Assignment 7

P6.4
(a) The closed loop characteristic equation is

K ( s + 40)
1 + GH ( s ) = 1 + =0
s ( s + 10)( s + 20)
or
s 3 + 30 s 2 + 200 s + Ks + 40 K = 0
The Routh array is

1 200 + K
s3
30 40 K
s2
K
s1 200 − 0
0
3
s
40 K
Therefore, for stability we require 200 - K/3 > 0 and 40K >0. So, the range of K for
stability is
0<K<600

(b) At K=600, the auxiliary equation is

30s2+40(600) = 0 or s2+800=0
The roots of the auxiliary equation are s = ±j28.3

(c) Let K=600/2=300. Then, to shift the axis, first define s0=s+1.
Substituting s = s0-1 into the characteristic equation yields

( s0 − 1)3 + 30( s0 − 1) 2 + 500( s0 − 1) + 12000 = s03 + 27 s0 2 + 443s0 + 11529

The Routh array is

s3 1 443
2
s 27 11529
s1 16 0
0
s 11529

All the elements of the first column are positive, therefore all the roots lie to left of s =
-1. We repeat the procedure for s=s0-2 and obtain
s03 + 24 s0 2 + 392 s0 + 10992 = 0
The Routh array is
s3 1 392
2
s 24 10992
s −66
1
0
0
s 10992

There are two sign changes in the first column indicating two roots to right of s = -2.
Combining the results, we determine that there are two roots located between s = -1
and s = -2. The roots of the characteristic equation are
s1 = -27.6250 and s2,3 = -1.1875±20.8082j

We see that indeed the two roots s2,3 = -1.1875 ± 20.8082j lie between -1 and -2

P6.7
(a) The closed –loop characteristic equation is
s 3 + 101s 2 + (100 + 10 KK a ) s + 100 KK a = 0

The Routh array is

s3 1 100 + 10 KK a
s 2 101 100 KK a
1
s b
s 0 100 KK a

Where
910
b = 100 + KK a > 0.
101
Thus examining the first column, we determine that KKa >0 stabilizes the system

(b) The tracking error is

100 100
e( s ) = lim s (1 − T ( s )) =
s →0 s2 KK a

We require E(s)<1° = 0.01745. So,

KKa >100/0.01745 = 5729

When KKa = 5729, the roots of the characteristic polynomial are

s1= -10.15 and s2,3 = - 45.43 ± j233.25
P6.9)
(a) The closed –loop characteristic equation is
10 K
1 + GH ( s ) = 1 +
( s + 100)( s + 20) 2
or
s 3 + 140 s 2 + 4400 s + 40000 + 10 K = 0
The Routh array is

s3 1 4400
s2 140 40000 + 10 K
1
s b
s 0 40000 + 10 K
Where
140(4400) − (40000 + 10 K )
b= .
140
Examining the first column and requiring all the terms to be positive, we determine
that the system is stable if
- 4000 < K < 57600
(b) The desired characteristic polynomial is
( s + b)( s 2 + 1.38ωn s + ωn 2 ) = s 3 + (1.38ωn + b) s 2 + (ωn 2 + 1.38ωnb) s + bωn 2

where we have used the fact that ζ=0.69 to achieve a 5% overshoot, and ωn and b are
to be determined. The actual characteristic polynomial is

s 3 + 140 s 2 + 4400 s + 40000 + 10 K = 0

Equating the coefficients of the actual and desired characteristic polynomials, and
solving for K, b and ωn yields
b=104.2, ωn=25.9 and K=3003

So a suitable gain is K=3003

P6.10)
(a) The closed –loop characteristic equation is
s 4 + 7 s 3 + 20 s 2 + (24 + K ) s + 10 K = 0
 The Routh array is
1 20 10 K
s4
7 24 + K 0
s3
116 − K
s2 10 K
7
s1
b
s0
10 K

Where
116 − K
( )(24 + K ) − 70 K
b= 7 .
116 − K
( )
7

Setting b>0 yields

2784 - 398K - K2>0
which holds when
- 404.88 < K < 6.876
Examining the first column, we also find that K<116 and K>0 for stability.
Combining all the stability regions, we determine that for stability
0<K<6.876

(b) When K=6.876, the roots are

s1,2 = - 3.5 ± 1.63j and s3,4 = ± 2.1j

P6.11)
Given
s 3 + (1 + K ) s 2 + 10s + (5 + 15 K ) = 0
The Routh array is

s3 1 10
s 2
1+ K 5 + 15 K
1
s b
s 5 + 15 K
0

Where
(1 + K )10 − (5 + 15 K ) 5 − 5 K
b= =
1+ K 1+ K
Given that K>0, we determine that the system is stable when 5-5K > 0 or
0 < K<1
When K=1, the s2 row yields the auxiliary equation
2s2+20=0
The roots are s = ±j√10
So the system frequency of oscillation is √10 rad/sec

P6.15)
The closed-loop transfer function is
K +1
T (s) = 3
s + 3s + 3s + K + 1
2

The Routh array is

1 3
s3
3 K +1
s2
8− K
s1
3
s0
K +1

So for stability we require -1< K<8.

P6.17)
(a) The closed –loop characteristic equation is
s 3 + 9s 2 + ( K − 10) s + 2 K = 0
The Routh array is

1 K − 10
s3
9 2K
s2
7 K − 90
s1
9
s0
2K
For stability
K>90/7

(b) When K=90/7, the system is marginally stable. The roots are
s1,2 = ± j√(20/7), at the jω-axis crossing.

P6.18)
The closed-loop characteristic equation is
q ( s ) = s 5 + s 4 + 4s 3 + 4 Ks 2 + 2 Ks + K
The range of stability for the vertical-liftoff vehicle is
0.5361 < K < 0.9326.
therefore, for K=1, the system is unstable.
AP6.3)
(a) The steady-state tracking error to a step input is
ess = lim s (1 − T ( s )) R ( s ) = 1 − T (0) = 1 − α
s →0

We want
1 − α < 0.05

This yields the bounds for α

0.95 < α < 1.05.
the Routh array is

s3 1 α
s 1+ α
2
1
s1 b 0
0
s 1
where
α 2 + α −1
b=
1+α

Therefore, using the condition that b>0, we obtain the stability range for α:

α >0.618

(c) Choosing α = 1 satisfies both the steady-state tracking requirement and stability
requirement.