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Solutions Manual:
Chapter 5
7th Edition
Assisted by:
H.K. Aghajan
H. Al-Rahmani
P. Coulot
P. Dankoski
S. Everett
R. Fuller
T. Iwata
V. Jones
F. Safai
L. Kobayashi
H-T. Lee
E. Thuriyasena
M. Matsuoka
J.K. Lee
2015 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This publication is protected by Copyright and written permission should be obtained
from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
recording, or likewise. For information regarding permission(s), write to: Rights and Permissions Department, Pearson Education, Inc., Upper Saddle River, NJ 07458.
Chapter 5
(d) 1 + kp +
i. versus kp
ii. versus kI
iii. versus kD
5001
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5002
Solution:
(a) K = 1= ;
a = s;
b=1
(b) K = c;
a = s2 + 1;
b=s+1
(c)
(d)
i. K = AT ;
a = (s + c)3 ;
b = s + 1=T
ii. K = AT ;
a = (s + c)3 + A;
b=s
iii. The parameter c enters the equation in a nonlinear way and a
standard root locus does not apply. However, using a polynomial
solver, the roots can be plotted versus c:
i. K = kp A;
a = s(s + 1= )d(s) + AkI (s + 1= )c(s) +
kD
b = s(s + 1= )c(s)
ii. K = AkI ;
a = s(s + 1= )d(s) + Akp s(s + 1= )c(s) +
s2 Ac(s);
kD
s2 Ac(s);
b = (s + 1= )c(s)
AkD
iii. K =
;
a = s(s + 1= )d(s) + Akp s(s + 1= )c(s) + AkI (s + 1= )c(s);
b = s2 c(s)
iv. K = 1= ;
a = s2 d(s) + Akp s2 c(s) + AkI sc(s);
b = sd(s) + Akp sc(s) + AkI c(s) + AkD s2 c(s)
2015 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This publication is protected by Copyright and written permission should be obtained
from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
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5003
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from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
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5004
Imaginary Axis
Imaginary Axis
2
1
0
-1
-2
-10
1
0
-1
-5
-2
-6
-4
-2
Real Axis
Real Axis
1
0
-1
-2
-4
0.5
0
-0.5
-2
-1
-4
-2
Real Axis
Imaginary Axis
Imaginary Axis
0
Real Axis
10
5
0
-5
-10
-10
Imaginary Axis
Imaginary Axis
2
0
-2
-5
0
Real Axis
-4
-4
-2
0
Real Axis
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from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
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5005
3. For the characteristic equation
1+
K
= 0;
s2 (s + 1)(s + 5)
Solution:
(a) The real axis segment is
(b)
6=4 =
1:5;
1>
45 ;
>
5.
135
Root Locus
Imaginary Axis
-2
-4
-6
-8
-6
-4
-2
Real Axis
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from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
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5006
4. Real poles and zeros. Sketch the root locus with respect to K for the
equation 1+KL(s) = 0 and the listed choices for L(s). Be sure to give the
asymptotes and the arrival and departure angles at any complex zero or
pole. After completing each hand sketch, verify your results using Matlab.
Turn in your hand sketches and the Matlab results on the same scales.
(a) L(s) =
2
s(s + 1)(s + 5)(s + 10)
(b) L(s) =
(s + 3)
s(s + 1)(s + 5)(s + 10)
(c) L(s) =
(s + 2)(s + 4)
s(s + 1)(s + 5)(s + 10)
(d) L(s) =
(s + 2)(s + 6)
s(s + 1)(s + 5)(s + 10)
Solution:
All the root locus plots are displayed at the end of the solution set for this
problem.
(a)
4;
45 ;
(b)
4:33;
(c)
5;
90
(d)
4;
90
135
60 ; 180
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from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
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5007
b
15
10
10
Imaginary Axis
Imaginary Axis
a
15
-5
-5
-10
-10
-15
-15
-10
-5
Real Axis
-15
-15
-10
15
10
10
-5
-10
-10
-10
-5
Real Axis
-5
-15
-15
15
Imaginary Axis
Imaginary Axis
-5
Real Axis
-15
-15
-10
-5
Real Axis
2015 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This publication is protected by Copyright and written permission should be obtained
from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
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5008
5. Complex poles and zeros. Sketch the root locus with respect to K for the
equation 1+KL(s) = 0 and the listed choices for L(s). Be sure to give the
asymptotes and the arrival and departure angles at any complex zero or
pole. After completing each hand sketch, verify your results using Matlab.
Turn in your hand sketches and the Matlab results on the same scales.
(a) L(s) =
1
s2 + 3s + 10
(b) L(s) =
1
s(s2 + 3s + 10)
(c) L(s) =
(s2 + 2s + 8)
s(s2 + 2s + 10)
(d) L(s) =
(s2 + 2s + 12)
s(s2 + 2s + 10)
(e) L(s) =
(s2 + 1)
s(s2 + 4)
(f) L(s) =
(s2 + 4)
s(s2 + 1)
Solution:
All the root locus plots are displayed at the end of the solution set for this
problem.
(a)
1:5;
(b)
1;
(c)
i
i
90 ;
= 90 at s =
60 ; 180 ;
1:5 + 2:78j
28:3 at s =
= 0; i = 180 ; d = 161:6 at s =
= 200:7 at s = 1 + 2:65j
1 + 3j;
= 0; i = 180 ;
= 16:8 at s =
1 + 3j;
1:5 + 2:78j
(d)
= 18:4 at s =
1 + 3:32j
(e)
= 0;
= 180 ;
= 180 at s = 2j;
(f)
= 0;
= 180 ;
= 0 at s = j;
= 180 at s = j
= 0 at s = 2j
2015 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This publication is protected by Copyright and written permission should be obtained
from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
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5009
b
20
Imaginary Axis
Imaginary Axis
20
10
0
-10
-20
-3
-2
-1
Real Axis
10
0
-10
-20
-20
-10
0
Real Axis
d
4
Imaginary Axis
Imaginary Axis
4
2
0
-2
-4
-3
-2
-1
Real Axis
2
0
-2
-4
-3
-2
0.5
4
Imaginary Axis
Imaginary Axis
-1
Real Axis
f
4
2
0
-2
-4
-2
10
-1
Real Axis
2
0
-2
-4
-1.5
-1
-0.5
Real Axis
2015 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This publication is protected by Copyright and written permission should be obtained
from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
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5010
6. Multiple poles at the origin. Sketch the root locus with respect to K for
the equation 1 + KL(s) = 0 and the listed choices for L(s). Be sure to
give the asymptotes and the arrival and departure angles at any complex
zero or pole. After completing each hand sketch, verify your results using
Matlab. Turn in your hand sketches and the Matlab results on the same
scales.
(a) L(s) =
1
s2 (s + 8)
(b) L(s) =
1
s3 (s + 8)
(c) L(s) =
1
s4 (s + 8)
(d) L(s) =
(s + 3)
s2 (s + 8)
(e) L(s) =
(s + 3)
s3 (s + 4)
(f) L(s) =
(s + 1)2
s3 (s + 4)
(g) L(s) =
(s + 1)2
s3 (s + 10)2
Solution:
All the root locus plots are displayed at the end of the solution set for this
problem.
