-2SEE 3113

Question 1
a)
1

i) The exponential term increases indefinitely

ii) No. That will only be the case if there is no sign change from ROZ
downwards.

iii) The system is unstable

b)
i)

The system is unstable because of the negative sign occurred in the

characteristic equation.

ii)
S5
S4
S3
S2

1
-1

1 4

4
-4
1
-2

3
-2
0
0

S1

2 2 + 1 4
1 4

S0

-2

3 right hand-plane, 2 left hand-plane. The systemis unstable.

c) Since the system oscillates, it is marginally stable. The characteristic equation

of the system becomes:
1+

( + 2)
=0
3 + 2 + 3 + 2

Or 3 + 2 + ( + 3) + 2( + 1) = 0

Rouths
s3
s2

1
p

s1

( + 3) 2( + 1) 0

2(K+1)

s0

K+3
2(K+1)
2

1
1
2
2

-3SEE 3113

At marginal value of K
Or

(+3)2(+1)

2(+1)
+3

=0

Again at this value of p,

() = 2 + 2( + 1) = 0
Or

1
2 =

Given =2.5rad/sec. Therefore:

2( + 1)

2(+1)

[1mark]

Substitute equation (1) into (2)

2(+1)
2(+1)
=
+3
6.25
K=3.25
Therefore
p=2(3.25+1)/6.25= 1.36

2( + 1)

= 2.5

2( + 1)
6.25

(2)
2

-4SEE 3113
Question 2
a)
By looking at the locations of the open loop poles and zeros. If there are some
on the LHP and some on the RHP, so the root locus will cross the imaginary
axis.

b)
()

(+1)(+5)

= (+1)2 +(62)+5+2

()

Then,

s2

K+1

5K + 2

s1

6K 2

s0

5K + 2

1.5

Therefore K > 0.333

From auxiliary equation and substituting K = 0.333,

4 2

c)

11
3

=0

= 1.66

1.5

i. K = 0: closed loop poles = 1+j ; 1-j

2

ii. K -> infinity: closed loop poles = -1 ; -5

iii. 2 branches

iv. symmetrical about real axis

v. no asymptote angle

vi. no asymptotes crossings

1

vii locus on real axis : between -5 and -1

viii Departure angles = 180 90 + 26.6 + 9.5 = 126.1

ix jw-crossings : from part (b), s = 1.66

(+1)(+5)
(2 2+2)

= 0 solving this will obtain 1.325 and -2.075

so the break-in point is at -2.075

therefore the root locus:

-5SEE 3113

Root Locus
2

1.5

Imaginary Axis

0.5

-0.5

-1

-1.5

-2
-5

-1

-2

-3

-4

Real Axis

d)
From the root locus, if the damping ratio is 0.6
the dominant poles are at 1.13 1.52
and the value of K = 1.14

-6SEE 3113
Question 3
a)
1

1
2

b) A vehicle speed control system is shown in Figure Q3b.

0.5

0.5

-7SEE 3113

2
1
c) Roughly sketch the root locus of the uncompensated and compensated systems
in part (b) above.

-8SEE 3113

2.5

2.5

-9SEE 3113
Question 4
a)
i) A measurement of output response of a system in frequency domain. The
output response consists of the magnitude and phase values as the
frequency is varied.

1.5
ii) By obtaining the gain margin and phase margin. The system is said to
stable if the gain and phase margins are positive.

1.5

b)
i) By using the straight line approximation methods, plot the Bode plot of the
open-loop system for K = 1.

Bode Diagram
50

Magnitude (dB)

-50

-100

-150

-200
-45

Phase (deg)

-90

-135

-180

-225

-270
-2

10

-1

10

10

10

10

Frequency (rad/sec)

ii) Gain Margin = 53.2 dB

Phase Margin = 91.6

iii) Stable. Positive values of GM and PM

iv) The value of gain K needed is 40.3 dB

2
2

10

10

- 10 SEE 3113
v)
Bode Diagram
100

Magnitude (dB)

50
System: G1
Gain Margin (dB): 12.9
At frequency (rad/sec): 27.2
Closed Loop Stable? Yes

-50

-100

-150
-45

Phase (deg)

-90

-135
System: G1
Phase Margin (deg): 44.6
Delay Margin (sec): 0.0652
At frequency (rad/sec): 11.9
Closed Loop Stable? Yes

-180

-225

-270
-2

10

-1

10

10

10

Frequency (rad/sec)

10

10

10

- 11 SEE 3113
Question 5
a)

- 12 SEE 3113
b)