Control System Assignments

Sol.1 0.028, 1.
02
10
Given : G s  , H (s)  5
s( s  1)
and  = 1 rad/sec
Closed loop transfer function is given by,
10
G (s) s ( s  1) 10
T ( s)    2
1  G ( s ) H ( s ) 1  10  5 s  s  50
s ( s  1)
The sensitivity of T(s) with respect to G(s) is given by,
1 1 s( s  1)
SGT    2
1  G( s) H ( s) 1  10  5 s  s  50
s( s  1)
To calculate SGT at   1rad/sec . Substitute s  j  to convert the time domain function to the frequency
domain.
j(1  j)  2  j
S  T

( j)2  j 50 (50  2 )  j
G
For the value of   1,

1  j1
SGT 
1 49  j1
(1)2  (1)2
 SGT   0.02885 Ans.
1
(49)2  (1)2
The sensitivity of T ( s) with respect to H ( s ) is given by,
10  5

 G( s) H (s) s ( s  1)  50
S HT    2
1  G ( s) H ( s ) 1  10  5 s  s  50
s ( s  1)
Replacing s by j , to convert the function to the frequency domain we get,
50 50
S HT  
( j)  j   50 (50  2 )  j 
2
 50
S HT 
1 49  j1
 50
S HT   1.0202 Ans.
1
(49)2  (1) 2
 It can be observed that S HT is more than SGT i.e. the system is more sensitive to the variations in H ( s)
rather than G ( s ) .
Control Systems 2 Control Systems : Assignment Solutions
3s2  2s  3
Sol.2
s2  4s  3
Given : Step response c(t )  1  2et  4e3t
Taking Laplace transform, we get

1 2 4
C (s)   
s s 1 s  3
( s  1) ( s  3)  2 s( s  3)  4 s( s  1)
C (s) 
s ( s  1) ( s  3)
s 2  4s  3  2s 2  6s  4s 2  4s
C ( s) 
s( s  1) ( s  3)
3s 2  2s  3
C ( s)  3
s  4s 2  3s
3s 2  2s  3 3s 2  2s  3
C ( s)   R( s )
s ( s 2  4s  3) ( s 2  4s  3)
Transfer function can be written as,
C ( s) 3s 2  2s  3
 Ans.
R( s ) s 2  4s  3
Sol.3 (4  5e  t  10e 3 t  9e 5 t )u( t )
Given : Closed loop system is,
C ( s) 20s 2
T ( s)   …(i)
R( s) ( s  1)( s  3)( s  5)
3t 2
and r (t )  1  2t  …(ii)
2
1 2 3 2
 R( s)   2   3
s s 2 s
s 2  2s  3
R( s ) 
s3
Response of system  C ( s)  T ( s)  R( s)
20s 2 ( s 2  2s  3)
C ( s)  
( s  1)( s  3)( s  5) s3
20( s 2  2s  3)
C ( s) 
s( s  1)( s  3)( s  5)
4 5 10 9
C ( s) 
   …(iii)
s s 1 s  3 s  5
Taking inverse Laplace transform of equation (iii) we get,
c(t )  (4  5et  10e3t  9e5t )u(t ) Ans.
G1G3  G1G2  G1G3G4 H 2  G1G2G4 H 2

Sol.1
1  G1G3 H1 H 2  G1G2 H1 H 2
To draw the signal flow graph by using block diagram, the summing points and takeoff points are
considered as nodes/variables.
Forward paths :
P1  G1G3
P2   G1G2
P3  G1G3G4 H 2
P4  G1G2G4 H 2
Individual loops :
L1   G1G3 H1 H 2
L 2  G1G2 H1 H 2
Determinant :
  1  ( L1  L2 )
  1  (G1G3 H1H 2  G1G2 H1H 2 )
Path factor : All the forward paths touches the loops.
1  1  0  1
2  1  0  1
3  1  0  1
4  1  0  1
Using Mason’s gain formula, the transfer function can be written as,
1 n C P  P   P   P 
T ( s)  
 k 1
Pk  k   1 1 2 2 3 3 4 4
R 
C G1G3  G1G2  G1G3G4 H 2  G1G2G4 H 2

R 1  G1G3 H1 H 2  G1G2 H1H 2
C G1G3  G1G2  G1G3G4 H 2  G1G2G4 H 2
  Ans.
R 1  G1G3 H1 H 2  G1G2 H1H 2
G1G2 (1  G3 )
Sol.2
1  G2  G2 H1  G2G3 H1 H 2  G2 H1 H 2
Given block diagram is shown below.
Redrawing the given block diagram we get,
Eliminating feedback loop and forward path we get,
Shifting the take-off point after [1  G3 ] block then we get,
Reducing cascaded blocks then we get,

Eliminating feedback loop then we get,
The overall transfer function can be obtained as,

C G1G2 (1  G3 )
 Ans.
R 1  G2  G2 H1  G2G3 H1H 2  G2 H1H 2
G1G2G3  G1G2
Sol.3
1  G2  G2 H 2  G2 H1 H 2  G2G3 H1 H 2
To draw the signal flow graph from block diagram, the summing points and takeoff points in block
diagram can be considered as node/variables in a signal flow graph.
Forward paths :
P1  G1G2G3
P2  G1G2
Individual loops :
L1   G2
L2   G2 H 2
L3   G2G3 H1H 2
L4   G2 H1H 2
Two non-touching loops : There is no two non-touching loops.
Determinant :
  1  ( L1  L2  L3  L4 )  1  (G2  G2 H 2  G2G3 H1H 2  G2 H1H 2 )
  1  G2  G2 H 2  G2G3 H1H 2  G2 H1H 2
Path factor : All the forward paths touches the loops.
1  1  0  1
2  1  0  1
Using Mason’s gain formula, the transfer function can be written as,
C (s) 1 n P  P 
T (s)    Pk  k  1 1 2 2
R( s )  k 1 
C (s) G1G2G3  G1G2
 Ans.
R(c) 1  G2  G2 H 2  G2 H1H 2  G2G3 H1H 2
Sol.1 (i)   0.578

(ii) d  4.71 rad/sec
(iii) ess  0.2
Given : The given block diagram is shown below.
Above system with TL  0,

5
 G(s) (0.15s  1) s
 
r 1  G ( s ) H ( s ) 1  5
1
(0.15s  1) s
 5 33.33
  2 ….(i)
r 0.15 s  s  5 s  6.67 s  33.33
2
The standard second order transfer function is given by,

2n
T ( s)  2 ….(ii)
s  2n s  n2
On comparing equation (i) and (ii), we get
2n  33.33  n  33.33  5.77 rad/sec
6.67
2n  6.67     0.578 Ans.
2  5.77
Damped frequency of oscillation :
d  n 1   2  5.77 1  0.5782
d  4.71 rad/sec Ans.
The steady state error for unit ramp input :
1
r ( s ) 
s2
s r ( s )
ess  lim s E ( s )  lim
s 0 s 0 1  G ( s ) H ( s )
1
s
ess  lim s2
s 0 5
1
s (0.15s  1)
(0.15s  1) 1
ess  lim 
s 0 s(0.15s  1)  5 5
ess  0.2 Ans.
4536.023
Sol.2 T ( s) 
s  48.492 s  4536.023
2
Given : Overshoot, %M P  30%

Overshoot occurs at time, t  0.05 sec
i.e. peak time, t p  0.05 sec
2n
T ( s)  ….(i)
s 2  2n s  n2
Peak overshoot for unit step input is given by,

12
%M P  e 100

12
30  e 100
 30     
ln     1.20397 
 100  1  2 1  2
(1.20397)2 (1  2 )  22
1.4495  [ 2  1.4495] 2
    
Peak time is given by,
 
tp    0.05
d n 1   2

n 
0.05 1  (0.36) 2
n  67.33 rad/sec
From equation (i), we get
(67.33) 2
T ( s) 
s 2  (2  0.36  67.33) s  (67.33) 2
4536.023
T (s)  Ans.
s  48.492s  4536.023
2
Sol.3 ess  4
Given : Open loop transfer function,
20 ( s  1)
G(s)  2 and H ( s )  1
s ( s  2) ( s  4)
Applied input is,
r (t )  40  20t  5t 2
where, r (t )  40 u (t )  unit step input
r (t )  20t u (t )  unit ramp input
r (t )  5t 2 u (t )  unit parabola input
So, the overall steady state error will be sum of given three inputs i.e.
ess  ess1  ess2  ess3
• Steady state error due to unit step input :
A
ess1 
1 K p
where, K p  position error constant
A  Gain  40
20 ( s  1)
 K p  lim G ( s) H ( s)  lim
s 0 s 0 s ( s  2) ( s  4)
2
Kp  
A 40
ess1   0
1 K p 1 
• Steady state error due to ramp input :
A
ess 
2
Kv
where, K v  velocity error constant
A  Gain  20
 K v  lim s G ( s ) H ( s )
s 0
20 ( s  1)
K v  lim s  
s 0 s ( s  2) ( s  4)
2
A 20
Kv   0
Kv 
• Steady state error due to parabolic input :
A
ess 
3
Ka
where, K a  acceleration error constant
A  Gain  10
 Ka  lim s 2G(s) H (s)
s 0
20 ( s  1)
K a  lim s 2 
s 0 s ( s  2) ( s  4)
2
20
Ka   2.5
8
A 10
ess3  
K a 2.5
ess3  4
Overall steady state error is given by,
ess  ess1  ess2  ess3  0  0  4
ess  4 Ans.
2.92 C ( s) 2.92
Sol.4 G( s)  ,  2
s ( s  1.368) R( s ) s  1.368 s  2.92
From given figure, c(t p )  5 and c()  4
Percentage peak overshoot is given by,
c(t p )  c()
% MPO  100%
c ( )
54
MPO  100 %  25%
4
Peak overshoot MPO  0.25

