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P5.2 (a) Initially, assuming that the close loop response is a second order function, which has the
following form,
2
It follows that the poles are located at: 1
If θ is the angle of the poles in polar form: tan
If settling time is to be within 2% of the final value,
0.02
0.02
0.6
0.6
6.52
But we also require 10%<overshoot<20%
53.8 62.9
Hence, the desired region for the dominant roots is as shown in the diagram below.
(b) The third root should be at least 10 times farther in the left half plane in order that the 2nd order
poles above were still dominant.
Assuming that tracking error is zero and since all the poles are located in the left‐half plane, i.e. a stable
system, we can apply final value theorem, where lim lim and is the step
response of . So, we have 0 1, which require the following form of closed loop response.
2
10
65.2
(c) Since the requirement is 20% overshoot, we have the following
1 62.9
1
0.46
√1 62.9
6.52
14.2
So, the close loop function becomes,
65.2 201.6
65.2 13.1 201.6
G(s) can be derived knowing that,
,
1 1
65.2 201.6
65.2 13.1 201.6 65.2 201.6
P5.4 (a) We first derive the close loop response
,
1 2 2
Again, we have
2
1
2 2 , √ ,
√
But we require that overshoot=5%
(b) If R(s) is the step response,
, 0
sin , 1
0 ,
So, we may rewrite the peak voltage expression as 100 100
1 √ 1
Solving the equation, we have Δ=2.07
So, the required percentage overshoot and Tp are as the following.
0.05Δ 10%
1.1Δ 2.3
Substitute the answer into the Tp expression we have just derived and we get 1 2.9
P5.16 (a) By the same method as P5.4, we derived the closed‐loop TF as the following.
12
12 12
From this equation and
2
Then, we may find the peak voltage time:
1 √12 √ 3
Since overshoot < 10%, 0.1
3
√12 ln 0.1
√12√ 3
3
0.1
3
3
3 8.6
0.1
.
Also, 0.02 , 0.65 ,which satisfies the required settling time of 1 sec.
So, any gain in the interval 0<K<8.6 is valid.
(c) The sensitivity at DC is 0 0
(d) For heart‐beat of 60 beats/minutes, we first convert this to frequency in Hertz = 1Hz
Knowing that s=jω and ω=2πf ,
we have
.
2 =0.77
.
AP5.2
5440 1 5440 1
28 432 5440 1 28 432 5440 5440
You may obtain similar plot using MATLAB by applying a step input to T(s)
As τZ increases from 0 to 0.1, the amount of overshoot decreases and the response is faster and more
stable. However, as τZ is increased beyond 0.1, the overshoot and TS (settling time) increase, although Tr
continues to decrease.
AP5.3
1 1
2 1 1 1 2 2 1
By similar method from AP5.3, the following plot and data for various τp was obtained.
As τp increases, the overshoot, Tr and Ts also increase; adding the pole reduce the system’s stability with
higher amount of overshoot.
P6.1 (a)
5 2,
1 2
5 0
X=‐(0‐10)/5=2 ,Since all elements in the first column is positive, thus the system is stable.
(b)
4 8 4
1 8
4 4
X=‐(4‐8x4)/4=7, y=‐(1x0‐4x0)/4=0, z=‐(4xy‐4xX)/X=4
All elements in the first column is positive, thus the system is stable.
(c)
2 4 20
1 4
2 20
X=‐(1x20+2x4)/2=‐14, y=‐(1x0‐2x0)/2=0, z=‐(2xy‐20X)/X=20
There are two sign changes in the first column, so there are two right‐half plane roots, thus the system is
unstable.
(d)
2 10 8
1 2 8
1 10 0
0
0
W=‐(10‐2)/1=‐8, X=‐(0‐8)/1=8, y=‐(x+10x8)/(‐8)=10 , z=‐(0‐Xy)/y=8
There are two sign changes in the first column, so there are two right‐half plane roots, thus the system is
unstable.
(e)
3 2
1 3
1 2 0
0
0
W=‐(2‐3)/1=1, X=‐(0‐K)/1=K, Y=‐(X‐2W)/W=2‐K, z=‐(0‐XY)/Y=K
For the system to be stable Y>0 and z>0, therefore K>0 and 2‐K>0, thus 0<K<2
(f)
2 6
1 2 1
1 0 6
0
0
0
V=‐(0‐2)/1=2, w=‐(6‐1)/1=‐5, X=‐(‐5)/2=2.5, y=‐(0‐12)/2=6, z=‐(12+12.5)/2.5=‐9.8
U=‐(0+58.8)/(‐9.8)=6
There are 2 sign changes on the first column, thus the system is unstable and there are two right‐half
plane roots.
(g)
2
1 2 1
1 1
0
0
0
V=‐(1‐2)/1=1, W=‐(K‐1)/1=1‐K, X=‐[(1‐K)‐1]/1=K, y=‐(0‐K)/1=K, z=‐[K‐K(1‐K)]/K=‐K
U=‐(0+K^2)/(‐K)=K
To make the system stable, X>0, Z>0, u>0, we need K>0 and –K>0, which are contradictory conditions,
thus the system is unstable for all K.
P6.3 (a)
1 2 0.5 1
1
0.005 1
And,
1
Thus, we may derive the closed loop TF T(s) as the following:
0.005 1
0.0025 0.5125 2.52 4.01 2
Then, we form the Routh‐array for the denominator (characteristic equation).
For stability, we need 3.6‐0.205K>0, so K<17.6; and we need 2+K>0.
So, the range of K for stability is ‐2 <K<17.6
(b) Let K=9, we may find the roots from MATLAB as below:
S1=‐200, s2,3=‐0.33±2.33j, and s4=‐4.35
(c) We noticed from part b that s1 and s4 are more than 10 times away from s2,3. So, the latter poles are
dominant. Roots of general second order characteristic equation are represented by the following.
1
.
So, we have 7.06
.
And
The actual amount of overshoot can be obtained from MATLAB simulation and it is only 27%. Estimation
of overshoot from dominant poles is not accurate.
P6.8 (a)
The close‐loop characteristic equation is
1
0.5 1 1 1 0
4
Expand the terms and we get:
7 14 8 1 0
Forming the Routh‐array:
S3 1 14
S2 7 8(1+K)
S1 X 0
S0 Y
7 14 8 1
12.86 1.143 , 8 1
7
For a stable system, x>0 and y>0
Hence, ‐1<K<11.25
(b) Let K=11.25/3=3.75,
3.37
7 14 38
The settling time to a step input is 6
(c) We want 4 , so
4
4 , 1
Our desired characteristic polynomial is
2 2 2
Our actual characteristic equation is:
7 14 8 1 0
Comparing coefficients and we get the following equations:
2 7
2 14
8 1
Solving the equations and we get: b=5, ωn=2 and K=1.5
Therefore, roots are at: