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SECOND EDITION

Con
ntrol Systems,, ANAND KUM
MAR 1

CHAPT
TER­2 

2.1 (a) Write the differential equations governing the


t behavior of the meechanical syystem
shown in fiigure P2.1 below.
b
(b) Draw the analogous
a ciircuits based on force-ccurrent and
d force-voltaage analogiees.
(c) Write the correspondi
c ing differen
ntial equatioons.

ar
m
Ku
Solution: The free--body diagraam of the given
g mechaanical transllational systtem is showwn in
figure (a). The mechaanical netwoork correspoonding to thee given mechhanical systeem is
shown in figure (b). The
T analogous electricall network baased on forcee-current anaalogy

d
is shown n in figure(cc). The anaalogous elecctrical netwwork based on force-vooltage

an
analogy is shown in figure (d). TheT differenntial equationns governingg the behaviior of
the mechaanical systemm and the differential
d eqquations corrresponding to the analoogous
An
electrical networks arre given beloow.

y1 y2
s,
m

f y1 F (t)
M K(y 2 – y1)
te
ys
lS

(a) Freee‐body diagram 
tro
on
C

(b) Mechhanical Netw


work
Control Systems, ANAND KUMAR 2

(c) Analogous electrical network based on force-current analogy.

ar
(d) Analogous electrical network based on force-voltage analogy.

m
The differential equations governing the behavior of the given mechanical system written

Ku
looking at the free-body diagram or mechanical network are

           0

d
an
        An
Differential equations of analogous electrical network based on force-current analogy are
 
          0
s,
m

         
te

Differential equations of analogous electrical network based on force-voltage analogy are


ys

         
lS

1
          0
 
tro
on

2.2 (a) Write the differential equations governing the behavior of the mechanical system
shown in figure P2.2 below.
C

(b) Draw the analogous circuits based on force-current and force-voltage analogies.
(c) Write the corresponding differential equations.
Control Systems, ANAND KUMAR 3

Solution:   The free-body diagram of the given mechanical translational system is shown in
figure (a). The mechanical network corresponding to the given mechanical system is

ar
shown in figure (b). The analogous electrical network based on force-current analogy
is shown in figure(c). The analogous electrical network based on force-voltage

m
analogy is shown in figure (d). The differential equations governing the behavior of
the mechanical system and the differential equations corresponding to the analogous

Ku
electrical networks are given below.

d
an
An
s,
m
te
ys
lS
tro
on
C
Control Systems, ANAND KUMAR 4

ar
m
Ku
d
an
An
s,
m

The differential equations governing the behavior of the given mechanical system written
te

looking at the free-body diagram or mechanical network are


ys

           
lS

                0
tro

Differential equations of analogous electrical network based on force-current analogy are


   
         
on

  1
C

 
      0 

Differential equations of analogous electrical network based on force-voltage analogy are

1
                   
1
                  0 
Control Systems, ANAND KUMAR 5

2.3 (a) Write the differential equations governing the behavior of the mechanical system
shown in figure P2.3 below.
(b) Draw the analogous circuits based on force-current and force-voltage analogies.
(c) Write the corresponding differential equations.

ar
m
Ku
d
an
An
Solution: The free-body diagram of the given mechanical translational system is shown in
figure (a). The mechanical network corresponding to the given mechanical system is
shown in figure (b). The analogous electrical network based on force-current analogy
s,

is shown in figure(c). The analogous electrical network based on force-voltage


analogy is shown in figure (d). The differential equations governing the behavior of
m

the mechanical system and the differential equations corresponding to the analogous
te

electrical networks are given below.


ys
lS
tro
on
C
Control Systems, ANAND KUMAR 6

ar
m
Ku
d
an
An
s,
m
te
ys
lS
tro

The differential equations governing the behavior of the given mechanical system written
on

looking at the free-body diagram or mechanical network are

       
C

              0

Differential equations of analogous electrical network based on force-current analogy are

1
       
Control Systems, ANAND KUMAR 7

1 1
        0  

Differential equations of analogous electrical network based on force-voltage analogy are

1
         

1 1
                0

ar
2.4 (a) Write the differential equations governing the behavior of the mechanical system

m
shown in figure P2.4 below.

Ku
(b) Draw the analogous circuits based on force-current and force-voltage analogies.
(c) Write the corresponding differential equations.

d
an
An
s,
m
te
ys

Solution: The free-body diagram of the given mechanical translational system is shown in
figure (a). The mechanical network corresponding to the given mechanical system is
lS

shown in figure (b). The analogous electrical network based on force-current analogy
is shown in figure(c). The analogous electrical network based on force-voltage
tro

analogy is shown in figure (d). The differential equations governing the behavior of
the mechanical system and the differential equations corresponding to the analogous
on

electrical networks are given below.


C
Control Systems, ANAND KUMAR 8

ar
m
Ku
d
an
An
s,
m
te
ys
lS
tro
on
C
Control Systems, ANAND KUMAR 9

The differential equations governing the behavior of the given mechanical system written
looking at the free-body diagram or mechanical network are

=                    

                       0
 
                                         0 

Differential equations of analogous electrical network based on force-current analogy are

ar
1 1

m
           
 

Ku
1 1 1
              0 
 

d
an
1
    0 
 
An
Differential equations of analogous electrical network based on force-voltage analogy are
s,

1 1
               
m

 
te

1 1 1
                  0
ys

 
lS

1
      0
tro

2.5 (a) Write the differential equations governing the behavior of the mechanical system
on

shown in figure P2.5 below.


(b) Draw the analogous circuits based on force-current and force-voltage analogies.
C

(c) Write the corresponding differential equations.


Control Systems, ANAND KUMAR 10

ar
m
Ku
Solution: The free-body diagram of the given mechanical translational system is shown in figure
(a). The mechanical network corresponding to the given mechanical system is shown
in figure (b). The analogous electrical network based on force-current analogy is

d
shown in figure(c). The analogous electrical network based on force-voltage analogy

an
is shown in figure (d). The differential equations governing the behavior of the
mechanical system and the differential equations corresponding to the analogous
An
electrical networks are given below.
s,
m
te
ys
lS
tro
on
C
Control Systems, ANAND KUMAR 11

ar
m
Ku
d
an
An
s,
m
te
ys
lS
tro
on
C

The differential equations governing the behavior of the given mechanical system written
looking at the free-body diagram or mechanical network are

                      

                          0

Differential equations of analogous electrical network based on force-current analogy are


Control Systems, ANAND KUMAR 12

1     1
                     

1  
          0

Differential equations of analogous electrical network based on force-voltage analogy are

1 1
                i    i dt R i  i  

ar
1
   R     i    i dt 0

m
Ku
2.6 (a) Write the differential equations governing the behavior of the mechanical system
shown in figure P2.6 below.

d
(b) Draw the analogous circuits based on force-current and force-voltage analogies.

an
(c) Write the corresponding differential equations. An
s,
m
te
ys
lS
tro
on

Solution: The free-body diagram of the given mechanical translational system is shown in figure
C

(a). The mechanical network corresponding to the given mechanical system is shown
in figure (b). The analogous electrical network based on force-current analogy is
shown in figure(c). The analogous electrical network based on force-voltage analogy
is shown in figure (d). The differential equations governing the behavior of the
mechanical system and the differential equations corresponding to the analogous
electrical networks are given below.
Control Systems, ANAND KUMAR 13

ar
m
Ku
d
an
An
s,
m
te
ys
lS
tro
on
C
Control Systems, ANAND KUMAR 14

The differential equations governing the behavior of the given mechanical system written
looking at the free-body diagram or mechanical network are

            

                                  0

Differential equations of analogous electrical network based on force-current analogy are


e e  e
      e
R R

ar
  1
  e       e  dt 0
L

m
Ku
Differential equations of analogous electrical network based on force-voltage analogy are

          0

d
an
1
         0 
An
2.7 (a) Write the differential equations governing the behavior of the mechanical system
s,

shown in figure P2.7 below.


m

(b) Draw the analogous circuits based on force-current and force-voltage analogies.
te

(c) Write the corresponding differential equations.


ys
lS
tro
on
C

Solution: The free-body diagram of the given mechanical translational system is shown in figure
(a). The mechanical network corresponding to the given mechanical system is shown
in figure (b). The analogous electrical network based on force-current analogy is
shown in figure(c). The analogous electrical network based on force-voltage analogy
is shown in figure (d). The differential equations governing the behavior of the
mechanical system and the differential equations corresponding to the analogous
electrical networks are given below.
Control Systems, ANAND KUMAR 15

(a) Free-body diagram

ar
m
Ku
d
an
An
s,
m
te
ys
lS
tro
on
C
Control Systems, ANAND KUMAR 16

The differential equations governing the behavior of the given mechanical system written
looking at the free-body diagram or mechanical network are

       f x K  

              0

Differential equations of analogous electrical network based on force-current analogy are

ar
               
1 1

m
                0

Ku
Differential equations of analogous electrical network based on force-voltage analogy are

d
di 1

an
         
dt An
1  1
                         0
s,
m

2.8 (a) Write the differential equations governing the behavior of the mechanical system
shown in figure P2.8 below.
te

(b) Draw the analogous circuits based on force-current and force-voltage analogies.
ys

(c) Write the corresponding differential equations.


lS
tro
on
C
Control Systems, ANAND KUMAR 17

Solution: The free-body diagram of the given mechanical translational system is shown in figure
(a). The mechanical network corresponding to the given mechanical system is shown
in figure (b). The analogous electrical network based on force-current analogy is
shown in figure(c). The analogous electrical network based on force-voltage analogy
is shown in figure (d). The differential equations governing the behavior of the
mechanical system and the differential equations corresponding to the analogous
electrical networks are given below.

ar
m
Ku
d
an
(a) Free-body diagram
An
s,
m
te
ys
lS
tro
on
C
Control Systems, ANAND KUMAR 18

ar
m
Ku
d
an
An
s,
m
te
ys
lS
tro
on
C

The differential equations governing the behavior of the given mechanical system written
looking at the free-body diagram or mechanical network are

                       
                                              
                                                         0

           0

Differential equations of analogous electrical network based on force-current analogy are


Control Systems, ANAND KUMAR 19

1 1 1
                            

 
        0
 
               0

Differential equations of analogous electrical network based on force-voltage analogy are

ar
1 1 1

m
                           

Ku
1
              –  0

d
 
1
   
an       0
An
 
s,

2.9 (a) Write the differential equations governing the behavior of the mechanical system
m

shown in figure P2.9 below.


te

(b) Draw the analogous circuits based on torque-current and torque-voltage


analogies.
ys

(c) Write the corresponding differential equations.


lS
tro
on
C

Solution: The free-body diagram of the given mechanical rotational system is shown in figure
(a). The mechanical network corresponding to the given mechanical system is shown
in figure (b). The analogous electrical network based on force-current analogy is
shown in figure(c). The analogous electrical network based on force-voltage analogy
is shown in figure (d). The differential equations governing the behavior of the
mechanical system and the differential equations corresponding to the analogous
electrical networks are given below.
Control Systems, ANAND KUMAR 20

(a) Free-body diagram

ar
m
Ku
d
an
An
s,
m
te
ys
lS
tro
on
C
Control Systems, ANAND KUMAR 21

The differential equations governing the behavior of the given mechanical system written
looking at the free-body diagram or mechanical network are

       

              0

            0

Differential equations of analogous electrical network based on torque-current analogy are

ar
1
       

m
Ku
1  
              0

d
   1

an
     An       0

Differential equations of analogous electrical network based on torque-voltage analogy are

1
s,

       
m

1
te

                     0
ys

1
lS

                        0
tro

2.10 (a) Write the differential equations governing the behavior of the mechanical system
shown in figure P2.10 below.
on

(b) Draw the analogous circuits based on torque-current and torque-voltage


analogies.
C

(c) Write the corresponding differential equations.


Control Systems, ANAND KUMAR 22

Solution: The free-body diagram of the given mechanical rotational system is shown in figure
(a). The mechanical network corresponding to the given mechanical system is shown
in figure (b). The analogous electrical network based on force-current analogy is
shown in figure(c). The analogous electrical network based on force-voltage analogy
is shown in figure (d). The differential equations governing the behavior of the
mechanical system and the differential equations corresponding to the analogous
electrical networks are given below.

ar
m
Ku
(a) Free-body diagram

d
an
An
s,
m
te
ys
lS
tro
on
C
Control Systems, ANAND KUMAR 23

ar
m
The differential equations governing the behavior of the given mechanical system written
looking at the free-body diagram or mechanical network are

Ku
             

d
      0 

    0 
an
An
Differential equations of analogous electrical network based on torque-current analogy are
s,

1
m

                 
te

1 1
ys

                    0
lS

1 1
                  0 
tro

Differential equations of analogous electrical network based on torque-voltage analogy are


on

1
          0 
C

1 1
              0

1 1
          0

2.11 (a) Write the differential equations governing the behavior of the mechanical system
shown in figure P2.11below.
(b) Draw the analogous circuits based on force-current and force-voltage analogies.
Control Systems, ANAND KUMAR 24

(c) Write the corresponding differential equations.

ar
m
Ku
Solution: The free-body diagram of the given mechanical translational system is shown in
figure (a). The mechanical network corresponding to the given mechanical system is
shown in figure (b). The analogous electrical network based on force-current analogy

d
is shown in figure(c). The analogous electrical network based on force-voltage

an
analogy is shown in figure (d). The differential equations governing the behavior of
the mechanical system and the differential equations corresponding to the analogous
An
electrical networks are given below.
s,

x2 x1
m

f2x2
te
ys

M f1(x2-x1)
F(t) + Mg
lS

K1(x2-x1)
tro

(a) Free-body diagram


on
C
Control Systems, ANAND KUMAR 25

ar
m
Ku
d
L=M C1=
an1
An
K1
i2 i1 e(t)
R1=f1
s,

R2=f2
m
te

(d) Analogous electrical network based on force-voltage analogy


ys

The differential equations governing the behavior of the given mechanical system written
lS

looking at the free-body diagram or mechanical network are


tro

              0
          +    
on

Differential equations of analogous electrical network based on force-current analogy are


C

  1
            0   

1  
           

Differential equations of analogous electrical network based on force-voltage analogy are

1
                     0
Control Systems, ANAND KUMAR 26

1
                  

2.12 (a) Write the differential equations governing the behavior of the mechanical system
shown in figure P2.12 below.
(b) Draw the analogous circuits based on force-current and force-voltage analogies.
(c) Write the corresponding differential equations.

ar
m
Ku
d
an
An
Solution: The free-body diagram of the given mechanical translational system is shown in
figure (a). The mechanical network corresponding to the given mechanical system is
shown in figure (b). The analogous electrical network based on force-current analogy
s,

is shown in figure(c). The analogous electrical network based on force-voltage


m

analogy is shown in figure (d). The differential equations governing the behavior of
the mechanical system and the differential equations corresponding to the analogous
te

electrical networks are given below.


ys
lS
tro
on
C

(a) Free-body diagram


Control Systems, ANAND KUMAR 27

ar
m
Ku
d
an
An
s,
m
te
ys
lS
tro
on
C

The differential equations governing the behavior of the given mechanical system written
looking at the free-body diagram or mechanical network are

                   
                                              
                   0

Differential equations of analogous electrical network based on force-current analogy are


Control Systems, ANAND KUMAR 28

  1
                 

1   1
            0

Differential equations of analogous electrical network based on force-voltage analogy are

ar
            

m
 
1 1

Ku
                0 

d
an
An
s,
m
te
ys
lS
tro
on
C
Control Systems, ANAND KUMAR 1

CHAPTER - 3

3.1: For the system represented by the block diagram shown in figure P3.1 below,
obtain the transfer function by using block diagram reduction technique. Verify
the result using signal flow graph.

H3
-
R C
G1 G2 G3
+ + +

ar
- - +

m
H2

Ku
H1

d
Figure P3.1

an
Solution:
Block diagram reduction technique:
An
In the given block diagram and form a loop. The and loop can be replaced by
as shown in figure (a).
s,

H3
m

-
G
te

G1 2
G3 C
R + - + 1+G H +
2 +
ys

2
lS

H1
tro

Figure (a)
on

Moving the take off point before to after we get the figure (b).
C
Control Systems, ANAND KUMAR 2

H3
-
G G3
G1 C
2

R + - + 1+G H 2 +
+
2

H 1

G 3

Figure (b)

ar
In figure (b), and are in cascade. So they can be combined into a block .

m
Now and form a loop. That loop can be replaced by

Ku
.

d
So the block diagram reduces to that shown in figure(c).

an
An
GG 2 3

R + - G1 1 + G 2 H 2 + G 2 G3 H 3
+ C
+
s,
m

H 1

G 3
te
ys

Figure (c)
lS

In figure (c), and are in cascade. So they can be combined into a single
tro

block . Now blocks and form a loop. So they can be


on

combined into =
C

So the block diagram reduces to figure (d).


Control Systems, ANAND KUMAR 3

R GG G 1 2 3
1 + G 2 H 2 + G1 G 2 H 1 + G 2 G 3 H 3 C

Figure (d)

In figure (d), there are two forward paths and they are in parallel. So they can be replaced
by a block with a gain of =

ar
So the block diagram is reduces to figure (e).

m
Ku
1 + G 2 H 2 + G1 G 2 H 1 + G 2 G3 H 3 + G1 G 2 G3
R C
1 + G 2 H 2 + G1 G 2 H 1 + G 2 G3 H 3

d
an
Figure (e) An
So from figure (e) the closed-loop transfer function of the system is
s,
m

Signal flow graph method:


te

The signal flow graph for the given block diagram is drawn as shown in figure (f).
ys

-H3
lS

1 1 G1 G2 G3 1
R C
tro

x1 x2 x3 x4 x5 x6
-H2
on

-H1
C

Figure (f)

In the signal flow graph shown in figure (f) there are two forward paths, 3 loops and no
pairs of non touching loops. No loop is touching one forward path.

Forward paths
,
Control Systems, ANAND KUMAR 4

Loops

Therefore the determinant is


.

Using Manson’s gain formula the transfer function is

ar
m
Ku
3.2: For the system represented by the block diagram shown in figure P3.2 below,
obtain the transfer function by using block diagram reduction technique. Verify

d
the result using signal flow graph.

an
An
G4
+
s,

R + C
G1 G2 G3
m

+ + +
- - -
te

H3
ys

H2
lS

H1
Figure P3.2
tro

Solution:
on

Signal flow graph method:


The signal flow graph corresponding to the given block diagram is shown in figure (a)
C

below.
Control Systems, ANAND KUMAR 5

G4

-H3
1 1 1 G1 G2 G3 1
R x1 x2 x3 x4 x5 x6 x7 C

-H2

-H1
Figure (a)

ar
The signal flow graph shown in figure (a) has two forward paths, four loops and one pair of

m
two non touching loops.

Ku
The forward paths are
,

d
The Loops are
an
An
s,
m
te

The one pair of two non touching loops is


and
ys

All Loops are touching the first forward path and loop 1 is not touching the second forward
lS

path. Therefore and


Using Manson’s gain formula, the transfer function of the system is
tro
on
C

Here

3.3: For the system represented by the block diagram shown in figure P3.3 below,
obtain the transfer function by using block diagram reduction technique. Verify
the result using signal flow graph.
Control Systems, ANAND KUMAR 6

+
R C
G1 G2
+ +
- -
H2
H1
Figure P3.3

Solution:

ar
Block diagram reduction technique:

m
In the given block diagram and form a loop. So this loop of and can be

Ku
replaced by a block of and the resultant block diagram reduces to that shown in
figure (a).

d
an
+ G
R G1
2

+ C
+
An
1+ G H 2 2
-
s,

H1
m

Figure (a)
te

Moving the take off point on input side before the summing point to after the summing
ys

point the block diagram reduces to that shown in figure (b).


lS

G2
R G1 C
tro

+ + 1+ G H
-
2 2
+
+
on

+
C

H1

H1

Figure (b)

The summing point in the middle can be removed by shifting the signals directly to the
summing point on output side and the block diagram reduces to that shown in figure (c).
Control Systems, ANAND KUMAR 7

+ G 2
R G1 C
+ + + 1+ G H
-
2 2

H1

H1

Figure (c)

In figure (c), the forward paths with gains and 1 are in parallel. So they can be replaced

ar
by a block with a gain of 1 + . Also the paths with gains of and form a loop. So

m
they can be replaced by a block with a gain of =

Ku
So the block diagram reduces to that shown in figure (d).

d
an
R 1 +G1
G 2
C
+
- 1+G H − G H
An
2 2 2 1

H1
s,
m

Figure (d)
te

Now the two blocks in cascade in the forward path can be replaced by a single block with a
ys

gain of . So the block diagram reduces to that shown in figure (e).


lS

R
+
G (1 + G )
2 1 C
1+ G H − G H
tro

- 2 2 2 1
on

H1
C

Figure (e)

Now the loop in figure (e) can be reduced to

The block diagram reduces to that shown in figure (f).