(a)
2:67;
(b)
2;
(c)
1:6;
36 ;
(d)
2:5;
90
(e)
0:33;
(f)
3;
90
(g)
6;
60 ; 180
60 ; 180
45 ;
135
108 ; 180
60 ; 180
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from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
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5011
b
Imaginary Axis
Imaginary Axis
a
20
10
0
-10
-20
-15
-10
-5
0
Real Axis
5
0
-5
-10
10
-10
-5
Imaginary Axis
Imaginary Axis
Real Axis
10
5
0
50
-5
-15
-10
-5
Real Axis
-50
-10
10
-5
Imaginary Axis
Imaginary Axis
Real Axis
0.5
0
-0.5
10
5
0
-5
-10
-1
-5
-4
-3
-2
-1
Real Axis
-5
Real Axis
Imaginary Axis
-5
-4
-3
-2
Real Axis
-1
5
0
-5
-10
-10
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from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
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5012
7. Mixed real and complex poles. Sketch the root locus with respect to K for
the equation 1 + KL(s) = 0 and the listed choices for L(s). Be sure to
give the asymptotes and the arrival and departure angles at any complex
zero or pole. After completing each hand sketch, verify your results using
Matlab. Turn in your hand sketches and the Matlab results on the same
scales.
(a) L(s) =
(s + 3)
s(s + 10)(s2 + 2s + 2)
(b) L(s) =
(s + 3)
s2 (s + 10)(s2 + 6s + 25)
(c) L(s) =
s2 (s
(s + 3)2
+ 10)(s2 + 6s + 25)
(d) L(s) =
(s + 3)(s2 + 4s + 68)
s2 (s + 10)(s2 + 4s + 85)
(e) L(s) =
[(s + 1)2 + 1]
s2 (s + 2)(s + 3)
Solution:
All the plots are attached at the end of the solution set.
(a)
3;
(b)
3:25;
45 ;
(c)
3:33;
60 ; 180 ;
(d)
60 ; 180 ;
135 ;
24:8 at s =
d
1+j
103:5 at s =
13:5 at s =
= 3:5; i = 90 ; d = 100:2 at s =
= 99:8 at s = 2 + 8j
3 + 4j
3 + 4j
2 + 9j;
(e)
1:5;
90 ;
= 71:6 at s =
1+j
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from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
recording, or likewise. For information regarding permission(s), write to: Rights and Permissions Department, Pearson Education, Inc., Upper Saddle River, NJ 07458.
5013
c
10
10
1
0
Imaginary Axis
Imaginary Axis
Imaginary Axis
2
0
-2
-1
-8
-8
-10
-10
-10
-5
Real Axis
0
-2
-6
-6
-3
-4
-4
-2
-15
-10
-5
Real Axis
-15
-10
-5
Real Axis
e
5
4
15
3
10
Imaginary Axis
Imaginary Axis
2
5
1
0
-1
-5
-2
-10
-3
-4
-15
-5
-15
-10
-5
Real Axis
-3
-2
-1
Real Axis
2015 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This publication is protected by Copyright and written permission should be obtained
from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
recording, or likewise. For information regarding permission(s), write to: Rights and Permissions Department, Pearson Education, Inc., Upper Saddle River, NJ 07458.
5014
8. RHP and zeros. Sketch the root locus with respect to K for the equation 1 + KL(s) = 0 and the listed choices for L(s). Be sure to give the
asymptotes and the arrival and departure angles at any complex zero or
pole. After completing each hand sketch, verify your results using Matlab.
Turn in your hand sketches and the Matlab results on the same scales.
1
s+2
; the model for a case of magnetic levitation
s + 10 s2 1
with lead compensation.
(a) L(s) =
s+2
1
; the magnetic levitation system with inte2
s(s + 10) (s
1)
gral control and lead compensation.
(b) L(s) =
(c) L(s) =
1
s2
s2 + 2s + 1
: What is the largest value that can
s(s + 20)2 (s2 2s + 2)
be obtained for the damping ratio of the stable complex roots on this
locus?
(d) L(s) =
(e) L(s) =
(f) L(s) =
(s + 2)
;
s(s 1)(s + 6)2
1
1)[(s + 2)2 + 3]
(s
Solution:
(a)
4;
(b)
2:67;
(c)
1;
(d)
90
=
60 ; 180
= 180
(e)
3;
60 ; 180
(f)
1;
60 ; 180 ;
60:0 at s =
2 + 1:73j
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from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
recording, or likewise. For information regarding permission(s), write to: Rights and Permissions Department, Pearson Education, Inc., Upper Saddle River, NJ 07458.
5015
10
10
plot a
-5
0.5
Imag Axis
5
Imag Axis
Imag Axis
-10
plot c
plot b
-5
-10
-10
-5
0
Real Axis
plot d
-0.5
-10
-1
-1
-5
0
Real Axis
10
10
plot f
Imag Axis
0
-5
-10
2
Imag Axis
4
plot e
15
Imag Axis
0
1
Real Axis
-5
-2
-15
-20
-5
0
Real Axis
-10
-8
-6
-4 -2
0
Real Axis
-4
-2
0
Real Axis
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from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
recording, or likewise. For information regarding permission(s), write to: Rights and Permissions Department, Pearson Education, Inc., Upper Saddle River, NJ 07458.
5016
9. Put the characteristic equation of the system shown in Fig. 5.45 in root
locus form with respect to the parameter , and identify the corresponding
L(s); a(s); and b(s): Sketch the root locus with respect to the parameter
, estimate the closed-loop pole locations, and sketch the corresponding
step responses when = 0; 0:5, and 2. Use Matlab to check the accuracy
of your approximate step responses.
s2
s
:
+ 2s + 5
root locus
StepResponse
2.5
1.4
a l p h a = 0
1.2
1.5
a l p h a = 0 . 5
a l p h a = 2
0.5
Amplitude
Imaginary Axis
0.8
0.6
-0.5
-1
0.4
-1.5
0.2
-2
-2.5
-6
-5
-4
-3
-2
Real Axis
-1
10
Time(sec)
15
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from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
recording, or likewise. For information regarding permission(s), write to: Rights and Permissions Department, Pearson Education, Inc., Upper Saddle River, NJ 07458.
20
5017
10. Use the Matlab function rltool to study the behavior of the root locus of
1 + KL(s) for
(s + a)
L(s) =
s(s + 1)(s2 + 8s + 52)
as the parameter a is varied from 0 to 10, paying particular attention to
the region between 2:5 and 3:5. Verify that a multiple root occurs at a
complex value of s for some value of a in this range.
Solution:
For small values of ; the locus branch from 0; 1 makes a circular path
around the zero and the branches from the complex roots curve o toward
the asymptotes. For large values of
the branches from the complex
roots break into the real axis and those from 0; 1 curve o toward the
asymptotes. At about = 3:11 these loci touch corresponding to complex
multiple roots.
a = 2 .5
Imaginary Axis
10
-2
-2
-2
-4
-4
-4
-6
-6
-6
-8
-8
-1 0
-1 4
-1 2
-1 0
-8
-6
-4
-2
-1 0
-1 4
-8
-1 2
-1 0
-8
-6
R e a l A x is
-4
-2
-1 0
-1 4
Imaginary Axis
Imaginary Axis
-2
-2
-4
-4
-4
-6
-6
-6
-8
-8
-6
-4
-2
-1 0
-1 4
-4
-2
-2
-2
-8
-6
a=10
10
-1 0
-8
a=5
10
-1 2
-1 0
R e a l A x is
10
-1 0
-1 4
-1 2
R e a l A x is
a = 3 .5
Imaginary Axis
a=3
10
Imaginary Axis
Imaginary Axis
a=0
10
-8
-1 2
-1 0
-8
R e a l A x is
-6
-4
R e a l A x is
-2
-1 0
-1 4
-1 2
-1 0
-8
-6
-4
R e a l A x is
2015 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This publication is protected by Copyright and written permission should be obtained
from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
recording, or likewise. For information regarding permission(s), write to: Rights and Permissions Department, Pearson Education, Inc., Upper Saddle River, NJ 07458.
5018
11. Use Rouths criterion to nd the range of the gain K for which the systems
in Fig. 5.46 are stable, and use the root locus to conrm your calculations.
Solution:
2015 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This publication is protected by Copyright and written permission should be obtained
from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
recording, or likewise. For information regarding permission(s), write to: Rights and Permissions Department, Pearson Education, Inc., Upper Saddle River, NJ 07458.
5019
Root Locus
plot a
Imag Axis
Imag Axis
Root Locus
5
plot b
-5
-5
-10
-5
Real Axis
-3
-2.5
-2
-1
-0.5
-1
-0.5
Root Locus
4
plot c
Imag Axis
Imag Axis
Root Locus
1.5
1
-1.5
Real Axis
0.5
0
-0.5
plot d
2
0
-2
-1
-1.5
-6
-4
Real Axis
-2
-4
-3
-2.5
-2
-1.5
Real Axis
2015 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This publication is protected by Copyright and written permission should be obtained
from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
recording, or likewise. For information regarding permission(s), write to: Rights and Permissions Department, Pearson Education, Inc., Upper Saddle River, NJ 07458.
5020
12. Sketch the root locus for the characteristic equation of the system for
which
(s + 2)
L(s) = 2
;
s (s + 5)
and determine the value of the root-locus gain for which the complex conjugate poles have the maximum damping ratio. What is the approximate
value of the damping?
Solution:
Plot the system on Matlab using rlocus(sys), and use [K]= rlocnd(sys)
to pick the gain for the maximum damping. We nd that the maximum
damping, = 0.275 when K 10:7.
R oot Loc us
15
0 .3 8
0 .2 6
0 .1 9
0 .1 3
0 .0 8 5
0 .0 4
14
12
10
10
0 .5 2
6
5
0 .8
Imaginar y Axis
0 .8
-5
-10
0 .5 2
10
12
0 .2 6
0 .3 8
-15
-6
-5
-4
0 .1 9
-3
0 .1 3
-2
0 .0 8 5
-1
0 .0 4
14
0
R e a l Ax is
2015 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This publication is protected by Copyright and written permission should be obtained
from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
recording, or likewise. For information regarding permission(s), write to: Rights and Permissions Department, Pearson Education, Inc., Upper Saddle River, NJ 07458.
5021
13. For the system in Fig. 5.47,
0.84
8 0.92
6
RootLocus
0.74
0.6
1.2
0.965
1
0.99
Amp litu d e
Imag Axis
StepResponse
1.4
0.42 0.22
2
200 17.5
15 12.5
10
7.5
2.5
-2
0.8
0.6
0.99
0.4
-4
-6
-8
-20
0.965
0.2
0.92
0.84
-15
0.74
0.6 0.42 0.22
-10
-5
RealAxis
3
Time(sec)
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5022
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from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
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5023
14. For the feedback system shown in Fig. 5.48, nd the value of the gain K
that results in dominant closed-loop poles with a damping ratio = 0:5.
Solution:
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5024
R oot Locus
4
0.84
0.72
0.58
0.44
0.3
0.14
3
0.92
0.98
Imaginary Axis
6
0
-1
0.98
-2
0.92
-3
0.72
0.84
-4
-6
-5
-4
0.58
-3
0.44
-2
0.3
-1
0.14
0
R eal Axis
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5025
Solution:
(a)
d
a
=
=
180
25:26
90 + 266:5 + 92:6 = 63:83 ;
90 + 86:5 + 69:9 + 87:4
180 = 26:11
(b) (c)
Root Locus
3
Imaginary Axis
-1
-2
-3
-4
-3
-2
-1
Real A xis
Problem 5.15(b)(c)
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5026
Imaginary Axis
-1
-2
-3
-4
-3
-2
-1
Real A xis
Problem 5.15(d)
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5027
varying
Solution:
Use block diagram reduction to nd the characteristic equation of the
closed-loop system:
1+
10K1
s(s + )
0:1
+ 0:2s + 1
s(s + 10)(s + )
K1
or
s(s + )(s + 11) + 2K1 (s + 5) = 0
=0
2(s + 5)
=0
s(s + 2)(s + 11)
L(s) =
2(s + 5)
s(s + 2)(s + 11)
(b) Substituting
= 5 and rewrite the equation in Evans form with
respect to K1 :
1 + K1
2(s + 5)
=0
s(s + 5)(s + 11)
L(s) =
2
s(s + 11)
5.
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5028
s(s + 11)
=0
s2 (s + 11) + 4(s + 5)
L(s) =
s(s + 11)
s3 + 11s2 + 4s + 20
plot a
plot b
40
30
1.5
1
Imaginary Axis
Imaginary Axis
20
10
0
-10
0.5
0
-0.5
-20
-1
-30
-1.5
-40
-15
-10
-5
Real Axis
-2
-40
-30
-20
-10
Real Axis
10
20
plot c
2
1.5
Imaginary Axis
1
0.5
0
-0.5
-1
-1.5
-2
-30
-25
-20
-15
-10
Real Axis
-5
10
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5029
17. For the system shown in Fig. 5.50, determine the characteristic equation
and sketch the root locus of it with respect to positive values of the parameter c. Give L(s), a(s); and b(s) and be sure to show with arrows the
direction in which c increases on the locus.
Solution:
L(s) =
a(s)
s2 + 9
=
+ 144s
b(s)
s3
R oot Loc us
10
Imag Axis
-5
-10
-18
-16
-14
-12
-10
-8
-6
-4
-2
R eal Ax is
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from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
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5030
18. Suppose you are given a system with the transfer function
L(s) =
(s + z)
;
(s + p)2
where z and p are real and z > p. Show that the root locus for 1+KL(s) =
0 with respect to K is a circle centered at z with radius given by
r = (z
p):
Hint: Assume s + z = rej and show that L(s) is real and negative for
real under this assumption.
Solution:
Assume s + z = (z
L =
=
=
(z
p)ej
z + p)
j
(z p)e
(z p)2 (ej
1)2
1
((z
(z
=
p)ej
p)( 4)
1
4(z
ej
=2
e
2j
j =2
1
p) (sin( =2))2
and therefore
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5031
19. The loop transmission of a system has two poles at s = 1 and a zero
at s = 2. There is a third real-axis pole p located somewhere to the
left of the zero. Several dierent root loci are possible, depending on the
exact location of the third pole. The extreme cases occur when the pole
is located at innity or when it is located at s = 2. Give values for p
and sketch the three distinct types of loci.
Solution:
Root Locus
Root Locus
0.5
20
pole is at s=-2
Imag Axis
Imag Axis
10
0
-10
-20
-0.5
-100
-80
-60
-40
-20
-2
Real Axis
-1.5
-1
-0.5
Real Axis
Root Locus
5
Imag Axis
-5
-3
-2.5
-2
-1.5
-1
-0.5
Real Axis
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from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
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5032
20. For the feedback conguration of Fig. 5.51, use asymptotes, center of
asymptotes, angles of departure and arrival, and the Routh array to sketch
root loci for the characteristic equations of the listed feedback control
systems versus the parameter K: Use Matlab to verify your results.
