Yes. It can be renewed after expiry. You will have 30 days and after this grace period, you have to pay the penalty of Rs. 100.
The RTO’s do tend to charge at least the minimum penalty for the renewal. Most RTO’s; urban; metro; have gone on-line and you will get a biometric card instead of a booklet; this will be delivered to you by courier / speed post in about 3 ~ 4 weeks time, after you complete the formalities. Drive safe !