Chapter 6

6-1 (a)
Poles are at s

STABILITY OF LINEAR CONTROL SYSTEMS

= 0 , 1. 5 +
j 1. 6583 ,

1. 5

j 1. 6583

One poles at s = 0. Marginally stable . Two poles on j axis. Marginally stabl e . Two poles in RHP. Unstable . All poles in the LHP. Stable . Two poles in RHP. Unstable . Two poles in RHP. Unstable .

(b) Poles are at s = 5, j 2 , j 2 (c) Poles are at s = 0 .8688 , 0 .4344 + j 2 . 3593 , 0 .4344 j 2 . 3593 (d) Poles are at s = 5, 1 + j , 1 j (e) Poles are at s = 1.3387 , 1. 6634 + j 2 . 164, 1. 6634 j 2 .164 (f) Poles are at s = 22 . 8487 j 22 . 6376 , 21 . 3487 j 22 . 6023 6-2 (a)
s
3

+ 25
3

+ 10 s + 450 = 0

Roots: 25 . 31 , 0 .1537 + j 4.214, 0 .1537 4.214

Routh Tabulation:
s s s 1 25 250 10 450

450
25

= 8

Two sign changes in the first column. Two roots in RHP.

0

450 s
2

(b)

+ 25
3

+ 10 s + 50 = 0

Roots: 24. 6769 , 0 .1616 + j 1.4142 , 0 .1616 j 1.4142

Routh Tabulation:
s s s 1 25 250 10 50

50
25

=8

No sign changes in the first column. No roots in RHP.

0

50 s
2

(c)

+ 25
3

+ 250

+ 10 = 0

Roots: 0 . 0402 , 12 .48 + j 9 . 6566 , j 9 . 6566

Routh Tabulation:
s s s 1 25 6250 250 10

10

= 249

No sign changes in the first column. No roots in RHP.

.6 0

25 s
0

10

(d)

2s

+ 10

+ 5 . 5 s + 5 . 5 s + 10 = 0
2

Roots: 4.466 , 1.116 , 0 .2888 + j 0 . 9611 , 0 .2888 j 0 . 9611

Routh Tabulation:

71

s s s s

2 10 55

5 .5 5 .5

10

11

= 4.4 = 75 . 8

10

10 24.2

100

4.4 s
0

10

Two sign changes in the first column. Two roots in RHP.

(e)

+ 2 s + 8 s + 15
5 4 6

+ 20

+ 16 s + 16 = 0

Roots: 1.222 j 0 .8169 , 0 . 0447 j 1.153 , 0 .1776 j 2 .352

Routh Tabulation:
s s s 1 2 16 8 15 20 16 16

15
2

= 0 .5

40

16
2

= 12

33 396 + 24 33 541 .1 + 528

11 .27

48 = 11 .27 = 1.16
16

Four sign changes in the first column. Four roots in RHP.

(f)

+ 2 s + 10
3 4

+ 20 s + 5 = 0

Roots: 0 .29 , 1. 788 , 0 . 039 + j 3 .105 , 0 . 039 j 3 .105

Routh Tabulation:
s s s 1 2 20 10 20 5

20
2

=0

20

Replac e 0 in last row by

10

10

Two sign changes in first column. Two roots in RHP.

5
3

6-3 (a)

+ 25 s + 15

+ 20 s + K = 0

Routh Tabulation:

72

s s s s

1 25 375

15 20

20
25

= 14.2
K

K K

284

25

= 20 1. 76

20

1. 76 >0

>0

or K

< 11 . 36

14.2 s
0

Thus, the system is stable for 0 < K < 11.36. When K = 11.36, the system is marginally stable. The auxiliary equation equation is A ( s ) = 14.2 s frequency of oscillation is 0.894 rad/sec.
2

+ 11 . 36 = 0 .

The solution of A(s) = 0 is s

= 0 .8 .

The

(b)

+ Ks + 2 s + ( K + 1) s + 10 = 0
3 2

Routh Tabulation:
s s s
4

1 K 2K K

10 K K

+1
10

>0 >1
2

K 1
K
2

1
K

9 K 1
K

9 K 1 > 0

10
2 2

The conditions for stability are: K > 0, K > 1, and 9 K 1 > 0 . Since K is always positive, the last condition cannot be met by any real value of K . Thus, the system is unstable for all values of K .

(c)

+ ( K + 2 ) s + 2 Ks + 10 = 0
2 3

Routh Tabulation:
s s 1 K 2K 2K 10 K

+2
2

> 2
2

+ 4 K 10
K

+2

+ 2 K 5 > 0

10

The conditions for stability are: K > 2 and K + 2 K 5 > 0 or (K +3.4495)(K 1.4495) > 0, or K > 1.4495. Thus, the condition for stability is K > 1.4495. When K = 1.4495 the system is
2

marginally stable. The auxiliary equation is A ( s ) The frequency of oscillation is 1.7026 rad/sec.

