0
(sI – A)–1 = s 1 et 0
(s 1)2 = =
1 0 et
0
1 s 1
0
s 1
= +1 1 11. (b)
2 s 1
(s 1) Eigen values of A = [ ]
Eigen values of W = [µ]
L –1[sI – A]–1 = e At [ x(0)]
The eigen values of a system are always unique.
et 0 1 et So, [ ] = [µ]
= =
tet et 0 tet But a system can be represented by different state
models having different set of state variables,
9. (d) X=W
x1 3 1 x1 1 X W
= + u
x2 2 0 x2 0 Both are possible conditions.
x1 1 12. (a)
y = [1 0] + u
x2 0 (t) = L –1[sI – A]–1
Qc = [B AB] 1 1
1 s 0 0 1 1 s 1
= L =L
3 0 s 1 0 1 s
AB =
2
s 1
1 3 2 2
0 1 s +1 s +1
Qc =
0 2 = L
1 s
Controllable s2 + 1 s2 + 1
Qo = [CT ATCT]
cos t sin t
1 T 3 2 =
CT = , A = sin t cos t
0 1 0
150 Electronics Engineering Control Systems

13. (a) By solving this we get,

d x1 0 x1 0 1
d u1
dt 1 1 0 x2 = 0 x2 + 0 0
= + u dt u2
dia 1 10 ia 10 x3 0 x3 1 0
dt
d 18. (c)
= – + ia ...(i)
dt 1 0 p
A= ; B=
dia 0 1 q
= – – 10ia + 10 u ...(ii)
dt For controllability condition is,
Taking Laplace transform (i) and (ii), Qc = [B, AB, ... An – 1 B] 0
s (s) = – (s) + Ia(s)
1 0 p p+0 p
(s + 1) (s) = Ia(s) ...(iii) AB = = =
0 1 q 0+q q
sIa(s) = – (s) – 10 Ia(s) + 10 U(s)
(s) = (–10 – s) Ia(s) + 10 U(s) p p
So, Qc = =0
= (–10 – s) (s + 1) (s) + 10 U(s) q q
= –[s2 + 11s + 10] (s) + 10 U(s) So the system is uncontrollable for all values of
2
–[s + 11s + 11] (s) = 10 U(s) p and q.
(s) 10
= 2 20. (c)
U (s) ( s + 11 s + 11)
Forward path gain,
14. (c) 1 1 1
P1 = 2 (0.5) = 2
Sum of the eigen value = Trace of the principle s s s
diagonal matrix, 1 1
P2 = 2 (1) (0.5) =
Sum = –3 s s
Only option (a) satisfies both conditions. =1
1

2 =1
15. (d)
1 1 1 1
Multiplication of the eigen value = determinant = 1 = 1+ + 2
s s 2 s s
of the matrix.
From options it seems determinant should Transfer function of the system,
be ±2. Only option (d) satisfies as det = 2. Y (s) P1 1 + P2 2
=
U (s)
16. (d)
11
– +
s s 2s+1
= =
1 1 s2 + s + 1
1+ + 2
1 x3 1/s s s
u1 x3
– 21. (c)
x2 x2 Y1 ( s) 1
1/s =
U(s) s+2
Y2 (s ) 2
x1 =
u2 x1 U(s ) s+2
1 1/s
Y1 (s) X1 (s) 1
=
X1 ( s ) U ( s ) s+2
–
 GATE Previous Years Solved Paper 151

Y2 (s ) X2 (s) 2 a1 a2
=
X2 (s) U (s) s+2 A2B = 0
X1 ( s ) 1 Y (s) 0
= and 1 =1
U(s) s+2 X1 ( s )
0 0 a1 a2
X2 (s ) 1 Y (s) Qc = 0 a2
= and 2 =2 0
U (s) s+2 U (s) 1 0 0
sX1(s) + 2X1(s) = U(s)
For system to be controllable,
and Y1(s) = X1(s)
sX2(s) + 2X2(s) = U(s) Qc 0
and Y2(s) = 2X2(s) (0 a1 a22 ) 0
x1 (t ) + 2 x1 (t ) = U(t) a1 0
and y1(t) = x1(t) a2 0

x2 (t ) + 2 x2 (t ) = U(t) 23. (a)

and y2(t) = 2x1(t) 1 x1 –1 x1 1 x2 –1 x2 1
From question, u y

T T 1
y = [ y 1 y 2 ] = [1 2] = 1/s 1/s
2
So, x1 = –x1 – u
x1 (t ) = –2x1(t) + u(t)
x2 = ( x 2 + x1 ) = ( x 2 x1 u)
x2 (t ) = –2x2(t) + u(t) x2 = x1 – x2 + u
x1 2 0 x1 1 y = x2
= + u(t )
x2 2 0 x2 1 y = x1 – x2 + u
or, x = [–2] x + [1] u x1 1 0 x1 1
= + u
Only option (b) is satisfied. x2 1 1 x2 1
1 0 1
22. (d) x = X+ u
1 1 1
x1 0 a1 0 x1 0
x2 = 0 0 a2 x2 + 0 u 24. (a)
x3 a3 0 0 x3 1 1 0
A=
1 1
x1
y = [1 0 0] x2 s+1 0
sI – A =
x3 1 s+1

Qc = [B AB A2B] ..(i) 1
0
s+1
0 a1 0 0 0 [sI – A]–1 = 1 1
AB = 0 0 a2 0 = a2 2 s+1
(s + 1)
a3 0 0 1 0
(t) = eAt = L –1{(sI – A)–1}
0 a1 0 0 0 e t
0
A2B = AAB = 0 0 a2 0 = a2 eAt = t t
te e
a3 0 0 1 0
152 Electronics Engineering Control Systems

25. (b) sX2(s) – X2(0) = –2X2(s)

(s + 2) X2(s) = X2(0) X2(0) = –1
x1 1 1 0 x1 0
1
x2 = 0 1 0 x2 + 4 u X2(s) =
s+2
x3 0 0 2 x3 0
x2(t) = –e–2t
x1
27. (a)
y = [1 1 1] x2
The state equation from the given state diagram
x3
is,
1 1 0 0 x1 = x 2
A= 0 1 0 , B = 4 , C = [1 1 1]
x2 = x 3
0 0 2 0
x 3 = a3 x 3 + a2 x 2 + a1 x 1 + u
Check for controllability,
Also, y = c1x1 + c2x2 + c3x3
Qc = [B : AB : A2B]
Thus state matrix,
0 4 8
x1 0 1 0 x1 0
= 4 4 4
x2 = 0 0 1 x2 + 0 u
0 0 0
x3 a1 a2 a3 x3 1
For controllable,
Qc 0 x1
and [ c c
y = 1 2 3c ] x 2
Here, Qc = 4(0) = 0 ( Uncontrollable) x3
Check for observability,
Check for controllabiltiy:
Qo = [CT : ATCT A2T CT]
The system is said to be controllable if, the rank
1 1 1 of controllability matrix Qc is equal to the rank
= 1 0 1 of the state matrix A. However, if the
1 2 4 controllability matrix Qc is a square matrix is
For observable, then the condition for controllability is,

Qo 1 Qc 0
where, Qc = [B : AB : A2B]
Here, Qo = 1 ( Unobservable)
0 0 1
26. (c)
Qc = 0 1 a3
x1 1 0 x1 1 a3 a2 + a32
=
x2 0 2 x2
Q Qc 0 and rank of Qc = Rank of A = 3
x1 = –x 1 ...(i)
The system is controllable.
x2 = –2x 2 ...(ii)
The system is said to be observable if, the rank
Applying Laplace transform on both equations. of observability matrix Qo is equal to the rank of
sX1(s) – x1(0) = –X1(s) the state matrix A. However, if the observability
X1(s) [s + 1] = X1(0) [Given, x1(0) = 1] matrix Qo is a square matrix then the condition
1 for observability is,
X1(s) =
s+1 Qo 0
e–t = x1(t)
 GATE Previous Years Solved Paper 153

where, Qo = [CT : ATCT : (AT)2 CT] 29. (d)

c1 c2 c3
Qo = c 3 a1 c 1 + c 2 a2 c 2 + c 2 a3
x1 0 1 x1
Given, =
c1 (c 2 + c3 a3 ) c 3 a1 + (c 2 + c3 a3 ) a2 c 1 + c2 a2 + (c 2 + c 3 a3 ) a3 x2 0 0 x2
Q Qo depends on value of unknown. 0 1
A=
Hence, not observability always. 0 0
[sI – A] =
28. (b)
s 0 0 1 s 1
Given, x(t ) = Ax(t), x(0) = x0 =
0 s 0 0 0 s
Taking the Laplace transform, [sI – A] = s2
sX(s) – x(0) = AX(s) (t) = L –1[sI – A]–1
[sI – A] X(s) = x(0)
1 s 1
X(s) = [sI – A]–1 x(0) =
s2 0 s
x(t) = L –1 [sI – A]–1 x(0) ...(i)
Conditions given are: 1 1
t 1 s s2 = 1 t
1 e = L
For, x0 = ; x(t ) = 1 0 1
1 t 0
e s

t 2t
0 e e 30. (d)
For, x0 = ; x(t ) =
1 e t
+ 2e 2t The response of the system is given by
x(t) = L –1[(sI – A)–1 x(0) + (sI – A)–1 B U(s)]
Using the linearity property in equation (i),
and the complete response,
K1 x1(t) = L –1 [sI – A]–1 x1(0) K1
y(t) = [C] x(t)
K2 x2(t) = L –1 [sI – A]–1 x2(0) K2
From the given state model,
Using the linearity property as,
K1 x1(t) + K2 x2(t) = L –1 [sI – A]–1 0 1
A= ; B = 0; C = [0 1]
= [K1 x1(0) + K2 x2(0)] ...(ii) 0 1
Also, X3(s) = [sI – A]–1 x3(0) 1
and x(0) =
1 0 3 0
So, K1 + K2 =
1 1 5 1
s 1 1 s+1 1
K1 3 (sI – A)–1 = =
0 s+1 s ( s + 1) 0 s
=
K1 + K 2 5
1 s+1 1 1
K1 = 3 (sI – A)–1 x(0) =
K2 = 8 s (s + 1) 0 s 0
So from equation (ii), we get x(t),
1 s+1 1 /s
x(t) = K1x1(t) + K2 x2(t) = =
s (s + 1) 0 0
t t 2t
e e e x(t) = L –1[(sI – A)–1 x(0)]
= 3 +8
t t 2t
e e + 2e 1
= u(t )
0
t 2t
11 e 8e and the complete response,
= t 2t
11 e + 16 e 1
y(t) = [0 1] x(t ) = [0 1] =0
0
154 Electronics Engineering Control Systems

31. (a) Qc 0 Hence system is controllable.

State matrix form:
For observability,
2 1 3
x = x+ u C 1 0
0 4 1 Qo = =
CA 2 0
y = [3 –2] x
The transfer function from state matrix can be Qo = 0 Hence system is not observable.
calculated as,
T(s) = C[sI – A]–1 B + D 33. Sol.
Here, x1 ( t ) 0 0 x1 ( t ) 0
= + u(t )
s 2 1 1 x2 (t ) 0 9 x2 (t ) 45
[sI – A]–1 =
0 s+4 By applying Laplace transform on both sides,
( s + 4) 1 we get,
1
= sX1(s) – x1(0) = 0
( s 2) (s + 4) 0 (s 2)
C[sI – A]–1 B x1 (0)
X1(s) = =0 [Q x1(0) = 0]
s
1 (s + 4) 1 3
= [3 2] So, x1(t) = 0
(s 2) ( s + 4) 0 (s 2) 1
45
1 3s + 12 + 1 and sX2(s) – x2(0) = 9 X2 (s) +
= [3 2] s
( s 2) ( s + 4) s+2
45
1 X2(s) = [Q x2(0) = 0]
= [9s + 39 + 2s 4] s ( s + 9)
(s 2) (s + 4)
11 s + 35 Required value = lim x12 (t ) + x22 (t )
= t
(s 2) (s + 4)

32. (a) = lim x2 (t ) [Q x1(t) = 0]

t

x1 (t ) + 2 x1 (t ) = 3u(t) 45
lim x2 (t ) = lim sX2 (s ) = =5
t s 0 9
x2 (t ) + x2 (t ) = u(t)
So, Required value = 5 = 5
x1 (t ) = –2x1(t) + 3u(t)

x2 (t ) = –x2(t) + u(t) 34. (d)

Given state variable equations are as follows:
x1 2 0 x1 3
= + U d
x2 0 1 x2 1 x 1 (t ) x 2 ( t ) = 0 ...(i)
dt
c(t) = x1(t)
d
x1 x2 (t ) + 2 x1 (t ) + 3x2 (t ) = r(t) ...(ii)
= [1 0] dt
x2
Also given that,
2 0 3 Input = r(t) and input = x1(t)
A= ;B=
0 1 1 By applying Laplace transform to equation (i),
C = [1 0] we get,
For controllability, sX1(s) = X2(s) ...(iii)
3 6 By applying Laplace transform to equation (ii),
Qc = [ B AB] = we get,
1 1
 GATE Previous Years Solved Paper 155

sX2(s) + 2X1(s) + 3X2(s) = R(s) Y (s) Y (s ) X 1 (s )

= ×
R(s ) 2 X1 (s ) U (s) X1 ( s ) U ( s )
X2(s) = ...(iv)
s+3 1
By substituting equation (iv) in equation (iii), = 1× 3 2
s + 3s + 2 s + 1
we get,
X1(s) [s3 + 3s2 + 2s + 1] = U(s)
R(s ) 2 X1 (s )
sX1(s) = x 2 = x1 (t )
s+3
(s2 + 3s + 2) X1(s) = R(s) X2(s) = sX1(s)
So, the transfer function of the given system is, x 3 = x2 (t )
X1 ( s ) 1 X3(s) = sX2(s) = s2X1(s)
= 2
R(s ) s + 3s + 2 So, sX3(s) = –X1(s) – 2X2(s) – 3X3(s) + U(s)
2 =2
n x3 (t ) = –x1(t) – 2x2(t) – 3x3(t) + u(t)
2 n =3 y(t) = x1(t)
3 3
= = = 1.06 0 1 0 0
2 n 2 2
x(t ) = 0 0 1 x(t ) + 0 u(t )
As > 1, the given system is overdamped.
1 2 3 1
35. (a) y(t) = [1 0 0] x(t)
Transfer function,
37. (a)
Y (s)
T(s) = = C [sI A] 1 B From source transformation,
U (s)
4 1.5 2 2 i 0.5 H (a ) 1
A= ; B=
4 0 0
C = [1.5 0.625] +
2i1 V 0.25 F i2
s + 4 1.5 Loop 1 –
[sI – A] =
4 s

1 s 1.5
[sI – A]–1 = KVL in loop 1,
(s + 4s + 6) 4 s + 4
2

2s di
1 2i 1 = 2i + 0.5 +V
[sI – A]–1 B = dt
s 2 + 4s + 6 8
di
1 2s = –2V – 4i + 4i1 ...(i)
C[sI – A]–1 B = [1.5 0.625] dt
2 8
s + 4s + 6 KCL at node (a),
3s + 5
T(s) = dV V i2
s 2 + 4s + 6 i = 0.25 +
dt 1
36. (c) dv
= –4V + 4i + 4i2 ...(ii)
X(t) = Ax(t) + Bu(t) dt
y(t) = Cx(t) d v 4 4 v 0 4 i1
= +
0 dt i 2 4 i 4 0 i2
B= 0
1
156 Electronics Engineering Control Systems

38. (b) dVC (t )

= iS(t) – VC(t)
iS(t) = iL(t) + iR(t) dt
V (t ) VC(t) = iS(t) – VC(t) ...(2)
= iL (t ) + R
1 Vo(t) = VC(t) ...(3)
V (t ) iL (t ) 1 0 iL ( t ) 1
iS(t) = iL (t ) + L = + i (t )
1 VC (t ) 0 1 VC (t ) 1 S
But, VL(t) = VR(t) = 1iR(t)
iL ( t )
V (t ) di (t ) di (t ) [Volt] = [0 1]
iR(t) = L = L L = L VC (t )
1 dt dt
Controllability:
diL (t )
iS(t) = iL (t ) + 1 1
dt QC = [ B AB] =
1 1
diL
= iS(t) – iL(t)
dt QC = 0 Not controllable
iL(t) = iS(t) – iL(t) ...(1) Observability :
iS(t) = iC(t) + iR(t) C 0 1
Q0 = =
dV (t ) CA 0 1
iS(t) = C C + iR (t )
dt
Q0 = 0 Not observable
dVC (t ) VR (t )
iS(t) = +
dt 1 Neither controllable nor observable.
dVC (t ) VC (t )
iS(t) = +
dt 1

Answers
EE State Space Analysis

1. (a) 2. (b) 3. (c) 4. (a) 5. (a) 6. (–1, –2, –3) 7. (a) 8. (c)
9. (b) 10. (b) 11. (a) 12. (a) 13. (a) 14. (a) 15. (c) 16. (b)
17. (a) 18. (d) 19. (a) 20. (c) 21. (b) 22. (c) 23. (d) 24. (a)
25. (a) 26. (c) 27. (a) 28. (b) 29. (a) 30. (c) 31. (d) 32. (1.284)
33. (a)

Solutions
EE State Space Analysis

1. (a) e ae + bf
[B] = , [ AB] =
T.F. = C[sI – A]–1 B + D f ce + df

2. (b) Since, x1(t) = x2(t) and x1 (t ) = x2 (t )

x1 a b x1 ( t ) e e = f and a + b = c + d
Let, = + u(t ) e ae + bf
x2 c d x2 (t ) f
QC = B AB = =0
f ce + df
Uncontrollable.
 GATE Previous Years Solved Paper 157

3. (c) eAt = L –1 [sI – A]–1

3 e 3t e 2t e 3t
T.F. = =
s+1
0 e 2t
Pole = –1
Eigen value of ‘A’ = –1 x(t) = eAt X(0)
Option (c) is correct. e 3t
e 2t
e 3t
10
=
4. (a) 0 e 2t 10
Characteristic equation:
20 e 3t 10 e 2 t
sI A =0 x(t) =
10 e 2 t
s a 1
=0 0
a s 1
Xss = lim x(t ) =
(s – a) (s – 1) – a = 0 t 0
eigen avlues,
8. (c)
s = 0, (a + 1)
eAT = L –1[sI – A]–1
5. (a)
9. (b)
T.F. = C[sI – A]–1 B + D
1 t
s+4 1 1 AT A( t )
= [1 0] +0 x(t) = e X(0) + e BU ( ) d
3 s+1 1 0

s+1 1 1 Q X(0) = 0 (Given)

[1 0]
3 s+4 1
=
t
e 2(t )
0 1
(s + 1) (s + 4) + 3 x(t) = 0 + (t ) dt
0 e 4( t ) 1
0
1
[s + 1 1]
1 s
1
e 2(t )
e2t
= = = (t ) dt =
s 2 + 5s + 4 + 3 s 2 + 5s + 7 0 e 4(t )
e 4t

6. Sol. Output y(t) = [4 0] x(t)

s 1 0 e 2t
= [4 0]
sI A = 0 s 1 =0 e 4t
6 11 s + 6 Hence, y(t) = 4e2t
s3 + 6s2 + 11s + 6 = 0
10. (b)
eigen values are s = –1, –2, –3.
1 2
7. (a) QC = =0
0 0
1
s+3 1 Uncontrollable
[sI – A]–1 =
0 s+2 Characteristic equation:

1 1 sI A =0
s+3 (s + 2) (s + 3)
= s 2 3
1 =0
0 0 s 5
(s + 2)
s2 – 7s + 13 = 0
158 Electronics Engineering Control Systems

eigen values, s = 3.5 ± j0.866 13. (a)

i.e. roots lies on right side of s-plane.
0 2
unstable. System a matrix = A =
2 0
11. (a) s 0 0 2 s 2
sI – A = =
State transition matrix, 0 s 2 0 2 s

e 2t
0 Characteristic equation sI A =0
(t) = t
0 e s 2
2 s =0
Initial conditions,
2 s2 – 4 = 0
x(0) = Roots of the characteristic equation are
3
–2 and +2.
Zero input response is given by
x(t) = (t) x(0) 14. (a)

e 2t
0 2 2e 2t 0 1 1
= x(t ) = x (t ) + V (t ) ...(i)
t 3 t 0 3 0
0 e 3e
State of the system at t = 1 s, x(t ) = Ax(t) + Bu(t) ...(ii)
Comparing equation (i) and (ii), we get
2e 2 0.271
x(t ) t = 1 = = A = system matrix
3e 1 1.100
0 1 1
= and B =
0 3 0
12. (a)
d s 0 0 1 s 1
Let, x1 = and x2 = [sI – A] = =
dt 0 s 0 3 0 s+3

