Q1 Give one example each of a system with the given root locus diagram marked in red.

Note that the locations of the poles / zeroes are intentionally not shown. Please make

educated guesses.

a 09W b as

f_e I ___
J

sjw Djo

tf

ft

IT

V

r

Let us call the angle at which a particular branch of the root locus leaves / arrives at the
QD real axis, the breakaway / breakin angle.
In the g. the breakaway angle is 90 degrees.

Give two examples of transfer functions where the

t.IE

breakaway/breakin angle is not equal to 90 degrees.

Consider the transfer function

Q acs E I5F

Assume that the transfer function is connected in unity negative feedback con guration, and
it is known that for

K 2.72

at least one of the poles lie on the imaginary axis. Using root locus based arguments
calculate the range of K for closed loop stability.

07
For the system shown below, use a computer to do the following:

plot the root locus

b Find the imaginary axis crossing and the gain, K, at the crossing.

Find the real axis breakaway point.

d Find the angle of arrival to the complex zeros

e Find the closed loop zeros

Find the gain K for a closed loop step response with 30% overshoot. Is the 2nd
8

order approximation valid?

057 the closed the

From find

For

the loop system in

state given figure this

expression
expression
for
evaluate steady
its sensitivity
error
to changes in a K

and b Kz when both input and disturbance are

unit steps K 100 K 2 0.1

Line
06 Design the values of K and K2 in the following figure to meet
the following specifications
a SSE due to unit step disturbance is 0.000012
b due to unit in
SSE ramp input 0.003

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077 Quite often the AnCt

zero input response
see Rn At
to the state space
Rmn Nfo with
realization Jeff no
A having distinct real eigenvalues is written as

Nlt Eg creditve
where Xi Vi are eigenvalue eigenvector pairs of A
a Can represent f eat in terms of sea and
the you z

b Using
eigenvalues
a of that
conclude eat Te't Tt where T
is a mature whose columns are the eigenvectors ve
and I is a
diagonal matrix
087show
From first
that
principles definition of derivatives using limits
eat A eat
097 Consider a time variant similarity transformation sect THICH
where Tht is and differentiable all t
non singular
Find the state equations sect in this case for
show that it is possible for
to choose TH so
and
that the
new A matrix is zero
say
have show
0107 Realizations
that
can
different number
the three realizations of states

total c a
a

ee
Ya E Fal
o

A b e

all have the same transfer function values

compatible dimensions of Aa Az 9 for all and