Gain Determination by Routh’s Stability

Criterion

1)
Consider the following feedback control systems,

The stability properties of the system are a function of the proportional feedback
gain K. Using Routh’s stability properties find the range of gain, K that will cause
the system to be stable, unstable and marginally stable.
Ans. If 0<K<1386 system stable, K>1386 system unstable, K=1386 system
marginally unstable.
2)
Consider the following Transfer function G(S) of the feedback system,

The stability properties of the system are a function of the proportional feedback
gain K. Using Routh’s stability properties find the range of gain, K that will cause
the system to be stable, unstable and marginally stable.
Ans. 0<K<2 system stable, K>2 system unstable, K=2 marginally unstable.
3)
Consider the following transfer function T(S) of the feedback system,
The stability properties of the system are a function of the proportional feedback
gain K. Using Routh’s stability properties find the range of gain, K that will cause
the system to be stable, unstable and marginally stable.
Ans. 0<K<2623 system stable, K>2623 unstable, K=2623 marginally unstable.
4)
Consider the following transfer function T(S) of the feedback system,

The stability properties of the system are a function of the proportional feedback
gain K1. Using Routh’s stability properties find the range of gain, K1 that will
cause the system to be stable, unstable and marginally stable.
Ans. -0.3823<K1<25.87 system stable, K1>25.87 unstable, K1=25.87 marginally
unstable.
5)
A model of Airplane’s pitch loop is shown below. The stability properties of the
system are a function of the proportional feedback gain K .Using Routh’s stability
properties find the range of gain, K where system will be stable.

Ans. -0.36772<K<∞stability range.

6)

Consider the following feedback control systems,

The stability properties of the system are a function of the proportional feedback
gain K. Using Routh’s stability properties find the range of gain, K that will cause
the system to be stable, unstable and marginally stable.

Ans. 0<K<220 stable, K>220 unstable, K=220 marginally unstable.

7)

A common application of control systems is in regulating the temperature of a

chemical process. Block diagram of chemical process control system is given
below.

The stability properties of the system are a function of the proportional feedback
gain K .Using Routh’s stability properties find the range of gain, K where system
will be stable.
Ans. -0.1429<K<1.1759 stability range of K.

8)

A block diagram of Towed Vehicle Rod Control system is given below,

The stability properties of the system are a function of the proportional feedback
gain K .Using Routh’s stability properties find the range of gain, K that will cause
the system to be stable, unstable and marginally stable.

Ans. 0<K<1.0192 stability range, K>1.0192 unstable, K=1.0192 marginally

unstable.

9)

Consider the following Transfer function G(S) of the feedback system,

The stability properties of the system are a function of the proportional feedback
gain K .Using Routh’s stability properties find the range of gain, K where system
will stable.

Ans. 0<K<14/9 Stability range.

10)

Consider the following feedback control systems,

The stability properties of the system are a function of the proportional feedback
gain K .Using Routh’s stability properties find the range of gain, K that will cause
the system to be stable, unstable and marginally stable.

Ans. K<-106.7 system stable, K>-106.7 system unstable and K= -106.7

marginally unstable.

11)

A robot arm called ISAC (Intelligent Soft Arm Control) can be used as part of a
system to feed people with disabilities. The control system guides the spoon to the
food and then to a position near the person's mouth. The arm uses a special
pneumatically controlled actuator called a rubbertuator. Rubbertuators consist of
rubber tubes covered with fiber cord. The actuator contracts in length when
pneumatic pressure is increased and expands in length when pressure is decreased.
This expansion and contraction in length can drive a pulley or other device. A
video camera provides the sight for the robot and the tracking loop. Assume the
simplified block diagram shown in below for regulating the spoon at a distance
from the mouth. Find the range of K for stability and also determine when the
system will be critically stable.
Ans. 0<K<29908.07 stability range and K=29908.07 critically stable.

12)

Cutting forces should be kept constant during machining operations to prevent

changes in spindle speeds or work position. Such changes would deteriorate the
accuracy of the work's dimensions. A control system is proposed to control the
cutting force. The plant is difficult to model, since the factors that affect cutting
force are time varying and not easily predicted. However, assuming the simplified
force control model shown in below, use the Routh-Hurwitz criterion to find the
range of K to keep the system stable.

Ans. -1.67*10-4 <K<1.25*10-2 stability range

13)

Transportation systems that use magnetic levitation can reach very high speeds,
since contact friction at the rails is eliminated. Electromagnets can produce the
force to elevate the vehicle. In below, a simulation model of a control system
shown that can be used to regulate the magnetic gap. In the figure, Zvin(s)
represents a voltage proportional to the desired amount of levitation, or gap.
Zvout(s) represents a voltage proportional to the actual amount of levitation. The
plant models the dynamic response of the vehicle to signals from the controller.
Use the Routh-Hurwitz criterion to find the range of gain, K, to keep the closed
loop system stable.

Ans. K>5.09*10-3 stability Range.

14.)

For the transfer function below, find the constraints relationship between K1 and K2
such that the function will have only two jω poles

Ans. No real roots so no relationship between K1 and K2.

15.)

The closed-loop transfer shown in below and determine the range of K1 in order for
the system to be stable. What is the relationship between K1 and K2 for stability?
Ans. 0<K1<√𝟓𝑲𝟏𝑲𝟐 − 𝟐𝟓 stability range.