“Obstacles are those frightful things you can

see when you take your eyes off your goal.”

…Henry Ford

4
CHAPTER

Frequency Domain Analysis

Level-1 3. A system has fourteen poles and two zeros. Its

high frequency asymptote in its magnitude
1. The Nyquist plot of a control system is shown plot having a slope of [EC-ISRO-2017]
below. For this system, G(s)H(s) is equal to (A) −40 dB/decade
Im (B) −240 dB/decade
(C) −280 dB/decade
(D) −320 dB/decade
GH­Plane
4. The Nyquist plot of a unity feedback system
ω→0
having no open loop poles in the right half of
Re s-plane is shown. The closed loop system is
↖ω = ∞
Im
k
(A)
s(1 + sT1 )
ω=0 ω=∞
k Re
(B) 2 −1 ω = −∞
s (1 + sT1 )
k
(C) 3
s (1 + sT1 )
k (A) Stable
(D) 2
s (1 + sT1 ) × (1 + sT1 ) (B) Unstable
(C) Marginally stable
2. Consider the Nyquist diagram for given kG(s) (D) Conditionally Stable
H(s). The transfer function kG(s)H(s) has no
poles and zeros in the right half of s-plane. If 5. Consider the following Nyquist plot of a
the (−1, j0) point is located first in region I feedback system having open loop transfer
and then in region II, the change in stability of function G(s)H(s) = (s + 1)/[s2 (s − 2)] as
the system will be from shown in the diagram given below
Im Im(GH)

II I
Re
ω→∞ ω → 0+
ω → −∞ Re(GH)
ω → 0−
R→∞
(A) Unstable to stable
(B) Stable to stable
(C) Unstable to Unstable
(D) Stable to Unstable What is the number of closed loop poles in the
right half of the s-plane?
(A) 0 (B) 1
(C) 2 (D) 3

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 Frequency Domain Analysis
6. For a unity feedback control system the 11. The phase angle at ω = infinity for the
damping ratio is 0.421. What is the resonance Transfer Function
magnitude? [IES-2006] 90(1 + j0.5ω)
G(jω) = is
(A) Mr = 1 (B) Mr = 0.707 jω(1 + jω)(1 + j2ω)
(C) Mr = 1.30 (D) Mr = 1.95 [HMWS-15]
(A) −90° (B) −180°
7. If the gain of the open loop system is doubled, (C) 270° (D) 90°
the gain margin [APSPDCL-12]
(A) gets one fourth (B) gets halved 12. The Nyquist plot of the open loop transfer
(C) gets doubled (D) is not affected function 1/[s(s + 2)] will encircle the −1 + j0
point [JTO-2002]
8. The Nyquist plot of G(jω)H(jω) of a closed (A) Once (B) Twice
loop control system encloses the point (C) Thrice (D) 0 times
(−1, j0) in GH-plane the gain margin of the
system in dB is [JTO-2009] 13. The magnitude plot for the open loop transfer
(A) Greater than zero function of a Control System is shown in the
(B) Less than zero figure.
(C) Zero |G(jω)H(jω)|dB
(D) Infinite
−20dB/dec
40
9. The polar plot of a system is shown in figure
+ ω(r⁄s)
R(s) G(s) 10
C(s)
The open loop transfer function G(s)H(s) is
−
(A) 100/s+1 (B) 1000 (s+10)
k 1000 1
G(s) = ; where k > 0 (C) (D)
s(1 + T1 s)(1 + T2 s) (s + 10) (s + 10)
Img(G(s))
14. Which of the following Transfer Functions is a
non-minimum phase transfer function?
k ω=∞ [HMWS-12]
−
10 (s + 1)
(A)
Re(G(S)) (s + 2)(s + 3)(s + 4)
(s + 1)(s + 2)
(B)
s(s + 3)(s + 4)
ω=0 10(s + 1)
(C)
A stable open loop transfer function G(s) with s 2 (s + 3)
a unity feedback system (H(s) = 1) is shown (s − 1)
in figure. For stability of a close loop system, (D)
(s + 2)(s + 3)
the region of k is
(A) k > 0 (B) 0 < k < 10 15. The open loop transfer function of a system
(C) k ≤ 100 (D) 0 < k < 100 10
is G(s)H(s) = . The polar plot is
s(−2s + 1)
10. The Transfer Function of a system has the (A)
Im(G(s)H(s))
form
200(s + 2) Re(G(s)H(s))
G(s) = 2
s(s + 10s + 100)
At very high frequencies the Bode Gain Curve
has a slope of [APGenco-12]
(A) −6 dB/octave (B) −12 dB/octave
(C) 6 dB/octave (D) 12 dB/octave

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 Frequency Domain Analysis
(B) 17. The Nyquist plot of a system is shown in
Im(G(s)H(s))
figure. If the open loop system is stable then
the closed loop system is
Re(G(s)H(s)) Img
1.3
(C) Im(G(s)H(s))
Re
Re(G(s)H(s))

(D) Im(G(s)H(s)) (A) Stable

(B) Unstable due to one closed loop pole lie
in RHS
(C) Unstable due to two closed loop pole lie
Re(G(s)H(s))
in RHS
(D) Marginally stable
16. The open-loop transfer function of an unity
negative feedback control system is given as, 18. Nyquist Plots of different control system are
1
G(s)H(s) = . Which of the following shown in options below. Which of the option
s(1 + sT)
corresponds to a marginally stable system
corresponds to Nyquist plot of the control
(A) Im
system
(A) Im
Re
ω → ∞+
−1 + j0
ω = 0+ ω = ∞+ ω=0+
Re (B) Im
Im
−1 + j0
Re
(B) Im ω → ∞+

−T ω = 0+
ω = ∞+
Re (C) Im
ω= 0+ Im
−1 + j0
Re
(C)
Im ω= 0+ ω → ∞+

ω = ∞+ (D) None of the above

Re
T
ω = 0+ 19. The Polar plot of a Transfer Function is shown
in the figure. The Gain Margin is
(D) Im Im(G(s)H(s))