Control Systems, ANAND KUMAR 8

G (1 + G )
2 1
R C
1+G H + G1G H
2 2 2 1

Figure (f)

So the transfer function of the system is

Signal flow graph method:

ar
The signal flow graph for the given block diagram is shown in figure (g).

m
1

Ku
1 1 G1 G2
R x1 x2 x3 x4 C

d
-H2

an
-H1
An
Figure (g)

In the signal flow graph shown in figure (g), there are two forward paths, two loops and
s,

both the loops are touching both the forward paths. There are no pairs of non touching
m

loops.
te

Forward paths
ys

,
lS

Loops
tro
on

The determinant of the


C

Using Manson’s gain formula the transfer function of the system is

3.4 For the system represented by the block diagram shown in figure P3.4 below,
obtain the transfer function by using block diagram reduction technique. Verify
the result using signal flow graph.
Control Systems, ANAND KUMAR 9

H2

-
R C
G1 G2 G3
+ + +
+ - +
H1

G4
Figure P3.4

ar
Solution:

m
Block diagram reduction technique:

Ku
In the given block diagram moving the take off point before to after we get the block
diagram shown in figure (a).

d
an
H12
An
-
R ++ G1 +- H
G21 G3 ++ C
s,
m

H1
G3
te

G4
ys

Figure (a)
lS
tro

The block diagram shown in figure (a) can be redrawn as shown in figure (b). Here and
on

which are in cascade are combined into a single block


C
Control Systems, ANAND KUMAR 10

R + H
G1 + G2G3 + C
+ - - +
H12
H1
G3
H1
G3

G4
Figure (b)

ar
m
Now in figure (b) blocks and are in parallel. So they can be combined into a single

Ku
block with a gain of . Now in figure (b), and form a loop
and they can be replaced by

d
So the block diagram reduces to that shown in figure (c).

an
An
G1
GG
R +
2 3
1 + G 2 H 1 + G 2 G3 H 2 + C
+ +
s,

H1
m

G3
te

G4
ys

Figure (c)
lS

In figure (c), the blocks and are in cascade. So they can be combined into
a single block with a gain of . Now the blocks and form a
tro

loop. So they can be replaced by =


on
C

So the block diagram shown in figure (d) results.


Control Systems, ANAND KUMAR 11

G1G2 G3
R C
1 + G2 H 1 + G2 G3 H 2 − G1G2 H 1 +
+

G4
Figure (d)

In figure (d) both the forward paths are in parallel. So the block diagram reduces to that

ar
shown in figure (e).

m
So the transfer function of the system is

Ku
d
an
Signal flow graph method:
The signal flow graph for the given block diagram is shown in figure (f).
An
-H2
G1 G2 G3
s,

R x1 x2 x3 x4 x5 x6 C
m

-H1
te

H1
ys

G4
lS

Figure (f)

In the signal flow graph shown in figure (f) there are two forward paths and three loops.
tro

There are no pairs of two non touching loops. All the loops are touching one forward path
and no loop is touching the second forward path.
on

The forward paths are


C

The Loops are

The determinant of the signal flow graph is


Control Systems, ANAND KUMAR 12

The closed-loop transfer function using Mason’s gain formula is

3.5 For the system represented by the block diagram shown in figure P3.5 below,
obtain the transfer function by using block diagram reduction technique. Verify
the result using signal flow graph.

G2

ar
+
R + C

m
G1
+

Ku
-
Figure P3.5

d
Solution:

an
Block diagram reduction technique: An
In the given block diagram moving the take off point before the summing point to after the
summing point we get the block diagram shown in figure (a).
s,
m

R G1 C
+ +
te

- +
+
ys

G2
lS

+
tro
on

Figure (a)

The block diagram in figure (a) can be redrawn as shown in figure (b


C
Control Systems, ANAND KUMAR 13

1
R G1 C
+ +
- + +
G2
G2

Figure (b)

ar
Now in figure (b) forward paths with gains and are in parallel. So they can be

m
combined into ( ). Also blocks with gains 1 and form a closed loop. So it can be

Ku
replaced by So the block diagram shown in figure (c) results.

d
1
G1 + G2 C

an
R 1 − G2
+
-
An
Figure (c)
s,
m

In figure (c), ( ) and are in cascade. So they can be combined into and
te

the block diagram shown in figure (d) results.


ys

G1G2
lS

R C
+ 1 − G2
-
tro

Figure (d)
on

In figure (d), the single loop consisting of and 1 can be replaced by a block of
C

. So the block diagram shown in figure(e) results.

G1 + G2
R C
1 + G1

Figure (e)
Control Systems, ANAND KUMAR 14

So the transfer function of the system is .


Signal flow graph method:
The signal flow graph for the given block diagram is shown in figure (f).
G2

G1
R x2 C
x1 x3 x4

Figure (f) -1

ar
m
In the signal flow graph shown in figure (f) there are two forward paths and only one loop.
Both the forward paths are touching the loop.

Ku
Forward paths
,

d
an
Loops
An
The determinant of the signal flow graph
s,

Using Mason’s gain formula the transfer function of the system is


m

.
te

3.6 For the system represented by the block diagram shown in figure P3.6 below, obtain
ys

the transfer function by using block diagram reduction technique. Verify the result
using signal flow graph.
lS

C
tro

R
G1 G2
+ + +
on

- - -
H1 H2
C

H3
Figure P3.6
Control Systems, ANAND KUMAR 15

Solution:
Block diagram reduction technique:

In the block diagram given, blocks and form a loop. They can be combined into
Also blocks and form a loop. They can be combined into So the block
diagram shown in figure (a) results.

G1 G2
R 1 + G1 H 1 1 + G2 H 2
C
+
-

ar
H3

m
Ku
Figure (a)

In figure (a) blocks and are in cascade. They can be combined into a single

d
an
block

So the block diagram shown in figure (b) results.


An
s,

G1G2
R 1 + G1 H 1 + G2 H 2 + G1G2 H 1 H 2 C
+
m

-
te

H3
ys

Figure (b)
lS

In the reduced block diagram of figure (c) the blocks and form a
tro

loop. So the loop can be reduced to


on

=
C

and the block diagram reduces to that shown in figure (c).

G1G2
R 1 + G1H1 + G2 H 2 + G1G2 H1H 2 + G1G2 H 3 C

Figure (c)

So the transfer function of the system is


Control Systems, ANAND KUMAR 16

Signal flow graph method:

The signal flow graph corresponding to the given block diagram is shown in figure (d).

G1 G2
R x1 x2 x3 x4 x5 C

-H1 -H2

ar
-H3
Figure (d)

m
In the signal flow graph shown in figure (d) there is only one forward path and there are

Ku
three loops and all the loops are touching the forward path. There is one pair of two non
touching loops.

d
Forward paths

an
,
An
Loops are
s,
m
te

Non touching loops


and
ys
lS

The determinant of the signal flow graph is


tro

Using Mason’s gain formula the transfer function of the system is


on
C

3.7: For the system represented by the block diagram shown in figure P3.7 below,
obtain the transfer function by using block diagram reduction technique. Verify
the result using signal flow graph.
Control Systems, ANAND KUMAR 17

H5 H4
-
R + C
G1 G2 G3 G4
+ + +
- - -
H3

H2

H1
Figure P3.7

ar
Solution:

m
Block diagram reduction technique:

Ku
In the given block diagram, blocks and form a loop. So they can be combined into
. Blocks and are in cascade and can be combined into . Now and

d
an
form a loop. So they can be combined into So the block diagram reduces to that
shown in figure (a).
An
H5
s,

-
m

G2 G3 G 4
R + +
G1 1 + G2 H 3 1 + G3 G 4 H 4 C
te

- -
ys

H2
lS

H1
tro

Figure (a)
on

In figure (a), blocks and are in cascade. So they can be combined into .
Now the blocks and form a loop. So they can be combined into
C

The block diagram reduces to that shown in figure (b).


Control Systems, ANAND KUMAR 18

G1G2 G3G4
R C
+- + 1 + G2 H 3 + G1G2 H 3 1 + G3G4 H 4
-

H2

H1

Figure (b)

ar
In figure (b), blocks and are in cascade. So they can be combined

m
Ku
into

d
Now the feedback paths and are in parallel. So they can be combined into

an
So the block diagram reduces to that shown in figure (c).
An
G1G2 G3G4
R C
1 + G3G4 H 4 + G2 H 3 + G2 G3G4 H 3 H 4 + G1G2 H 5 + G1G2 G3G4 H 4 H 5
s,

+ -
m
te

H1+H2
ys

Figure (c)
lS
tro

In the reduced block diagram in figure (c) there is a single loop and it can be reduced into
on
C

So the transfer function of the system is

Signal flow graph method:


The signal flow graph corresponding to the given block diagram is shown in figure (e).
Control Systems, ANAND KUMAR 19

G1 G2 G3 G4
R x1 x2 x3 x4 x5 x6 x7 C

-H3 -H4
-H5
-H2

-H1
Figure (e)

In the signal flow graph shown in figure (e), there is only one forward path and there are
five loops and all the loops are touching the only forward path. There are two pairs of non

ar
touching loops.

m
Forward paths

Ku
,

d
Loops

an
An
s,
m

Non touching loops


te
ys
lS

The determinant of the signal flow graph is


tro

=
on
C

So the closed loop transfer function of the system is

3.8 For the system represented by the block diagram shown in figure P3.8 below,
obtain the transfer function by using block diagram reduction technique. Verify
the result using signal flow graph.
Control Systems, ANAND KUMAR 20

G4
+
R + C
G1 G2
+
-
H3
+
-
H2
Figure P3.8

ar
Solution:

m
Block diagram reduction technique:

Ku
In the given block diagram, moving the take off point before block to after , we get the
block diagram shown in figure (a).

d
an
G4
G1
An
R G2
++ C
G1
+ -
s,
m

H3
te
ys

+-
lS

H2

Figure (a)
tro
on

In figure (a), and are in parallel. So they can be combined into . Also the
summing point in the feedback path can be removed by considering two full loops as shown in
C

figure (b).
Control Systems, ANAND KUMAR 21

G 4 +G2 G1
R G1 C
- G1
+

H 3H 2

H2
Figure (b)

and

ar
In figure (b), and form a loop. So that loop can be replaced by
so the block diagram shown in figure (c) results.

m
Ku
G1 G4 + G2 G1
R C
+ 1 + G1H 2 H 3 G1

d
+

H2
an
An
Figure (c)
s,

In figure (c), blocks and are in cascade. So they can be replaced by a single
m

block with a gain of . So the block diagram shown in figure (d)


te

results.
ys

G4 + G2 G1
R C
lS

+ 1 + G1 H 2 H 3
+
tro

H2
on

Figure (d)
C

The block diagram in figure (d) has only one loop and it can be replaced by

So the block diagram shown in figure (e) results.


Control Systems, ANAND KUMAR 22

G4 + G2 G1
R 1 + G1 H 2 H 3 − G4 H 2−G1G2 H 2 C

Figure (e)

So the closed loop transfer function of the system is given by

Signal flow graph method:

ar
m
G4

Ku
G1 G2
R x1 x2 x3 x4 x5 C

d
H3

an
-H2 x6
An
-1
Figure (f)
s,

In the signal flow graph of figure (f), there are two forward paths and three loops. All the
m

loops are touching both the forward paths and there are no pairs of two non-touching
loops.
te
ys

Forward paths
,
lS
tro

Loops
on
C

Determinant of the signal flow graph is

Using Mason’s gain formula the closed loop transfer function of the system is
Control Systems, ANAND KUMAR 23

3.9 For the system represented by the block diagram shown in figure P3.9 below,
obtain the transfer function by using block diagram reduction technique. Verify
the result using signal flow graph.

R C
+ G1 G2
-

G3 G4 G5
+ +
- G6 + G7

ar
m
G8
Figure P3.9

Ku
Solution:
Block diagram reduction technique:

d
The given block diagram can be redrawn as shown in figure(a).

R G3 G8
an G5 G2 G1 C
An
+ +
- -
s,

G7
m

+
te

G6 G4
+
ys
lS

Figure(a)
tro

In figure(a), blocks G 5 and G 2 are in cascade. So they can be combined into G 5 G 2 . The block
G 6 after the summing point in the minor loop can be shifted to before the summing point as
on

shown in figure(b). Also that summing point itself can be shifted as shown in figure(b).
C

R G3 + G8 G5G2 G1 C
+ +
- - -

G7G6

G4G6

Figure(b)
Control Systems, ANAND KUMAR 24

In the modified block diagram shown in figure (b), blocks G 8 and G 7 G 6 form a loop.
So they can be replaced by . Now and G 5 G 2 are in cascade. So they
can be combined into and the reduced block diagram shown in figure(c)
results.

G8G5G2
R G3 G1 C
+
-
+ 1 + G8G7G6
-

ar
G4G6

m
Ku
Figure (c)

In figure (c) the blocks and form a loop. So they can be replaced by

d
an
An
Now this block is in cascade with and . So these three blocks can be combined into
. So the reduced block diagram shown in figure (d) results.
s,
m
te

G8G5G3G2G1
R C
ys

+- 1 + G8G7G6 +G 8 G6G5G4G2
lS
tro

Figure (d)
on

Figure (d) is a single loop block diagram. So it can be reduced to the closed-loop transfer
function.
C

i.e.,
Control Systems, ANAND KUMAR 25

Signal flow graph method:

The signal flow graph for the modified block diagram of figure (a) is drawn as shown in
figure (e).

G3 G8 G5 G2 G1
R x1 x2 x3 x4 x5 x6 C
G7
-G6 G4
x7
-1

ar
Figure (e)

m
In the signal flow graph shown in figure (e) there is only one forwarded path and there are

Ku
three loops. All the loops are touching the only forward path and there are no pairs of two
non touching loops.

d
Forward paths

Loops
an
An
s,
m

The determinant of the signal flow graph is


te
ys

Using Mason’s gain formula the transfer function of the system is


lS
tro

3.10: For the system represented by the block diagram shown in figure P3.10 below,
obtain the transfer function by using block diagram reduction technique.
on

Verify the result using signal flow graph.


C
Control Systems, ANAND KUMAR 26

G5
+
R + C
G1 G2 G3 G4
+ +
- -

H1
H2
Figure P3.10

Solution:

ar
Block diagram reduction technique:

m
In the given block diagram shown in figure, the take off point before block is moved to
after So the block diagram shown in figure (a) results.

Ku
G5
G3

d
an
+
R G1 G2 G3 G4 C
+- +- +
An
H1
s,

H2
m

Figure (a)
te

In figure(a), G 2 and G 3 are in cascade. So they can be replaced by G 2 G 3 . This G 2 G 3 and H 1


ys

form a loop. This loop can be replaced by . Also blocks G 4 and are in parallel. So
lS

they can be replaced by . So the block diagram shown in figure (b) results.
In the reduced block diagram of figure(b), the three blocks G 1 , and are in
tro

cascade. So they can be replaced by and the block diagram shown in figure (c)
on

results.
C

G1G2 G5 + G1G2 G3 G4
R C
+- 1 + G 2 G3 H 1

H2
Figure (c)

In figure(c) there is a loop and that can be replaced by


Control Systems, ANAND KUMAR 27

So the block diagram reduces to that shown in figure (d).

G1G2 G5 + G1G2G3G4
R C
1 + G2G 3 H 1+G1G2G5 H 2+G1G2G3G4 H 2

Figure (d)

ar
m
So the closed loop transfer function of the system is

Ku
d
Signal flow graph method:

an
The signal flow graph corresponding to the given block diagram is shown in figure (e).
An
G5
s,

G1 G2 G3 G4
R x1 x2 x3 x4 x5 x6 C
m
te

-H1
ys

- H2
lS

Figure (e)

In the signal flow graph shown in figure (e), there are two forward paths and three loops.
tro

All the loops are touching both the forward paths and there are no pairs of two non
touching loops.
on

Forward paths
C

Loops

The determinant of the signal flow graph is


Control Systems, ANAND KUMAR 28

Using Mason’s gain formula the closed loop transfer function of the system is

ar
m
Ku
d
an
An
s,
m
te
ys
lS
tro
on
C
Control Systems, ANAND KUMAR 1

CHAPTER–4

4.1 The closed loop transfer functions of certain second-order unity feedback control
systems are given below. Determine the type of damping in the system.

(a) (b)

(c) (d)

Solution: Comparing the given transfer functions with the standard form of the transfer function

ar
of a second order system, i.e. with

m
Ku
we have

d
(a)

an
An
Since , it is an underdamped system.
s,
m

(b)
te
ys
lS

Since , it is an overdamped system.


tro

(c)
on
C

Since it is a critically damped system.

(d)

2
Since = 0, it is an undamped system.
Control Systems, ANAND KUMAR 2

4.2 A second order system has a damping ratio of 0.7 and its natural frequency of
oscillation is 12 radians per second. Determine the damped frequency of oscillation, the
rise time, peak time, peak overshoot and settling time. Also determine the closed loop
transfer function.

Solution:
Given = 0.7 and

The damped frequency of oscillation


i.e.,

ar
The rise time

m
The peak time

Ku
d
The peak overshoot

an
An
The settling time
s,

The transfer function of the system


m
te
ys
lS

4.3 The open-loop transfer function of a unity feedback system is


tro
on

Determine the nature of response of the closed-loop system for a unit-step input. Also determine
the rise time, peak time, peak overshoot and settling time.
C

Solution:
Given

The closed-loop transfer function of the system


Control Systems, ANAND KUMAR 3

Comparing it with the standard second order system transfer function, we have

Since the response is underdamped.

The rise time

ar
m
The peak time

Ku
The peak overshoot

d
an
The settling time An
s,

4.4 Determine the unit step response of the system shown in figure below
m
te

R(s) C(s)
5
S+2
ys

+ s2
-
lS
tro

Solution: The closed-loop transfer function of the given system is


on
C

For a unit step input


Control Systems, ANAND KUMAR 4

Therefore, the unit-step response is

4.5 Consider the system shown in figure below, where and . Find
the damped frequency of oscillation rise time peak time peak overshoot
and settling time .

ar
R(s) C(s)
ωn2

m
+ s(s+2ξωn )

Ku
-

d
an
Given and =4 An
The given system is a standard second order system

Therefore, damped frequency of oscillation


s,
m
te
ys

The rise time


lS

The peak time


tro

The peak overshoot


on

The settling time


C

4.6 Measurements conducted on a servomechanism show the system response to be

c
when subjected to a unit-step input.
(a) Obtain the expression for the closed-loop transfer function.
(b) Determine the undamped natural frequency and the damping ratio of the system.
Control Systems, ANAND KUMAR 5

Solution:
Given c

Therefore, C =

For a unit-step input


So the expression for the closed-loop transfer function is

ar
Comparing this with the standard expression for a second order system we have

m
Ku
d
an
4.7 The open-loop transfer function of a unity feedback system is given by
An
G(s) =
where K and T are positive constants. By what factor should the amplifier gain K be reduced so
s,

that the peak overshoot of unit-step response of the system is reduced from 60% to 30%.
m

Solution:
te

Given G(s) =
ys

The closed-loop transfer function of the system is


lS
tro
on
C

Comparing it with the transfer function of a standard second order system we have
Control Systems, ANAND KUMAR 6

The peak overshoot is reduced by increasing the damping ratio . The damping ratio is
increased by reducing the gain K.