12
MPO  e

1 2 
0.25  e  ln (0.25) 
1  2

 1.38 
1  2
1.90 1  2   9.86 2
 1.90  1.90 2  9.86 2  1.90  11.76 

2
  0.4
From the given figure, peak time t p  2sec
 
Peak time is given by, t p  
d n 1   2
 
2  n 
n 1  0.16 2 1  0.16
n  1.71rad/sec
Open loop transfer function of second order system is given by,
2n
G( s) 
s( s  2n )
2.92 2.92
G ( s)   Ans.
s ( s  2  0.4 1.71) s ( s  1.368)
Second order closed loop transfer function is given by,
C ( s) 2n
 2
R( s) s  2n s  2n
C ( s) 2.92
 2 Ans.
R( s) s  1.368s  2.92
(342.77)2
Sol.5 T ( s )  2
s  274.22 s  (342.77)2
Given : The unit step response of a linear control system is shown below.
C (t )  C ()
From figure, %M p  100
C ( )
1.25 1
%M p  100  0.25 100  25%
1

12
 MP  e  0.25
 
12 12
ln (0.25)  e  1.386  e
(1.386)2 (1  2 )  22
1.921  (2  1.921) 2
1.921
2   0.1629
11.79
  0.4
 
tp    0.01 [ t p  0.01 sec (Given)]
d n 1   2

n   342.77 rad/sec
0.01 1  (0.4) 2
2n
T ( s) 
s 2  2n s  n2
(342.77)2
T ( s) 
s 2  2(0.4  342.77)  (342.77) 2
(342.77)2
T ( s)  Ans.
s 2  274.22s  (342.77)2
Sol.6 2.84
Given : Open loop transfer function,
K
G(s)  and H ( s )  1
s( sT  1)
Let the value of damping ratio is 1 when the peak overshoot is 40% and  2 when peak overshoot is 60%.
Peak overshoot is given by,
For M p  40%,
 n
12
%M p  e 100  40

12
0.4  e
ln(0.4) (1  2 )   
(0.84)(1  2 )  2 2
0.84  10.86 2
  0.27
  1  0.27
For M p  60%,
n

12
%M p  e 100  60

12
0.6  e
ln (0.6) (1   2 )   
(0.26) (1  2 )  2 2
0.26  10.122    0.16
  2  0.16
C ( s) G( s)
T ( s)  
R( s ) 1  G ( s ) H ( s )
K
C (s) s ( sT  1) K
  2
R( s) 1  K Ts  s  K
s ( sT  1)
K
C (s) T
 ….(i)
R( s) s 2  s  K
1
T T
2n
T ( s)  ….(ii)
s 2  2n s  n2
K K
2n   n 
T T
1
and 2n  
T
1 1 1
  
2T n K 2 KT
2T
T
Let the value of K  K1 when   1 and K  K 2 when   2
1
Since, 2n 
T
1

2 KT
1 K2T K2
 
2 K1T K1
2
K 2  0.27 
   2.84
K1  0.16 
K2  2.84 K1
The factor to be multiplied is 2.84 Ans.
1
Sol.7 (i) ess 
KK P
KK P
(ii) n  rad/sec

1  KK D
(iii)  
2 KK P 
Given : A given unity feedback control system is shown below.
From the above figure, open loop transfer function is,

K ( K P  K D s)
G(s) 
s (s  1)
C (s) K ( K P  K D s)

R( s) (s  s)  K ( K P  K D s)
2
C (s) K ( K P  K D s)
 2
R( s) s   s (1  KK D )  KK P
Characteristic equation is given by,
s 2   s (1  KK D )  KK P  0
 1  KK D  KK P
s2  s   0 …(i)
   
The standard prototype second order characteristic equation is given by,
s 2  sn s  2n  0 ….(ii)
KK P KK P
2n   n  ….(iii)
 
 1  KK D 
and 2n   
  
KK P  1  KK D 
 2  
   
(1  KK D ) 1  KK D
2 KK P    ….(iv)
 2 KK P
(i) Steady state error to velocity input :
A
ess 
Kv
where, K v  velocity error constant

A  Gain
K v  lim sG ( s )
s 0
K ( K P  K D s)
K v  lim s  KK P
s 0 s (1  1  s)
Hence, the steady state error is,
A 1
ess   Ans.
K v KK P
(ii) Natural frequency of oscillations :
From equation (iii),
KK P
n  rad/sec Ans.

(iii) Damping ratio :
From equation (iv),
1  KK D
 Ans.
2 KK P 
Sol.8 tr  0.6053 sec , MPO = 0.163
The given block diagram is shown below.
16
G(s)  , H ( s)  (1  as ) and   0.5
s( s  0.8)
Closed-loop transfer function for negative feedback is given by,
G( s)
T ( s) 
1  G ( s) H ( s)
16
s ( s  0.8) 16
T ( s)  
16 s ( s  0.8)  16(1  as )
1 (1  as)
s ( s  0.8)
16 16
T ( s)   2 …..(i)
s  0.8s  16  16as s  s (0.8  16 a)  16
2
Transfer function for second-order system with unit step input is given by,
C ( s) 2n
 2 …..(ii)
R( s) s  2 n s  2n
where,   damping ratio,
n  natural angular frequency
Comparing equation (i) and (ii), we get
2n  16  n  4 rad/sec.
2 n  (0.8  16 a)
2  0.5  4  0.8  16 a
4  0.8  16 a
3.2  16 a
a  0.2
Damped frequency of oscillation is given by,
d  n 1   2  4 1  0.25  3.46 rad/sec.

  cos 1   cos 1 0.5  600 or rad
3

Rise time is given by, tr 
d


tr  3  2.094  0.6053 sec Ans.
3.46 3.46
Maximum peak overshoot is given by,

12
MPO  e 0  MPO  1, 0   1
 0.5
1 0.52
MPO  e  0.163 Ans.
K ( s  1)( s  0.1)
Sol.1 T ( s) 
s  3.1s 2  s( K  0.3)  K
3
K  0 system is stable
Transfer function is
K ( s  1)  1  K ( s  1)
  s ( s  3)
C ( s)

s  s 3 
R( s)  1  K ( s  1) s ( s  3) ( s  0.1)  K ( s  1)
1  
 s  0.1  s ( s  3) s ( s  0.1)( s  3)
K ( s  1) ( s  0.1)

s ( s  3) ( s  0.1)  K ( s  1)
K ( s  1) ( s  0.1)
T ( s) 
s  3.1s 2  s( K  0.3)  K
3
The characteristic equation will be,

s3  3.1s 2  s( K  0.3)  K  0
Routh Tabulation :
s3 1 K + 0.3
s2 3.1 K
(3.1) K  0.93  K
s1
3.1
s0 K
For stability co-efficient of first column should be positive i.e. K  0 and 2.1 K  0.93  0
K   0.442
Hence, K  0 system is stable.
Sol.2 25.35  K  53.65
Given : Characteristic equation is,
s(s  1)( s 2  4s  20)  K (s  1)  0
(s 2  s)(s 2  4s  20)  K (s  1)  0
s 4  s 3  4s 3  4s 2  20s 2  20s  Ks  K  0
s 4  3s3  16s 2  s( K  20)  K  0
Routh Tabulation :
s4 1 16 K
s3 3 K  20 0
s2 48  K  20 K 0
3
s1 (68  K )( K  20)  9 K 0 0
68  K
s0 K
For the system to be stable, first column of the Roth array should be positive.
68  K
 0  K  68
3
(68  K )( K  20)  9 K
and 0
68  K
 (68  K )( K  20)  9 K  0
68K  K 2  1360  20 K  9 K  0
 K 2  79 K  1360  0
 K 2  79 K  1360  0
( K  53.65)( K  25.35)  0
Hence, the range of K for stability is,
25.35  K  53.65 Ans.
Sol.3 18 5  K  20
K
Given : G ( s ) 
( s  4) ( s  5)
Closed loop transfer function can be written as,

C (s) G 2 (s)

R( s) 1  G 2 ( s)
From the given value of G ( s ) , we get
K2 K2
G 2 ( s)  
( s  4)2 ( s  5)2 ( s 2  8s  16) ( s 2  10s  25)
K2
G ( s)  4
2
s  18s3  121s 2  360s  400

K2 s 4  18s 3  121s 2  360s  400  K 2
1  G ( s)  1  4
2

s  18s 3  121s 2  360s  400 s 4  18s 3  121s 2  360s  400
K2
G 2 ( s)
 4 s  18 s 3  121s 2  360s  400
4

1  G ( s) s  18s  121s 2  360s  400  K 2
2 3
s 4  18s 3  121s 2  360s  400

C ( s) K2
 4
R( s) s  18s3  121s 2  360s  400  K 2
s 4  18s 3  121s 2  360s  400  K 2  0
Routh Tabulation :
s4 1 121 400  K 2
s3 18 360 0
s2 101 400  K 2 0
36360  (7200  18 K 2 )
s1 0 0
101
s0 400  K 2 0 0
For the system stability, first column of Routh array should be positive.
36360  (7200  18K 2 )
0
101
36360  (7200  18K 2 )
2020  400  K 2
1620   K 2
18 5  K
For any K value this is true, therefore the stability is decided by the other condition, which is given below
400  K 2  0
K 2  400
K  20
When 18 5  K  20, the system is stable. Ans.
Sol.4 K  3.25 , p  1.36
Given : Open loop transfer function is,
K ( s  2)
G( s)  ….(i)
s  ps 2  3s  2
3
and H ( s )  1,   2.5 rad/sec

