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EE-212

Control SystemS-I
th
Submission: 27 of march,2015

Tutorial Sheet-7

Date of

1. By means of routh criterion, determine the stability of systems represented


by the following characteristic equations. For systems found to be unstable,
determine the number of roots of the characteristic equation in the right half
of s plane.
(a) S4 + 2s3 + 10s2 + 20s + 5 = 0
(b) S6 + 2s5 + s4 + 2s3 + 3s2 + 4s + 5 =0
(c) S5 + s4 + 2s3 + 3s2 + 3s +5 = 0
[answers- (a) 2, (b)2, (c)2]
2. Using the routh criterion, check whether the system represented by the
following characteristic equation is stable or not. Comment on the locations
of roots. Determine the frequency of sustained oscillations if any
S 4 + 2s3 + 6s2 + 8s +8 = 0
[answer-unstable,2 rad/s]
3. Determine the range of values of K for the system to be stable.
(a) S3 + 3KS2 + (K + 2)s + 4 = 0
(b) S4 + 4s3 +13s2 + 36s + K = 0
(c) S4 + 20Ks3 + 5s2 + 10s + 15 = 0
[answer- (a)>K>0.526, (b)0<K<36,(c)K>.1]

4. The open loop transfer function of a closed loop system with unity feedback is

K
G(s)= ( s+ 2 )( s+ 4 ) ( s2 +6 s+25)

By applying the routh criterion, discuss the stability of closed loop system as
a function of K. determine the values of K which will cause sustained
oscillations in the closed loop system. What are the corresponding oscillations
frequencies?
[answer-stable,0<K<666.25,=4.06]
5. A system oscillates with frequency if it has poles at s = j and no poles in
the right half of s plane. Determine the values of K and so that the system
shown in figure oscillates at frequency of 2 rad/s.

[answer- K=2,=0.75]

6. The output of the control system is related to its input by


[S4 + 5s3 + 3s2 + (3 +K)s + K] C(s) = K(s + 2) R(s)
Where K represents the positive gain of the amplifier
(a) with K=8 and a step input, will the output response be stable?
(b) determine the limiting positive value that K can have for a stable output
response.
[answer- (a)unstable, (b)K=2]
7. A unity feedback control system Has an open loop transfer function consisting
of two poles, two zeros and a variable gain K. the zeros are located at -2 and
-1 and the poles at -.1 and 1
Using the routh stability criterion, determine the range of values of K for
which the closed loop system h 0,1 or 2 poles in the right half of s plane
[answer-.05<k<.3]
8. The block diagram of a closed loop control system is shown in the figure

(a) Determine the limiting value of forward gain K (=K 1K2K3) for the system to
be stable , if
1 = 0.2s, 2=1s, 3=0.4s
(b) Calculate the gain K for the system to be stable with a settling time of 4s
based on dominant poles.
(c) With K as in part (b), find all the roots of characteristic equation.
[answer-(a) 12.6 , (b)2.64, (c)s 1,s2=-1j2.45, s3=-6.5]
9. The characteristic equation of control system is
S 4 + Ks3 + 2s2 + s + 3 = 0
Show that for no value of K the system is stable.
10.A unity feedback control system is characterized by the open loop transfer
function

K (s +3)
G(s)= s ( s+3 )( s+ 7)
Using routh criterion
(a) Calculate the range of values of K for the system to be stable.
(b) What is the marginal value of K for stability? Determine the frequency of
oscillations is any.

(c) Check if K=1, all the roots of characteristic equation of the above system
have the damping factor greater than 0.5.
[answer-(a) 0<K<70, (b)K=70,=9.53]