612 CHAPTER 11 The Design of State Variable Feedback Systems

8.8

8.6

8.4

8.2

7.8
J

7.6

7.4

7.2

6.8
0.5 0.6 0.7 0.8 0.9 1 1.1 1.2 1.3 1.4

)
eb
k

er or in ing
ed id n
W
no the iss tea s

itt W tio
w
t p W em ch

e
d on g. in t la

m ld a
an ing rnin tors igh

FIGURE P11.5

.
r
or ud a uc y
w cl le tr p

The performance index J versus k.

e in nt ns co

D
th k ( de f i es
of or stu e o tat
ity s w g us d S

P11.6 (a) For P11.3, we have

is
te f t ss th nite
e rt ss fo U
gr hi in e
th a a ly by

1
in o e r
y y p d le d
ro n an o te

J= .
st f a s d s ec

2k − 1
de o rse de ot
ill le u vi pr
w r sa co pro is
o eir is rk

So, as k → ∞, then J → 0. But k = ∞ is not a practical solution, so

th nd wo

select k = 10. Then, J = 1/19, and

a his
T

 
−9 −10
ẋ =   x = Ax .
−11 −8

The closed-loop system roots are determined by solving

det[sI − A] = s2 + 17s − 38 = 0 ,

which yields s = −19 and s2 = 2. The system is unstable. The original

system was unstable, and it remains unstable with the feedback. In
general,
 
(1 − k) −k
ẋ =   x = Ax
−(1 + k) (2 − k)

and det[sI − A] = s2 + s(2k − 3) + (2 − 4k) = 0. A Routh-Hurwitz

analysis reveals that the system is unstable for all k.

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