When

When

The peak overshoot is given by =

ar
m
Taking natural logarithm on both sides

Ku
d
Squaring both sides

an
An
s,
m
te

Equating both the expressions for


ys
lS

=
tro

=
on

When
C

When = = 0.3

Therefore,
Control Systems, ANAND KUMAR 7

This indicates that to reduce the peak overshoot from 0.60 to 0.30, K should be reduced by
4.989 times.

ar
4.8 A closed-loop control system is represented by the differential equation

m
Ku
where is the error signal. Determine the undamped natural frequency, damping
ratio, and percentage maximum overshoot for a unit-step input.

d
an
Solution: The mathematical equations governing the behavior of the given system are
An
s,
m
te

i.e.,
ys

Taking Laplace transform on both sides and neglecting the initial conditions
lS
tro

Therefore, the transfer function of the system is


on
C

Comparing it with the standard form of the transfer function of a second order system

= 20 or

So the undamped natural frequency is


Control Systems, ANAND KUMAR 8

The damping ratio = 0.67

The peak overshoot


= 0.0587

The % peak overshoot

4.9 A unity feedback control system has an open-loop transfer function.

ar
Determine the rise time, peak time, peak overshoot and the settling time when a step

m
displacement of 15 is given to the system.

Ku
Solution:

d
So the closed-loop transfer function of the system is

an
An
Comparing this with the standard form of the transfer function of a second order system
s,

we have
m
te
ys

The formulae for remain same whether the input is a unit step or a
lS

step of any magnitude. Only the peak overshoot varies. The peak overshoot for a step
input of 15 units is 15 times the peak overshoot for a unit-step input.
tro
on
C

The rise time

The percentage overshoot

The peak overshoot for a step input is


For an input of 15 units(150), the peak overshoot is
Control Systems, ANAND KUMAR 9

The peak time

The settling time

4.10 Determine the values of K and T of the closed-loop system shown in Figure below so
that the maximum overshoot in unit-step response is 20% and the peak time is 1.5s.
Assume that .

ar
m
R(s) 1 C(s)
K
+ Js 2

Ku
-

d
1+Ts

Solution:
an
An
The closed-loop transfer function is
s,
m

Since
te
ys

Comparing this with the standard form of the transfer function of a second order system
lS
tro
on

Peak overshoot
C

The peak time is specified as 1.5s. So


Control Systems, ANAND KUMAR 10

The undamped natural frequency

4.11 A unity feedback system is characterized by the open-loop transfer function

Determine the steady-state errors for unit-step, unit-ramp and unit-acceleration inputs.

ar
m
Solution:

Ku
Therefore,

d
The position error constant

an
An
Therefore, the steady state error for a unit-step input is
The velocity error constant
s,
m

Therefore, the steady state error for a unit ramp input is


te
ys

The acceleration error constant


lS
tro

Therefore, the steady-state error for a unit-acceleration input is


on

4.12 The open-loop transfer function of a unity feedback control system is given by
C

Find the steady-state error when it is subjected to the input, .

Solution:
Control Systems, ANAND KUMAR 11

So, when it is subjected to the input the steady-state error is

ar
4.13 A unity feedback system has

m
Ku
Find the generalized error coefficients and the steady-state error, for

d
Solution:

an
An
For the given feedback system
s,
m
te
ys
lS

+
tro

-
on
C

Equating it with

The dynamic error coefficients are as follows.

The given steady-state error for unit-ramp and the input is r(t) = t.
Control Systems, ANAND KUMAR 12

So the steady-state error for unit-ramp input

4.14 For a unity feedback control system having an open-loop transfer function

Determine (a) type of system, (b) error constants and (c) steady-state error
for unit step, unit-ramp and unit-parabolic inputs.

Solution:

ar
Therefore, G(s) H(s) = G(s)

m
The open-loop transfer function has two poles at the origin of the s-plane. So it is a type-2

Ku
system. The error constants are

d
So steady-state error for unit-step input is

an
An
s,
m
te
ys
lS
tro

4.15 Find the position, velocity and acceleration error constants for the following unity
on

feedback systems having the forward path transfer function G(s) as


C

Solution:

(a)
Control Systems, ANAND KUMAR 13

(b)

ar
(c)

m
Ku
d
an
An
(d)
s,
m
te
ys
lS
tro

4.16 The open-loop transfer function of a unity feedback control system is


on
C

Using the generalized error series, determine the error signal and the steady-state error of the
system when it is excited by
(a) (b)
(c) (d)

Solution:
Control Systems, ANAND KUMAR 14

The long division is performed as shown below.

ar
m
Ku
d
an
An
So the error signal is
s,
m

Taking the inverse Laplace transform on both sides we have the error signal
te
ys

The error signal and the steady-state error are determined as follows.
lS

(a)
tro

(b)
on
C

(c)
Therefore,

(d)
Here the input is the sum of (a),(b) and (c). So error signal e(t) and steady-state error
are also equal to the sum of those of (a), (b) and (c).
Control Systems, ANAND KUMAR 15

Or we can also say since

Steady-state error

ar
m
Ku
d
an
An
s,
m
te
ys
lS
tro
on
C
Control Systems, ANAND KUMAR 1

CHAPTER-5

5.1 Test for stability and determine the location with respect to the imaginary axis of the s-plane of the
roots of the characteristic equations given as follows.
a) – – – – –
b) –
c)
d)
e)
f)

ar
g)

m
h)
i)

Ku
j)
k)

d
Solution:

an
(a) – – – – –
An
Some of the coefficients of the characteristic equation are negative. So the system is unstable. The
location of the roots of the characteristic equation is determined using Routh’s criterion as shown below.
s6
s,

1 -2 -7 -4
s5 1 -3 -4
m

s4 1 -3 -4 (Difficulty 2. Auxiliary equation is s4 – 3s2 – 4 = 0)


s3
te

4 -6 (Coefficients of the first derivative of auxiliary equation)


2
s -1.5 -4
ys

s1 -
s0 - 4
lS

There is one sign change in the elements of the first column of the Routh array. So one root of the
characteristic equation is in the RHS of s-plane and the system is unstable.
tro


on

(b)
Some of the coefficients of the characteristic equation are negative. So the system is unstable. The
location of the roots of the characteristic equation is determined using Routh’s criterion as shown below.
C

s5 1 24 - 25
4
s 2 48 -50 (Difficulty 2. Auxiliary equation is 2s4 + 48s2 – 50 = 0)
3
s 1 12 (Coefficients of the first derivative of auxiliary equation)
2
s 24 -50
1
s 0
0
s -50
There is one sign change in the elements of the first column of the Routh array. So one root of the
characteristic equation is in the RHS of s-plane and the system is unstable
– –
Control Systems, ANAND KUMAR 2

– –
... s = ±1, s = ± j5, s = - 2 are the roots.
So two roots are in the LHS, one in the RHS and two on the imaginary axis.

(c)

All the coefficients of the characteristic equation are real and positive. So the necessary condition is
satisfied. The Routh array is formed as shown below.

s4 1 23 50
s3 6 40

ar
s2 50

m
s1 0

Ku
s0 50

d
There are no sign changes in the elements of the first column of the Routh array. So there are no roots of

an
the characteristic equation in the RHS of the s-plane and the system is stable.
An
(d)

s4 1 1 2
s,

s3 2 4
s2 -1 2
m

s1 8 0
te

s0 2
ys

There are two sign changes in the elements of the first column of the Routh array. So two roots of the
characteristic equation are in the right half of the s-plane. So the system is unstable.
lS

(e)
tro

All the coefficients of the characteristic equation are real and positive. So the necessary condition is
on

satisfied. The Routh array is formed as shown below.


C

s5 1 3 16
s4 1 9 10
3
s -6 6
s2 10 10
1
s 12
s0 10
There are two sign changes in the elements of the first column of the Routh array. That means there two
roots in the RHS of s-plane and the system is unstable.

(f)
Control Systems, ANAND KUMAR 3

All the coefficients of the characteristic equation are real and positive. So the necessary condition is
satisfied. The Routh array is formed as shown below.

s4 1 18 5
s3 8 16
s2 16 5
1
s 13.5 0
s0 5
There are no sign changes in the elements of the first column of the Routh array. So there are no roots of
the characteristic equation in the RHS of the s-plane and the system is stable

ar
(g)
All the coefficients of the characteristic equation are real and positive. So the necessary condition is

m
satisfied. The Routh array is formed as shown below.

Ku
s7 1 9 4 36
s6 5 9 20 36

d
s5 0

an
s4 9 0 36 (Difficulty 2)
s3 36 0 (Coefficients of the first derivative of the auxiliary equation)
An
s2 36 (Difficulty 1)
s1
s0
s,

36
m

There are two sign changes in the elements of the first column of the Routh array. So there are two roots
te

in the RHS of the s-plane. So the system is unstable.


ys

(h)
All the coefficients of the characteristic equation are real and positive. So the necessary condition is
lS

satisfied. The Routh array is formed as shown below.


tro

s6 1 3 3 1
s5 1 3 2
on

s4 1 1
s3
C

s2 1

s1

s0 1

As  0, there are two sign changes in the elements of the first column of the Routh array indicating
that there are two roots of the characteristic equation in the right half of the s-plane. So the system is
unstable.
Control Systems, ANAND KUMAR 4

s2 + 1 is a factor of the given equation because

has two poles on the imaginary axis. So the remaining two poles are in the LHS of s-plane.

(i)

All the coefficients of the characteristic equation are real and positive. So the necessary condition is
satisfied. The Routh array is formed as shown below.

s5 1 2 11
s4 2 4 10
s3

ar
6

m
s2 10

Ku
s1 0

d
s0 10

an
As tends to 0, there are two sign changes in the elements of the first column of the Routh array. So
An
there are two roots of the characteristic equation in the RHS of the s-plane. So the system is unstable.

(j)
s,

All the coefficients of the characteristic equation are real and positive. So the necessary condition is
m

satisfied. The Routh array is formed as shown below.


te

s7 1 24 24 23
s6 9 24 24 5
ys

s5
lS

s4 15 15 15 (Difficulty 2)
tro

s3 2 1 (Coefficients of the first derivative of auxiliary equation)


s2 15
on

s1 -3
C

s0 15

There are two sign changes in the elements of the first column of the Routh array. So there are two roots
of the characteristic equation in the RHS of the s-plane. So the system is unstable.

(k)
All the coefficients of the characteristic equation are real and positive. So the necessary condition is
satisfied. The Routh array is formed as shown below.

s6 1 8 20 16
Control Systems, ANAND KUMAR 5

s5 2 12 16
s4 2 12 16 (Difficulty 2)
s3 1 3 (Coefficients of the first derivative of auxiliary equation)
s2 6 16
s1
s0 16

There are no sign changes in the elements of the first column of the Routh array. So there are no roots of
the characteristic equation in the RHS of the s-plane. Factorizing the characteristic equation we have

ar
m
So it has two poles on LHS of s-plane and 4 poles on imaginary axis of s-plane. So the system is
marginally stable.

Ku
5.2 The characteristic equations for certain feedback control systems are given below. In each case
(a) Determine the range of values of K for the system to be stable

d
(b) Can the system be marginally stable?

an
If so, find the required value of K and the frequency of sustained oscillations.
An
(i)
(ii)
(iii)
s,

(iv)
m

(v)
te

(vi)
(vii)
ys

(viii)
lS

Solution:
(i) Given
tro

The Routh table is formed as shown below.


on

s3 1 K+2
s2 2K 4
C

s1
s0 4

For the system to be stable all the elements in the first column of the Routh array must be positive. For
this
K>0
Control Systems, ANAND KUMAR 6

So the range of values of K for stability is K > 0.73. Yes. The system can be marginally stable and the
marginal value of K for stability is K= 0.73.
The frequency of oscillation is obtained by solving the auxiliary equation

i.e.,
or
... Frequency of oscillation = 1.654 rad/sec

(ii)

ar
The Routh table is formed as shown below.
s4

m
1 24 K
s3 8 32

Ku
s2 20 K
s1

d
s0 K

an
For the system to be stable all the elements in the first column of the Routh array must be positive. For
An
this
K>0
s,

640 – 8K > 0, i.e K< 80.


m

So the range of values of K for stability is 0 < K < 80.


te

Yes. The system can be marginally stable. The marginal value of K fo stability is K=80.
ys

The frequency of oscillation is obtained by solving the auxiliary equation


lS

i.e.,
tro

So the frequency of sustained oscillation is = 2rad/sec

(iii)
on

The Rouths table is formed as shown below.


s4 1 15 K
C

3
s 25 20
2
s K
1
s 284 – 25K
0
s K

For the system to be stable all the elements in the first column of the Routh array must be positive. For
this
K>0
Control Systems, ANAND KUMAR 7

So the range of values of K for stability is


The frequency of sustained oscillations is obtained by solving the auxiliary equation

...
So the frequency of sustained oscillation is

(iv)
The Routh table is formulated as shown below.

ar
s4

m
1 2 10
s3 K K+1

Ku
s2 10
s1

d
s0 10

an
For the system to be stable all the elements of the first column of the Routh table must be positive. For
An
this
s,
m
te

Since all the above conditions cannot be satisfied simultaneously, the system is unstable for all values of
ys

K.
lS

(v)
tro

The Routh table is formulated as shown below:


s3 1 2K
on

s2 K+2 10
s1
C

s0 10

For the system to be stable all the elements in the first column of the Routh array must be positive, i.e

So the range of values of K for stability is K>1.45. Yes. The system can be marginally stable and the
marginal value of K for stability is K=1.45.
The frequency of sustained oscillations is obtained by solving the auxiliary equation
Control Systems, ANAND KUMAR 8

So the frequency of sustained oscillations is


(vi)
The Routh table is formulated as shown below.
s3 1 5
s2 20 10K
s1

ar
s0 10K

m
For stability all the elements in the first column of the Routh array must be positive.
So

Ku
d
So the range of values of K for stability is 0 < K< 10. Yes. The system can be marginally stable and the

an
marginal value of K for stability is K=10.
The frequency of sustained oscillations is given by the solution of the auxiliary equation
An
s,

So the frequency of sustained oscillations is


m
te

(vii)
The Routh table is formulated as shown below.
ys

s4 1 5 10K
3
s K 10
lS

2
s 10K
tro

s1
s0 10K
on

For a stable system all the elements in the first column of its Routh array must be positive. So
C

Since all the conditions can not be satisfied simultaneously, the system is unstable for all values of K. So
no marginal value of K and no frequency of oscillation.

(viii)
The Routh table is formulated as shown below.
Control Systems, ANAND KUMAR 9

s4 1 1 K
s3 125 5
s2 K
s1
s0 K

For a stable system all the elements in the first column of the Routh array must be positive. So
K>0

ar
So the range of values of K for stability is 0 < K < 0.0384. Yes. The system can be marginally stable and

m
the marginal value of K for stability is K= 0.0384.
The frequency of oscillation is obtained by the solving the auxiliary equation

Ku
d
an
...
So the frequency of sustained oscillation is .
An
5.3 The open-loop transfer function of a unity feedback control system is given by
s,
m

Determine the range of values of K for which the system is stable. Also determine the value of K for
te

sustained oscillations and the frequency of the oscillations.


ys

Solution:
lS

The characteristic equation is


tro
on

The Routh table is formulated as shown below.


C

s4 6 6 K
s3 11 1
s2 K
s1
s0 K
For stability all the elements in the first column of the Routh array must be positive. So
K>0
1
Control Systems, ANAND KUMAR
0

So the range of values of K for stability is 0 < K < 0.496. This is also the value of K for sustained
oscillations. The frequency of sustained oscillations is given by the auxiliary equation.

...
So the frequency of sustained oscillations is = 0.3015 rad/sec.

5.4 The open-loop transfer function of a feedback control system is given by

ar
(a) Using the Routh criterion, determine the range of values of K for which the system is stable.

m
(b) If a zero at s = - 4 is added to the forward path transfer function, how is the stability affected?

Ku
Solution:

d
(a)

an
The characteristic equation is An
s,

The Routh table is formed as shown below.


m

s4 1 10 K
te

s3 6 8
s2
ys

K
s1
lS

s0 K
tro

For stability all the elements in the first column of the Routh array must be positive. So
K>0
on
C

So the range of values of K for stability is 0 < K < 11.56.


The marginal value of K, which is same as the value of K for sustained oscillations is
K = 11.56. The frequency of sustained oscillations is given by the solution of the auxiliary equation.

So the frequency of sustained oscillations is = 1.154 rad/sec.

(b) When a zero at is added, the characteristic equation is


Control Systems, ANAND KUMAR 11

The Routh table is


s3 1 2
2
s 2 K
1
s
s0 K

So the maximum permissible value of K for stability is K= 4 and the range is 0 < K < 4. So the addition

ar
of a zero at reduced the stability of the system.

m
5.5 For a system with and H(s) = 1, determine the range of K for stability. Also

Ku
determine the marginal value of K and the frequency of sustained oscillations.

Solution:

d
an
The characteristic equation of the system is
An
s,

The Routh table is formulated as shown below.


m

s4 1 3 K
s3 3 2
te

s2 K
ys

s1
lS

s0 K
tro

For stability all the elements in the first column of the Routh array must be positive. So
K>0
on

So the range of values of K for stability is 0 < K < 1.555. The marginal value of K for stability which is
C

same as the value of K for sustained oscillations is K = 1.555


The frequency of sustained oscillations is given by the solution of the auxiliary equation

...
So the frequency of oscillations is .

5.6 Determine whether all the roots of the following characteristic equation
1
Control Systems, ANAND KUMAR
2

have real parts more negative than -1 or not.

Solution:
Given characteristic equation is
To determine whether all roots of this characteristic equation have real parts more negative then -1 or
not put in the characteristic equation and formulate the Routh array. So we have the new
characteristic equation.

The Routh array is

ar
m
z3 1 1
z2 3 7.4

Ku
z1
z0 7.4

d
an
There are two sign changes in the elements of the first column of the Routh array. So two roots are to the
right of . So some of the roots of the given characteristic equation do not have real parts more
An
negative than -1.

5.7 Use the Routh criterion to check the stability of a system given by the characteristic equation
s,
m

Solution:
The given characteristic equation is
te
ys

The Routh table is formulated as shown below.


s6 2 2 3 6
lS

5
s 1 1 5
s4 -7 6 (Difficulty 1)
tro

3
s
s2
on

6
s1
C

s0 6
.There is one sign change in the elements of the first column of the Routh array. So there is one root of
the characteristic equation in the RHS of s-plane. So the system is unstable.

5.8 Determine the range of values of K for stability of a unity feedback system whose open loop trandfer
function is

Solution:
Given open loop transfer function
1
Control Systems, ANAND KUMAR
3

The characteristic equation is

The Routh table is formulated as shown below.


s3 1 2
2
s 3 K
1
s
s0 K

For the system to be stable all the elements in the first column of the Routh array must be positive. So

ar
K>0

m
So the range of values of K for stability is 0<K<6, and the marginal value of K for stability is K=6.
5.9 The open-loop transfer function of a feedback control system is given by

Ku
(a) Using the Routh criterion, determine the range of values of K for which the system will be stable.

d
(b) If a zero at is added to the forward path transfer function, determine the range of K for

an
stability. An
Solution:
Given open loop transfer function is
s,

The characteristic equation of the system is


m
te

The Routh table is formulated as shown below.


ys

s3 1 4
s2 5 K
lS

1
s
s0
tro

For stability all the elements in the first column of the Routh array must be positive. So K > 0
on

So the marginal value of K for stability is K= 20 and the range of values of K for stability is
C

.
(b)
If a zero at is added to the forward path transfer function, then

The characteristic equation of the new system is


It is a second order system and is stable for all positive values of K. So the range of vlues of K for
stability is K > 0.

5.10 The output of a control system is related to its input by


1
Control Systems, ANAND KUMAR
4

(a) With 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.

Solution:
(a) The transfer function of the system is

With K = 8, the characteristic equation is

Rouths formulation is shown below.

ar
s4

m
1 2 8
s3 2 11

Ku
s2 8
s1

d
s0 8

an
There are two sign changes in the elements of the first column of the Routh array. So there are two roots
An
of the characteristic equation in the right half of the s-plane. So the given system is unstable for K=8.