0.2 3
Re Re(G(s)H(s))
ω= ∞+

−3
ω = 0+
T [APSPDCL-12]
(A) 5 (B) 8
(C) 10 (D) 15

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 Frequency Domain Analysis
20. Polar plot of a system is shown in the below (C) 20 dB/dec to − 40 dB/dec
figure. This system is which one of the (D) −40 dB/dec to − 20 dB/dec
following?
Im(GH) 3. The slope of the Bode Gain Plot of the
ks
Transfer Function
(−1 + j0) (s + 1)(s + 10)
ω=∞ between ω = 1 rad/sec and ω = 10 rad/sec is
Re(GH) [APSPDCL-14]
C B A (A) Zero slope (B) −20dB/decade
ω=0
(C) −40dB/decade (D) +20dB/decade
ω
4. Consider Control System
G(s)H(s) = 1⁄s(s + 1)(s + 2)
(A) Marginally stable Then consider the following statements
(B) Conditionally stable 1. Gain cross over frequency is 1 rad/sec
(C) Stable 2. Phase cross over frequency is 1.4142
(D) Unstable rad/sec
Then pick the correct option
Level-2 (A) Both 1 and 2 are correct
(B) Both 1 and 2 are False
1. The magnitude Bode Plot of a minimum phase (C) Only 2 is correct
transfer function G(s)H(s) is as shown below. (D) Only 1 is correct
The transfer function G(s)H(s) is
20 log|GH| 5. The loop transfer of a system is
G(s)H(s) = 5/(s + 1) (2s + 1)(3s + 1) which
−20dB/dec
has the phase crossover frequency
0dB/dec fc = 0.16 Hz. The Gain Margin (dB) of the
20dB −20dB/dec system is [JTO-2006]
(A) 6 (B) 4
0dB ω (C) 2 (D) 0
ω=1 ω = 10
[EPDCL-14]
6. The open loop transfer function of a control
10(s + 1)(s + 10)
(A) system is
s
10(s + 1)
(s + 1)(s + 10) G(s)H(s) =
(B) s(s − 1)
s
Which of the following is the Gain Margin of
s(s + 10)
(C) the system? [HMWS-15]
(s + 1)
(A) +10dB (B) −20 dB
10s(s + 10) (C) −10 dB (D) +20 dB
(D)
(s + 1)
7. The open-loop transfer function of a unity
2. Identify the slope change at ω = 10 rad/sec of negative feedback control system is given as,
the magnitude v/s frequency characteristic of G(s)H(s) = 1⁄(s + 1)3 .Find the possible GM
a unity feedback system with the following
open-loop transfer function. of the Control System (in dB)
5(1 + j0.1ω) (A) 20 log10 (8) (B) 10 log10 (5)
G(jω) = (C) 10 log10 (3) (D) 40
jω jω 2
jω(1 + j0.5ω) (( ) + ( ) + 1)
0.650 50

[JTO-2007]
(A) −80 dB/dec to − 60 dB/dec
(B) 40 dB/dec to 20 dB/dec

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 Frequency Domain Analysis
8. A unity feedback control system has a forward 13. The transfer function of the Bode-magnitude
loop transfer function plot shown below is?
e−Ts |G(jω)H(jω)|dB
0 dB/dec
as .
[s(s + 1)] 20 dB/dec
Its phase value will be zero at frequency ω1 . 40 dB/dec
Which one of the following equations should
be satisfied by? 40 dB
(A) ω1 = cot(Tω1 ) (B) ω1 = tan(Tω1 )
(C) Tω1 = cos(ω1 ) (D) Tω1 = tan(ω1 )
2 20 ω (rad/s)
9. The open loop transfer function of a control −12.04 dB
system has two poles at origin and +2
respectively, as shown in figure.
Img(s) 100s 2
(A)
s­plane (1 + s)(s + 20)
125s 2
(B)
X X Re(s) (1 + 0.05s)(1 + s)
0 +2
50s 2
(C)
( s + 2)(s + 20)
The system has constant gain k is 4. The 25 s 2
(D)
number of encirclement w.r.t. critically point (1 + 0.5s)(1 + 0.05s)
in clockwise direction is ___________.
14. The Bode Plot shown in figure represents the
10. The open loop transfer function of a unity Transfer Function
negative feedback control system is given as M(dB)
100(s − 5)
G(s)H(s) = . Find the phase cross
s(s + 10)
over frequency of the system in rad/sec 100
(A) √50 (B) 10 −60 dB/dec
(C) 5 (D) None of these 40 dB/dec

ω = 10 ω
11. The open loop transfer function of a unity
feedback system is 100s 2 1000s2
16 (A) (B)
G(s) = (s+1)6 . The phase cross over frequency (1 + 0.1s)3 (1 + 0.1s)3
and gain margin of a system is 100s 2 1000s2
(C) (D)
(A) ωpc = √3 rad⁄s and G. M = 0.148 (1 + 0.1s)5 (1 + 0.1s)5
1
(B) ωpc = rad⁄s and G. M = 0.148 15. The Transfer Function of a certain system is
√3 s
given by G(s) = (1+s). The Nyquist plot of the
1
(C) ωpc = rad⁄s and G. M = 6.75 system for positive frequencies is?
√3
(A)
(D) ωpc = √3 rad⁄s and G. M = 6.75 Im(GH)
ω→∞ ω=0
12. The forward path transfer function of a unity Re(GH)
feedback system is given by
1
G(s) = Im(GH)
(1 + s)2 (B)
What is the Phase Margin for this system?
ω=0 ω=∞
(A) −π rad (B) 0 rad
Re(GH)
(C) π/2 rad (D) π rad

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 Frequency Domain Analysis
Im(GH) 79.6 s 2
(C) (A)
ω=0 (s + 1)(s + 0.5)(s + 5)
Re(GH) 199.05s 2
(B)
(s + 1)(s + 0.5)(s + 5)
ω=∞
39.8s 2
(D) Im(GH) (C) s s
(1 + ) (1 + s) (1 + )
ω=0 0.5 5

Re(GH)
39.8s 2
(D)
ω=∞ (s + 0.5)(s + 1)(s + 5)

19. The open loop transfer function of a unity

feedback system is
16. The open loop transfer function of a system is 4.8
k G(s) =
G(s)H(s) = s(s + 2)(s + 4)
(1 + s)(1 + 2s)(1 + 3s) The Gain Margin of a system is _________ (in dB)
The phase crossover frequency ωpc is
(A) √2 (B) 1 20. The magnitude-frequency response of a
(C) Zero (D) √3 control system is given in the figure. The value
of ω1 and ω2 are respectively
17. The Transfer Function of the given Bode Plot dB
is
Magnitude(dB)
26
+20 dB/dec 20 dB/dec
+40 dB/dec −40 dB/dec
−20 dB/dec
20
+20

