Ch.06 Chuẩn 1

HO CHI MINH CITY UNIVERSITY OF
TECHNOLOGY
SYSTEM DYNAMICS AND CONTROL

ASSIGNMENT 6
STUDENT REPORT
Class: L03
Group 5: Lâm Văn Chuẩn - 1912792
Lecturer: Mr. Nguyễn Tấn Tiến

Contents
6.3 ................................................................................................................................................ 3
6.2 ................................................................................................................................................ 3
6.3 ................................................................................................................................................ 4
6.4 ................................................................................................................................................ 5
6.5 ................................................................................................................................................ 6
6.6 ................................................................................................................................................ 7
6.7 ................................................................................................................................................ 9
6.9 ................................................................................................................................................ 9
6.10 ............................................................................................................................................ 11
6.11 ............................................................................................................................................ 11
6.12 ............................................................................................................................................ 13
6.13 ............................................................................................................................................ 13
6.14 ............................................................................................................................................ 15
6.15 ............................................................................................................................................ 16
6.16 ............................................................................................................................................ 17
6.19 ............................................................................................................................................ 18
6.20 ............................................................................................................................................ 19
6.22 ............................................................................................................................................ 20
6.23 ............................................................................................................................................ 21
6.28 ............................................................................................................................................ 22
6.33 ............................................................................................................................................ 23
6.35 ............................................................................................................................................ 24
6.36 ............................................................................................................................................ 26
6.42 ............................................................................................................................................ 27