(b) To determine the limiting positive value that K can have for a stable output response formulate the
s,

Rouths table as shown below.


m

s4 1 2 K
te

s3 2 3+K
ys

s2 K
lS

s1
s0 K
tro

For stability all the elements in the first column of the Routh array must be positive. So
on
C

So the limiting value of K for stability is K = 0.46

5.11 The open-loop transfer function of a unity feedback control system is

Find the restriction on K so that the closed-loop system is absolutely stable.


Solution:

The characteristic equation is


1
Control Systems, ANAND KUMAR
5

The Routh table is formulated as shown below.


s3 0.1 1
s2 0.65 K
s1
s0 K

For stability all the elements in the first column of the Routh array must be positive. So K > 0

ar
So the restriction on K for stable closed loop response is K < 6.5.

m
5.12 Find the range of values of K for the system represented by the following characteristic equation to be
stable. What is the marginal value of K and what is the frequency of sustained oscillation?

Ku
Solution:

d
Given characteristic equation is

an
The Routh table is formulated as shown below.

s4
An
1 10 K
s3 22 2
s2 K
s,

s1
m

s0 K
te

For stability all the elements in the first column of the Routh array must be positive.
ys

K >0
lS
tro

So the range of values of K for stability is


The marginal value of K for stability is K = 0.9008. The frequency of sustained oscillations is given by
on

the solution of the auxiliary equation.


C

...
So the frequency of sustained oscillations is = 0.3013 rad/sec.

5.13 Determine the range of K such that the unity feedback system with an open-loop transfer function
is stable.
Solution:
1
Control Systems, ANAND KUMAR
6

The characteristic equation of the system is

i.e.,
The Routh table is formulated as shown below.

s4 1 5 K
s3 5 4
s2 4.2 K
s1
s0

ar
K

m
For the system to be stable all the elements in the first column of the Routh array must be positive. So
K>0

Ku
The range of values of K for the system to be stable is

d
an
5.14 Find the condition for stability for the systems whose characteristic equations are given below.
(a)
An
(b)
In each case, determine the value of K which will cause sustained oscillations and the frequency of the
oscillations.
s,

Solution:
m

(a)
The Routh table is formulated as shown below.
te

s4 1 224 2400+K
s3 20 1240
ys

s2 162 2400+K
lS

1
s
s0 2400+K
tro

For stability all the elements in the first column of the Routh array must be positive. So
on
C

So the condition for stability is K<7644. The marginal value of K, i.e., the value of K which causes
sustained oscillations is K= 7644.
The frequency of oscillation is given by the solution of the auxiliary equation.

So the frequency of sustained oscillations is .


(b)

The Routh table is formulated as shown below.


1
Control Systems, ANAND KUMAR
7

s3 1 4K
s2 6K+0.5 50
s1
s0 50

For stability of the system all the elements in the first column of the Routh array must be positive, So

So the marginal values of K for stability is This is also the values of K which causes
sustained oscillations.

ar
The frequency of sustained oscillations is given by the solution of the auxiliary equation.

m
...

Ku
So the frequency of sustained oscillations is

d
5.15 The open-loop transfer function of a unity feedback control system is

an
Determine the range of values of K for stability. Also determine the marginal value of K for stability and
An
the frequency of sustained oscillations.
s,

Solution:
m

The characteristic equation of the system is


te
ys

i.e.,
lS

The Routh table is formulated as shown below.

s4 1 10 K
tro

s3 7 2K
s2 K
on

s1
C

s0 K

For the system to be stable all the elements in the first column of the Routh array must be positive. So
K>0

So the range of values of K for the system to be stable is


1
Control Systems, ANAND KUMAR
8

The marginal value of K for stability is K=22.75. This is also the value of K which causes sustained
oscillations. The frequency of sustained oscillations is given by the solution of the auxiliary equation

So the frequency of sustained oscillations is = 2.55 rad/sec.

5.16 Find the range of K such that the unity feedback system with the following open-loop transfer function
will remain stable.

ar
m
Solution:

Ku
The characteristic equation of the system is

d
The Routh table is formulated as shown below.
an
An
s3 1 K
s2 5 2K
1
s 0.6K
s,

s0 2K
m

For stability all the elements in the first column of the Rouh array must be positive.
te

... K>0
ys

So the range of values of K for the system to be stable is K > 0.


lS

5.17 Determine the maximum value of gain K for stability of the system given by the open-loop transfer
function
tro

Solution:
on
C

The characteristic equation of the system is

This is a second order system. For this system to be stable all the coefficients, i.e., 1-KT and K must be
positive.

So the maximum value of K for stability is .


1
Control Systems, ANAND KUMAR
9

5.18 The open-loop transfer function of a closed-loop system with unity feedback is given by

Comment on the stability of the system. If a zero is added at , comment on the stability.
Solution:

The characteristic equation of the system is

This is a second order system. For this system to be stable all the coefficients must be positive. So

ar
m
So we can say that the system is stable for
If a zero is added at , the characteristic equation becomes

Ku
d
i.e.,

an
This is a first order system. For this to be stable all the coefficients must be positive. So
An
So the same condition of K > 0.5 holds good.
5.19 Find the maximum value of K for which the system given by
s,

is stable.
m

Solution:
te
ys

The characteristic equation of the system is


lS

This is a first order system and for its stability all the coefficients of the characteristic equation must be
tro

positive. So
on

So the maximum value of K for stability is .


C
2
Control Systems, ANAND KUMAR
0

ar
m
Ku
d
an
An
s,
m
te
ys
lS
tro
on
C
Control Systems, ANAND KUMAR 1

CHAPTER-6
6.1 Draw the complete root locus for the system with an open-loop transfer function

Show that part of the root locus is a circle. Find and the value of K for that . Also find the roots of
the characteristic equation for that value of K. Determine the range of values of K for which the system is
(a) overdamped, (b) underdamped and (c) critically damped.

Solution:

ar
Given

m
Open loop poles are So

Ku
Open loop zeros are So
Number of branches of R.L. , No.of asymptotes

d
1. The R.L. is symmetrical about the real axis.

an
2. The R.L. starts at the open loop poles and and terminates on the open loop zero
.
An
3. There is only one asymptote and the angle of the asymptote is .
4. The centroid is –
s,

5. The R.L. exists on the real axis between and to the left of
m

6. The break points are given by the solution of the equation


te
ys

i.e. are the break points. Out of these is


lS

the break in point and is the break away point.


The break angle
tro

7. No need to calculate the angles of departures and angles of arrivals because there are no complex poles
on

and complex zeros.


8. The point of intersection of the R.L. with the imaginary axis and the critical value of K are obtained using
C

the Routh criterion.

For stability and


The R.L. intersects the imaginary axis only at the starting point, i.e. at
The path traced by the R.L. is obtained using the angle criterion.

1
Control Systems, ANAND KUMAR 2

Taking tangent on both sides

ar
m
Ku
d
an
This shows that part of the R.L. is a circle with center at and radius
The complete root locus is drawn as shown in Figure 6.1
An
The value of K at the break away point =
s,
m
te
ys

The value of K at the break in point


lS
tro
on
C

So the system is overdamped for and critically damped for


and and underdamped for
From the root locus plot ξ min
The complex roots for ξ are and .
The value of K at

2
Control Systems, ANAND KUMAR 3

Root Locus

1
Imaginary Axis

ar
-1

m
-2

Ku
-3

d
-4

an
-10 -8 -6 -4 -2 0 2
Real Axis
An
Figure 6.1
s,
m

6.2 Draw the complete root locus for the system with
te
ys
lS

Show that part of the root locus is a circle.


tro

Solution:
on

Given

The open loop poles are at So


C

The open loop zero is at So


The number of branches of R.L and the number of asymptotes
1. The R.L. is symmetrical w.r.t. the real axis because the pole zero configuration is symmetrical about the
real axis.
2. The R.L. starts at the open loop poles and and terminates at the open loop
zero and at
3. There is only one asymptote and the angle of the asymptote is
4. The centroid is given by –

3
Control Systems, ANAND KUMAR 4

5. The R.L. exists on the real axis to the left of


6. The break points are given by the solution of the equation

is not a real break point because no root locus exists there. is a real break in point.
The break angle
7. The angle of departure from the complex pole is

ar
where

m
So the angle of departure from the complex pole is -

Ku
8. The R.L. does not intersect the imaginary axis and the system is stable for all positive values of K.
The path traced by the R.L. is obtained using the angle condition

d
an
An
s,
m
te

Taking tangent on both sides


ys
lS
tro
on
C

This is the equation of a circle centered at and with radius .


The complete root locus is drawn as shown in Figure 6.2

4
Control Systems, ANAND KUMAR 5

Root Locus
2

1.5

0.5
Imaginary Axis

ar
-0.5

m
-1

Ku
-1.5

d
an
-2
-5 -4.5 -4 -3.5 -3 -2.5 -2 -1.5 -1 -0.5 0
Real Axis
An
Figure 6.2
s,

6.3 Draw the complete root locus for the system with
m
te
ys

Determine the value of K for For that value of K obtain the closed-loop transfer function.
lS

Determine the range of values of K for which the second order system is
tro

(a) overdamped, (b) critically damped and (c) underdamped.


on

Solution:
Given
C

The open loop poles are So


The open loop zero is So
The number of branches of R.L. = 3 and the number of asymptotes
1. The R.L is symmetrical about the real axis because the open loop poles and zeros are symmetrically
located w.r.t. the real axis.
2. The R.L. starts at and terminates at and at and .
3. There are two asymptotes and the angles of the asymptotes are

5
Control Systems, ANAND KUMAR 6

4. The centroid is –
5. The R.L. exists on the real axis between and from
6. The break points are given by the solution of the equation

are the break points.


Out of these only is the real break point.
The break angle

ar
7. There are no complex open loop poles and zeros and so no need to compute the angle of departure and
angle of arrival.

m
8. The point of intersection of the root locus with the imaginary axis and the critical value of K are obtained

Ku
using Routh’s criterion.

d
an
1
An
3
s,
m

For stability and Therefore


te

is the marginal value of K. For K > 3, the system is unstable.


ys

The frequency of sustained oscillations is given by the solution of the auxiliary equation
lS
tro

is the frequency of oscillation.


At the break point, i.e., at , the value of K
on

So the second order system is underdamped for K > 0.083, critically damped for K= 0.083 and
C

overdamped for The complete root locus is drawn as shown in Figure 6.3.
To find the value of K for ξ = 0.5, draw a line from the origin making an angle of with the
negative real axis and determine K at the intersection point. With that value of K determine the closed
loop transfer function.
In R.L. plot, at A

The point A is at
By trial and error between
So the closed loop transfer function of the system is
6
Control Systems, ANAND KUMAR 7

Root Locus

ar
1
Imaginary Axis

m
0

Ku
-1

-2

d
an
-3 An
-4

-8 -6 -4 -2 0 2 4
s,

Real Axis
m
te

Figure 6.3
ys

6.4 Draw the complete root locus for the system described by
lS
tro
on

Solution:
C

Given
Open loop poles are . So
Open loop zero is . So
Number of branches of R.L.= n = 3 and number of asymptotes
1. The R.L. is symmetrical about the real axis because the open loop poles and zeros are located
symmetrically w.r.t. the real axis.
2. The R.L. starts at the open loop poles and and terminates at
the open loop zero and at and
3. There are two asymptotes and the angles of the asymptotes are

7
Control Systems, ANAND KUMAR 8

4. The centroid is

5. The R.L. exists on the real axis between


6. The break points are given by the solution of the equation

ar
There are no break points because the centroid is at and the angles of asymtotes are

m
7. The angle of departure from the open loop pole is
where

Ku
So the angle of departure from the open loop pole

d
8. The point of intersection of the R.L. with the imaginary axis and the critical value of K are obtained using

an
the Routh’s criterion. An
s,
m

1
1
te
ys

For stability K > 0 and


lS

Therefore marginal value of K for stability is


tro

The frequency of sustained oscillations is given by the solution of the auxiliary equation
on

The complete R.L. is drawn as shown in Figure 6.4.


C

8
Control Systems, ANAND KUMAR 9

Root Locus
6

2
Imaginary Axis

ar
-2

m
Ku
-4

d
an
-6
-10 -8 -6 -4 -2 0 2 4 6
Real Axis
An
Figure 6.4
s,

6.5 Draw the complete root locus for the system with
m
te
ys

Solution:
lS

Given
Open loop poles are and So
tro

There are no open loop zeros. So


Number of branches of R.L. and number of asymptotes 2
on

1. The R.L. is symmetrical about the real axis because the open loop poles and zeros are symmetrical w.r.t.
the real axis.
C

2. The R.L. starts at the open loop poles and and terminates at the zeros
at and
3. The angles of the asymptotes are
and
4. The centroid is

5. The R.L. does not exist on the real axis itself because there are no real poles or real zeros.
6. The break points are given by the solution of the equation
9
Control Systems, ANAND KUMAR 10

Since there is no R.L. at there is no real break point.


7. The angle of departure from open loop pole is

The angle of departure at


8. The R.L. does not intersect the imaginary axis at all.
The complete R.L. is drawn as shown in Figure 6. 5

Root Locus

ar
3

m
2

Ku
1

d
an
Imaginary Axis

0
An
-1
s,
m

-2
te
ys

-3
-6 -5 -4 -3 -2 -1 0 1 2
lS

Real Axis
tro

Figure 6.5
on

6.6 Draw the complete root locus for the system with
C

Solution:
Given
The open loop poles are . So .
The open loop zeros are and . So .
The number of branches of and the number of asymptotes

10
Control Systems, ANAND KUMAR 11

1. The R.L. is symmetrical about the real axis because the open loop poles and zeros are symmetrical about
the real axis.
2. The R.L. starts at the open loop poles and terminates on the open loop
zeros and and on the zeros at and
3. The angles of the asymptotes are

4. The centroid is

5. The R.L. does not exist on the real axis itself.

ar
6. The break points are at itself because two roots are present at those points.

m
7. The angle of arrival at the complex zero is

Ku
So the angle of arrival at the complex zero is

d
8. The R.L does not intersect the imaginary axis and does not go into the RHS of s-plane. So no need to

an
apply Routh’s criterion.
An
The complete R.L. is drawn as shown in Figure 6.6
s,

Root Locus
6
m
te

4
ys
lS

2
Imaginary Axis

tro

0
on

-2
C

-4

-6
-10 -8 -6 -4 -2 0 2 4 6
Real Axis

Figure 6.6
6.7 Draw the complete root locus for the system with

11
Control Systems, ANAND KUMAR 12

Solution:
Given
The open loop poles are
The open loop zeros are
Number of branches of and the number of asymptotes
1. The R.L. is symmetrical about the real axis because the open loop poles and zeros are symmetrical w.r.t
the real axis.

ar
2. The R.L starts at the open loop poles terminates at the open loop

m
zeros and and at
3. The angle of the only asymptote is

Ku
d
4. The centroid is

an
An
5. The R.L. exists on the real axis between between and to the
left of
s,

6. The break points are given by the solution of the equation


m
te
ys

are real break points.


lS

7. There are no complex poles and zeros. So no need to calculate the angles of departures and arrivals.
8. The point of intersection of the R.L. with the imaginary axis and the critical value of K are obtained using
tro

the Routh’s criterion.


on
C

1
K

For stability and


The marginal value of K for stability is
The frequency of sustained oscillations is obtained by solving the auxiliary equation.

12
Control Systems, ANAND KUMAR 13

The complete R.L. is drawn as shown in Figure 6.7

Root Locus
6

ar
2
Imaginary Axis

m
0

Ku
d
-2

-4
an
An
s,

-6
-12 -10 -8 -6 -4 -2 0 2 4
m

Real Axis
te

Figure 6.7
ys

6.8 Draw the complete root locus for the system with
lS
tro

Solution:
on

Given
C

The open loop poles are at So


The open loop zeros are at So
Number of branches of R.L. and the number of asymptotes
1. The R.L. is symmetrical about the real axis because the open loop poles and zeros are symmetrically
located w.r.t. the real axis.
2. The R.L. starts at the open loop poles terminates at the open
loop zeros , and
3. There are no asymptotes. So no need to calculate the angle of asymptotes.
4. No centroid because there are no asymptotes.

13
Control Systems, ANAND KUMAR 14

5. The R.L. exists on the real axis between and between


6. The break points are given by the solution of the equation

Since the break in point has to be between by trial and error we can find that
is the break point.
7. The angle of departure from the open loop pole at is

ar
So the angle of departure at the open loop pole

m
8. The R.L. does not intersect the imaginary axis at all. So there is no need to apply the Routh criterion.

Ku
The system is unstable for all values of K.
The complete root locus is drawn as shown in Figure 6.8.

d
an
Root Locus
1.5
An
1
s,
m

0.5
te
Imaginary Axis

ys

0
lS

-0.5
tro
on

-1
C

-1.5
-2.5 -2 -1.5 -1 -0.5 0 0.5 1 1.5
Real Axis

Figure 6.8
6.9 Draw the complete root locus for the system with

Solution:

14
Control Systems, ANAND KUMAR 15

Given
The open loop poles are
The open loop zeros are
The Number of branches of R.L. and the number of asymptotes
1. The R.L. is symmetrical about the real axis because the open loop pole zero configuration is symmetrical
w.r.t. the real axis.
2. The R.L. starts at the open loop poles and and terminates at
3. There is one asymptote and the angle of the asymptote is

4. The centroid is

ar
m
5. The R.L. exists on the real axis between between and to the left of

Ku
6. The break points are given by the solution of the equation

d
an
An
By trial and error the break points are found as
s,

The break angles are


m

7. There are no open loop complex poles or complex zeros. So no need to compute the angle of departures
te

and arrivals.
8. The point of intersection of the R.L. with the imaginary axis and the critical value of K are obtained using
ys

Routh criterion.
lS
tro

1
on

K K
C

For stability
Marginal value of K for stability is
The frequency of sustained oscillations is given by the solution of the auxiliary equation

So the frequency of sustained oscillations is .


The complete R.L. is drawn as shown in Figure 6.9

15
Control Systems, ANAND KUMAR 16

Root Locus
3

1
Imaginary Axis

ar
-1

m
Ku
-2

d
an
-3
-6 -5 -4 -3 -2 -1 0 1 2
Real Axis
An
Figure 6.9
s,

6.10 Draw the complete root locus for the system with
m
te
ys

Solution:
Given where
lS

The open loop poles are So .


tro

The only open loop zero is So


The number of branches of R.L. and the number of asymptotes
on

1. The R.L. is symmetrical about the real axis because the open loop pole zero configuration is symmetrical
about the real axis.
C

2. The R.L. starts at the open loop poles , and and terminates at

3. The angles of the asymptotes are

4. The centroid is

5. The R.L. exists on the real axis to the left of


16
Control Systems, ANAND KUMAR 17

6. The break points are given by the solution of the equation

By trial and error the break point is


7. The angle of departure from the open loop pole is

8. The R.L. does not cross the imaginary axis. So no need of Routh’s formulation.
The system is unstable for all values of K.
The complete R.L. is drawn as shown in Figure 6.10.

ar
m
Root Locus

Ku
10

d
6

an
4
An
Imaginary Axis

0
s,

-2
m

-4
te

-6
ys

-8
lS

-10
tro

-15 -10 -5 0 5 10 15
Real Axis
on

Figure 6.10
C

6.11 Draw the complete root locus for the system with

Solution:

The open loop poles are and So

17
Control Systems, ANAND KUMAR 18

The open loop zero is So


The number of branches of R.L. and the number of asymptotes
1. The R.L. is symmetrical about the real axis because open loop pole zero configuration is symmetrical
w.r.t. the real axis.
2. The R.L. starts at the open loop poles and and terminates on the open loop zero
and .
3. The angles of the asymptotes are

4. The centroid is

ar
5. The R.L. exists on the real axis between

m
6. The break points are given by the solution of the equation.

