Control Systems BUE402

CONTROL SYSTEMS

Sl .no Contents

MODULE-3
Chapter-1: Modeling of Systems:
• Introduction to Control Systems
• Types of control systems, Effect of feedback systems,

• Differential equations of physical systems – Mechanical systems- Friction

1

• Translational systems (Mechanical accelerometer, Levered systems

excluded)

• Rotational systems, Gear trains. Electrical systems, Analogous systems.

Chapter-2
: Block diagrams and signal flow graphs
• Transfer functions
2 • Block diagram

• Signal Flow graphs (State variable formulation excluded).

MODULE-4
Chapter-1
Time Response of feed back control systems:
• Standard test signals
• Unit step response of First and second order systems,
3
• Time response specifications

• Time response specifications of second order systems, steady

• state errors and error constants.

Chapter-2
Stability analysis:
• Concepts of stability
• Necessary conditions for Stability
4
• Routh-Hurwitz stability criterion

• Relative stability analysis

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MODULE-3
Modeling of Systems
Introduction to control systems
A system is an arrangement of or a combination of different physical components connected
or related in such a manner so as to form an entire unit to attain a certain objective. Control
system is an arrangement of different physical elements connected in such a manner so
as to regulate, director command itself to achieve a certain objective. Requirements of good
control system are accuracy, sensitivity, noise, stability, bandwidth, speed, oscillations.

Types of control systems

• open loop system

A system in which the control action is totally independent of the output of the system is
called as open loop system

Example: Automatic hand driver, automatic washing machine, bread toaster, electric lift,
traffic signals, coffee server, theatre lamp etc.

• closed loop system

A system in which the control action is somehow dependent on the output is called as
closed loop system

The elements of closed loop system are command, reference input, error detector, control
element-controlled system and feedback element

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Elements of closed loop system are:
1. Command : The command is the externally produced input and independent of the
feedback control system.
2. Reference Input Element: It is used to produce the standard signals proportional to the
command.
3. Error Detector : The error detector receives the measured signal and compare it with
reference input. The difference of two signals produces error signal.
4. Control Element : This regulates the output according to the signal obtained from error
detector.
5. Controlled System : This represents what we are controlling by feedback loop.
6. Feedback Element : This element feedback the output to the error detector for
comparison with the reference input.

Example: Automatic electric iron, servo voltage stabilizer, sun-seeker solar system, water
level controller, human perspiration system.

Feedback system is that in which part of output is feeded back to input

In feedback system corrective action starts only after the output has been affected

Advantages of closed loop system:

1. Accuracy is very high as any error arising is corrected.
2. It senses changes -in output due to environmental or parametric change, internal
disturbance etc. and corrects the same.
3. Reduce effect of non-linearities.
4. High bandwidth.
5. Facilitates automation.
Disadvantages
1. Complicated in design and maintenance costlier.
2. System may become unstable.

Advantages of open loop system:

1. They are simple in construction and design.
2. They are economic.
3. Easy for maintenance.
4. Not much problem of stability.
5. Convenient to use when output is difficult to measure.
Disadvantages of open loop system
1. Inaccurate and unreliable because accuracy is dependent on accuracy of calibration.
2. Inaccurate results are obtained with parameter variations, internal disturbances.
3. To maintain quality and accuracy, recalibration of controller is necessary from time to
time.

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• Feed forward system is that in which the corrective action is initiated without
waiting for the effect of disturbance to show up in the output

• System having multiple inputs and multiple outputs is known as multiple output
(MIMO) control system

• A servomechanism is a power amplifying feedback control system in which the

controlled variable is mechanical position or its time derivative such as velocity,
acceleration

• A regulator or regulating control system is a feedback control system in

which the reference input remains constant for long periods/entire intervals of
operation

• An adaptive control system is one that continuously and automatically

measures the dynamic characteristics of the plant.

• The system which follows the principle of superposition and proportionality is

called a linear system.

• The motion take place along a straight line is known as translational

motion. Rotational motion of a body is the motion about a fixed axis.

• The elements of rotational system are inertia (J), damping coefficient (B) and
torsional stiffness (K).

Mechanical system
For every mechanical system, there is analogous electrical system.

DAlembert‘s principle states that, the algebric sum of externally applied forces and the
forces resisting motion in any given direction is zero.

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Mechanical Translational system

For mechanical network, analogous electrical network can be obtained by using f-v and f-i
analogy.

Force-voltage analogy: In this method force is analogous to voltage.

Similarly, displacement n charge q.

Force-current analogy: In this method force is analogous to current.

Mechanical rotational system:

(a) Force-voltage analogy:

(b) Force-current analogy :

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Mechanical coupling:

Laplace transform of signal x (t) is denoted by X (s)

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Example problems:

Q 1. Draw the f-1 analogous mechanical system for the electrical circuit of fig. below:

Ans. f (t) is analogous to e (t)

f (t) is analogous to R.
f (t) frictional force f is analogous to r.

Spring constant K is analogous to reciprocal

Mass M is analogous to inductance L

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Q. 2. Draw the mathematical model of the following

system and obtain the transfer function.

Ans. Using torque-voltage analogy, we have

The equation is

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Q. 3. Write force-current analogous quantities.

Ans. Force analogous to current

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Q. 4. Draw the mathematical model of the following

system and obtain the transfer function.

Ans. Writting nodal equation

At node x

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Block diagrams and signal flow graphs

Transfer function

The ratio of laplace transform of the output to the laplace transform of input under the
assumption of zero initial conditions is defined as the transfer function Of system. It is
denoted by G(s).

Importance : Transfer function is highly important because of following reasons

1. It is used to give the gain of given blocksystem.
2. The system poles/zeros can be found from transfer function.
3. Stability can be determined from characteristic equation.
4. The system differential equation can be obtained from transfer function by replacing.

s-variable with linear differential operator

Significance of Transfer Function

Where C(s) is laplace transform of output

R(s) is laplace transform of input.
Transfer function gives the gain of the given block system.
Properties of Transfer Function
1. The transfer function is independent of the inputs to the system.
2. The transfer function of a system is the laplace transform of its impulse response for zero
initial conditions.
3. The system poles/zeros can be found out from transfer function.
4. The transfer function is defined only for linear invariant systems. It is not defined for
non-linear systems.

Limitations of transfer function are listed below

1 Transfer function is valid only for linear time invariant system.

2 It does not take into account the initial conditions initial conditions loose its significance.
3 It does not give any idea about how the present output is progressing.

Department of EEE, SJBIT Page 13

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• Poles are the value of ‗s‘ which when substituted in the denominator of a transfer function,
make the transfer function value as infinity

• Zeros are the value of ‗s‘ which when substituted in the numerator of transfer function,
make the transfer function value as zero

• The characteristic equation can be obtained by equating the denominator polynomial of

the transfer function to zero

• The highest power of ‗s‘ in the characteristic equation is called the order of system

• The number of poles at the origin defines the type of system

Block diagram algebra

Block diagram gives a pictorial representation of a control system by way of short handing
the transfer function Signal flow graph further shortens the representation of a control
system by eliminating summing symbol take-off point and block This elimination is
achieved by way of representing the variables by points called ―nodes‖

A pictorial representation of the relationship between input and output of a system is termed
as block diagram.

The direction of flow of signal from one block to other is indicated by an arrow.

The point in a block diagram at which signal can be added or subtracted is termed as
summing point.

Gain is the ratio of laplace transform of output to laplace transform of input .

Blocks in series are algebraically combined by multiplication.

The lines drawn between the blocks to indicate the connections between the blocks are
termed as branches.

The point from which a signal is taken for the feedback purpose is called as take-off point.

The order of summing point can be changed if two or more summing points are in series.

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Signal Flow Graphs

A signal flow grow is a pictorial representation of a system and it displays graphically, the
transmission of signal in system

• Node: It is a point from where branches originate or terminate or pass through.

• Branch : It is connecting link between two nodes.
• Path : The time traced by connecting two or more node is called path.
• Loop : It is a path that originates and terminates on same node and along which
node other node is traversed more than once.

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Mason s gain formula is used to find the gain of signal flow graph

According to Mason‘s gain formula

where i = Number of forward path

= Gain of ith forward path
i = System determinant
= 1 — (sum of all individual loops) + (sum of all gain products of two non-
touching loops) - (sum of all gain product of three non-touching loops) +….

The gain associated with each branch is called branch transmittance

The independent and dependent variable of a control system are represented by small
circles as nodes.

The relationship between nodes is represented by drawing a line between two nodes Such
l‘ns are called branches.

Example problems:

Q. 1. Find out the for the system shown in the following block diagram.

Ans. First draw the signal flow graph.

Step I Obtain total number of forward paths

There is only one forward path

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Step II. Total number of single loop
There are two loops. Thus

Step III. Value of

As there is one forward path which touch all the loops

Step IV. Obtain transfer function

Q. 2. The transfer function of a system is .

Calculate the phase shift at

Ans.

