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88324 Control System - Solution Assignment 7 - 2010

88324 Control System - Solution Assignment 7 - 2010

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10/25/2012

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Assignment 7
P6.4
(a)
 
The closed loop characteristic equation is
32
(40)1()10(10)(20)30200400
 K sGH s s s sor  s s s Ks
++ = + =+ ++ + + + =
 The Routh array is
3210
120030402000340
 K  s K  s K  s s K 
+
 Therefore, for stability we require 200 - K/3 > 0 and 40K >0. So, the range of K for stability is0<K<600(b)
 
At K=600, the auxiliary equation is30s
2
+40(600) = 0 or s
2
+800=0The roots of the auxiliary equation are s =
±
 j28.3(c)
 
Let K=600/2=300. Then, to shift the axis, first define s
0
=s+1.Substituting s = s
0
-1 into the characteristic equation yields
3232000000
(1)30(1)500(1)120002744311529
 s s s s s s
+ + + = + + +
 The Routh array is
3210
1443271152916011529
 s s s s
 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=s
0
-2 and obtain
32000
24392109920
 s s s
+ + + =
 
 
 The Routh array is
3210
1392241099266010992
 s s s s
 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 = -1and s = -2. The roots of the characteristic equation ares
1
= -27.6250 and s
2,3
= -1.1875
±
20.8082jWe see that indeed the two roots s
2,3
= -1.1875
±
20.8082j lie between -1 and -2
P6.7
(a)
 
The closed –loop characteristic equation is
32
101(10010)1000
a a
 s s KK s K
+ + + + =
 The Routh array is
3210
110010101100100
aaa
 KK  s KK  sb s KK  s
+
 Where9101000.101
a
b KK 
= + >
 Thus examining the first column, we determine that KK 
a
>0 stabilizes the system(b)
 
The tracking error is
20
100100()lim(1())
 sa
e s s T s s K
= =
 We require E(s)<1° = 0.01745. So,KKa >100/0.01745 = 5729When KKa = 5729, the roots of the characteristic polynomial ares1= -10.15 and s
2,3
= - 45.43
±
j233.25
 
 
P6.9)
(a) The closed –loop characteristic equation is
232
101()1(100)(20)140440040000100
 K GH s s sor  s s s
+ = ++ ++ + + + =
 The Routh array is
3210
1440014040000104000010
 s K  sb s K  s
++
 Where140(4400)(4000010).140
 K b
+=
 Examining the first column and requiring all the terms to be positive, we determinethat the system is stable if - 4000 < K < 57600(b) The desired characteristic polynomial is
223222
()(1.38)(1.38)(1.38)
n n n n n n
b s s s b s b s b
ω ω ω ω ω ω 
+ + + = + + + + +
 where we have used the fact that ζ=0.69 to achieve a 5% overshoot, and ω
n
and b areto be determined. The actual characteristic polynomial is
32
140440040000100
 s s s
+ + + + =
 Equating the coefficients of the actual and desired characteristic polynomials, andsolving for K, b and ω
n
yields b=104.2, ω
n=
25.9 and K=3003So a suitable gain is K=3003
P6.10)
(a) The closed –loop characteristic equation is
432
720(24)100
 s s s K s K 
+ + + + + =
 

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