Ku
d
an
An
are the break points.
The real break point is . The break angle .
s,

7. No complex poles and zeros are present. So there is no need to compute the angles of departure and
arrival.
m

8. The R.L. is not crossing the imaginary axis. So no need to apply the Routh’s criterion.
te

The complete R.L. is drawn as shown in Figure 6.11. The system is stable for all values of
ys
lS
tro
on
C

18
Control Systems, ANAND KUMAR 19

Root Locus

20

15

10

5
Imaginary Axis

ar
-5

m
-10

Ku
-15

d
-20

an
-40 -30 -20 -10 0 10 20
Real Axis
An
Figure 6.11
s,

6.12 Draw the complete root locus for the system with
m
te
ys

Solution:
Given
lS

Open loop poles are So


tro

No finite open loop zeros. They are at .


Number of branches of R.L. and the number of asymptotes
on

1. The open loop pole zero configuration is symmetrical w.r.t. the real axis. So the root locus is symmetrical
w.r.t. the real axis.
C

2. The R.L. starts at the open loop poles and terminates at the zeros at

3. The angles of the asymptotes are

4. The centroid is

5. The R.L. exists on the real axis to the left of i.e., on the entire negative real axis.
19
Control Systems, ANAND KUMAR 20

6. There are no break points because the centroid is at and the asymptotic angles are
The break points are given by the solution of the equation

and are the break points. These are


not real break points.
7. The angle of departure from the open loop pole is given by

So the angle of departure from the open loop pole

ar
8. The point of intersection of the R.L. with the imaginary axis and the critical value of K are obtained using

m
the Routh’s criterion.

Ku
d
1 13

an
6 K An
K
s,

For stability So the marginal value of K for stability is


m

The frequency of sustained oscillations is given by the solution of the auxiliary equation.
te
ys
lS

is the frequency of oscillation.


The complete R.L. is drawn as shown in Figure 6.12.
tro
on
C

20
Control Systems, ANAND KUMAR 21

Root Locus

1
Imaginary Axis

ar
-1

m
-2

Ku
-3

d
-4

an
-8 -6 -4 -2 0 2 4
Real Axis
An
Figure 6.12
s,

6.13 Sketch the root locus for the system with


m
te

Show that part of the root locus is a circle.


ys

Solution:
lS

Given
tro

The open loop poles are and . So .


The open loop zeros are So
on

Number of branches of and the number of asymptotes


1. The R.L. is symmetrical about the real axis because the open loop pole zero configuration is symmetrical
C

w.r.t. the real axis.


2. The R.L. starts at the open loop poles and and terminates at the open loop zeros and

3. There are no asymptotes. So no need to compute the angle of asymptotes.


4. No centroid because there are no asymptotes.
5. R.L. exists on the real axis between s = 1 to s = -1 and between s = -2 and s = -3.
6. The break points are given by the solution of the equation

i.e., So and

21
Control Systems, ANAND KUMAR 22

are the break points. In fact is the break away point and is the break in
point.
7. The point of intersection of the R.L. with the imaginary axis and the critical value of K are obtained using
the Routh’s criterion.

For stability all the coefficients must be positive.

ar
So the marginal value of K for stability is .

m
To find the path traced by the R.L. apply the angle criterion.

Ku
)

d
an
An
s,
m
te
ys
lS
tro
on
C

This is the equation of a circle with center at So part of the


R.L. is a circle. The complete root locus is sketched as shown in Figure 6.13.

22
Control Systems, ANAND KUMAR 23

Root Locus
1.5

0.5
Imaginary Axis

ar
-0.5

m
Ku
-1

d
an
-1.5
-3.5 -3 -2.5 -2 -1.5 -1 -0.5 0 0.5
Real Axis
An
Figure 6.13
s,

6.14 Sketch the root locus of the unity feedback system with open-loop transfer function
m
te
ys

Show that part of the root locus is a circle. Find and the corresponding value of K. Also find the
lS

transfer function for this . Determine the range of values of K for which the system is (a)
overdamped, (b) critically damped and (c) underdamped.
tro

Solution:
on

Given
C

The open loop poles are . So .


The open loop zeros is . So m = 1
The number of branches of and the number of asymptotes
1. The R.L. is symmetrical about the real axis because the open loop pole zero configuration is symmetrical
about the real axis.
2. The R.L. starts at the open loop poles and terminates on the open loop zero
and at s =
3. The angle of the only asymptote is

4. The centroid is
23
Control Systems, ANAND KUMAR 24

5. The R.L. exists on the real axis to the left of s = -2.


6. The break points are given by the solution of the equation.

.
So the break points are s = -1 and s = -3. Out of these s = -1 is the break away point and s = -3 is the break
in point.

ar
7. No angles of departures and arrivals as there are no complex poles and zeros.

m
8. The R.L. does not intersect the imaginary axis. So there is no need to apply the Routh’s criterion.

Ku
To show that part of the R.L. is a circle, apply the angle condition

d
an
An
s,
m
te
ys

This is the equation of a circle centered at


lS

The values of K at the break away point and the value of K at the break in point
is
tro

= 4.
on

For the system is underdamped.


For amd the system is critically damped.
C

For the system is overdamped.


The complete R.L. is sketched as shown in Figure 6.14.
To find draw a line tangential to the R.L. circle.
From the plot we get With this value of the value of open loop
gain = 1.
For this value of K, the poles are at
So the closed loop transfer function is

24
Control Systems, ANAND KUMAR 25

Root Locus
1.5

0.5
Imaginary Axis

ar
-0.5

m
Ku
-1

d
an
-1.5
-4 -3.5 -3 -2.5 -2 -1.5 -1 -0.5 0
Real Axis
An
Figure 6.14
s,

6.15 A unity feedback control system has an open-loop transfer function


m
te

Sketch the complete root locus of the system.


ys

Solution:
lS

Given
tro

The open loop poles are and . So


on

There are no open loop zeros. So


The number of branches of and the number of asymptotes =
C

1. The R.L.is symmetrical about the real axis because the open loop pole zero configuration is symmetrical
w.r.t. the real axis.
2. The R.L. starts at the open loop poles and and terminates on the zeros at

3. The angles of the asymptotes are

4. The centroid is

25
Control Systems, ANAND KUMAR 26

5. The root locus exists on the real axis to the left of


6. There are no break points because the R.L. from each complex pole goes to the zero at along the
asymptote. In fact the break points are given by the solution of the equation

These are not real break points.


7. The angle of departure from the complex pole is

The angle of departure from the complex pole


8. The point of intersection of the R.L. with the imaginary axis and the critical value of K are obtained using
the Routh’s criterion.

ar
m
Ku
1 13
4 K

d
an
K An
For stability
So the marginal value of K for sustained oscillations is obtained by solving the auxiliary equation.
s,
m
te

The complete R.L.is sketched as shown in Figure 6.15.


ys
lS
tro
on
C

26
Control Systems, ANAND KUMAR 27

Root Locus

10

4
Imaginary Axis

ar
-2

-4

m
-6

Ku
-8

d
-10

an
-15 -10 -5 0 5 10 15
Real Axis
An
Figure 6.15
s,

6.16 Sketch the root locus for the control system with
m
te

Show that part of the root locus is a circle.


ys

Solution:
lS

Given
The open loop poles are and . So
tro

The open loop zero is . So


The number of branches of and the number of asymptotes = 2-1
on

1. The R.L. is symmetrical about the real axis because the open loop pole zero configuration is symmetrical
about the real axis.
C

2. The R.L. starts at the open loop poles and and terminates on the zeros at

3. The angles of the asymptotes are

4. The centroid is

5. The R.L exists on the real axis to the left of


6. The break points are given by the solution of the equation

27
Control Systems, ANAND KUMAR 28

So the break points are Out of these is the actual break point.
7. The angle of departure from the complex pole is given by

The angle of departure from the complex pole


8. The R.L does not intersect the imaginary axis. So there is no need to apply the Routh’s criterion.
To show that part of the R.L is a circle, apply the angle criterion.

ar
m
Ku
Taking tangent on both sides

d
an
An
This is the equation of a circle with center at and radius
s,

The complete root locus is sketched as shown in Figure 6.16.


m

Root Locus
te

4
ys
lS

2
tro

1
Imaginary Axis

on

0
C

-1

-2

-3

-4

-10 -8 -6 -4 -2 0 2
Real Axis

28
Control Systems, ANAND KUMAR 29

Figure 6.16

6.17 Sketch the root locus of the open-loop transfer function

as K varies from zero to infinity.

Solution:
Given
The open loop poles are So
The open loop zeros are and So

ar
The number of branches of R.L and the number of asymptotes
1. The R.L. is symmetrical about the real axis because the open loop pole zero configuration is symmetrical

m
w.r.t. the real axis.

Ku
2. The R.L. starts at the open loop poles and and terminates at the open zeros
and and at .
3. The angle of the only asymptote is

d
4. The centroid is
an
An
s,

5. The R.L. exists on the real axis between and to the left of
m

6. The break points are given by the solution of the equation


te
ys
lS
tro

The break point must be between s = 0 to s = -1. By trial and error we can obtain the break point as
on

7. The angle of arrival at the complex zero is given by


C

8. The R.L. does not intersect the imaginary axis and does not go into the R.H.S. So the system is stable for
all positive values of K.
The complete R.L. is sketched as shown in Figure 6.17.

29
Control Systems, ANAND KUMAR 30

Root Locus
6

2
Imaginary Axis

ar
-2

m
Ku
-4

d
an
-6
-10 -5 0 5
Real Axis
An
Figure 6.17
s,
m
te
ys
lS
tro
on
C

30
Control Systems, ANAND KUMAR 1

CHAPTER-7

7.1 Consider the feedback system shown in Figure P7.1


(a) Find the values of K and b to satisfy the following frequency-domain specifications:
and rad/s.

(b) For the values of K and b determined in part (a) calculate the settling time and bandwidth
of the system.

ar
R(s) K C(s)

m
+ s ( s + b)
-

Ku
d
Figure P7.1

Solution:
an
An
Given and rad/s. The closed loop transfer function of the given system is
given
by
s,
m
te
ys

Comparing it with the standard form of the closed loop transfer function of a second order
system
lS
tro

we have
on

or
C

or

We know

1
Control Systems, ANAND KUMAR 2

and

or
(i)

ar
m
Ku
(ii)
Substituting we get

d
an
An
or
s,

or
Therefore,
m

rad/s
te
ys

Settling time
lS

(for 2% criterion)
(for 5% criterion)
tro

The bandwidth
on
C

rad/sec.
The result is
(a) For rad/s and
(b) For or and rad/s.

7.2 The unit-step response test conducted on a second-order system yielded and

obtain the corresponding frequency response indices for the system.

2
Control Systems, ANAND KUMAR 3

Solution:
Given and
The peak overshoot is given by

Taking natural logarithm on both sides,

Squaring both sides, we get

On cross multiplying, we get

ar
m
Ku
d
For

an
An
s,
m
te

Therefore, resonant peak


ys
lS

Given, the peak-time


tro
on
C

The undamped natural frequency


rad/s

The resonant frequency


rad/s.

The bandwidth is given by

3
Control Systems, ANAND KUMAR 4

rad/s
The result is rad/s and rad/s.

7.3 Sketch the polar plots of the transfer functions given below. Determine whether these plots
cross
the real axis. If so, determine the frequency at which the plots cross the real axis and the
corresponding magnitude .

ar
(a) (b)

m
Ku
(c) (d)

d
Solution:

an
(a) Given
An
The sinusoidal transfer function is
s,

Rationalizing
m
te
ys
lS
tro

When
on

When
C

The frequency at which the polar plot crosses the real axis is given by the solution of

i.e., it does not cross the real axis.


At
It crosses the imaginary axis at the frequency given by the solution of

4
Control Systems, ANAND KUMAR 5

i.e., or
The value of at this frequency is

Based on the above information an approximate polar plot can be drawn as shown in figure.
Im - 270•

ar
m
ω=∞
- 0 - j0 1 1 - j0

Ku
Re
-180 •
ω = 0 0•

0.4

d
an
An
7.3(a) - 90•

(b) Given
s,
m

The sinusoidal transfer function is


te
ys

Rationalizing,
lS
tro
on
C

When

When

The frequency at which the polar plot crosses the real axis is given by the solution of

5
Control Systems, ANAND KUMAR 6

or or
The value of at this frequency is

Based on the above information, an approximate polar plot is drawn as shown in figure.

Im - 270•

0.8
ω=∞
- 0+ j0

ar
Re
-180• 0•

m
1
ω= 2

Ku
- 90•

d
ω=0
an
Polar Plot Ex.7.3(b)
An
- 5 - j∞
(c) Given
s,

The sinusoidal transfer function is


m
te
ys

Rationalizing,
lS
tro
on
C

When

When

The polar plot does not cross the real axis. It crosses the imaginary axis at a fre quency given
by
the solution of

6
Control Systems, ANAND KUMAR 7

The value of at that frequency is

Based on the above information, an approximate polar plot is drawn as shown in figure.

ar
ω=0
- ∞ + j∞ Im
- 270•

m
Ku
d
1
ω= 2

an 1.6
An
-180• ω=∞ 0•
Re
0+ j0
s,
m

Polar Plot Ex.7.3(c)


- 90•
te

(d) Given
ys
lS

The sinusoidal transfer function is


tro

Rationalizing,
on
C

7
Control Systems, ANAND KUMAR 8

When

When

ar
Based on the above information, an approximate polar plot is drawn as shown in figure.

m
- ∞ + j∞ Im
ω=0

Ku
- 270•

d
an
An
ω=∞
-0 + j0

- Re
0•
s,

180•
m

Polar Plot
te

- 90•
7.4 Sketch the magnitude and phase Bode plots. Determine the gain crossover frequency, phase
ys

crossover frequency, gain margin and phase margin of the system. Comment on the stability
of the system.
lS

(a) (b)
tro

(a) Solution:
Given G(s) H(s) =
on

The sinusoidal transfer function is


C

The factors of this transfer function in order of their occurance as frequency increases are as
follows:
1. Constant gain 10
2. Pole at the origin
3. Pole at [factor 1/(1+j0.5ω)]
4. Pole at [factor 1/(1+j0.05ω)]
The pertinent characteristics of each factor are given in Table 7.1 below.

8
Control Systems, ANAND KUMAR 9

Table 7.1

Asymptotic log
Factor Corner magnitude Phase angle
characteristic
Frequency characteristic
Straight line of constant slope -20dB/

ar
None decade passing through the

m
20 log 10 Constant - 90
= 20 dB point at ω = 1

Ku
=2 Straight line of 0 dB for Phase angle varies from 0

d
to -90

an
Straight line of slope -20dB/decade for Angle at
is
An
= 20 Straight line of 0 dB for Phase angle varies from 0
s,

to -90
m

Straight line of -20dB/decade for Angle at is -


te

45 .
.
ys

The resultant magnitude plot: Upto the first corner frequency of = 2, the resultant magnitude
lS

plot is a straight line with a slope of -20dB/decade passing through the20dB point at ω = 1. For
it is a straight line with a slope if + = /decade.
tro

For it is a straight line with a slope of (-40dB)+ (-20dB) = -60dB/decade. The error
corrections are -3dB at ω = 2 and and -1dB at ω = 1 and ω = 4, at ω = 10 and ω = 40.
on

The resultant phase is


C

At ,
At ,
At ,
At ,
At ,
At ,
At ,

9
Control Systems, ANAND KUMAR 10

At ,

Based on the above information, the magnitude and phase Bode plots are drawn as shown in
Figure 7.4. From the Bode plots we find that
The gain cross over frequency
The phase cross over frequency
The gain margin = 8 dB
The phase margin = 13.2
The given system is stable

Bode Diagram

ar
40

m
20
Magnitude (dB)

Ku
0

-20

d
-40

an
-60
-90
An
-135
Phase (deg)

-180
s,
m

-225
te

-270
-1 0 1 2 3
10 10 10 10 10
ys

Frequency (rad/sec)
lS

(b) Solution:
=
tro

The sinusoidal transfer function is


on

The factors of this transfer function in order of their occurance as frequency increases are as
C

follows :
1. Constant gain 20
2. Double pole at the origin
3. Zero at s = -1 (factor 1+j )
4. Pole at s = -4 (factor )
5. Pole at s = -40 (factor )
The pertinent characteristics of each factor are given in Table 7.2 below.

10
Control Systems, ANAND KUMAR 11

Table 7.2

Asymptotic log
Factor Corner magnitude Phase angle characteristic
Frequency characteristic

None Straight line of constant slope -40dB/decade Constant -180


passing through the 20 log 20 = 26.02dB
point at

1+j Straight line of 0dB for Straight Phase angle varies from 0

ar
to 90 .
line of slope 20dB/decade for Angle at is

m
45 .

Ku
Straight line of 0dB for Straight Phase angle varies from 0

d
to -90

an
line of slope -20dB/decade for Angle at is -
45 .
An
Straight line of 0dB for Straight Phase angle varies from 0
s,

to 90
line of slope -20dB/decade for Angle at is -
m

45
te
ys

The resultant magnitude plot: Upto the first corner frequency of the resultant magnitude
plot is a straight line with a slope of -40dB/decade passing the 26.02 dB point at
lS

For it is a straight line with a slope of


tro

dB/decade. For it is a straight line with a slope of (-20 dB) + (-20


dB) = -40dB/decade. For it is a straight line with a slope of -60 dB/decade.
on

The error corrections are 3dB at , and -3dB at and and 1 dB at and
, -1 dB at and , at and
C

The resultant phase is

At ,
At ,
At ,

11
Control Systems, ANAND KUMAR 12

At ,
At ,
At ,
At ,
At ,

Based on the above information, the magnitude and phase Bode plots are drawn as shown in
Figure
7.5. From the Bode plots we find that
The gain cross over frequency
The phase cross over frequency

ar
The gain margin = 5 dB
The phase margin =7

m
The given system is stable

Ku
d
an
An
Bode Diagram

50
s,
Magnitude (dB)

0
te

-50
ys

-135
lS

-180
Phase (deg)

tro

-225
on

-270
C

-1 0 1 2
10 10 10 10
Frequency (rad/sec)

7.5 Sketch the Bode plots for the following transfer functions and determine in each case, the
system gain for the gain crossover frequency to be 10 rad/s. Comment on the stability of
the system for

(a) (b)

12
Control Systems, ANAND KUMAR 13

(a) Solution:
Given
The sinusoidal transfer function taking is

The factors of this transfer function in order of their occurrence as frequency increases are as
follows.

1. Double zero at the origin


2. Pole at

ar
3. Pole at

m
4. Pole at

Ku
The pertinent characteristics of each factor are given in table 7.3

d
an
Table 7.3
An
Factor Corner Asymptotic log magnitude Phase Angle
Characteristic
frequency Characteristic
s,
m

None Straight line of constant slope Constant


40 dB/decade passing through
te

the 0 dB line at
ys

Straight line of 0dB for . Phase angle varies from


lS

Straight line of slope dB/decade Angle at is


tro

for .
on

Straight line of 0dB for . Phase angle varies from


.
C

Straight line of slope dB/decade Angle at


is
for

Straight line of 0dB for . Phase angle varies from

Straight line of slope dB/decade angle at is

for

13
Control Systems, ANAND KUMAR 14

The resultant magnitude plot: Upto the first corner frequency , the resultant magnitude plot
is a straight line with a slope of 40 dB/decade passing through the 0dB line at . For
it is a straight line with a slope of (40 dB)+(-20 dB)= 20dB/decade. For
it is a straight line with a slope of (20dB) + (-20dB) = 0dB/decade. For
it is a straight line with a slope of (0dB) + (-20dB) = -20dB/decade.