1  G(s) H (s)  0
K ( s  2)
1 0
s  ps 2  3s  2
3
s3  ps 2  3s  2  K (s  2)  0
s3  ps 2  s (3  K )  2K  2  0 ….(ii)
Routh Tabulation :
s3 1 (3  K )
s2 p (2 K  2)
p (3  K )  (2 K  2)
s1 0
p
s0 (2 K  2) 0
Whenever row of zero occurs, the system is marginally stable and response is fixed amplitude of
oscillations. For the marginally stable system,
p (3  K )  (2 K  2)
0
p
2K  2
p ….(iii)
3 K
Auxiliary equation is given by,
A(s)  ps 2  (2K  2)  0
Let s  j
p ( 2 )  2 K  2  0 ….(iv)
Substitute the value of ‘p’ from equation (iii) in (iv), we get
2K  2
( 6.25)  2 K  2  0
3 K
12.5K  12.5
 2( K  1)  0
3 K
12.5( K  1)  2(3  K )( K  1)  0
12.5K 12.5  (6  2 K )( K  1)  0
12.5K 12.5  6K  6  2 K 2  2 K  0
2K 2  ( 4.5 K )  6.5  0
K 2  2.25K  3.25  0
K  3.25 and 1 Ans.
For the stable system K should be positive.
Substituting the value of K in equation (iii), we get
2 (3.25)  2
p  1.36 Ans.
3  3.25
Sol.5 (i)  4  K  20.4
(ii)   1.362 rad/sec
(i) Given : Open loop transfer function is,
K
G( s)  and H ( s )  1
( s  1)3 ( s  4)
1  G(s) H (s)  0
K
1 0
( s  1)3 ( s  4)
( s  1)3 ( s  4)  K  0
s 4  7 s 3  15s 2  13s  K  4  0
Routh Tabulation :
s4 1 15 (4  K )
s3 7 13 0
s2 13.14 (4  K ) 0
 142.82  7 K 
s1   0 0
 13.14 
s0 (4  K ) 0 0
For the closed loop system to be stable, first column of Routh array should be positive.
4 K  0
4  K
142.82  7 K
and  0  142.82  7 K  0
13.14
142.82
 K  K  20.4
7
Hence, the range of ‘K’ for the system to be stable is,
 4  K  20.4 Ans.
(ii) For the system to be marginally stable,
i.e. at K  K m arg inal , then s 1  row because zero
Auxiliary equation is,
A(s)  13.14s 2  (4  K )  0
Putting s  j and the value of K in above equation then we get,
13.14 2   (4  20.4)
2  1.8569    1.362 rad/sec Ans.
Hence, the frequency of oscillation is,
  1.362 rad/sec.
84
Sol.6 0 K 
25
Given : Block diagram is shown below.
From the above block diagram,

K
G( s)  and H ( s )  1
s( s  s  1)( s  4)
2

1  G(s) H (s)  0
s(s 2  s  1)(s  4)  K  0
(s3  s 2  s)(s  4)  K  0
( s 4  4s 3  s 3  4s 2  s 2  4s )  K  0
s 4  5s 3  5s 2  4 s  K  0
Routh Tabulation :
s4 1 5 K
s3 5 4 0
21
s2 K 0
5
84
 5K
5
s1 0 0
21
5
s0 K
For the system stability, first column of Routh array should be positive.
K 0
84
 5K
and 5 0
21
5
84 84
 5K  0   5K
5 5
84 84
84  25 K  KK
25 25
84
Hence, the range of K for system stability is, 0  K  Ans.
25
Sol.7 K   0.175
Given : Characteristic equation is,
s 3  20 Ks 2  5s 2  10s  15  0
s3  s 2 (20K  5)  10s  15  0
Routh Tabulation :
s3 1 10
s 2
20K  5 15
(20 K  5)10  15
s1 0
20 K  5
s0 15 0
For the system stability, all the first column elements of Routh array must be of the same sign.
20K  5  0
K   0.25
(20 K  5)10  15
and 0
20 K  5
15 3
20 K  5   20 K  5 
10 2
3 7
20 K   5  20 K  
2 2
K   0.175
Hence, the range of K for stability is, K   0.175. Ans.
Sol.1 Given : Open loop transfer function is,

K ( s  1)
G ( s) 
s ( s 1)
Step 1 : Number of poles P  2 at s  0 and s  1.
Number of zeros Z  1 at s   1.
Step 2 : The root locus on the real axis exists between s  0 and s  1 and beyond s   1.
Step 3 : Number of root locus branches N  P  2 ( P  Z ).
Step 4 : Number of asymptotes  P  Z  2 1  1

Step 5 : Angle of asymptotes :
(2  1)1800
A    0, 1, 2,....P  Z 1
PZ
(2  1)1800
A  0
1
(2  0  1)1800
For   0, A0   1800
1
Step 6 : Here only one asymtotes is occur. Hence centroid is does not required.
Step 7 : To find break-away or break-in point : Characteristic equation is
1  G(s) H (s)  0
K ( s  1)
1 0
s ( s 1)
 s( s 1)
K
( s  1)
dK
Put 0
ds
dK d s (s 1)
 0
ds ds ( s  1)
( s  1) (2s 1)  ( s 2  s) (1)
0
( s  1)2
2 s 2  2 s  s 1  s 2  s  0
s 2  2s 1  0
s  0.41,  2.41
Step 8 : Intersection with imaginary axis is does not required.

Step 9 : No complex root and hence no angle or departure and arrivals.
K ( s  1)
The given G ( s ) H ( s ) is G ( s) H ( s) 
s ( s  1)
For all the point on the root locus, angle condition must get satisfied.
G ( s ) H ( s ) at any point s    j on the root locus  1800.
G ( s) H ( s) s  j  1800
 K (  j  1) 
   180
0
 (  j ) (  j   1) 
The angle of positive K is 00 , hence resultant angle condition becomes,

  
tan 1 
    1   1800
    
tan 1    tan 1  
   1
       
tan 1    tan 1    tan 1    180
0
   1  
     1 
      
    
1    1        1    1800
tan   tan
   1  

2 
 1
(  1) 

   (2  1) 
  
  1 ( 1)   2
tan 1    1800
      (2  1)  
1    2 
    1   (  1)    
 (2  1)
Hence,  0
  1 (  1)  2
( 1) 2  (  1)(2  1)
2  2  22  2  1
2  2 1  2  0
2  2 1  2  2  2  0
(  1) 2  (  0) 2  ( 2) 2
This is the equation of circle with centre ( 1, 0) and radius 2.
Root locus diagram is shown below.
Sol.2 Given : Block diagram is shown below.

From the figure,
K ( s 2  2s  5)
G(s) 
( s  2) ( s  0.5)
Step 1 : Number of poles P  2 at s   2 and s  0.5.
Number of zeros Z  2 at s  1  j 2.
Step 2 : The root locus on the real axis exists between s   2 and s  0.5.
Step 3 : Number of root locus branches N  P  2 ( P  Z ).
Step 4 : Number of asymptotes  P  Z  2  2  0.

Step 5 : Angle of asymptotes is does not required.
Step 6 : Centroid is does not required.
1  G(s) H (s)  0
K ( s 2  2s  5)
1 0
( s  2) ( s  0.5)
(s  2) (s  0.5)  K ( s 2  2s  5)  0
( s  2) ( s  0.5)
K 
( s 2  2s  5)
dK
Put 0
ds
dK d ( s  2) ( s  0.5)
 0
ds ds ( s 2  2s  5)
( s 2  2s  5) (2s  1.5)  ( s 2  1.5s 1) (2s  2)
0
( s 2  2s  5)2
2s3  4s 2  10s  1.5s 2  3s  7.5  2s3  3s 2  2s 2s 2  3s  2  0
 3.5 s 2  12s  5.5  0
3.5s 2 12s  5.5  0
s  3.83,  0.41
Step 7 : Itersection with imaginary axis can be obtained by using Routh Hurwitz criterion.
Characteristic equation is
s 2  1.5s 1  Ks 2  2sK  5K  0
s 2 (1  K )  s (1.5  2K )  5K 1  0
Routh Tabulation :
s2 1 K 5K 1
s 1 1.5  2K 0
(1.5  2 K ) (5 K 1)
s0  (5K 1) 0
(1.5  2 K )
For marginally stable system,
1.5  2 K  0
1.5
K  0.75
2
s 2 (1  K )  (5K 1)  0
s 2 (1  0.75)  (5  0.75 1)  0
1.75s 2  2.75  0
s   j1.25
Put s  j
  1.25 rad/sec
Therefore intersection point with imaginary axis is s   j1.25 .
Step 8 : Angle of aperture or departure : Conside the complex root is s  1  j 2
 A  1800  (  P   Z )
where,  P  Sum of angle of poles

 Z  Sum of angle of zeros
 2 
 P1  tan 1    75.96
0
 0.5 
2
 P2  tan 1    33.7 0
3
Z1  900
 ( P   Z )  75.960  33.70  900  19.660

Therefore, angle of arrival
 A  1800  19.660  199.660
Sol.3 Given block diagram is shown below.
From the figure, open loop transfer function is,

K ( s  3) ( s  2)
G (s) 
s ( s  1)
Step 1 : Numbers of poles P  2 at s  0 and s   1.
Number of zeros Z  2 at s   3 and s   2.
Step 2 : The root locus on the real axis exists between s  0 to s   1 and s   2 to s   3.
Step 3 : Number of root locus branches N  P  Z  2.
Step 4 : Asymptotes is does not required.

