QUESTION NO.

1
1
( s 3)( s 11)( s 18)
C ( s)
K G(s)

G ( s ) 1 KG ( s) H ( s)
As H ( s) 1
1
G(s ) H (s)
( s 3)( s 11)( s 18)
Poles for open loop system:
( s 3)( s 11)( s 18)
s 3, s 11, s 18
now we define
n=number of poles=3
m=number of zeros=0
G(s)

j 1

i 1

RP( Pj ) RP( zi)

nm
3

RP( Pj )
j 1

3
3 11 18

3
-8.6667
Angle of Asymptotes:
180(2i 1) 180(2i 1)
Ai

nm
3
o
Ai 60 (2i 1)
Fori 0, 60o
Fori 1, 180o
Fori 2, 300o

Calculation of Breakaway points

the characteristic equation is
1 G ( s) 0
K
0
( s 3)( s 11)( s 18)
( s 3)( s 11)( s 18) K 0

K ( s 3 26s 2 111s 594)

For breakpoints,
dK
0
ds
dK
3s 2 52 s 111
ds
S 14.8401, s 2.4932
so,the breakaway point is s=-2.4932
J Crossing points
( s 3)( s 11)( s 18) K 0
s 3 26 s 2 111s 594 K 0
UsingRouthHurwitsCritererion
s3

111

s2

26

K 594

s
s0

K 594 2886
23
K 594

for stable closed loop system,

K 594 0
K 594

&

K 3480 0

, K 3480

so, K (594,3480)
position of closed loop poles for j crossing
26 s 2 K 594 0
26 s 2 3480 594 0
26 s 2 2886 0
s 2 111
s 0.0000 10.5357i

Root Locus Using MATLAB:

num=[0 0 1];
p_1=3;
p_2=-11;
p_3=-18;
poles=[p_1,p_2,p_3];
den=poly(poles)
k=[0:1:5000];
r=rlocus(num,den,k)
plot(r,'-')
15

10

-5

-10

-15
-30

-25

-20

-15

-10

-5

Interesting Values of K:
K=0
K=594
K=3480
K=724.6258
Checking for interesting values of K using MATLAB
[K,pole_loc]=rlocfind(sys,3)
[K,pole_loc]=rlocfind(sys,0)
[K,pole_loc]=rlocfind(sys,-2.4932)
[K,pole_loc]=rlocfind(sys,10.53j)

K =
1.3056e-13
pole_loc =
-18.0000
-11.0000
3.0000
K =
594.0000
pole_loc =
0
-20.6158
-5.3842
K =
724.6258
pole_loc =
-21.0135
-2.4933
-2.4932
K =
3.4769e+03
pole_loc =
-25.9961 + 0.0000i
-0.0020 +10.5308i
-0.0020 -10.5308i

For

[0.4 0.45],

s -3.2323 4.8234j
we choose closed loop poles as:

Then we use [K,pole_loc]=rlocfind(sys,-3.2323+4.8234j)

=>K=1.1194e+03

Using this value of K in Simulink model,

Now we gooto command window and use the following code to confirm

to lie in this range i.e., [0.4 0.45]

the value of
load y_out
t=ans(1,:);y=ans(2,:);
plot(t,y)
y_max=max(y);
y_ss=y(59);
os_per=(y_max-y_ss)/y_ss;damp=sqrt((log(os_per)^2)/(pi^2+
(log(os_per)^2)))
=>damp =0.4118
ts=3
omega_n=4/(damp*ts)
omega_n =3.2378
DNA ANALYSIS
K=0
0<K<594
K=3.4769e+03
K=724.6258
724.6258<K<3.4769e+03

Unstable
Unstable
marginally stable
Stable
Stable

For the value of K when damping constant is between 0.4 and 0.45, the poles are at:

s=-22.0462 ,
s= -1.9769 4.4638i
And the value of K is: 1.1194e+03
As the 3rd pol is more than 5 times the first two poles, the second order
approximation becomes valid and the response of second order system is attained.

QUESTION NO.2
s 18
( s 3)( s 9)
C ( s)
K G (s)

G ( s ) 1 KG ( s ) H ( s )
As H ( s) 1

G ( s)

1
( s 3)( s 11)( s 18)
Poles for open loop system:
( s 3)( s 9)
s 3, s 9
systemzerosare : s 18
now we define
n=number of poles=2
m=number of zeros=1
G ( s) H ( s)

j 1

i 1

RP( Pj ) RP( zi)

nm
3 9 18

1
12
Angle of Asymptotes:
180(2i 1) 180(2i 1)
Ai

nm
1
o
For i 0, 180
For i 1, 180o

Calculation of Breakaway points

the characteristic equation is
1 G(s) 0
K ( s 18)
1
0
( s 3)( s 9)
( s 3)( s 9) K ( s 18) 0
( s 2 6 s 27)
s 18
For break points,
dK
0
ds
dK (2 s 6)( s 18) ( s 2 6s 27)

ds
( s 18) 2
Break in point: s=-31.7477
Break away point: s=-2.4932
J Crossing points
( s 3)( s 9) K ( s 18) 0
K

s 2 (6 K ) s 18 K 27 0
Using Routh Hurwitz Critererion
s 2 1 18 K 27
s K 6
s0
18 K 27
for stable closed loop system,
18K 27 0 & K 6 0
3
K , K 6
2
position of closed loop poles for j crossing
s 0 0i
Interesting values of K
K
K
K
K