10 ω1 ω2 ω
0 dB
0.01 0.1 1 10 100 ω(log scale)
(A) 100 and 400 (B) 20 and 400
104 [1
+ 10s] 2 (C) 20 and 200 (D) 10 and 200
(A)
(s + 1)(s + 10)(s + 100)2
100(s + 10) Level-3
(B)
(s + 1)(s + 100)2
106 [1 + 10s]2 1. The approximate Bode Magnitude Plot of a
(C) minimum-phase system is shown in the figure
(s + 1)(s + 10)(s + 100)2
below. The Transfer Function of the system is
10(1 + 10s)2
(D) [ECE-ISRO-2017]
(s + 1)(s + 10)(s + 100)2 dB
1P
18. The Transfer Function for the Bode Plot G(s) 160
shown in the figure below is ___________.
2P
−6dB ⁄ Octave = −20dB/decade 140
|Gjω|dB
+6dB/octave
32
−H3 3Z
20

+12dB/octave
ω(rad⁄s) ω
0.5 1 5 0.1 10 100
G5 −H2 −H4

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 Frequency Domain Analysis
(s + 0.1)2 4. The Bode Plot of a Transfer Function G(s) is
(A) 108
(s + 10)2 (s + 100) shown below.
(s + 0.1)3 Magnitude(dB)
(B) 107
(s + 10)2 (s + 100) −20dB/dec
(s + 0.1)3
(C) 108 +24.1
−40dB/dec
(s + 10)2 (s + 100)
(s + 0.1)2
(D) 107
(s + 10)2 (s + 100) ω2 ω3
0 ω1
8 ω0 ω(rad/sec)
2. A unity feedback system has an open loop −12.05 −20dB/dec
(s+2)
transfer function G(s) = (s+1)(s−1), number of −20.05 −40dB/dec
encirclements of the point (−1, j0) in Nyquist
plot and its closed loop system is The value of ω0 , ω1 , ω2 and ω3 are respectively
[HMWS-15] (A) ω0 = 32 rad⁄sec , ω1 = 2 rad⁄sec,
(A) No encirclements, unstable ω2 = 20 rad⁄sec and ω3 = 40 rad/sec
(B) One clockwise encirclements, unstable (B) ω0 = 32 rad⁄sec , ω1 = 2 rad⁄sec,
(C) Two counter clockwise encirclements, ω2 = 16 rad⁄sec and ω3 = 40 rad/sec
unstable
(C) ω0 = 24 rad⁄sec , ω1 = 2 rad⁄sec,
(D) One counter clockwise encirclement,
ω2 = 16 rad⁄sec and ω3 = 40 rad/sec
stable
(D) ω0 = 30 rad⁄sec , ω1 = 2 rad⁄sec,
3. The open-loop transfer function of a unity ω2 = 20 rad⁄sec and ω3 = 40 rad/sec
negative feedback control system is given as,
1 5. A unity feedback system has open-loop
G(s)H(s) =
s(s + 1)2 transfer function
Consider the following statements as related 1
G(s) =
to above control system. s(2s + 1)(s + 1)
(1) Nyquist plot of the system is given as The Nyquist plot for the system is
Im(GH) (A) Im
ω= 0−
ω=0
Re
2
ω = ∞−
ω=∞ 3
ω = ∞+ Re(GH)

(B) Im

ω = 0+
(2) GM of the system is 20log10 (2)db ω=∞
Pick the correct option as related to Re
3
correctness of above statements.
ω=0 2
(A) Only (1) is true
(B) Only (2) is true
(C) Im
(C) Both (1) and (2) are true
(D) None of the above
−2
3 ω=∞
Re

ω=0

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 Frequency Domain Analysis
(D) Im 1 T1 T2
(C) and
√T1 T2 T1 +T2
−3
2 T1 T2
ω=∞ (D) √T1 T2 and
Re T1 +T2

ω=0 8. The unit step response of second order system

is shown in figure.

c(t)
6. Consider a unity feedback system whose open 0.162
1
loop transfer function is
k
G(s) =
s(s 2 + 2s + 2)
The Nyquist plot for this system is
[EC-ISRO-2016] 0 0.362
t
(A) Im
If this system is subjected to sinusoidal input,
then the frequency (ωr ) at which response
achieves maximum value and maximum value
Re
ω=∞ of response (Mr ) are
ω=0 (A) ωr = 7.07 rad⁄sec and Mr = 11.55
(B) ωr = 0.707 rad⁄sec and Mr = 1.315
(C) ωr = 7.07 rad⁄sec and Mr = 1.155
(B) Im (D) ωr = 2.09 rad⁄sec and Mr = 1.69

9. Bode Plot of a system is shown below.

GH­plane
M(dB)
−20dB/dec
ω=∞
Re
−40dB/dec

ω=0 5.105 dB −20dB/dec

0dB
20 ω 90 ω (rad/sec)
(C) Im
The value of Gain ‘k’ and ω for the system is:
(A) k = 224.96 and ω = 50 rad⁄s
Re (B) k = 284.8 and ω = 100 rad/s
ω=0 (C) k = 224.96 and ω = 100 rad/s
ω=∞
(D) k = 294.92 and ω = 50 rad/s
(D) None of the above
10. The Transfer Function of a system is given
7. The open loop transfer function of a unity C(s) e−0.1s
by =
feedback control system is given as R(s) (s + 5)(s + 10)
1 If x (t) is 15 cos(5t) , then the phase angle
G(s) = .
s(1 + sT1 )(1 + sT2 ) between the output and the input will be
The phase crossover frequency and the Gain (A) −50.2° (B) −100.2°
Margin are respectively (C) −90.2° (D) −47.2°
1 T1 +T2
(A) and
√T1 T2 T1 T2
T1 +T2
(B) √T1 T2 and
T1 T2

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 Frequency Domain Analysis
11. The magnitude of frequency response for an 13. The open loop transfer function of a unity
underdamped second order system is shown feedback system is
below. (s + 4)
G(s) =
|m(sω)| (s + 2)(s − 2)
The Nyquist plot of the system is
mr (A) Img

2 ω=0

−1 ω=∞ Re
ω(r/s)
0 ωr
Fig(a) (B) Img
If the frequency at which desired magnitude is
ω=0
maximum value is 6√2 r/s, then the Resonant
ω=∞
Peak of the system is ___________. The s-plane
diagram of second order system is shown in −1 Re
Fig (b).
jω (C) Img
Pole of
Second Order
× A s­plane
System
−1 ω = 0 ω=∞
12
Re
0 σ
(C) Img

−1 ω = 0 ω=∞
Fig (b)
Re
Distance of OA is “12”.