Step 5 : Centroid is not required.
Step 6 : To find break-away or break-in point : Whenever two poles are adjacently placed, then there exist
a root locus branch in between poles then one break away point exist.
1  G(s) H (s)  0
K ( s  2) ( s  3)
1 0
s ( s  1)
s (s  1)  K (s 2  5s  6)  0
 s ( s  1)
K
s 2  5s  6
dK
Put 0,
ds
dK  d  s ( s  1) 
 0
ds ds  s 2  5s  6 
(s 2  5s  6) (2s  1)  s (s  1) (2s  5)
0
( s 2  5s  6)2
2s3  11s 2  17 s  6  2s3  5s 2  2s 2  5s
0
( s 2  5s  6)2
4s 2  12s  6
0
(s 2  5s  6)2
2s 2  6s  3  0
s   0.634,  2.36
Break-away point is  0.634
Break-in point is  2.36

K
G( s) 
( s  3) ( s  5) ( s 2  2s  2)
Step 1 : Number of poles P  4 at s   3, s   5 and s  1  j.
Number of zeros Z  0.
Step 2 : The root locus on the real axis exists between s   3 and s   5 and beyond s  1  j.
Step 3 : Number of root locus branches N  P  4 ( P  Z ). Ans.
No finite zero so all P  Z  4 branches will terminate at infinity.
Step 4 : The root locus diagram starts at open loop poles ( K  0)

s  3 ( K  0)
s   5, ( K  0)
s   1  j1 ( K  0) Ans.
Step 5 : The root locus diagram terminates at open loop zero ( K  ) here all the four zeros are at infinite
along the four asymptotes. Ans.
Step 6 : Number of asymptotes
N  P  Z  40  4
(2  1)1800
A    0, 1, 2......P  Z  1
PZ
(2  1)1800
A    0, 1, 2,3
4
(2  0  1)1800
For   0, A0   450
4
(2 1  1)1800
  1, A1   1350
4
(2  2  1)1800
  2, A2   2250
4
(2  3  1)1800
  3, A3   3150 Ans.
4
Step 8 : Centroid () : It is the point at which the asymptotes intersect the real axis.
 real part of poles   real part of zeros
of G ( s ) H ( s ) of G ( s ) H ( s )

PZ
 3  5 1 1
   2.5 Ans.
4
Step 9 : To find break-away point : Characteristic equation is
1  G(s) H (s)  0
K
1 0
( s  3) ( s  5) ( s 2  2s  2)
K   [(s  3) (s  5) (s 2  2s  2)]
dK
Put 0,
ds
d
 [( s  3) ( s  5) ( s 2  2 s  2)]  0
ds
4s 3  30s 2  66s  46  0
2s 3  15s 2  33s  23  0
s   4.26, 1.6  0.27 j, 1.6  j 0.27
s   4.26, is a valid breakaway point. Ans.
Angle condition :
At s  1.6  j 0.27
1
G(s) H (s) 
(1.6  j 0.27  3)(1.6  j 0.27  5)[(1.6  j0.27) 2  2(1.6  j0.27)  2]
G(s) H (s)  0.155 1.330 invalid because not an odd multiple of 180 0.
Step 10 : Intersection of root locus with imaginary axis can be found by Routh Hurwitz criterion.
s 4  10s 3  33s 2  46s  30  K  0
Routh Tabulation :
s4 1 33 30  K
s3 10 46 0
s2 28.4 30  K 0
1306.4  (30  K )10
s1 0 0
10
s0 30  K 0
.
For the marginally stable system,

1306.4  (30  K )10  0
1306.4  (30  K )10
130.64  30  K
K  100.64
28.4s 2  3  K  0
28.4s 2  3  100.64  0
28.4s 2  130.64
s 2   4.6
s   j 2.145 Ans.
K ( s  4)
G( s) 
s ( s  1)
Step 1 : Number of poles P  2 at s  0 and s   1.
Number of zeros Z  1 at s   4.
Step 2 : The root locus on the real axis exists between s  0 and s   1 and beyond s   4.
Step 3 : Number of root locus branches N  P  2 ( P  Z )
Step 4 : Number of asymptotes  P  Z  2  1  1

(2  1)1800
A    0,1, 2.....P  Z  1
PZ
(2  1)1800
A  0
1
(2  0  1)1800
A   1800
1
Step 6 : Here, only one asymptote is present, therefore centroid is not required.
1  G(s) H (s)  0
K ( s  4)
1 0
s ( s  1)
 s ( s  1)   ( s 2  s) 
K       ( s  4) 
 ( s  4)   
dK
Put 0,
ds
d  ( s 2  s) 
0
ds  s  4 
( s  4) (2s  1)  ( s 2  s) (1)
0
( s  4)2
s 2  8s  4  0
 s   0.6 and s   7.4
The system is critically damped when s   0.6 and s   7.4 (root are real and equal).
(0.6) (0.4)
K  0.07 (at s   0.6)
3.4
(7.4) (6.4)
K  14 (at s   7.4)
3.4
Step 8 : Intersection with imaginary axis does not occur.

K
G(s) 
s ( s  2) ( s  5)
2
Step 1 : Number of poles P  4 at s  0, s  0, s   2 and s   5.

Number of zeros Z  0.
Step 2 : The root locus on the real axis exists between s   2 and s   5.
Step 3 : Number of root locus branches N  P  4 ( P  Z )
Step 4 : Number of asymptotes  P  Z  4  0  4

(2q  1)1800
A  q  0, 1, 2, .........P  Z  1
PZ
(2q  1)1800
A  q  0, 1, 2, 3
4
(2  0  1)1800
For q  0, A0   450
4
(2 1  1)1800
q  1, A1   1350
4
(2  2  1)1800
q  2, A2   2250
4
(2  3  1)1800
q  3, A3   3150
4
Step 6 : Centroid :
( real part poles   real part of zeros) of G( s) H ( s)

PZ
0 0  2 5 7
   1.75
4 4
Step 7 : To find break-away point : Characteristic equation is
1  G(s) H (s)  0
K
1 0
s ( s  2) ( s  5)
2
s 2 (s  2) (s  5)  K  0
K   (s 4  7s3  10s 2 )
dK
Put 0
ds
dK d
  ( s 4  7 s 3  10s 2 )
ds ds
4s 3  21s 2  20s  0
s (4s 2  21s  20)  0
s  0 is a one break away point.
4s 2  21s  20  0
s  1.25,  4
s   4 is a valid break away point.
Step 8 : The value of K for marginal stability is determined by applying Routh criterion to the
characteristic equation.
1  G(s) H (s)  0
K
1 0
s ( s  2) ( s  5)
2
s 4  7 s 3  10s 2  K  0
Routh Tabulation :
s4 1 10 K
s3 7 0 0
s2 10 K 0
 7K
s1 0 0
10
s0 K 0 0
The value of K at which the root locus plot crosses the imaginary axis is determined by equating the first
term in s1 row to zero therefore,
 7 K m arg inal
0
10
K m arg inal  0
1
Sol.1 Given : G ( s ) H ( s ) 
s (1  0.2 s ) (1  0.05s )
Put s  j,
1
G ( j) H ( j) 
j (1  0.2 j) (1  0.05 j)
Magnitude can be written as,
1
G( j) 
 (0.2)2  1 (0.05) 2  1
Phase angle can be written as,
G( j)   900  tan 1 0.2 tan 1 0.05
The Nyquist path for the transfer function is shown below.
Section 1 : Polar plot

At   0 G( j)   G ( j)   900
At     G( j)  0 G ( j)   2700
Section 3 : Mirror image of Polar plot

At     G( j)  0 G ( j)  270 0
At   0 G( j)   G ( j)  900

Section 2 : Semi-circle with radius tending to infinite.
At     G( j)  0 G ( j)   2700
At     G( j)  0 G ( j)  270 0
Section 4 : Semi-circle with radius tending to zero.

At   0 G( j)   G ( j)  900
At   0 G( j)   G ( j)   900
The Nyquist plot is shown below.
The frequency at which phase angle of G ( jω) H ( jω) is 1800 is called phase cross over frequency.
1800   900  tan 1 0.2pc  tan 1 0.05pc
 900   tan 1 (0.2pc )  tan 1 (0.05 pc )
 0.2 pc  0.05 pc 
900  tan 1  2 
1  (0.2  0.05) pc 
2pc
1 0
100
 pc  10 rad/sec
1
G ( j pc ) 
1   1    0.0025 
0.04   100   1  100  1
100     
1
G ( j pc ) 
25
Gain margin can be defined as reciprocal of the magnitude of the G ( j) H ( j) measured at phase
crossover frequency.
1 1
G.M.    25
G ( j pc ) 1/ 25
In dB, G.M.  20log 25  28 dB
G.M. is positive hence system is stable.
2( s  3)
Sol.2 Given : G (s) H (s) 
s ( s 1)
Open loop number of poles in right haft of s-plane P  1
2( j  3)
Put s  j , G( j) H ( j) 
j( j  1)
2 (2  9)
G ( j) H ( j) 
 2  1

G ( j) H ( j)  900  tan 1  (1800  tan 1 )
3

G ( j) H ( j)  900  tan 1  1800  tan 1 
3
Nyquist path is shown in figure.
Section 1: Polar plot
G( j) H ( j) G ( j) H ( j)
  0   2700
   0  900
Section 3 : Mirror image of polar plot

G( j) H ( j) G ( j) H ( j)
   0  90 0
  0   2700
Section 2 : Semi-circle with radius tending to infinite

G( j) H ( j) G ( j) H ( j)
   0   900
   0  90 0
Section 4 : Semi-circle with radius tending to zero

  0 G( j) H ( j)   G( j) H ( j)  2700
  0 G( j) H ( j)   G( j) H ( j)  2700
 pc
1800  2700 tan 1  pc  tan 1
3
 pc
900  tan 1  pc  tan 1
3
  pc 
  pc  
900  tan 1  3 
 2pc 
 1 
3 
2pc
1 0
3
2 39
G ( j) H ( j)  2
3 3 1
The Nuquist plot is shown below.
The Nyquist criteria is expressed as,

N  Z P
Where Z = number of zeros of 1  G ( s ) H ( s ) in the right-half s-plane (poles of CLTF)
N = number of clockwise encirclements of the – 1 + j0 point
P = number of poles of G ( s ) H ( s ) in the right-half s-plane
From figure, N  1
1  Z  1
Z 0
Therefore, system is stable.
5(5  3)
Sol.3 Given : G ( s) H ( s) 
s( s  1)
Open loop number of poles in right haft of s-plane P  1
5( j  3)
Put s  j, G ( j) H ( j) 
j( j  1)
5 3  9)
G( j) H ( j) 
 2  1

G ( j) H ( j)  900  tan 1  (1800  tan 1 )
3

G ( j) H ( j)  900  tan 1  1800  tan 1 
3
Nyquist path is shown in figure
  0 G( j) H ( j)   G( j) H ( j)  2700
   G( j) H ( j)  0 G( j) H ( j)  900
Section 3: Mirror image of polar plot

   G( j) H ( j)  0 G( j) H ( j)  900
  0 G( j) H ( j)   G( j) H ( j)  2700
Section 2: Semi-circle with radius tending to infinite

   G( j) H ( j)  0 G( j) H ( j)  900
   G( j) H ( j)  0 G( j) H ( j)  900

Section 4: Semi-circle with radius tending to zero
  0 G( j) H ( j)   G( j) H ( j)  2700
  0 G( j) H ( j)   G( j) H ( j)  2700
The Nuquist plot is shown blown.
1800  2700 tan 1  pc  tan 1pc
3
 pc
900  tan 1  pc  tan 1
3
  pc 
  pc  
900  tan 1  3 
  2

 1  3
pc

2pc
1 0
3
5 39
G ( j) H ( j)  5
3 3 1
Nyquist stability criterion is given by,
N=Z–P
Where N = number of encirclements of the (–1, j0) point made by the G ( s ) H ( s ) plot in CW
direction (if  s is defined in the CW sense).
Z = number of zeros of 1  G ( s ) H ( s ) that are inside the Nyquist path (i.e. the right-half s-
plane); notice that the zeros of 1  G ( s ) H ( s ) are the same as poles of closed-loop transfer
function.
P = number of poles of 1  G ( s ) H ( s ) that are inside the Nyquist path (i.e. the right-half s-
plane); notice that the poles of 1  G ( s ) H ( s ) are the same as those of G ( s ) H ( s ) .
N  Z P
1  Z  1
Z 0
System is stable.
s2
Sol.4 (i) G( s) H ( s) 
( s  1)( s  1)
Number of open loop poles in right haft of s-plane P  1
Nuquist path for the given transfer function is show below.
j  2
Put s  j, G( j) H ( j) 
( j  1)( j  1)
(2  4) 2  4
G ( j) H ( j)  
(2  1) (2  1) 2  1

G ( j) H ( j)  tan 1
 tan 1   (1800 tan 1 )
2

G ( j) H ( j)  tan 1  1800
2
  0 G( j) H ( j)  2 G( j) H ( j)  1800
   G( j) H ( j)  0 G( j) H ( j)  900
Section 3 : Mirror image of polar plot

   G( j) H ( j)  0 G( j) H ( j)  900
  0 G( j) H ( j)   G( j) H ( j)  1800
Section 2: Semi-circle with radius tending to infinite.

   G( j) H ( j)  0 G( j) H ( j)  900
  0 G( j) H ( j)  0 G( j) H ( j)  900
The Nyquist plot is show in figure.

N=Z–P
function.
N  Z P
1  Z  1
Z 0
System is stable.
s
(ii) G ( s ) H ( s ) 
1  0.2s
The number of open loop poles in right half of s-plane P  1
j
Put s  j, G ( j) H ( j) 
1  j 0.2

G ( j) H ( j) 
1  0.04 2
Phase angle can be written as
G( j) H ( j)  900  (360  tan 1 0.2)
G( j) H ( j)  2700  tan 1 0.2
Nyquist path is same as previous past
  0 G( j) H ( j)  0 G( j) H ( j)  2700
   G( j) H ( j)  5 G( j) H ( j)  1800

   G( j) H ( j)  5 G( j) H ( j)  1800
  0 G( j) H ( j)  0 G( j) H ( j)  2700
Section 2: Semi-circle with radius in finite

   G( j) H ( j)  0 G( j) H ( j)  1800
   G( j) H ( j)  0 G( j) H ( j)  1800
The Nyquist path is shown below.

N=Z–P
function.
From figure, N  1
N  Z P
1  Z  1
Z 0
System is stable.
K ( s  20) 2
Sol.5 Given : G( s) H ( s) 
s3
K ( j  20)2
Put s  j, G(s) H (s) 
( j)3
K (2  400)2
G( j) H ( j) 
3

G ( j) H ( j)  2700  2 tan 1
20
The Nyquist path for the given transfer function is shown below.
  0 G( j) H ( j)   G( j) H ( j)  2700
   G( j) H ( j)  0 G( j) H ( j)  900

   G( j) H ( j)  0 G( j) H ( j)  900
  0 G( j) H ( j)   G( j) H ( j)  2700


   G( j) H ( j)  0 G( j) H ( j)   900
   G( j) H ( j)  0 G( j) H ( j)  900
Section 4 : Semi-circle with radius tending to zero

  0 G( j) H ( j)   G( j) H ( j)  2700
   G( j) H ( j)   G( j) H ( j)  2700
The Nuguist plot is shown in figure below.

Phase cross over frequency is the frequency at which hag of G ( j) H ( j) intersects with negative real
axis.
 1800  2700  2 tan pc1
20
 pc
900  2 tan 1
20
Gain margin is the reciprocal of magnitude of G ( j) H ( j) at phase cross over frequency.
1
G.M. 
G ( j pc ) H ( j pc )
K
G ( j pc ) H ( j pc ) 
10
10
G.M. 
K
10
In dB, G.M.  20log
K
For the system to be stable G.M. must be positive expressed in dB.
K  10
By counting the Nyquist encirclement for K  10 , there is two clockwise encirclement and the anti-
clockwise encirclement which confirms that the system is stable.
N=Z–P
function.
N  Z P
0  Z 0
Z 0 Ans.
10
Sol.6 Given : G ( s) H ( s) 
s( s  3)( s 2  s  1)
Number of open loop poles on the right hand side of the s-plane P  0
Characteristics equation is given by,
1  G(s) H (s)  0
1
1 0
s( s  3)( s 2  s  1)
(s 2  3s)( s 2  s  1)  10  0
s 4  4s 3  4s 2  3s  10  0
Routh tabulation :
s4 1 4 10
s3 4 3
13
s2 10
4
s1  9.3076
s0 10
In the first column of Routh array there is two sign changes it implies that there are two closed loop poles
in the right haft of s-plane.
Z 2
The Nyquist criterion is expressed as,
N  Z P
N  20
N 2
The number of clockwise encirclement is two.
K
Sol.7. Given : G( s) H ( s)  K  0 and T  0
s(1  Ts)
Number of poles in RHS of s-plane. i.e. P  0 .
Nyquist path for the given open loop transfer function is shown below.
K
Put s  j, G( j) H ( j) 
j(1  jT )
K
Magnitude can be written as, G ( j) H ( j) 
 1  2T 2
G( j) H ( j)  900  tan 1 T
Section 1 : Polar plot :
At   0 G( j) H ( j)   G ( j) H ( j)   900
At     G( j) H ( j)  0 G ( j) H ( j)  1800
Section 3 : Mirror image of polar plot.

At     G( j) H ( j)  0 G ( j) H ( j)  1800
At   0 G( j) H ( j)   G ( j) H ( j)  900

At     G( j) H ( j)  0 G ( j) H ( j)  1800
At     G( j) H ( j)  0 G ( j) H ( j)  1800
Section 4 : Semi-circle with radius tending to zero.
At   0 G( j) H ( j)   G ( j) H ( j)  900
At   0 G( j) H ( j)   G ( j) H ( j)   900
Nyquist Plot : The Nyquist plot is shown in below figure.

N=Z–P
function.
From figure, N  0
0  Z 0
Z=0
Z  Number of closed loop poles in RHS of s-plane.
So, there are no poles in RHS of s-plane. Therefore, the closed loop transfer function is stable.
Sol.1 K  589.66, a  30.21

Given : M r  1.04 and r  11.55 rad/sec
The given system is shown in below figure.
From the above figure, the transfer function can be written as,
K
C ( s) s ( s  a) K
  2 ….(i)
R( s) 1  K s  as  K
s ( s  a)
C ( s) 2n
T ( s)   2 ….(ii)
R( s) s  2n s  n2
2n  K  n  K rad/sec ….(iii)
a
and 2n  a   ….(iv)
2 K
Resonant peak is given by,
1
Mr 
2 1   2
1
Mr   1.04 [Given M r  1.04]
2 1  2
2 (1  2 )  0.231139
4  2  0.231139  0
  0.622, 0.7983
So, the approximate value of damping ratio,   0.622
Resonant frequency is given by,
r  n 1  2 2
r  n 1  2 2  11.55 [Given r  11.55 rad/sec]

11.55
n 
1  2  (0.622) 2
n  24.283 rad/sec
From equation (iii), we get
K  2n  (24.283) 2
K  589.66 Ans.
From equation (iv), we get
a   2 K  0.622  2 589.66
a  30.21 Ans.
Sol.2 (i) r  7.07 rad/sec
(ii) M r  1.154
Given : Peak overshoot = 16.2 percent

Occurring at time t  seconds
5 3
Sinusoidal input = 1 volt
Percent peak overshoot is given by,