6.43 ............................................................................................................................................ 27
6.44 ............................................................................................................................................ 29
6.50 ............................................................................................................................................ 30
6.51 ............................................................................................................................................ 31
6.52 ............................................................................................................................................ 31
6.52 ............................................................................................................................................ 32
Ho Chi Minh City University of Technology Faculty of Mechanical Engineering
6.3
Tell how many roots of the following polynomial are in the RHP, in the LHP, and on the 𝑗𝜔-axis
𝑃(𝑠) = 𝑠 + 3𝑠 + 5𝑠 + 4𝑠 + 𝑠 + 3
𝑠 1 5 1
𝑠 3 4 3
11
𝑠 0 0
3
𝑠 4 3
−11
𝑠 0
4
𝑠 3
From Routh table
No zero row
→ there is no pole on the 𝑗𝜔-axis
There is two sign change in the first column
→ the polynomial has two RHP pole
The system has 5 poles
→Three left poles in the LHP
6.2
Tell how many roots of the following polynomial are in the RHP, in the LHP, and on the 𝑗𝜔-axis
𝑃(𝑠) = 𝑠 + 6𝑠 + 5𝑠 + 8𝑠 + 20
3
SYSTEM DYNAMICS AND CONTROL GVHD:NGUYỄN TẤN TIẾN
𝑠 1 6 8
𝑠 𝜀 0 5 20
6𝜀 − 5 8𝜀 − 20
𝑠 0
𝜀 𝜀
8𝜀 − 50𝜀 + 25
𝑠 − 20
6𝜀 − 5
32𝜀(2𝜀 + 5)
𝑠 0
8𝜀 − 50𝜀 + 25
𝑠 20
From Routh table
6𝜀 − 5 8𝜀 − 50𝜀 + 25 32𝜀(2𝜀 + 5)
0<𝜀≪1⟶ < 0, − > 0, >0
𝜀 6𝜀 − 5 8𝜀 − 50𝜀 + 25
No zero row
6.3
Using the Routh table, tell how many poles of the following function are in the RHP, in the LHP,
and on the 𝑗𝜔-axis
𝑠+8
𝑇(𝑠) =
𝑠 − 𝑠 + 4𝑠 − 4𝑠 + 3𝑠 − 2
4
𝑠 1 4 3
𝑠 −1 −4 2
𝑠 𝜀 5 0
4𝜀 − 5
𝑠 − 2
𝜀
2𝑒 + 20𝜀 − 25
𝑠 0
4𝜀 − 5
𝑠 2
From Routh table
4𝜀 − 5 2𝑒 + 20𝜀 − 25
0<𝜀≪1⟶− > 0, >0
𝜀 4𝜀 − 5
No zero row
6.4
Determine how many closed-loop poles lie in the RHP, in the LHP, and on the 𝑗𝜔-axis
𝑠 + 2𝑠 + 7𝑠 + 21
𝑇(𝑠) =
𝑠 − 2𝑠 + 3𝑠 − 6𝑠 + 2𝑠 − 4
5
𝑠 1 3 2
𝑠 -1 −2 -3 −6 -2 −4
𝑠 −2 -4 0 -3 -6 0 0 0 0
3
𝑠 − −2
2
1
𝑠 − 0
3
𝑠 −2
Replace all row of zeros by
𝑃(𝑠) = −𝑠 − 3𝑠 − 2
𝑑𝑃(𝑠)
⟹ = −4𝑠 − 6𝑠
𝑑𝑠
The sub-polynomial
𝑃(𝑠) = −𝑠 − 3𝑠 − 2 = −(𝑠 + 1)(𝑠 + 2) = 0
→ there is 4 poles on the 𝑗𝜔-axis
There is one sign change in the first column
→ the polynomial has one RHP pole
→Zero left poles in the LHP
6.5
How many poles are in the RHP, in the LHP, and on the 𝑗𝜔-axis for the open-loop system
𝑅(𝑠) 𝑠 2 + 4𝑠 − 3 𝐶(𝑠)
𝑠 4 + 4𝑠 3 + 8𝑠 2 + 20𝑠 + 15
6
𝑠 1 8 15
𝑠 4 20 0
𝑠 3 15
𝑠 6 0 0
𝑠 15
𝑃(𝑠) = 3𝑠 + 15
𝑑𝑃(𝑠)
⟹ = 6𝑠 + 0
𝑑𝑠
The sub-polynomial
𝑃(𝑠) = 3𝑠 + 15 = 0
→ there is 2 poles on the 𝑗𝜔-axis
There is zero sign change in the first column
→ the polynomial has zero RHP pole
→Two left poles in the LHP
6.6
How many poles are in the RHP, in the LHP, and on the 𝑗𝜔- axis for the open-loop system
𝑅(𝑠) −6 𝐶(𝑠)
𝑠6 + 𝑠5 − 6𝑠 4 + 𝑠 2 + 𝑠 − 6
7
𝑠 1 −6 1 −6
𝑠 1 0 1 0
𝑠 −6 0 −6
𝑠 −24 0 0 0
𝑠 𝜀 0 −6
−144
𝑠 0
𝜀
𝑠 −6
From Routh table
−144
0<𝜀≪1⟶ <0
𝜀
𝑃(𝑠) = −6𝑠 − 6
𝑑𝑃(𝑠)
⟹ = −24𝑠
𝑑𝑠
The sub-polynomial
𝑃(𝑠) = −6𝑠 − 6 = 0
→ there is zero poles on the 𝑗𝜔-axis
There is three sign change in the first column
→ the polynomial has zero RHP pole
8
6.7
Use matlab to find the pole locations for the system of
𝑅(𝑠) −6 𝐶(𝑠)
𝑠 6 + 𝑠 5 − 6𝑠 4 + 𝑠 2 + 𝑠 − 6
Code:
den=[1 1 -6 0 1 1 -6]
A=roots(den)
Result:
den =
1 1 -6 0 1 1 -6
A=
-3.0000 + 0.0000i
2.0000 + 0.0000i
-0.7071 + 0.7071i
-0.7071 - 0.7071i
0.7071 + 0.7071i
0.7071 - 0.7071i
6.9
Determine whether the unity feedback system is stable if
9
𝑅(𝑠) 𝐸(𝑠) 𝐶(𝑠)