= 3.4495

+ 10 = 0 .

The solution is s

= 2 .899

(d)

+ 20

+ 5 s + 10

=0

Routh Tabulation:

73

s s s

1 20 100

5 10 K K

10
20

= 5 0 .5 K

0 .5 K > 0 >0

or K

< 10

10 K

The conditions for stability are: K > 0 and K < 10. Thus, 0 < K < 10. When K = 10, the system is marginally stable. The auxiliary equation is A ( s ) equation is s
2

= 20

+ 100 = 0 .

The solution of the auxiliary

= 5 .
2

The frequency of oscillation is 2.236 rad/sec. K

(e)

+ Ks + 5 s + 10 s + 10
3

=0
10 K K

Routh Tabulation:
s s s
4

1 K 5K

5 10 10 K

>0 10 > 0
or K

10
K

5K

>2

50 K s
1

100
K 5K

10

10
K

50 K

100 10
5K

10

5K

10 K > 0
3

10 K

>0
The last condition is written as

The conditions for stability are: K > 0, K > 2, and 5 K

+ 2 . 9055

2 . 9055

+ 3 .4419

10 K > 0 .
3

<0.

The second-order term is positive for all values of K . Since these are contradictory, the system

Thus, the conditions for stability are: K > 2 and K < is unstable for all values of K .

2.9055.

(f)

+ 12 . 5 s + s + 5 s + K = 0
3

Routh Tabulation:
s s s
4

1 12 . 5 12 . 5

1 5

= 0 .6 = 5 20 .83

12 . 5 s
1

12 . 5 K
0 .6

20 . 83 K > 0

or K

< 0 .24

s K K >0 The condition for stability is 0 < K < 0.24. When K = 0.24 the system is marginally stable. The auxiliary
0

equation is A ( s ) = 0 . 6 s oscillation is 0.632 rad/sec.

+ 0 .24 = 0 .
2

The solution of the auxiliary equation is s

= 0 .4.

The frequency of

6-4

The characteristic equation is Ts

+ ( 2T +1) s + ( 2 + K ) s + 5 K = 0

Routh Tabulation:

74

s s

T 2T ( 2T

+2
5K

T T

>0 > 1 /
2

+1

+ 1 )( K + 2 ) 5 KT
2T

+1

K (1 3 T ) K

+ 4T + 2 > 0

5K

>0

The conditions for stability are:

T > 0, K > 0, and K

<

4T 3T

+2 1

. The regions of stability in the

T -versus-K parameter plane is shown below.

6-5 (a)

Characteristic equation: s

+ 600

+ 50000

+ Ks

+ 24

Ks

+ 80

=0

Routh Tabulation:
s s
5

1 600 3

50000 K
7

24 K 80 K

10

K
00 K
7

14320 K 600

< 3 10

600 s
2

214080 3

10 K
16

80 K
11

< 214080
2

00

7 .2 10

+ 3 .113256 10
600( 214080 00

K )

14400

2 .162 10

+ 5 10

12

<0

80 K

>0

Conditions for stability:

75

From the s From the s

3 2 1

row: row: K
2

From the s row: Thus, From the s

0

< 3 10 7 K < 2 .1408 10 7 12 2 .162 10 K + 5 10 < 0

K
7

or

(K

2 . 34 10
7

)( K

2 .1386 10

<0

2 . 34 K>0

10

< K < 2 .1386 10 10

5

row:

Thus, the final condition for stability is: When K When K

2 . 34

< K < 2 .1386 10

= 2 . 34 10 7 = 2 .1386 10
5

= 10 . 6 rad/sec. = 188 . 59 rad/sec.

2

(b)

Characteristic equation:

+ ( K + 2 ) s + 30

Ks

+ 200

=0

Routh tabulation:
s s s
3

1 K 30 K

30 K 200 K K K K

+2
2

> 2 > 4. 6667 >0 =0.

The solution is s
2

140 +2

K s
0

200 K K > 4.6667

Stability Condition:

When K = 4.6667, the auxiliary equation is A ( s ) The frequency of oscillation is 11.832 rad/sec.

= 6 . 6667

+ 933

. 333

= 140

(c)

Characteristic equation: s

+ 30

+ 200

+K =0

Routh tabulation:
s s s
3

1 30 6000 30

200 K

< 6000 >0

2

K 0

Stabililty Condition:

<

< 6000 = 30
s
2

When K = 6000, the auxiliary equation is A ( s ) The frequency of oscillation is 14.142 rad/sec.

+ 6000 = 0 .