0
Start
1.5
jcrossings
2.1655 break away
75.4955 break in

MATLAB PART
den=poly([3 -9]); % denominator of system tf
num=[1 18];
% numerator of system tf
sys=tf(num,den)
% system transfer function
k=[0:.1:60];
r=rlocus(sys,k);
% data of root locus
plot(r,'*')
% plot the root locus
zoom on;
%---------------------------------------[K,pole_location]=rlocfind(sys,-3)
[K,pole_location]=rlocfind(sys,0)
[K,pole_location]=rlocfind(sys,-4.2523)
[K,pole_location]=rlocfind(sys,-31.7477)
15

10

-5

-10

-15
-40

-35

-30

-25

-20

K =2.4000
pole_location = -5.4000, -3.0000
K = 1.5000
pole_location = 0, -7.5000
K =2.5045,
pole_location = -4.2523,-4.2522
K =57.4955

-15

-10

-5

pole_location = -31.7478,-31.7477
damp=0:0.05:1;
omega=0:5:40;
figure,
sgrid('new')
sgrid('damp,omega')
hold on
plot(r,'*')
zoom on
kbd=input('POINT & CLICK for required minimum damping');
[k_1,p_1]=rlocfind(sys)
15

10

5
0.16
1.6
0.34
0.5
1.4
0.64
1.2
0.76
1
0.86
0.8
0.94
0.6
0.4
0.2
0.985
0.985
0.2
0.4
0.94
0.6
0.86
0.8
0.76
1
1.2
0.64
0.5
1.4
0.34
0.16
1.6

-5

-10

-15
-120

-100

-80

-60

-40

-20

20

figure,
sgrid('new')
sgrid('damp,omega')
hold on
plot(r,'*')
zoom on
kbd=input('POINT & CLICK for requiredgain and pole wrt to damping of 0.85');
[k_1,p_1]=rlocfind(sys)

15

10

5
0.16
1.6
0.34
0.5
1.4
0.64
1.2
0.76
1
0.86
0.8
0.94
0.6
0.4
0.2
0.985
0.985
0.2
0.4
0.94
0.6
0.86
0.8
0.76
1
1.2
0.64
0.5
1.4
0.34
0.16
1.6

-5

-10

-15
-60

-50

-40

-30

-20

-10

QUESTION NO.3

10

( s 3)( s 9)
( s 22)( s 6 7i )( s 6 7i )
C ( s)
K G ( s)

G ( s ) 1 KG ( s) H ( s )
As H ( s) 1
( s 3)( s 9)
G ( s) H (s)
( s 22)( s 6 7i )( s 6 7i)
Poles for open loop system:
( s 22)( s 6 7i )( s 6 7i )
s 22, s 6 7i
systemzerosare : s 3, s 9
now we define
n=number of poles=3
m=number of zeros=2
G ( s)

j 1

i 1

RP( Pj ) RP( zi)

nm

28 12
1
16
Angle of Asymptotes:
180(2i 1) 180(2i 1)
Ai

nm
1
o
For i 0, 180

For i 1, 180o

Calculation of Breakaway points

the characteristic equation is
1 G ( s) 0
K ( s 3)( s 9)
0
( s 22)( s 6 7i )( s 6 7i )
( s 22)( s 6 7i )( s 6 7i ) K ( s 3)( s 9) 0

-(s3 +34s 2 +349s+1870)=K ( s 3)( s 9)

(s3 +34s 2 +349s+1870)
K
s 2 12s 27
For break points,
dK
0
ds
dK ( s 2 12s 27)(3s 2 68s 349) (s3 +34s 2 +349s+1870)(2 s 12)

ds
( s 2 12 s 27) 2
Break in point: s= 8.3909
Break away point: s=-6.24
J Crossing points
(s3 +34s 2 +349s+1870)+K ( s 3)( s 9) 0
s3 (34 K )s 2 (349 12 K ) s 1870 27 K 0

Using Routh Hurwitz Critererion

s3

(349 12 K )

s2

(34 K )
1870 27 K (349 12 K )(34 K )
34 K
1870 27 K (349 12 K )(34 K )
34 K

1870 27 K

s
s0

for stable closed loop system,

1870 27 K (349 12 K )(34 K ) 0

&

34 K 0

1870 27 K 11866 349 K 408 K 12 K 2 0,

K>-40.0174,K>-20.8160,K>-34
=>K>-20.816
position of closed loop poles for j crossing

