Experiment 3: Stability Through Pole Location and Steady-State Error Analysis

System stability can be analysed by observing the location of the poles on the s-plane. This is because system stability
depends largely on the poles and not the zeros.

➢ If all the poles are located on the left side of the s-plane, then the system is stable.
➢ If one pair of poles is located on the imaginary axis, then the system is marginally stable.
➢ If more than one pair of poles is located on the imaginary axis, then the system is unstable.
➢ If any pole is located on the right side of the s-plane, then the system is unstable.
➢ If two or more poles are located at the origin, then the system is unstable.
➢ If the pole is located at the origin, then the system is just stable

Question 1: Consider the feedback system shown below. C(s) is a compensator.

7
R(s) Y(s)
C(s) 𝑆(0.5𝑆 + 1)
+_

a) Without the compensator block C(s), obtain the closed-loop transfer function of the system considering a
unity gain. Plot the poles and the zeros using MATLAB and state if the system is stable, unstable, or
marginally stable.
b) Consider the system with the compensator. Design a lead compensator such that the dominant closed-loop
poles are located at s = – 2 ± j3.
c) Plot on the same plane, the unit-step response of the original and compensated systems using MATLAB.
d) Also obtain through MATLAB codes, the steady-state error for the compensated and uncompensated
systems.
e) Conclude on your results.

Question 2: Consider the system below.

R(s) 1 Y(s)
C(s)
+_ (0.5𝑆 2 )

a) Without the compensator block C(s), obtain the closed-loop transfer function of the system considering a
unity gain. Plot the poles and the zeros using MATLAB and state if the system is stable, unstable, or
marginally stable.
b) Consider the system with the compensator. Design a lead compensator such that the dominant closed-loop
poles are located at s = – 1 + j.
c) Plot on the same plane, the unit-step response of the original and compensated systems using MATLAB.
d) Determine the unit-step and unit ramp responses (plot on the same graph) of the uncompensated and
compensated systems.
e) Also obtain through MATLAB codes, the steady-state error for the compensated and uncompensated
systems.
f) Conclude on your results

Note: This Work should be typed, graphs should be very clear and well presented.

Line spacing: 1.5, Font type: Times New Romans, Font size: 12, Justify your work.

COPY WORK = ZERO MARK

EEF460
 Experiment 4: Frequency Response and Stability Analysis of Systems
Instructions: For all QUESTIONS, the study should be done analytically (Pre-lab) before using MATLAB. Also,
for each question, the analytical results should be compared with the simulations and conclusions should be
made.
This Work should be typed, graphs should be very clear and well presented (show only the useful graph area and avoid screenshotting
the whole screen. No mark will be given for any graph that is not visible). Line spacing: 1.5, Font type: Times New Romans, Font size: 12,
Justify your work. COPY WORK = ZERO MARK

Question 1: Consider the characteristic equations below. Study the stability of each system using the Routh Stability
Criterion.

a) q(s) = s5 + s4 + 3s3 +4s2 +s + 2

b) q(s) = s5 + s4 + 4s3 +4s2 + 2s + 1
c) q(s) = s8 + 3s7 + 5s6 + 6s5 + s4 + 4s3 +4s2 + 2s + 1

Question 2: Consider the feedback system shown below. Determine the values of the gain K for which the system is
stable. Use the closed-loop transfer function of the system.

1
R(s)
K
+_ 𝑆(𝑆 + 1)(𝑆 + 5) Y(s)

Question 3: Consider the system below:

𝐾
𝐿(𝑆) =
𝑆(𝑆 + 1)(0.1𝑆 + 1)

f) Plot the Nyquist Diagram

g) Determine the maximum value of K for which the system is marginally stable
h) Consider K=10, plot the bode diagram (show both gain and phase responses) and obtain the gain and phase
margins. Explain the significance of these values with respect to the system.

Question 4: Consider the system below:

𝐾
𝐿(𝑆) =
𝑆(𝑆 + 1)(𝑆 + 2)(𝑆 + 4)

a) Construct the Root-Locus diagram of the system and deduce the stability of the system from the plot.
b) Calculate the breakaway points
c) Determine the value of K for which the system is stable

Question 5: Consider the system below:

𝐾(𝑆 + 0.5)(𝑆 + 1.5)
𝐿(𝑆) =
𝑆(𝑆 + 1)(𝑆 + 2)(𝑆 + 4)

a) Construct the Root-Locus diagram of the system and deduce the stability of the system
b) Calculate the breakaway points
c) Determine the value of K for which the system is stable
d) Using the value of K in (c), plot the bode diagram (show both gain and phase responses) and obtain the gain
and phase margins. Explain the significance of these values with respect to the system.

Question 6: Consider the system below:

𝐾(𝑆 + 2)
𝐿(𝑆) =
𝑆2 + 2𝑆 + 3
a) Construct the Root-Locus diagram of the system and deduce the stability of the system
b) Calculate the break-in points
c) Determine the value of K for which the system is stable

EEF460