The solution is s

= 200

(d)

Characteristic equation:

+ 2 s + ( K + 3) s + K + 1 = 0
2

Routh tabulation:
s s s
3

1 2 K

+3

K +1 K

+5
30

> 5 > 1

K +1 K>

Stability condition:

1.

When K =

1 the zero element occurs in the first element of the

76

s row. Thus, there is no auxiliary equation. When K = 1, the system is marginally stable, and one of the three characteristic equation roots is at s = 0. There is no oscillation. The system response would increase monotonically.
0

6-6 State equation:

Open-loop system:

A=

1 2 10 0 1 10 k 1
k 2 2 s + k2
or k
2

& ( t ) = Ax ( t ) + B u ( t ) x B=

Closed-loop system:

& ( t ) = ( A BK ) x ( t ) x 2

0 1

A BK =

Characteristic equation of the closed-loop system:

sI A + BK =
Stability requirements:

s 1 10 + k1
k
2

= s + ( k 2 1 ) s + 20 2 k1 k 2 = 0
2

1 > 0

>1
or k
2

20

2 k1 k 2 > 0

< 20 2 k 1

Parameter plane:

6-7 Characteristic equation of closed-loop system: s 1 0 sI A + BK = 0 k1

Routh Tabulation:

s k2 + 4

1 s + k3 + 3

= s + ( k 3 + 3 ) s + ( k 2 + 4 ) s + k1 = 0
3 2

s s s
s

1 k3 + 3

k2 + 4 k1 k3 +3>0 or k3 > 3

(k

+ 3) ( k 2 + 4 ) k 1 k3 + 3

(k
k >0
1

+ 3 )( k + 4) k > 0
2 1

Stability Requirements:

k 3 > 3, 6-8 (a)

k 1 > 0,

(k
2

+ 3) ( k 2 + 4 ) k 1 > 0

Since A is a diagonal matrix with distinct eigenvalues, the states are decoupled from each other. The second row of B is zero; thus, the second state variable, x is uncontrollable. Since the uncontrollable

77

state has the eigenvalue at 3 which is stable, and the unstable state x with the eigenvalue at 2 is
3

controllable, the system is stabilizable.

(b) 6-9

Since the uncontrollable state x has an unstable eigenvalue at 1, the system is no stabilizable.
1

The closed-loop transfer function of the sysetm is

Y (s) R (s )
The characteristic equation is:

1000 s + 15.6 s + ( 56 + 100 K t ) s + 1000

3 2

+ 15 . 6 s + ( 56 + 100
2

K )s
t

+ 1000 = 0

Routh Tabulation:
s s s
3

1 15 . 6 873 . 6

56

+ 100
1000

+ 1560

Kt

1000

15 .6 s
0

1560 K t

126

.4

>0

1000 K
t

Stability Requirements:

> 0 . 081

6-10

The closed-loop transfer function is Y (s) R( s) The characteristic equation:

K(s s
3

+ 2 )( s + )

+ Ks
3

+ ( 2 K + K 1 ) s + 2 K
2

+ Ks

+ ( 2 K + K 1) s + 2 K = 0

Routh Tabulation:
s s
3

1 K (2

2K

+ K 1
2 K K

>0 1 2 > 0

+ ) K K 2 K
2

(2 + )K

K s
0

2 K K

>0 > 0,
K

Stability Requirements: > 0 ,

K -versus- Parameter Plane:

>

+ 2 +

78

6-11 (a)

Only the attitude sensor loop is in operation: K

= 0. The system transfer function is: K s

2

( s) r ( s )
If KK If KK
s s

G (s)
p

1+ K G ( s)
s p

+ KK

>, ,

the characteristic equation roots are on the imaginary axis, and the missible will oscillate. the characteristic equaton roots are at the origin or in the right-half plane, and the system

is unstable. The missile will tumble end over end.

(b)

Both loops are in operation: The system transfer function is

( s) r ( s )
For stability: When K
t

G (s)
p

1 + K sG
t

(s)

+ K sG p ( s )

K s
2

+ KK

+ KK s

KK and KK

=0
s

t s

> 0, >,
t

KK

> 0 .

the characteristic equation roots are on the imaginary axis, and the missile

will oscillate back and forth. For any KK if KK < 0, the characteristic equation roots are in the right-half plane, and the system If KK is unstable. The missile will tumble end over end. > 0 , and KK < , the characteristic equation roots are in the right-half plane, and the system is
t

unstable. The missile will tumble end over end.

6-12

Let s

= s + ,
1

then when s

= ,

= 0.

This transforms the

s = axis in the s-plane onto the imaginary

axis of the s -plane.