Hence here is phase shift of zero corresponding to

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Q. 3. Laplace transform of a function f (t) is given by

Find out the initial and final values of f (t).

Ans.

Applying final value theorem

Q. 4. Find out the inverse Laplace transform of the function .

Ans.

The term can be factorized as, (s + 2) (s + 3)

Using partial fraction expansion

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Q. 5. Represent the following set of equations by a signal

flow graph and determine the overall gain relating .

Ans. Given equations are :

required signal flow graph is

Step I. Obtain the total number of forward paths

Step II. Obtain the number of single loops

Step lll. Obtain the number of two non-touching loop

Step IV. Number of three non-touching loops

--no—
Step V. Find the value of

Applying Mason‘s gain formula

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Overall transform function

Q. 6. Simplify the block diagram in fig and obtain the transfer June/July
2010
function relating C(s) and R(s).

Ans.

There are no loops.

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Q. 7. From the block diagram shown in the figure below draw the corresponding
signal flow graph and evaluate close loop transfer function relating the output and
input.

Ans. Required signal flow graph is:

By Mason‘s gain formula:

Individual loop,
Non-touching loops = 0

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Q. 8. The transfer function of a system is given by

Determine the state model in canonical form using parallel decomposition method.

Ans.

Using partial fractions

State diagram representation in diagonal canonical form by parallel decomposition

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Q. 9. Determine the transfer function of the system given in fig.

Ans.

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MODULE-4
Time Response of feed back control systems

Time-domain Analysis of Control Systems

In time-domain analysis the response of a dynamic system to an input is expressed as a
function of time. It is possible to compute the time response of a system if the nature of
input and the mathematical model of the system are known.

Usually, the input signals to control systems are not known fully ahead of time. In a radar
tracking system, the position and the speed of the target to be tracked may vary in a random
fashion. It is therefore difficult to express the actual input signals mathematically by simple
equations. The characteristics of actual input signals are a sudden shock, a sudden change, a
constant velocity, and constant acceleration. The dynamic behavior of a system is therefore
judged and compared under application of standard test signals – an impulse, a step, a
constant velocity, and constant acceleration. Another standard signal of great importance is
a sinusoidal signal.

The time response of any system has two components: transient response and the steady-
state response. Transient response is dependent upon the system poles only and not on the
type of input. It is therefore sufficient to analyze the transient response using a step input.
The steady-state response depends on system dynamics and the input quantity. It is then
examined using different test signals by final value theorem.

Standard test signals

a) Step signal: r(t) = Au(t).

b) Ramp signal: r(t) = At; t  0.
c) Parabolic signal: r(t) = At2 / 2; t  0.
d) Impulse signal: r(t) =  (t).

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Time-response of first-order systems

Let us consider the armature-controlled dc motor driving a load, such as a video tape. The
objective is to drive the tape at constant speed. Note that it is an open-loop system.

wss (t) is the steady-state final speed. If the desired speed is wr , choosing a = kwkr the motor
1 m

will eventually reach the desired speed.

We are interested not only in final speed, but also in the speed of response. Here,  ism the
time constant of motor which is responsible for the speed of response.

The time response is plotted in the Figure in next page. A plot of e−t/m is shown, from
where it is seen that, for t  5m the value of e−t/m is less than 1% of its original value.
Therefore, the speed of the motor will reach and stay within 1% of its final speed at 5 time
constants.

Figure: Time responses

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Let us now consider the closed-loop system shown below.

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1 1 o  o2
Then, W (s) = = − + ;
s2 (o s +1) s2 s  o s +1

 w(t) = tu(t) − o (1− e−t/o )u(t)

The error signal is, e(t) = r(t) − w(t)

Or, e(t) =  o (1− e−t/o )u(t)

 e (t) = 
ss o

Thus, the first-order system will track the unit ramp input with a steady-state error  o,
which is equal to the time-constant of the system.

Time-response of second-order systems

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Consider the antenna position control system. Its transfer function from r to y is,

Here,  is called the damping factor, d is called damped or actual frequency.

The location of poles for different  are plotted in Figure below. For  = 0 , the two poles
 jn are purely imaginary. If 0    1, the two poles are complex conjugate. All possible
cases are described in a table shown below.
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Unit step response of second-order systems

The plot of e−t sin( dt + ) is shown in Figure.

