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# EEE 342 Feedback Control Systems

## Fall 2013-2014 - Homework #5

Due: 5 November 2013, Tuesday 17:00 to Prof. Blent zglers mailbox
Q.1 Determine the relative stability of the systems with the following characteristic equations
(1) by shifting the axis in the s-plane and using the Routh-Hurwitz criterion, and (2) by
determining the location of the complex roots in the s-plane.
a.) 3 + 3 2 + 4 + 2 = 0
b.) 4 + 9 3 + 30 2 + 42 + 20 = 0
c.) 3 + 19 2 + 110 + 200 = 0
Q.2 Determine the value of gain K when the system with the following open-loop transfer
function oscillates and calculate the roots of the closed-loop system for the K you found.
( + 8)
()() =
( + 3)( 2 + 4 + 4)

Q.3 For the control system shown below, (1) determine the range of such that the steady-state
error to a unit step reference input is less than 5% (2) determine the range of such that the
system is stable (3) select an that meets both requirements.

+ +
() ()
3 + (1 + ) 2 + ( 1) + (0.6 )
-

Q.4 For the following system compute the closed loop system poles using a Matlab script for
the following cases = 0.1 and = 0.6. What is the maximum for stability?

() + (2 + 1)( 2) 10 ( + 6) ()
- (0.5 + 1)( + 2) + 10 ( 2 + 3 + 6)

Q.5 For the following transfer function plot the root locus using the rlocus function of Matlab
and roughly sketch by hand and compare them.
2 + + 2
() =
( 2 + 6 + 10)