8.

3(a,b)

a.)
s = tf([1 0],1)
G = (s+2)*(s+6)/(s^2+8*s+25);
rlocus(G)
b.)
s = tf([1 0 0],1)
G = (s+4)/(s+1);
rlocus(G)
8.6

Break-in Point at -2.39 /s

8.19.

a. s = tf([1 0],1)
G = (s+2)/(s*((s+1)*(s+3)*(s+5)));
rlocus(G)
b. ca = ((0-1-3-5) - (-2))/(4-1)
c. K = 61.2 /s because it approximately when jw = 0
d. K = 1.88 /s when a pole is at -0.5 /s
8.26.

Given the unity feedback system shown in Figure P8.3,

do the following problem parts by first making a second-order approximation. After you are finished
with all of the parts, justify your second-order approximation. [Section: 8.7] a. Sketch the root locus. b.
Find K for 20% overshoot. c. For K found in Part b, what is the settling time, and what is the peak time?
d. Find the locations of higher-order poles for K found in Part b. e. Find the range of K for stability
s = tf([1 0],1)
G = (1)/((s+1)*(s+2)*(s+3));
rlocus(G)
damp = 0.456;
Ts = 4/0.866
Tp = pi/(0.866/damp)
K = 9.39
Gk = [1 6 11 (6+K)];
roots(Gk)
syms K1
C0 = -det([1 11;6 (6+K1)])/6
C1 = 0
D1 = -det([6 (6+K1);C0 C1])/C0
K1 = 10*6
C0 = -det([1 11; 6 66])/6
C0 = -det([1 11; 6 67])/6

Continuous-time transfer function.

Ts = 4.6189

Tp = 1.6542

K = 9.3900

ans =

-4.2674 + 0.0000i
-0.8663 + 1.6900i
-0.8663 - 1.6900i
C0 = 10 - K1/6

C1 = 0

D1 =((K1 + 6)*(K1 - 60))/(6*(K1/6 - 10))

K1 = 60

C0 = 6.1062e-16

C0 = -0.1667

a.

b. K = 9.39

c. Ts = 4.62s

Tp = 1.65s

d. higher-order poles for K = -4.267

e. 0<K<60
8.16.

For the unity feedback system of Figure P8.3, where

plot the root locus and calibrate your plot for gain. Find all the critical points, such as breakaways,
asymptotes, jω-axis crossing, and so forth. [Section: 8.5]

s = tf([1 0],1)

G = (1)/(s*(s+5)*(s+8));

rlocus(G)

ca = ((0-5-8)-0)/3

s =s

Continuous-time transfer function.

ca = -4.3333 (center of asymptotes)

breakaway at -2

K max = 36

Crosses jw at 6.36j