The error corrections are - at and and

The resultant phase is

ar
m
At
At

Ku
At
At
At

d
At

an
At
At
An
The Bode plots are sketched as shown in figure 7.5(a). From the plot, for the gain cross over frequency to
be 10 rad/s, the value of K =0.14. For K = 1, . The system is stable with K = 1.
s,
m
te
ys
lS
tro
on
C

14
Control Systems, ANAND KUMAR 15

Bode Diagram
20

0
Magnitude (dB)

-20

-40

-60

ar
180

m
135

90
Phase (deg)

Ku
45

d
-45

an
-90
-1 0 1 2 3
10 10 10 10 10
An
Frequency (rad/sec)
s,

(b) Solution:
m
te

Given
ys

The sinusoidal transfer function is

Taking K = 1, the sinusoidal transfer function is


lS
tro

The factors of this transfer function in order of their occurrence as frequency increases are as
follows:
1.
on

2. pole at the origin


C

3. pole at factor
4. pole at

The pertinent characteristics of each factor are given in table 7.4

15
Control Systems, ANAND KUMAR 16

Table 7.4

Factor Corner Asymptotic log magnitude Phase Angle Characteristics


frequency Characteristics

None 0dB at all frequencies

None Straight line of constant slope constant


dB/decade passing through
the 0dB line at rad/s.

ar
Straight line of 0dB for . Phase angle varies from .

m
Straight line of slope dB/decade Angle at is
for

Ku
Straight line of 0dB for Phase angle varies from
Straight line of slope dB/decade angle at is

d
for

an
The resultant magnitude plot: Upto the first corner frequency , the resultant magnitude plot is a
An
straight line with a slope of -20 dB/decade passing through the 0dB line at . For
it is a straight line with a slope of (-20 dB)+(-20 dB)= -40dB/decade. For it is a straight line
with a slope of (-40dB)+(-20dB)=-60dB/decade.
s,

The error corrections to be made are at and and at and at


m

ω
te

The resultant phase angle is


ys
lS
tro

At 5.71 1.145 = -99.147


= 1, 45 = -157.769
= 2, 63.43 = -198.15
on

= 5, 78.69 45 = -270.99
= 10, 84.28 63.43 = -352.3
C

Based on the above information the resultant magnitude and phase plots are plotted as shown in figure
7.5(b). From the plots the value of K for a gain cross over frequency of 10 rad/s is K = 250. With
K = 1,
The system is stable with K = 1.

16
Control Systems, ANAND KUMAR 17

Bode Diagram
40

Magnitude (dB) 20

-20

-40

-60
-90

ar
-135
Phase (deg)

m
-180

Ku
-225

-270

d
-1 0 1 2
10 10 10 10

an
Frequency (rad/sec)
An
7.6 The frequency response test data of certain elements plotted on Bode diagrams and
Asymptotically approximated are shown in Figure P7.2. Find the transfer function of each
s,

element. (Elements are known to have minimum-phase characteristics).


dB
m
te

5 12 30
log ω
ys
lS

-16 20 dB/decade
tro

-20 dB/decade (a)


on

dB
C

-20 dB/decade

50 -40 dB/decade

-20 dB/decade

2.5 10 50 log ω

(b)

17
Control Systems, ANAND KUMAR 18

dB
6 dB/octave
- 6 dB/octave
42
12 dB/octave -12 dB/octave

0.5 1 5 20
(c)

ar
Figure P7.2

m
(a) Solution:
In Figure 7.6 (a) shown, the initial part of the resultant magnitude plot has a slope of -

Ku
20dB/decade. It corresponds to a pole at the origin (i.e., factor . It has a magnitude of -
3.5dB at It corresponds to the open loop gain K, where
dB

d
log
or
an
An
At the slope changes from dB/decade to zero. So a zero factor with a
corner frequency of has to be added. At the slope changes from 0 to
s,

20dB/decade. So a zero factor with a corner frequency of has to be added.


m

At the slope changes from 20dB/decade to 0dB/decade. So a pole factor


with a corner frequency of has to be added.
te
ys
lS

(b) Solution:
tro

In figure 7.6(b) shown, the initial part of the resultant magnitude plot is a straight line with slope
of -20 dB/decade. It corresponds to a pole at the origin. At , the resultant magnitude is
on

It corresponds to a open loop gain K where


C

The slope changes from -20 dB/decade to -40 dB/decade at . This must be due to a pole
factor with a corner frequency At the slope changes from
-40dB/decade to 0dB/decade. This must be due to a zero factor of with a corner
frequency At the slope changes from 0dB/decade to -20dB/decade. This must
be due to a pole factor with a corner frequency of

So the overall transfer function is

18
Control Systems, ANAND KUMAR 19

(or)
(c) Solution:
In figure 7.6 (c), the initial part of the resultant magnitude plot is a straight line with a slope of
12dB/octave, i.e., 40dB/decade. So there should be a double zero (factor ) at the origin of
the s- plane. At the slope changes from +40dB/decade to +20dB/decade. So there
must be a pole (factor , with a corner frequency At the slope

ar
changes from +6dB/octave, i.e., 20dB/decade to 0dB/decade. So there must be a pole (factor
with a corner frequency At the slope changes from 0dB/octave to

m
-6dB/octave, i.e., to
- 20dB/decade. So there must be a pole (factor with a corner frequency .

Ku
At the slope changes from -20dB/decade to -40dB/decade. So there must be a
pole (factor with a corner frequency So the transfer function is

d
an
An
s,

The value of K is obtained as follow. At the magnitude is 42 dB. From, the


m

slope is 6dB/octave. So at the magnitude must be 36dB. Now for it is a


te

straight line with a slope of 40dB/decade. So if it is continued at , the magnitude must


have been 48dB. So K is such that
ys

20 log K = 48 dB or log K = 2.4 or K = 252


lS
tro
on
C

19
Control Systems, ANAND KUMAR 1

CHAPTER-8
8.1 By using the Nyquist stability criterion, determine whether the closed-loop systems having
the following open-loop transfer functions are stable or not. If not, how many closed-loop
poles lie in the right half s-plane?

(a) (b)

(c)

ar
Solution:

m
(a) Given open-loop transfer function is

Ku
The open-loop sinusoidal transfer function is
Along the segment of the Nyquist contour of figure 8.1(a) on the -axis, s varies from

d
– to

At
an
An
At
s,
m

At
te
ys

At
lS
tro

So we get four points to draw an approximate Nyquist plot. Along the semicircular arc of the
Nyquist
on

contour (segment ) of the Figure 8.1(a).


C

where varies from through to . Therefore,

So the magnitude is zero and phase varies from i.e. from to


. So the infinite semicircular arc is mapped onto a point at the origin joining the
and points in the q(s)-plane. The Nyquist path and the Nyquist plot are shown in figures
8.1(a) and (b) respectively.

1
Control Systems, ANAND KUMAR 2

jω s-plane
jv q(s)-plane

+ j∞ C2 jv q (s )- plane
jφ ω = - ∞ω = 0
-

C1 Re
R →∞
- 1 + j0 ω =∞ ω = 0
+ u

(b) Nyquist plot


-
j0+ ω = - ∞ω = 0
- 1 + j0 ω = ∞ ω = 0 u
+
j0- σ

- j∞ (b) Nyquist plot

(a) Nyquist contour

ar
Figure 8.1
There are no open-loop poles in RHS of s-plane. So P = 0. So for stability, the Nyquist plot must

m
not encircle the -1+j0 point in q(s)-plane. In reality the Nyquist plot did not encircle the -1+j0

Ku
point. So the system is not unstable. But a pair of complex roots are on the imaginary axis of s-
plane. So the system is oscillatory.

d
(b) Given open-loop transfer function is

an
An
Open-loop transfer function in sinusoidal form is
s,
m

Rationalizing we have
te
ys
lS
tro
on

Along the segment of the Nyquist contour of figure 8.1(c) on the jω-axis, varies from to
C

At

At

At

At

2
Control Systems, ANAND KUMAR 3

So we get four points to draw an approximate Nyquist plot.


The infinite semicircular arc of the Nyquist contour (segment ) of figure 8.1(c) is mapped like
this.
Along the semicircular arc,

where varies from through to . Therefore

ar
So the magnitude is zero and phase varies from to i.e., from -270 to

m
+270 So the infinite semicircular arc is mapped on to a point at the origin joining the

Ku
and points in the q(s)-plane.

The infinitesimally small semicircular indent around the pole at the origin of figure 8.1(c)

d
represented by ( varying from through 0 to ) maps into

an
An
varies from Thus, the infinitesimal semicircular indent around the origin
s,

of the s-plane maps into a semicircular arc of infinite radius in G(s)H(s)-plane extending from
through as shown in figure 8.1(d).
m

- 5 + j∞
- 5 + j∞ q(s)-plane
q(s) -plane
te

jφ jv
jω s-plane
Re
ys

jv
+ j∞ R →∞

ω=∞
lS

ω=
C1 C2 - 0 + j0
ω=-∞
- 0.8 - 0 - j0 u

ω=∞
tro

ω = 12 - 0 + j0
j0+
X ω=-∞ u
j0- ∈ e jθ σ - 0.8 - 0 - j0
on

∈→ 0
- 5 - j∞ (d) Nyquist plot
C

- j∞
(c) Nyquist path
- 5 - j∞ (d) Nyquist plot
Figure 8.1
The point of intersection of the Nyquist plot on the real axis is obtained by equating the imaginary
part to zero, i.e.,

3
Control Systems, ANAND KUMAR 4

The value of at is obtained by substituting this value of in the real part of


G
i.e.,

So the Nyquist plot does not encircle the -1+j0 point. In this problem P = 0. Therefore, for stability
the Nyquist plot must not encircle the -1+j0 point. So the given system is stable.

(c) Given open-loop transfer function is


The open-loop sinusoidal transfer function is

ar
m
Rationalizing we have

Ku
d
an
An
s,
m

Along the segment of the Nyquist contour of figure 8.1(e) on the jω-axis, s varies from to
.
te

At ,
ys

At
lS

At
tro

At ,
on
C

So we get four points to draw an approximate Nyquist plot. The infinitesimally small semicircular
arc of the Nyquist contour of Figure 8.1(e) represented by (where varies from -90
through 0 to +90 is mapped into

into a semicircle of infinite radius extending from +180 to as shown in Figure 8.1
(f).

4
Control Systems, ANAND KUMAR 5

The infinite semicircle of the Nyquist contour of figure 8.1(e) represented by ( varies
from +90 through 0 to ) is mapped into

The map turns around the origin from as sketched in figure 8.1(f).
The point of intersection of the Nyquist plot with the real axis is obtained by equating the
imaginary part to zero. i.e.,
0

ar
Based on the above information, an approximate Nyquist plot is drawn as shown in Figure 8.1(f).
Since , for stability, the Nyquist plot must not encircle the point. It can be

m
concluded that the system is unstable as the Nyquist plot encircles the point twice in the

Ku
clockwise direction. Two poles of the closed-loop system are in the RHS of s-plane.
jv
jω jφ s-plane q(s)-plane
Re

d
+ j∞ R →∞
ω = 0+

an
- ∞ + j∞
C1 C2 An
j0+
XX jθ
ω=∞
j0- ∈e σ 0 + j0
∈→ 0
ω =-∞ u
s,

- 1 + j0
0 - j0
m
te

- j∞
(e) Nyquist path ω = 0-
- ∞ - j∞
ys

(f) Nyquist plot


lS

Figure 8.1

8.2 Sketch the Nyquist plot for a system with the open-loop transfer function given below and
tro

assess the stability of the system.


on

Solution:
C

Given open-loop transfer function is

Open-loop sinusoidal transfer function is

Rationalizing we have

5
Control Systems, ANAND KUMAR 6

Along the segment of the Nyquist contour of figure 8.1(a) on the -axis, s varies from
to
At ,

ar
m
At

Ku
At

d
an
At , An
So we get four points to draw an approximate Nyquist plot.
The infinite semicircular arc of the Nyquist contour of figure 8.1 (a) is mapped like
s,

this
m
te
ys

i.e., into a point at .


lS

The point of intersection of the Nyquist plot with the real axis is obtained by equating the
imaginary part to zero, i.e.,
tro
on

i.e., and
C

The value of the real part at these frequencies is


At real part of is
At , real part of is

Based on the above information an approximate Nyquist plot is drawn as shown in figure 8.2.
Since in this case P = 1, the Nyquist plot must encircle the -1+j0 point once in the anticlockwise
direction for the closed-loop system to be stable. From the plot we observe that this can happen if
, i.e., i.e.,

6
Control Systems, ANAND KUMAR 7

jv
q(s)-plane

ω = 0+ ω=-∞
−K K
+ j0 + j0
2 16
ω = 0- ω= ∞ u
−K K
2
- j0 - j0
16
- 0.0806K
ω = 0.6166

Figure 8.2 Nyquist plot

ar
8.3 Draw the Nyquist plot and assess the stability of the closed-loop system whose open-loop

m
transfer function is

Ku
Solution:

d
Given open-loop transfer function is

an
An
The open-loop sinusoidal transfer function is
s,

Rationalizing we have
m
te
ys

long the segment of the Nyquist contour of figure 8.1(a) on the -axis, s varies from
lS

to +
tro

At ,
on

At
C

At

At ,

So we get four points to draw an approximate Nyquist plot. The infinite semicircular arc of the
Nyquist contour of figure 8.1(a) represented by
is mapped into

7
Control Systems, ANAND KUMAR 8

The map turns around the origin from . Based on the above an approximate
Nyqyist plot is drawn as shown in figure 8.3.
jv
q(s)-plane

ω = 0-
ω=-∞ 3
+ j0
2
- 0 + j0
ω=∞ ω = 0+ u
- 0 - j0
3
2
- j0

ar
Figure 8.3 Nyquist Plot

m
Ku
8.4 Sketch the Nyquist plot and comment on the stability of the closed-loop system whose open-
loop transfer function is

d
an
Solution: An
Given open-loop transfer function is
The sinusoidal open-loop transfer function is
s,
m

Rationalizing we get
te
ys
lS
tro
on

Along the segment of the Nyquist contour of figure 8.1(c) on the -axis, s varies from -
C

At

At

At

At
8
Control Systems, ANAND KUMAR 9

So we get four points to draw an appropriate Nyquist plot. The semicircular indent around the
pole at the origin of the Nyquist contour of Figure 8.1(c) represented by ( varying from
through ) maps into

This is an infinite semicircular arc in the left half of the -plane with clockwise direction as
in figure 8.4.

ar
The infinite semicircular arc of the Nyquist contour (segment ) of figure 8.1(c) represented by

m
( varying from +90 through 0 to -90 ) is mapped into

Ku
d
an
The map turns around the origin from as sketched in figure 8.4.
The point of intersection of the Nyquist plot with the real axis is obtained by equating the
An
imaginary part of to zero, i.e.
s,
m

The value of at that point is obtained by substituting this value of in the real part of
te

i.e.,
ys

Based on the above information an approximate Nyquist plot is drawn as shown in figure
lS

8.4.
tro

3
− K + j∞
2 jv
ω = 0+
q(s)-plane
on
C

ω= 8 ω=-∞
- 0 + j0
−K
ω=∞ u
2
- 0 - j0

Figure 8.4 Nyquist plot

ω = 0-
3
− K - j∞
2

9
Control Systems, ANAND KUMAR 10

In this case P = 1. So for stability of closed-loop system, the Nyquist plot must encircle the -1+j0
point once in the counter clockwise direction. From the plot we observe that this can happen if
i.e., So the system is stable for

8.5 Sketch the Nyquist plot and assess the stability of the closed-loop system whose open-loop
transfer function is

Solution:
Given open-loop transfer function is

ar
The open-loop sinusoidal transfer function is

m
Ku
Rationalizing we get

d
an
An
s,

Along the segment of the Nyquist contour of figure 8.1(a) on the -axis, varies from
m

to +
te

At ,
ys

At
lS

At
tro

At ,
on

So we get four points to draw an approximate Nyquist plot. The infinite semicircular arc of the
C

Nyquist contour of Figure 8.1(a) represented by


is mapped into

The map turns around the origin from as sketched in figure 8.5.

10
Control Systems, ANAND KUMAR 11

The point of intersection of the Nyquist plot on the real axis is obtained by equating the imaginary
part to zero, i.e.,

i.e., and

The value of at this point is obtained by substituting this value of in the real part of
Therefore

ar
Based on the above information, an approximate Nyquist plot is drawn as shown in figure 8.5.

m
Examination of this plot reveals that for i.e., the Nyquist plot encircles the
point once in the clockwise direction.

Ku
In this case P = 0. So for stability the Nyquist plot must not encircle the point. Since for

d
the Nyquist plot encircles the point, the system is stable only for

an
jv q(s) plane
An
s,

ω = 0+ ω=-∞

3
K + j0 0 + j0
m

2
ω =30- u
- 1 + j0 ω=∞ K
− K - j0 0 - j0 256 ω = 28
te

2
ys
lS

Figure 8.5 Nyquist plot


tro

8.6 Sketch the Nyquist plot and there from assess the stability of the closed-loop system whose
open-loop transfer function is
on
C

Solution:
Given open-loop transfer function is

The open-loop sinusoidal transfer function is

11
Control Systems, ANAND KUMAR 12

Along the segment of the Nyquist contour of figure 8.1(e) on the -axis, s varies from to
.

At ,

At

At

ar
At ,

m
Ku
So we get four points to draw an approximate Nyquist plot. The semicircular indent around the pole
at the origin of the Nyquist contour of Figure 8.1(e) represented by ( varying from -90

d
through 0 to +90 ) is mapped into

an
An
s,
m

It is an infinite circular arc with clockwise directions. The infinite semicircular arc of the Nyquist
contour (segment ) of figure 8.1(e) represented by ( varying from + 90 through 0 to -
te

90 ) is mapped into
ys
lS
tro

The map turns around the origin from as sketched in Figure 8.6.
on

Looking at the imaginary part of , we observe that the Nyquist plot intersects the real
axis at
C

Substituting this value of in the real part we get that at is zero.

Based on the above information, an approximate Nyquist plot is drawn as shown in figure 8.6. In
this case P = 0. So for the closed-loop system to be stable, the Nyquist plot must not encircle the
point. So it can be concluded that the system is unstable as the Nyquist plot encircles the
point twice in the clockwise direction.

12
Control Systems, ANAND KUMAR 13

jv q(s)-plane

ω = 0+
- ∞ + j∞

ω=∞
- 0 + j0
ω=-∞ u
- 1 + j0
- 0 - j0

ar
ω = 0-
- ∞ - j∞

m
Figure 8.6 Nyquist plot

Ku
8.7 Sketch the Nyquist plot and determine there from the stability of the following feedback
control system with

d
Solution:
an
An
Given open-loop transfer function is
s,

The open-loop sinusoidal transfer function is


m
te
ys
lS
tro
on
C

Along the segment of the Nyquist contour of figure 8.1(c) on the -axis, varies from to
.

At ,

At
13
Control Systems, ANAND KUMAR 14

At

At ,

So we get four points to draw an approximate Nyquist plot.

The semicircular indent around the pole at the origin of the Nyquist contour of figure 8.1(c)
represented by ( varying from -90 through 0 to +90 maps into

ar
m
Ku
It is an infinite circular arc with clockwise directions.

d
an
The infinite semicircular arc of the Nyquist contour of figure 8.1(c) represented by
( varying form +90 through 0 to -90 is mapped into
An
s,

0
m
te

The map turns around the origin from as sketched in Figure 8.7. The
point of intersection of the Nyquist plot with the real axis is obtained by equating the imaginary
ys

part of to zero, i.e.,


lS
tro

i.e.,
on

The value of at that point is obtained by substituting this value of in the real part of
, i.e.,
C

Based on the above information, an approximate Nyquist plot is drawn as shown in figure 8.7. It
crosses the real axis at with an intercept of .
The given open-loop transfer function has no poles in the RHS of s-plane. So P = 0. For the closed-
loop system to be stable the Nyquist plot must not encircle the -1+j0 point. From the plot we can
see that for this to happen i.e.,

14
Control Systems, ANAND KUMAR 15

jv
ω = 0- q(s)-plane
−K
18
+ j∞

ω=∞
ω= 6 - 0 + j0
−K ω=-∞ u
- 0 - j0
12

ar
m
ω = 0+
−K
- j∞
18
Figure 8.7 Nyquist plot

Ku
8.8 Sketch the inverse polar plot and there from assess the stability of a control system with an

d
open-loop transfer function

an
An
Solution:
Given open-loop transfer function is
s,
m
te

Therefore the sinusoidal inverse transfer function is


ys

=
lS

Along the segment of the Nyquist contour of figure 8.1(c) on the -axis, s varies from to
.
tro

At ,
on

At
C

At

At ,

So we get four points to draw an approximate Nyquist plot.

