MECH3610 SOLUTION OF HW6

P 6.1

(a) Given

K
G (s) 
(s 1)(s 2)(0.5s 1)

And

1
H(s) 
0.005s 1
The closed-loop transfer function is

K (0.005s 1)
T(s) 
0.0025s  0.5125s 3  2.52s 2  4.01s  2  K
4

Therefore, the characteristic equation is

0.0025s 4  0.5125s3  2.52s 2  4.01s  2  K  0

The Routh array is given by

s4 0.0025 2.52 2 K
3
s 0.5125 4.01 0
s 2
2.50 2 K
s 1
3.6  0.205 K 0
s 0
2 K

Examining the first column, we determine that for stability we require

2  K  17.6

(b) Using K=9, the roots of the characteristic equation are

s1  200, s2,3  0.33  2.23 j, and s4  4.35

(c)Assuming the complex roots are dominant, we compute the damping ratio   0.15 .
Therefore, we estimate the percent overshoot as

P.O.  100e / 1 2

P 6.2

(a) Given the characteristic equation,

s3  3s 2  4s  2  0

We compute the roots s1  1, and s2,3  1  j

Let sn  s  1 ,

( sn  1)3  3( sn  1) 2  4( sn  1)  2  0

sn 3 1 1
2
sn 0 0
1
sn 0 0
0
sn 0

So, relatively stable after shifting

(b) The roots of the characteristic equation

s 4  9s3  30s 2  42s  20  0

are s1  1, s2  2, and s3,4  3  j

Let sn  s  1 ,

( sn  1)4  9( sn  1)3  30( sn  1)2  42( sn  1)  20  0

s4 1 9 0
3
s 5 5 0
s2 8 0
1
s 5 0
s0 0
So, relatively stable after shifting

P 6.3

(a) The closed-loop characteristic equation is

K
1 0
1
(0.5s  1)(s  1)( s  1)
4
Or

s3  7s2  14s  8(1  K)  0

The Routh array is

s3 1 14
s2 7 8(1  K )
1
s b
s 0
8(1  K )

Where

7 ∙ 14 − 8(1 + 𝐾)
𝑏=
7

For stability, we require b>0 and 8(1+K)>0. Therefore, the range of K for stability is

1  K  11.25
(b) Let K=11.25/3=3.75. Then, the closed-loop transfer function is

30
𝑇(𝑠) =
𝑠3 + 7𝑠 2 + 14𝑠 + 38

4
The settling time to a step input is 𝑇𝑠 = ≈ 6𝑠
𝜉𝜔𝑛

(c) We want Ts  4seconds , so

4
T (s)  4  implies n  1
n

Our desired characteristic polynomial is

(s b)(s2  2n s  n 2 )  s3  (2  b)s2  (n 2  2b)s b n 2

actual characteristic polynomial is

s3  7s2  14s  8(1  K)  0

Comparing the coefficients of the actual and desired characteristic polynomials, we find
the following relationships:

2b  7
n 2  2b  14
bn 2  8(1  K)

Solving these three equation yields

b  5, n  2 and K  1.5

The actual settling time is Ts  4.17sec . This is not exactly our desired Ts since we have

the contribution of the additional pole at s=-5. The closed-loop poles are

s1  5, and s2,3  1  1.73 j