12. Consider the following open loop frequency

response of a unity feedback system 14. The open loop transfer functions of a unity
k
ω 2 3 4 5 6 8 10 feedback system is G(s) = . The Phase
s(s+1)
(rad/sec)
Margin of a system is 30°. The value of k is
|G(jω)| 7.5 4.8 3.15 2.25 1.70 1.00 0.64
___________.
∠G(jω) −118°−130°−140°−150°−157°−170°−180°
The Gain and Phase Margin of the system are 15. Consider the unity feedback system
respectively [IES-2003] 2
with G(s) = .
(A) 0.00 dB, −180° (B) 3.86 dB, −180° s(s + 1)(2s + 1)
(C) 0.00 dB, −10° (D) 3.86 dB, 10° What is the Gain Margin of the system?
R(s) C(s)
+ G(s)
−

[IES-2006]
(A) 3/4 (B) 4/3
(C) 1/2 (D) 3/5

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 Frequency Domain Analysis
16. The Bode Magnitude plot of a Transfer (D) k = 1; three poles and two zeros
Function is shown below.
M(dB) 19. The closed loop frequency response,
|M(jω)| versus frequency of a second order
−40 dB/dec system is shown below.
+20 dB/dec −20 dB/dec |M(jω)|
−40 dB/dec
1.4

0.9

4 6 10 32 40 52 ω 0 3 ω(rad/sec)
2
36 [1 + s⁄4] [s + 10] The value of the maximum overshoot (Mp ) in
(A) 2
s [s + 32][s + 40][s + 52] percent and natural frequency(ωn ) of the
2 system for unit step input are respectively
6 [1 + s⁄4] [1 + s/10]
(B) (A) 62.88%, 3.25 rad/sec
s 2 [1 + s/32][1 + s/40][1 + s/52] (B) 26.75%, 3.58 rad/sec
14976 [s + 4]2 [s + 10] (C) 50%, 3.58 rad/sec
(C)
s 2 [s + 32][s + 40][s + 52] (D) None of these
14976 [s + 4]2 [s + 32]
(D) 20. A low frequency, magnitude curve of the
s 2 [s+ 10][s + 40][s + 52]
forward transfer function of ufb open-loop
17. The gain-phase plot of a linear control system system is given below.
is shown in the below figure. What are the dB
Gain Margin (GM) and the Phase Margin (PM)
of the system? [IES-2008] −20 dB/dec
Gain (dB) 6 dB
20 dB ω=0

0 dB ω
ω=1
Phase (degrees)
0 −270°
−180°
−90° Consider the following statements regarding
above curve.
−20 dB 1. This is type-0 system
ω=∞
2. The open loop gain is K = 2
(A) GM > 0 dB and PM > 0 degree
3. Position error coefficient = 0
(B) GM > 0 dB and PM < 0 degree
The correct statement(s) is/are
(C) GM < 0 dB and PM > 0 degree
(A) 1, 2, 3 (B) 1 and 2
(D) GM < 0 dB and PM < 0 degree
(C) Only 2 (D) 1 and 3
18. The Bode Plot for an LTI system is given.
Choose the correct option
(dB)

80 dB
40 dB

0 dB ω(rad⁄sec)
1 10 102104 105 106 log scale
(A) k = 104 ; three poles and two zeros
(B) k = 104 ; seven poles and three zeros
(C) k = 1; five poles and three zeros

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 Frequency Domain Analysis
5. [Ans. C]
Answer keys and Solutions N = −1, P+ = 1
⇒ Z+ = P+ − N = 1 − (−1) = 2
Level-1
6. [Ans. C]
1. [Ans. D] 1
type 3 Mr =
2ξ√1 − ξ2
1
Mr =
2 × 0.42√1 − (0.421)2
order 3 Mr = 1.30
type 2 order 4
7. [Ans. B]
type 0 Gain X = |G(jω)H(jω)|
order 2 1
order 1 Gain Margin =
X
If gain is doubled, then Gain Margin is reduced
to half.
type 1
8. [Ans. B]
2. [Ans. D] Magnitude of G(jω)H(jω)is > 1
For region-I N (number of encirclement of ⇒ GM < 1
point [−1 + j0]) = 1 − 1 = 0 so system is Let GM = 0.9
stable. In dB, GM = 20 log 0.9 = −0.915 < 0
For region-II N = −1 − 1 = −2(clockwise) ≠
0 so system is unstable. 9. [Ans. B]
From diagram
3. [Ans. B] k
− = −1(Critical point)
Number of poles = 14 × −20 10
= −280dB/dec k = 10
Number of zeros = 2 × 20 = 40dB/dec 0 < k < 10
k < 10:
At high frequency, slope = −280 + 40
= −240 dB/dec N = 0; P = 0; z = 0 (Stable)
k > 10:
4. [Ans. B] N = −2; P = 0; z = 2 (Unstable)
Im
GH­plane 10. [Ans. B]
ω=0 200(s + 2)
ω=∞ G(s) =
Re s(s 2
+ 10s + 100)
−1 ω = −∞
Final Slope = (P − Z) (−20 dB/dec)
Where, P = total number of poles in OLTF
N = Number of encirclements Z = toal number of zeros in OLTF
P = Number of open loop poles located in RHS = (3 − 1) × (−20 dB/dec)
plane = −40 dB/dec (or) − 12 dB/octave
Z= Number of closed loop poles located in RHS [∵ 20dB/decade = 6 dB/octave]
plane
N =P−Z 11. [Ans. B]
⇒ −1 = 0 − Z Given
⇒Z=1 90(1 + j0.5ω)
G(jω) =
So, one pole located in RHS plane hence jω(1 + jω)(1 + j2ω)
system is unstable. Phase Angle at ω = ∞,
∠G(jω) = −(P − Z)(+90)

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 Frequency Domain Analysis
Where P = number of poles ω−1 0 ∞
Z = number of zeros |Gjω| ∞ 0
= −(3 − 1)(90°) ∠Gjω| −90 0
= −180°
Im(G(s)H(s))
12. [Ans. D] Re(G(s)H(s))
Im
GH­plane
(−1, j0)
Re
16. [Ans. D]
−j(1 − jωT) (−ωT − j)
G(jω)H(jω) = =
ω(1 + ω T ) ω(1 + ω2 T 2 )
2 2

ω = 0 ⇒ G (jω)H(jω) = −T − j∞
+
1
G(s)H(s) = ω → ∞+ ⇒ G(jω)H(jω) = −0 − j0
s(s + 2)
Also plot doesn’t intersect with real axis.
At ω = 0, ϕ = −90°
At ω = ∞, ϕ = −180°
17. [Ans. C]
Polar plot zero times encircles the
From diagram
point (−1, j0).
⇒ X = 1.3 → shows, the (−1 + j0)
Plane is encircle by the Nyquist Plot
13. [Ans. C]
N = −2
|G(jω)H(jω)|dB
Given open loop system is stable
40 −20dB/dec
⇒ P = 0 Given
N=P−Z
ω(r⁄s)
10 −2 = 0 − Z
k Z=2
G(s)H(s) =
(1 +
s
) Two C.L poles lie in RHS, so the system is
10
unstable.
y = mx + c
40 = 0 × log(10) + c
18. [Ans. A]
c = 40
For marginally stable system, Nyquist plot
c = 20log k
passes through −1+ J0
40 = 20 log k
log k = 2
19. [Ans. A]
k = 100 1
1000 Gain Margin = =5
G(s)H(s) = 0.2
(s + 10)
20. [Ans. C]
14. [Ans. D] In between B & A of plot system is stable. It is
not enclosing(−1 + j0) point.
15. [Ans. C]
10
G(s)H(s) = Level-2
s(−2s + 1)
10 1. [Ans. B]
G(jω)H(jω) = ⋯①
jω(−2 jω + 1) s
k(1 + s) (1 + )
10
10 Transfer Function =
|G(jω)H(jω)| = ⋯② s
ω√(2ω)2 + 1 For k at ω = 1
2ω y = mx + c
∠G(jω)H(jω) = −90 + tan−1 [ ]⋯③ 20 = −20 log 1 + c
1
20 = c ⇒ c = 20 log k
20 = 20 log k

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 Frequency Domain Analysis
k = 10 6. [Ans. B]
∴ Transfer Function Given Transfer Function
10(1 + s)(10 + s) 10(s + 1)
= G(s)H(s) =
s × 10 s(s − 1)
(1 + s)(s + 10) Gain Margin = |G(s)H(s)|ω=ωpc
=
s At ωpc , ∠GH = −180°
−90° − (180 − tan−1 (ωpc )) + tan−1 (ωpc ) = 180°
2. [Ans. D]
2tan−1 ωpc = 90°
5(1 + 0.1s)
G(s) = 2 tan−1 ωpc = 45°
s s
s(1 + 0.5s) [( ) + + 1] ωpc = 1
50 0.650
Corner Frequencies = 2, 10 and 50 rad/sec 10√1 + ω2
|G(s)H(s)|dB ⇒ X = |G(jω)H(jω)|ωpc =1 = = 10
ω√1 + ω2
1
∴ Gain Margin = 20 log ( ) = −20 dB
−20 dB/dec X
−40 dB/dec
−20 dB/dec 7. [Ans. A]
1
−60 dB/dec G(jω)H(jω) =
(1 + jω)3
ω
2 10 50
(1 − 3ω2 ) − j(ω3 − 3ω)
=
(1 + ω2 )3
3. [Ans. A] For ωpc , Im(G (jω)H(jω)) = 0
Bode diagram ⇒ ωpc = 0 or √3 rad/sec
Gain(dB) 1
G. M. = 20log10 | |
0dB/dec −20dB/dec G(jωpc )H(jωpc )
= 20log10 (8)dB
+20dB/dec
8. [Ans. A]
1 10 ω(rad/sec) ω1
∠G(jω) = −ω1 T − 90° − tan−1 [ ] ⋯①
1
4. [Ans. C] ∠G(jω)|ω=ωpc ⇒ −π ⋯ ②
For ωgc , |G(jω)H(jω)|=1 π
∠G(jω)|ωpc ⇒ −ω1 T − − tan−1 (ω1 ) = −π
⇒ ωgc = 0.4457rad/sec 2
−1
π
For ωpc , ∠G(jω) H(jω)= − π ω1 T + tan (ω1 ) =
2
⇒ ωpc = 1.4142 rad/sec −1 (ω )
π
tan 1 = − ω1 T
2
5. [Ans. A] ω1 = cotω1 T
5
G(s)H(s) = ;
(s + 1)(2s + 1)(3s + 1) 9. [Ans. *]Range: 0.99 to 1.01
ωpc = 0.16 × 2π = 1 Open Loop Transfer Function
4
5 G(s)H(s) =
|G(s)H(s)| = s(s − 2)
(√ω2pc + 1) (√4ω2pc + 1) (√9ω2pc + 1) To construct Nyquist plot
s1 ⇒ Polar plot
5 1 4
= = G(jω)H(jω) =
(√2)(√5)(√10) 2 jω(jω − 2)
Gain Margin = 2 4
|G(jω)H(jω)| =
Gain Margin in dB = 20 log 2 = 6dB ω√ω2 + 4
ω
∠G(jω) = −90 − 180 + tan−1 ( )
2

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 Frequency Domain Analysis

ω 0 ∞ 3ωpc
10
|G(jω)| ∞ 0 −∞ = ω2
pc
∠G(jω) −270° −180° 1−
50
S1 So for any value of ω we will not be able to get
the value of −∞, hence ωpc doesn’t exist.
S4
GH­plane
S2 11. [Ans. B]
16
G(s) =
S3 (S + 1)6
16
s2 ∶→ At origin G(jω) = ⋯①
(jω + 1)6
s3 : → Inverse polar plot 16
−π +π |G(jω)| = 6 ⋯②
s4 : → Put s = lim Rejθ ; {θ ⇒ to } (√1 + ω2 )
R→0 2 2
4 ∠ G(jω) = −6 tan−1 [ω] ⋯ ③
G(s) ⇒ 𝐚𝐭 𝛚𝐩𝐜 ∶ ∠ G(jω) = −6 tan−1 [ω] = −180°
s(−2)
−1 = ejπ tan−1 [ω] = 30°
2 1
G(s) = lim ω= rad/s
R→0 (Rejθ )(2ejπ ) √3
|G(jω)|ω=ωpc = X
= ∞ [e−j (θ+π) ]
⇒ ∞ e−j π/2 to e−j3 π/2 16
|G(jω)| = 6
(One time encirclement in clockwise 1 2
[√1 + ( ) ]
direction) √3