The semicircular indent around the origin of the Nyquist contour of Figure 8.1(c) represented by
; where varies from - 90 through 0 to + 90 is mapped into plane as

15
Control Systems, ANAND KUMAR 16

which is a point at the origin with varying from + 0


The infinite semicircular arc of the Nyquist contour (segment ) of Figure 8.1(c) represented by
; where varies from +90 through 0 to -90 is mapped into the plane
as

which is a circle of infinite radius with phase angle varying from +180 .

ar
The inverse polar plot of obtained from the above steps is shown in
Figure 8.8. It is observed that the point is not encircled by locus. Since

m
has no poles in the right half s-plane, the system is stable.

Ku
jv
1
G (s )H (s )
-plane

d
an
ω = +∞
- ∞ + j∞ ω = 0+
An
- 0 + j0
ω = 0- u
ω=-∞ - 0 - j0
- ∞ - j∞
s,
m
te
ys

Figure 8.8 Nyquist plot

8.9 The open-loop transfer function of a unity feedback system is


lS
tro

(a) Determine the value of so that GM is 20 dB.


(b) Determine the value of so that PM is
Solution:
on

(a) Determination of for a gain margin of 20 dB:


For the given , the sinusoidal transfer function is
C

At the phase crossover frequency , the is real and so equate the imaginary part to zero
and solve for . Therefore

Since
The Nyquist plot intersects the real axis at a point where is real
16
Control Systems, ANAND KUMAR 17

Given that i.e.,

(b) Determination of K for a phase margin of 30 :


Let be the gain crossover frequency. Then for a PM of 30

ar
Taking the on both sides,

m
Ku
d
an
0.01732 An 0.52

we get
s,

Hence
m
te

i.e.,
ys
lS

The value of K for a GM of 20dB is .


The value of K for a PM of 30 is
tro

Determine the gain crossover frequency, phase crossover frequency, gain margin, and
on

phase margin of a system with the open-loop transfer function given below and comment on the
stability of the system.
C

Solution:
Determination of phase crossover frequency and gain margin :
The given open-loop transfer function is .
The sinusoidal transfer function is

17
Control Systems, ANAND KUMAR 18

At the phase crossover frequency the imaginary part of is zero. Hence put in
the imaginary part and equate it to zero to solve for . Therefore

Since

i.e.,
The gain margin is defined as the reciprocal of the magnitude of at the phase crossover
frequency.

ar
Therefore,

m
Ku
in dB = dB
Determination of gain crossover frequency and phase margin for the given

d
an
An
s,
m

At the gain crossover frequency the magnitude of is unity. Therefore at


te
ys

By trial and error we get that


Let the phase of at be
lS

At
tro

Therefore, phase margin


on
C

Since the GM and PM are positive, the system is stable.

18
Control Systems, ANAND KUMAR 1

CHAPTER-9
9.1 The open-loop transfer function of a unity feedback system is

Design a suitable lead compensator to meet the following specifications.

• Velocity error constant =


• Phase margin

ar
m
Solution:

Ku
The given open-loop transfer function is

d
Given
an
An
The open-loop transfer function in sinusoidal time constant form is
s,
m

The Bode plots of the system with are drawn as shown in Figure 9.1. The phase margin of the
uncompensated system is and the gain crossover frequency is 4.5 rad/s. GM = ∞ and phase crossover
te

frequency = ∞. Since a lead compensator is to be designed, the phase lead required at the new gain crossover
frequency is given by
ys

The attenuation factor


lS
tro

The magnitude contribution of the compensating network at is


on

Therefore, the frequency at which the uncompensated system has a magnitude of becomes the new
crossover frequency when the lead network is added. From the Bode plot of figure 9.1, we find
C

.
Lower corner frequency of the network,

Upper corner frequency of the network,

The transfer function of the lead network (with amplifier) therefore becomes

1
Control Systems, ANAND KUMAR 2

The amplification necessary to cancel the lead network attenuation is

The open-loop transfer function of the lead compensated system is

The magnitude and phase Bode plots of the lead compensated system are drawn as shown in Figure 9.1
From the plots, the new gain crossover frequency is 6.2 rad/sec and the corresponding phase margin is
which satisfies the requirement of The phase crossover frequency = ∞ and the GM = ∞. So the
design is complete.
Bode plots of uncompensated system
Up to the first corner frequency , the resultant magnitude plot is a straight line with a slope of

ar
-20dB/decade passing through the For it is a straight line with a
slope of .

m
The resultant phase plot is with phase angle i.e. with
at at at

Ku
at , at at and at rad/s.
Bode plots of lead compensated system
Up to the first corner frequency the resultant magnitude plot is a straight line with a slope of

d
having a magnitude of 21.6 dB at . From to it is a straight line a slope of

an
dB/decade. From to it is a straight line with a slope of and for
rad/sec it is a straight line with a slope of dB/decade with corrections.
An
The phase plot is with phase angle

i.e. with at at at and at


s,

rad/sec.
m

Bode Diagram
te

40

20
ys
Magnitude (dB)

0
lS

-20
tro

-40
-90
on
Phase (deg)

-135
C

-180
-1 0 1 2 3
10 10 10 10 10
Frequency (rad/sec)

Figure 9.1

9.2 The open-loop transfer function of a type-2 unity feedback system is

2
Control Systems, ANAND KUMAR 3

Design a suitable lead compensator to meet the following specifications.

• Acceleration error constant =


• Phase margin

Solution:

Given open-loop transfer function is


and

ar
m
The given open-loop transfer function in sinusoidal time constant form is

Ku
The magnitude and phase Bode plots of the above system are drawn as shown in Figure 9.2. From these plots, it

d
can be seen that the gain crossover frequency is rad/s, and the phase margin is The

an
phase crossover frequency = 0 and GM is negative. The uncompensated system is absolutely unstable.
Since the required phase margin is , the phase lead needed at the gain crossover frequency of the
An
compensated system is obtained as

Here is the estimated reduction in the phase angle of fixed part of the transfer function since
s,

A large value of has been selected because is decreasing at a faster rate, since the final slope
m

of the log magnitude curve is dB/decade.


te

Since using a single lead network to give such a large phase lead is not advisable, a double lead
ys

network is selected so that each section has to provide a maximum phase lead of
Therefore .
lS

The attenuation factor of each lead section is


tro

From the plot of the uncompensated system, we can see that the gain
on

occurs at rad/s. This should be the gain crossover frequency of the compensated system. Choosing
C

rad/s, the network corner frequencies are


rad/s or
rad/s or
Thus, the transfer function of each section of the double lead network (with the attenuation cancelled
by an amplification ) is

The transfer function of the double lead network becomes

3
Control Systems, ANAND KUMAR 4

The net additional amplifier gain required is . Cascading this amplifier between the
two sections of the lead network provides the isolation needed to prevent the second section from
loading the first one.
The open-loop transfer function of the system compensated by the double lead network is given by

The Bode plots of the lead compensated system are drawn as shown in Figure 9.2. From the Bode plots, we can
see that the phase margin at the new gain crossover frequency of is . The phase crossover

ar
frequency = 11.5 rad/s and the GM = 4dB. This indicates that the system has become stable and the desired
phase margin is also fully achieved.

m
Bode plots of uncompensated system

Ku
Up to the first corner frequency , the resultant magnitude plot is a straight line with a slope of
dB/decade passing through the dB point at . For it is a straight line with a
slope of dB/decade.

d
The resultant phase plot is with phase angle

an
, i.e. with
at at at
An
at , at at
at , at , and at rad/s
s,

Bode plots of lead compensated system


m

Up to the first corner frequency the resultant magnitude plot is a straight line with a slope of
having a magnitude of 20 dB at . For .518 upto it is a straight line with zero
te

slope. For up to it is a straight line with a slope of and for it is a


straight line with a slope of dB/decade, all with necessary corrections.
ys

The resultant phase plot is with phase angle


lS

i.e. with value of


at , at at
tro

at at , at
at at at .
on
C

4
Control Systems, ANAND KUMAR 5

Bode Diagram
60

40

Magnitude (dB)
20

-20

-40
-135

-180
Phase (deg)

ar
-225

m
-270
-1 0 1 2 3
10 10 10 10 10
Frequency (rad/sec)

Ku
Figure 9.2

d
9.3 A unity feedback system has an open-loop transfer function

an
An
Design a phase-lag compensator for this system to meet the following specifications.
s,

• Velocity error constant =


m

• Phase margin
te

Also compare the crossover frequencies of the uncompensated and compensated systems.
ys

Solution:
lS

The given open-loop transfer function is


tro
on
C

The open-loop transfer function is

The open-loop transfer function in sinusoidal time constant form is

The magnitude and phase Bode plots of are drawn as shown in Figure 9.3. From these plots we
observe that the phase margin is and the gain crossover frequency is 3.2 rad/s. The phase crossover
frequency = 3.2 rad/s and the gain margin = 1dB. The uncompensated system is just stable.
From the Bode plots we can observe that, neglecting the phase lag contribution of the lag network, the specified
phase margin of is obtained, if the gain crossover frequency is 1.1 rad/s. Since this is fairly low, the upper

5
Control Systems, ANAND KUMAR 6

cutoff frequency of the lag network cannot be taken far to its left in order to avoid large time constants. That
means, the phase lag contribution of the lag network at the new crossover frequency will be considerable and
may be guessed as The uncompensated system must therefore make a phase margin contribution of

at which is found from the Bode plots of Figure 9.3 to be 0.8 rad/s.
Placing the upper corner frequency of the compensator two octaves below , we have
rad/s or
To bring the log magnitude curve down to zero dB at , the lag network must provide an attenuation of 20dB.
Therefore,
or
The lower corner frequency of the lag network is then fixed at
rad/s or

ar
The transfer function of the compensating network is then

m
Ku
Phase lag introduced by the lag network at is

d
So it would have been appropriate to take .

an
The open-loop transfer function of the compensated system becomes
An
The Bode plot of the lag compensated system G(s) is as shown in Figure 9.3. From that plot, the phase margin of
the compensated system is found to be which is almost equal to the expected value. The new gain crossover
s,

frequency is 0.8 rad/s. The phase crossover frequency = 2.8 rad/s and the GM = 12dB
m

Bode plot of uncompensated system


te

Up to the first corner frequency the magnitude plot is a straight line with a slope of dB/decade
having a magnitude of 20dB at . From to it is a straight line with a slope of dB/decade
ys

and for , it is a straight line with a slope of dB/decade with necessary corrections.
The phase plot is with a phase angle
lS

, i.e. with
at at at
tro

at , at at
at , at , and at
at and at rad/s.
on

Bode plot of the lag compensated system


C

Up to the first corner frequency it is a straight line with a slope of , from


it is a straight line with a slope of dB/decade, from it is a straight line
with a slope of , from it is a straight line with a slope of dB/decade and
for it is a straight line with a slope of dB/decade with necessary corrections.
The phase plot is with phase angle

i.e. with value of


at , at at
at at , at
at at at .

6
Control Systems, ANAND KUMAR 7

at and at rad/s.

Bode Diagram
60

40

Magnitude (dB)
20

-20

-40

-60
-90

-135
Phase (deg)

ar
-180

m
-225

Ku
-270
-3 -2 -1 0 1 2 3
10 10 10 10 10 10 10
Frequency (rad/sec)

d
Figure 9.3

an
9.4 Consider a system with an open-loop transfer function
An
s,

Design a suitable lag-lead compensator to meet the following specifications.


m
te

• Velocity error constant =


• Phase margin
ys

• Bandwidth
lS

Also compare the crossover frequencies of the uncompensated and compensated systems.

Solution:
tro

The given open-loop transfer function is


on
C

So the sinusoidal transfer function of the system in time constant form is

The magnitude and phase Bode plots of are drawn as shown in Figure 9.4. From the Bode plots, it is
seen that the uncompensated system has a gain crossover frequency of 8.5 rad/s ( ) and a phase margin of
. The phase crossover frequency = 7.5 rad/s and the GM = 1dB. The uncompensated system is therefore
unstable for the specified . A lag-lead compensator is to be provided.
First let us select a lag compensator so that it partially compensates the requirement of phase margin. Let it
provide a phase margin of so that the new crossover frequency will be 4 rad/s. For this to become the

7
Control Systems, ANAND KUMAR 8

crossover frequency, as seen from the Bode plot, the magnitude plot must be down by 13dB. So the parameter
of the lag section is

Let us now choose the upper corner frequency of lag section two octaves below this new gain crossover
frequency of 4 rad/sec. Therefore

The lower corner frequency of the lag network is then fixed at


rad/s or

ar
Therefore, the transfer function of the lag compensator is

m
Ku
So the lag section compensated system is

d
The magnitude and phase Bode plots of the lag section compensated system are shown in Figure 9.4. From the

an
plots, it can be seen that the lag section compensated system has a phase margin of and a gain crossover
frequency of 3.3 rad/s. The phase crossover frequency = 6.8 rad/s and GM = 10 dB
An
To design the lead section, select
s,

The maximum phase lead that can be provided by the lead network is
m
te

To fully utilize the lead effect, choose the compensated crossover frequency to coincide with . So is the
ys

frequency at which the lag section compensated system has a dB gain of


lS

From the magnitude Bode plot of the lag compensated system, it can be observed that dB magnitude plot
occurs at rad/s. Then the lower corner frequency of the lead network is
tro

or
on

The upper corner frequency of lead network is


C

or

So the transfer function of the lead network is

So the transfer function of the lag-lead compensated system is

8
Control Systems, ANAND KUMAR 9

The magnitude and phase Bode plots of the lag-lead compensated system are shown in Figure 9.4. From the
Bode plots we can see that the phase margin of the compensated system is and the gain crossover frequency
is 7 rad/s. The phase crossover frequency = 9 rad/s and the gain margin = 10dB.
Bode plots of uncompensated system

Up to the first corner frequency of , it is a straight line with a slope of dB/decade having a magnitude
of dB at From to it is a straight line with a slope of dB/decade and
for rad/s it is a straight line with a slope of dB/decade with necessary corrections. Its phase is with
a phase angle.

ar
, i.e. with
at at at

m
at , at at
at , at , and at

Ku
Bode plots of lag compensated system
Up to the first corner frequency of it is a straight line with a slope of -20 dB/decade having a

d
magnitude of 28dB at . From 0.188 to it is a straight line with a slope of -40 dB/decade. From

an
it is a straight line with a slope of – 20 dB/decade. From to it is a straight line with
a slope of -40dB/decade. For rad/s it is a straight line with a slope of -60dB/decade with necessary
An
corrections.

Its phase plot is with a phase angle


s,
m

i.e with
at , at at
te

at at , at
at , at , at rad/s.
ys

Bode plots of lag-lead compensated system


lS
tro
on

Up to the first corner frequency of it is a straight line with a slope of -20 dB/decade having a
magnitude of 28 dB at . From to it is a straight line with a slope of dB/decade, from
C

to it is a straight line with a slope of 0dB/decade. From to it is a straight line with


a slope of -20 dB/decade. From to it is a straight line with a slope of -40 dB/decade and for
rad/s it is a straight line with aslope of -60dB/decade.

Its phase plot is with a phase angle


i.e with
at , at at
at at , at
at , at , at and at rad/s.

9
Control Systems, ANAND KUMAR 10

Bode Diagram
80

60

40
Magnitude (dB)

20

-20

-40
-90

-135
Phase (deg)

ar
-180

m
-225

Ku
-270
-2 -1 0 1 2 3
10 10 10 10 10 10
Frequency (rad/sec)

Figure 9.4

d
an
An
s,
m
te
ys
lS
tro
on
C

10
Control Systems, ANAND KUMAR 1

CHAPTER-10
10.1 A feedback system has a closed-loop transfer function

(a) (b) (c)

Construct three different state models for this system and give block diagram representation for
each state model.

Solution:

ar
(a) Given

m
Ku
(i) Direct decomposition

d
an
Express the numerator and denominator in negative powers of s.
An
Multiply and divide by a dummy variable
s,
m
te

Equate the numerators and denominators on both sides of the above equation.
ys
lS

Write the equation for R(s) in cause and effect from


tro

Construct the state diagram based on the above equations as shown below.
on
C

1
Control Systems, ANAND KUMAR 2

10

s-1 x3 s-1 x2 s-1 x1 30


U(s) x(s) Y(s)
s-1x(s) s-2x(s) s-3x(s)
-6

-8
State diagram for direct decomposition

ar
m
The state variables are defined as the outputs of the integrators.

Ku
From the state diagram the dynamic equations are

d
Writing them in matrix form the state model is
an
An
s,
m
te

(ii) Cascade decomposition


ys

The given transfer function can be written as


lS
tro

To obtain the state diagram decompose each product term using direct decomposition and connect
them in cascade as shown in figure below.
on

1
s-1 s-1
C

10 1 1 s-1 3
U(s)
Y(s) x2
x3 x3 x2 x1 x1
-2 -4
State diagram for cascade decomposition

Considering the outputs of the integrators as state variables, we have

2
Control Systems, ANAND KUMAR 3

The state model is

(iii) Parallel decomposition

ar
The given transfer function can be written in terms of partial fractions as

m
Ku
The state diagram of the system is shown in figure below.

d
an
s-1 3.75
x1 x1
An
1 1
1 1 s-1 - 2.5 1 1
U(s) Y(s)
s,

U(s) x2 x2 Y(s)
1
m

-2 1
s-1 2.5
te

x3 x3
ys
lS

-4
State diagram for parallel decomposition
tro

Selecting the outputs of the integrators as state variables we have


on
C

The state model is

3
Control Systems, ANAND KUMAR 4

(b) Given
(i) Direct decomposition

Express the numerator and denominator in negative powers of s

ar
Multiply and divide by a dummy variable X(s)

m
Ku
d
an
Equate the numerators and denominators on both sides of the above equation.
An
Write the equation for U(s) in cause and effect form
s,

Construct the state diagram based on the above equations as shown below.
m

s-1 x3 s-1 x2 s-1 x1 5


U(s) Y(s)
te

x(s) s-1x(s) s x(s)


-2
s-3x(s)
ys

-5
lS

-8
tro

-4
State diagram for direct decomposition
on

The state variables are defined as the outputs of the integrators.


C

From the state diagram the dynamic equations are

Writing them in matrix form the state model is

4
Control Systems, ANAND KUMAR 5

(ii) Cascade decomposition


The given transfer function can be written as

To obtain the state diagram decompose each product term using direct decomposition and connect
them in cascade as shown in figure below.

ar
m
5 s-1 1 s-1 1 s-1 1
U(s) Y(s)

Ku
x3 x3 x2 x2 x1 x1

-1 -2 -2

d
State diagram for cascade decomposition

an
An
Considering the outputs of integrators as state variables, we have
s,
m
te

The state model is


ys
lS
tro
on
C

(iii) Parallel decomposition

The given transfer function can be written in terms of partial fractions as

The state diagram of the system is shown in figure below.

5
Control Systems, ANAND KUMAR 6

s-1 5
x1 x1
1 -1 1
1 s-1 -5 1
U(s) x2 Y(s)
U(s) x2 Y(s)
-2
1
s-1
x3 x3 - 5

-2
State diagram for parallel decomposition

ar
m
Ku
Selecting the outputs of the integrators as state variables we have

d
an
An
The state model is
s,
m
te
ys
lS

(c) Given
tro

(i) Direct decomposition


on
C

Express the numerator and denominator in negative powers of s.

Multiply and divide by a dummy variable X(s)

6
Control Systems, ANAND KUMAR 7

Equate the numerators and denominators on both sides of the equation

Write the equation for U(s) in cause and effect from

Construct the state diagram based on the above equations as shown below.

ar
m
9
23

Ku
1 s-1 x3 s-1 x2 s-1 x1 15
U(s) Y(s)

d
x(s) s-1x(s) s-2x(s) s-3x(s) C(s)

-12
an
An
- 44
s,

- 48
State diagram for direct decomposition
m
te
ys

Taking the outputs of the integrators as state variables from the state diagram the dynamic
equations are
lS
tro
on

Writing them in matrix form, the state model is


C

(ii) Cascade decomposition


The given transfer function can be written as

7
Control Systems, ANAND KUMAR 8

To obtain the state diagram decompose each product term using direct decomposition and connect
them in cascade as shown in figure below.