𝐺(𝑠)
240
𝐺(𝑠) =
(𝑠 + 1)(𝑠 + 2)(𝑠 + 3)(𝑠 + 4)
𝐺(𝑠)
𝑇(𝑠) =
1 + 𝐺(𝑠)
240
=
𝑠 + 10𝑠 + 35𝑠 + 50𝑠 + 264
𝑠 1 35 264
𝑠 10 50 0
𝑠 30 264
𝑠 −38 0
𝑠 264
From Routh table
No zero row
⟹ The unity feedback system is unstable
10
6.10

𝐺(𝑠)
240
𝐺(𝑠) =
(𝑠 + 1)(𝑠 + 2)(𝑠 + 3)(𝑠 + 4)
Use matlab to find the pole locations for the system of
Code:
num = 240;
den = poly([-1 -2 -3 -4]);
G = tf(num,den);
H = feedback(G,1);
p=pole(H)
Result:
p=
-5.3948 + 2.6702i
-5.3948 - 2.6702i
0.3948 + 2.6702i
0.3948 - 2.6702i
6.11
Consider the unity feedback system with
1
𝐺(𝑠) =
4𝑠 (𝑠 + 1)
11
Using the Routh-Hurwitz criterion, find the region of the 𝑠-plane where the poles of the closed-
loop system are located
𝐺(𝑠) 1
𝑇(𝑠) = =
1 + 𝐺(𝑠) 4𝑠 + 4𝑠 + 1
𝑠 4 4 1
𝑠 2 16 0 1 8 0 0
𝑠 2 1
𝑠 4 0 0
𝑠 1
𝑃(𝑠) = 4𝑠 + 4𝑠 + 1
𝑑𝑃(𝑠)
⟹ = 16𝑠 + 8𝑠
𝑑𝑠
𝑃(𝑠) = 2𝑠 + 1
𝑑𝑃(𝑠)
⟹ = 4𝑠
𝑑𝑠
The sub-polynomial
𝑃(𝑠) = 4𝑠 + 4𝑠 + 1 = (2𝑠 + 1)
→ there is two poles on the 𝑗𝜔-axis
𝑃(𝑠) = 2𝑠 + 1
12
6.12
In the system of the given figure, let

𝐺(𝑠)
𝐾(𝑠 + 2)
𝐺(𝑠) =
𝑠(𝑠 − 1)(𝑠 + 3)
Find the range of 𝐾 for closed-loop stability
𝐾(𝑠 + 2)
𝑇(𝑠) =
𝑠 + 2𝑠 − (3 − 𝐾)𝑠 + 2𝐾
𝑠 1 𝐾−3 0
𝑠 2 2𝐾
𝑠 −3 0
𝑠 2𝐾
The closed-loop system isn’t able to be stability
6.13
Given the unity feedback system of the given figure with

𝐺(𝑠)
84
𝐺(𝑠) =
𝑠(𝑠 + 5𝑠 + 12𝑠 + 25𝑠 + 45𝑠 + 50𝑠 + 82𝑠 + 60)
13
tell how many poles of the closed-loop TF lie in the RHP, in the LHP, and on the 𝑗𝜔-axis
84
𝑇(𝑠) =
𝑠 + 5𝑠 + 12𝑠 + 25𝑠 + 45𝑠 + 50𝑠 + 82𝑠 + 60𝑠 + 84
𝑠 1 12 45 82 84
𝑠 1 5 10 12
𝑠 1 5 10 12
𝑠 3 10 10 0 ROZ
𝑠 5 20 36 0
𝑠 −5 -29
𝑠 −1 4
𝑠 −49
𝑠 4
From Routh table
𝑃(𝑠) = 𝑠 + 5𝑠 + 10𝑠 + 12
𝑑𝑃(𝑠)
⟹ = 6𝑠 + 20𝑠 + 20𝑠
𝑑𝑠
The sub-polynomial
𝑃(𝑠) = 𝑠 + 5𝑠 + 10𝑠 + 12 = 0
14
→Four left poles in the LHP
6.14
Using the Routh-Hurwitz criterion and the unity feedback system with

𝐺(𝑠)
1
𝐺(𝑠) =
2𝑠 + 5𝑠 + 𝑠 + 2𝑠
tell whether or not the closed-loop system is stable
1
𝑇(𝑠) =
2𝑠 + 5𝑠 + 𝑠 + 2𝑠 + 1
𝑠 2 1 1
𝑠 5 2 0
𝑠 1 5
𝑠 -23 0
𝑠 5
15
6.15
Given the unity feedback system with

𝐺(𝑠)
8
𝐺(𝑠) =
𝑠(𝑠 − 2𝑠 − 𝑠 + 2𝑠 + 4𝑠 − 8𝑠 − 4)
tell how many closed-loop poles are located in the RHP, in the LHP, and on the 𝑗𝜔-axis
8
𝑇(𝑠) =
𝑠 − 2𝑠 − 𝑠 + 2𝑠 + 4𝑠 − 8𝑠 − 4𝑠 + 8
𝑠 1 −1 4 −4
𝑠 −2 2 −8 8
𝑠 −3 2 −4 ROZ
2 −16
𝑠 8
3 3
𝑠 −88 128
𝑠 −4.364 8
𝑠 −33.33 0
𝑠 8
From Routh table
𝑃(𝑠) = −2𝑠 + 2𝑠 − 8𝑠 + 8
16
𝑑𝑃(𝑠)
⟹ = −12𝑠 + 8𝑠 − 16𝑠
𝑑𝑠
The sub-polynomial
𝑃(𝑠) = −2𝑠 + 2𝑠 − 8𝑠 + 8 = 0
There is four sign change in the first column
→ the polynomial has four RHP pole
6.16
Using matlab find closed-loop poles are located in the RHP, in the LHP, and on the 𝑗𝜔-axis
8
𝐺(𝑠) =
𝑠(𝑠 − 2𝑠 − 𝑠 + 2𝑠 + 4𝑠 − 8𝑠 − 4)
Code:
num = 8;
den = [1 -2 -1 2 4 -8 -4 0];
G = tf(num,den);
H = feedback(G,1);
p=pole(H)
Result:
p=
-1.0000 + 1.0000i
-1.0000 - 1.0000i
17
-1.0000 + 0.0000i
2.0000 + 0.0000i
1.0000 + 1.0000i
1.0000 - 1.0000i
1.0000 + 0.0000i
6.19
𝑅(𝑠) 507 𝐶(𝑠)

𝑠 4 + 3𝑠 3 + 10𝑠 2 + 30𝑠 + 169
1
𝑠
Using the Routh-Hurwitz criterion, tell how many closed-loop poles of the system lie in the LHP,
in the RHP, and on the 𝑗𝜔-axis
507𝑠
𝑇(𝑠) =
𝑠 + 3𝑠 + 10𝑠 + 30𝑠 + 169𝑠 + 507
𝑠 1 10 169
𝑠 3 30 507
𝑠 12 60 ROZ
𝑠 15 507
𝑠 −345.6 0
𝑠 507
18
From Routh table
𝑃(𝑠) = 3𝑠 + 30𝑠 + 507
𝑑𝑃(𝑠)
⟹ = 12𝑠 + 60𝑠
𝑑𝑠
The sub-polynomial
𝑃(𝑠) = 3𝑠 + 30𝑠 + 507 = 0
6.20
Determine if the unity feedback system

𝐺(𝑠)
𝐾(𝑠 + 1)
𝐺(𝑠) =
(𝑠 + 1)(𝑠 + 2)
can be unstable
𝐾(𝑠 + 1)
𝑇(𝑠) =
(𝐾 + 1)𝑠 + 3𝑠 + 2 + 𝐾
𝑠 𝐾+1 2+𝐾
19
𝑠 3 0
𝑠 2+𝐾
The system is unstable
𝐾+1<0
⟺ 𝐾 < −2
2+𝐾 <0
or
𝐾+1<0
⟺ − 2 < 𝐾 < −1
2+𝐾 >0
6.22
In the system

𝐺(𝑠)
𝐾(𝑠 − 𝑎)
𝐺(𝑠) =
𝑠(𝑠 − 𝑏)
Find the range of 𝐾 for closed-loop stability when
𝐾(𝑠 − 𝑎)
𝑇(𝑠) =
𝑠 + (𝐾 − 𝑏)𝑠 − 𝑎𝐾
𝑠 1 −𝑎𝐾
𝑠 𝐾−𝑏 0
𝑠 −𝑎𝐾
a,𝑎 < 0, 𝑏 < 0
The system is stable

20
𝐾−𝑏 >0
⟺𝐾>0
−𝑎𝐾 > 0
b,𝑎 < 0, 𝑏 > 0
𝐾−𝑏 >0
⟺𝐾>𝑏
−𝑎𝐾 > 0
c,𝑎 > 0, 𝑏 < 0
𝐾−𝑏 >0
⟺> 0 > 𝐾 > 𝑏
−𝑎𝐾 > 0
d,𝑎 > 0, 𝑏 > 0
𝐾−𝑏 >0
⟺ 𝐾 isn t exist
−𝑎𝐾 > 0
6.23
For the unity feedback system with

