EEE 151 Quiz 5 Solution

1. Match the transfer function to their corresponding response to a step input.

Consider G(s) = N (s)
D(s) .
Step Responses

(a)

(b)

(c)

Transfer Functions
A. N (s) = 5; D(s) = s2 + 1.2s + 4
B. N (s) = 5; D(s) = s2 + 2.4s + 4
C. N (s) = 3; D(s) = s2 + 5.2s + 3
Solution:
For TF A, we see that ωn = 2, thus ζ = 0.3.
TF B has the same ωn , but with a larger ζ = 0.6. This means that the only difference between the step
responses of TF A and B will be the magnitude of the overshoot. Before making any conclusions, TF C
must be analyzed √
and justified to match the overdamped response option.
TF C has a ωn = 3, and ζ = 1.5 which confirms the overdamped response.

Step Response (a) - Transfer Function C

Step Response (b) - Transfer Function A
Step Response (c) - Transfer Function B

1
 Answer True or False:
2. According to the Routh Hurwitz Criterion, when an element in the first column of the RH table is zero
while all others are positive, stability of the system may not be determined. False
3. The system is unstable when all coefficients in the characteristic equation are negative. False
4. The system is stable when all elements in the first column of the RH table are positive, and the test breaks
down when one is zero. False
s3
5. Consider the following system witht the loop transfer function, G(s) = s4 +2s2 +4s+1 .

Which of the following sets of values represent the set of elements in the first column of the Routh Hurwitz
table?
(a) 1,1,-2,-9,1
(b) 1,1,-2,4.5,1
(c) 1,1,2,-3.5,1
(d) None. The Routh Hurwitz test will not proceed since the denominator of G(s) has a zero coefficient
of s3 .
Solution:
The characteristic equation of the system is

s4 + s3 + 2s2 + 4s + 1 = 0

The coefficients of the s-terms in decreasing order will make up the first 2 rows of the table. The succeeding
rows will be populated following the methods discussed in lecture.

s4 1 2 1
s3 1 4
s2 -2 1
s1 4.5
s0 1

6. Using the Routh Hurwitz test, determine which of the following values of K will generate a marginally-
2s+7 1
stable response of the system with G(s) = s(s+1) and H(s) = s+2 .

(a) 6
(b) 4
1
(c) 2
(d) 1

Solution:
The value for gain, K, which will elicit a marginally-stable system response will be marked by the value
of K which sets the boundary of a sign change among the members of the first column of the RH table.

c.e : s3 + 3s2 + (2K + 2)s + 7K = 0

2
s3 1 2K+2
s2 3 7K
6K+6
s1 3 − 7K
s0 3K

The conditions which would trigger a sign change in the first column would be violating the following
inequalities:
6K + 6
− 7K > 0
3
3K > 0
In order to satisfy both,
K<6
K>0
The boundary would then be K = 6 or K = 0, since no physical system will implement a zero or negative
proportional gain, the answer would be K = 6.