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Problem 1.: K 0. Determine All

1) The Routh-Hurwitz test is used to analyze the stability of the proportional plus integral control system. For stability, the relationship must be K>α+1 and α>0. 2) With K=1, the Nyquist plot encircles the critical point twice for all finite positive α, indicating the closed-loop system is unstable. 3) The two analyses yield the same results, with the system only being marginally stable when α=0.

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Serkan Karadağ
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66 views4 pages

Problem 1.: K 0. Determine All

1) The Routh-Hurwitz test is used to analyze the stability of the proportional plus integral control system. For stability, the relationship must be K>α+1 and α>0. 2) With K=1, the Nyquist plot encircles the critical point twice for all finite positive α, indicating the closed-loop system is unstable. 3) The two analyses yield the same results, with the system only being marginally stable when α=0.

Uploaded by

Serkan Karadağ
Copyright
© Attribution Non-Commercial (BY-NC)
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Download as PDF, TXT or read online on Scribd
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Problem 1.

Consider the control K system shown in the figure. Sketch the R( s ) 1 + + 1 locus of the poles of s s +1 this system for varying values of K>0. Determine all relevant detail such as break-away points, angles of departure etc. ANSWER: 1 1 s +1 K s 1+ C( s ) 1 1 s +1 = = = . 2 1 R( s ) s ( s + 1 + K ) + 1 s + ( K + 1 ) s + 1 1 s +1 1+ s 1+ K s +1 i.e. closed-loop poles are roots of s 2 + ( K +1 )s + 1 = 0 ; or 1 + K sketch the RL for the loop gain T ( s ) = 2 poles, 1 zero. 2 branches real axis locus: 1 asymptote along (-)ve real axis.
C( s )

s s 2 + s +1

= 0 . Thus

s s 2 + s +1

d s = 0 ; i.e. s 2 1 = 0 . Of s = m 1 , only s = 1 is on 2 ds s + s + 1 the locus and is the BA point.


BA point: at the roots of Angle of departure (from pole in the upper half-plane): d + p z = 180 o ; hence d = 180o p + z = 180 o 90 0 +120 0 = 210 0 .
1

0.5

0
-1
-0.5

-0.5

-1

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Problem 2.
-

K
Fig.(a)

G(s)

K3 K1
Real Axis

Root-locus for G(s) of Figure (a) is given in Figure (b). Answer the following with full justification: i) Determine the value of the gain K for which the closed-loop system is oscillatory.

Imag Axis

R(s) +

Y(s)

K4

ii) If the gain K is decreased from this value, what can you say about the stability of the closed-loop system. iii) Determine the value of the gain K for which the closed-loop system has multiple poles.

K2

Figure (b)

iv) If the gain K is increased from this value, how is the settling time affected. v) What is (are) the range(s) of K values for the closed-loop system to be stable. ANSWER: i) Oscillatory purely imaginary poles RL crosses imaginary axis

K=K4

ii) As K decreases, closed-loop poles move towards open-loop poles (starting points). j -axis poles move to l.h.p. and system is stable. iii) Multiple poles at break-away point, i.e. for K=K2 iv) As K increases, one real pole moves left and a complex conjugate pair move towards the j -axis. Complex conjugate pair has more effect on the response (if not fully dominate). For a complex conjugate pair of poles, settling time is inversely proportional to the distance of poles from j -axis and hence it increases. v) For K>K4 system has two r.h.p. poles. For K<0, system has one r.h.p. pole. Therefore for stability 0<K<K4.

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Problem 3.
R(s) + Imaginary Axis

K
Figure(a)

G(s)

Y(s)
0 -1 -2 -3 -4 -5 -6 -7 -2.5 -2 -1.5 Real Axis -1 -0.5 0

The plant transfer function G(s) of the feedback control system of Figure (a) is characterized by the Nyquist plot of Figure (b). G(s) is known to have no poles or zeros in the right half-plane. i) Determine the value (or the range of values) of K such that the closed-loop step response looks like the one shown in Figure (c-i). ii) Repeat (i) for Figure (c-ii). iii)Repeat (i) for Figure (c-iii). iv) What is the steady-state error when the closed-loop system is excited by a unit step input.

Figure (b)

Amplitude

Amplitude

Time (sec)

Time (sec)

Amplitude

Time (sec)

(i)

(ii)
Figure (c)

(iii)

ANSWER:Since the open-loop system has no poles or zeros in the right half-plane, closed-loop system is Stable if -1/K is to the left of the curve, Unstable if -1/K is to the right of the curve, and Marginally stable (oscillatory) if -1/K is on the curve. Hence i) Oscillatory 1 1 1 K = 2 K = 12 ; K > 12 ; 0 < K < 12 .

ii) Unstable iii) Stable

K > 2

K < 2

iv) Since the Nyquist plot approaches from -90o, we have a Type 1 system. Hence the steady-state error for a step input is zero.

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Problem 4.
Consider the proportional plus integral control system shown in the figure.

R(s)

K+

1 s 2 + s 1

C(s)

i) Use Routh-Hurwitz test to analyze this system to determine the relationship between the proportional gain K and the integral gain for stability of the closed-loop system and show on the K- plane, the region of K and values for which the system is stable. ii) Now let K=1. Sketch the Nyquist plot and analyze closed-loop system stability for < < . iii)Compare your answers to (i) and (ii). ANSWER: 1 ) 2 s s + s 1 C( s ) Ks + = = 3 2 1 R( s ) s + s + ( K 1 )s + 1+( K + ) 2 s s + s 1 i) Routh array for the denominator: (K + s s2 s1 s0
3

K
STABLE

1 1 K-1-

K-1

Thus for stability, K>+1 and >0.


-1

ii) For K=1, the characteristic polynomial (i.e. denominator, return difference) is
s3 + s2 + .

Hence characteristic equation is s 3 + s 2 + = 0 1 or 1 + =0. s 2 ( s +1) For all finite and positive , the critical point is encircled twice. Thus CL system is unstable.

-1/

iii) From (i), For K=1 and 0 , the closed-loop system is unstable. Only for = 0 , the system is marginally stable. i.e. oscillatory but the oscillation frequency is zero (from Routh-Hurwitz test and auxiliary polynomial. For finite , (ii) yields the same answer. On the other hand for = 0 , critical point 1 and the Nyquist plot coincide at , for =0.

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