Problems 327 Routh table to solve Problem 3 . WileyPLUS 9. G i v e n t hfeedback system in Fig. 1P6.

3 with Determine iwhether thesystem of Figure with: unity feedback symbolic Math 1 5 ymbolic 1. Given the unity e u n t y feedback system of Figure P6.3 is stable if rate a Stability Control Solutions [Section: = 6.2] blem 3 . G(s)
WileyPLUS

G(s) =

s(s6 - 2s5

eedback Figure stemStability of 6

28. Find the range of gain, , 240ensure stability in the to e if in 16. unity feedback=system poles + 3)(slocated in the Repeat Problem 1 tell how tell how many closed-loopof+Figure locatedwith [Section: right half many G(s) [s + \)(s poles areare + 4) the closed-loop 2)(s P6.3 Control Solutions right half-plane, 6.4] left halfofin the left, half-plane, and on the jcoystem of Figure 28. in thethe range 6.3]gain, and ensure stability in the plane, Find [Section: plane, to on imaginary axis 17. Consider the followin axis. (52 + 12) that the 17. Consider the following Routh table. Notice
unity feedback system of Figure P6.3 with MATLAB [Section: 16. Repeat Ris) +<- 15(using(MATLAB. + 5) Problem 5 - 2 ) 5 + 4)(5 C(s) 6.4] > m G(s) G(s) =

s(s6 - 2s5 - s4 + 2s3 + 4s2 - 8s - 4)

tell how many closed right half-plane, in the axis. [Section: 6.3]

0 (s + 3)(s + 4)

C(s)

gure P6.3 with

.v7 1 6.4] 2. Using the Fig. 1. Find range Figure P6.3 with [Section: stability in the unity of gain K, to ensure unity feedback . system of .v6 1 Problem 9 e p o l e feedback system with: MATLAB ( 5 + 2) 6.4]7 ,5 -1 -2 G(s) = 2 2 3 m of fl B 11. .v Consider the1 unity feedback system of Figure P6.3 4) 6 [S 2 5 + 2) -41) ( 5 - 1 ) - 2 +( 1)(5 + .v 1 = sure stability. with G(s) 1 -v4 2 ,5 [S + 1)(5 + 4 ) ( 5 1 1 )find the0value of 4 3 ystem Figure P6.3 ensureof stability. 30. Using the Routh-Hurwitz criterion, 7 if 1 4 1 30. Using the Routh-Hurwitz- 1 2 2 for- 3 the value of -vthat will yield GW = criterion, find unity 0 oscillations the feedback 2 4s 3. Using theFig. 1.of yieldtheP6.3 with K that yield oscillation, swith: - 1 5 Find oscillations (s + V unity feedback that will Figure value of [Section: 6.4] 0 8 for the 0 7 system if -9 .v1 system of Figure P6.3 with [Section: o6.4] -21 0 - Routh-Hurwitz criterion, find the region 15 s2 +V Using the K -21 1 .v 0 0 K -9 .v the s-plane where the poles of 0the closed-loop G(s) = of erion, find the region G(s)1 = (5 + 77)(5 + 27)(5 + 38) 0 0 .system are2located. 77)(5 + 27)(5 +0 38) v (5 + [Section: 6.3] es of the closed-loop stability when: 18. For the system of Figu Use the Routh-Hurwitz criterion to find find rangerange the Routh-Hurwitz criterion to the the p stability when: 31.12. In the system of Figure P6.3, let 6.3] 31.18. For the system of Figure P6.4, tell how Use Wly L Sis stable. many closed-loop pol ie U let of for which the system of Figure P6.6 P6.6 for which the system of Figure isPstable. ofmany closed-loop poles are K(s + 2) the right half-plane, located in [Section: 6.4] G(s) in the left half- Co^oi solutions = [Section: 6.4] plane, and on the jcoWednesday, December 7, 11 the right half-plane, + 2) s{s-l)(s + 3)

Figure P6.3 with

s5 row wasG(s) = ( 5 - 2 ) ( 5 + 4)(5 + many roots originally all zeros. Tell how 5) 2 + of the original ofFIGURE(5 , 12) 29. Find the rangepolynomialP6.3 to in the right half- in the gain, were ensure stability Fig.1 10. plane, MATLAB system of Figure pP6.3 jco-axis. Use in the left o find he le MATLAB unity feedback t half-plane, tand on othe with [Section: 29. Find c a t irange of gain,e ,system of stability in the B to ensure [Section:o6.3] for t h l o the n s fl

s5 row was originally of the original polyn plane, in the left ha [Section: 6.3]

lly stable.
MATLAB

FIGURE P6.9

b l e m 36 u s i n g MATLAB.

feedback system of Figure P6.3 with

(s) =

4. Find the value of K in the system of the following figure that will place the closed-loop poles as shown K{s + 2)
R(s)

43. Find the value of K in the system of Figure P6.10 that will place the closedloop poles as shown. [Section: 6.4] K ^0^ Chapter 6

wileypws flVJili'E control solutions

> 2 + 1)(5+ 4)(5-1)

C(s)

e of K for which there will be only two 330 ight-half-plane poles. [Section: 6.4] feedback system of Figure P6.3 with

Stability

44. The closed-loop transfer

I + a system is function of
1

G(s) =

(5 + l) 3 (5 + 4)

48. A linearized hoisting a load

ange of K for stability.

s2+KlS + K2 T(s) = 4 s + K^3 + K2s2 +5s + l

JCO

equency of oscillation when the system ly stable.

Determine the range of K\ in order for the system to ty feedback system of Figure P6.3 with be stable. What is the relationship between K\ and where COQ = K2 for stability? [Section: 6.4] (s) = ( 5 + 4 9 ) ( 5 2 + 4 5 + 5) FIGURE P6.10 Closed-loop system with of the car, a 45. For the transfer function below, findpole plotconstraints the 5. For the transferK\ and K2 below, find the constraints on only and K2 force inpu the on function such that the function will have K1 resulting rope such that the functionpoles. have only two j! poles two jco will [Section: 6.4] the system is c by placing it in Kis + K2 T(s) = 4 K > 0, where w s + Kis3 + s2 + K2s + 1 46. The transfer function relating the output engine fan speed (rpm) to the input main burner fuel flow rate
Wednesday, December 7, 11

;:

m=

Ms) +

6. The hybrid vehicle transfer function is shown by the following figure. It is assumed here that the speed controller has a proportional gain Kp , to be adjusted. Use the Routh-Hurwitz stability method to find the range of positive Kp for which the system is closed loop stable.
Cyber Exploration Laboratory
0.6154 *
Armature resistance Ua(s) IO5 + 6 Armature current Motive torque TL(s) 1 7.2265 Motor angular speed Vehicle speed V(s)

335

Ref. signal

Speed error

EM

Speed controller

Uc(s)

Torque controller & power amplifier

R(s)

Ks + 40

+
Feedback speed signal

>&

5
Eb(s) Back emf

Us)

T(s) +

0-

n(S)

0.3
4.875

KssGOd

Feedback current signal KcsUs)

Friction torque

Tds)

0.1

Current sensor sensitivity

0.5
Speed sensor sensitivity

0.0443 FIGURE P6.21

As a first approach, consider G(s) = K, a constant to be selected. Use the Routh-Hurwitz criteria to find the range of K for which the system is closedloop 7, 11 Wednesday, December stable.

have been substituted. It is assumed here that the speed controller has a proportional gain, Kp, to be adjusted. Use the Routh-Hurwitz stability method to find the range of positive Kp for which the system