The first sentences don't mention about the person who does it, and the second ones should have the person who does that.
本がおいてある。(There is a book.)
本を置いておく。(There is a book, someone puts a book.)
昼ごはん(ランチ)が作ってある / できている。(The lunch is ready, prerared, cooked.)
昼ごはん(ランチ)を作っておく。(The lunch is ready, prepared, cooked, someone does that.)
テレビがついている。(TV is on.)
テレビをつけておく。(TV is on, someone turns on.)
I hope my English isn't bad and this helps you.