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Stability Analysis Part II PDF
Stability Analysis Part II PDF
𝑆2 3 𝐴
12 − 𝐴
𝑆 0
3
𝑆0 𝐴
1
2. If G(s) is a stable transfer function, then 𝐹(𝑠) = is always a stable
𝐺(𝑠)
transfer function. (T/F)
[GATE 1994 : 2 Marks]
(𝒔+𝒁𝟏 )(𝒔+𝒁𝟐 )
Soln. G(s) is a stable function =
(𝒔+𝑷𝟏 )(𝒔+𝑷𝟐 )
𝟏 (𝒔+𝑷𝟏 )(𝒔+𝑷𝟐 )
𝑭(𝒔) = = (𝒔+𝒁𝟏 )(𝒔+𝒁𝟐 )
𝑮(𝒔)
The condition for stability is that none of the poles of G(s) should be
on the right half of s-plane, but zeros become pole of F(s). Therefore
F(s) need not be stable
1
3. A system described by the transfer function 𝐻 (𝑠) = is
𝑠3 +𝛼𝑠2 +𝐾𝑠+3
stable. The constraints on 𝛼 and k are,
(a) 𝛼 > 0, 𝛼𝐾 < 3 (c) 𝛼 < 0, 𝛼𝐾 > 3
(b) 𝛼 > 0, 𝛼𝐾 > 3 (d) 𝛼 < 0, 𝛼𝐾 < 3
[GATE 2000 : 2 Marks]
𝟏
Soln. Transfer function 𝑯(𝒔) =
𝒔𝟑 +𝜶𝒔𝟐 +𝒌𝒔+𝟑
Using R – H criterion
𝑆3 1 𝑘
𝑆2 𝛼 3
𝛼𝑘 − 3
𝑆 0
𝛼
𝑆0 3
𝜶𝒌 − 𝟑 > 𝟎
𝜶𝒌 > 𝟑
Option (b)
4. The feedback control system in the figure is stable
R (s) + 𝐾≥0
(𝑠 − 2)
C (t)
- ( 𝑠 + 2) 2
𝑠−2
𝑆2 (1 + 𝑘) 4 + 4𝑘
𝑆 (4 − 4𝑘) 0
𝑆0 4 + 4𝑘
R (s)
1 K 𝑠 −1 1
Y (s)
1
(a) 𝐾 < −1 (c) 1 < 𝐾 < 3
(b) −1 < 𝐾 < 1 (d) 𝐾 < −3
[GATE 2002 : 2 Marks]
Soln.
𝒌
𝒀(𝒔) 𝒔
=
𝑹(𝒔) 𝟏 − 𝟑 + 𝒌
(𝒔 𝒔)
𝒌
=
𝒔 − (𝟑 + 𝒌)
𝑆4 1 2 1
𝑆3 0 0
𝑆2
𝑆2
𝑆1
𝑆0
The row with all zeros indicate the possibility of roots on imaginary
axis.
The auxiliary polynomial is
𝒔𝟒 + 𝟐𝒔𝟐 + 𝟏 = 𝟎
(𝒔𝟐 + 𝟏)𝟐 = 𝟎
𝒔 = ±𝒋, 𝒔 = ±𝒋
𝒅
(𝒔𝟒 + 𝟐𝒔𝟐 + 𝟏) = 𝟎
𝒅𝒔
𝟒𝒔𝟑 + 𝟒𝒔 = 𝟎
𝒔(𝟒𝒔𝟐 + 𝟒) = 𝟎
𝒔 = 𝟎, 𝒔 = ±𝒋
The roots are 𝒔 = 𝟎, 𝒔 = ±𝒋, 𝒔 = ±𝒋
