CH.

7
E7.2
A control system for an automobile suspension tester has negative unity

K ( s 2 4 s 8)
feedback and a process Gc ( s )G ( s ) . We desire the
s2 s 4

dominant roots to have a equal to 0.5. Using the root locus, show that
K = 7.35 is required and the dominant roots are s = -1.3 j2.2

Sol:

s 2 4s 8
Root locus for 1 K 0
s 2 ( s 4)
 E7.10
A unity feedback system has the loop transfer function

K ( s 2)
KG ( s )
s ( s 1)

(a) Find the breakaway and entry points on the real axis.

(b) Find the gain and the roots when the real part of the complex

roots is located at -2 .

(c) Sketch the locus.

Sol:

 E7.27
Consider the unity feedback system in Figure E7.27. Sketch the

root locus as 0 <

Sol:

P7.14
The loop transfer function of a single-loop negative feedback
K ( s 2.5)( s 3.2)
G ( s )G ( s )
system is c s 2 s +1 (s 10)( s +30) .

This system is called conditionally stable because it is stable only

for a range of the gain K such that k1<K<k2. Using the

Routh-Hurwitz criteria and the root locus method, determine the

range of the gain for which the system is stable. Sketch the root

locus for 0<K<.

Sol:

The system is stable, and it has to correspond to Routh - array.

so,
s5 1 340 5.7 K
s4 41 300 K 8K
13640 K 225.7 K
s3
41 41
s2 a 8K
s1 c
s0 8K

225.7 Ka 8K 13640 K
13640 K 300 K
a 225.7 K , c 41 41
41 a

a. c 0 0 K 4918.09

P7.26
A single-loop negative feedback system has a loop transfer

function

K ( s 2) 2
Gc ( s )G ( s )
s ( s 2 1)( s 8)

(a) Sketch the root locus for 0 K to indicate the

significant features of the locus,

(b) Determine the range of the gain K for which the system is

stable.

(c) For what value of K in the range K > 0 do purely imaginary

roots exist? What are the values of these roots?

(d)Would the use of the dominant roots approximation for an

estimate of settling time be justified in this case for a large

magnitude of gain (K > 50)?

Sol:

(a)
(b)(c)
Charteristic equation
s 4 8s 3 (1 k ) s 2 (8 4k ) s 4k

s4 1 1 k 4k
s3 8 8 4k
s2 0.5k 4k 4k 56, 4k 0 k 14
s1 4k 56
s0 4k

when k 14, Axuiliary equation is 7 s 2 56 0

s j 2.83

 CP7.1
(c)Using the rlocus function, obtain the root locus for the

following transfer functions of the system shown in Figure

CP7.1 when 0 K ,

s2 s 2
G(s)=
s ( s 2 6 s 10)

Sol: