Tutorial Questions

Question 1
For the unity feedback system shown in Figure P7.1, where

450(s + 8)(s + 12)(s + 15)

G(s) =
s(s + 38)(s2 + 2s + 28)

find the steady-state errors for the following test inputs: 25u(t), 37tu(t), 47t 2 u(t).

Figure P7.1

Question 2
For the unity feedback system shown in Figure P7.1, where

60(s + 3)(s + 4)(s + 8)

G(s) =
s2 (s + 6)(s + 17)

find the steady-state errors for the following test inputs: 80u(t), 80tu(t), 80t 2 u(t).

Question 3
For the system shown in Figure P7.3, what steady-state error can be expected for the following test inputs:15u(t), 15tu(t), 15t 2 u(t).

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 Figure P7.3

Question 4
(a) Construct a polynomial with roots at (4, + j2, − j2, −1 + j3, −1 − j3). For the obtained polynomial, find the
complete root-distribution using RH method.
(b) For the following polynomial, find the complete root-distribution using RH method.

s(s − 4)(s2 + 4)[(s − 1)2 + 32 ]

Question 5
Using the Routh table, tell how many poles of the following functions are in the right half-plane, in the left half-plane,
and on the jω-axis:
s+8
T (s) = 5 4
s − s + 4s3 − 4s2 + 3s − 2

Question 6
Determine whether the unity feedback system of Figure P6.3 is stable if
240
G(s) =
(s + 1)(s + 2)(s + 3)(s + 4)

Figure P6.3

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Question 7
Consider the unity feedback system of Figure P6.3 with
1
G(s) =
4s2 (s2 + 1)

Using the Routh-Hurwitz criterion, find the region of the s-plane where the poles of the closed-loop system are located.

Question 8
In the system of Figure P6.3, let
K(s + 2)
G(s) =
s(s − 1)(s + 3)
Find the range of K for the closed-loop stability.

Question 9
Given the unity feedback system of Figure P6.3 with
84
G(s) =
s(s7 + 5s6 + 12s5 + 25s4 + 45s3 + 50s2 + 82s + 60)

tell how many poles of the closed-loop transfer function lie in the right half-plane, in the left half-plane, and on the
jω-axis.

Question 10
For the system shown in Figure P6.8, find the value of gain, K, that will make the system oscillate. Also, find the
frequency of oscillation.

Figure P6.8

Question 11
Find the value of K in the system of Figure P6.10 that will place the closed-loop poles as shown.

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 Figure P6.10: Closed-loop system with pole plot

Question 12
A linearized model of a torque-controlled crane hoisting a load with a fixed rope length is

XT (s) 1 s2 + ω02
P(s) = =
FT (s) mT s2 (s2 + aω02 )
q
where ω0 = Lg , L =the rope length, mT =the mass of the car, a =the combined rope and car mass, fT =the force input
applied to the car, and xT =the resulting rope displacement. If the system is controlled in a feedback configurations
by placing it in a loop as shown in Figure P6.11, with K > 0, where will the closed-loop poles be located?

Figure P6.11

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Question 13
A system is represented in state space as
  

0 1 3 0
   
ẋ = 2 −4 x + 1 u
   
2
   
1 −4 3 0
h i
y= 1 1 0 x
Determine how many eigenvalues are in the right half-plane, in the left half-plane, and on the jω-axis.