The system is unstable, because of repeated roots on imaginary
axis
Option (c)
1
7. The system with the open loop transfer function 𝐺 (𝑠)𝐻 (𝑠) =
𝑠(𝑠2 +𝑠+1)
has a gain margin of
(a) – 6 dB (c) 3.5 dB
(b) 0 dB (d) 6 dB
[GATE 2002 : Marks]
Soln. Open loop transfer function
𝟏
𝑮(𝒔)𝑯(𝒔) =
𝒔(𝒔𝟐 + 𝒔 + 𝟏)
−𝝎
∠𝑮(𝒋𝝎) 𝑯(𝒋𝝎) = −𝟗𝟎𝟎 − 𝐭𝐚𝐧
𝟏 − 𝝎𝟐
𝒂𝒕 𝝎 = 𝝎𝒑𝒄 , 𝝋 = −𝟏𝟖𝟎𝟎
−𝝎𝒑𝒄
𝒔𝒐, − 𝟏𝟖𝟎𝟎 = −𝟗𝟎𝟎 − 𝐭𝐚𝐧
𝟏−𝝎𝟐𝒑𝒄
−𝝎
𝟗𝟎𝟎 = 𝐭𝐚𝐧
𝟏−𝝎𝟐𝒑𝒄
𝟏 − 𝝎𝟐𝒑𝒄 = 𝟎
𝝎𝒑𝒄 = 𝟏
Value of gain at 𝝎𝒑𝒄 = 𝟏
𝟏
|𝑮(𝒔)𝑯(𝒔)| = 𝑴 =
𝟐
|𝝎𝒑𝒄 |√(𝟏 − 𝝎𝟐𝒑𝒄 ) + 𝝎𝟐𝒑𝒄
=1
𝟏
𝑮. 𝑴 = =𝟏
𝑴
𝑮. 𝑴𝒅𝒃 = 𝟐𝟎𝒍𝒐𝒈𝟏𝟏𝟎 = 𝟎
Option (b)
8. The open-loop transfer function of a unity feedback system is
𝐾
𝐺 (𝑠) = . The range of K for which the system is stable
𝑠(𝑠2 +𝑠+2)(𝑠+3)
is
21 21
(a) >𝐾>0 (c) <𝐾<∞
4 4
(b) 13 > 𝐾 > 0 (d) −6 < 𝐾 < ∞
[GATE 2004 : 2 Marks]
Soln.
𝒌
𝑮(𝒔) =
𝒔(𝒔𝟐 + 𝒔 + 𝟐)(𝒔 + 𝟑)
𝑯(𝒔) = 𝟏
𝒌
𝟏 + 𝑮(𝒔)𝑯(𝒔) = 𝟏 +
𝒔(𝒔𝟐 + 𝒔 + 𝟐)(𝒔 + 𝟑)
𝒌
=𝟏+
𝒔(𝒔𝟑 + 𝟑𝒔𝟐 + 𝒔𝟐 + 𝟑𝒔 + 𝟐𝒔 + 𝟔)
𝒔𝟒 + 𝟒𝒔𝟑 + 𝟓𝒔𝟐 + 𝟔𝒔 + 𝒌
= =𝟎
𝒔𝟒 + 𝟒𝒔𝟑 + 𝟓𝒔𝟐 + 𝟔𝒔
Or 𝒔𝟒 + 𝟒𝒔𝟑 + 𝟓𝒔𝟐 + 𝟔𝒔 + 𝒌 = 𝟎
𝑆4 1 5 𝑘
𝑆3 4 6 0
7
𝑆2 𝑘 0
2
21 − 4𝑘
𝑆 0
7⁄ 2
𝑆0 𝑘
for the system to be stable 𝒌 > 𝟎
𝟐
(𝟐𝟏 − 𝟒𝒌) > 𝟎
𝟕
𝟐𝟒 𝟐𝟏
>𝒌→𝒌<
𝟒 𝟒
𝟐𝟏
>𝒌>𝟎
𝟒
Option (a)
𝑆4 1 2 15
𝑆3 0 − 12 0
2 ∈ +12
𝑆2 15
∈
2 ∈ +12
−12 ( − 15 ∈
𝑆 ∈ )
2 ∈ +12
( ∈ )
𝑆0 15
𝟐 ∈ +𝟏𝟐
=±
∈
𝟏𝟓 ∈
𝒔 = −𝟏𝟐 −
𝒕
𝒔𝟎 = 𝟏𝟓
The number of sing changes in first column from 𝒔𝟐 𝒕𝒐 𝒔 and from
𝒔 𝒕𝒐 𝒔𝟐 are two. Two roots on right half of s – plane
Option (b)
10. The positive values of “K” and “a” so that the system shown in the figure