The steady-state response is,

yss (t) = lim y(t) = 1

t →

Thus, the system has zero steady-state error.

The pole of T (s) dictates the response,

e−t sin(d t + ) .

Natural frequency, n

The natural frequency of a second order system is the

frequency of oscillation of the system without damping.

Damping ratio, 

The damping ratio is defined as the ratio of the damping

factor,  to the natural frequency  n .
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The response y(t) for different  is shown in Figure below.

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Time response specifications

Control systems are generally designed with damping less than one, i.e., oscillatory step
response. Higher order control systems usually have a pair of complex conjugate poles with
damping less than unity that dominate over the other poles. Therefore the time response of
second- and higher-order control systems to a step input is generally of damped oscillatory
nature as shown in Figure next (next page).

In specifying the transient-response characteristics of a control system to a unit step input,

we usually specify the following:

1. Delay time, td
2. Rise time, tr
3. Peak time, t p
4. Peak overshoot, M p
5. Settling time, ts
6. Steady-state error, ess
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1. Delay time, td : It is the time required for the response to reach 50% of the final value in
first attempt.

2. Rise time, tr : It is the time required for the response to rise from 0 to 100% of the final
value for the underdamped system.

3. Peak time, t p : It is the time required for the response to reach the peak of time response
or the peak overshoot.

4. Settling time, ts : It is the time required for the response to reach and stay within a
specified tolerance band ( 2% or 5%) of its final value.

5. Peak overshoot, M p : It is the normalized difference between the time response peak and
the steady output and is defined as,
c(tp ) − c()
%M p = 100%
c()

6. Steady-state error, ess : It indicates the error between the actual output and desired
output as ‗t‘ tends to infinity.

ess = lim[r(t) − c(t)].

t→

Let us now obtain the expressions for the rise time, peak time, peak overshoot, and settling
time for the second order system.
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Steady-state error and error constants

The steady-state performance of a stable control system is generally judged by its steady-
state error to step, ramp and parabolic inputs. For a unity feedback system,

It is seen that steady-state error depends upon the input R(s) and the forward transfer
function G(s) . The steady-state errors for different inputs are derived as follows:
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Types of Feedback Control System

The open-loop transfer function of a system can be written as,

If n = 0, the system is called type-0 system, if n = 1, the system is called type-1 system, if n
= 2, the system is called type-2 system, etc. Steady-state errors for various inputs and
system types are tabulated below.

The error constants for non-unity feedback systems may be obtained by replacing G(s) by
G(s)H(s). Systems of type higher than 2 are not employed due to two reasons:

1. The system is difficult to stabilize.

2. The dynamic errors for such systems tend to be larger than those
types-0, -1 and -2.

Effect of Adding a Zero to a System

Let a zero at s = -z be added to a second order system. Then we have,

The multiplication term is adjusted to make the steady-state gain of the system unity. This
gives css = 1 when the input is unit step. Let cz(t) be the response of the system given by
the above equation and c(t) is the response without adding the pole. Manipulation of the
above equation gives,
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The effect of added derivative term is to produce a pronounced early peak to the system
response which will be clear from the figure in the next page. Closer the zero to origin, the
more pronounce the peaking phenomenon. Due to this fact, the zeros on the real axis near
the origin are generally avoided in design. However, in a sluggish system the artful
introduction of a zero at the proper position can improve the transient response. We can see
from equation (03) that as z increases, i.e., the zero moves further into the left half of the s-
plane, its effect becomes less pronounced.
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Example problems:

Q. 1. Consider the system having transfer function

Calculate the settling time for 2% tolerance band, for the unit step response.

Ans.

Comparing with

we get

setting time for 2% tolerance band, we get

setting time

Q. 2. Calculate the natural frequency of a second order system described by the

differential equation

Ans. The given equation is

…(1)
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Now standard equation of a second order system is given as

…(2)
so comparing eq (1) and (2), we get

Q.3. For a second order system the roots of its characteristic equation are the
underdamped natural frequency of the system will be.
(a) 4 rad/sec (b) 3 rad/sec
(c) 5 rad/sec (d) 7 rad/sec

Ans.

Q. 4. What will be the response of a first order system with unit step input?

Ans. The transfer function of a first order system is given as

With unit step input

The response is shown graphically in fig.

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Q.5. What is the unit step response of the transfer function?

