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1) Diketahui :
() = ; () = 1;
(1)
1
() = (1 + ); () = 1;
1
1 + (1) (1 + ) = 0 ................................................................................... (3)
+
1+ = 0 ................................................................................... (4)
(1)
+
1+ = 0 ....................................................................................... (5)
(1)
+
1+ = 0 ......................................................................................... (6)
2
2 + +
= 0 ................................................................................. (7)
2
2 + + ........................................................... (8)
Maka persamaan karakteristik sistem loop tertutupnya :
2 ( 1) + ..................................................................... (9)
Routh Array
1 ao a2 a4
2 a1 a3 a5
3 A1 A2 A3
Dimana :
0 = 0.1
1 = (139 1) 0.1
2 = 139
1 2 0 3
1 =
1
(13.9 0.1)139 0.1 0
1 =
13.9 0.1
1 = 139
Maka Routh Array :
0,1 139 0
(139 1)0.1 0 0
139 0 0
Maka, untuk mendapatkan respon stabil pada loop tertutup, nilai pada kolom pertama
Routh-Array harus bernilai positif :
Baris Pertama :
0,1 > 0
Baris Kedua :
0,1
>
13,9
> 0,0072
Baris Ketiga :
139 > 0
> 0
Kcu = 0.016
2) Diketahui :
() = ; () = 1;
1
() = (1 + ); () = 1;
1
1+ (1 + ) = 0 ..................................................................................... (13)
+
1+ = 0 ...................................................................................... (14)
+
1+ = 0 ....................................................................................... (15)
2
+
1+ = 0 ....................................................................................... (16)
2
2 + +
= 0 ...................................................................................... (17)
2
1 ao a2 a4
2 a1 a3 a5
3 A1 A2 A3
Dimana :
0 =
1 =
2 =
1 2 0 3
1 =
1
0
1 =
1 =
Routh-Array :
0
0 0
0 0
139 0
139 0 0
139 0 0
Maka, untuk mendapatkan respon stabil pada loop tertutup, nilai pada kolom
pertama Routh-Array harus bernilai positif :
Baris Pertama :
> 0
Baris Kedua :
139 > 0
139 > 0
> 0
Baris Ketiga :
139 > 0
> 0
Maka dapat disimpulkan bahwa nilai Kc berada pada > 0 agar responnya stabil.