K
;
s(s + 1 + 3j)(s + 1 3j)
K
(b) G(s) = 2 ;
s
K(s + 5)
(c) G(s) =
;
(s + 1)
K(s + 3 + 4j)(s + 3 4j)
(d) G(s) =
;
s(s + 1 + 2j)(s + 1 2j)
(a) G(s) =
s+2
s+8
s+1
H(s) =
s+3
s+7
H(s) =
s+3
H(s) =
H(s) = 1 + 3s
(s + 2)
s(s + 1 + 3j)(s + 1
Asymptotes: 4 1 = 3
Center of asymptotes: = 2:67
Angle of asymptotoes: = 60 ; 180
Angle of departure: d = 29:93 at s =
Imaginary-axis crossings:
(s)
3j)(s + 8)
1 + 3j
(s) with
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5033
(b)
L(s)
- Asymptotes: 3
(s + 1)
s2 (s + 3)
1=2
- Center of asymptotes:
- Angle of asymptotoes:
90
- Imaginary-axis crossings:
(s)
= s3 + 3s2 + Ks + K
s3 : 1 K
s2 : 3 K
s : 2K
3
s0 : K
(s) with K = 0,
(c)
L(s)
- Asymptotes: 2
(s + 5)(s + 7)
(s + 1)(s + 3)
2=0
- Breakin/Breakaway:
dL(s)
= 0 =) 8s3 + 64s + 104 = 0
ds
Therefore the breakin/breakaway points are at s =
2:27; 5:73.
(d)
L(s)
- Asymptotes: 3
- Angle of departure:
- Angle of arrival:
= 108:4 at s =
23:4 at s =
1 + 2j
3 + 4j
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5034
Root Locus
5
plot a
plot b
Imag Axis
Imag Axis
-5
-5
-10
-5
Real Axis
-3
-2.5
-2
Root Locus
-1.5
-1
Real Axis
-0.5
-0.5
Root Locus
4
1.5
plot c
plot d
2
Imag Axis
Imag Axis
1
0.5
0
-0.5
-2
-1
-1.5
-4
-6
-4
Real Axis
-2
-3
-2.5
-2
-1.5
-1
Real Axis
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5035
21. Consider the system in Fig. 5.52.
(a) Using Rouths stability criterion, determine all values of K for which
the system is stable.
(b) Use Matlab to nd the root locus versus K. Find the values for K
at imaginary-axis crossings.
Solution:
(a)
(s)
Im ag Axis
-2
-4
-6
-7
-6
-5
-4
-3
-2
-1
Real Axis
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5036
1
(s + 2)(s + 3)
and Dc (s) = K
s+a
:
s+b
Figure 5.53: Unity feedback system for Problems 5.22, 5.28, and 5.33
Solution:
Since the desired poles are slower than the plant, we will use PI control.
The solution is to cancel the pole at -3 with the zero and set the gain to
K = 2: Thus, a = 3; b = 0; and K = 2:
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5037
23. Suppose that in Fig. 5.53,
G(s) =
1
s(s2 + 2s + 5)
and Dc (s) =
K
:
s+2
Without using Matlab, sketch the root locus with respect to K of the
characteristic equation for the closed-loop system, paying particular attention to points that generate multiple roots. Find the value of K at
that point, state what the location of the multiple roots is, and how many
multiple roots there are.
Solution:
The root locus for the system is attached at the end.
(s) =
- Asymptotes: 4
1
s(s + 2)(s2 + 2s + 5)
0=4
- Center of asymptotes:
- Angle of asymptotoes:
45 ; 135
- Angle of departure:
90 at s =
1 + 2j
- Imaginary-axis crossings:
(s)
(s) with
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5038
-1
-2
-3
-4
-4
-3
-2
-1
Real Axis
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5039
24. Suppose the unity feedback system of Fig. 5.53 has an open-loop plant
s+z
to be
given by G(s) = 1=s2 . Design a lead compensation Dc (s) = K s+p
added in series with the plant so that the dominant poles of the closed-loop
system are located at s = 2 2j.
Solution:
Setting the pole of the lead to be at p = 20; the zero is at z =
with a gain of K = 72: The locus is plotted below.
1:78
Root Loc us
3
0.92
0.84
0.74
0.6
0.42
0.22
2
0.965
Imag Axis
0.99
7
0
-1
-6
-5
0.99
0.965
-2
-3
-7
0.84
0.92
0.74
-4
-3
0.6
-2
0.42
0.22
-1
Real Axis
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from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
recording, or likewise. For information regarding permission(s), write to: Rights and Permissions Department, Pearson Education, Inc., Upper Saddle River, NJ 07458.
5040
25. Assume that the unity feedback system of Fig. 5.53 has the open-loop
plant
1
G(s) =
:
s(s + 3)(s + 6)
Design a lag compensation to meet the following specications:
The step response settling time is to be less than 5 sec.
The step response overshoot is to be less than 17%.
The steady-state error to a unit ramp input must not exceed 10%.
Solution:
The overshoot specication requires that damping be 0:5 and the
settling time requires that ! n > 1:8: From the root locus plotted
below, these can be met at K = 28 where the ! n = 2: With this
gain, the Kv = 28=18 = 1:56: To get a Kv = 10; we need a lag gain
of about 6:5: Selecting the lag zero to be at 0:1 requires the pole
to be at 0:1=6:5 = 0:015: To meet the overshoot specications, it is
necessary to select a smaller K and set p = 0:01: Other choices are
of course possible. The step response of this design is plotted below.
0.84
0.74
RootLocus
0.6
1.4
0.42 0.22
0.92
1.2
Imag Axis
0.965
2
10
2
-2
0.99
0.8
10
0.6
0.99
0.4
0.965
-4
0.2
0.92
-6
0.84
-10
0.74
00
10
15
20
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from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
recording, or likewise. For information regarding permission(s), write to: Rights and Permissions Department, Pearson Education, Inc., Upper Saddle River, NJ 07458.
25
5041
26. A numerically controlled machine tool positioning servomechanism has a
normalized and scaled transfer function given by
G(s) =
1
:
s(s + 1)
Solution:
(a) With proportional control, the complex poles have real part at s =
0:5.
(b) To design a lead, we select the pole to be at p =
zero and gain to be z = 3; K = 12.
10 and nd the
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from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
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5042
10
:
s(s + 1)(s + 10)
s!0
245(s + 1)
10
= 4:083
s(s + 1)(s + 10) (s + 6)
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from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
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5043
4
3
0.92
0.84
0.74
0.6
0.42 0.22
0.965
1
0.99
1
10
0
Amplitude
Imaginary Axis
-1
0.99
0.5
-2
-3
-4
0.965
0.84
0.92
-10
0.74
0.6
0.42 0.22
0
-8
-6
-4
Real Axis
-2
0.5
1.5
4 0.92
3
1
Time (sec)
0.84
0.74
0.6
0.42 0.22
0.965
1
0.99
1
10
0
Amplitude
Imaginary Axis
-1
0.99
0.5
-2
-3
-4
-10
0.965
0.84
0.92
0.74
0.6
0.42 0.22
0
-8
-6
-4
Real Axis
-2
3
4
Time (sec)
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from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
recording, or likewise. For information regarding permission(s), write to: Rights and Permissions Department, Pearson Education, Inc., Upper Saddle River, NJ 07458.
5044
28. Assume the closed-loop system of Fig. 5.53 has a feed forward transfer
function G(s) given by
1
:
G(s) =
s(s + 2)
Design a lag compensation so that the dominant poles of the closed-loop
system are located at s = 1 j and the steady-state error to a unit ramp
input is less than 0.2.
Solution:
The poles can be put in the desired location with proportional control
alone, with a gain of kp = 2 resulting in a Kv = 1: To get a Kv = 5; we add
s + 0:1
:
a compensation with zero at 0:1 and a pole at 0:02: Dc (s) = 2
s + 0:02
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from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
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5045
29. An elementary magnetic suspension scheme is depicted in Fig. 5.54. For
small motions near the reference position, the voltage e on the photo
detector is related to the ball displacement x(in meters) by e = 100x.
The upward force (in newtons) on the ball caused by the current i (in
amperes) may be approximated by f = 0:5i + 20x. The mass of the ball
is 20 g, and the gravitational force is 9.8 N/kg. The power amplier is a
voltage-to-current device with an output (in amperes) of i = u + V0 .
0:5i + 20x
mg = 0:5(u + Vo ) + 20x
mg
0:196:
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from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
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5046
E
2500
= 2
U
s
1000
(d) The locus starts at the two poles symmetric to the imaginary axis,
meet at the origin and cover the imaginary axis. The locus is plotted
below.
Root Locus
40
30
Imaginary Axis
20
10
-10
-20
-30
-40
-40
-30
-20
-10
0
Real Axis
10
20
30
40
(e) Since the system with a proportional gain is on the stability boundary, any p
lead will improve its performance. For example, we can
pick z = 1000 to cancel one of the open-loop plant poles, and pick
p = 150 to pull the locus into the left-hand plane. K can be selected
to give a desired amount of damping, say 0:7. K = 4:75 gives a
damping of 0:7. See the plot below.
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from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
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5047
Root Locus
50
40
30
Imaginary Axis
20
10
0
-10
-20
-30
-40
-50
-160
-140
-120
-100
-80
-60
Real Axis
-40
-20
20
40
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from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
recording, or likewise. For information regarding permission(s), write to: Rights and Permissions Department, Pearson Education, Inc., Upper Saddle River, NJ 07458.
5048
30. A certain plant with the non minimum phase transfer function
G(s) =
4 2s
;
s2 + s + 9
4 0.92
3
0.74
0.6
StepResponse
0.4
0.42 0.22
0.2
0.965
0
Amplitude
Imag Axis
0.99
1
100
-0.2
-0.4
-1
0.99
-0.6
-2
-3
-4
-10
0.965
-0.8
0.92
0.84
-8
0.74
-6
0.6
-4
RealAxis
0.42 0.22
-2
-1
2
Time(sec)
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5049
31. Consider the rocket-positioning system shown in Fig. 5.55.
(a) Show that if the sensor that measures x has a unity transfer function,
the lead compensator
s+2
H(s) = K
s+4
stabilizes the system.
(b) Assume that the sensor transfer function is modeled by a single pole
with a 0:1 sec time constant and unity DC gain. Using the root-locus
procedure, nd a value for the gain K that will provide the maximum
damping ratio.
Solution:
(a) The root locus is plotted below and lies entirely in the left-half plane.
So the system is stable for all K.
(b) At maximum damping, the gain is K = 6:25 but the damping of the
complex poles is only 0:073: A practical design would require much
more lead.
RootLocus
0.19
0.13
0.26
10
0.4
0.65
0.4
0.26
0.19
-3
0.13
-2
RealAxis
1.5
0.5
0.5
0.97
-1
1
0.88
1.5
0.76
2.5
-2
10
-4
0.88
6
-10
3
2.5
0.97
2
-5
RootLocus
0.36 0.24 0.12
1
Imag Axis
Imag Axis
4
2
0.48
5 0.65
0.62
0.76
-3-3
2
0.62
0.48
-2
30
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5050
100(s + 1)
: The locus is plotted below.
s2 (s2 + 12s + 40)
Root Locus
0.92
0.84
0.74
0.6
0.42
0.22
4
0.965
Im ag Axis
0.99
14
0
-2
-4
-6
-14
12
10
-12
-10
0.99
0.965
0.84
0.92
0.74
-8
-6
0.6
-4
0.42
0.22
-2
Real Axis
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5051
(b) The maximum value of K for stability is K = 3:36:
(c) The transfer function from R to Y is
Y
200
= 2 2
:
R
s (s + 12s + 40) + 200(s + 1)
Therefore the steady-state error for a step change in r is
estep (1)
Y 1
R s
2 2
s (s + 12s + 40) + 200s
=0
= lim 2 2
s!0 s (s + 12s + 40) + 200(s + 1)
=
lim s 1
s!0
Y
W1
1
=0
s
Y
W2
1
= 0:5
s
(f) To get more damping in the closed-loop response, the controller needs
to have a lead compensation.
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5052
bs + k
s2 [mM s2 + (M + m)bs + (M + m)k]
to be put in the unity feedback loop of Fig. 5.53. This is the transfer
function relating the input force u(t) and the position y(t) of mass M in
the non-collocated sensor and actuator problem. In this problem, we will
use root-locus techniques to design a controller Dc (s) so that the closedloop step response has a rise time of less than 0.1 sec and an overshoot of
less than 10%. You may use Matlab for any of the following questions:
(a) Approximate G(s) by assuming that m = 0, and let M = 1, k = 1,
b = 0:1, and Dc (s) = K. Can K be chosen to satisfy the performance
specications? Why or why not?
(b) Repeat part (a) assuming Dc (s) = K(s + z), and show that K and z
can be chosen to meet the specications.
(c) Repeat part (b) but with a practical controller given by the transfer
function
p(s + z)
;
Dc (s) = K
s+p
and pick p so that the values for K and z computed in part (b) remain
more or less valid.
(d) Now suppose that the small mass m is not negligible, but is given by
m = M=10. Check to see if the controller you designed in part (c)
still meets the given specications. If not, adjust the controller parameters so that the specications are met.
Solution:
(a) The approximate plant transfer function is G(s) = s12 . The locus in
this case is the imaginary axis and cannot meet the specs for any K:
(b) The specs require that > 0:6; ! n > 18: Select z = 15 for a start.
The locus will be a circle with radius 15: Because of the zero, the
overshoot will be increased and Figure 3.29 indicates that wed better
make the damping greater than 0.7. As a matter of fact, experimentation shows that we can lower the overshoot of less than 10% only
by setting the zero at a low value and putting the poles on the real
axis. The plot shows the result when Dc = 25(s + 4): The resulting
overshoot is 9:9% and the rise time is 0:06 sec.
(c) In this case, we pick p = 150; z = 4; and K = 30. Then the resulting
overshoot is 9:8% and the rise time is 0:05 sec.
(d) With the resonance present, the only chance we have is to introduce
a notch as well as a lead. The compensation resulting in the plots
s + 4 s2 =9:25 + s=9:25 + 1
: The overshoot
shown is Dc (s) = 12
(:01s + 1) s2 =3600 + s=30 + 1
is 7% and the rise time is 0:04 sec :
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5053
Root Locus
1.5
Imaginary Axis
20
10
0
0.5
-10
-20
-60
-50
-40
-30
Real Axis
-20
-10
Root Locus
0.2
0.4
0.6
0.8
0.2
0.4
0.6
0.8
1.5
Imaginary Axis
20
10
0
0.5
-10
-20
-60
-50
-40
-30
Real Axis
-20
-10
Root Locus
1.5
Imaginary Axis
0.5
-2
-4
-10
-8
-6
-4
Real Axis
-2
0.5
1.5
2.5
3.5
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from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
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5054
34. Consider the Type 1 system drawn in Fig. 5.57. We would like to design the compensation Dc (s) to meet the following requirements: (1) The
steady-state value of y due to a constant unit disturbance w should be less
than 54 , and (2) the damping ratio = 0:7. Using root-locus techniques,
1
Y 1
= lim
W s s!0 s2 + s + K
0:8:
Y 1
1
= lim
W s s!0 s2 + (1 + kD )s + kp
p
1:4 kp
1 + kD
p
2 kp
0:8:
1:25. The
0:7
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5055
(c) Setting kp = 1:4 and kD = 0:85, we get ystep (1) = 0:714 and =
0:782. The root loci and disturbance step response are plotted below.
