Assignment 3

1. Find the response of the systems with the following inputs and then comments on the
stability
1 1
Sytem: a) G  s   2 b) G  s  
s 1  s  s  1
Input: a) Unit step b) cost

2. Use the Routh stability criterion to determine the number of roots in the left-half plane,
the right-half plane, and on the imaginary axis for the given characteristics equation:
(a) s 4  2s3  8s 2  4s  3  0
(b) s 6  3s5  2s 4  9s3  5s 2  12s  20  0
(c) s5  s 4  2s3  2s 2  3s  5  0
(d) s5  4s 4  8s3  8s 2  7 s  4  0
(e) s 7  5s 6  9s5  9s 4  4s3  20s 2  36s  36  0

3. The characteristics equations for certain feedback control systems are given below. In
each case, determine the range of values of K  K  0  for which the system is stable.
(a) s 4  s3  s 2  s  K  0
(b) s 4  Ks3  s 2  s  1  0
(c) s 4  3s3  3s 2  2s  K  0
4. Open-loop transfer functions of certain unity-feedback systems are given below. In each
case, determine

(a) The range of values of K  K  0  for which the system is stable.

(b) The value of K that will result in the system being marginally stable, and
(c) The location of the roots of the characteristic equation for the value of K found in (b).
K  s  13
i. G s 
s  s  3 s  7 
K  s  1
ii. G s 
s  s  1 s  6 
K  s  2
iii. G s 

s  s  5 s 2  2s  5 
5. Open-loop transfer functions of certain unity-feedback systems are given below. In each
case, discuss the stability of the closed-loop system as a function of  K  0  . Determine
the values of K which will cause sustained oscillations in the closed-loop system. What are
the corresponding oscillation frequencies?
K
i. G s 
 s  2  s  4   s 2  6s  25
 K
ii. G s 

s  s  1 s 2  4s  16 
6. Determine the values of K  0 and a  0 , so that the system shown in Fig. 1 oscillates at
a frequency 2 rad/sec.

K  s  1
3
s  as 2  2 s  1

Fig.1.

7. The loop transfer function of a single-loop feedback control system is given as

K  s  5
G s H s 
s  s  2 1  Ts 

The parameters K and T may be represented in a plane with K as the horizontal axis and T as
the vertical axis. Determine the regions in the T  versus  K parameter plane where the closed-
loop system is asymptotically stable and where it id unstable. Indicate the boundary on which
the system is marginally stable.
8. Consider the open-loop system in Fig. 2(a).

F s G s Y s

Fig. 2(a)

d2y g dz
Where 2  y  z and f  t    z.
dt l dt
Our goal is to stabilize the system so the closed-loop feedback control will be defined as shown
in the block diagram in Fig. 2(b).

X s E s F s Y s

H s G s

Fig. 2(b)

de
Assuming f  t   k p e  k d
dt
(a) Find the open-loop transfer function.
(b) Find the closed-loop transfer function.
 (c) Find the range of k p and k d in which the system is stable.

g dy
Suppose  10 and   0.1 . If y  0   10 and  0 , then plot the step response of the system
l dt
with three different values for k p and k d . Then show that some values are better than others;
however, all values must satisfy the Routh-Hurtwitz criterion.
9. Determine whether the largest time constant of the roots of the characteristic equation
given below is greater than, less than, or equal to 1.0 sec.

s 3  4s 2  6s  4  0