PROBLEMS

B-6-1. Plot the root loci for the closed-loop control sys- B-6-8. Consider a unity-feedback control system with the
following feedforward transfer function:
tern with
K

{S' ~ s(s2 + 4s + 8)
Plot the root loci for the system. If the value of gain K is set
B-6-2. Plot the root loci for the closed-loop control system equa, Jo 2 wherc are ,he closed-loop poles located?
with
B-6-9. Consider the system whose open-loop transfer func-
tion is given by
G^ - ,(,+ !)(+ 4s + 5)' H K(s - 0.6667)
G(s)H(s) - ■: X
B-6-3. Plot the root loci for the system with
Show that the equation for the asymptotes is given by

G(j) = s(s + 0.5)/+0.6s + 10)' H{S) l

B-6-4. Show that the root loci for a control system with
Ga{s)Ha{s) =
4.0068s2 + 5.3515s + 2.3825

Using MATLAB, plot the root loci and asymptotes for

§1
K(s2 + 6s + 10) the system.

B-6-10. Consider the unity-feedback system whose feed

forward transfer function is
are arcs of the circle centered at the origin with radius equal
toVlO.
"'"' s(s + 1)
B-6-5. Plot the root loci for a closed-loop control system
;!,: ■■!■;
with The constant-gain locus for the system for a given value of
K is defined by the following equation:
/■3

^' s\s + 3.6)' """' K

= 1
s(s + 1)
B-6-6. Plot the root loci for a closed-loop control system #
Show that the constant-gain loci for 0 ^ K £ oo may be
with
given by

[<r{a + 1) + w2]2 + u>2 = K2

aya r -to i x x f

Sketch the constant-gain loci for K = 1,2,5,10, and 20 on %

Locate the closed-loop poles on the root loci such that the tne s p|ane.
dominant closed-loop poles have a damping ratio equal to
"*"1 0 5 Determine the corresponding value of gain K. B-6-11. Consider the system shown in Figure 6-101. Plot
the root loci with MATLAB. Locate the closed-loop poles
B-6-7. Plot the root loci for the system shown in Figure when the gain K ls set eqUai t0 2.
6-100. Determine the range of gain K for stability.

C{s)
s+ I s(s2 + 2s + 6)
K
i+ 5

5+1

Figure 6-100 Figure 6-101

Control system. Control system.

394 Chapter 6 / Control Systems Analysis and Design by the Root-Locus Method
 B-6-12. Plot root-locus diagrams for the nonminimum-phasc B-6-15. Determine the values of K,Tit and T2of the system
systems shown in Figures 6-102(a) and (b), respectively. shown in Figure 6-105 so that the dominant closed-loop
poles have the damping ratio t, - 0.5 and the undamped

—€>-
K(s-\) natural frequency a>n = 3 rad/sec.

10
m
(a)

■m
Figure 6-105 Control system.

G2(s)
B-6-16. Consider the control system shown in Figure 6-106.
(b) Determine the gain K and time constant T of the controller
Figure 6-102 (a) and (b) Nonminimum-phase systems. Gc(s) such that the closed-loop poles are located at
s = -2 ± p..
B-6-13. Consider the mechanical system shown in Figure
■■■■*»
6-103. It consists of a spring and two dashpots. Obtain the
K(Ts + 1)
transfer function of the system. The displacement x( is the
input and displacement xo is the output. Is this system a
Gc(s) G{s)
mechanical lead network or lag network?

Figure 6-106 Control system.

B-6-17. Consider the system shown in Figure 6-107. De

sign a lead compensator such that the dominant closed-loop
poles are located at s = -2 ± )2V5. Plot the unit-step re ■kmwt
sponse curve of the designed system with MATLAB.

0.
mm

Figure 6-103
ft;; Figure 6-107 Control system.
Mechanical system.