𝐺(𝑠)
𝐾(𝑠 + 3)(𝑠 + 5)
𝐺(𝑠) =
(𝑠 − 2)(𝑠 − 4)
𝐾(𝑠 + 3)(𝑠 + 5)
𝑇(𝑠) =
(𝐾 + 1)𝑠 + (8𝐾 − 6)𝑠 + 15𝐾 + 8
𝑠 𝐾+1 15𝐾 + 8
𝑠 8𝐾 − 6 0
21
𝑠 15𝐾 + 8
𝐾+1> 0
8𝐾 − 6 > 0 ⟺ 𝐾 > 0.75
15𝐾 + 8 > 0
or
𝐾+1< 0
8𝐾 − 6 < 0 ⟺ 𝐾 < −1
15𝐾 + 8 < 0
6.28
Find the range of gain 𝐾 to ensure stability in the unity feedback system

𝐺(𝑠)
𝐾(𝑠 − 2)(𝑠 + 4)(𝑠 + 5)

𝐺(𝑠) =
𝑠 + 12
𝐾(𝑠 − 2)(𝑠 + 4)(𝑠 + 5)
𝑇(𝑠) =
𝐾𝑠 + (7𝐾 + 1)𝑠 + 2𝐾𝑠 + (12 − 4𝐾)
𝑠 𝐾 2𝐾
𝑠 7𝐾 + 1 12 − 4𝐾
18𝐾 − 10𝐾
𝑠 0
7𝐾 + 1
𝑠 12 + 𝐾

22
𝐾>0
⎧
⎪ 7𝐾 +1> 0 10
18𝐾 − 10𝐾 ⟺𝐾>
⎨ >0 18
⎪ 7𝐾 + 1
⎩ 12 + 𝐾 > 0
or
𝐾<0
⎧
⎪ 7𝐾 +1< 0
18𝐾 − 10𝐾 ⟺ 𝐾 < −12
⎨ <0
⎪ 7𝐾 + 1
⎩ 12 + 𝐾 < 0
6.33

𝐺(𝑠)
𝐾(𝑠 + 4)
𝐺(𝑠) =
𝑠(𝑠 + 1.2)(𝑠 + 2)
find the following
𝐾(𝑠 + 4)
𝑇(𝑠) =
𝑠 + 3.2𝑠 + (2.4 + 𝐾)𝑠 + 4𝐾
𝑠 1 2.4 + 𝐾
𝑠 3.2 4𝐾
−0.8𝐾 + 7.68
𝑠 0
3.2
𝑠 4𝐾
23
a, The range of 𝐾 that keeps the system stable
−0.8𝐾 + 7.68
> 0 ⟺ 9.6 > 𝐾 > 0
3.2
4𝐾 > 0
b.The value of 𝐾 that makes the system oscillate

The system is oscillate
−0.8𝐾 + 7.68
= 0 ⟺ 𝐾 = 9.6
3.2
c.The frequency of oscillation when 𝐾 is set to the value that
makes the system oscillate
The previous row now becomes,
3.2𝑠 + 38.4 = 0
. Thus,
𝑠 + 12 = 0 or 𝑠 = ±𝑗2√3
Hence, the frequency of oscillation is 12 rad/s.
6.35
For the given system, find the value of gain 𝐾 that will make the system oscillate. Also, find the
frequency of oscillation
𝑅(𝑠) 1 𝐶(𝑠)
𝐾 𝑠(𝑠 + 1)(𝑠 + 3)
Step 1:
24
𝑅(𝑠) 1 𝐶(𝑠)
𝐾
𝑠 3 + 4𝑠 2 + 4𝑠
Step 2:
𝑅(𝑠) 𝐾 𝐶(𝑠)
𝑠3 + 4𝑠 2 + 4𝑠
Step 3:
𝑅(𝑠) 𝐶(𝑠)
𝐾
3 2
𝑠 + 4𝑠 + 4𝑠 + 𝐾
𝑠 1 4
𝑠 4 𝐾
−𝐾 + 16
𝑠 0
4
𝑠 𝐾
The system is oscillate
−𝐾 + 16
= 0 ⟺ 𝐾 = 16
4
4𝑠 + 16 = 0
. Thus,
𝑠 + 4 = 0 or 𝑠 = ±𝑗2
Hence, the frequency of oscillation is 4 rad/s.
25
6.36

