ME 4330 (Automatic controls) – Homework 6

Root locus

Due: Dec. 7

Problem 1. (10 points) Sketch the root locus of the unity feedback system shown in Figure 1, where

(s + 1)(s + 3)
G(s) =
(s + 3)(s − 5)

and find the break-in and breakaway points. Find the range of k for which the closed-loop system is stable.

R(s) Y (s)
kG(s)
−

Figure 1: Unit feedback system with gain, used in Problem 1.

Problem 2. (20 points) Consider a unity feedback system with loop transfer function

15K
L(s) = Gc (s)G(s) =
s(s2 + 15s + 75)

Find the asymptotes and sketch them in s-plane. Find the angle of departure from complex poles. Find break-in
and break-away points. Find the intersection of the root locus with the imaginary (jω) axis. Sketch the root locus.
Find the value of K that results in an unstable system.
Problem 3. (15 points) A control system with unit feedback has loop transfer function L(s) = Gc (s)G(s) where
1
G(s) = . For each of the Gc (s) below, sketch the root locus and find out the range of K for which the system
s(s − 2)
is stable. If roots ever lie on the jω-axis for any K, find out that K as well as the complex roots associated with it.

(a) Gc (s) = K.
K(s + 2)
(b) Gc (s) = .
s + 10
K(s + 2) s2 + 4
Problem 4. (10 points) Consider the feedback system shown in Figure 2, with G(s) = and H(s) = .
s+5 s−3
For what range of K will this system be stable?

R(s) Y (s)
G(s)
−

H(s)

Figure 2: Feedback system for Problem 4.