12
%M p  e 100
 
12
16.2  e 100
 
ln(0.162) 
1  2
 
 1.82 
1  2
3.3124(1  2 )  22
3.3124  (2  3.3124)2
3.3124
2 
(  3.3124)
2
  0.5
 
tp   sec
d n 1   2

Peak overshoot occurring at time t  t p  sec
5 3
 

5 3 n 1   2
5 3
n 
1  (0.5) 2
n  10 rad / sec
(i) Frequency of input at which amplitude of steady state response will have maximum value :
r  n 1  2 2
r  10 1  2  (0.5) 2
r  7.07 rad/sec Ans.
(ii) Maximum value of steady state output :
1
Mr 
2 1   2
1
Mr 
2  0.5 1  (0.5) 2
M r  1.154 Ans.
Sol.3 r  2.6 rad/sec, M r  1.04
25
Given : Open loop transfer function, and H ( s )  1
s ( s  6)
Fig. Characteristics of gain versus frequency

Resonant frequency (r ) : The frequency at which maximum magnitude occurs.
Standard transfer function of second order prototype system is given by,
C ( s) 2n

R( s) s 2  2n s  2n
Sinusoidal transfer function is,
C ( j) 2n 1
 
R( j) ( j) 2  2n ( j)  2n  
2
 
1     j 2  
 n   n 
r
Let 
n
C ( j) 1

R( j) (1   )  j 2
2
C ( j) 1
Magnitude, M  
R( j) (1   )2  (2) 2
2
To get maximum value of magnitude (M),

dM
0
d
2((1   2 )(2))  (8 2 )

0
2 (1  2 ) 2  (2) 2
[2(1  2 )(2)]  82
4(1  2 )  82  0
 4  43  82  0
82  42  4  0
22  2  1  0
  1  2 2
r
 1  2 2
n
r  n 1  2 2 rad/sec
Resonant peak : The resonant peak obtained by substituting r in magnitude
C ( j) 1

R( j) (1  2 )2  42 2
C ( j) 1

R( j) (1 1  22 ) 2  42 (1  2 2 )
C ( j) 1

R( j) 4  42  84
4
1
 Mr 
2 1  
25
Given that G( s) 
s( s  6)
1  G(s) H (s)  0
25
1 0
s( s  6)
s( s  6)  25  0
s 2  6s  25  0 …(i)
Characteristic equation of standard second order system is given by,
s 2  2n s  2n  0 …(ii)
On compare equation (i) and (ii), then we get
2n  25  n  25  5 rad/sec
6
2n  6    0.6
25
Resonant frequency is given by,
r  n 1  2 2  5 1  0.72  5 0.28  2.6
 r  2.6 rad/sec Ans.
1
Mr 
2 1  2
1 1 1
Mr   
2  0.6 1  (0.6) 2
1.2 0.64 0.96
M r  1.04 Ans.
Sol.4 (i) K  1.67
(ii) K  1.1
(iii) K  0.57
Given : Open transfer function,
K
G( s)  and H ( s )  1
s(1  0.1s)(1  s)
(i) Given that Resonance peak M r  1.4
1
Mr 
2 1  2
1
1.4 
2 1  2
 1   2  0.357
2 (1  2 )  0.127
2  4  0.127
4  2  0.127  0
Let x  2 , then
x 2  x  0.127  0
x1  0.85    0.921
x2  0.149    0.386
Neglect insignificant pole because time constant is very small. The equivalent transfer function is,
K
G( s) 
s(1  s)
Characteristic equation is,
s(1  s)  K  0
s2  s  K  0 ….(i)
Standard second order characteristic equation is given by,
s 2  2n s  n2  0 ….(ii)
n  K and 2n  1
2  0.386  K  1
1
K 
2  0.386
2
 1 
K    1.67 Ans.
 2  0.386 
(ii) Given transfer function,
K
G( s) 
s(1  0.1s)(1  s)
Gain Margin  20log G ( j pc ) H ( j pc )
To get  pc ,
G( j) H ( j)   1800

pc
G( j) H ( j)  900  tan 1 (0.1)  tan 1 ()

G( j) H ( j)  1800   900  tan 1 (0.1)  tan 1 ()
 900   tan 1 (0.1)  tan 1 ()
0.1   
tan 900 
1  0.1 2
1  0.12  0  2  10
   pc  10  3.16rad/sec
K
G( j pc ) H ( j pc ) 
 pc 1  (0.1 pc ) 2 1  ( pc ) 2
K
G ( j pc ) H ( j pc ) 
(3.16) 1  (0.1 3.16) 2 1  (3.16) 2
K K
G ( j pc ) H ( j pc )  
(3.16)(1.05)(3.31) 11
Gain Margin  20log G ( j pc ) H ( j pc )
K
20  20log
11
K
0.1   K  1.1 Ans.
11
(iii) Given phase margin is 600

To get  gc ,
P.M.  180  GH ( j) 
gc
GH ( j) H ( j)  90  tan 1 (0.1)  tan 1 ()

0
600  1800  900  tan 1 (0.1gc )  tan 1 (gc )

300   tan 1 (0.1gc )  tan 1 (gc )
1 1.1gc

3 1  0.1gc
2
1  0.12gc  3 1.1gc
1  0.12gc  1.9gc
2gc  19gc 10  0
gc  0.51, 19.51
Magnitude condition G ( jgc ) H ( jgc )  1


1
gc 1  (0.1gc )2 1  2gc

1
0.51 1  (0.1 0.51) 2 1  (0.51) 2
K  0.57 Ans.
 e 2 t 0 
Sol.1 ( t )  e At
 
 0 e 4 t 
 x1    2 0   x1  0
Given :  x    0  4   x   1  u …. (i)
 2   2  
x 
y  1 0  1  …. (ii)
 x2 
State equation is given by,
x  Ax  Bu …. (iii)
On comparing equation (i), (ii) and (iii), we get
 2 0 
A 
 0 4 
 s 0  2 0   s  2 0 
[ sI  A]      
0 s   0  4   0 s  4
Adj[ sI  A]
[ sI  A]1 
sI  A
s  4 0 
Adj[ sI  A]  
 0 s  2
sI  A  (s  2)(s  4)
 s4 
 ( s  2) ( s  4) 0 
 sI  A  
1

 s2 
 0
 ( s  2) ( s  4) 
 1 
 0 
 sI  A   s  2
1

 0 1 
 s  4 
State transition matrix is given by,
(t )  e At  L1  sI  A
1
Taking inverse Laplace transform, we get

e2t 0 
(t )  e At    Ans.
 0 e4t 
Sol.2
1
Ans. (a) T ( s ) 
( s  1)( s  2)
  e t  2e  2 t e  t  e  2t 
(b) ( t )   t  2t 
  2e  2e 2e  t  e  2t 
 1 1 
 u( t )  e  t  e  2 t 
2 2
(c) x( t )   
 3 1
u( t )  2e  t  e  2 t 
 2 2 
 x1    3 1  x1  0
Given :  x     2 0   x   1  u ; t  0 …. (i)
 2   2  
x 
y  [1 0]  1  …. (ii)
 x2 
x  Ax  Bu …. (iii)
Output state equation is given by,
y  Cx  Du …. (iv)
On comparing equation (i), (ii), (iii) and (iv), we get
  3 1 0
A  , B    and C  [1 0]
 2 0 1 
(a) The transfer function of state space model is given by,
T (s)  C[ sI  A]1 B
 s 0   3 1   s  3 1
[ sI  A]    
0 s    2 0  2 s 
Adj[ sI  A]
[ sI  A]1 
sI  A
 s 1 
Adj[ sI  A]   
  2 s  3
sI  A  s(s  3)  2  s 2  3s  2
 s 1 
 s  3s  2
2
s  3s  2 
2
[ sI  A]1   
 2 s3 
 s  3s  2
2
s 2  3s  2 
 s 1 
 s 2  3s  2 s  3s  2  0 
2
T (s)  [1 0 ]  
 2 s  3  1 
 s 2  3s  2 s 2  3s  2 
 1 
 s 2  3s  2 
T (s)  [1 0 ]  
 s3 
 s 2  3s  2 
1 1
T ( s)   Ans.
s  3s  2 ( s  1) ( s  2)
2
(b) State transition matrix is given by,

(t )  e At  L1 [sI  A]1
 s 1 
 s  3s  2
2
s  3s  2 
2
[ sI  A]1   
 2 s3 
 s 2  3s  2 s 2  3s  2 
 s 1 
 ( s  1) ( s  2) ( s  1) ( s  2) 
L1 [ sI  A]1  L1  
 2 s3 
 ( s  1) ( s  2) ( s  1) ( s  2) 

Apply partial fraction, we get
 1 2 1 1 
 ( s  1)  ( s  2) 
( s  1) ( s  2) 
L1 [ sI  A]1  L1  
 2 2 2 2 
 ( s  1)  ( s  2) 
( s  1) ( s  2) 

Taking inverse Laplace transform, we get
  et  2e 2t e  t  e  2t 
(t )  e At   t  2t  Ans.
  2e  2e 2e t  e 2t 
(c) State equation for a unit-step input
x(t )  ZIR  ZSR
x(t )  (t ) x(0)  L1 [  (s) BU (s)] ( x(0)  0, ZIR  0 )
Calculation of ZSR :
 s 1  
  ( s  1) ( s  2) ( s  1) ( s  2) 0   1  

 
x(t )  L1    
  
 2 s3  1   s  
  ( s  1) ( s  2)  
  ( s  1) ( s  2) 
 s 1  
  ( s  1) ( s  2) ( s  1) ( s  2)  0 
  1  
x(t )  L1   
 2 s3   
 s 

  ( s  1) ( s  2) ( s  1) ( s  2)  
 1 
 s ( s  1)( s  2) 
x(t )  L1  
 s3 
 s ( s  1) ( s  2) 
 
