a)

We start with the loop gain transfer function:

N (s ) 1300 K 1300 K
G ( s ) ⋅ H ( s )== 2 =
D ( s ) s −739600 (s +860)( s−860)
The characteristic equation (i.e., the denominator of the closed loop transfer function) is
N ( s)
1+ K ⋅G(s )⋅ H (s)=0 ,∨1+ K ⋅ =0
D ( s)
which we can rewrite as:
D( s)+ K ⋅ N (s )=s2−739600+ K (1300)=0
If we plot the roots of this equation as K varies, we obtain the root locus. A program (like
MATLAB) can do this easily, but to make a sketch, by hand, of the location of the roots as K
varies we need some information:

 The numerator polynomial has no zeros.

 The denominator polynomial yields n = 2 pole(s) at s = -860 and 860. Therefore, there
are 2 branches to the locus.
 There exists q = n - m = 2 - 0 = 2 closed loop pole(s) as K→∞, |s|→∞

Angle of asymptotes are at odd multiples of ±180°/q (i.e ±90° in this case)
The poles of the loop gain (-860 and 860) sum to Σp=0.00.
The zeros of the loop gain () sum to Σz=0.00.
The intersect of the asymptotes, σa=(Σp-Σz)/q = 0.
The intersect is shown with a pink diamond, the asymptote(s) by a pink line.
Range of K for stability

s2−739600+ K (1300)
Using R-H criterion
2
s 1−739600+1300 K
1
s 0
0
s −739600+1300 K
For stability
−739600+1300 K >0
739600
K>
1300
K >568.92
b)
We start with the loop gain transfer function:
N (s ) 1300 K (s +200)
G ( s ) ⋅ H ( s )= =
D ( s ) ( s+ 860 )( s−860 ) ( s +1000 )
1300 K ( s+ 200 )
G ( s ) ⋅ H ( s )= 3
( s +1000 s 2−739600 s−739600000 )

The characteristic equation (i.e., the denominator of the closed loop transfer function) is
N ( s)
1+ K ⋅G(s )⋅ H (s)=0 ,∨1+ K ⋅ =0
D ( s)
which we can rewrite as:
3 2 2
D( s)+ K ⋅ N (s )=s +1000 s −860 s−739600000+1300 K ( s+200)=0
To make a sketch, by hand, of the location of the roots as K varies we need some information:

 The numerator polynomial has 1 zero(s) at s = -200.

 The denominator polynomial yields n = 3 pole(s) at s = -1000, -860 and 860. Therefore,
there are 3 branches to the locus.
 There exists q = n - m = 3 - 1 = 2 closed loop pole(s) as K→∞, |s|→∞.

In the loop transfer function, G(s)H(s) we have n=3 poles and m=1 finite zeros, so we have q = n
- m = 2 zeros as s→∞.
Angle of asymptotes are at odd multiples of ±180°/q (i.e ±90° in this case)
The poles of the loop gain (-1000, -860 and 860) sum to Σp=-1.00e+3.
The zeros of the loop gain (-200) sum to Σz=-200.
The intersect of the asymptotes, σa=(Σp-Σz)/q = -400.
The intersect is shown with a pink diamond, the asymptote(s) by a pink line.
Range of K for stability
s3 +1000 s 2−8602 s−739600000+1300 K (s+ 200)=0
Using R-H criterion
3
s 1−1300 K
−860 −1000 ( 860 )−2600 K
2 2 2
s
1 −8602 +1300 K−( −1000 ( 8602 ) −2600 k )
s 2
0
860
s0 −1000 ( 8602 )−2600 K

For stability
−1000 ( 860 ) −2600 K > 0
2

1000 ( 8602 )
K>
2600
K >284461.54
Given the torque equation

M =10 ( 1−e )
−t

At initial time of 0 seconds to final time 3 seconds, we apply integration to compute the angular
momentum. Since angular moment is the product of the moment of inertial I and angular velocity
ω. Thus
3
Iω=∫ Mdt
0
3
Iω=∫ 10 ( 1−e ) dt
−t

0
3
Iω=[ 10 ( t + e ) ]1 =10 ( ( 3+e ) −( 0−e ) )=10 [ 3+0.04979−1 ] =20.498
−t −3 −0

But
2
I =m k
Where m is the mass of the wheel and k is the radius of gyration of the wheel.
Thus
2
m k ω=20.498
Thus,
20.498 20.498
ω= 2
= 2
=1.051 rad / s
mk 75 (0.5 )
From the above diagram, let N is the reaction force due to the car, μs N is the friction force and
mg is the weight of the car due to gravity.
With no friction
In the y direction
∑ F y=0
Ncos ( 30 ) −mg=0 (1)
o

In the x direction
∑ F x=0
m v2
Nsin ( 30o )− =0(2)
ρ
Where v is the speed of the car
Solving equations (1) and (2) simultaneously we have
Ncos ( 30 )∗sin ( 30 ) −mg∗sin ( 30 )=0
o o o

2
mv
Nsin ( 30 )∗cos ( 30 )− cos ( 30 )=0
o o o
ρ

Thus
2
mv
−mg∗sin ( 30 ) + cos ( 30 )=0
o o
ρ

( v2
m −g∗sin ( 30o ) + cos ( 30o ) =0
ρ )
Making v the subject
g∗sin ( 30 )
o
2
v= ρ
cos ( 30 )
o

v=√ gρ tan ( 30 o )
ft
v=√ 32.2∗1200∗tan ( 30o )=149.26
second
Converting to miles per hour (1ft/s = 0.6818 mph), thus,
v=101.8 mph
With friction
For v minn=0 the n
−1 −1
θmaximum =tan ( μ s ) =tan ( 0.9 ) =41.987
For v max x

In the y direction
∑ F y=0
Ncos ( 30 ) −mg−μ s Nsin ( 3 0 )=0
o o

N (0.866)−m(32.2)−0.9 N (0.5)=0
m ( 32.2 )
N= (3)
0.416
In the x direction
∑ F x=0
2
m v maxx
Nsin ( 30o )+ μ s Nsin ( 3 0o ) − =0
ρ
m v maxx 2
Ncos ( 30 ) + 0.9 Nsin ( 3 0 )=
o o
( 4)
1200
Substituting (3) in (4) we have that:
2
m ( 32.2 ) m ( 32.2 ) m v maxx
( o
co s 30 +0.9 ) (
sin 3 0 =
o
)
0.416 0.416 1200
2
( 32.2 ) ( 32.2 ) v
( o
co s 30 +0.9 ) (
sin 3 0 =
o
) maxx
0.416 0.416 1200
v maxx2=1200
(
(
32.2
0.416
)
( 0.886 )+ 0.9
( 32.2
0.416
)
)
( 0.5 ) =11835.47
v maxx =344.58 ft /s

Converting to miles per hour (1ft/s = 0.6818 mph), thus,

v=235 mph
We first factorize the higher order polynomial in the denominators
Given s^2+5s+30, then
( −b ± √b 2−4 ac ) (−5 ± √52−4 (1) ( 52 ) )
s= =
2a 2
( −5± √ 25−4( 1) ( 52 ) )
s= =−2.5 ± 4.8734 i
2
Given s^2+27s+50, then
( −b ± √b 2−4 ac ) (−27 ± √27 2−4 (1)( 52 ) )
s= =
2a 2
( −27 ± √ 729−4 (1) ( 52 ) )
s= =−13.5 ±11.4127=−2.0873 ,−24.9127
2