Consider the system shown in Figure 6-104. Plot B-6-18. Consider the system shown in Figure 6-108. De
the root loci for the system. Determine the value of K such sign a compensator such that the dominant closed-loop poles
that the damping ratio ( of the dominant closed-loop poles are located at j = -1 ± /I.
« 0.5. Then determine all closed-loop poles. Plot the unit-
step response curve with MATLAB.

j(i2 + 4s + 5)
Lead
compensator
Space
vehicle IIS
T
Figure 6-104 Control system. Figure 6-108 Control system. n ■■!:S

Problems 395
Be
 B-6-22. Consider the control system shown in Figure 6-112.
B-6-19. Referring to the system shown in Figure 6-109, de
Design a compensator such that the unit-step response curve
sign a compensator such that the static velocity error con
will exhibit maximum overshoot of 30% or less and settling
stant K is 20 sec"1 without appreciably changing the original
time of 3 sec or less.
location (« = -2 ± /2V3) of a pair of the complex-conjugate
closed-loop poles.
25+ 1
16
sis + 4)

T
Figure 6-112
Figure 6-109 Control system.
Control system.
B-6-20. Consider the angular-positional system shown in
Figure 6-110. The dominant closed-loop poles are located B-6-23. Consider the control system shown in Figure 6-113.
als = -3.60 ± )4.80.The damping ratio £ of the dominant Design a compensator such that the unit-step response curve
closed-loop poles is 0.6.The static velocity error constant Kv will exhibit maximum overshoot of 25% or less and settling
is 4.1 sec"1, which means that for a ramp input of 360°/sec time of 5 sec or less.
the steady-state error in following the ramp input is
360°/se
4.1 sec"

It is desired to decrease ev to one-tenth of the present

value or to increase the value of the static velocity error con
stant K to 41 sec"1. It is also desired to keep the damping ratio
•■38
r of the dominant closed-loop poles at 0.6. A small change in
the undamped natural frequency to,, of the dominant closed- Figure 6-113
loop poles is permissible. Design a suitable lag compensator to Control system.
increase the static velocity error constant as desired.
B-6-24. Consider the system shown in Figure 6-114, which
820

—€k GAs) involves velocity feedback. Determine the values of the am

plifier gain K and the velocity feedback gain Kh so that the
asm.

following specifications are satisfied:

M
1. Damping ratio of the closed-loop poles is 0.5
2. Settling time ^ 2 sec
Figure 6-110 3. Static velocity error constant Kv s 50 sec"
Angular-positional system.
4. 0 < Kh < 1
B-6-21. Consider the control system shown in Figure 6-111.
Desinn a compensator such that the dominant closed-loop
poles are located at s = -2 ± /2 V3 and the static velocity C\s)

error constant Kv is 50 sec"1.

10
4$ + 2) (s + 5) I
M

Figure 6-114
Figure 6-111 Control system.
Control system.

Chapters / Control Systems Analysis and Design by the Root-Locus Method

396
 B-6-25. Consider the system shown in Figure 6-115. The B-6-26. Consider the system shown in Figure 6-116. Plot
system involves velocity feedback. Determine the value of the root loci as a varies from 0 to oo. Determine the value of
gain K such that the dominant closed-loop poles have a a such that the damping ratio of the dominant closed-loop
damping ratio of 0.5. Using the gain K thus determined, ob poles is 0.5.
tain the unit-step response of the system.

s + a #
Qs)

0.2
Figure 6-116
Control system.

Figure 6-115 B-6-27. Consider the system shown in Figure 6-117. Plot
Control system. the root loci as the value of k varies from 0 to oo. What value
■m
'■' \k
of k will give a damping ratio of the dominant closed-loop
poles equal to 0.5? Find the static velocity error constant of
the system with this value of k.

5+1.4 10
s+5 *(»+!)

s+10
fa
■|
Figure 6-117
Control system.
,-

B-6-28. Consider the system shown in Figure 6-118. As

suming that the value of gain K varies from 0 to co, plot the
root loci when Kh = 0.1,0.3, and 0.5.
Compare unit-step responses of the system for the
following three cases:
■ M.
(1) K = 10, Kh = 0.1
$
$$'■
B
(2) K = 10, Kh = 0.3
M
(3) K = 10, Kh = 0.5

C(s)

=&r

Figure 6-118
Control system.
1:3
Problems 397