ME2142/ME2142E Feedback Control Systems

Solutions to Tutorial Problems Set 3

March 2007


Question 1






s
K
K s G
i
p c
+ = ) ( . with 5 . 0 =
m
K and 5 . 0 =
m
T s.
(a) Characteristic equation is
0
) 2 (
1
) 1 5 . 0 (
5 . 0
1 1
2
=
+
+
+ =
+
+
+ = +
s s
K s K
s s s
K s K
GH
i p i p

0 2
2 3
= + + +
i p
K s K s s
Routh Array
3
s
1
p
K
2
s
2
i
K
1
s
2
2
i p
K K


0
s
i
K
For stability, 0
2
2
>

i p
K K
and 0 >
i
K , giving
i p i
K K and K > > 2 0
.

(b) With 2 =
p
K , the characteristic equation becomes
0 2 2
2 3
= + + +
i
K s s s (P1.1)
Or 0
) 1 1 )( 1 1 (
1
) 2 2 (
1 =
+ + +
+ =
+ +
+
j s j s s
K
s s s
K
i i

The open-loop transfer function has three poles (at s=0, s=-1-j1, s=-1+j1) and no zero.
R(s) C(s)
-
+
G
c
(s)
) 1 ( + s T s
K
m
m
Motor

For the root locus, asymptote angles = =

180 , 60
3
180 n
, 1, 3, n =
Real-axis intercept =
2
0.67
3
p z
P Z
N N

= =

.
Imaginary axis intercept: From (a), system is limitedly stable when

i p
K K = 2 , or 4 =
i
K . Since 2
p
K = .
On the imaginary axis, e j s = . Substituting this into (P1.1), we have
0 4 2 2
2 3
= + + e e e j j .
Equating either real or imaginary parts to zero gives 414 . 1 2 = = e rad/s at the
imaginary axis intercept.
Locating a test point very close to the pole at s=-1+j1, the angles of the vectors directed
from the other two poles to this pole are 90
o
and 135
o
giving a total angle of 225
o
. Since
the sum of the angles made the vectors from all three poles to this test point must be 180
o
,
angle of departure from the pole at s =-1+j1 is thus
180 90 135 45 =
The root locus plot is thus as shown








RootLocus
Real Axis
I
m
a
g

A
x
is
-4 -3 -2 -1 0 1 2
-3
-2
-1
0
1
2
3
60
o
-0.67
1.414

Question 2

(a) The characteristic equation for the open-loop transfer function is given by equating
the denominator of G(s) to zero.
Thus
2 3 2
( 4 8)( 3) 4 24 0 s s s s s s + + = + =
Since not all the coefficients of the equation are of the same sign, the open-loop
system is unstable.

(b) The characteristic equation for the closed-loop systems is
1 ( ) 0 G s + = or
2
( 2)
1 0
( 4 8)( 3)
Ks s
s s s
+
+ =
+ +

This gives
2
( 4 8)( 3) ( 2) 0 s s s Ks s + + + + =
Or

3 2
( 1) (2 4) 24 0 s K s K s + + + = (P2.1)
The Routh Array:
3
s
1 (2K-4)
2
s
(K-1) 24
1
s
2
(2 6 20)
( 1)
K K
K

0
s
24
For the system to be stable, all the entries in the first column must have the same
sign, or
( 1) 0 K > and
2
(2 6 20) 0 K K >
Or 1 K > and 2( 5)( 2) 0 K K + >
Thus, for the system to be stable, 5 K > .

(c) When the system is marginally stable, 5 K = and there will be a pole, or a pair of
complex conjugate poles on the imaginary axis, meaning that s je = .

Substituting these into the characteristic equation (P2.1), we have

3 2
( ) 4( ) 6 24 0 j j j e e e + + + =
Equating either real of imaginary parts to zero, we have 6 2.45 e = = rad/s.

