IDE School Instructor: Prof.

Abdelfatah Mohamed
Spring 2021 MTE 324 Automatic Control (1)

Quiz No. Three

K( s + 10 )
Consider the system shown in Figure. Where GcG( s ) =
s( s + 3 )( s 2 + 4s + 8 )
Find the range of K for stability.
Find the value of K such that the system has roots on the imaginary axis.
Find these roots.
 K( s + 10 )
 ( s ) = 1 + GcG( s ) = 1 + =0
s( s + 3 )( s + 4s + 8 )
2

( s ) = s 4 + 7 s 3 + 20s 2 + ( 24 + K )s + 10K = 0
Necessary conditions:

( 24 + K ) 0 → K −24

10 K 0→K 0
Necessary conditions: K 0

s4 1 20 10 K 0

s3 7 ( 24 + K ) 0 0

s2 b 10 K 0 0
s c 0 0 0
s 0 10 K 0 0 0

116 − K
b= 0 → K 116
7
b( 24 + K ) − 70 K
c= 0
b

116 − K
( 24 + K ) − 70 K
c= 7 0
116 − K
7
(116 − K )( 24 + K ) − 490K 0

2784 − 398K − K 2 0
( K + 404.87 )(− K + 6.87 ) 0

( K + 404.87 ) 0→K −404.87

(− K + 6.87 ) 0→K 6.87

So we have K −404.87 , K 0,K 6.87 and K 116

0 K 6.87

For K = 6.87 the system has roots on imaginary axis

U ( s ) = bs 2 + 10K = 0

116 − K 2
U ( s) = s + 10 K = 0
7
U ( s ) = 15.59s 2 + 68.7 = 0 → s =  j2.1