R o ot L oc u s
Ste p r e s p o n s e fo r p r o b le m 5 .3 4
1 .5
0 .8
0 .9 6
0 .9 2
0 .8 6
0 .7 6
0 .5 8
0 .3 5
0 .7
1
0 .9 8 4
0 .6
0 .5
0 .9 9 6
Amplitude
Imaginary Axis
0 .5
5
0
0 .4
0 .3
0 .9 9 6
- 0 .5
0 .2
0 .9 8 4
-1
0 .1
0 .9 2
0 .9 6
- 1 .5
-5
0 .8 6
0 .7 6
0 .5 8
0 .3 5
0
-4
-3
-2
-1
R e a l Ax is
Time ( s e c )
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from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
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5056
35. Using a sample rate of 10 Hz, nd the Dc (z) that is the discrete equivalent
to your Dc (s) from Problem 5.34 using the trapezoid rule. Evaluate the
time reponse using Simulink, and determine whether the damping ratio
requirement is met with the digital implementation. (Note: The material
to do this problem is covered in the Appendix W4.5 at www.FPE7e.com
or in Chapter 8.) (Note: The rst printing of the 7th edition had an
error in the problem statement. It said to use the Dc (s) from Problem
5.7 rather than the correct one, Problem 5.34)
Solution:
From Problem 5.34, we have Dc (s) = 0:85s + 1:4. The discrete equivalent
2 z 1
in the Dc (s):
for Ts = 0:1 sec is given by substituting s =
0:1 z + 1
Dd (z) = 0:85
2 z 1
18:4z 15:6
+ 1:4 =
:
0:1 z + 1
z+1
1
Continuousdesign
Discreteequivalentdesign,T
0.8
s =0.1sec
0.6
0.4
0.2
00
Time(sec)
10
12
14
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5057
i.e., a zero in the numerater with no pole. Using the Matched Pole-Zero
discrete equivalent will help this situation since it does not create the
oscillatory pole in the compensator. Using Matlabs C2D function for
this discrete equivalent produces
Dd2 (z) = 9:219z
7:819:
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5058
kg m2 ;
(a) What is the range of the amplier gain KA for which the system is
stable? Estimate the upper limit graphically using a root-locus plot.
(b) Choose a gain KA that gives roots at = 0:7. Where are all three
closed-loop root locations for this value of KA ?
Solution:
(a) Neglecting viscous friction and the eect of inductance, the transfer
function of the DC motor is
o
Va
(JL + Jm
Kt
Ra
)s2
Kt Ke
Ra s
10
s2 + s
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5059
From the root locus plotted below, the upper limit of KA for stability
is 0:11.
Root Locus
3
0.92
0.84
0.74
0.6
0.42
0.22
2
0.965
Imaginary A xis
0.99
7
0
-1
-6
-5
0.99
0.965
-2
-3
-7
0.84
0.92
0.74
-4
-3
Real Axis
0.6
-2
0.42
0.22
-1
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from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
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5060
4msec;
ts
15msec;
Mp
0:05
(a) The root locus with respect to kI and the step response with kI =
0:036 are plotted in the rst row below.
(b) Using rltool, we can choose the location of zeroto pull the locus to
the left-hand plane. This will improve the transient response. Here,
the zero was put at s = 1:7, and kp was set to 0:036. The root
locus and the step response are plotted in the second row below.
With the PI compensator, the closed-loop poles are at s = 0:7749
0:7774j; 0:5451 0:5589j, and the closed-loop zeros are at s = 1:7;
0:45 0:773j. Thus the velocity constant can be calculated from
Truxals formula.
n
X
1
=
Kv
i=1
X 1
1
+
pi i=1 zi
Kv = 0:7344
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5061
R oot loc us
1.2
1
0.8
Amplitude
Imaginary Axis
0.5
0.6
0.4
- 0.5
0.2
-1
- 1.5
0
-1
- 0.5
0.5
R eal Axis
10
10
T ime ( sec )
R oot Locus
0.8
0.6
1
0.8
Amplitude
Imaginary Axis
0.4
0.2
0
0.6
- 0.2
0.4
- 0.4
- 0.6
0.2
- 0.8
0
-2
- 1.5
-1
- 0.5
R eal Axis
T ime ( sec )
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from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
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5062
38. The normalized, scaled equations of a cart as drawn in Fig. 5.59 of mass
mc holding an inverted uniform pendulum of mass mp and length ` with
no friction are
= v
(5.88)
y +
=v
where
3mp
4(mc +mp )
3g(m +m )
measured in terms of = ! o t where ! 2o = `(4mcc+mpp) : The cart motion, y;
is measured in units of pendulum length as y = 3x
4` and the input is force
normalized by the system weight, v = g(mcu+mp ) : These equations can be
1
s2
s2 1 +
Y
= 2 2
V
s (s
1)
(5.89)
(5.90)
In this problem you are to design a control for the system by rst closing
a loop around the pendulum, Eq.(5.89) and then, with this loop closed,
closing a second loop around the cart plus pendulum, Eq.(5.90). For this
problem, let the mass ratio be mc = 5mp :
(a) Draw a block diagram for the system with V input and both Y and
as outputs.
s+z
for the loop to cancel
(b) Design a lead compensation Dc (s) = K
s+p
the pole at s = 1 and place the two remaining poles at 4 j4: The
new control is U (s), where the force is V (s) = U (s) + Dc (s) (s):
Draw the root locus of the angle loop.
(c) Compute the transfer function of the new plant from U to Y with
Dc (s) in place.
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5063
(d) Design a controller Dc (s) for the cart position with the pendulum
loop closed. Draw the root locus with respect to the gain of Dc (s)
(e) Use Matlab to plot the control, cart position, and pendulum position
for a unit step change in cart position.
Solution:
(a)
(s
K
= 2
1)(s + p) + K
s + (p
K
1)s + K
(d) Dc = kc
s2 + 0:2s + 0:01
: The root locus is shown below.
s2 + 2s + 1
(e) The step responses are shown below. The pendulum position control
is rather fast for this problem. A more reasonable alternative choice
would be to place the pendulum roots at s = 0:5 j0:5:
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from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
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5064
Final design
-2
Amplitude
Imag Axis
Imag Axis
1.5
4
-2
-4
0.5
-4
-0.5
-10
-5
-8
-6
-4
-2
Real Axis
Real Axis
Alternative design
Alternative design
50
100
150
T ime (sec)
1.5
1.2
Amplitude
Imag Axis
1
0.5
0
-0.5
0.8
0.6
0.4
0.2
-1
-1.5
-2
0
-0.2
-1
0
Real Axis
20
40
60
80
T ime (sec)
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from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
recording, or likewise. For information regarding permission(s), write to: Rights and Permissions Department, Pearson Education, Inc., Upper Saddle River, NJ 07458.
5065
39. Consider the 270-ft U.S. Coast Guard cutter Tampa (902) shown in Fig. 5.60.
Parameter identication based on sea-trials data (Trankle, 1987) was used
to estimate the hydrodynamic coe cients in the equations of motion. The
result is that the response of the heading angle of the ship to rudder
angle and wind changes w can be described by the second-order transfer
functions
0:0184(s + 0:0068)
(s)
=
;
(s)
s(s + 0:2647)(s + 0:0063)
(s)
0:0000064
Gw (s) =
=
;
w(s)
s(s + 0:2647)(s + 0:0063)
G (s) =
where
= heading angle, rad
r = reference heading angle; rad:
r = yaw rate; rad=sec;
= rudder angle; rad;
w = wind speed; m=sec:
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from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
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5066
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from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
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5067
Root Locus
1
Imaginary Axis
0.5
-0.5
-1
-4
-3
-2
-1
Real Axis
Rudder angle to 5
1.4
input
1.2
0
1
0.8
0.6
-5
0.4
0.2
0
10
20
Time (sec)
30
40
-10
10
20
Time (sec)
30
40
(c) With the compensator from part (b), the closed-loop transfer function from w to is
(s)
Gw
=
w(s)
1 + Kp G (1 + KD s)
=
0:0000064
s(s + 0:2647)(s + 0:0063) + 0:0278(s + 0:0068)(1 + s)
Using the Final Value Theorem, the steady-state value of the heading
angle due to a disturbance of 10m= sec is
(1) = lim s
s!0
(s) 10
= 0:3386 rad = 19:4 > 0:5
w(s) s
So we need to modify our design. To reject the disturbance completely, lets add an integral term to the controller, Dc (s) = Kp +
KI =s. Using rltool, we nd that when Dc (s) = 1:87 0:11=s, all
specications are met as shown below.