(a)

F (s) Or

=
s
1

s
2

+ 5s +3 = 0

Le t s

= s1 1

We get

(s

1) + 5 ( s1 1) + 3 = 0
2

+ 3 s1 1 = 0
s1
2

1 3

Routh Tabulation:

s s

1 1 0 1

Since there is one sign change in the first column of the Routh tabulation, there is one root in the region to the right of s = 1 in the s-plane. The roots are at 3.3028 and 0.3028.

(b)

F (s)

+ 3s + 3s +1 = 0
2

Let s

We get

( s1 1)3

+ 3( s1 1) + 3 ( s1 1) + 1 = 0
2

79

Or

3 1

= 0.
3 2

The three roots in the s -plane are all at s

1

= 0.

Thus, F(s) has three roots at s =

1.
2

(c)

F (s) Or

s s

+ 4 s + 3 s + 10 = 0 + s 1 2 s1 + 10 = 0
2

Let s

We get

(s

1) + 4 ( s1 1) + 3 ( s1 1) +10 = 0
3

3 1

s s

3 1 2 1 1

1 1

2
10

Routh Tabulation:

s1 s
1

12
10

Since there are two sign changes in the first column of the Routh tabulation, F(s) has two roots in the region to the right of s = 1 in the s-plane. The roots are at 3.8897, 0.0552 + j1.605, and 0.0552

j1.6025.
2

(d)

F (s) Or

+4s +4s +4 = 0
3

Let s

We get

(s

1) + 4 ( s1 1) + 4 ( s1 1) + 4 = 0
3 2

+ s1 s1 + 3 = 0
2

s s

3 1 2 1 1

1 1

1
3

Routh Tabulation:

s1 s
1

4
3

Since there are two sign changes in the first column of the Routh tabulation, F(s) has two roots in the region to the right of s = 1 in the s-plane. The roots are at 3.1304, 0.4348 + j1.0434, and 0.4348

j1.04348.

6-13 (a) Block diagram:

(b) Open-loop transfer function: G ( s) = H ( s) E (s )

Closed-loop transfer function:
H (s) R( s)

s (R a Js + K i K b ) ( As + K o )

K a K i nK I N

16.667 N s( s + 1)( s + 11.767)

=
1

G (s)

+G ( s)

=
s

16 .667 N
3

+ 12 . 767

+ 11 . 767

+ 16 . 667

(c) Characteristic equation:

80

+ 12 . 767
11 . 767

+ 11 . 767

+ 16 . 667

=0

Routh Tabulation:
s s s
3

1 12 .767 150 .22

16 . 667 N N 1 50.22

16 . 667

16.667

>0

or

<9

12 . 767 s
0

16 .667N 0

>0

Stability condition:

<

<9.

6-14 (a) The closed-loop transfer function:

H (s) R( s)

=
s ( 0 .06 s

250 N

+ 0 . 706

)( As

+ 50 ) + 250

The characteristic equation:

0 . 06 As
3

+ ( 0 . 706

+ 3) s + 35 . 3 s + 250
2

=0

Routh Tabulation:
s s s
3

0 . 06 A 0 . 706 A 24. 92 A

35 .3 250 N

>0 +3 > 0 + 105

.9

+3 15 NA +3

0 . 706 A 24.92 A

+ 105

.9

07 . 06 A s
0

15

NA

>0

250N
1

N > 0 When A

From the s row,

N < 1.66 + 7.06/A

max

1. 66

Thus, N

max

= 1.

(b)

For A = 50, the characteristic equation is

3 s + ( 35.3 + 0.06 K o ) s + 0.706 Ko s + 250 N = 0

3 2

Routh tabulation

81

s s

3 35 . 3

0706 K K 250 N

+ 0 . 06
2

> 588

. 33

0 . 0424 K o

+ 24.

92 K o K

750

35 . 3 s
0

+ 0 . 06

N < 0.0000 5653 K o N

+ 0 . 03323

250 N

>0

(c)

N = 10, A = 50. The characteristic equation is

s + ( 35.3 + 0.06 K o ) s + 0.706 Ko s + 50 KI = 0

3 2

Routh Tabulution:
s s
3

1 35 . 3

0 . 706 K K 50 K Ko Ko

+ 0 . 06
2

> 588

. 33

0 . 04236 K o

+ 24. 92 + 0 . 06

50

KI

35 .3 s
0

KI

< 0 . 000847 >0

2Ko

+ 0 .498

Ko

50 K

6-15 (a) Block diagram:

(b) Characteristic equation: 2 Ms + K s + K + K = 0 D s P

500 s
2

+ K D s + 500 + K P = 0

82

(c)

For stability, K

> 0,

0 .5

+ K P > 0.

Thu s,

> 0 .5

Stability Region:

6-16 State diagram:

= 1 + s + Ks
Characteristic equation:
s
2

+s+K =0

Stability requirement:

K>0

83