Root Locus

40

30

20

Imaginary Axis

10

-10

-20

-30

-40
-6

-5

-4

-3

-2

-1

Real Axis

Figure 1:Problem &.21 (a)

Root Locus
10

6
System: sys
Gain: 38.2
Pole: -0.0172 + 2.84i
Damping: 0.00605
Overshoot (%): 98.1
Frequency (rad/sec): 2.84

Imaginary Axis

-2

-4

-6

-8

-10
-14

-12

-10

-8

-6

-4
Real Axis

Figure 2:Problem 7.21 (b)

-2

Root Locus
5

System: sys
Gain: 8
Pole: -6
Damping: 1
Overshoot (%): 0
Frequency (rad/sec): 6

Imaginary Axis

-1

-2

-3

-4

-5
-12

-10

-8

-6

-4

-2

Real Axis

Figure 3:Problem 7.22(a)

Impulse Response
80

70

60

50

Amplitude

40

30

20

10

-10

0.01

0.02

0.03

0.04

0.05

Time (sec)

Figure 4:Problem 7.22(b) Impulse response

0.06

0.07

0.08

System: sys
Root Locus
Gain: 5.01
Pole: -4.01 + 2i
Damping: 0.895
Overshoot (%): 0.185
Frequency (rad/sec): 4.48

2.5

1.5

Imaginary Axis

System: sys
Gain: 10
0.5
Pole: -8
Damping: 1
Overshoot (%): 0
Frequency (rad/sec): 8

System: sys
Gain: 1
Pole: -2
Damping: 1
Overshoot (%): 0
Frequency (rad/sec): 2

0
System: sys
Gain: 9
Pole: -6 - 0.0118i
Damping: 1
Overshoot (%): 0
Frequency (rad/sec): 6

-0.5

-1

-1.5

-2

-2.5
-9

-8

-7

-6

System: sys
Gain: 5.01
Pole: -4 - 2i
Damping: 0.895
Overshoot
-5
(%): 0.185
-4
Frequency (rad/sec): 4.48
Real Axis

-3

-2

-1

3.5

4.5

Figure 5:Problem 7.16

Impulse Response
1

0.9

0.8

0.7

Amplitude

0.6

0.5

0.4

0.3

0.2

0.1

0.5

1.5

2.5
Time (sec)

Figure 6: Problem 7.16 Impulse response when k=1

Impulse Response
5

Amplitude

-1

0.1

0.2

0.3

0.4

0.5

0.6

0.7

0.8

0.9

Time (sec)

Figure 7: Problem 7.16 Impulse response when k=5

Root Locus
2
0.974

0.945

0.9

0.82

0.66

0.4

1.5
0.99

0.997

Imaginary Axis

0.5

9
0

-8

-7

-6

-0.5
0.997

-1

0.99

-1.5

0.974
-2
-9

0.945

0.9
-5

-4
Real Axis

Figure 8: Problem 7.52

The system doesnt have oscillatory response.

Minimum damping ration is 0.82

0.82
-3

0.66
-2

0.4
-1

Root Locus
1.5

Imaginary Axis

0.5

-0.5

-1

-1.5
-2.5

-2

-1.5

-1

-0.5

0.5

Real Axis

Figure 9: Problem 7.53 Root-locus for beta=0

Root Locus
4

Imaginary Axis

0.5

0.5

-1

-2

-3

-4
-6

-5

-4

-3

-2
Real Axis

Figure 10: Problem 7.53

(a) for zeta= 0.5 beta=0.23

(b) for zeta=1 beta= 0.865 to INF

-1

Root Locus
3
System: sys
Gain: 4.02
Pole: -0 + 2i
Damping: 0
Overshoot (%): 100
Frequency (rad/sec): 2
2

Imaginary Axis

-1

-2

-3
-0.4

-0.3

-0.2

-0.1

0.1

0.2

0.3

Real Axis

Figure 11: Problem 7.54

Roots are +2i and -2i.

Root Locus
2.5
0.84

0.72

0.6

System: sys
0.3
Gain: 0.5

0.46

0.16

Pole: -0.998 + 1.73i

Damping: 0.5
Overshoot (%): 16.3
Frequency (rad/sec): 2

0.92
1.5

Imaginary Axis

0.5

4
0

0.98
System: sys
Gain: 1.24
Pole: -3.94
Damping: 1
Overshoot (%): 0
Frequency (rad/sec): 3.94
3.5

2.5

System: sys
Gain: 1
Pole: -1.88
Damping: 1
Overshoot (%): 0
Frequency (rad/sec): 1.88
1.5

System: sys
Gain: Inf
Pole: 0
Damping: -1
Overshoot (%): 0
Frequency (rad/sec): 0

0.5

-0.5
0.98
-1

-1.5
0.92

-2

0.84
-2.5
-4

0.72
-3.5

-3

-2.5

0.6
-2

0.46
-1.5

Real Axis

Figure 12: Problem 7.54

(a) for zeta=0.5 gain =0.5

0.3
-1

0.16
-0.5

0.5

(b) for zeta =1 gain=1 to inf

Root Locus
15

10

System: sys
Gain: 37.2
Pole: -3.5 + 6.08i
Damping: 0.499
Overshoot (%): 16.4
Frequency (rad/sec): 7.02

Imaginary Axis

-5

-10

-15
-10

-9

-8

-7

-6

-5

-4

-3

-2

-1

Real Axis

Figure 13: Problem 7.20 (b)

Root Locus
15

10

System: sys
Gain: 37.2
Pole: -3.5 + 6.08i
Damping: 0.499
Overshoot (%): 16.4
Frequency (rad/sec): 7.02

Imaginary Axis

-5

-10

-15
-10

-9

-8

-7

-6

-5

-4

Real Axis

Figure 14: Problem 7.20 (a)

-3

-2

-1