16 16 × 27
|G(jω)| = =
10. [Ans. D] 2 6
64
( )
100(s − 5) √3
Given, (s)H(s) = X ⇒ 6.75
s(s + 10)
1
𝐀𝐭 𝛚𝐩𝐜 : ∠G(s)H(s)|s=jωpc = −180° GM = = 0.148
X
∠100∠(s − 5)
∠G(s)H(s) =
∠s(s + 10) 12. [Ans. D]
∠(100)∠(jω − 5) 1
∠G(jω)H(jω) = |G(jω)| = =1
∠(jω)∠(jω + 10) 1 + ω2
ω or ωgc = 0
∠0° (180° − tan−1 )
= 5 Then ∠G(jω) = −2 tan−1 ωgc + 180°
ω
∠90° (tan−1 ) = −2 tan−1 0 + 180° = 180°
10
ω ω = π rad
= +90° − tan−1 − tan−1
5 10
ωpc 13. [Ans. D]
∠G(s)H(s)|s=jωpc = 90° − tan−1
5 From diagram
ω
−1 pc ks 2
− tan G(s) =
10 s s
ω ωpc (1 + ) (1 + )
−1 pc 2 20
−180° = 90° − tan − tan−1
5 10 To find k:
ω
−1 pc −1
ωpc y = mx + c
270° = tan + tan ( )
5 10 40 = 40 log(2) + c
ωpc ωpc
+ 27.95 = c
−1 5 10
= tan ( ω2
) c = 20 log k
pc
1− 27.95 = 20 log k
50
3ωpc
k = 24.97 ⋍ 25
10
tan 270° = ω2
25s 2
1−
pc G(s) =
50 (1 + 0.5s)(1 + 0.05s)

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 Frequency Domain Analysis
14. [Ans. D] 10(1 + 10s)2
G(s) =
Initially plot has slope of 40dB/decade, there s s 2
(1 + s) (1 + ) (1 + )
must be two zero at origin. At ω = 10 slope 10 100

change −60dB/decade from 40dB/decade. So 106 (1 + 10s)2

G(s) =
there must be 5 poles at ω = 10. Thus (s + 1)(s + 10)(s + 100)2
ks2
Transfer Function must be the form = (1+0.1s)5.
18. [Ans. B]
The 40dB/decade line will cross
From diagram
ω = 1 at 0 dB, 20 log k = 60 ⇒ k = 1000
ks 2
G(s) = s s
15. [Ans. B] (1 + ) (1 + s) (1 + )
0.5 5
s jω To find k:
G(s) = ⇒ G(jω) =
1+s 1 + jω y = mx + c
ω Let magnitude be ′x ′ corresponding to
|G(jω)| = ; ∠G(jω) = 90° − tan−1 ω
√1 + ω2 ω = 0.5 rad/sec
ω 0 ∞ 32 − x = 20[log(1) − log(0.5)]
μ 0 1 32 − x = −20 log(0.5)
ϕ 90° 0° x = 32 − 6.02
From the expression for phase and magnitude x = 25.98
of G(jω); it is clear that as ′ω′ increases; phase Now
changes from +90° to 0° and magnitude y = mx + c
changes from 0 to 1. Therefore, the polar plots 25.98 = 40 log(0.5) + c
will be as follows. 25.98 = −12.04 + c
Img c = 38.02
c = 20 log k − 38.02
k = 79.62
79.62s 2
G(s) = s s
(1 + ) (1 + s) (1 + )
0.5 5

ω=0 2
79.62 s × 5 × 0.5
Re G(s) =
(s + 0.5)(1 + s)(s + 5)
199.05s 2
16. [Ans. B] =
(s + 1)(s + 0.5)(s + 5)
G(jω)H(jω)
= − tan−1 ω − tan−1 2ω − tan−1 3ω = −π 19. [Ans. *]Range: 19.5 to 20.5
or tan−1 ω + tan−1 2ω = π − tan−1 3ω 4.8
G(s)H(s) = ⋯①
3ω s(s + 2)(s + 4)
or tan−1 = π − tan−1 3ω 4.8
1 − 2ω2 |G(s)H(s)| = ⋯②
3ω jω(jω + 2)(jω + 4)
or = −3ω
1 − 2ω2 4.8
|G(jω)| = ⋯③
or ω = 1 rad/sec ω√ω + 4 √ω2 + 16
2
ω ω
∠G(jω) = −90 − tan−1 ( ) − tan−1 ( )
17. [Ans. C] 2 4
From diagram ∠G(jω)ωpc = −180
2 ω ω
k (1 +
s
) = −90 − tan−1 ( ) − tan−1 ( )
0.1 2 4
G(s) = 2 ω⁄ + ω⁄
s s s
(1 + ) (1 + ) (1 + ) tan−1 [ 2 2 4] = 90
1 − ω ⁄8
1 10 100
y = mx + c
20 = 0 log(x) + c ωpc = √8 rad/sec
c = 20 → c = 20 log k 4.8
|G(s)H(s)| =
20 = 20 log k ⇒ k = 10 √8√12√24

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 Frequency Domain Analysis
4.8 1 10 × 102 × 100 (s + 0.1)3
= =( ) = ×
2.82 × 3.46 × 4.8 9.7rad (0.1)3 (s + 10)2 (s + 100)
1
Gain Margin = 1 = 9.7 108 (s + 0.1)3
( ) TF =
9.7 (s + 10)2 (s + 100)
Gain Margin = 20 log10 (9.7)
= 19.78dB 2. [Ans. D]
(s + 2)
Given, G(s) =
20. [Ans. B] (s + 1)(s − 1)
Number of decade change from first break (jω + 2)
frequency 10 to ω1 is G(jω) =
(jω + 1)(jω − 1)
26 − 20 6
= = dec
20 20 (√ω2 + 4)
ω1 6 |G(jω)| =
log = ⇒ ω1 = 20 (√ω2 + 1)(√ω2 + 1 )
10 20
ω
Number of decade change from break ∠G(jω) = tan−1 ( ) − tan−1 ω − 180 + tan−1 ω
frequencyω1 to ω2 . 2
ω
26 ω2 ω2 = −180 + tan−1
= 1.3, log = 1.3 ⇒ log = 1.3 2
20 ω1 20 ω = 0; |G(jω)| = 4, ∠G(jω) = −180°
⇒ ω2 = 400 ω = ∞; |G(jω)| = 0, ∠G(jω) = −90°
Nyquist plot
Level-3 Im(GH)