𝐺(𝑠)
𝐾𝑠(𝑠 + 2)
𝐺(𝑠) =
(𝑠 − 4𝑠 + 8)(𝑠 + 2)
𝐾𝑠(𝑠 + 2)
(𝑠 − 4𝑠 + 8)(𝑠 + 3) 𝐾𝑠(𝑠 + 2)
𝑇(𝑠) = =
𝐾𝑠(𝑠 + 2) 𝑠 + (𝐾 − 1)𝑠 + (2𝐾 − 4)𝑠 + 24
1+1×
(𝑠 − 4𝑠 + 8)(𝑠 + 3)
𝑠 1 (2𝐾 − 4)
𝑠 (𝐾 − 1) 24
2𝐾 − 6𝐾 − 20
𝑠 0
𝐾−1
𝑠 24
a.Find the range of 𝐾 for stability

(𝐾 − 1) > 0
2𝐾 − 6𝐾 − 20 ⟺𝐾>5
>0
𝐾−1
b.Find the frequency of oscillationwhen the systemis marginally stable
The systemis marginally stable
2𝐾 − 6𝐾 − 20
=0⟺𝐾=5
𝐾−1
4𝑠 + 24 = 0
26
. Thus,
𝑠 + 6 = 0 or 𝑠 = ±𝑗√6
Hence, the frequency of oscillation is 6 rad/s
6.42
Find the range of 𝐾 to keep the system stable

𝐺(𝑠)
𝐾
𝑠 𝐾(𝑠 + 2𝑠 + 1)
𝑇(𝑠) = =
𝐾 𝑠−1 𝑠 + 2𝑠 + (𝐾 + 1)𝑠 − 𝐾
1+ ×
𝑠 𝑠 + 2𝑠 + 1
𝑠 1 𝐾+1
𝑠 2 −𝐾
3𝐾 + 2
𝑠 0
2
𝑠 −𝐾
3𝐾 + 2
> 0 ⟺ 0 > 𝐾 > −2
2 3
−𝐾 > 0
6.43
Find the value of 𝐾 in the system that will place the closed loop poles as shown
27
2 𝐾
𝑠
𝑠2
𝑗𝜔
2 𝜎
𝑠
1
𝑠+1
2 𝐾
𝑠
𝑠2
2𝑠
𝐾
1
𝑠+1
2 𝐾
𝑠
𝑠2
2𝑠
+1
𝐾
1
𝑠+1
28
2 𝐾(𝑠 + 1)
𝑠
𝑠 3 + 𝑠 2 + 2𝑠 + 𝐾
𝐾(𝑠 + 1)𝑠 2
𝑠 3 + 𝑠 2 + 2𝑠 + 𝐾
𝑠 1 2
𝑠 1 𝐾
𝑠 2−𝐾 0
𝑠 𝐾
The closed loop poles as shown when 𝐾 = 2
6.44
The closed-loop TF of a system is
𝑠 +𝐾 𝑠+𝐾
𝑇(𝑠) =
𝑠 + 𝐾 𝑠 + 𝐾 𝑠 + 5𝑠 + 1
Determine the range of 𝐾 in order for the system to be stable. What is the relationship between
𝐾 and 𝐾 for stability?
𝑠 1 𝐾 1
𝑠 𝐾 5 0
𝐾 𝐾 −5
𝑠 1
𝐾
29
−𝐾 + 5𝐾 𝐾 − 25
𝑠 0
𝐾 𝐾 −5
𝑠 1
𝐾 >0
⎧ 𝐾 𝐾 −5
⎪ 𝐾 >0
>0
𝐾 ⟺ 𝐾 𝐾 >5
⎨−𝐾 + 5𝐾 𝐾 − 25 5𝐾 𝐾 − 25 > 𝐾
⎪ >0
⎩ 𝐾 𝐾 −5
6.50
A system is represented in state space as
0 1 3 0
𝑥̇ = 2 2 −4 𝑥 + 1 𝑢, 𝑦 = [1 1 0]𝑥
1 −4 3 0
Determine how many eigenvalues are in RHP, in LHP, on 𝑗𝜔-axis
𝑠 0 0 0 1 3 𝑠 −1 −3
𝑠𝐼 − 𝐴 = 0 𝑠 0 − 2 2 −4 = −2 𝑠−2 4
0 0 𝑠 1 −4 3 −1 4 𝑠−3
det(𝑠𝐼 − 𝐴) = 𝑠 − 5𝑠 − 15𝑠 + 40
𝑠 1 −15
𝑠 −5 40
𝑠 −7 0
𝑠 40
There are two sign changes. Thus, there are two RHP poles and one LHP pole
30
6.51
Use matlab to find the eigenvalues of the following system
0 1 0 0
𝑥̇ = 0 1 −4 𝑥 + 0 𝑢, 𝑦 = [0 0 1]𝑥
−1 1 8 0
Code:
A = [0 1 0;
0 1 -4;
-1 1 8];
eig = eig(A)
Result:
eig =
7.4641
0.5359
1.0000
6.52
The following system in state space represents the forward path of a unity feedback system. Use
the Routh-Hurwitz criterion to determine if the closed-loop system is stable
0 1 0 0
𝑥̇ = 0 1 3 𝑥 + 0 𝑢, 𝑦 = [0 1 1]𝑥
−3 −4 −5 1
𝑠 0 0 0 1 0 𝑠 −1 0
𝑠𝐼 − 𝐴 = 0 𝑠 0 − 0 1 3 = 0 𝑠−1 −3
0 0 𝑠 −3 −4 −5 3 4 𝑠+5
det(𝑠𝐼 − 𝐴) = 𝑠 + 4𝑠 + 7𝑠 + 9
31
𝑠 1 7
𝑠 4 9
𝑠 4.75 0
𝑠 9
6.52
The following system in state space represents the forward path of a unity feedback system. Using
matlab to determine if the closed-loop system is stable
0 1 0 0
𝑥̇ = 0 1 3 𝑥 + 0 𝑢, 𝑦 = [0 1 1]𝑥
−3 −4 −5 1
Code:
A=[0 1 0;
0 1 3;
-3 -4 -5];
Eig = eig (A)
Result:
Eig =
-0.6801 + 1.7166i
-0.6801 - 1.7166i
-2.6398 + 0.0000i
⟹ The system is stable because the system has three eigenvalues in LHP
32
33