x2 = x 1 s+3 1
0 s
d2 Bd k2 k [sI – A]–1 =
+ + = Va s(s + 3) 0 x ( 1)
dt 2 J dt LJ LJ
1 1
d2 Bd k2 k s s(s + 3)
= + Va
dt 2 J dt LJ = 1
0
2 s+3
B k k
x1 = x1 x2 + Va
J LJ LJ 1 1 1 1
x2 = x 1 s 3 s s+3
[sI – A]–1 =
1
0
x1 x1 s+3
= P + QVa
x2 x2 State transition matrix
where, = L –1 [(sI – A)–1]

B k2 k
1
1
(1 e 3t
)
P= J LJ and Q = LJ (t) = 3
3t
1 0 0 0 e
 GATE Previous Years Solved Paper 159

15. (c) Replacing equation (i),

ZIR (Zero Input Response) = (t) × X(0) x3 + 4 x3 2 x2 + x1 = u(t)

1 3t x3 = x1 + 2 x 2 4x3 + u(t )
1 (1 e ) 1
= 3
3t 3 x1 = x 2
0 e
x2 = x 3
3t 3t
1+1 e e
= = x3 = x1 + 2 x 2 4x3 + u(t )
3t 3t
3e 3e
ZSR (Zero State Response) x1 0 1 0 x1 0
= L –1[(sI – A)–1 BU(s)] x2 = 0 0 1 x2 + 0 u(t )
x3 1 2 4 x3 1
1 1
1 s s(s + 3) 1 1
= L 0 1 0
1 0 s
0 So, A = 0 0 1
s+3
1 2 4
2 t
1 1/ s
= L = 17. (a)
0 0
Any state equation represents the dynamical
State transition equation,
behaviour of the given network. State equations
e 3t t usually follow a sepcific ‘format’ while being
= ZIR + ZSR = +
3 e 3t 0 represented. On the left side of each state
equation, the derivative of only one variable is
t e 3t used. On the right hand side a mathematical
=
3 e 3t function is represented involving any or all the
state variables and the sources.
16. (b)
3 0.2 H I1 + I2 5 I2
Y (s) 3(s 2) + –
H(s) = = 3 + V – I1
U ( s ) s + 4s 2 2 s + 1 x

V –
Y ( s ) X1 ( s ) 1 I 0.5 H II + 0.2Vx
= 3(s 2) 3 2
X1 ( s ) U ( s ) s + 4s 2 s + 1
X1 ( s ) 1
Let, = 3 2
U(s) s + 4s 2 s + 1 Using KVL in Loop-I,
3 2
s x1(s) + 4s x1(s) – 2sx1(s) + x1(s) = u(s) dI 1
V 3( I1 + I 2 ) Vx 0.5 =0 ...(i)
d dt
Replacing ‘s’ by ,
dt Using KVL in Loop-II,
3 2
d x1 d x dx1 dI1
2
+ 4 21 2 + x1 = u(t ) ...(i) 0.5 5 I 2 + 0.2Vx = 0 ...(ii)
dt dt dt dt
dx1 Eliminating I2 from equation (i) and (ii), we get
Let, = x 2 = x1
dt
dI1 5
= 1.4 Vx 3.75 I1 + V
d 2 x1 dt 4
= x2 = x3
dt
160 Electronics Engineering Control Systems

18. (d) x1 ( t ) 3 1 x 1 (t ) 2
= + u(t )
x = Ax + Bu and y = Cx x2 (t ) 0 2 x 2 (t ) 1
where, x = AX + BU
0 1 0 3 1 2
A= ,B= , C = [1 0] and D = 0 So, A= ,B=
0 2 1 0 2 1
s 0 0 1 s 1 y(t) = x1(t)
[sI – A] = =
0 s 0 2 0 s+2 x1 ( t )
y(t) = [1 0]
1 s+2 1 x2 (t )
[sI – A]–1 =
s (s + 2) 0 s y = CX + DU
Transfer function, So, C = [1 0] and D = 0
= C[sI – A]–1 B + D s 0 3 1
[sI – A] =
s+2 1 0 0 s 0 2
0 s 1 s+3 1
= [1 0]
s(s + 2) =
0 s+2
1
s+2 1
s
1
= [1 0] = 0 s+3
s(s + 2) s(s + 2) [sI – A]–1 =
(s + 2) (s + 3)