Applying partial fraction, we get
 1 1 1 
   
2 s s  1 2( s  2)
x(t )  L1  
 3 2 1 
   
 2 s s  1 2( s  2) 
 1 1 
 u (t )  e  t  e  2t 
 x(t )  
2 2
 Ans.
 3 1
u (t )  2e  t  e  2t 
 2 2 
s 2  14s
Sol.3 T ( s) 
s 3  14s 2  44s  40
 0 1 0 0 
Given :

x 0 0 1  x  1  u

  40  44 14 0
and y  0 1 0 x ….. (i)
x  Ax  Bu …. (ii)
Output state equation is given by,
y  Cx  Du …. (iii)
On comparing equation (i), (ii) and (iii), we get
 0 1 0 0 
A   0 0 1  , B  1  and C  0 1 0
  40  44 14 0
Transfer function is given by,
T (s)  C[ sI  A]1 B
 s 1 0 

[ sI  A]   0 s 1 
 40 44 s  14
Adj[sI  A]
[sI  A]1 
sI  A
 s 2  14 s  44 s  14 1
 
Adj[ sI  A]   40 s 2  14s s
  40 s (44 s  40) s 2 

sI  A  s[s(s  14)  44]  40 = s  14s  44s  40
3 2
 s 2  14 s  44 s  14 1 
 s3  14 s 2  44 s  40 s  14 s 2  44 s  40
3
s  14 s  44 s  40 
3 2

 40 s 2  14 s s 
[ sI  A]1   3 
s  14 s  44 s  40
2
s 3  14 s 2  44 s  40 s  14 s  44 s  40 
3 2
  40 s (44 s  40) s2 
 3 
 s  14 s 2  44 s  40 s  14 s 2  44 s  40
3
s 3  14 s 2  44 s  40 
 s 2  14s  44 s  14 1 
 3 
s  14s 2  44s  40 s  14s 2  44s  40
3
s  14 s  44 s  40 
3 2
0
 40 s 2  14 s s  1 
T ( s)   0 1 0  3   
s  14s 2  44s  40 s  14s 2  44s  40
3
s  14 s  44 s  40 
3 2
0 
  40s (44 s  40) s2 
 3 
 s  14s 2  44s  40 s  14s 2  44s  40
3
s 3  14 s 2  44 s  40 
 s  14 
 s 3  14s 2  44s  40 
 
 s 2  14s 
T ( s )   0 1 0  3 
 s  14s  44s  40 
2
 (44s  40) 
 3 
 s  14s  44s  40 
2
s 2  14s
T ( s)  Ans.
s 3 14s 2  44s  40
s3
Sol.4 (i) T ( s ) 
s  3s  2
2
(ii) s  1 and  2
 et 0 
(iii) ( t )    t 2 t 
e  e e 2 t 
Given : State variable of a system are,
 1 0  1 
x    x    r (t ), y  1 1 x
 1  2 0 
The standard form of state space model is given by,
x  Ax  Bu and y  Cx  Du ….(i)
On comparing from standard form of state space model we have,
 1 0  1 
A  , B    and C   1 1 
 1  2 0
(i) The transfer function of state space model is given by,
Y ( s)
T ( s)   C [ sI  A]1 B ….(ii)
R( s )
 s 0   1 0   s  1 0 
[ sI  A]     
0 s   1  2   1 s  2 
Adj[ sI  A]
[ sI  A]1 
sI  A
s  2 0 
Adj[ sI  A]  
 1 s  1
and sI  A  (s  1)(s  2)
1 s  2 0 
 sI  A
1
 
( s  1)( s  2)  1 s  1
 1 
 0 
s 1
 sI  A  
1

 1 1 
 ( s  1)( s  2) s  2 
 1   1 
 0   
s 1  
1 s 1
 sI  A B  
1
    
 1 1  0   1 
 ( s  1)( s  2) 
s  2 
 ( s  1)( s  2) 
From equation (ii), we get
 1 
 s 1 
T ( s )  C [ sI  A]1 B  1 1  
 1 
 ( s  1) ( s  2) 
1 1
T ( s )  C  sI  A B 
1

s  1 ( s  1)( s  2)
s3
T ( s) 
( s  1)( s  2)
Y ( s) s3
Hence, T ( s)   2 Ans.
R( s) s  3s  2
(ii) The Eigen values of the system:
Eigen values of the system = Roots of characteristic equation
Characteristic equation is,
sI  A  0  (s  1)(s  2)  0  0
s 2  3s  2  0
s  1 and 2
Hence, the Eigen values are, –1and  2 . Ans.
(iii) The state transition matrix is given by,
(t )  e At  L1[(s)]  L1[sI  A]1
 1 
 0 
s 1
 sI  A
1
 
 1 1 
 ( s  1)( s  2) s  2 
 1 
 0 
s 1
(t )  L1  sI  A  L1 
1
Hence, 
 1  1 1 
 ( s  1) ( s  2) s  2 
 et 0 
(t )  L  sI  A   t
1 1
2t  Ans.
e  e e2t 
(iv) The non-uniqueness of state variables :
From equation (i),
x  Ax  Bu and y  Cx  Du
Let, x  P z (t ) ….(iii)
x (t )  P z (t ) ….(iv)
Substitute the values of equation (iii) and (iv) in the above equation then we get,
P z (t )  AP z (t )  B u (t )
z (t )  P1 AP z(t )  P 1Bu(t )

z (t )  M z (t )  N u (t )
where, M  P1 AP and N  P 1 B

y  CP z (t )  D u (t )
y  Q z (t )  D u (t )
where, Q  CP
The above state space representation is transformed to new state model.
z (t )  M z (t )  N u (t )
y  Q z (t )  D u (t )
Hence, the state space representation is not unique. Ans.
  e  2e
t
e e 
2 t t 2 t
Sol.5 (i) ( t )   t 2 t 
 2e  2e 2e  t  e 2 t 
1
(ii) T ( s ) 
( s  1)( s  2)
1 t 1 2 t 
 2 u( t )  e  2 e 
(iii) x( t )   
 3 u( t )  2e  t  1 e 2 t 
 2 2 
Given : State-space of a system,
 x1    3 1   x1  0
 x     2 0  x   1  u .…(i)
 2    2  
x 
and y  1 0  1  ….(ii)
 x2 
Standard form of state equation is represented as,
x  Ax  Bu …(iii)
y  Cx  Du ….(iv)
On comparing from standard form of state space model we have,
 3 1  0 
A  , B 
 2 0 1 
C  1 0 , D  0
(i) State transition matrix can be written as,
(t )  e At  L1[(s)]  L1[sI  A]1
 s 0  3 1  s  3  1
[ sI  A]    
0 s   2 0  2 s 
Adj[ sI  A]
[ sI  A]1 
sI  A
 s 1 
Adj[ sI  A]   
 2 s  3
sI  A  s(s  3)  2  s 2  3s  2  (s  1)(s  2)
 s 1 
 ( s  1)( s  2) ( s  1)( s  2) 
1  s 1 
 
1
[ sI  A]  
( s  1)( s  2)  2 s  3  2 s3 
 ( s  1)( s  2) ( s  1)( s  2) 
 
Using partial fraction we get,
 1 2 1 1 
  
s 1 s  2 s 1 s  2 
[ sI  A]1   
 2  2 2

1 
 s  1 s  2 s  1 s  2 
 1 2 1 1 
  
s 1 s  2 s 1 s  2 
 (t )  L1  
 2  2 2

1 
 s  1 s  2 s  1 s  2 
  et  2e2t et  e2t 
(t )   t 2t  Ans.
 2e  2e 2et  e2t 
(ii) Transfer function of the state matrix is represented as,
T (s)  C [sI  A]1 B
 1 2 1 1 
 s 1  s  2 
s  1 s  2  0 
T ( s )  1 0  
 2  2 2 1  1 

 s  1 s  2 s  1 s  2 
 1 1 
 s 1  s  2  1 1
T ( s)  1 0   
 2  1  s 1 s  2
 s  1 s  2 
s  2  s 1 1
T ( s)  
( s  1)(s  2) ( s  1)(s  2)
1
 T (s)  Ans.
( s  1) ( s  2)
(iii) State equation for a unit step input under zero initial conditions,
x(t )  ZIR  ZSR
x(t )  (t ) x(0)  L1[ (s) BU (s)]

where, ZIR = Zero input response [ x(0)  0 given]
ZIR = Zero state response
 s 1 
 ( s  1)( s  2) ( s  1)( s  2)  0  1
x(t )  L1  (s) BU (s) = L1    
 1   s 

 2 s3
 ( s  1)( s  2) ( s  1)( s  2) 
 
 1 
 s ( s  1)( s  2) 
x(t )  L  
1
 s3 
 s ( s  1)( s  2) 
 
Using partial fraction we get,
1 1 1 
 2s  s  1  2( s  2) 
x(t )  L1  
3 2 1 
 2s  s  1  2( s  2) 
 
1 t 1 2t 
 2 u (t )  e  2 e 
 x(t )    Ans.
 3 u (t )  2e  t  1 e 2t 
 2 2 
 
V C1    1 0  1 VC1   1 
   
Sol.6 V C2    0  1 1  VC2    0  e
   1  1 0    0
 iL     iL   
 
Given RLC network is shown in below figure.
Number of state variables  Order of the system

and Order of the system  Number of energy storage elements
Here, energy storage elements are two capacitor (in the form of voltage) and one inductor (in the form of
current). Therefore, the state variables are, VC1 , VC2 and iL .
Redraw the given circuit,
Applying KCL at node A then we get,

VC1  e dVC1
 C1  iL  0 ….(i)
R1 dt
dVC1 e  VC1
C1   iL 
dt R1
dVC1 1 1 e  VC1
 iL  
dt C1 C1 R1
1 1 1
V C1   iL  e  VC ….(ii)
C1 C1 C1 R1 1
Applying KVL in Loop 2 then we get,
VC1  VL  VC2  0 ….(iii)
VL  VC1  VC2
diL
L  VC1  VC2
dt
diL 1 1
 VC1  VC2
dt L L
1 1
iL  VC1  VC2 ….(iv)
L L
Applying KCL at node B then we get,
dVC2 VC2
 iL  C2  0 ….(v)
dt R2
dVC2 VC2
C2  iL 
dt R2
dVC2 iL 1
  VC
dt C2 C2 R2 2
 1 1
VC2  iL  VC ….(vi)
C2 C2 R2 2
The standard form of state space model can be written as,
x  Ax  Bu
From equation (ii), (iv) and (vi), we get
 1 1 
C R 0 1
 C1  V
VC1   1 1   C1   C1 
    1 1    
VC2    0 VC   0  e
C2   2   
 i   C2 R2
 i 0
 L   1 1  L   
 L 0   
 L 
Putting the values of circuit elements in the above state matrix then we get,
 
V C1   1 0 1 VC1  1 
      
V C2    0 1 1  VC2   0  e Ans.
   1 1 0   i  0 
 iL    L   
 
 1 1
   0   1
v ( t )
 1   20 5 v (t )   
 1 20
   1    
Sol.7  v2 ( t )   0 0 v2 ( t )    0  v ( t )
   2 
  i   0 

 i   1 1  
   5  0   
 5 
Given circuit diagram is shown in below figure.
Number of state variables = Order of the system

Order of the system = Number of effective energy storage elements = 3
In the given circuit, there are three energy storage elements one is two capacitors (in the form of voltage)
and the other one is an inductor (in the form of current).
Therefore, the state variables are v1 (t ), v2 (t ) and i .
By using Nodal analysis,
v1 (t )  v(t ) dv
5 1 i  0
4 dt
dv (t ) v (t ) v(t )
5 1  i  1 
dt 4 4
dv1 (t ) 1 1 1
 i v1 (t )  v(t )
dt 5 20 20
. 1 1 1
v1 (t )   i  v1 (t )  v(t ) ….(i)
5 20 20
Applying KVL in Loop 2, we get
v1 (t )  vL (t )  v2 (t )  0
v1 (t )  v2 (t )  vL (t ) 
di di 
vL (t )  L 5 
 dt dt 
di
v1 (t )  v2 (t )  5
dt
di 1 1
 v1 (t )  v2 (t )
dt 5 5
. 1 1
i  v1 (t )  v2 (t ) ….(ii)
5 5
The current through capacitor (2F) is
dv2 (t )
i2
dt
1 dv (t )
i 2
2 dt
. 1
 v2 (t )  i ….(iii)
2
The standard form of state model equation is represented as,
.
x  Ax  Bu
From equations (i), (ii) and (iii) standards form of state model can be written as,
 1 1
   0   1
v (t )
    v1 (t )   20 
1 20 5
   1     0  v(t )
v2 (t )    0 0 v (t )    Ans.
2 
2
     i   0 
 i   1 1  
    0   
 5 5 
 
 x1   0 1 0   x1   0 
    
Sol.8  x2    0 0 1   x2    0  r ( t )
   5  6 0   x3  1 
 x3  
 
y  1 0 x
Given : Differential equation is,
d 3c(t ) dc(t )
3
6  5c(t )  r (t )
dt dt
Let, c  x1 ….(i)
c  x2
Differentiating the above equations
x1  c  x2 ….(ii)
x2  c  x3 ….(iii)
c  r (t )  5c  6 c
x3  c  r (t )  6 x2  5 x1 ….(iv)
Equations (ii), (iii), (iv) represents the state equations.
Standard form of state equation is represented as,
.
x  Ax  Bu
State equations can be represented in matrix form
 
 x1   0 1 0   x1  0 
  
 x2    0 0 1   x2   0  r (t ) Ans.
   5  6 0   x3  1 
 x3  
 
Standard form of output equations represented as
y  Cx  Du
From equation (i) the output equation in matrix form is
y  1 0 x Ans.
Sol.1 Method I :
Standard form of transfer function of lead compensator is
(1  s)
G(s)   1 ….(i)
(1  s)
The maximum value of phase lead,
 1  
m  sin 1   ….(ii)
 1  
Given transfer function of phase lead compensator is
 1  j 2 
Gc ( s)  0.5   ….(iii)
 1  j 
Compare equation (i) and (iii)
  2   1   0.5
 1
 1  1
 m  sin 1  2   sin 1    19.47
1
 1  3
 2
The maximum value of phase lead occur at a frequency of
1 1 1
m   
  1 2
2
2
 m  0.707 rad/sec
Method II :
From the given data
1  2s
G ( s) 
2 (1  s)
Sinusoidal transfer function
1  2 j
G ( j) 
2 (1  j)
Phase angle   G( j)  tan 1 (2)  tan 1 ()
For maxim um value of phase lead,
d
0
d
d
[tan 1 (2)  tan 1 ()]  0
d
d 1 1 
 dx (tan ( x))  1  x 2 
2 1
 0
1  4 1  2
2
2  22 1  42  0
1  22  0
m  0.707 rad/sec
Maximum phase lead occurs at frequency
m  0.707 rad/sec
Maximum phase lead is,
m  G ( j) 
m
  tan (2m )  tan 1 (m )

1
 tan 1 (2  0.707)  tan 1 (0.707)

 54.736  35.264  19.472
 m  19.470
Bode plot of phase lead compensator

 1  2s 
G ( s)  0.5  
 1 s 
Sol.2 Given : The block diagram of a given system is show below.
From the figure,

K ( K p  K D s)
G( s)  , H ( s)  1
s(s  1)
(i) Steady state error to velocity input :
1
ess 
Kv
K ( K p  K D s)
where, Kv  lim sG( s) H (s)  lim s.
s0 s0 s(s  1)
K ( K p  K D s)
Kv  lim  KK P
s0 (s  1)
1 1
Hence, ess   Ans.
K v KK P
(ii) Natural frequency of oscillation :
1  G(s) H (s)  0
K ( K P  K D s)
1  0  s 2  s  KK p  KK D s  0
s(s  1)
s 2  (1  KK D ) s  KK P  0
s 2  (1  KK D ) / s  KK P /   0 …(i)
The prototype second order characteristic equation is given by,
s 2  2n s  2n  0 …(ii)
KK P
2n 

KK P
n  rad/sec Ans.

(iii) Damping ratio :
From equation (i) and (ii), we get
1  KK D  KK D 
2n   n  
   
1  1  KK D
  
2 KK P 
1  KK D
 Ans.
2 KK P 


Control System Assignments

Uploaded by

Document Information

Original Description:

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Control System Assignments

Uploaded by

Copyright:

Available Formats

Sol.1 0.028, 1.

For the value of   1,

Taking Laplace transform, we get

G1G3  G1G2  G1G3G4 H 2  G1G2G4 H 2

Redrawing the given block diagram we get,

Eliminating feedback loop and forward path we get,

Shifting the take-off point after [1  G3 ] block then we get,

Reducing cascaded blocks then we get,

The overall transfer function can be obtained as,

Sol.1 (i)   0.578

Above system with TL  0,

Closed loop transfer function is given by,

The standard second order transfer function is given by,

Given : Overshoot, %M P  30%

 1.90  1.90 2  9.86 2  1.90  11.76 

From the above figure, open loop transfer function is,

where, K v  velocity error constant

The characteristic equation will be,

Closed loop transfer function can be written as,

s  18s3  121s 2  360s  400

s 4  18s 3  121s 2  360s  400

and H ( s )  1,   2.5 rad/sec

From the above block diagram,

Characteristic equation is given by,

Sol.1 Given : Open loop transfer function is,

Step 4 : Number of asymptotes  P  Z  2 1  1

Step 8 : Intersection with imaginary axis is does not required.

The angle of positive K is 00 , hence resultant angle condition becomes,

Sol.2 Given : Block diagram is shown below.

Step 4 : Number of asymptotes  P  Z  2  2  0.

where,  P  Sum of angle of poles

 ( P   Z )  75.960  33.70  900  19.660

Sol.3 Given block diagram is shown below.

From the figure, open loop transfer function is,

Step 4 : Asymptotes is does not required.

Sol.4 Given : Open loop transfer function is,

Step 4 : The root locus diagram starts at open loop poles ( K  0)

For the marginally stable system,

Step 4 : Number of asymptotes  P  Z  2  1  1

Sol.6 Given : Open loop transfer function is,

Step 1 : Number of poles P  4 at s  0, s  0, s   2 and s   5.

Step 4 : Number of asymptotes  P  Z  4  0  4

Section 1 : Polar plot

At     G( j)  0 G ( j)   2700

Section 3 : Mirror image of Polar plot

At   0 G( j)   G ( j)  900

At     G( j)  0 G ( j)  270 0

Section 4 : Semi-circle with radius tending to zero.

At   0 G( j)   G ( j)   900

The Nyquist plot is shown below.

Section 3 : Mirror image of polar plot

Section 2 : Semi-circle with radius tending to infinite

Section 4 : Semi-circle with radius tending to zero

The Nyquist criteria is expressed as,

Section 3: Mirror image of polar plot

  0 G( j) H ( j)   G( j) H ( j)  2700

Section 2: Semi-circle with radius tending to infinite

   G( j) H ( j)  0 G( j) H ( j)  900

  0 G( j) H ( j)   G( j) H ( j)  2700

The Nuquist plot is shown blown.

Section 3 : Mirror image of polar plot

  0 G( j) H ( j)   G( j) H ( j)  1800