Ch.06 Chuẩn 1

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Ch.06 Chuẩn 1

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HO CHI MINH CITY UNIVERSITY OF

SYSTEM DYNAMICS AND CONTROL

Lecturer: Mr. Nguyễn Tấn Tiến

From Routh table

→ there is no pole on the 𝑗𝜔-axis

There is two sign change in the first column

→ the polynomial has two RHP pole

The system has 5 poles

→Three left poles in the LHP

From Routh table

→ there is no pole on the 𝑗𝜔-axis

There is two sign change in the first column

→ the polynomial has two RHP pole

The system has 5 poles

→Three left poles in the LHP

From Routh table

→ there is no pole on the 𝑗𝜔-axis

There is two sign change in the first column

→ the polynomial has two RHP pole

The system has 5 poles

→Three left poles in the LHP

Replace all row of zeros by

𝑃(𝑠) = −𝑠 − 3𝑠 − 2 = −(𝑠 + 1)(𝑠 + 2) = 0

→ there is 4 poles on the 𝑗𝜔-axis

There is one sign change in the first column

→ the polynomial has one RHP pole

The system has 5 poles

→Zero left poles in the LHP

Replace all row of zeros by

→ there is 2 poles on the 𝑗𝜔-axis

There is zero sign change in the first column

→ the polynomial has zero RHP pole

The system has 4 poles

→Two left poles in the LHP

From Routh table

Replace all row of zeros by

→ there is zero poles on the 𝑗𝜔-axis

There is three sign change in the first column

→ the polynomial has zero RHP pole

The system has 6 poles

→Three left poles in the LHP

Use matlab to find the pole locations for the system of

Determine whether the unity feedback system is stable if

𝑅(𝑠) 𝐸(𝑠) 𝐶(𝑠)

From Routh table

→ there is no pole on the 𝑗𝜔-axis

There is two sign change in the first column

→ the polynomial has two RHP pole

The system has 4 poles

→Two left poles in the LHP

⟹ The unity feedback system is unstable

𝑅(𝑠) 𝐸(𝑠) 𝐶(𝑠)

Use matlab to find the pole locations for the system of

den = poly([-1 -2 -3 -4]);

Consider the unity feedback system with

Replace all row of zeros by

→ there is two poles on the 𝑗𝜔-axis

→ there is two poles on the 𝑗𝜔-axis

In the system of the given figure, let

𝑅(𝑠) 𝐸(𝑠) 𝐶(𝑠)

Find the range of 𝐾 for closed-loop stability

The closed-loop system isn’t able to be stability