1. [Ans. C] ω=∞
 ω = 0.1 to 10 rad/sec ω=0 −1 Re(GH)

140 − 20
= 60dB/dec
log(10) − (log(0.1) One counter clock encirclement
N = 1 and one right hand pole P = 1
 ω = 10 to 100 rad/sec N=P−Z
160 − 140 1 =1−Z
= 20dB/dec
log(100) − log(10) Z=0
Initial slope = 0, so no Poles and Zeros at System is stable
origin
 ω = 0.1 rad/sec 3. [Ans. B]
Change in slope = 60dB/sec 1
3 real zeroes G(jω)H(jω) =
jω(1 + jω)2
 ω = 10 rad/sec
−2ω − j(1 − ω2 )
Change in slope = −40dB/sec =
ω(1 + ω2 )2
2 real poles
 ω = 100 rad/sec ω = 0+ ⇒ G(jω)H(jω) = −2 − j∞
Change in slope = −20dB/sec ω = ∞+ ⇒ G(jω)H(jω) = −0 + j0
1 finite pole Also Nyquist plot intersect with real axis for
s 3 ωρ = 1 rad/sec
k (1 + )
TF = 0.1 ∴ Nyquist plot is not correct  (1) is not
s 2 s
(1 + ) (1 + ) correct
10 100
Magnitude is 20dB at ω = 0.1rad/sec 1
G. M. = 20log10 | |
M|ω=0.1 = 20 log k = 20dB G(jωpc )H(jωpc )
⇒ k = 10 = 20log10 (2)dB ⇒ 2 is correct.
s 3
10 (1 + )
0.1
TF = 2
s s
(1 + ) (1 + )
10 100

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 Frequency Domain Analysis
4. [Ans. B] At ω = 0 → 2 − ω2 > 0 ⇒ ∠G(jω) = −90°
1. 24.1 − 0 = −40[log(ω1 ) − log(8)] at ω = ∞ ⇒ 2 − ω2 < 0
24.1 = 40 [log(8) − log(ω1 )] 2ω
⇒ ∠G(jω) = −90° − (180° − tan−1 ( 2 ))
ω1 = 2rad/ sec … ① ω −2
log(ω1 ) at ω = ∞ ⇒ −270°}
2. 24.1 − (−12.05) = −40 [ ] Polar plot:
− log(ω2 )
36.15 = −40[log(ω1 ) − log(ω2 )] Im
ω=∞
ω2 = 16 rad/ sec … ②
Re
log(ω2 )
3. −12.05 − (−20.05) = −20 [ ]
− log(ω3 )
8 = −20[log(16) − log(ω3 )]
ω3 = 40 rad/ sec … ③
4. For k: ω=0
y = mx + c ⇒Hence the corresponding Nyquist plot is
24.1 = −20 log (2) + C Im
30.12 = C C = 20 log k
20 log k = 30.12
ω=∞
k = 32.06 = 32
Re
ω0 = k = 32rad/sec ω=0
⇒ For type 1, −20 dB
Intersect at ω = k

7. [Ans. C]
5. [Ans. C]
1 At phase cross over frequency
G(s) = , H(s) = 1 ∠G(jω)|ω=ωpc = −180°
s(2s + 1)(s + 1)
1 −90° − tan−1 ωpc T1 − tan−1 ωpc T2 = −180°
G(jω)H(jω) =
jω(2jω + 1)(jω + 1) ωpc (T1 + T2 )
1 or tan−1 = 90°
lim G(jω)H(jω) = lim = ∞∠ − 90° 1 − ω2 pc T1 T2
s→0 s→0 jω
1
1 or ωpc =
lim G(jω)H(jω) = limω √T1 T2
s→0 s→0 2(jω)3

= 0∠ − 270° 1 T1 T2
And G. M = =
The intersection with the real axis can be |G(jω)|ωpc T1 + T2
calculated asIm{G(jω)H(jω)} = 0, and then
condition gives ω(2ω2 − 1) = 0 8. [Ans. C]
1 1 1 −2 From diagram
i. e. ω = 0, , G (j ) H (j ) =
√2 √2 √2 3 Maximum peak over shoot
With the above information the plot in option ⇒ MP = 0.162 = 16.2%
(C) is correct. 2
MP = e−ξπ⁄√1−ξ = 0.162
−2 Im
ξ = 0.5
3
Re Peak Time
−1 ω2
t P = 0.362 {From diagram}
ω1 Phase Margin π
= 0.362
ωd
π
ωd =
0.362
6. [Ans. B] π
ωn √1 − ξ2 =
At ω = 0, M∠ϕ = ∞∠ − 90° 0.362
At ω = ∞, M∠ϕ = 0∠ − 270° π
ωn √1 − (0.5)2 =
2ω 0.362
∠G(jω) = −90° − tan−1 ( )
2 − ω2 ωn = 10 rad/sec

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 Frequency Domain Analysis
Resonant frequency ωr = ωn √1 − 2ζ2
ωr = ωn √1 − 2ξ2 6√2 = 12√1 − 2ζ2
ωr = 10√1 − 2(0.5)2 = 7.07rad/sec 1
= √1 − 2ζ2
1 √2
Mr =
2ξ√1 − ξ2 1
= 1 − 2ζ2
1 2
= = 1.155 1
2 × (0.5)√1 − (0.5)2 2ζ2 =
2
2
1
9. [Ans. A] ζ ⇒
4
From Diagram 1
ζ=
Calculation of ω 2
5.105dB − 0 = −20[log(ω) − log(90)] k
Mr =
5.105 = −20 log(ω) + 20 log 90 2ζ√1 − ζ2
5.105 = −20 log(ω) + 39.08 2 2 4
Mr = = =
ω ≃ 50 r/s 1 1 3 √3
2 ( ) (√1 − ) √
Calculation of k: 2 4 4

y − 5.105 = −40[log(20) − log(50)] = 2.30

y − 5.105 = −52. 04 + 67.95
y = 21.02 dB 12. [Ans. D]
y = mx + c 1 1
GM = | =
21.02 = −20 log(20) + c |G(jω)| ω=ω 0.64
pc
21.02 = −26.02 + c 1
c = 47.021 GM = 20 log ( ) = 3.86 dB
0.64
c = 20 log k PM = 180° + ∠G(jω)|ω=ωgc
47.04 = 20 log k
= 180° − 170°
⇒ k = 224.96 = 10°