1 1
1

s-1 1 1 s-1 3 1 s-1 5 1


U(s) x1 Y(s)
x3 x3 x2 x2 x1

-2 -4 -6

ar
State diagram for cascade decomposition

m
Ku
Considering the outputs of the integrators as state variables, we have

d
an
An
The state model is
s,
m
te
ys
lS

(iii) Parallel decomposition


tro

The given transfer function can be written in terms of partial fractions as


on
C

The state diagram of the system is shown below.

8
Control Systems, ANAND KUMAR 9

s-1 - 3/8
1 x1 x1 1
1 -2 1
1 1 s-1 - 3/4 1 1
U(s) Y(s)
U(s) x2 x2
1 -4 1
s-1 - 15/8
x3 x3

ar
-6

m
State diagram for parallel decomposition

Ku
Selecting the outputs of the integrators as state variables, we have

d
an
An
The state model is
s,
m
te
ys
lS
tro

10.2 Using parallel decomposition, construct state models for the systems represented by
on

(a) (b) (c)


C

Solution:
(a) Given transfer function can be written as

9
Control Systems, ANAND KUMAR 10

The state diagram of the system is shown in figure below.

s-1 1/2
x1
-1 x1

s-1 1/4 1
x2 x2
-1 1

1 1 s-1 - 13/4 1 1
U(s) x3 Y(s)
U(s) x3 Y(s)

ar
-1 1

m
s-1 2
x4
x4 1

Ku
-2

s-1 5 1

d
x5 x5

-2
an
An
s-1 5/8
x6 x6
s,

-3
State diagram for parallel decomposition
m
te
ys

Selecting the outputs of the integrators as state variables, we have


lS
tro
on
C

The state model is

10
Control Systems, ANAND KUMAR 11

ar
m
(b) The given transfer function is

Ku
d
The state diagram of the system is shown in figure below.
an
An
s-1 -1
x1
s,

-1 x1
m
te

s-1 0 1
x2 x2
ys

-1
1
lS

1 s-1 -1 1 1
U(s) x3 Y(s)
U(s) Y(s)
tro

x3
1 1
-1
on

s-1 1/2
1
x4
C

1 x4
-2

s-1 1/2
x5 x5
State diagram for parallel decomposition

Selecting the outputs of integrators as state variables, we have

11
Control Systems, ANAND KUMAR 12

The state model is

ar
m
Ku
d
an
An
(c) The given transfer function is
s,
m

The state diagram of the system is shown below.


te
ys

s-1 10/3
x1
lS

x1
1
tro

-3

1 1 s-1 -5/9 1 1
on

U(s) Y(s)
U(s) x2 x2 Y(s)
C

1 -3
1
s-1 5/3
x3 x3
State diagram for parallel decomposition

Selecting the outputs of the integrators as state variables, we have

12
Control Systems, ANAND KUMAR 13

The state model is

ar
m
10.3 Construct state models for the following differential equations

Ku
(a) (b)

d
(c) (d)

an
An
(e) (f)

Solution:
s,

(a) Given differential equation is


m

No derivatives of input are present in the differential equation. So the state variables can be
te

phase variables.
ys

Define the state variables as.


lS
tro

Equating the highest order term to all other terms we have


on
C

So the first order differential equations constituting the state equations are

The output equation is

The state model based on the above equations is

13
Control Systems, ANAND KUMAR 14

(b) Given differential equation is

Integrating both sides we have

ar
No derivatives of input are present in the differential equation. So state variables can be phase

m
variables.
Define the state variables as

Ku
d
an
Equating the highest order term to other terms, we have
An
s,

The first order differential equations constituting the state equations are
m
te
ys

The output equation is


lS

The state model based on the above equation is


tro
on
C

(c) Given differential equation is

There are no derivates of input in the differential equation. So the state variables can be phase
variables.

Define the state variables as

14
Control Systems, ANAND KUMAR 15

Equating the highest order term to other terms, we have

So the first order differential equations constituting the state equations are

ar
m
The output equation is

Ku
The state model based on the above equations is

d
an
An
s,
m
te

(d) Given differential equation is


ys
lS

Derivatives of input are also present in the given differential equation so state variables cannot be
the phase variables. Comparing this with the standard third-order differential equation
tro
on

we have
C

Therefore

The state variables are defined as

15
Control Systems, ANAND KUMAR 16

Also

The state and output equations are therefore

The state model in vector matrix form is

ar
m
Ku
(e) Given differential equation is

d
Derivatives of input are also present in the given differential equation, so state variables cannot be

an
phase variables.
Comparing this with the standard third order differential equation, we have
An
s,

Therefore
m
te
ys

The state variables are defined as


lS
tro
on

Also
The state and output equations are therefore
C

The state model in vector matrix form is

16
Control Systems, ANAND KUMAR 17

(f) Given differential equation is

Differentiating the above equation, we have

Derivatives of input are present in the obtained differential equation so state variables cannot be
phase variables.

ar
Comparing this with the standard fourth order differential equation, we have

m
Ku
Therefore

d
an
An
The state variables are defined as
s,
m
te
ys

Also
lS

The state and output equations are therefore


tro
on
C

The state model in vector matrix form is

17
Control Systems, ANAND KUMAR 18

10.4 The state equations of a linear time-invariant system are represented by

Find the state transition matrix , the characteristic equation and the eigen values of A and
stability for the following cases.

(a) (b)

(c) (d)

(e) (f)

ar
(g) (h)

m
(i) (j)

Ku
(k) (l)

(m) (n)

d
an
(o) (p)
Solution:
An
(a) Given
s,
m
te
ys
lS
tro
on
C

18
Control Systems, ANAND KUMAR 19

The characteristic equation is and the roots are


Both the roots have negative real parts. So the system is stable. Eigen values and roots are same.
(b) Given

ar
m
Ku
d
an
An
s,
m
te
ys
lS

The characteristic equation is . So it is So roots


are s . The eigen values are
tro

(c)
on
C

The characteristic equation is . The roots are So the eigen values


are
. One root has positive real part so the system is unstable.

19
Control Systems, ANAND KUMAR 20

(d) Given

ar
The characteristic equation is . The roots are . So the eigen values
are There are a pair of complex conjugate roots on the imaginary axis. So

m
the system is marginally stable.

Ku
(e)

d
an
An
s,
m
te
ys

The characteristic equation is . The roots are So the


lS

eigen
values are All the roots have only negative real parts. So the system is
tro

stable.
(f)
on
C

20
Control Systems, ANAND KUMAR 21

The characteristic equation of the system is . The roots are So


the eigen values are Since one root is at the origin, the system is marginally
stable.

(g)

ar
m
Ku
d
an
An
The characteristic equation is . The roots are So the
eigen
s,

values are Since both the roots have only negative real parts the system is
m

stable.
te

(h)
ys
lS
tro
on
C

The characteristic equation is . The roots are So


the

21
Control Systems, ANAND KUMAR 22

eigen values are Since both the roots have only negative real parts
the system is stable.

(i)

ar
m
Ku
d
an
An
The characteristic equation is . The roots are So the eigen
values are Since both the roots have negative real parts the system is
stable.
s,
m

(j)
te
ys
lS
tro
on
C

The characteristic equation is . The roots are So the eigen values are
. Since one root is at the origin the system is marginally stable.

(k)

22
Control Systems, ANAND KUMAR 23

ar
m
Ku
d
an
An
The characteristic equation is . The roots are
s,

. So the eigen values are . Since both the


roots have only negative real parts the system is stable.
m
te

(l)
ys
lS
tro
on
C

= =

23
Control Systems, ANAND KUMAR 24

The characteristic equation is . The roots are


So the eigen values are Since the real parts of all
the roots are negative the system is stable.

(m)

ar
m
Ku
d
The characteristic equation is
an
The roots are s = 0, s = -5. So the eigen
An
values are Since there is one root at the origin of the s-plane the
system is marginally stable.
s,

(n) Given
m
te
ys
lS
tro
on
C

The characteristic equation is . The roots are . So


the eigen values are . Since the real parts of all the roots are
negative the given system is stable.

(o) Given

24
Control Systems, ANAND KUMAR 25

ar
The characteristic equation of the system is . The roots are . So the

m
eigen values are Since there is a pair of roots on the imaginary axis the
given system is limitedly stable.

Ku
(p)

d
an
An
s,
m
te
ys
lS
tro

The characteristic equation of the system is . The roots are


. So the eigen values are .
on

Since both the roots have only negative real parts the system is stable.
C

10.5 The state equations of a linear time-invariant system are represented by

Find the state transition matrix , the characteristic equation, and the eigen values of A and
stability for the following cases.

(a) , (b)

25
Control Systems, ANAND KUMAR 26

(c) (d)

(e) (f)

(g) (h)

Solution:

ar
m
(a) Given ,

Ku
d
an
An
=
s,
m
te
ys
lS
tro
on
C

The characteristic equation of the system is The roots of the characteristic


equation are So the eigen values are and
Since all the roots have negative real parts the given system is stable.

26
Control Systems, ANAND KUMAR 27

(b) Given

ar
m
Ku
d
an
An
s,
m
te
ys
lS

The characteristic equation of the system is The roots of the


tro

characteristic equation are So the eigen values are


and Since all the roots have only negative real parts the system is stable.
on

(c) Given
C

27
Control Systems, ANAND KUMAR 28

ar
m
Ku
d
The characteristic equation of the system is
an The roots are
An
So the eigen values are and Since one of the roots is
at the origin the system is limitedly stable.
s,
m

(d) Given
te
ys
lS
tro
on
C

28
Control Systems, ANAND KUMAR 29

ar
The characteristic equation is The roots of the characteristic equation are

m
So the given eigen values are

Ku
Since all the roots have only negative real parts the system is stable.

d
(e) Given

an
An
s,
m
te
ys
lS
tro
on
C

29
Control Systems, ANAND KUMAR 30

The characteristic equation of the system is The roots of the characteristic


equation are So the eigen values are and Since
all the roots have positive real parts the given system is unstable.

(f) Given

ar
m
Ku
d
an
An
s,
m
te
ys
lS
tro
on
C

The characteristic equation of the system is . The roots of the characteristic


equation are So the eigen values are and Since
all the roots have positive real parts the given system is unstable.

30
Control Systems, ANAND KUMAR 31

(g) Given

ar
m
Ku
d
an
An
s,
m
te
ys
lS
tro
on
C

The characteristic equation is The roots of the characteristic equation are


So the eigen values are and Since all
the roots have negative real parts the system is stable.

31
Control Systems, ANAND KUMAR 32

(h) Given

ar
m
Ku
d
an
An
s,
m
te
ys
lS
tro
on
C

32
Control Systems, ANAND KUMAR 33

The characteristic equation is . The roots of the characteristic equation are


So the eigen values are
and One root is at the origin. So the system is limitedly
stable.

10.6 Derive transfer functions corresponding to the following state models.

(a)

(b)

ar
m
(c)

Ku
d
(d)

an
An
(e)
s,
m

(f)
te
ys

(g)
lS
tro

(h)
on

Solution:
C

(a) x

Here

The transfer function is given by

33
Control Systems, ANAND KUMAR 34

(b) Given

ar
m
Ku
Here

d
an
An
s,

The transfer function corresponding to the given state model is


m
te

=
ys
lS

(c) Given state model is


tro
on
C

Here

34
Control Systems, ANAND KUMAR 35

The transfer function for the given state model is

ar
m
Ku
d
an
An
s,

(d) Given state model is


m
te
ys
lS

Here
tro
on
C

The transfer function corresponding to the given state model is

35
Control Systems, ANAND KUMAR 36

ar
m
(e) Given state model is

Ku
d
an
Here
An
s,
m
te
ys
lS
tro
on
C

The transfer function corresponding to the given state model is

36
Control Systems, ANAND KUMAR 37

ar
m
Ku
(f) Given state model is

d
an
An
Here
s,
m
te
ys
lS
tro
on
C

The transfer function corresponding to the given state model is

37
Control Systems, ANAND KUMAR 38

(g) Given state model is

Here

ar
m
Ku
d
an
An
s,
m
te

The transfer function corresponding to the given state model is


ys
lS
tro
on
C

(h) The given state model is

38
Control Systems, ANAND KUMAR 39

Here

ar
m
Ku
d
an
An
The transfer function corresponding to the given state model is
s,
m
te
ys
lS
tro
on

10.7 (a) (i) Find of the system described by


C

where the initial conditions are

(ii) If it has a forcing function and is represented by

where u is the unit-step function,

Compute the solution using the same initial conditions.

39
Control Systems, ANAND KUMAR 40

(b) Find the state transition equations for the system described by

where u is a unit-step input.

(c) (i) Find the solution of the homogenous state equation

(ii) Find the state transition equation for the system

ar
where u is unit-step input.

m
Ku
Solution:

d
(a) Given state model is

an
An
s,
m
te
ys
lS
tro

The response of the system is


on
C

The response in time domain is

40
Control Systems, ANAND KUMAR 41

(ii.) If it has a forcing function – a unit step function and B = , then the solution is

ar
m
Ku
Taking inverse Laplace transform

d
an
An
s,

(b) The system is described by


m
te
ys

Here A =
lS
tro

Therefore,
on
C

The state transition equation is

41
Control Systems, ANAND KUMAR 42

Taking inverse Laplace transform on both sides, we have

(c) The given state model is

ar
m
Ku
d
Therefore

an
An
s,

The solution of homogeneous state equation is


m
te

= =
ys

Taking inverse Laplace transform, we have


lS
tro
on
C

(ii)

Therefore, the solution of the homogeneous state equation is

42
Control Systems, ANAND KUMAR 43

Taking inverse Laplace transform on both sides we have

ar
10.8 Consider the system

m
Ku
(a) Determine the stability of the system

d
(b) Find the response of the system to a unit-step input.

an
(c) Also determine the output of the system.
An
Solution:

The given state model is


s,
m
te
ys

Here
lS
tro
on
C

The characteristic equation is The roots of the characteristic equation are


and Since one pole is at the origin, the system is limitedly stable.

The response of the system for a unit-step input is

43
Control Systems, ANAND KUMAR 44

Taking inverse Laplace transform we have

ar
The output of the system is given by

m
Ku
d
an
An
Taking inverse Laplace transform we get the output
s,
m
te

10.9 (a) Obtain the state variable model in Jordan canonical form, for the system with
ys

transfer function
lS
tro

(b) Find the response to a unit-step input using the state variable model in (a)
on

(c) Give s block diagram for the analog computer simulation of the transfer function
C

Solution:

The given transfer function is

Taking partial fractions we have

44
Control Systems, ANAND KUMAR 45

The root at s=-1 is a repeated root. So the parallel form decomposition is as shown below.

x1 s-1 x1 1

-1

ar
s-1 x2 1
x2

m
1
-1

Ku
s-1 1 1 1
U(s) Y(s)
U(s) x3 x3

d
-2

an
Parallel form decomposition
An
From the above decomposition we can write the state model in Jordan Canonical form as
s,
m
te

The response of the system is given by


ys
lS

.
tro
on

Since is not given it may be taken as zero.


C

Therefore

45
Control Systems, ANAND KUMAR 46

Therefore the response or output is

ar
m
Ku
d
an
An
s,
m
te
ys
lS
tro
on

Taking inverse Laplace transform on both sides, we get the output


C

46
Control Systems, ANAND KUMAR 47

Taking on both sides, we have

ar
m
Ku
10.10 Diagonalize the following system matrix.

d
(a) (b)

an
An
(c) (d)
s,
m

(e)
te
ys

Solution:
lS

(a)
tro
on

i.e
C

So the eigen values are

The cofactors along the first row are

Therefore the eigen vector associated with

47
Control Systems, ANAND KUMAR 48

The cofactors along the first row are


Therefore the eigen vector associated with

The cofactors along the first row are


Therefore the eigen vector associated with
Hence the modal matrix is

ar
m
Ku
d
The diagonal matrix is given by

an
An
s,
m
te
ys

(b) Given
lS
tro
on
C

So the eigen values are . So it has one repeated eigen value.


The eigen vector corresponding to the first eigen value is obtained by taking the cofactors
along the first row of

The cofactors along the first row are

. Since they are all zeros consider cofactors along the second row.
.

48
Control Systems, ANAND KUMAR 49

Therefore the first eigen vector is


The eigen vector corresponding to the second eigen value is obtaining by taking the
cofactors along the first row of

The cofactors along the first row are

Therefore the second eigen vector is

Since the eigen value is repeated, the third eigen vector can be obtained by differentiating the coefficients

ar
corresponding to

m
Ku
d
an
An
The modal matrix based on the eigen vectors is
s,
m
te
ys

The diagonal matrix is given by


lS
tro
on
C

(c) Given

49
Control Systems, ANAND KUMAR 50

So the eigen values are

The cofactors along the first row are

Therefore the eigen vector associated with

ar
m
Ku
The cofactors along the first row are all zeros.

d
an
The cofactors along the second row are
An
Therefore the eigen vector associated with
s,
m
te
ys

The cofactors along the first row are all zeros. The cofactors along the second row are
lS

Therefore the eigen vector associated with


tro

Hence the Modal matrix is


on
C

The diagonal matrix is

50
Control Systems, ANAND KUMAR 51

ar
(d) Given

m
Ku
d
an
An
So the eigen values are
s,
m
te
ys

The cofactors along the first row are


lS

Therefore the eigen vector associated with


tro

Since this eigen value is repeated, the second eigen vector can be obtained by differentiating the
coefficients corresponding to
on
C

51
Control Systems, ANAND KUMAR 52

The cofactors along the first row are

So the eigen vector associated with

So the modal matrix is

ar
m
Ku
d
an
An
s,
m
te

(e) Given
ys
lS
tro
on
C

So the eigen values are

The cofactors along the first row are all zeors. The cofactors along the second row are
. So the eigen vector associated with is .

52
Control Systems, ANAND KUMAR 53

The cofactors along the first row are

So the eigen vector associated with

Since the eigen value is repeated the third eigen vector can be obtained by differentiating
the coefficients corresponding to

ar
m
Ku
d
an
So the modal matrix is An
s,
m
te
ys
lS

The diagonal matrix is given by


tro
on
C

So the diagonal matrix

10.11 Determine the state controllability, output controllability and observability of the
system

53
Control Systems, ANAND KUMAR 54

(a)

(b)

(c)

(d)

ar
m
(e)

Ku
(f) A = , B= , C=

d
(a)Given
an
An
For state controllability
s,
m
te
ys
lS

So the system is state controllable

For output controllability


tro
on
C

So the system is output controllable.

So the system is observable.

54
Control Systems, ANAND KUMAR 55

So the given system is completely state controllable, output controllable and observable.

(b) Given

So the system is completely state controllable.

ar
m
Ku
So the system is completely output controllable.

d
an
= An
s,

So the system is observable.


m

So the given system is completely state controllable, output controllable and observable.
te
ys

(c) Given
lS
tro
on
C

So the system is completely state controllable.

So the system is completely output controllable.

55
Control Systems, ANAND KUMAR 56

= ,

So the system is observable.

So the given system is completely state controllable, output controllable and observable.

ar
(d) Given

m
Ku
d
an
An
So the system is completely state controllable.
s,
m
te
ys
lS

So the system is completely output controllable.


tro
on
C

So the system is observable.

So the given system is completely state controllable and output controllable, but not
observable.

(e) Given

56
Control Systems, ANAND KUMAR 57

So the system is completely state controllable

ar
m
Ku
So the system is completely output controllable.

d
an
An
s,
m
te

So the system is not observable.


ys

So the given system is completely state controllable and output controllable but not
lS

observable.
tro
on

(f) Given A = , B= ,C=


C

So the system is completely state controllable

57
Control Systems, ANAND KUMAR 58

So the system is completely output controllable.

ar
m
Ku
d
So the system is observable.

an
So the system is completely state controllable, output controllable, and observable.
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