Ans. We have
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Q. 6. The open-loop transfer function of a unity feedback control system is given by

Determine the value of K and B such that the closed loop until step response has w = 3
rad/sec and

Ans. The characteristics equation of the system is 1 + G (s) = 0

since, b = 1.2, and

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Stability Analysis
Concepts of stability
Because of its feedback structure a control system can become unstable, e.g. oscillations
with increasing amplitudes in the signals can occur.

A linear time-invariant system is called (asymptotically) stable, if its weighting function

decays to zero, i.e. if

is valid. If the modulus of the weighting function increases with increasing to infinity, the
system is called unstable.
A special case is a system where the modulus of the weighting function does not exceed a
finite value as or for which it approaches a finite value. Such systems are called

critically stable. Examples are undamped S and I elements

This definition shows that stability is a system property for linear systems. If Eq. (4.1) is
valid, then there exists no initial condition and no bounded input signal which drives the
output to infinity. This definition can be directly applied to the stability analysis of linear
systems by determining the value of the weighting function for . If this value exists,
and if it is zero, the system is stable. However, in most cases the weighting function is not
given in an explicit analytic form and therefore it is costly to determine the final value. The

transfer function of a system is often known and as it is the Laplace transform of the

weighting function , there is an equivalent stability condition for according to

Eq. (4.1). The analysis of this condition shows that for the stability analysis it is sufficient to

check the poles of the transfer function of the system, that is the roots of its
characteristic equation
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Necessary conditions for Stability

The following necessary and sufficient stability conditions can be formulated:

a)
Asymptotic stability

A linear system is only asymptotically stable, if for the roots of its characteristic
equation

for all

is valid, or in other words, if all poles of its transfer function lie in the left-half
plane.
b)
Instability

A linear system is only unstable, if at least one pole of its transfer function lies in the

right-half plane, or, if at least one multiple pole (multiplicity ) is on the

imaginary axis of the plane.

c)
Critical stability

A linear system is critically stable, if at least one single pole exists on the imaginary
axis, no pole of the transfer function lies in the right-half plane, and in addition no
multiple poles lie on the imaginary axis.

It has been shown above that the stability of linear systems can be assessed by the
distribution of the roots of the characteristic equation in the plane (Figure 5.2). For control
problems there is often no need know these root with high precision. For a stability analysis
it is interesting to know whether all roots of the characteristic equation lie in the left-half
plane or not. Therefore simple criteria are available for easily checking stability, called
stability criteria. These are partly in algebraic, partly in graphical form.
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Figure : Stability of a linear system discussed by the distribution of the roots of the
characteristic equation in the plane

Routh Hurwitz criterion

Routh Hurwitz Stability Criterion is based on ordering the coefficients of the

characteristic equation into an array, also known as Routh Array.

Suppose the characteristic equation of a control system is given as:

Now, from the given equation, we will form Routh Array as shown below:
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a0, a1, …., an coefficients are taken from the equation and arranged as shown.

Other elements are calculated from these element. Coefficients b1, b2, b3, ……, bn are calculated as

This process is continued till we get zero in the row with b coefficients.

Similarly, c coefficients and d coefficients are calculated as following:

In this process, the missing terms are considered zero and elements of any row can be divided
by a positive number to simplify the calculation.

Now, the Routh stability Criteria is given as:

“For a system to be stable, it is necessary and sufficient that each term of first column of
Routh Array formed of its characteristic equation be positive if a0>0. If this condition is not
met, the system is unstable and number of sign changes of the terms of the first column of the
Routh Array corresponds to the number of roots of the characteristic equation in the right half
of the s-plane”.
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Example 1

The Routh schema is:

For proving instability it is sufficient to build the Routh schema only until negative or zero
value occurs in the first column. In the example given above the schema could have been
stopped at the 5th row.

Another interesting property of the Routh scheme says, that the number of roots with
positive real parts is equal to the number of changes of sign of the values in the first
column.

Example 2

Determine the stability of the system whose characteristics equation given by

a(s) = s 6 + 4s 5 + 3s 4 + 2s 3 + s 2 + 4s + 4.

The above polynomial satisfies the necessary condition for stability since all the
coefficients are positive and nonzero. Writing the Routh array, we have
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We conclude that the system has roots in the right half plane, since the elements of the
first column are not all positive. In fact there are two roots in the right half plane, since
there are two sign changes. In other words two closed loop poles of the system lie in the
right half plane and hence the system is unstable.

Example 3. Determine the stability of the following polynomial.

a(s) = s 5 + 5s 4 + 11s 3 + 23s 2 + 28s + 12.