(d) (i) The open-loop zeros are at 0, 2 s = and the poles at 3,(2 2),(2 2) s j j = + .
(ii) On the real axis, the loci occurs in the regions (0, -2) and ( 3, )
(iii) There is only one asymptote at 180.
Root Locus
Real Axis
I
m
a
g

A
x
i
s
-6 -5 -4 -3 -2 -1 0 1 2
-2.5
-2
-1.5
-1
-0.5
0
0.5
1
1.5
2
2.5


Question 3

(a) Characteristic Equation is

10( )
1 0
( 1( 8)
s a
s s s
+
+ =
+ +

Or
3 2
9 18 10 0 s s s a + + + = (P3.1)
Giving
2
10 10
1 1 0
( 9 18) ( 3)( 6)
a a
s s s s s s
+ = + =
+ + + +

Letting 10 K a = , we plot the root locus for K varying from 0 to infinity.
(i) There are three open-loop poles at s=0, -3, -6 and thus there are three loci.
(ii) The loci occurs on the real axes in the regions (0, -3) and ( 6, ) .
(iii) The asymptotes are at
180
60 ,180
3
n
u = =
(iii) The asymptotes intercept the real axes at
3 6
3
3
p z
P Z
N N
o


= =

(iv) The break-away point is found from 0
dK
ds
=
From equation (P.3.1),
3 2
( 9 18 ) K s s s = + +
Giving
2
(3 18 18) 0
dK
s s
ds
= + + =
Or s =-1.268 or -4.732
Since the loci does exist only in the regions (0, -3) and ( 6, ) , s=-1.268 is
the break-away point.
(v) Imaginary axis crossing:
Letting s je = in the characteristic equation, we have, from Equation (P3.1),

3 2
9 18 0 j j K e e e + + =
Equating imaginary parts to zero, we have 18 3 2 e = = or 0 e = .

Equating real parts to zero, we have
2
9 162 K e = = or 0 K = .
Root Locus
Real Axis
I
m
a
g

A
x
is
-15 -10 -5 0 5
-10
-5
0
5
10

(b) System is stable for 0 162 K < < or 0 16.2 a < < .
(c) Using Equation (P3.1), the Routh Array is

3
s
1 18
2
s
9 10a
1
s
162 10
9
a


0
s
10a
For there to be no roots with positive real parts, all the entries in the first column
must have the same sign. Thus
(162 10 ) 0 a > and 10 0 a >
Or 0 16.2 a < <


Question 4



(a)
) 1 (
) ( ) (
+
=
s s
K
s H s G






(b)
) 2 )( 1 (
) ( ) (
+ +
=
s s s
K
s H s G





(c)
) 2 )( 1 (
) 4 (
) ( ) (
+ +
+
=
s s s
s K
s H s G


Root Locus
Real Axis
I
m
a
g

A
x
is
-3 -2.5 -2 -1.5 -1 -0.5 0 0.5
-2
-1.5
-1
-0.5
0
0.5
1
1.5
2
Root Locus
Real Axis
I
m
a
g

A
x
is
-6 -5 -4 -3 -2 -1 0 1
-4
-3
-2
-1
0
1
2
3
4
Root Locus
Real Axis
I
m
a
g

A
x
is
-4 -3.5 -3 -2.5 -2 -1.5 -1 -0.5 0
-15
-10
-5
0
5
10
15

(d)
) 6 )( 4 )( 1 (
) ( ) (
+ + +
=
s s s s
K
s H s G








(d)
) 5 )( 3 (
) 1 (
) ( ) (
+ +
+
=
s s s
s K
s H s G


Root Locus
Real Axis
I
m
a
g

A
x
i
s
-10 -5 0 5
-8
-6
-4
-2
0
2
4
6
8
Root Locus
Real Axis
I
m
a
g

A
x
is
-5 -4.5 -4 -3.5 -3 -2.5 -2 -1.5 -1 -0.5 0
-10
-5
0
5
10