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from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
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5068
Root Locus
0.8
0.15
0.4
0.2
P control
Imaginary Axis
0.6
0.1
PI control
-0.2
-0.4
0.05
-0.6
-0.8
-2
-1.5
-1
Real Axis
-0.5
200
400
600
800
Time (sec)
Rudder angle to 5
1.4
1000
1200
1400
input
1.2
0
1
0.8
0.6
-5
0.4
0.2
0
20
40
60
Time (sec)
80
100
-10
20
40
Time (sec)
60
80
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from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
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5069
40. Golden Nugget Airlines has opened a free bar in the tail of their airplanes
in an attempt to lure customers. In order to automatically adjust for the
sudden weight shift due to passengers rushing to the bar when it rst
opens, the airline is mechanizing a pitch-attitude auto pilot. Figure 5.61
shows the block diagram of the proposed arrangement. We will model the
passenger moment as a step disturbance Mp (s) = M0 =s, with a maximum
expected value for M0 of 0.6.
to
6:6j:
(e) You are given a black box with rate gyro written on the side and told
that when installed, it provides a perfect measure of _ , with output
KT _ . Assume K = 600 as in part (d) and draw a block diagram
indicating how you would incorporate the rate gyro into the auto
pilot. (Include transfer functions in boxes.)
(f) For the rate gyro in part (e), sketch a root locus with respect to KT .
(g) What is the maximum damping factor of the complex roots obtainable with the conguration in part (e)?
(h) What is the value of KT for part (g)?
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5070
10Mo
(s) Mo
=
Mp (s) s
K
(10)(0:6)
< 0:02
K
(s + 3)
=0
s(s + 10)(s2 + 4s + 5)
Imag Axis
-1
-2
-3
-4
-10
-8
-6
-4
-2
Real Axis
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from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
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5071
(c) To nd the stability boundary, we can do the Routh test or solve the
characteristic equation for the j! crossings. Here, the latter method
is used. The characteristic equation of the system is
(s)
1+K
(s + 3)
s(s + 10)(s2 + 4s + 5)
45! 2 + 3K + j
s (s +
600s (s + 3)
=0
+ 4s + 5) + 600 (s + 3)
10) (s2
0.74
0.6
0.42
0.22
0.92
10
0.965
Imag Axis
0.99
30
0
25
20
15
10
0.99
-5
0.965
-10
0.92
0.84
-15
-30
-25
0.74
-20
-15
0.6
-10
0.42
0.22
-5
10
Real Axis
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from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
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5072
Imag Axis
-1
-2
-3
-4
-10
-8
-6
-4
-2
Real Axis
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from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
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5073
41. Consider the instrument servomechanism with the parameters given in
Fig. 5.62. For each of the following cases, draw a root locus with respect
to the parameter K, and indicate the location of the roots corresponding
to your nal design.
Dc (s) = K
s+z
;
s+p
p
= 6:
z
Select z and K so that the roots nearest the origin (the dominant
roots) yield
0:4;
7;
Kv
2
16 sec
3
and D(s) = K
s+1
:
s+p
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from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
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5074
K(s + z)
1
K
=
2
s + 6z s(s + 51s + 550)
3300
30
20
Imaginary Ax is
10
-10
-20
-30
-45
-40
-35
-30
-25
-20
Real Axis
-15
-10
-5
Y
R
1
550 + KKT
=
s2
K
Kv = 9:058
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from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
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5075
The output derivative feedback is acting only when there is a change
in the output. Therefore, for a ramp input, the derivative action will
minimize the deviation from the reference because the input signal
is continuously increasing.
(c) Using proportional control (Dc (s) = K), the velocity constant is
Kv = lim sK
s!0
K
1
=
s(s2 + 51s + 550)
550
Kv = lim s
s!0
K(s + 1)
1
K
=
s + p s(s2 + 51s + 550)
550p
20
15
10
Imaginary Axis
-5
-10
-15
-20
-40
-35
-30
-25
-20
-15
Real Ax is
-10
-5
10
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from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
recording, or likewise. For information regarding permission(s), write to: Rights and Permissions Department, Pearson Education, Inc., Upper Saddle River, NJ 07458.
5076
Solution:
plot a
15
10
Imaginary A xis
-5
-10
-15
-15
-10
-5
0
Real Axis
10
15
(a)
Problem 5.42(a)
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from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
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5077
plot a
plot b
10
20
15
Imaginary Axis
Imaginary Axis
6
4
2
0
-2
-4
10
5
0
-5
-10
-6
-15
-8
-15
-10
-5
Real Axis
10
-15
-10
-5
Real Axis
plot c
10
-2
plot d
1.5
Imaginary Axis
Imaginary Axis
1
0.5
0
-0.5
-1
0.5
-0.5
-1.5
-20
-15
-10
-5
Real Axis
-1
-10
-8
-6
-4
Real Axis
Problem 5.42(b)
plot a
plot b
10
Imaginary Axis
Imaginary Axis
5
0
-5
-5
-4
-3
-2
-1
Real Axis
-6
-4
-2
0
2
Real Axis
plot c
plot d
Imaginary Axis
Imaginary Axis
4
2
1
0
-1
2
0
-2
-2
-3
-4
-1
-0.5
Real Axis
0.5
-1
-0.5
Real Axis
plot e
0.5
plot f
3
Imaginary Axis
3
Imaginary Axis
2
1
0
-1
-2
2
1
0
-1
-2
-3
-0.4
-0.2
0.2
0.4
Real Axis
0.6
0.8
-3
-0.6
-0.4
-0.2
0
Real Axis
0.2
0.4
Problem 5.42(c)
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from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
recording, or likewise. For information regarding permission(s), write to: Rights and Permissions Department, Pearson Education, Inc., Upper Saddle River, NJ 07458.
5078
20
10
0
-10
-20
-50
-20
-10
10
Real Axis
plot c
20
30
40
-20
Imaginary Axis
Imaginary Axis
plot b
Imaginary Axis
Imaginary Axis
plot a
50
20
10
0
-10
-20
-20
-10
Imaginary Axis
Imaginary Axis
5
0
-5
-10
-10
-5
-15
-10
10
-5
Real Axis
g
Imaginary Axis
-5
Real Axis
plot f
0.5
-0.5
-10
10
-0.5
Real Axis
plot e
10
0.5
-1
10
-10
Real Axis
plot d
Real Axis
20
10
0
-10
-20
-20
-10
0
Real Axis
10
Problem 5.42(d)
plot b
2
0
-2
Imaginary Ax is
10
2
0
-2
2
0
-2
-4
-4
-4
-6
-6
-6
-8
-8
-10
-5
0
Real Ax is
10
-8
-10
-5
0
Real Ax is
plot d
1
0.8
0.6
0.4
2
0
-2
10
-10
-5
0
Real Ax is
0.2
0
-0.2
-4
-0.4
-6
-0.6
-8
-10
-20
plot e
10
Imaginary Ax is
Imaginary Ax is
plot c
10
Imaginary Ax is
Imaginary Ax is
plot a
10
-0.8
-10
0
Real Ax is
10
20
-3
-2
-1
Real Ax is
Problem 5.42(e)
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from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
recording, or likewise. For information regarding permission(s), write to: Rights and Permissions Department, Pearson Education, Inc., Upper Saddle River, NJ 07458.