10. [Ans. B] 13. [Ans. C]

Put s = jω (s + 4)
(jω) e−0.1jω G(s) =
T(jω) = = (s + 2)(s − 2)
R(jω) (jω + 5)(jω + 10) To map s:
ω ω
∠T(jω) = −0.1ω − tan−1 [ ] − tan−1 [ ] (jω + 4)
5 10 G(jω) = ⋯①
ω = 5rad⁄sec → Given (jω + 2)(jω − 2)
5 5 √ω2 + 16
⇒ −0.5 − tan−1 [ ] − tan−1 [ ] |G(jω)| = ⋯②
5 10 ω2 + 4
100° ω ω ω
⇒ −0.5 × − tan−1 (1) − tan−1 (0.5) ∠G(jω) = tan−1 ( ) − tan−1 ( ) − 180 + tan ( )
π 4 2 2
⇒ −26.66° − 45° − 26.56° As the frequency is increased, phase lead is
⇒ −100.22° going to increase.
ω 0 ∞
11. [Ans. *]Range: 2.2 to 2.4 |G(jω)| 1 0
From diagram, we can observe that, at ∠G(jω) −180 −90
⇒ ω = 0 r/s. The magnitude is ‘2’.
Img
kω2n
TF = 2 and k = 2
s + 2ζωn s + ω2n
rad
ωr ⇒ 6√2 , ω=0 ω=∞
sec
⇒ from fig(b), OA = 12 Re
rad
ωn = 12
sec

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 Frequency Domain Analysis
14. [Ans. *]Range: 3.2 to 3.6 From diagram, ω = 6 = √k ⇒ k=36
k 2
G(s)H(s) = 36[1 + s⁄4] [1 + s⁄10]
s(s + 1) ⇒
k s 2 [1 + s⁄32][1 + s⁄40][1 + s⁄52]
G(jω)H(jω) = ⋯①
jω(jω + 1) 14976[s + 4]2 [s + 10]
k =
|G(jω)H(jω)| = ⋯② s 2 [s + 32][s + 40][s + 52]
ω√ω2 + 1
ω
∠G(jω)H(jω) = −90 − tan −1 ( ) ⋯ ③ 17. [Ans. D]
1
Phase Margin = 30° Given Gain (dB) ω increasing
20 dB
Phase Margin = 180 + ϕ
PM
30 = 180 + ϕ → ϕ = −150°
−90 − tan−1 [ω] = −150 ωpc
GM Phase
tan−1 [ω] = 60
0 −270° ωgc (degrees)
ωgc = √3 rad/sec −180° −90°
k
|G(jω)H(jω)| = | |=1 −20 dB
ωgc √ω2gc + 1 ω=∞
k Since ωpc < ωgc ⟶ System is unstable
| |=1
√3√4 At ωpc , GM < 0
k = 2√3 At ωgc , PM = 180 + ∠GH|ωgc
k = 2 × 1.732
∴ ∠GH|ωgc < −180°
k = 3.464
PM < 0
15. [Ans. A]
18. [Ans. B]
∠G(jω) = −90° − tan−1 ω − tan−1 2ω
M(dB)
−180° = −90° − tan−1 (ωpc )
80
−tan−1 (2ωpc )
ωpc + 2ωpc 40
⇒ tan−1 ( ) = 90°
1 − 2ω2pc
ω
⇒ 1 − 2ω2pc = 0
1 10
1
⇒ ωpc = rad/s Slope at starting
√2 40 − 80
1 2 10
= −40db/dec
|G(jω)|ωpc = = log ( )
√2 1 1 4 1
√ + 1√ + 1 ∴ There the two poles at the origin.
√2 2 2

2√2 4 k
= = At ω = 1, y = 80 dB ⇒ 20 log ( ) = 80
√3 √6 3 1
√2 √2 ⇒ k = 104
1 3 At ω = 10 there are two zeros
Gain Margin = | =
|G(jω)| ω=ω 4 At ω = 102 the slope is 20 dB/dec
pc
∴ One zero at ω = 102
16. [Ans. C] At = ω = 104 Slope is 0db
From Diagram ∴ One pole
2
k (1 + s⁄4) (1 + s⁄10) At ω = 105 Slope is −80db/dec
G(s) = ∴ Four poles
s 2 (1 + s⁄32)(1 + s⁄40)(s + s⁄52) ∴ Total poles = Seven poles
⇒ Initial slope is − 40dB⁄dec zeros = three zeros
So system has type-2
⇒ − 40dB⁄d line interest on 0 dB line at ω
= √k rad/sec

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 Frequency Domain Analysis
19. [Ans. B]
From given frequency magnitude plot, we
have
Resonant peak, Mr = 1.4
Resonant frequency,ωr = 3 rad/sec
Now, the resonant peak is defined as
1
Mr =
2ξ√1 − ξ2
1
So, 1.4 =
2ξ√1 − ξ2
or ξ = 0.387, 0.92
Hence, ξ = 0.387 (ξ < 0.707 for resonance)
The maximum overshoot is given by
−πξ
%MP = e × 100%
√1 − ξ2
= 0.2675 = 26.75%
Given that resonance frequency is
ωr = ωn √1 − 2ξ2 = 3rad/sec
ωr
So, ωn =
√1 − 2ξ2
3
=
√1 − 2ξ2
3
= = 3.58 rad/ sec
0.837

20. [Ans. C]
From given magnitude curve, we have the
observation: Initial slope is −20dB/dec, so
there must be a pole at origin. Due to one pole
at origin, system type also equal to one.
Therefore, the Transfer Function must be of
form,
k
G(s)H(s) =
s
So, the magnitude of gain is given as
M dB = −20 log ω + 20 log k
From the plot, we get
M = 6 dB at ω = 1
Therefore, we get
6 = −20 log 1 + 20 log k
or 20 log k = 6
or k = 2
So, the position error coefficient is given as
k
k P = lim G(s)H(s) = lim = ∞
s→0 s→0 s

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