ECE382 HW10 Solution B-6-10 MATLAB code to obtain the root locus: num [0 0 0 2 2); dens [17 10 0 0]; oa 0a; 0.5 3.6 4); rerlocus (num, den) ; plot(r,'o"); rlocus (numa, dena); =10 10 -10 10); axis(v); axis('square') grid; title("Plot of Root Loci and Asymptotes (Problem B-6-10)') ‘The resulting root-locus plot is shown below: lt of Root Loci and Asymptotes (Problem B-5-10) oa OH _ 2 < § 2 — program: Real Axis rlocus (num, den) ;ve[-3.3.-3.31; axis(v); axis('square') grid; title('Root-Locus Plot near the Origin (Problem B-6-10)') The resulting root-locus near the origin: ool-Locus Pot near the Origin (Problem B-6-10) Imaginary Axis Real Axis The rage of Kk for Stability con be determined by ve sf Routh stability enter sine We clgeh-lesp transfer Funct Ny mtn eg 2 _2kSt) > 2 Rt) SHS 8S FRESE The chuataristic eguactton for the, system is SEIS oS* + ES + aka h oft t Routh array So OS. 2k Seok gf Canta ig ose le SF se 2k Fer Stability, we regnico Jo>ak Gander. >> Thus, the Toage ot KK ty Sobility i KE (2, 19.5)B6-13 Ths open-top tronster furctton 13 given = F(S= 9.0667) Khe 6600 - SIS) © Ses saalgt a Tees (Spr) (S-Pa)(S~ PA)6S- pa} Wohoe Pi, tet 23.4 ae poles and satsty en = 3.3401 Thuiefoe the inkarsettion pork of the asymptote Toe SMHS _ = 3. Hojo. 6667 e vom a =~ £330 And the ~ 0 0 1 ~obbbTT den = Ti saat 085 0 ey For th asymp totes, numa=[s eo tq Sr ——Cnums[0 0 0 1 -0.6667]; den=[1 3.3401 7.0325 0 0]; 000 41; ‘Locus (num, den, K) ; ‘Locus (numa, dena, K) ; plot(r,'0"); ve[-5 2 -4 41; axis(v); hold on plot (a, '~") grid; title(*Reot-locus Plot 14,0068 5.3525 2.3825]; (Problem B-6-13)") Root-locus Plot (Problem B-6-13) 0 xr po CGMREREEREREEEIIS-O-e{-C-0-0) Same “B-6-15 Tha tetm (St) in the ferdfocwvard transfer fimctton ond the tere (stl) in the feedback transfer furcthn Cineal exch other The reded choraderistic eg uctaw os ie Gis)Hig) = 1+ ASA : Jersey oy 7! a SAS taseb) The gpen-loop poles of GHW is ok G5> ond ge4tj]B— ‘MATLAB program and the resulting root-locus plot: num=[0 0 0 1); den=[1 2 6 01; locus (mum, dea) ; ve[-5 3-44); axis(v); grid; title (*Root-Locus Plot (Problem B-6-15)") Rootlocus Pot (Problem -6-15) 4 = a ee ) Imaginary AxisTo find the closed-loop poles when the gain K is set equal to 2, we may enter the following MATLAB program into the computer: ps1 2.6 2); roots (p) we get: ans = 0.8147 + 2.17541 -0.8147 - 2.1754i -0.3706 Thus, the closed-loop poles are located at Seo Bett fj 214 | S=—0gb ad ge —{ (+he concalled pale) B-7-6 ‘The following MATLAB program gives a root-locus plot for the system. The plot obtained is shown below. num= [0 0 0 21; dens[1 45 0]; rlocus (num, den) ; hold; x= (0-21; y=l0 3.464); Line (x,y) + axis('square'); grid; Pitle('Root-locus Plot (Problem B-7-6)") Footlocus ot (Problem 87-6) Crees oe Ee Imaginary AlsSina the deminoht closed-loop ples rwe the damping ratis % of 05, we nay nitita therm 4s S244 jBX OM The charaderistic eguition cfr the System Stag t STK Ao by eae) S=xtjGx into this ognation , wae obtain, (yr BH) 14.(K 4) Ba) +5 (AE) Bx) th VE Bre + BXtK + 2G j (4x4 2.52) <> By gpeding, the real part and imaginary part te Sar, remectively , Wwe gk — B- 8% + 5Kt ERD Ww AR + 2.5%=0 ba Doting that X40, fom segpatinn (3), we dbtain AKt2. 5 He ~ OAS By | = —Ob25 into egusten ay, ny got K= 90 to? 5% = §(~ 0.635) 8 I~ 0.625) 5 (—0625) = 4, 29 GBSTo determine all closed-loop poles, we may enter the following MATLAB program: pe[1 4 5 4.296875]; roots (Pp) and we get: aa 2.7500 0.6250 + 1.08251 -0.6250 - 1.08251 Thus the closed-loop poles are located at The unit-step response curve can be obtained by entering the following MATLAB +2969); +2969) ; ‘The unit-step response curve is shown below: © Step Response Ampitude