5079
plot b
plot c
0.8
1.5
0.6
0.4
0.2
0
-0.2
Imaginary Axis
Imaginary Axis
Imaginary Axis
plot a
1
2
1
0
-1
-0.4
-2
-0.6
-3
0
-0.5
-1
-1.5
-0.8
-4
-15
-10
-5
Real Axis
-10
plot d
-5
Real Axis
-2
-2
plot e
2
0
-2
Imaginary Axis
Imaginary Axis
0
2
Real Axis
plot f
10
Imaginary Axis
0.5
4
2
0
-2
-4
1
0
-1
-2
-4
-6
-6
-8
-30
-3
-8
-20
-10
Real Axis
-10
-5
0
Real Axis
-4
-5
0
Real Axis
Problem 5.42(f)
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from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
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5080
1
;
s2 + (1 + )s + (1 + )
where
is a system parameter that is subject to variations. Use both
positive and negative root-locus methods to determine what variations in
can be tolerated before instability occurs.
Solution:
The characteristic polynomial in Evans form with respect to
1+
is
s+1
=0
s2 + s + 1
1.5
0.8
1
0.6
0.4
Imaginary Axis
Imaginary Axis
0.5
0.2
-0.2
-0.5
-0.4
-0.6
-1
-0.8
-1.5
-4
-3
-2
-1
Real Axis
-1
-2
-1.5
-1
-0.5
Real Axis
0.5
>
1.
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from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
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5081
44. Consider the system in Fig. 5.63.
(a) Use Rouths criterion to determine the regions in the (K1 ; K2 ) plane
for which the system is stable.
(b) Use rltool to verify your answer to part (a).
Solution:
= s4 + 1:5s3 + 0:5s2 + kp s + kI
s4 :
s3 :
1
1:5
3 4kp
s2 :
6
9kI
s : kp
3 4kp
s0 :
kI
0:5 kI
kp
kI
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from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
recording, or likewise. For information regarding permission(s), write to: Rights and Permissions Department, Pearson Education, Inc., Upper Saddle River, NJ 07458.
5082
0.06
0.05
kI
0.04
0.03
0.02
0.01
0.1
0.2
0.3
0.4
kp
0.5
0.6
0.7
0.8
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from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
recording, or likewise. For information regarding permission(s), write to: Rights and Permissions Department, Pearson Education, Inc., Upper Saddle River, NJ 07458.
5083
1
=0
s(s + 2)
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from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
recording, or likewise. For information regarding permission(s), write to: Rights and Permissions Department, Pearson Education, Inc., Upper Saddle River, NJ 07458.
5084
1.5
1
Amplitude
Imaginary Axis
-2
0.5
-4
-6
-6
0
-4
-2
Real Axis
3
Time (sec)
1.5
0.76
0.86
0.64
0.5
0.34
0.16
1
1 0.985
6
0
-1
0.985
-2
0.94
Amplitude
Imaginary Axis
2 0.94
0.5
-3
0.86
-4
-6
0.76
0.64
0.5
0.34
0.16
0
-5
-4
-3
-2
Real Axis
-1
0.5
1
1.5
Time (sec)
2.5
K
K
=
= 2:83
s(s + 2 + KT )
2 + KT
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from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
recording, or likewise. For information regarding permission(s), write to: Rights and Permissions Department, Pearson Education, Inc., Upper Saddle River, NJ 07458.
5085
46. Consider the mechanical system shown in Fig. 5.65, where g and a0 are
gains. The feedback path containing gs controls the amount of rate feedback. For a xed value of a0 , adjusting g corresponds to varying the
location of a zero in the s-plane.
(b) Fix a0 at this value, and construct a root locus that demonstrates
the eect of varying g.
Solution:
(a) The roots are complex for a0 > 0:25: We select a0 = 1 and the roots
are at s = 0:5 0:866j.
(b) With respect to g, the root-locus form of the characteristic equation
s
is 1 + g 2
= 0: The locus is plotted below.
s +s+1
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from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
recording, or likewise. For information regarding permission(s), write to: Rights and Permissions Department, Pearson Education, Inc., Upper Saddle River, NJ 07458.
5086
0.8
0.84
0.92
0.74
0.6
0.42
0.22
0.6
0.965
0.4
0.99
Imag Axis
0.2
2
0
1.75
1.5
1.25
0.75
0.5
0.25
-0.2
0.99
-0.4
0.965
-0.6
-0.8
-2
0.92
0.84
-1.5
0.74
0.6
-1
0.42
-0.5
0.22
0
Real Axis
47. Sketch the root locus with respect to K for the system in Fig. 5.66 using
the Pad(1,1) approximation and the rst-order lag approximation. For
both approximations, what is the range of values of K for which the system
is unstable?(Note: The material to answer this question is contained in
Appendix W5.6.3 discussed in www.FPE7e.com.)
Solution:
Matlab cannot directly plot a root locus for a transcendental function.
From the Appendix W5.6.3, we see that the Pad(1,1) approximation for
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from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
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5087
e
is
e
1 (s=2)
=
1 + (s=2)
s 2
;
s+2
1
:
s+1
With the Pad(1,1) approximation, a locus valid for small values of s can
be plotted, as shown below by the red curve. The rlocnd routine is used
by placing the cursor on the j! axis to nd the maximum value of K at
the instability boundary. This yields Kmax = 2 for the Pad(1,1). The
locus for the rst-order lag is also shown in green; however, it produces
a locus with two branches going to innity at s = 1=2: thus there is
no value of K that produces instability for this approximation for a rst
order system. This demonstrates a limitation for this approximation of
the delay. However, for higher order systems, the rst order lag can be
useful.
Root loci f or problem 5.46 with the (1,1)and (0,1) Pade aproxim ates
3
Imaginary Axis
-1
-2
-3
-6
-5
-4
-3
-2
Real Axis
-1
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from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
recording, or likewise. For information regarding permission(s), write to: Rights and Permissions Department, Pearson Education, Inc., Upper Saddle River, NJ 07458.
5088
48. Prove that the plant G(s) = 1=s3 cannot be made unconditionally stable
if pole cancellation is forbidden.
Solution:
The angles of departure from a triple pole are 180 and 60 for the
negative locus and 0 and 120 for the positive locus. In either case, at
least one pole starts out into the right-half plane. Such a system must be
conditionally stable for it will be unstable if the gain is small enough.
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from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
recording, or likewise. For information regarding permission(s), write to: Rights and Permissions Department, Pearson Education, Inc., Upper Saddle River, NJ 07458.
5089
49. For the equation 1 + KG(s) where,
G(s) =
1
;
s(s + p)[(s + 1)2 + 4]
use Matlab to examine the root locus as a function of K for p in the range
from p = 1 to p = 10, making sure to include the point p = 2.
Solution:
The root loci for four values are given in the gure. The point is that the
locus for p = 2 has multiple roots at a complex value of s:
Problem 5.49
Problem 5.49
6
4
Imag Axis
Imag Axis
p=2
p=1
0
-2
-4
0
-2
-4
-6
-6
-5
-6
-4
Real Axis
Problem 5.49
Problem 5.49
10
p=5
p = 10
20
10
Imag Axis
Imag Axis
-2
Real Axis
-10
-5
-20
-10
-10
-5
Real Axis
-20
-10
10
20
Real Axis
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from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
recording, or likewise. For information regarding permission(s), write to: Rights and Permissions Department, Pearson Education, Inc., Upper Saddle River, NJ 07458.