below oscillates at a frequency of 2 rad/sec respectively are
𝐾(𝑠 + 1)
R (s) C (s)
(𝑠 3 + 𝑎𝑠 2 + 2𝑠 + 1)
𝒔𝟑 + 𝒂𝒔𝟐 + 𝟐𝒔 + 𝟏 + 𝒌𝒔 + 𝒌
=𝟎
𝒔𝟑 + 𝒂𝒔𝟐 + 𝟐𝒔 + 𝟏
𝒔𝟑 + 𝒂𝒔𝟐 + (𝟐 + 𝒌)𝒔 + 𝒌 + 𝟏 = 𝟎
𝑆3 1 (2 + 𝑘)
𝑆2 𝑎 ( 𝑘 + 1)
𝑎 ( 2 + 𝑘 ) − ( 𝑘 + 1)
𝑆 0
𝑎
For oscillations,
𝒂(𝟐 + 𝒌) − (𝒌 + 𝟏)
=𝟎
𝒂
𝒌+𝟏
𝒂=
𝟐+𝒌
The auxiliary polynomial is
𝒂𝒔𝟐 + 𝒌 + 𝟏 = 𝟎
𝒔 = 𝒋𝝎, 𝒔𝟐 = −𝝎𝟐 = −𝟒 𝐠𝐢𝐯𝐞𝐧 𝛚 = 𝟐 𝐫𝐚𝐝/𝐬𝐞𝐜
So, −𝟒𝒂 + 𝒌 + 𝟏 = 𝟎
𝒌+𝟏 𝒌+𝟏
𝒂= =
𝟒 𝒌+𝟐
𝒌 = 𝟐, 𝒂 = 𝟎. 𝟕𝟓
Option (b)
11. Consider a unity gain feedback control system whose open loop transfer
𝑎𝑠+1
function is 𝐺 (𝑠) = . The value of “a” so that the system has a
𝑠2
phase-margin equal to 𝜋⁄4 is approximately equal to
(a) 2.40 (c) 0.84
(b) 1.40 (d) 0.74
[GATE 2006 : 2 Marks]
Soln.
𝒂𝒔 + 𝟏
𝑮(𝒔) =
𝒔𝟐
∠𝑮(𝒋𝝎) = 𝒕𝒂𝒏−𝟏 𝒂𝝎 − 𝟏𝟖𝟎𝟎
𝝅
Phase margin =
𝟒
𝝅
𝑷𝑴 = 𝟏𝟖𝟎 + 𝐭𝐚𝐧− 𝒂𝝎 − 𝟏𝟖𝟎𝟎 =
𝟒
𝝅
𝒕𝒂𝒏− 𝒂𝝎 =
𝟒
𝝅
𝐭𝐚𝐧 = 𝒂𝝎
𝟒
𝒂𝝎 = 𝟏
Then gain crossover frequency 𝝎 = 𝝎𝒈𝒄 𝒘𝒉𝒆𝒓𝒆 |𝑮(𝒔)| = 𝟏
𝟏+𝒂𝟐 𝝎𝟐
√ =𝟏 𝒂𝝎 = 𝟏
𝝎𝟐
𝟏+𝟏
√ =𝟏
𝝎𝟐
𝝎𝟐 = √𝟐
𝟏
𝝎 = 𝟐𝟒
𝟏
𝒂= 𝟏
= 𝟎. 𝟖𝟒
𝟐 ⁄𝟒
Option (c)
𝑠+8
12. A certain system has transfer function 𝐺 (𝑠) = 𝑠2 +𝛼𝑠−4, where α is
parameter. Consider the standard negative unity feedback configuration
as shown below
+ 𝐺(𝑠)
-
Characteristic equation
𝒒(𝒔) = 𝒔𝟐 + (𝜶 + 𝟏)𝒔 + 𝟒
𝑆2 1 4
𝑆 𝛼+1 0
𝑆0 4
𝑆4 2 6 3
7
𝑆3 0(∈)
2
6 ∈ −7 7
𝑆2 = 3
∈ ∈
7 7
− ( )−3∈
𝑆1 ∈ 2 + 𝑣𝑒
−7/∈
𝑆0 3
In the first column, there are two sign changes occurs hence two
poles lie in the right half of s – plane
Option (c)