K 34

(s3 +34s 2 +349s+1870) 20.816( s 3)( s 9)

s 3 13.2 s 2 99.2 s 1308 0;
Interesting values of K
K 0
Start
K 20.816 jcrossings
K 86.4586
break away,K 75.4955
break in: K -36.3490

DNA ANALYSIS
K=0

Unstable

K=-20.816

marginally stable

K=86.45

Stable

QUESTION NO.4

1
( s 3)( s 11)( s 18)
C ( s)
K G (s)

G ( s ) 1 KG ( s ) H ( s )
As H ( s) 1
1
G ( s) H ( s)
( s 3)( s 11)( s 18)
Poles for open loop system:
s 3, s 11, s 18
now we define
n=number of poles=3
G ( s)

m=number of zeros=0

j 1

i 1

RP( Pj ) RP( zi)

nm
3 9 18

1
12
Angle of Asymptotes:
180(2i 1) 180(2i 1)
Ai

nm
3
o
For i 0, 60
For i 1, 180o
For i 1, 60o

Calculation of Breakaway points

the characteristic equation is
1 G ( s) 0
K ( s 18)
1
0
( s 3)( s 9)
( s 3)( s 9) K ( s 18) 0
( s 2 6 s 27)
s 18
For break points,
dK
0
ds
dK
3s ^ 2 52 s 111 0
ds
Break in point: s=-2.4932 => k=-216
Break away point: s=-14.8401 => k=724.63
J Crossing points
26 s ^ 2 k 594 0
Using Routh Hurwitz Critererion
K

s3
s

s1

111

26

k 594

3480 k / 26

s 0 k 594
for stable closed loop system,
K 594 0 & 3480 k
3
K , K 6
2
position of closed loop poles for j crossing
s 0 10.53i
Interesting values of K
K 0
Start
K 3480,594 jcrossings
K 216
break away
K 724.62

break in

MATLAB PART
clc;clear all;close all
den=poly([3 -11 -18]); % denominator of system tf
num=[1];
% numerator of system tf
sys=tf(num,den)
% system transfer function
k=[594:5:3400];
r=rlocus(sys,k);
% data of root locus
plot(r,'*')
% plot the root locus
15
zoom
on;
10

-5

-10

-15
-30

-25

-20

-15

-10

-5

%-------------------------INTERESTING POINTS--------------[K,pole_location]=rlocfind(sys,10.53i)
[K,pole_location]=rlocfind(sys,0)
[K,pole_location]=rlocfind(sys,-14.8401)
[K,pole_location]=rlocfind(sys,-2.4932)
% %----------------------------------------

K=

3.4769e+03

pole_location =
-25.9961 + 0.0000i
-0.0020 +10.5308i
-0.0020 -10.5308i

K = 594.0000
pole_location =
0
-20.6158
-5.3842

K = 216.4777
pole_location =
-19.1910
-8.9958
2.1868

K = 724.6258
pole_location =
-21.0135
-2.4933
-2.4932

FOR THE GIVEN DAMPING AND SETTLING TIME FIND GAIN AND POLE
LOCATION:
% %---------------------------------------damp_1=.5912;
damp_2=.2;
damp=[damp_1,damp_2];
omega_1=2.2553;
omega_2=5;
omega=[omega_1,omega_2];
figure,
sgrid('new')
sgrid('damp,omega')
hold on
plot(r,'*')
zoom on
kbd=input('POINT & CLICK ');
den=poly([3 -11 ]); % denominator of system tf
num=[1];
% numerator of system tf

sys=tf(num,den)
% system transfer function
[k_1,p_1]=rlocfind(sys)
% %---------------------------------------

RESULTS:

-4

-3

-2

POINT & CLICK

sys =
1
-------------s^2 + 8 s - 33

Continuous-time transfer function.

-1

Select a point in the graphics window

selected_point = -2.0239 + 4.1816i
k_1 =

64.7262

p_1 =
-4.0000 + 3.9656i
-4.0000 - 3.9656i

Simulink Part:

In this part we use the same gain value K=64.7,

And we have the code and results as follows
figure,
plot(y_out);
y_max=max(y_out)
y_ss=1.8427;
per_os=(y_max-y_ss)/y_ss
damp=sqrt((log(per_os)^2)/(pi^2+(log(per_os)^2)))
ts=5;

omega=4/(ts*damp);

And we have the results as:

Figure, Step response

y_max =

1.6428

per_os =

0.5645

damp =

0.1790

Our 2nd order approximation is not correct as the distance between

two poles are not so much, and both the pole are comparative in
amplitudes.
DNA Analysis:
Gain

Stability

10

unstable

190

unstable

594

marginally stable

1984

stable

3123

stable

3312

stable

1641

stable

3840

marginally stable

4100

unstable