Sra The Stability of Linear Feedback Systems Exercises E61 56.2 ‘The Routh array is eric BK OS lee 0 eyo4 where 3K(K+2)-5 For stability, we require K > 0 and b > 0. Therefore, using the condition that b > 0, we obtain 3K? +6K -5>0, and solving for K yields K > 0.63 and K < -2.63. We select K > 0.53, since we also have the condition that A’ > 0. The Routh array is el] 1 26 eee aga st | 33 00 | 24 ‘The system is stable since all elements of the first column ate positiveE63 E64 ‘The Routh array is st 1 45.7 10 ss] 95 20 s? | 43.59 10 st | 17.82 | 10 By the Routh-Hurwitz criterion, the system is stable (ie., all the numbers in the first column are positive) ‘The closed-loop transfer function is =K(s=1) TO) = Sy ae + (Kye e K Therefore, the characteristic equation is s43s7+(2—K)s+K =0 The conesponding Routh array is given by 1 (@-K) el 3 K alo 0 elk where 3@Q—K)-K _ 6-4K 3 “8 For stability we require K > 0 and b > 0. Thus, the range of K for stability is 0 < K < 15. ‘The closed-loop transfer function is K 1s) = =—>—+{—__—_, (9) = yor Fae + 18+ K When K = 20, the roots of the characteristic polynomial are S12 = —1.56 + 1.76and sg = 6.88. 52, the roots of the characteristic equation are on the imag~ inary axis. The roots ae $2 = 475.2 and sy =-10 6.7 (a) The closed-loop system characteristic equation is 1+ Gn(e) =14 8249) o, or s+(K-1)s+2K =0 We have the relationships w, = V2K and 2wy) = K —1, where ¢ = 0.707. Thus, 1 2(—) 2K 2() = and K-6K +1=0 Solving for K’ yields K = 5.83 and K = 0.17. However, for stability we require KC > 1 (from the Routh array), so we select K = 5.83 {b) The two roots on the imaginary axis when K = 1 are 12 = +jV2. E6.8 ‘The closed-loop system characteristic equation is 5420s? + (100+ K)s + 20K =0. ‘The corresponding Routh array is, = 1 (100 + K) st | 20 20K st] ob 0 s° | 20KE6.10 E6.11 E6.12 E6.13 where _ 20(100-+ K) ~ 20 _ 20(100) _ - 20 ~ 20 6 100 Therefore, the system is stable for all K > 0. ‘The characteristic equation is 3436 7 438+ (K+ 1st4=0, and the Routh array is given by el. K41 e}3 4 sl lb 0 ol4 where 3(K +1) 3 Setting 6 = 0, yields 3K or K>1/3 Stable with your eyes open and (generally) unstable with your eyes closed. ‘The system is unstable, The poles are 51 = —5.66, 82 = -0.90 and 3, 0.28 + j0.714. ‘The characteristic equation associated with the system matrix is so +35? 4+584+6=0. "The roots of the characteristic equation ares; = -2 and 82,3 = ~5::j1.66. ‘The system is stable. ‘The roots of q(s) are 8; = —4, 82 = —3, 83,4 = —1 + j2 and 85 = 430.5. ‘The system is marginally stable. The Routh array isE614 £6.15 £6.16 s p 3125 67.75 15 9 6125 14.75 24d GAL 31.909 9.22730 60 6 st 0 oO ‘The auxillary equation is 60s? +15 =0 Solving the auxillary equation yields two roots at $12 = +£)0.5. After accounting for the row of zeros, the completed Routh array verifies that the system has no poles in the right half-plane. ‘The Routh array is ‘The system is stable. The roots of q(s) are 51,2 = a= 1 ‘The characteristic equation is +65? 4+ 118 +6 ‘The system is stable, The roots of the characteristic equation are 4; = —1 82 = —Zand s3 = 3. ‘The roots of q(s) are #1 = —20 and s2.5 = &j2.24. The system is marginally stable, The Routh array is,E617 £6.18 £6.19 6.20 E621 ? | 20 100 ete 0 0 Ee ‘The ausillary equation is 20s? + 100 = 0. ‘The roots are s = +)224. So, the system has roots at ¢ = 42.24. Completing the Routh array (after accounting for the row of zeros) verifies that no poles lie in the right half plane. {a) Unstable. {b) Unstable, (0) Stable. (a) The roots are 81,2 =—4 j and s3 = —24. (b) The roots are 1,23 = —8. ‘The characteristic equation is (5n — 2)° + 10(5, — 2)? + 29(s, —2) + K =0 or Sh 44h +5, — 4K =0 ‘The Routh array is st 1 1 K-26 sl 0 3 | K-26 if K = 30, then the auxillary equation is 4s2 + 4 = 0 or sy, = +) ‘Therefore, $ = sy — 2 implies s = —2+ j ‘This system is not stable. The output response to a step input is a ramp a(t) = kt ‘The characteristic polynomial is 42s? ks +1=0‘The Routh array is So, k > } for stability. 6.22 The transfer fumetion is G(s) = C(sI~ A)"B+D 0 0 =[100]]/0 s -1 |]o kok stk][a Stkstk stk 1 0 =[1 00] -k &tks s |)0laa -ks wks-k st] [a where A(s) = s+ ks? + ks-+k. Thus, the transfer function is 1 S+ke ths +k The Routh array is For stability k > 1 6.23 The closed-loop transfer function is K 13) = Sey eK ‘Therefore, the characteristic equation is +p +K =0‘The Routh array is s 1 0 3 p K si | —K/p | K We see that the system is not stable for any value of p and K