19. (a) T.F. = C[sI – A]–1 B + D

1 s+2 1
G(s) =
s(s + 2) 0 s+3 2
= [1 0] +0
and H(s) = 1 (s + 2) ( s + 3) 1
r(t) = u(t)
2(s + 2) + 1
1
R(s) = s+3
s = [1 0]
(s + 2) ( s + 3)
R(s) 1/ s
Error = E(s) = = 2s + 5 2s + 5
1 + G(s) H (s) 1 + 1 = =
s(s + 2) (s + 2) (s + 3) s2 + 5s + 6
s+2
E(s) = 21. (b)
s(s + 2) + 1
Steady-state error, using final value theorem, s+2 1
0 s+3
ess = lim sE(s) [sI – A]–1 =
s 0 (s + 2) (s + 3)
s(s + 2)
= lim =0 1 1
s 0 s(s + 2) + 1
s+3 (s + 2) (s + 3)
=
20. (c) 1
0
Selecting x1(t) and x2(t) as state variables, s+2
dx1 (t ) 1 1 1
x1 (t ) = = 3x1 (t ) + x2 (t ) + 2 u(t )
dt s+3 s+2 s+3
dx2 (t ) =
1
x2 = = 2 x2 (t ) + u(t ) 0
dt s+2
 GATE Previous Years Solved Paper 161

State transition matrix For system to be controllable, the matrix Qc must

= L –1 [(sI – A)–1] be non-singualr,
1 1 1 Qc = B AB A2 B
1 s + 3 s+2 s+3
= L
AB = [ 0 a2 0]
1 T
0
s+2
0 0 a1 a2
e 3t e 2t e 3t a2 a3 0 0
= A2 =
0 e 2t 0 a1 a3 0

22. (c) A2B = [a1a2 0 0]2

0 0 a1 a2
1 2 0
A= and B = Qc = 0 a2 0
0 2 1
1 0 0
s 0 1 2
[sI – A] =
0 s 0 2 Qc = a1 a22
For Qc to be non-singular,
s+1 2
= 0 s 2 Qc 0
a1 0 and a2 0 and a3 R
s 2 2
0 s+1 24. (a)
[sI – A]–1 = ...(i)
(s + 1) (s 2)
2 0 1
Transfer function = C[sI – A]–1 B A= , B=
0 1 1
So denominator of equation (i) gives poles of
2 0 1 2
the system, AB = =
0 1 1 1
(s + 1) (s – 2) = 0
s = –1 and 2 For controllabilty,
One pole lies in RHS of s-plane. B : AB 0
Hence, the so system is unstable.
1 2
For controllability, Qc is defined as, or, = –1 – (–2) = 1
1 1
Qc = [B : AB]
0
1 2 0 2
AB = = The system is controllable,
0 2 1 2
1
Qc = [B : AB] CT =
0
0 2
= 1 2 2 0 1 2
ATCT = =
0 1 0 0
Qc 0 For observability,
Hence the system is controllabe. CT : AT C T 0
23. (d) 1 2
or, 0 0 =0
0 a1 0 0
A= 0 0 a2 , B = 0 , C = [1 0 0]T The system is not observable.
a3 0 0 1
162 Electronics Engineering Control Systems

25. (a)
et 0
s 0 2 0 L –1[sI – A]–1 = t
[sI – A] = te et
0 s 0 1
et 0
s+2 0 State transition matrix =
= t et et
0 s+1

