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Assignment 6

This document contains an assignment with 5 problems related to vibration and control systems. Problem 1 asks to determine gain and velocity feedback values to achieve specific step response characteristics. Problem 2 examines the effect of a zero location on step response. Problem 3 evaluates zero-pole cancellation. Problem 4 specifies compensator design for closed-loop response requirements. Problem 5 analyzes closed-loop stability and right half plane poles. An appendix section provides additional details on special cases in applying Routh's stability criterion.

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42 views

Assignment 6

This document contains an assignment with 5 problems related to vibration and control systems. Problem 1 asks to determine gain and velocity feedback values to achieve specific step response characteristics. Problem 2 examines the effect of a zero location on step response. Problem 3 evaluates zero-pole cancellation. Problem 4 specifies compensator design for closed-loop response requirements. Problem 5 analyzes closed-loop stability and right half plane poles. An appendix section provides additional details on special cases in applying Routh's stability criterion.

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Ryan Archer
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ME354A: Vibration and Control

Saturday 1st April, 2023

Assignment 6
Problem 1. For the system shown below, determine the values of gain K and velocity-
feedback constant Kh so that the maximum overshoot in the unit-step response is 0.2 and
the peak time is 1 sec. With these values of K and Kh , obtain the rise time and settling
time. Assume that J =1 kg-m2 and B =1 N-m/rad/sec.

Figure 1: Block diagram of a servo system

Problem 2. Consider the second-order system with a finite zero and unity DC gain:
24(s + z)
H(s) =
z(s + 4)(s + 6)
Determine the effect of the zero location s = −z using MATLAB on the unit-step response
when z = 1,2,..,6.
Problem 3. For each of the following response functions, determine whether there is a
cancellation between the zero and the pole closest to the zero. Find the approximate response
where valid.
26.25(s + 4)
G1 (s) =
s(s + 3.5)(s + 5)(s + 6)
26.25(s + 4)
G2 (s) =
s(s + 4.01)(s + 5)(s + 6)
Problem 4. For the unity feedback system shown below, specify the gain (K) and pole
location of the compensator so that the overall closed-loop response to a unit-step input has
an overshoot of no more than 18% and a 1% settling time of no more than 0.01 sec.

Figure 2: Unity feedback system

1
Problem 5. Determine the stability of the following closed-loop transfer functions and find
the number of poles in RHP.
10
(a) G1 (s) =
s5 + 2s4 + 3s3 + 6s2 + 5s + 3
10
(b) G2 (s) =
s5 + 5s4 + 11s3 + 23s2 + 28s + 12
Hint for (b):

For more information refer Appendix:

2
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 Appendix W.3.6.3.1
Routh Special Cases
If only the first element in one of the rows is zero, then we can consider
a modified equation with one of the coefficients perturbed by  > 0 and
applying the test by taking the limit as  → 0.

EXAMPLE W3.3 Routh’s Test for Special Case I

Consider the polynomial


a(s) = s5 + 3s4 + 2s3 + 6s2 + 6s + 9.
Determine whether any of the roots are in the RHP.
Solution. In this example, let the coefficient of s3 be 2 + . The test
follows from there. The Routh array is
s5 : 1 2 6
s4 : 3 6 9
s3 :  3 0
6−9
s2 :  9 0
3 2
s: 3− 2−3 0 0
0
s : 9 0.
There are two sign changes in the first column of the array, which means
there are two poles not in the LHP.1

Special case II Another special2 case occurs when an entire row of the Routh array
is zero. This indicates that there are complex conjugate pairs of roots
that are mirror images of each other with respect to the imaginary axis.
To apply Routh’s test correctly, we follow the ensuing procedure. If
the ith row is zero, we form an auxiliary equation from the previous
(nonzero) row:
a1 (s) = β1 si+1 + β2 si−1 + β3 si−3 + · · · . (W3.1)
Here {βi } are the coefficients of the (i + 1)th row in the array. We then
replace the ith row by the coefficients of the derivative of the auxiliary
polynomial and complete the array. However, the roots of the auxiliary
polynomial in Eq. (W3.1) are also roots of the characteristic equation,
and these must be tested separately.

1 The actual roots computed with Matlab are at −2.9043, 0.6567 ± 1.2881j, −0.7046 ±
0.9929j.
2 Special case II.

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44 Appendix W.3.6.3.1 Routh Special Cases


EXAMPLE W3.4 Routh Test for Special Case II

For the polynomial


a(s) = s5 + 5s4 + 11s3 + 23s2 + 28s + 12,
determine whether there are any roots on the jω axis or in the RHP.
Solution. The Routh array is
s5 : 1 11 28
s4 : 5 23 12
s3 : 6.4 25.6 0
s2 : 3 12
s: 0 0 ← a1 (s) = 3s2 + 12
1 (s)
New s : 6 0 ← dads = 6s
s0 : 12.
There are no sign changes in the first column. Hence all the roots have
negative real parts except for a pair on the imaginary axis. We may
deduce this as follows: When we replace the zero in the first column
by  > 0, there are no sign changes. If we let  < 0, then there are two
sign changes. Thus, if  = 0, there are two poles on the imaginary axis,
which are the roots of
a1 (s) = 3s2 + 12 = 0,
or
s = ±j2.
This agrees with the fact that the actual roots are at −3, ±2j, −1, and
−1, as computed using the roots command in Matlab.

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