Questions:
1. Explain in brief the effect of the location of the roots on the stability of a system.
2. For this system shown in the following Figure, R in the transfer function of
Chemical heat process is the last two digits of your ID number.
C(s)
(i) Find the closed loop transfer
function, R(s)
(ii) Determine the range of amplifier gain, K, to keep the system stable.
Desired
temperature Actuator Chemical
and Actual
Heat Process
set point + Amplifier
Valve temperature
E(s)
R(s) _ C(s)
Temperature
Sensor
Figure: Negative Feedback system
3. Sketch the root-locus plot for the negative feedback system as shown in the
following Figure (Assume K as non-negative). In the open loop transfer function,
R indicates the last two digits of your ID number.
R(s)+ E(s) C(s)
_
H(s)=1
Figure: Negative Feedback system
Solution:
Question 1:
We know that the poles (of closed loop transfer function) in different places of complex s-
plane have different types of responses which can be summarized as follows:
LHP: produce either pure exponential decay or damped sinusoidal natural
responses. These natural responses decay to zero as time approaches infinity.
RHP: produce either pure exponentially increasing or exponentially increasing
sinusoidal natural responses. These natural responses approach infinity as time
approaches infinity.
j -axis: responses approaches infinity as time approaches infinity.
This summary indicates that the system response (actually stability) is completely
dependent on the location of the poles. Therefore, the system stability and location of the
poles can be tabled as follows:
Nature of the Location of the pole
System LHP RHP j -axis
Stable Must have No No
Unstable May have At least one May have
Marginally Must have No Must have
Stable
Question 2(i):
Finding closed loop Transfer Function:
Desired
temperature Actuator Chemical
and Actual
Heat Process
set point + Amplifier
Valve temperature
E(s)
R(s) _ C(s)
Temperature
Sensor
Open loop transfer function
0 ⋅7 K
Here, R = 0.50 G(s)=
( s+ 0.4)(s ¿¿ 2+1.7 s +0.50)¿
Closed loop transfer function
C( s) G( s)
=
R( s) 1+G ( s ) H (s )
0⋅7 K
C( s) (s+ 0.4)(s¿¿ 2+1.7 s +0.50)
= ¿
R( s) 0⋅ 7 K
1+ ¿
(s+0.4 )(s ¿¿ 2+ 1.7 s +0.50)∗0.1
s+ 0.1
0.7 K ( s +0.1 )
¿
( s+0.1)(s+0.4)( s¿ ¿2+1.7 s+ 0.50)+0.7 K∗0.1 ¿
0.7 K ( s +0.1 )
¿
s +2.2 s + 1.39 s 2+0.318 s+(0.07 K +0.02)
4 3
Question 2(ii):
Now, the characteristics equation,
s4 + 2.2 s3 +1.39 s 2 +0.318 s +(0.07 K + 0.02)
S4 1 1.39 0.07K+0.02
3
S 2.2 0.318
2
S 1.246 0.07K+0.02
1
S 0.282-0.123K
0
S 0.07K+0.02
The range of stability:
0.282-0.123K>0 0.07K+0.02>0
0.282 −0.02
K< K>
0.123 0.07
K <2.292 K > 0.285
So, the range of amplifier gain ‘K’ to keep the system stable is 0.285 < K < 2.292
Question 3: Sketch the root-locus plot for the negative feedback system as shown in the
following Figure (Assume K as non-negative). In the open loop transfer function, R
indicates the last two digits of your ID number.
R(s)+ E(s) C(s)
_ H(s)=1
Figure: Negative Feedback system
Solution:
The open loop transfer function,
K
Here, R = 50 G(s)=
s (s¿¿ 2+ 4 s +50)¿
Number of poles, p = 3
Position of poles = 0, -2+6.78j, -2-6.78j
Numbers of zeros, z = 0
The number of asymptotes = number of ploes – number of zeros
nm
3-0
3
180(2 k +1)
Angle of Asymptotes, θ = ; k = 0,1,2
p−z
= 60, k = 0
= 180, k = 1
= 300 or -60, k = 2
Centroid of Asymptotes:
∑ real ( pole )−∑real (zero)
=
p−z
( 0−2−2 )−0
= 3−0
−4
= 3
= -1.33
The points on the imaginary axis ( ) through where the asymptotes cross can be
determined from the intersecting points on the real axis and angle of asymptotes.
For +60, tan(60)
= -1.33√3
= -2.30
For -60, tan(-60)
= 1.33√3
= 2.30
For 180, tan(180)
= 0
The asymptotes have been illustrated in the complex plane.
Breakaway point:
Characteristics equation, 1+G ( s ) H ( s )=0
K
1+
s (s ¿¿ 2+4 s+ 50)=0 ¿
s + 4 s 2+ 50 s+ K =0
3
K = -(s3+4s2+50s)
For breakaway point,
dK
=0
ds
d ( −( s3 +4 s 2+ 50 ) )
=0
ds
3s2 + 8s+50 = 0
So, s = -1.33+3.86j, -1.33-3.86j
Intersection of imaginary axis:
Characteristics equation, s3 + 4 s 2+ 50 s+ K =0
Routh Array
S3 1 50
2
S 4 K
1
S 50-0.25k 0
0
S k 0
For stability
50 – 0.25k > 0 K>0
50 > 0.25k
50
K<
0.25
k < 200
So, the range of k is 0<k<200
For marginal stability k = 200
Auxiliary equation (order 2):
A(s) = 4s2+k = 0
Or, 4s2+200 = 0
Or, s2 = -200
So, s = 14.14j, -14.14j
Angle of departure:
Position of poles = 0, -2+6.78j, -2-6.78j
Numbers of zeros, z = 0
−1 6.78
Angle of pole, θp1 = tan ( )−2
= -73.56 = 180 – 73.56 = 106 (for 3d plane )
And, angle of pole, θp2 = 90 (with respect to pole 1)
θd = 180 – φ
= 180 – (∑ angle of pole−∑angle of zero)
= 180 – ( θp1 + θp2)
= 180 – (106 + 90)
= 16
Fig: Root locus plot (Matlab)