Writing the Routh array, we have

s5
s4 1 11 28

5 23 12
s3
6.4 25.6 0
2
s
3 12
s1 0 0
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Since the entire row is zero, we construct an auxiliary equation by taking the coefficients
of the previous row, i.e.,

a1 (s) = 3s 2 + 12.

Differentiating the above equation with respect to ‗s‘, we get

Routh array from eq-1

Since there are no sign changes in the first column of the Routh array, there are no roots
in the right half plane. However, since one entire row in the Routh array was zero, there
are roots in the imaginary axis. The roots in the imaginary axis can be obtained by
solving the auxiliary equation. Therefore,

3s 2 + 12 = 0,
 s 2 + 4 = 0,
 s =  j2
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Example 4. Consider the system shown below. The stability properties of the system
are a function of the proportional feedback gain ‗k‘. Determine the range of ‗k‘ over
which the system is asymptotically stable.

The characteristics equation for the system is given by

s +1
1+ k = 0,
s(s − 1)(s + 6)
 s 3 + 5s 2 + (k − 6)s + k = 0.
Therefore the corresponding Routh array is

s3 1 k-6
s2 5 k

(4k − 30)
s1
5

s0 k

For the system to be stable, it is necessary that all the elements in the first column of the
Routh array must be positive. Therefore,

4k − 30
0 k  0,
and
5
and
 k  7.5 k  0,

 k  7.5
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For the system to be stable, the poles of the system should lie in the left half plane. In other
words all the real poles should be negative or the real parts of complex poles must be
negative

Q. 5. Calculate the value of k for which the unity feedback

system crosses the imaginary axis.

Ans.

For the point of intersection on imaginary axis, construct

Routh array

To cross imaginary axis

so at K = 48, it will cross imaginary axis.

Q. 6. A closed loop system is shown in the following fig. Find out the largest possible
value of for which this system would be stable.

Ans. As we know

Now

or characteristic equation becomes

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Now the Routh array can be written as

For stability all elements of column should be positive

So,

The largest possible value for the system to be, stable.

Q. 7. By means of Routh criterion, determine the stability of the system represented by

the following equation

Ans. This equations states

There is one row that becomes zero.

So it is being replaced by

equation can be written as:

Imaginary roots make system unstable and response is continuous oscillatory. Therefore
system is unstable.

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Q. 8. Consider the closed loop feedback system shown in the figure below. Determine
the range of K for which the system is stable.

Ans.

This is the range of K for the system to be stable.

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Q. 9. Discuss the Routh — Hurwitz criteria for determining the stability of a control
system and calculate the range of K for stable operation of following characteristic
equation

Ans. Routh-Hurwitz criterion helps in determining relative stability of a control system. From
the characteristic equation of control system Routh‘s array is constructed. In case there is no
change of sign in first column and the system is stable.
Given characteristic equation is

Q. 10. Discuss the Routh-Hurwitz criteria for determining the stability of a control
system and calculate the range of K for stable operation of following characteristic
equation.

Ans. Routh-Hurwitz criterion helps in determining relative stability of a control system.

From the characteristic equation of control system Routh‘s array is constructed. In case there
is no change of sign in first column and the system is stable.
Given characteristic equation is

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Q. 11. Determine the stability of system having characteristic equation:

using Routh Hurwitz criterion.

Ans. Given characteristic equation is

Since row becomes zero, we formula auxiliary equation

Differentiate auxiliary equation

Since the last element is negative, there is a sign change in first column, the system is
unstable.

Q. 12. Determine the stability of a system with characteristic equation

Ans. Given characteristic equation is

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Since terms corresponding to S3 are zero, we will form -auxiliary equation corresponding
to

differentiating equation we get

Consider auxiliary equation

Differentiating
2s = 0

As there is no sign change system may be stable. Solving auxiliary equation

Thus system is unstable.

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Q. 13. Find the range of K for stability of

Ans. Given characteristic equation is

Routh‘s array for given equation is

- For system to be stable all elements in first column should be greater than zero.

so, value of K for stability will be

0 < K < 0.44.

Q. 14. Determine the stability of the system whose characteristic equation is given by

Ans.

Routh‘s array is

As their is sign change in first column thus system is unstable.

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Q. 15. A unity feedback control system is characterized by open loop transfer function

Using Routh’s criterion, calculate the range of values of K for

the system to be stable.

Ans. The characteristic equation is

1 + G(s). H(s), H(s)=1
1 + G (s)

The Routh‘s array is

For stable system. there should be no sign change in first column.

For s° K + 1 > 0
K > —1

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