1) The character!st!c polynom!

al of feedbook
controlsystem wh!ch !s denom!nator
,
of the closed-loop
trasfer funct!on g!ven by ,
!s

s3 + 2s4 + (20k + 7)s + 2004

KGS) K.

kons
T(s) = =

1 f) 1 kurs
pats
KNI) Ko
Pc(s) = D!s) + =
+227 + +

D!y N/s)

2015 + 57
G(s)
= =

s(st + 157)

1. k=0 -
p! = 0,
pa =
- jVG n =
3

2
. k +0 - 21 =
-
5 m = 1
,

3 .
number of branches - 3

↳. Symmetry
-1 jtb 1 j(b 5
3
+ -
-

Asymptotes
-

.
5 Oc =
=

22q +T In-ml
Op =

13-0) =
6 . &L on the real ox!s

.
7 htersect!c w!th ju ax!s
-2

. P
-

53 ↑ 20 + 7
........
...
-

2
2 100
↑! 60
S :
-
=
-
=5-

...:
-
- -

7/30
L

S
1 + 1-100k
2
S

- ----
& kc =

...
so ~ lock
-
: &

22 +
100kl!kc =
2st +
0 = 0

S!z = Fj
3 -

.
8 Angles of Dep /Arr .
.

p2 =
-
1 + j56
[ /s + 5) -
S-
K!stj-Ops =
02
= (2) #
.

=
arten() -ersten( -

orta() -

Op
31 480 112 20 100 8 180
p
-

= =
-
-
.
,

Op = 9 . 270
 ast
.
e 1 st (5)
= 0 =

..........

23 + 1752 + 20s + 35 = 0

s! = -7 47 .

1 647
S213 = 0
5123Fj
-

. .

A
5
-

I
X
 0
2
↑
Drow RL for a 0 (K 1 =

G!sy (s2 + 2s + 21/s + a)

T (5)
-
&
-

=
st
+ 25 + 2 (54 + 25+ 27/sta) +s

↑
1) 0
po!nts
=
p! = 0 P13 = -15jbz
2) K = 00
po!nts Z!z -1
,
=
= j
3) number of branches -
3

4) Symmetry
5) Asymptotes
(29 1) + +
180 =
= Oa
In ml
-

-
1 -
1 -
( 1 - -
1)
O = 0
↑
 6) RL on the real ax!s

7) Intersect!on w!th jo ox!s /You should form

Routh-Hurw!tz and see system !s stable for all a0

81 Angles of depature and orr!val

Angles of departure = 100 + 90 -

(100dep 5
.
5) = !ht

Odep = (4)

Angle ofarr!val = ( Par + 10 % -

( 2700 + 700 + 135 = (!e)

Or = 225

S 0
9) = 354 + 65 + 5

Em

~
- V2

2150
...
O -1

endeeeen-e ..

re
...
je

G
-- I

X - -
22
 20
37 G/s) --
s+
P1 =s + 2)

st + 10s+ 29 S

Des!gn Pl -
> Isec Ts ,
10 % OS
.

In 105)
2
-

Ts = =
29 =
-

n -2
H2 + (400)

4005 0 1
5
=
0. 5912
.

un =
= = 3 3832
,

+
st + 25wns + an = st + 45 + 11 45
.

Pc(s) =
53 + 10 st + 295 + 1(s =2(s 20)+ +

= st + (10 + k) st + (2) + 20k + kz) s + 20kz

Pa(s) =
(st + (s + 11 . 65)(s p) +

= 53 + 54 + st+ (11 (5+ .

4p(s 1) 45p
+ .

10 + k = 4 +
p
21 + 20+ kz = 11 2 5 +
. ,
4p
20z 11 45
p
= .
 10 + k = 4 +
p
21 + 20+ kz = 11 2 5 +
. ,
4p
20z 11 45
p
= .

((
p = 6+ k

Kz = 4(6 + k) -
201 - 17 ,55

= 6 . 45-16K

2016 45-16)
.
= 11 .
45/6 + k) - K = 0 .
1817

kz = 6 45 16
.
-

= 0 z= 19 : 1981

6+k 6 1817
p =
=
p = .

Pl =
0 .
1817(s + 19 , 6981)
S
↳ f(s) =

/s!st
Des!gn PD -
5 = 0 707
. , Ts =
0 . 86 sec

Fpp(s) =
Kp kas
+

=
!s + 1= 0 .
57

j 4
4 65 = 65
S!z = =
. .

1jc
4 05

E
-
.

X O
Z -
4,65

O: = arota (67) = 180 -

60 32 .
= 119& 58
.

orta()
e
02 = =
180 -

70 46 . = 109 · 54
.

03 =
orta() = 85 : 6950
 4 ,
=
orota() = 75 81 .

42 +
4 .
-
(0 !
+ 02 + 03) =
(!t +

42 =
61 10 .

1 81
tan(61 19 =
= .
.

-
4. 65 -
z

z= -
7 .
22

Fpprs) = k(s + 7 . 22

(Al = 5 313
.
B1 = 4 852
. / /Cl = 4 663
.
,

IDI = 1 934
.
· IE1 = 5 352
.

K
(C(D/(E) = 4 787.
=

(A)(BI
-
F = +as
Fd() =
6 .
7875 + 7 .
22)
Kp = (1 787
.

kd = 34 .
562