1 27. (a)
0
s+2
[sI – A]–1 = 0 1 0
1 , B= , C = [1 0]
0 Given, A=
s+1 1 1 1

1 1 Transfer function of the given system is given

0 by
s+2 1 s+2
[sI – A]–1 [B] = =
1 1 1 Y (s)
0
s+1 s+1 = C(sI – A)–1 B
U (s)
1 s 0 0 1
s+2 1 Now, (sI – A) =
C[sI – A]–1 [B] = [ 1 0] = 0 s 1 1
1 s+2
s+1 s 1
=
1 1 s+1
G(s) =
s+2 s+1 1
1
Y (s ) 1 (sI – A)–1 = 2
(s + s + 1) 1 s
=
X( s ) s+2
Transfer function,
1 1 1 1 s+1 1 0
Y(s) = = Y (s) 1
s (s + 2) 2 s s+2 = 2
[1 0]
U (s) s +s+1 1 s 1
1 2t 1 1 2t
y(t) = (1 e ) = e 1 0
2 2 2 = [(s + 1) 1]
2 1
s +s+1
26. (c)
1 1
= ×1 =
x1 1 0 x1 1 2
(s + s + 1) 2
(s + s + 1)
Given, = 1 1 + u
x2 x2 1
Y (s) 1
= 2
or, x(t ) = Ax(t) + Bu U (s) s +s+1
1 0 1 Given, Input = unit step
Here, [A] = , B= 1
1 1 1
U(s) =
State transition matrix is given by, s
Y(s) =
eAt = L –1[sI – A]–1
1 1 1
s 1 0 × =
Now, [sI – A] = s s 2 + s + 1 s(s 2 + s + 1)
1 s 1
Final value = lim {sY (s)}
1 s 1 0 s 0
[sI – A]–1 = 2
(s 1) 1 s 1
1
= lim =1
1 s 0 s2 + s + 1
0
( s 1) Error = Final value – Initial value
= 1 1 ess = 0
(s 1)2 ( s 1)
 GATE Previous Years Solved Paper 163

28. (b) 30. (c)

Equations from flow diagram, Given, x(t ) = Px + Qu
x1 = 5x1 – 2x2 + u1, y1 = x1 y = Rx
x2 = 2x1 + x2 + u1 + u2, y2 = x1 – x2 1 1 0
P= ,Q = , R = [0 1]
0 3 1
5 2 1 0 1 0
x3 = 2 x+ u; y = x For controllability,
1 1 1 1 1
A B C Qc = [Q PQ]
Considering the SISO cases: 1 1 0 1
[PQ] = =
1. u1 (Input) and y1 (Output): 0 3 1 3

5 2 1 0 1
A ; B and C = [1 0] Qc =
2 1 1 1 3

Qc = –1 0 ...(Controllable)
C 1 0
O = Also, for observability,
CA 5 2
Q0 = [RT PTRT]
Rank (O) = 2 observable
1 0 0 0
1 3 [PT RT] = =
C [ B AB] = 1 3 1 3
1 3
0 0
Rank (C) 2 non-controllable Q0 =
1 3
2. u2 (Input) and y1 (Output):
Q0 = (0 × –3 – 0 × 1) = 0
5 2 0 ...(Non-observable
A ; B and C [1 1]
2 1 1 Since, Qc 0 and Q0 = 0
System is controllable but not observable.
1 0
O Rank (O) = 2 observable
5 2 31. (d)

0 2 1 2 1
C Given, X = 2 0 X+ 2 u
1 1
and Y = [1 0] X
Rank (C) = 2 non-controllable
Transfer function = C[sI – A]–1 B + D
29. (a) s 2
2 2
x = Ax s s 4 s s 4
[sI – A]–1 =
Eigen values are 2 s 1
1 and 2.
We can write, s2 s 4 s2 s 4

e 1t 0 s+4
(t) = 2
2t
s s 4
0 e (sI – A)–1 × B = s 1
Response due to initial conditions, s2 s 4
x(t) = (t) x(0)
Y (s)
= C[sI – A]–1 × B
e 1t 0 U (s)
x(t) = = e 1t
0 e 2t 0 s+4
= 2
s s 4
164 Electronics Engineering Control Systems

32. Sol. 33. (a)

y(t) = [1 0] x(t) Characteristic equation is,
x(t) = L –1[(sI – A)–1] x(0) sI A =0
+ L –1[(sI – A)–1] BU(s)]
s 1
1 sI A =
L –1[(sI – A)–1] x(0) = s+2
0
= s2 + 2s + =0
2t
0.25 + 0.5t + 0.25 e 2
L –1[(sI – A)–1] BU(s)] = n =
2t
0.5 0.5 e
n =
2t
0.75 + 0.5t + 0.25 e
x(t) = 2 n =2
2t
0.5 0.5 e
=
y(t) = 0.75 + 0.5t + 0.25e–2t
y(1) = 1.284